Self-propelled leek harvesting and bundling integrated machine

Abstract

A self-propelled leek harvesting and bundling integrated machine, comprising a walking system, a harvesting system, a conveying system, a packing system and a main control board, the walking system, the harvesting system, the conveying system and the packing system are connected with the main control board, the walking system comprises a frame, a damping system and a power system, the damping system is installed below the frame, and the power system is installed below the damping system; the cutting system is installed at the front and upper part of the walking system, and is installed above the front damping system and the frame of the walking system, the conveying system is installed behind the cutting system and on the frame of the walking system, and the packing system is installed behind the leek conveying system and on the frame of the walking system; the self-propelled leek harvesting and bundling integrated machine is suitable for field work, effectively improves the efficiency of leek harvesting and packing, saves a large amount of manpower, and realizes the integration of leek harvesting and packing in the field.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent agricultural machinery, and particularly relates to a self-propelled leek harvesting and bundling integrated machine. BACKGROUND

[0002] The leek planting industry is relatively stable, has small investment, high benefits, and small investment risk in agricultural production. In recent years, the leek has entered the international market, and the import and export volume has been continuously increasing. However, the way of harvesting and packaging leeks in agricultural production still adopts manual harvesting and packaging or uses harvesting and packaging machinery that needs manual assistance, and the intelligent and automatic level is low, the efficiency is low, and a large amount of human resources is consumed. SUMMARY

[0003] In order to overcome the defects in the prior art, the present application provides a self-propelled leek harvesting and bundling integrated machine.

[0004] The self-propelled leek harvesting and bundling integrated machine is suitable for field work, effectively improves the efficiency of leek harvesting and packaging, saves a large amount of manpower, and realizes the integration of leek harvesting and packaging in the field.

[0005] The technical scheme adopted by the present application to solve the technical problems is:

[0006] A self-propelled leek harvesting and bundling integrated machine, comprising a walking system and a harvesting system, a conveying system, a packaging system and a main control board installed on the walking system, the walking system, the harvesting system, the conveying system and the packaging system are connected with the main control board, the walking system comprises a frame, a damping system and a power system, the power system is located below the frame and connected with the frame through the damping system, and a collecting box is further arranged on the rear side of the frame; the harvesting system is located in front of the walking system and installed on the damping system, the conveying system is located behind the harvesting system and installed on the frame of the walking system, and the packaging system is located behind the conveying system and installed on the frame of the walking system.

[0007] The self-propelled leek harvesting and bundling integrated machine is placed in the field, the main control board controls the movement of the walking system, the harvesting system is used for harvesting when passing through the leek field, the leeks enter the packaging system through the conveying system, and the packaged leeks enter the collecting box through the conveying system;

[0008] The packaging system comprises two grabbing units, a cutting mechanism and a packaging support, the two grabbing units are symmetrically installed on the packaging support, the cutting mechanism is located above the rear of the grabbing unit and installed on the upper plate of the packaging support, each grabbing unit comprises a mechanical claw, a stepping motor and a through-shaft screw stepping motor; the screw group II drives the adhesive tape pressure disc and the adhesive tape roll on the cutting installation plate to move left and right, and the rudder II drives the blade to cut the adhesive tape.

[0009] The mechanical claw comprises three claw toes and an adhesive tape sticker, the adhesive tape sticker is installed at the top end of the claw toes; the opening and closing of the mechanical claw is controlled by a through shaft screw stepper motor, and the rotation of the corresponding mechanical claw is controlled by the stepper motor;

[0010] The main control board controls the rotation of the stepper motor of the packaging system to drive the gear set transmission, so that the mechanical claw rotates, at the same time, the screw rod set II of the packaging system moves left and right, so that the adhesive tape is wound on the leeks and adhered to the mechanical claw again, then the main control board controls the steering engine II of the packaging system to rotate, and the adhesive tape is cut off.

