A potato harvesting ultrasonic potato-soil separation device and harvester

Abstract

The present invention provides an ultrasonic potato-soil separation device and harvester for potato harvesting, which are used to solve the problem of incomplete potato-soil separation and easy leakage and damage of potatoes in the prior art. The device comprises: an excavating device and a conveying and separating device, wherein the excavating device is located at the front end of the conveying and separating device; the conveying and separating mechanism comprises two first support arms which are symmetrically arranged and inclined at an angle to the ground, two second support arms which are symmetrically arranged and horizontally arranged, a rotating conveying module for conveying a potato-soil mixture, and an ultrasonic potato-soil separation mechanism, wherein one end of the first support arm is fixedly connected to one end of the second support arm; the ultrasonic potato-soil separation mechanism comprises a mobile identification module, a fixing seat, an ultrasonic transducer, a die head, a hemispherical clamp, a cooling module, a grabbing power module, and a first telescopic component. The device can not only realize the complete separation of potatoes and soil, but also solve the problem of potato damage and leakage.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an ultrasonic potato-soil separation device for potato harvesting and a harvester. Background Art

[0002] Potatoes are one of the important economic crops in my country. Since potatoes grow under the soil and have tubers, they are usually harvested manually. However, the manual harvesting method is inefficient and it is difficult to improve the harvesting efficiency.

[0003] With the continuous expansion of potato planting area in my country, the requirements for mechanized potato harvesting must also be improved. The biggest difficulty of mechanized harvesting is that when potatoes are dug out from the ground, there will still be a lot of soil on the surface, the potato-soil separation is not complete, the separation efficiency is low under heavy soil, and the soil adheres to the potatoes and cannot be cleaned in time, which causes damage to the potatoes in the subsequent processing process, affecting their quality and storage life. In addition, when potatoes are conveyed, the potatoes remain stationary relative to the part on the conveyor belt they are in contact with, making it difficult to clean the soil adhering to the surface of the potatoes; in addition, for different potato varieties or different planting methods, the excavation depth is too shallow, and the deeply buried potatoes cannot be completely dug out, which may cause potatoes to be missed or damaged, thereby causing yield losses; if the excavation depth is too deep, it is easy to cause excessive excavation and collision to the potatoes, resulting in damage and scratches to the potato body, affecting the quality. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a potato harvesting ultrasonic potato-soil separation device and a harvester, which are used to solve the problems of incomplete potato harvesting and soil separation and easy potato leakage and potato damage in the prior art.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides an ultrasonic potato-soil separation device for potato harvesting, comprising: a digging device and a conveying and separating device, wherein the digging device is located at the front end of the conveying and separating device and is used for digging potatoes;

[0006] The conveying and separating mechanism comprises two first supporting arms which are symmetrically arranged on the left and right and inclined at an angle to the ground, two second supporting arms which are symmetrically arranged on the left and right and arranged horizontally, a rotating conveying module for conveying a potato-soil mixture, and an ultrasonic potato-soil separating mechanism, wherein one end of the first supporting arm is fixedly connected to one end of the second supporting arm;

[0007] The ultrasonic potato-soil separation mechanism includes a mobile identification module arranged above the second support arm, a fixed seat fixedly connected to one end of the mobile identification module, an ultrasonic transducer fixedly installed on the fixed seat, a die head fixedly connected to the ultrasonic transducer, a hemispherical clamp, a cooling module for cooling the hemispherical clamp, a grabbing power module for controlling the opening and closing of the hemispherical clamp, and a first telescopic component for controlling the vertical movement of the grabbing power module, an arc groove is provided at one end of the die head and the hemispherical clamp, the hemispherical clamp is located between the die head and the cooling module, a soil leakage hole is provided at one end of the hemispherical clamp, the soil leakage hole and the central axis of the hemispherical clamp are collinear, the hemispherical clamp is composed of a plurality of the fan-shaped clamps, and each of the hemispherical clamps is provided with a turbine at the other end;

[0008] The mobile identification module is used to identify the potato body-soil attachment boundary and the damaged part boundary and move the hemispherical gripper to grasp.

[0009] Optionally, the grabbing power module includes a rotating cylinder, a worm and a grabbing power part that drives the worm to rotate, one end of the rotating cylinder is fixedly connected to the telescopic end of the first telescopic assembly, the rotating cylinder and the worm are coaxially arranged, and the other end of the rotating cylinder is rotationally connected to each of the turbines through a plurality of lugs, the worm is meshed with the turbine on each of the fan-shaped jaws for transmission, the central axes of the worm and the fan-shaped jaws are colinear, and an identifier is provided at one end of the worm facing the hemispherical jaw.

[0010] Optionally, the cooling module includes a semiconductor refrigeration sheet and a heat sink. The semiconductor refrigeration sheet is mounted on the fixed seat and arranged opposite to the die head. The cold end of the semiconductor refrigeration sheet is an arc-shaped structure and contacts and cooperates with the hemispherical clamp. The heat sink is fixedly connected to the hot end of the semiconductor.

[0011] Optionally, the mobile identification module includes a top plate arranged on the top of the second supporting arm, a first screw rod rotatably arranged at the bottom of the top plate, a second screw rod, a slide rail symmetrically arranged with the first screw rod and fixedly installed at the bottom of the top plate, a first slider, a second slider, a third slider, an identification component, a first drive component driving the first screw rod to rotate, and a second drive component driving the second screw rod to rotate, the rotation axis of the first screw rod is parallel to the potato conveying direction, the first slider is provided with an internal thread matching with the first screw rod thread, the second slider is slidably matched with the slide rail, the two ends of the second screw rod are rotatably mounted on the first slider and the second slider respectively, the third slider is provided with an internal thread matching with the second screw rod thread, and the third slider is fixedly connected to the fixing seat;

[0012] The identification component is used to take potato pictures in real time and identify the boundary of potato body-soil attachment-damage part.

[0013] Optionally, a chain groove is provided from the other end of the first supporting arm along its length direction to the other end of the second supporting arm;

[0014] The rotating conveying module includes multiple rotating rods, several sprockets, two chains, and a rotating rod power assembly for driving one of the rotating rods to rotate. The multiple rotating rods are arranged at a first spacing along the length direction of the first support arm and the second support arm. The multiple rotating rods are rotatably installed on the first support arm and the second support arm. Each of the two ends of the rotating rod is coaxially fixed with a sprocket, and several of the sprockets are located in the chain groove. The two chains respectively drive and connect the sprockets at both ends of each rotating rod.

[0015] Optionally, the conveying and separating device further comprises a beating and separating mechanism, and the beating and separating mechanism moves up and down to beat the potatoes with soil;

[0016] A limiting groove is provided on the side surface of the first supporting arm;

[0017] The flapping separation mechanism includes two fixed arms symmetrically arranged and located in the chain slot, a plurality of flapping rods, two rollers, two drums, and an elastic member for resetting the fixed arm to the bottom of the chain slot, one end of the fixed arm is hinged to one end of the first support arm, a plurality of flapping rods are arranged at a second interval along the length direction of the fixed arm, both ends of a plurality of flapping rods pass through the limiting groove and are fixedly connected to the fixed arm, each flapping rod and the adjacent rotating rod form a V-shaped structure, two rollers are rotatably mounted on the other end of the fixed arm, a circular roller groove is provided on the drum that is rollingly matched with the roller, a through hole is provided on the circular roller groove on the drum that deviates from the center of the circle, and the two rollers are coaxially fixedly matched with a rotating rod close to the other end of the first support arm through the through hole respectively;

[0018] The elastic member comprises a spring, one end of the spring is fixedly connected to the other end of the fixed arm, and the other end of the spring is fixedly connected to the bottom of the chain slot.

[0019] Optionally, the excavation device includes a plurality of excavating shovels, a conveying plate, two side plates, a soil crushing rod, a soil crushing driving mechanism for driving the soil crushing rod to rotate, an angle shaft, an angle driving mechanism, and a depth adjustment mechanism. The two side plates are fixedly connected to the left and right ends of the conveying plate, and a plurality of soil leakage grooves are provided on the conveying plate. The angle shaft is rotatably mounted on the two side plates and is located below the conveying plate. The plurality of excavating shovels are arranged at a third interval along the axial direction of the angle shaft. The soil crushing rod is rotatably mounted on the two side plates and is located above the conveying plate, and the soil crushing rod is provided with spiral sheets along its own axis.

[0020] The angle driving mechanism is used to drive the angle rotating shaft to rotate and adjust the soil entry angle of the digging shovel;

[0021] The depth adjustment mechanism adjusts the digging depth of the digging shovel.

[0022] Optionally, the angle driving mechanism includes a first gear rotatably arranged on the side panel, an arc-shaped rack, and an angle power member driving the first gear to rotate; the arc-shaped rack is coaxially fixedly matched with one end of the angle rotating shaft, and the first gear is meshed with the arc-shaped rack for transmission.

[0023] Optionally, the front and rear ends of the left and right sides of the conveying plate are provided with hinge rods;

[0024] The depth adjustment mechanism comprises a second telescopic component, a first support, and two groups of up and down movement mechanisms, the telescopic end of the second telescopic component is hinged between the two ends of the first support, and the two groups of up and down movement mechanisms are located on both sides of the conveying plate, and each group of the up and down movement mechanisms comprises a first support arm, a second support arm, a third support arm and an L-shaped support seat, the first end of the first support arm is hinged to the hinge rod at the front end of one side of the conveying plate, the second end of the first support arm, the first end of the first support seat and the first end of the second support arm are hinged, the second end of the second support arm, the first end of the third support arm and the top of the other end of the first support arm are hinged, the second end of the third support arm, the bottom of the other end of the first support arm and the hinge rod at the rear end of one side of the conveying plate are hinged, the horizontal part of the L-shaped support seat is arranged parallel to the first support arm and is fixedly connected to the other end of the first support arm, and the L-shaped support seat is provided with a vertical slide groove along the direction of its vertical part, and the first end of the first support seat and the hinge rod at the front end of one side of the conveying plate are both slidably matched with the vertical slide groove.

[0025] A harvester comprises the potato harvesting ultrasonic potato-soil separation device.

[0026] As mentioned above, the full invention title of the present invention has at least the following beneficial effects:

[0027] 1. The potato body-soil attachment boundary and the damaged part boundary are photographed and identified in real time through the mobile identification module, and the results are fed back to the control module. After analysis, the control module controls the movement of the mobile identification module, and controls the grabbing power module to move in the vertical direction through the extension and retraction of the first telescopic component. The grabbing power module controls multiple fan-shaped claws to open or close at the same time to grab potatoes. When the potatoes are grabbed without separating the soil from the potato, the telescopic end of the first telescopic rod contracts, and the hemispherical claw moves into the arc groove. At this time, the ultrasonic transducer drives the die head to crush the soil on the surface of the potato body in the hemispherical claw, and the soil separated from the potato surface flows out through the soil leakage hole. Not only can the soil be crushed in a short time, but the crushing effect can also be accurately controlled by adjusting the ultrasonic parameters, thereby solving the problem of incomplete separation of soil and soil and low separation efficiency under heavy soil;

[0028] 2. The worm is driven to rotate by the grasping power part, which drives the turbine that meshes with the worm to rotate, thereby realizing the opening and closing of the hemispherical clamp. During the grasping process, the shape of the hemispherical clamp can better fit the shape of the potato, increase the contact area and evenly apply force, thereby improving the stability and reliability of grasping;

[0029] 3. The first screw rod and the second screw rod are driven to rotate respectively by the first drive assembly and the second drive assembly, and the moving distance and speed in the front-back and left-right perpendicular directions can be independently and accurately adjusted to meet the grasping requirements of different hemispherical grippers. The cooperation of the first screw rod and the slide rail ensures the stability and accuracy of the moving process, and reduces errors and jitters.