[0011] Further, the damping system comprises two damping units symmetrically installed on the bottom of the frame, each damping unit comprises two spring damping rods, two fish eye rods and two limiting rods, the two spring damping rods, the two fish eye rods and the two limiting rods are arranged symmetrically left and right, the two spring damping rods are located inside the two fish eye rods, and the two limiting rods are located inside the two fish eye rods, the upper and lower ends of each damping unit are connected with the mounting profiles, the mounting profile at the upper end is connected with the frame, and the lower ends of the two limiting rods are installed on the side surface of the lower end mounting profile; the power system comprises four reel wheels and two speed reduction motors, the four reel wheels are divided into two groups in front and back and correspond to the two damping units respectively, the two reel wheels at the rear are connected through a connecting shaft, the two reel wheels at the front are connected with the two speed reduction motors respectively to form two drive units, and the two drive units are symmetrically installed on the lower end mounting profile of the front damping unit.

[0012] Further, the harvesting system comprises a screw rod set I, two mounting plates, two reel frames and a cutting knife, the screw rod set I is installed on the front side damping unit of the walking system, the two mounting plates are arranged symmetrically left and right and installed on the sliding blocks of the screw rod set I, each reel frame is in the shape of a right-angled trapezoid and is installed on the front side of the corresponding mounting plate, and the cutting knife is installed on the bottom of the two mounting plates.

[0013] Further, the cutting knife comprises a DC motor III, a cutting blade and a synchronous belt set, the DC motor III is installed on the bottom of the mounting plate of the harvesting system, a driving wheel of the synchronous belt set is installed on the output shaft of the DC motor III through a shaft coupling, and a driven wheel of the synchronous belt set is installed on the cutting blade through a shaft coupling.

[0014] Further, the cutting blade is in the structure of a movable fixed knife.

[0015] Further, the conveying system comprises a twist conveyor belt, a conveyor belt I for transporting unpacked leeks, a conveyor belt II for transporting packed leeks, a V-shaped groove mechanism for transporting unpacked leeks to the packing system, and a leek intercepting mechanism; the twist conveyor belt can transport leeks from bottom to top and change the shape of leeks from vertical to horizontal, the front end of the twist conveyor belt is connected to the mounting plate of the leek harvesting system through a front end roller, the rear end of the twist conveyor belt is installed on the frame of the walking mechanism, the conveyor belt I is located below the rear end of the twist conveyor belt, the driven wheels of the gear set are respectively connected to the driving rollers of the conveyor belt I and the rear end roller of the twist conveyor belt, the driven wheels are meshed with each other, thereby realizing the linkage between the conveyor belt I and the twist conveyor belt, and the DC motor I is connected to the driving wheel of the gear set through a shaft coupling;

[0016] The V-shaped groove mechanism is installed on the front part of the packing system and comprises a rudder I, two V-shaped grooves, and a rhombic bearing support, the rudder I is installed on the right side of the packing system, the two V-shaped grooves are connected through a long screw rod, the right V-shaped groove is connected to the rudder I through a copper column, a connecting rod mechanism, and a flange coupling, the left V-shaped groove is connected to the rhombic bearing support through a copper column, a connecting rod mechanism, and a flange coupling, the rhombic bearing support is installed on the left side of the packing system through a mounting plate, the conveyor belt II is installed on the frame of the walking mechanism below the packing system and is connected to the DC motor II, and the leek intercepting mechanism is located above the conveyor belt I and is arranged behind the twist conveyor belt.

[0017] Further, the leek intercepting mechanism comprises an intercepting plate, an upper top plate, and an electric push rod, the intercepting plate is installed on the upper top plate through a movable hinge, the left and right ends of the upper top plate are respectively installed on the left and right side plates of the conveying system, the push rod front end of the electric push rod is installed on the intercepting plate, and the main body of the electric push rod is installed on the support profile of the conveyor belt II.

[0018] Further, the grabbing unit further comprises a large gear and a small gear of a gear set, a mechanical claw disc, a mechanical claw mounting plate, a bearing pressing sheet, and a flange bearing, the mechanical claw is installed on the mechanical claw disc, the large gear of the gear set is installed on the outer ring of the mechanical claw disc, the flange bearing is clamped and installed between the mechanical claw disc and the left and right side plates of the packing support through the bearing pressing sheet, the main body of the through shaft screw rod stepper motor is respectively installed on the mechanical claw mounting plate, one end of the screw rod of the through shaft screw rod stepper motor is installed on the mechanical claw, the small gear of the gear set is installed on the stepper motor through a shaft coupling and penetrates through the side plate of the packing system, the packing support is installed on the frame of the walking system, and the stepper motor drives the mechanical claw to rotate through the gear set.