[0030] 4. The rotating rod is driven to rotate by the rotating rod power assembly and the plurality of rotating rods are arranged at a first spacing and driven by the chain and the rotating sprocket, which can provide a smooth and continuous conveying power, and is convenient for the preliminary separation of potatoes and soil. The soil can leak from the spacing between the rotating rods, and the potatoes will not be bumped or stuck during the conveying process. At the same time, it also solves the problem that when the potatoes are conveyed, the potatoes remain stationary relative to the part of the conveyor belt they contact, making it difficult to clean the soil adhering to the surface of the potatoes; the rotation of the rotating rod drives the two rollers to rotate, and the rotation of the rollers stretches the elastic member upward or resets it downward, and the fixed arm moves upward or downward. At this time, the roller rolls in the roller groove, and the beating rod beats the potatoes with soil, which can effectively remove the soil attached to the surface of the potatoes, so that the soil leaks from the gaps between the rotating rods, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm to the other end to move up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potatoes from rolling back to the ground;

[0031] 5. The first gear is driven to rotate by the angle power part, which drives the arc rack to rotate, so that the angle shaft rotates to drive multiple digging shovels to rotate, so as to adjust the digging shovel's entry angle into the soil, so as to cut into the soil more smoothly, reduce digging resistance, and thus improve the speed and efficiency of digging. As the walking collection device moves forward, the soil crushing drive mechanism drives the spiral blades on the soil crushing rod to crush large pieces of soil, and efficiently leaks soil through the soil leakage groove on the conveying plate, thereby reducing the accumulation of soil on the conveying plate; according to different varieties or planting methods, the first support is slid up and down in the vertical slide groove of the L-shaped support seat through the extension and contraction of the second telescopic component, so that the first support arm drives the front end of the conveying plate to move up and down, thereby realizing the adjustment of different digging depths, so as to avoid damaging or leaking potatoes during digging, and improve production. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the conveying and separating device of the present invention;

[0033] Figure 2 It is a schematic diagram of the three-dimensional structure of the conveying and separating device from another perspective of the present invention;

[0034] Figure 3 It shows the structural schematic diagram of the rotating conveying module, ultrasonic potato-soil separation mechanism, and beating separation mechanism of the present invention;

[0035] Figure 4 Shown is an exploded view of the ultrasonic potato-soil separation mechanism of the present invention;

[0036] Figure 5 Shown is a schematic diagram of the three-dimensional structure of the excavating device of the present invention.

[0037] Component number description

[0038] Excavating device 1, excavating shovel 11, conveying plate 12, soil leakage trough 121, hinged rod 122, side plate 13, soil crushing rod 14, soil crushing driving mechanism 15, angle shaft 16, angle driving mechanism 17, first gear 171, arc rack 172, angle power member 173, depth adjustment mechanism 18, second telescopic component 181, first support 182, up and down movement mechanism 183, first support arm 1831, second support arm 1832, third support arm 1833, L-shaped support seat 1834, vertical slide 18341;

[0039] Conveying and separating device 2, first supporting arm 21, chain groove 211, limiting groove 212, second supporting arm 22, rotating conveying module 23, rotating rod 231, sprocket 232, chain 233, rotating rod power assembly 234, ultrasonic soil separation mechanism 24, mobile identification module 241, top plate 2411, first screw rod 2412, second screw rod 2413, slide rail 2414, first slider 2415, second slider 2416, third slider 2417, identification assembly 2418, first driving assembly 2419, second driving assembly 24110, fixed seat 242, ultrasonic soil separation mechanism 24 Acoustic transducer 243, die head 244, arc groove 2441, hemispherical clamp 245, soil leakage hole 2451, fan-shaped clamp 2452, turbine 2453, cooling module 246, semiconductor refrigeration plate 2461, heat sink 2462, arc structure 2463, grabbing power module 247, rotating cylinder 2471, worm 2472, grabbing power part 2473, lug 2474, first telescopic assembly 248, beating separation mechanism 25, fixed arm 251, beating rod 252, roller 253, drum 254, circular roller groove 2541, elastic part 255. DETAILED DESCRIPTION

[0040] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0041] See also Figures 1 to 5 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0042] The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0043] In this embodiment, please refer to Figures 1 to 5The present invention provides a potato harvesting ultrasonic potato-soil separation device, comprising: a digging device 1 and a conveying and separating device 2, wherein the digging device 1 is located at the front end of the conveying and separating device 2 and is used to dig potatoes; the conveying and separating mechanism comprises two first support arms 21 which are symmetrically arranged and inclined at an angle to the ground, two second support arms 22 which are symmetrically arranged and horizontally arranged, a rotating conveying module 23 for conveying a potato-soil mixture, and an ultrasonic potato-soil separation mechanism 24, wherein one end of the first support arm 21 is fixedly connected to one end of the second support arm 22;

[0044] The ultrasonic potato-soil separation mechanism 24 includes a mobile identification module 241 arranged above the second support arm 22, a fixed seat 242 fixedly connected to one end of the mobile identification module 241, an ultrasonic transducer 243 fixedly installed on the fixed seat 242, a die head 244 fixedly connected to the ultrasonic transducer 243, a hemispherical clamp 245, a cooling module 246 for cooling the hemispherical clamp 245, a grabbing power module 247 for controlling the opening and closing of the hemispherical clamp 245, and a first telescopic component 248 for controlling the vertical movement of the grabbing power module 247, wherein the first telescopic component 248 includes a hydraulic rod or an electric push rod, and the die head 244 and the hemispherical clamp 245 are connected to the ultrasonic transducer 243. An arc groove 2441 is provided at one end of the hemispherical clamp 245 for contact and cooperation, the hemispherical clamp 245 is located between the die head 244 and the cooling module 246, a soil leakage hole 2451 is provided at one end of the hemispherical clamp 245, the soil leakage hole 2451 and the central axis of the hemispherical clamp 245 are colinear, the hemispherical clamp 245 is composed of a plurality of fan-shaped clamps 2452, a flexible material layer can be attached to the inner wall of the hemispherical clamp 245 to protect the potato skin from being damaged, and a turbine 2453 is provided at the other end of each hemispherical clamp 245; the mobile identification module 241 is used to identify the potato body-soil attachment boundary and the damaged part boundary and move the hemispherical clamp 245 to grasp.

[0045] The mobile identification module 241 is used to take real-time photos of the potato body-soil attachment boundary and the damaged part boundary, and the results are fed back to the control module. After analysis, the control module controls the movement of the mobile identification module 241, and controls the grabbing power module 247 to move in the vertical direction through the extension and retraction of the first telescopic component 248. The grabbing power module 247 controls multiple fan-shaped claws 2452 to open or close at the same time to grab the potatoes. When the potatoes are grabbed but the soil is not separated, the telescopic end of the first telescopic rod contracts, and the hemispherical claw 245 moves into the arc groove 2441. At this time, the ultrasonic transducer 243 works to drive the die head 244 to work and crush the soil on the surface of the potato body in the hemispherical claw 245. The soil separated from the potato surface flows out through the soil leakage hole 2451. Not only can the soil be crushed in a short time, but the crushing effect can also be accurately controlled by adjusting the ultrasonic parameters, thereby solving the problems of incomplete soil separation and low separation efficiency under heavy soil.

[0046] In this embodiment, please refer to Figure 4 The grabbing power module 247 includes a rotating cylinder 2471, a worm 2472 and a grabbing power member 2473 for driving the worm 2472 to rotate, the grabbing power member 2473 includes a motor, one end of the rotating cylinder 2471 is fixedly connected to the telescopic end of the first telescopic assembly 248, the rotating cylinder 2471 and the worm 2472 are coaxially arranged, the other end of the rotating cylinder 2471 is rotationally connected to each of the turbines 2453 through a plurality of lugs 2474, the worm 2472 is meshed with the turbine 2453 on each of the fan-shaped jaws 2452 for transmission, the central axes of the worm 2472 and the fan-shaped jaws 2452 are colinear, and an identifier is provided at one end of the worm 2472 facing the hemispherical jaw 245, and the identifier can monitor the boundary between the potato body and the attached soil in real time during grabbing and crushing. During operation, the worm 2472 is driven to rotate by the grasping power member 2473, which drives the turbine 2453 meshing with the worm 2472 to rotate, thereby realizing the opening and closing of the hemispherical clamp 245. During the grasping process, the shape of the hemispherical clamp 245 can better fit the shape of the potato, increase the contact area and evenly apply force, thereby improving the stability and reliability of grasping.

[0047] In this embodiment, please refer to Figure 4The cooling module 246 includes a semiconductor refrigeration sheet 2461 and a heat sink 2462. The semiconductor refrigeration sheet 2461 is installed on the fixing seat 242 and is arranged opposite to the die head 244. The cold end of the semiconductor refrigeration sheet 2461 is an arc structure 2463 and is in contact with the hemispherical clamp 245. The contact and cooperation between the arc structure 2463 and the hemispherical clamp 245 increases the contact area, improves the heat transfer efficiency, and ensures that the heat is quickly taken away. The heat sink 2462 is fixedly connected to the hot end of the semiconductor. The heat sink 2462 is fixedly connected to the hot end of the semiconductor refrigeration sheet 2461, which can quickly and effectively dissipate the heat generated during the refrigeration process, ensure the continuous and stable operation of the semiconductor refrigeration sheet 2461, and extend its service life.

[0048] In this embodiment, please refer to Figures 1 to 3 The mobile identification module 241 includes a top plate 2411 arranged on the top of the second support arm 22, a first screw rod 2412 rotatably arranged at the bottom of the top plate 2411, a second screw rod 2413, a slide rail 2414 symmetrically arranged with the first screw rod 2412 and fixedly installed at the bottom of the top plate 2411, a first slider 2415, a second slider 2416, a third slider 2417, an identification component 2418, a first driving component 2419 driving the first screw rod 2412 to rotate, and a second driving component 24110 driving the second screw rod 2413 to rotate, the first driving component 2419 including a motor, the second driving component 24110 including a motor, the rotation axis of the first screw rod 2412 is parallel to the potato conveying direction, the first slider 2415 is provided with a first slider 2416 and a second slider 2417, an identification component 2418, a first driving component 2419 driving the first screw rod 2412 to rotate, and a second driving component 24110 driving the second screw rod 2413 to rotate. 412 threaded match with the internal thread, the second slider 2416 is slidably matched with the slide rail 2414, the two ends of the second screw rod 2413 are rotatably installed on the first slider 2415 and the second slider 2416 respectively, the third slider 2417 is provided with an internal thread matched with the second screw rod 2413 thread, and the third slider 2417 is fixedly connected to the fixed seat 242; the first drive component 2419 and the second drive component 24110 are used to drive the rotation of the first screw rod 2412 and the second screw rod 2413 respectively, and the movement distance and speed in the front and back and left and right perpendicular directions can be independently and accurately adjusted to meet the different grasping requirements of the hemispherical clamp 245, and the stability and accuracy of the moving process are guaranteed through the cooperation of the first screw rod 2412 and the slide rail 2414, and the error and jitter are reduced.

[0049] The identification component 2418 is used to take a picture of a potato in real time and identify the boundary of the potato body, soil attachment, and damaged part. The identification component 2418 is installed on the top plate 2411. The identification component 2418 is a prior art and will not be described in detail here.