[0019] Further, the gripping part of the mechanical claw claw toe is in a circular arc shape.

[0020] Further, the cutting mechanism comprises a steering engine II for controlling the blade to cut the adhesive tape, the blade, a bearing support, an adhesive tape pressing disc, a screw rod set II, a cutting mounting plate, a guide wheel and an adhesive tape roll, the screw rod set II is installed on the upper plate of the packing support, the cutting mounting plate is installed on the slider which slides left and right on the screw rod set II, the guide wheel is located in front of the screw rod set II and is installed on the lower side of the front end of the cutting mounting plate, the steering engine II is installed on the upper side of the front end of the cutting mounting plate, the adhesive tape pressing disc is installed on the bearing support through the optical axis after pressing the adhesive tape roll, the bearing support is installed on the cutting mounting plate, the blade is installed on the blade mounting head, and the blade mounting head is installed on the steering engine II through a rod; the screw rod set II drives the adhesive tape pressing disc and the adhesive tape roll on the cutting mounting plate to move left and right, and the steering engine II drives the blade to cut the adhesive tape. The leek harvesting and bundling integration is realized, the consumption of labor is reduced, the harvesting and packaging efficiency of leeks is improved, the mechanical structure is stable, the loss parts are convenient to replace, the operation is simple, and the device is suitable for leek fields of various heights. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structure schematic diagram of a walking system.

[0022] Figure 2 is a structure schematic diagram of a harvesting system.

[0023] Figure 3 is a structure schematic diagram of a V-shaped groove mechanism.

[0024] Figure 4 is a structure schematic diagram of a conveying system.

[0025] Figure 5 is a structure schematic diagram of a packing system.

[0026] Figure 6 is Figure 5 a bottom view angle schematic diagram.

[0027] Figure 7 is a structure schematic diagram of a cutting knife.

[0028] Figure 8 is a structure schematic diagram of a mechanical claw.

[0029] Figure 9 is a structure schematic diagram of a leek intercepting mechanism.

[0030] Figure 10 is a structure schematic diagram of the present application.

[0031] Figure 11 is Figure 10 a side view.

[0032] Figure 12 isFigure 10 Top view. Figure 13 yes Figure 10 A bottom view. Detailed Implementation

[0033] The present invention will now be further described with reference to the accompanying drawings.

[0034] Reference Figures 1-13 A self-propelled leek harvesting and bundling machine includes a walking system and a harvesting system, a conveying system, a bundling system, and a main control board installed on the walking system. The walking system, harvesting system, conveying system, and bundling system are all connected to the main control board. The walking system includes a frame, a shock absorption system, and a power system. The power system is located below the frame and is connected to the frame through the shock absorption system. A collection box is also provided on the rear side of the frame. The harvesting system is located in front of the walking system and is installed on the shock absorption system. The conveying system is located behind the harvesting system and is installed on the frame of the walking system. The bundling system is located behind the conveying system and is installed on the frame of the walking system.

[0035] Place the self-propelled leek harvester and bundler in the field. The main control board controls the movement of the walking system. When passing through the leek field, the harvesting system harvests the leeks. The leeks are then conveyed into the baling system, and the baled leeks are then conveyed into the collection box by the conveying system.