[0050] In this embodiment, please refer to Figures 1 to 3 A chain groove 211 is provided from the other end of the first supporting arm 21 along its length direction to the other end of the second supporting arm 22;

[0051] The rotating conveying module 23 includes multiple rotating rods 231, multiple sprockets 232, two chains 233, and a rotating rod power assembly 234 for driving one of the rotating rods 231 to rotate. The rotating rod power assembly 234 includes a motor. The multiple rotating rods 231 are arranged at a first spacing along the length direction of the first support arm 21 and the second support arm 22. The multiple rotating rods 231 are rotatably installed on the first support arm 21 and the second support arm 22. Each of the two ends of the rotating rod 231 is coaxially fixed with a sprocket 232. The multiple sprockets 232 are located in the chain groove 211. The two chains 233 respectively drive and connect the sprockets 232 at both ends of each rotating rod 231. The rotating rod 231 is driven to rotate by the rotating rod power assembly 234 and the multiple rotating rods 231 are arranged at a first interval and driven by the chain 233 and the sprocket 232, which can provide a smooth and continuous conveying power, and is convenient for the initial separation of potatoes and soil. The soil can leak from the intervals between the rotating rods 231, and the potatoes will not be bumped or stuck during the conveying process. At the same time, it also solves the problem that when the potatoes are conveyed, the potatoes remain stationary relative to the part of the conveyor belt they contact, making it difficult to clean the soil adhering to the surface of the potatoes.

[0052] In this embodiment, please refer to Figures 1 to 3 The conveying and separating device 2 also includes a beating and separating mechanism 25, and the beating and separating mechanism 25 moves up and down to beat the potatoes with soil;

[0053] A limiting groove 212 is provided on the side of the first support arm 21; the flapping separation mechanism 25 includes two fixed arms 251 symmetrically arranged and located in the chain groove 211, a plurality of flapping rods 252, two rollers 253, two rollers 254, and an elastic member 255 for resetting the fixed arm 251 to the bottom of the chain groove 211, one end of the fixed arm 251 is hinged to one end of the first support arm 21, a plurality of the flapping rods 252 are arranged at a second interval along the length direction of the fixed arm 251, both ends of the plurality of the flapping rods 252 pass through the limiting groove 212 and are fixedly connected to the fixed arm 251, and each of the flapping rods 252 forms a V-shaped structure with the adjacent rotating rod 231, and the two rollers 253 are rotatably installed at the other end of the fixed arm 251. The roller 254 is provided with a circular roller groove 2541 that rolls with the roller 253, and the circular roller groove 2541 on the roller 254 is provided with a through hole at a position deviating from the center of the circle. The two rollers 254 are respectively coaxially fixedly matched with a rotating rod 231 near the other end of the first support arm 21 through the through hole; the elastic member 255 includes a spring, one end of the spring is fixedly connected to the other end of the fixed arm 251, and the other end of the spring is fixedly connected to the bottom of the chain groove 211. During operation, the two rollers 254 are driven to rotate by the rotation of the rotating rod 231. The rotation of the roller 254 stretches the elastic member 255 upward or resets it downward, and the fixed arm 251 moves upward or downward. At this time, the roller 253 rolls in the groove of the roller 253, and the beating rod 252 beats the potatoes with soil, which can effectively remove the soil attached to the surface of the potatoes and make the soil leak from the gap between the rotating rods 231, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm 251 and moving the other end up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potatoes from rolling back to the ground.

[0054] In this embodiment, please refer to Figure 1 and Figure 5The excavating device 1 includes a plurality of digging shovels 11, a conveying plate 12, two side plates 13, a soil crushing rod 14, a soil crushing driving mechanism 15 for driving the soil crushing rod 14 to rotate, an angle shaft 16, an angle driving mechanism 17, and a depth adjustment mechanism 18. The soil crushing driving mechanism 15 includes a motor. The two side plates 13 are fixedly connected to the left and right ends of the conveying plate 12. The conveying plate 12 is provided with a plurality of soil leakage grooves 121. The soil leakage grooves 121 are convenient for efficient soil leakage and reducing the accumulation of soil on the conveying plate 12. The angle shaft 16 is rotatably mounted on the two side plates 13 and is located below the conveying plate 12. The plurality of digging shovels 11 are arranged at a third spacing along the axial direction of the angle shaft 16. The soil crushing rod 14 is rotatably mounted on the two side plates 13 and is located above the conveying plate 12. The soil crushing rod 14 is provided with a spiral blade along its own axial direction. The spiral blade can effectively crush the soil when rotating, reduce resistance, and make the equipment run more smoothly.

[0055] The angle driving mechanism 17 is used to drive the angle rotating shaft 16 to rotate and adjust the soil penetration angle of the digging shovel 11; it can cut into the soil more smoothly, reduce the digging resistance, thereby improving the speed and efficiency of digging, and can also reduce the impact and scratching of the digging shovel 11 on the potatoes, reducing the possibility of damage to the potato body;

[0056] The depth adjustment mechanism 18 adjusts the digging depth of the digging shovel 11. In the actual potato harvesting process, different digging depths can be used for different varieties or planting methods to avoid damaging or missing potatoes during the digging process.

[0057] In this embodiment, please refer to Figure 5 The angle driving mechanism 17 includes a first gear 171 rotatably arranged on one of the side plates 13, an arc-shaped rack 172, and an angle power member 173 driving the first gear 171 to rotate. The arc-shaped rack 172 is coaxially fixedly matched with one end of the angle shaft 16, and the first gear 171 is meshed with the arc-shaped rack 172 for transmission. During operation, the first gear 171 is driven to rotate by the angle power member 173 to drive the arc-shaped rack 172 to rotate. The arc-shaped rack 172 can limit the adjusted angle. The angle shaft 16 rotates to drive multiple digging shovels 11 to rotate, so as to adjust the digging shovel 11 into the soil, so as to cut into the soil more smoothly, reduce the digging resistance, and thus improve the speed and efficiency of digging. As the walking collection device moves forward, the soil crushing driving mechanism 15 drives the spiral blade on the soil crushing rod 14 to crush the large pieces of soil, and efficiently leaks soil through the soil leaking groove 121 on the conveying plate 12, so as to reduce the accumulation of soil on the conveying plate 12.

[0058] In this embodiment, please refer to Figure 1 and Figure 5, the front and rear ends of the left and right sides of the conveying plate 12 are provided with hinge rods 122;

[0059] The depth adjustment mechanism 18 includes a second telescopic component 181, a first support 182, and two groups of up and down movement mechanisms 183. The telescopic end of the second telescopic component 181 is hinged between the two ends of the first support 182. The second telescopic component 181 includes a hydraulic rod or an electric push rod. The two groups of up and down movement mechanisms 183 are located on both sides of the conveying plate 12. Each group of the up and down movement mechanisms 183 includes a first support arm 1831, a second support arm 1832, a third support arm 1833 and an L-shaped support seat 1834. The first end of the first support arm 1831 is hinged to the hinge rod 122 at the front end of one side of the conveying plate 12. The second end of the first support arm 1831, the first end of the first support seat 182 and the second support arm The three of the first end 1832 are hinged, the second end of the second support arm 1832, the first end of the third support arm 1833 and the top of the other end of the first support arm 21 are hinged, the second end of the third support arm 1833, the bottom of the other end of the first support arm 21 and the hinge rod 122 at the rear end of one side of the conveying plate 12 are hinged, the horizontal part of the L-shaped support seat 1834 is arranged parallel to the first support arm 21 and is fixedly connected to the other end of the first support arm 21, the L-shaped support seat 1834 is provided with a vertical slide groove 18341 along the direction of its vertical part, and the first end of the first support 182 and the hinge rod 122 at the front end of one side of the conveying plate 12 are both slidably matched with the vertical slide groove 18341. During operation, according to different varieties or planting methods, the first support 182 is slid up and down in the vertical slide groove 18341 of the L-shaped support seat 1834 through the extension and contraction of the second telescopic component 181, so that the first support arm 1831 drives the front end of the conveying plate 12 to move up and down, thereby realizing the adjustment of different digging depths to avoid damaging or missing potatoes during the digging process and increase the yield.

[0060] In this embodiment, a harvester includes the potato harvesting ultrasonic potato-soil separation device described in any of the above embodiments.

[0061] Working principle: When in use, according to different varieties or planting methods, the first support 182 is slid up and down in the vertical slide groove 18341 of the L-shaped support seat 1834 through the extension and contraction of the second telescopic component 181, so that the first support arm 1831 drives the front end of the conveying plate 12 to move up and down, thereby achieving adjustment of different digging depths to avoid damaging or leaking potatoes during digging. The first gear 171 is driven to rotate by the angle power member 173 to drive the arc-shaped rack 172 to rotate. The arc-shaped rack 172 can limit the adjustment angle, and the angle shaft 16 rotates to drive multiple digging shovels 11 to rotate to achieve digging. The shovel 11 can adjust the angle of entry into the soil, so as to cut into the soil more smoothly and reduce the digging resistance; as the walking collection device moves forward, the soil crushing driving mechanism 15 drives the spiral blades on the soil crushing rod 14 to crush the large pieces of soil, and efficiently leaks the soil through the soil leakage groove 121 on the conveying plate 12, thereby reducing the accumulation of soil on the conveying plate 12; the rotating rod 231 is driven to rotate by the rotating rod power assembly 234, and multiple rotating rods 231 are arranged at a first spacing, and are driven by the chain 233 and the sprocket 232, which can provide a smooth and continuous conveying power, which is convenient for the initial separation of potatoes and soil, and the soil can leak from the spacing between the rotating rods 231; The rotation of 231 drives the two rollers 254 to rotate at the same time. The rotation of the rollers 254 stretches the elastic member 255 upward or resets it downward, and the fixed arm 251 moves upward or downward. At this time, the roller 253 rolls in the groove of the roller 253, and the beating rod 252 beats the potatoes with soil, which can effectively remove the soil attached to the surface of the potatoes and make the soil leak from the gap between the rotating rods 231, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm 251 and moving the other end up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potatoes from rolling back to the ground; when the potatoes are transported to the first support arm 21 When the second support arm 22 is connected, the recognition component 2418 takes a picture of the potato in real time and recognizes the potato body-soil attachment boundary and the damaged part boundary, and feeds the result back to the control module. The first drive component 2419 and the second drive component 24110 respectively drive the rotation of the first screw rod 2412 and the second screw rod 2413, and can independently and accurately adjust the moving distance and speed in the front and back and left and right perpendicular directions to meet the different grasping requirements of the hemispherical clamp 245. The cooperation of the first screw rod 2412 and the slide rail 2414 ensures the stability and accuracy of the moving process, and reduces errors and jitters.By the extension and retraction of the first telescopic component 248, the grabbing power module 247 is controlled to move in the vertical direction. The grabbing power module 247 controls the multiple fan-shaped clamps 2452 to open or close at the same time to grab potatoes. When the potatoes are grabbed, the telescopic end of the first telescopic rod is contracted, and the hemispherical clamp 245 moves into the arc groove 2441. At this time, the ultrasonic transducer 243 drives the die head 244 to work to crush the soil on the surface of the potato body in the hemispherical clamp 245. The soil separated from the potato surface flows out through the soil leakage hole 2451. Not only can the soil be crushed in a short time, but the crushing effect can also be accurately controlled by adjusting the ultrasonic parameters, thereby solving the problem of incomplete separation of soil and soil and low separation efficiency under heavy soil. ;