[0036] like Figure 1As shown, the walking system includes a frame 134, a damping mechanism and a power system, the damping system is located on the lower side of the frame 134 and is installed on the frame 134, the power system is installed on the lower side of the damping system, the damping system includes two damping units, two damping units are symmetrically installed on the lower part of the frame 134, each damping unit includes two spring damping rods 37, two fish eye rods 38 and two limit rods 39, the two spring damping rods 37 are longitudinally and laterally symmetrically arranged, and the lower ends thereof are installed on the mounting profile, that is, the lower ends of the spring damping rods of the two damping units are connected with the mounting profiles 35, 36 respectively, the two fish eye rods 38 are arranged laterally symmetrically on the outside of the two spring damping rods 37, and the lower ends thereof are rotatably installed on the mounting profile, the two limit rods 39 are arranged laterally symmetrically on the side of the mounting profile 35 or 36, and are located on the inside of the two fish eye rods 38; the upper ends of each fish eye rod 38, spring damping rod 37 and limit rod 39 are connected with the mounting profile 1, 10 through support seats 2, 3, 4, 5, 8, 9, 11, 12, 15, 16, 17, 18 and rib angle brackets 6, 7, 13, 14; the power system is installed on the lower part of the damping system, including reel wheels 24, 29, 30, 34, reduction motors 23, 25, connecting shaft 32, two reel wheels 24, 29 and two reduction motors 23, 25 are connected through couplings 22, 27 to form two drive units, the reduction motor 25 is installed on the two side motor mounting plates 26, the motor mounting plates 26 are installed on the pads 28 and are connected with the mounting profile 1, the two drive units are laterally symmetrically installed on the mounting profile 36 of the front damping unit, two reel wheels 30, 34 are laterally symmetrically installed on the connecting shaft 32 through bearing supports 21, the connecting shaft 32 is installed on the mounting profile 35 of the rear damping unit through bearing supports I 31, 33; the reduction motor 23 is connected to the mounting profile 36 through the motor support 20 and the pad 19, and the reduction motor 25 is connected to the mounting profile 36 through the motor support 26 and the pad 28.

[0037] As Figure 2 shown, the harvesting system is located in front of the walking system, including screw rod group I 40, mounting plates 46, 47, trapezoidal supporting frame 114, 115 and cutting knife, the screw rod group I 40 is installed on the front damping unit of the walking system, the mounting plates 46, 47 are laterally symmetrically arranged and installed on the sliding blocks 41 of the screw rod group I 40, including bottom plates and side plates, the trapezoidal supporting frames 114, 115 are respectively installed on the front side plates of the mounting plates 46, 47, and the cutting knife is installed on the bottom of the bottom plate of the mounting plates 46, 47. The seedling supporting inclined block 138 is located between the trapezoidal supporting frames 114, 115 and is installed on the top of the bottom plate of the mounting plates 46, 47; the cutting knife is installed on the cutting knife mounting plate 43, and the cutting knife mounting plate 43 is installed on the bottom plate. As Figure 7As shown, the cutting knife includes a DC motor III 150, cutting blades 44, 45 and a synchronous belt set 151, the DC motor III 150 is installed on the bottom of the mounting plate of the harvesting system through the mounting plate 42, the driving wheel 152 of the synchronous belt set 151 is installed on the output shaft of the DC motor III 150 through the shaft coupling 153, the driven wheel 154 of the synchronous belt set 151 is installed on the cutting blades 44, 45 through the shaft coupling 155. The cutting blades 44, 45 are dynamic fixed knife structure.

[0038] As shown in Figure 3 and Figure 4 As shown, the conveying system includes a twisting conveyor belt for transporting leeks from bottom to top and changing the posture of leeks from vertical to horizontal, a conveyor belt I 116 for transporting unpacked leeks, a V-shaped groove mechanism for transporting unpacked leeks to the packing system, left and right baffles 52, 54, a gear set 56, a leek interception mechanism 50, a DC motor I 57, a DC motor II 58 and a conveyor belt II 53 for transporting packed leeks, the front end of the twisting conveyor belt is installed on the mounting plate of the leek harvesting system through the front end roller 49, the rear end of the twisting conveyor belt is horizontally installed on the left and right side plates 139 through the rear end roller 60 and the bearing seat, the left and right side plates 139 are installed on the frame of the walking mechanism, the conveyor belt I 116 is installed below the rear end of the twisting conveyor belt, the driven wheels of the gear set 56 are respectively connected with the rear end roller 60 of the twisting conveyor belt and the driving roller of the conveyor belt I 116, the driven wheels are meshed with each other, the twisting conveyor belt is connected with the conveyor belt I 116 through the gear set 56, the DC motor I 57 is connected with the driving wheel 62 of the gear set through the shaft coupling 61, and the DC motor I 57 is installed on the frame of the walking system through the motor support 63 and the cushion block 64.