[0062] In summary, the present invention uses the mobile identification module 241 to take real-time photos and identify the potato body-soil attachment boundary and the damaged part boundary, and feeds back the results to the control module. After analysis, the control module controls the movement of the mobile identification module 241, and controls the grabbing power module 247 to move in the vertical direction through the extension and retraction of the first telescopic component 248. The grabbing power module 247 controls multiple fan-shaped claws 2452 to open or close at the same time to grab the potatoes. When the potatoes grabbed are not separated from the soil, the telescopic end of the first telescopic rod contracts, and the hemispherical claw 245 moves into the arc groove 2441. At this time, the ultrasonic transducer 243 works to drive the die head 244 to work to remove the soil on the surface of the potato body in the hemispherical claw 245. The soil separated from the surface of the potato flows out through the soil leakage hole 2451, which can not only crush the soil in a short time, but also accurately control the crushing effect by adjusting the ultrasonic parameters, thereby solving the problems of incomplete separation of soil and low separation efficiency under heavy soil; the worm 2472 is driven to rotate by the grasping power part 2473, which drives the turbine 2453 meshing with the worm 2472 to rotate, thereby realizing the opening and closing of the hemispherical clamp 245. During the grasping process, the shape of the hemispherical clamp 245 can better fit the shape of the potato, increase the contact area and evenly apply force, thereby improving the stability and reliability of grasping; the first driving component 2419 and the second driving component 24110 are respectively driven by the first wire The rotation of the rod 2412 and the second screw rod 2413 can independently and accurately adjust the moving distance and speed in the mutually perpendicular directions of front and back and left and right to meet the different grasping requirements of the hemispherical clamp 245. The cooperation of the first screw rod 2412 and the slide rail 2414 ensures the stability and accuracy of the moving process, and reduces errors and jitters. The rotating rod 231 is driven to rotate by the rotating rod power assembly 234, and multiple rotating rods 231 are arranged at a first spacing, and are driven by the chain 233 and the sprocket 232, which can provide a smooth and continuous conveying power, facilitate the initial separation of potatoes and soil, and the soil can leak from the spacing between the rotating rods 231. The potatoes will not be bumped or stuck during the transportation process, and it also solves the problem of potatoes being conveyed. During the conveyor belt conveyor, the potato remains stationary relative to the part on the conveyor belt that it contacts, making it difficult to clean the soil adhering to the surface of the potato; the rotation of the rotating rod 231 drives the two rollers 254 to rotate, and the rotation of the roller 254 stretches the elastic member 255 upward or resets it downward, and the fixed arm 251 moves upward or downward. At this time, the roller 253 rolls in the groove of the roller 253, and the beating rod 252 beats the potato with soil, which can effectively remove the soil adhering to the surface of the potato, so that the soil leaks from the gap between the rotating rods 231, thereby improving the separation effect; at the same time, by hingedly connecting one end of the fixed arm 251 and moving the other end up and down, it can be achieved that the beating force at the lower end is large and the beating force at the upper end is small, which can effectively prevent the potato from rolling back to the ground;The first gear 171 is driven to rotate by the angle power member 173 to drive the arc rack 172 to rotate. The arc rack 172 can limit the adjustment angle. The angle shaft 16 rotates to drive multiple digging shovels 11 to rotate, so as to adjust the digging shovel 11 into the soil, so as to cut into the soil more smoothly, reduce the digging resistance, and thus improve the speed and efficiency of digging. As the walking collection device moves forward, the soil crushing drive mechanism 15 drives the spiral blades on the soil crushing rod 14 to crush the large pieces of soil, and efficiently leaks the soil through the soil leakage groove 121 on the conveying plate 12, thereby reducing the accumulation of soil on the conveying plate 12; according to different varieties or planting methods, the first support 182 is slid up and down in the vertical slide groove 18341 of the L-shaped support seat 1834 through the telescopic second telescopic component 181, so that the first support arm 1831 drives the front end of the conveying plate 12 to move up and down, thereby realizing the adjustment of different digging depths, so as to avoid the occurrence of potato damage or leakage during the digging process, and improve the yield. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value. ;

[0063] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A potato harvesting ultrasonic potato-soil separation device, characterized in that: include: A digging device and a conveying and separating device, wherein the digging device is located at the front end of the conveying and separating device and is used for digging potatoes; The conveying and separating mechanism comprises two first supporting arms which are symmetrically arranged on the left and right and inclined at an angle to the ground, two second supporting arms which are symmetrically arranged on the left and right and arranged horizontally, a rotating conveying module for conveying a potato-soil mixture, and an ultrasonic potato-soil separating mechanism, wherein one end of the first supporting arm is fixedly connected to one end of the second supporting arm; The ultrasonic potato-soil separation mechanism includes a mobile identification module arranged above the second support arm, a fixed seat fixedly connected to one end of the mobile identification module, an ultrasonic transducer fixedly installed on the fixed seat, a die head fixedly connected to the ultrasonic transducer, a hemispherical clamp, a cooling module for cooling the hemispherical clamp, a grabbing power module for controlling the opening and closing of the hemispherical clamp, and a first telescopic component for controlling the vertical movement of the grabbing power module, an arc groove is provided at one end of the die head and the hemispherical clamp, the hemispherical clamp is located between the die head and the cooling module, a soil leakage hole is provided at one end of the hemispherical clamp, the soil leakage hole and the central axis of the hemispherical clamp are colinear, the hemispherical clamp is composed of a plurality of fan-shaped clamps, and each of the fan-shaped clamps is provided with a turbine at the other end; The mobile identification module is used to identify the potato body-soil attachment boundary and the damaged part boundary and move the hemispherical gripper to grasp; The mobile identification module includes a top plate arranged on the top of the second supporting arm, a first screw rod rotatably arranged at the bottom of the top plate, a second screw rod, a slide rail symmetrically arranged with the first screw rod and fixedly installed at the bottom of the top plate, a first slider, a second slider, a third slider, an identification component, a first drive component driving the first screw rod to rotate, and a second drive component driving the second screw rod to rotate, the rotation axis of the first screw rod is parallel to the potato conveying direction, the first slider is provided with an internal thread matching with the thread of the first screw rod, the second slider is slidably matched with the slide rail, the two ends of the second screw rod are rotatably mounted on the first slider and the second slider respectively, the third slider is provided with an internal thread matching with the thread of the second screw rod, and the third slider is fixedly connected to the fixing seat; The recognition component is used to take a picture of a potato in real time and recognize the boundary between the potato body, soil attachment and damaged part; A chain groove is provided at the other end of the first supporting arm along its length direction to the other end of the second supporting arm; The rotating conveying module comprises a plurality of rotating rods, a plurality of sprockets, two chains, and a rotating rod power assembly for driving one of the rotating rods to rotate, wherein the plurality of rotating rods are arranged at a first spacing along the length direction of the first support arm and the second support arm, and the plurality of rotating rods are rotatably mounted on the first support arm and the second support arm, and a sprocket is coaxially fixedly matched at both ends of each rotating rod, and the plurality of sprockets are located in the chain groove, and the two chains respectively drive and connect the sprockets at both ends of each rotating rod; The conveying and separating device further comprises a beating and separating mechanism, which moves up and down to beat the potatoes with soil; A limiting groove is provided on the side surface of the first supporting arm; The flapping separation mechanism includes two fixed arms symmetrically arranged and located in the chain slot, a plurality of flapping rods, two rollers, two drums, and an elastic member for resetting the fixed arm to the bottom of the chain slot, one end of the fixed arm is hinged to one end of the first support arm, a plurality of flapping rods are arranged at a second interval along the length direction of the fixed arm, both ends of a plurality of flapping rods pass through the limiting groove and are fixedly connected to the fixed arm, each flapping rod and the adjacent rotating rod form a V-shaped structure, two rollers are rotatably mounted on the other end of the fixed arm, a circular roller groove is provided on the drum that is rollingly matched with the roller, a through hole is provided on the circular roller groove on the drum that deviates from the center of the circle, and the two rollers are coaxially fixedly matched with a rotating rod close to the other end of the first support arm through the through hole respectively; The elastic member comprises a spring, one end of the spring is fixedly connected to the other end of the fixed arm, and the other end of the spring is fixedly connected to the bottom of the chain slot.