[0039] The twisting conveyor belt is composed of two sets of conveyor belts 48, 59, the front end roller is a driven roller, and it is installed on the bottom plate of the mounting plate of the leek harvesting system through the slope connecting piece, the rear end roller 60 is a driving roller, and it is installed on the left and right side plates 139 of the leek conveying system, the left and right side plates 139 include the left side plate 149 and the right side plate 148, the two driven wheels 136, 137 on the upper side of the gear set are installed on the driving roller of the twisting conveyor belt through the right side plate 148.

[0040] As shown in Figure 9 The front end of the conveyor belt I 116 is a driving roller, and the rear end is a driven roller, the driving roller of the conveyor belt I 116 is installed on the driven wheel on the lower side of the gear set 56 through the right side plate 148. The rear end of the conveyor belt II 53 is a driving roller, and the front end is a driven roller.

[0041] The V-shaped groove mechanism is installed on the front of the packing system, including rudder I 65, two V-shaped grooves 51, 55, diamond bearing support 66, the rudder I 65 is installed on the right side of the packing system through the mounting plate, the two V-shaped grooves 51, 55 are connected through long screw rod 67, the right V-shaped groove 55 is connected on the rudder I 65 through copper column 68, connecting rod mechanism 69 and flange coupling 70, the right end of V-shaped groove 55 is connected with copper column 68 through connecting rod mechanism 69, copper column 68 is connected with flange coupling 70; the left V-shaped groove 51 is connected on M8 light pole 75 through copper column, connecting rod mechanism 72 and flange coupling 74 and is connected with diamond bearing support 66, the left end of V-shaped groove 51 is connected with copper column and light pole 75 through connecting rod mechanism 72, copper column is connected with flange coupling 74, flange coupling 74 is connected with diamond bearing support 66, the diamond bearing support 66 is installed on the left side of the packing system through the mounting plate, the conveying belt II 53 is installed on the frame of the walking mechanism below the packing system, and it is connected with the DC motor II 58, the DC motor II 58 is installed on the frame of the walking system through the motor support 157 and the cushion block 118, the leek intercepting mechanism 50 is installed on the left and right side plates 139. The leek intercepting mechanism 50 is located above the conveying belt I 116 and is arranged behind the twisted conveying belt.

[0042] As Figure 5 And Figure 6As shown, the packing system is installed on the rear of the frame of the walking mechanism, including two grabbing units, a cutting mechanism and a packing support, the packing support includes small frames 100, 101, 102, 103, 104, 125, an upper plate 110 and left and right side plates 119, 120, the two grabbing units are symmetrically installed on the left and right side plates 119, 120, and the left and right side plates 119, 120 are respectively installed corresponding to the left and right baffles 52, 54, each grabbing unit includes a mechanical claw, a stepping motor, a through shaft screw stepping motor 80, a large gear and a small gear of a gear set, a mechanical claw disc 121, 88, a mechanical claw mounting plate, a bearing pressing sheet I 85, a bearing pressing sheet II 86 and a flange bearing, the mechanical claws 77, 78 are respectively installed on the mechanical claw discs 121, 88, the large gears 81, 87 of the gear set are installed on the outer rings of the mechanical claw discs 121, 88, the flange bearings 122, 124 are respectively clamped and installed between the mechanical claw discs 88, 121 and the left and right side plates 119, 120 of the packing support through the bearing pressing sheet II 86 and the bearing pressing sheet I 85, the main bodies of the through shaft screw stepping motors 80 of the two grabbing units are respectively installed on the mechanical claw mounting plates 123, 84, one end of the screw rod of the through shaft screw stepping motor 80 is installed on the mechanical claw, the mechanical claw mounting plate is installed on the side plate of the packing system through the small screw rod 156, the stepping motors 79, 90 are respectively installed on the mechanical claw mounting plates 123, 84 through the stepping motor supports 125, 127 and the connecting pieces 126, 128, the small gears 82, 89 of the gear set are installed on the stepping motors 90, 79 through the shaft couplings 130, 129 passing through the side plate of the packing system, and the small frames 100, 101, 102, 103, 104, 125 are installed on the frame of the walking system.

[0043] The cutting mechanism is located above the grabbing unit and is installed on the upper plate 110 of the packing support, including a rudder II 105 for controlling the cutting of the blade, a blade 131, bearing supports 106, 107, a rubber belt pressing disc 108, a screw rod set II 109, a cutting mounting plate, a guide wheel 111 and a rubber belt roll 112, the screw rod set II 109 is installed on the upper plate 110 of the packing support, the cutting mounting plate is installed on the sliding block that slides left and right on the screw rod set II 109, the guide wheel 111 is located in front of the screw rod set II 109 and is installed on the lower side of the front end of the cutting mounting plate 110, the rudder II 105 is installed on the upper side of the front end of the cutting mounting plate 110,

[0044] The tape pressing disc 108 is installed on the bearing support 106, 107 through the optical axis 132 after pressing the tape roll 112, and the bearing support is installed on the cutting installation plate. The blade 131 is connected to the blade installation head 133 and is installed on the rudder II 105 through the rod 113. The screw rod group II 109 drives the tape pressing disc 108 and the tape roll 112 on the cutting installation plate to move left and right, and the rudder II 105 drives the blade 131 to cut the tape.

[0045] As shown in Figure 8 The mechanical claw includes three claw toes 159, 140, 141, a moving small claw disc 142, and a tape sticking piece 143. The claw toes 159 are composed of a connecting rod mechanism. The ends of the claw toes 159 are uniformly installed on the mechanical claw disc through the connecting piece 144. The driving end of the claw toes 159 is uniformly installed on the moving small claw disc 142 through the connecting piece. One end of the through shaft screw stepper motor 80 of the grabbing unit is installed on the moving small claw disc 142. The tape sticking piece 143 is installed at the top end of the claw toes 159. The opening and closing of the mechanical claw is controlled by the through shaft screw stepper motor 80. The rotation of the corresponding mechanical claw is controlled by the stepper motors 79, 90.

[0046] As shown in Figure 9 The leek interception mechanism includes an interception plate 146, an upper top plate 145, and an electric push rod 147. The interception plate 146 is installed on the upper top plate 145 through a movable hinge. The left and right ends of the upper top plate 145 are respectively installed on the left side plate 149 and the right side plate 148 of the conveying system. The push rod front end of the electric push rod 147 is installed on the interception plate 146. The main body of the electric push rod is installed on the support profile of the conveyor belt II 53.

[0047] As shown in Figures 10-13 The collection box 135 is installed on the profile at the rear side of the walking system.

[0048] The all-in-one machine of the application is placed in the field, the walking system works to drive the machine to move forward, the supporting frame of the harvesting system closes the leeks, the upper end of the leeks is squeezed and fixed by the twisting conveyor belt, the lower end of the leeks is cut by the cutting knife, after the leeks are cut, the main control board controls the DC motor 57 to rotate to squeeze the leeks upward by the twisting conveyor belt 48, 49 and change the vertical posture of the leeks into a horizontal posture, and then the leeks fall on the conveyor belt 116. Then the main control board controls the steering wheel 65 of the V-shaped groove mechanism to rotate to make the V-shaped groove below the end of the conveyor belt 116, so that the leeks fall into the V-shaped groove, and when the amount of leeks reaches the set amount, the steering wheel 65 reverses to make the V-shaped groove enter between the mechanical claws of the two grabbing units; then the main control board controls the through shaft screw stepper motor 80 of the packaging system to rotate, so that the mechanical claws 77, 78 tighten and hold the leeks, and the steering wheel 65 of the V-shaped groove mechanism rotates again to reset the V-shaped groove 51, 55 below the end of the conveyor belt 116. Then the main control board controls the stepper motors 79, 90 of the packaging system to rotate to drive the gear set transmission, so that the mechanical claws rotate, at the same time, the screw rod set 109 of the packaging system moves left and right, so that the adhesive tape is wound on the leeks and pasted on the mechanical claws 77, 78 again, then the main control board controls the steering wheel 105 of the packaging system for controlling the blade to cut the adhesive tape to rotate, and the adhesive tape is cut off. Then the through shaft screw stepper motor 80 of the packaging system reverses to make the mechanical claws 77, 78 open, the bundled leeks fall off from the mechanical claws 77, 78 and fall on the conveyor belt 116, and the conveyor belt 116 conveys the bundled leeks into the collection box 135.