2. The potato harvesting ultrasonic potato-soil separation device according to claim 1, characterized in that: The grabbing power module includes a rotating cylinder, a worm and a grabbing power part that drives the worm to rotate. One end of the rotating cylinder is fixedly connected to the telescopic end of the first telescopic assembly. The rotating cylinder and the worm are coaxially arranged. The other end of the rotating cylinder is rotationally connected to each of the turbines through a plurality of lugs. The worm is meshed with the turbine on each of the fan-shaped clamps for transmission. The central axes of the worm and the hemispherical clamps are colinear. An identifier is provided at one end of the worm facing the hemispherical clamp.

3. The potato harvesting ultrasonic potato-soil separation device according to claim 1, characterized in that: The cooling module includes a semiconductor refrigeration sheet and a heat sink. The semiconductor refrigeration sheet is mounted on the fixing seat and arranged opposite to the die head. The cold end of the semiconductor refrigeration sheet is an arc-shaped structure and contacts and cooperates with the hemispherical clamp. The heat sink is fixedly connected to the hot end of the semiconductor refrigeration sheet.

4. The potato harvesting ultrasonic potato-soil separation device according to claim 1, characterized in that: The excavation device comprises a plurality of excavating shovels, a conveying plate, two side plates, a soil-breaking rod, a soil-breaking driving mechanism for driving the soil-breaking rod to rotate, an angle shaft, an angle driving mechanism, and a depth adjustment mechanism. The two side plates are fixedly connected to the left and right ends of the conveying plate, and a plurality of soil leakage grooves are provided on the conveying plate. The angle shaft is rotatably mounted on the two side plates and is located below the conveying plate. The plurality of excavating shovels are arranged at a third interval along the axial direction of the angle shaft. The soil-breaking rod is rotatably mounted on the two side plates and is located above the conveying plate, and the soil-breaking rod is provided with a spiral sheet along its own axial direction. The angle driving mechanism is used to drive the angle rotating shaft to rotate and adjust the soil entry angle of the digging shovel; The depth adjustment mechanism adjusts the digging depth of the digging shovel.

5. The potato harvesting ultrasonic potato-soil separation device according to claim 4, characterized in that: The angle driving mechanism includes a first gear rotatably arranged on the side plate, an arc-shaped rack, and an angle power member driving the first gear to rotate. The arc-shaped rack is coaxially fixedly matched with one end of the angle rotating shaft, and the first gear is meshed with the arc-shaped rack for transmission.

6. The potato harvesting ultrasonic potato-soil separation device according to claim 4, characterized in that: The front and rear ends of the left and right sides of the conveying plate are provided with hinge rods; The depth adjustment mechanism comprises a second telescopic component, a first support, and two groups of up and down movement mechanisms, the telescopic end of the second telescopic component is hinged between the two ends of the first support, and the two groups of up and down movement mechanisms are located on both sides of the conveying plate, and each group of the up and down movement mechanisms comprises a first support arm, a second support arm, a third support arm and an L-shaped support seat, the first end of the first support arm is hinged to the hinge rod at the front end of one side of the conveying plate, the second end of the first support arm, the first end of the first support seat and the first end of the second support arm are hinged, the second end of the second support arm, the first end of the third support arm and the top of the other end of the first support arm are hinged, the second end of the third support arm, the bottom of the other end of the first support arm and the hinge rod at the rear end of one side of the conveying plate are hinged, the horizontal part of the L-shaped support seat is arranged parallel to the first support arm and is fixedly connected to the other end of the first support arm, and the L-shaped support seat is provided with a vertical slide groove along the direction of its vertical part, and the first end of the first support seat and the hinge rod at the front end of one side of the conveying plate are both slidably matched with the vertical slide groove.

7. A harvester, characterized in that: The invention comprises the potato harvesting ultrasonic potato-soil separation equipment as described in any one of claims 1 to 6.

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