Claims

1. A self-propelled leek harvesting and bundling machine, characterized in that: The application relates to a self-propelled leek harvesting and bundling integrated machine, which comprises a walking system and harvesting, conveying, packaging systems and a main control board, wherein the walking system, the harvesting system, the conveying system and the packaging system are connected with the main control board; the walking system comprises a frame, a damping system and a power system; the power system is located below the frame and is connected with the frame through the damping system; a collecting box is arranged on the rear side of the frame; the harvesting system is located in front of the walking system and is arranged on the damping system; the conveying system is located behind the harvesting system and is arranged on the frame of the walking system; and the packaging system is located behind the conveying system and is arranged on the frame of the walking system. The self-propelled leek harvesting and bundling integrated machine is placed in a field, the main control board controls the walking system to move, the leek is harvested by the harvesting system when passing through the leek field, the leek enters the packaging system through the conveying system, and the packaged leek enters the collecting box through the conveying system. The packaging system comprises two grabbing units, a cutting mechanism and a packaging support; the two grabbing units are symmetrically arranged on the packaging support; the cutting mechanism is located above the grabbing units and is arranged on the upper plate of the packaging support; each grabbing unit comprises a mechanical claw, a stepping motor and a through-shaft screw stepping motor; a screw rod group II drives a rubber belt pressing disc and a rubber belt roll on a cutting mounting plate to move left and right; a rudder II drives a blade to cut the rubber belt; The mechanical claw comprises three claw toes and a rubber belt sticking piece; the rubber belt sticking piece is arranged at the top end of the claw toes; the opening and closing of the mechanical claw are controlled by the through-shaft screw stepping motor; and the rotation of the corresponding mechanical claw is controlled by the stepping motor. The main control board controls the rotation of the stepping motor of the packaging system to drive the gear set to drive the mechanical claw to rotate; meanwhile, the screw rod group II of the packaging system moves left and right to make the rubber belt wind around the leek and stick to the mechanical claw again; then the main control board controls the rotation of the rudder II of the packaging system to cut the rubber belt.

2. The self-propelled leek harvesting and bundling integrated machine according to claim 1, characterized in that: The damping system comprises two damping units which are symmetrically arranged on the bottom of the frame; each damping unit comprises two spring damping rods, two fish eye rods and two limiting rods; the two spring damping rods, the two fish eye rods and the two limiting rods are symmetrically arranged left and right; the two spring damping rods are located inside the two fish eye rods; the two limiting rods are located inside the two fish eye rods; the upper and lower ends of each damping unit are connected with mounting profiles; the upper end of the mounting profile is connected with the frame; and the lower ends of the two limiting rods are arranged on the side surface of the lower end mounting profile. The power system comprises four sweeping wheels and two speed reduction motors; the four sweeping wheels are divided into two groups which are connected with the two damping units correspondingly; the two sweeping wheels at the rear are connected through a connecting shaft; the two sweeping wheels at the front are connected with the two speed reduction motors to form two driving units; and the two driving units are symmetrically arranged on the lower end mounting profile of the front damping unit.

3. The self-propelled leek harvesting and bundling all-in-one machine according to claim 2, characterized in that: The harvesting system comprises a screw rod group I, two mounting plates, two wheat supporting frames and a cutting knife, the screw rod group I is mounted on the front side damping unit of the walking system, the two mounting plates are symmetrically arranged and mounted on the sliding blocks of the screw rod group I, each wheat supporting frame is in the shape of a right-angled trapezoid and is mounted on the front side of the corresponding mounting plate, and the cutting knife is mounted on the bottom of the two mounting plates.

4. The self-propelled leek harvesting and bundling integrated machine according to claim 3, characterized in that: The cutting knife comprises a DC motor III, a cutting blade and a synchronous belt group, the DC motor III is mounted on the bottom of the mounting plate of the harvesting system, the driving wheel of the synchronous belt group is mounted on the output shaft of the DC motor III through a shaft coupling, and the driven wheel of the synchronous belt group is mounted on the cutting blade through a shaft coupling.

5. The self-propelled leek harvesting and bundling integrated machine according to claim 4, characterized in that: The cutting blade is in the structure of a moving fixed knife.

6. The self-propelled leek harvesting and bundling integrated machine according to claim 3, characterized in that: The conveying system comprises a twisting conveyor belt, a conveyor belt I for conveying unpacked leeks, a conveyor belt II for conveying packed leeks, a V-shaped groove mechanism for conveying unpacked leeks to the packing system and a leek intercepting mechanism, the twisting conveyor belt can convey leeks from bottom to top and change the shape of the leeks from vertical to horizontal, the front end of the twisting conveyor belt is connected with the mounting plate of the leek harvesting system through a front end roller, the rear end of the twisting conveyor belt is mounted on the frame of the walking mechanism through a rear end roller, the conveyor belt I is located below the rear end of the twisting conveyor belt, the driven wheels of the gear group are respectively connected with the driving rollers of the conveyor belt I and the rear end roller of the twisting conveyor belt, the driven wheels are engaged with each other, the conveyor belt I and the twisting conveyor belt are linked, and the DC motor I is connected with the driving wheel of the gear group through a shaft coupling; The V-shaped groove mechanism is mounted on the front part of the packing system and comprises a rudder I, two V-shaped grooves and a rhombic bearing support, the rudder I is mounted on the right side of the packing system, the two V-shaped grooves are connected through a long screw, the right side V-shaped groove is connected with the rudder I through a copper column, a connecting rod mechanism and a flange coupling, the left side V-shaped groove is connected with the rhombic bearing support through a copper column, a connecting rod mechanism and a flange coupling, the rhombic bearing support is mounted on the left side of the packing system through a mounting plate, the conveyor belt II is mounted on the frame of the walking mechanism below the packing system and is connected with the DC motor II, and the leek intercepting mechanism is located above the conveyor belt I and is arranged behind the twisting conveyor belt.

7. The self-propelled leek harvesting and bundling all-in-one machine according to claim 6, characterized in that: The leek intercepting mechanism comprises an intercepting plate, an upper top plate and an electric push rod, the intercepting plate is mounted on the upper top plate through a movable hinge, the left and right ends of the upper top plate are respectively mounted on the left and right side plates of the conveying system, the push rod front end of the electric push rod is mounted on the intercepting plate, and the main body of the electric push rod is mounted on the support profile of the conveyor belt II.

8. The self-propelled leek harvesting and bundling all-in-one machine according to claim 1, characterized in that: The grabbing unit further comprises a large gear and a small gear of a gear set, a mechanical claw disc, a mechanical claw mounting plate, a bearing pressing sheet and a flange bearing, the mechanical claw is mounted on the mechanical claw disc, the large gear of the gear set is mounted on the outer circle of the mechanical claw disc, the flange bearing is clamped and mounted between the left and right side plates of the packing support through the bearing pressing sheet, the main body of the through-shaft screw rod stepper motor is respectively mounted on the mechanical claw mounting plate, one end of the screw rod of the through-shaft screw rod stepper motor is mounted on the mechanical claw, the small gear of the gear set is installed on the stepper motor through a shaft coupling and penetrates the side plate of the packing system, the packing support is mounted on the frame of the walking system, and the stepper motor drives the mechanical claw to rotate through the gear set.

9. The self-propelled leek harvesting and bundling all-in-one machine according to claim 8, characterized in that: The gripping part of the mechanical claw claw toe is in a circular arc shape.

10. The self-propelled leek harvesting and bundling all-in-one machine according to claim 8, characterized in that: The cutting mechanism comprises a rudder II for controlling the cutting of the blade, a blade, a bearing support, a tape pressing disc, a screw rod set II, a cutting mounting plate, a guide wheel and a tape roll, the screw rod set II is mounted on the upper plate of the packing support, the cutting mounting plate is mounted on the slider that slides left and right on the screw rod set II, the guide wheel is located in front of the screw rod set II and is mounted on the lower side of the front end of the cutting mounting plate, the rudder II is mounted on the upper side of the front end of the cutting mounting plate, the tape roll is pressed by the tape pressing disc and is mounted on the bearing support through an optical shaft, the bearing support is mounted on the cutting mounting plate, the blade is mounted on a blade mounting head, and the blade mounting head is mounted on the rudder II through a rod; the screw rod set II drives the tape pressing disc and the tape roll on the cutting mounting plate to move left and right, and the rudder II drives the blade to cut the tape.

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