Remote-controlled self-propelled vegetable combine harvester and mustard tuber harvesting method

Abstract

The present invention relates to a remote-controlled self-propelled vegetable harvester and a method for harvesting mustard tubers, comprising a crawler chassis, a remote control system, a frame, a flexible rotary vegetable pulling device, a V-shaped variable taper extraction device, a ring-shaped band saw root and leaf cutting device, a vertical elastic clamping and conveying device, and a collection box. The present invention adopts a mechanized harvesting method that is not affected by the undulations of the ridge surface, whether the vegetable roots have settled, and the length of the roots. It does not require the development of a complex profiling cutting system, and can achieve reliable root cutting operations on vegetables, thereby realizing a combined harvesting operation of vegetables from root cutting, leaf removal to collection. The harvester of the present invention has a high qualified rate for cutting the roots of vegetable bulbs and good consistency in the height of the root cuts; the vertical elastic clamping and conveying device can effectively alleviate the problems of blockage and damage that are easily generated when different vegetables continuously enter the device, and has good versatility; the whole machine has strong harvesting adaptability and high reliability, and is an advanced and applicable vegetable harvesting equipment suitable for harvesting mustard tubers, green leafy vegetables, and other vegetables.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a remote-controlled self-propelled vegetable combine harvester and a mustard tuber harvesting method. Background Art

[0002] Zhacai, also known as green cabbage, scientifically known as tuberous mustard, is widely cultivated in Sichuan, Chongqing, Zhejiang, Guizhou, and Yunnan provinces along the Yangtze River in my country. During the harvest period, the tubers are characterized by irregular and randomly distributed tubers, inconsistent bulb sizes, and a low head position. Harvesting requires cutting the roots and leaves, retaining only the bulb. The harvested bulbs are mostly used to make preserved mustard, which requires minimal mechanical damage. Furthermore, due to the large, plump leaves of the mustard, mechanical harvesting is difficult to discern beneath the leaves, making it challenging. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present invention provides a remote-controlled self-propelled vegetable combine harvester and a mustard tuber harvesting method, which is conducive to further improving the vegetable (mustard tuber) harvesting technology and equipment level, promoting the comprehensive and full mechanization of vegetable production operations, and promoting the steady and sustainable development of the vegetable industry.

[0004] Since the leaves of mustard tuber are large and plump, it is difficult to distinguish the position of the tuber under the leaves during the mechanical harvesting process, which makes it difficult to adjust the rows and actively feed, and greatly limits the performance and efficiency of the harvester. Considering that the requirement for harvesting mustard tuber is to remove the leaves above its roots and tubers, that is, the leaves need to be removed during the harvesting process, therefore, in order to reduce the obstruction of the tuber by the lush leaves and increase the difficulty of mechanical harvesting, the present invention innovatively proposes a new mechanized harvesting method of first using a pruning shear to perform preliminary cutting of the leaves, and then using a combine harvester to harvest the mustard tuber. The specific process is as follows:

[0005] 1) Based on the growth conditions of different mustard tuber varieties, during harvest, a pruning shear is first used to cut the leaves above the tubers at a height of 15-20 cm from the planting ridge. This pruning step establishes the standard for the first defoliation process, solving the challenges of row alignment and active feeding during harvester operation. It also significantly reduces the difficulty of leaf removal caused by excessive leaf removal during harvester operation, simplifying the defoliation and discharge mechanism of the combine harvester.

[0006] 2) After the first defoliation step, the mustard tubers are remotely harvested using a vegetable combine harvester. During this operation, the harvester's position is fine-tuned based on the tuber's position to ensure smooth passage. As the tubers enter the extraction channel, the tubers are lifted by the extraction rollers and clamped by the clamping conveyor belt. The ring-shaped band saw cuts the tubers at their roots, also removing any remaining leaves above the tubers. The harvested tubers are then transported along the clamping conveyor belt to a collection bin at the rear of the harvester, completing the mechanized harvesting process.

[0007] Based on the above method, the present invention is achieved through the following technical solutions:

[0008] The present invention provides a remote-controlled self-propelled vegetable combine harvester, which includes a crawler chassis, a remote control system, a frame, a flexible rotary vegetable pulling device, a V-shaped variable taper pulling device, an annular band saw root and leaf cutting device, a vertical elastic clamping and conveying device, a secondary leaf removing device and a collection box.

[0009] Before harvesting, according to the growth conditions of the vegetables (pickled mustard tubers) in the planting field, combined with the ridge surface conditions and cutting requirements, adjust the height of the front end of the cutting platform from the ridge surface in sequence. According to the root cutting height, adjust the position parameters and operating speed of each device and mechanism through the flexible rotary vegetable pulling device, V-shaped variable taper extraction device, annular band saw root cutting and leaf cutting device. Start the crawler walking system. As the combine harvester moves forward at a constant speed, the mustard tubers planted in each row enter their respective pulling, cutting and conveying devices. The roots of the mustard tubers are first lifted to the designated position by the V-shaped variable taper pulling device, and then clamped and fixed to the tuber part of the vegetable by the vertical elastic clamping and conveying device. Then, at the moment the mustard tubers leave the V-shaped variable taper pulling device, the annular band saw root cutting and leaf cutting device cuts off the roots of the vegetables and the leaves above the tubers at the same time. The mustard tubers with cut roots and leaves are transported to the upper back of the machine along the vertical elastic clamping and conveying device. When the mustard tubers leave the end of the vertical elastic clamping and conveying device, they enter the secondary leaf removal device to accurately remove the leaves around the tubers. The clean vegetables after removal fall into the collection box, completing the whole process of the mustard tuber combine harvesting.

[0010] The combine harvester of this invention utilizes a mechanized harvesting method that involves pulling out the mustard tubers first and then cutting the roots. During operation, the V-shaped, tapered pulling rollers of the pulling mechanism are pressed against the ground, contouring the mustard tuber. The rollers lift the mustard tuber and hold it at the end, simultaneously securing the tuber and cutting the roots and leaves. Therefore, precise root and leaf cutting is achieved simply by pre-adjusting the distance between the cutting blade and the end of the pulling rollers.

[0011] The remote control system and the frame are arranged on the top of the crawler chassis, and the frame is inclined with respect to the horizontal plane. The remote control system and the crawler chassis serve as the power control system of the entire harvester.

[0012] Among them, the flexible rotating vegetable-pushing device is arranged at one end of the frame close to the ground, and is used to achieve stable straightening of the pickled mustard greens. It includes a mounting bracket, a vegetable-pushing plate, a reel shaft, a first drive motor, and a reel position adjustment mechanism. The reel position adjustment mechanism is arranged on the mounting bracket and can be raised and lowered and adjusted forward and backward. The reel shaft is rotatably connected to the reel position adjustment mechanism and connected to the first drive motor. There are multiple vegetable-pushing plates fixed on the reel shaft. The first drive motor can drive the reel shaft to rotate so that the vegetable-pushing plates can stably straighten the pickled mustard greens.

[0013] Among them, the V-shaped variable taper pulling device is arranged at one end of the frame close to the ground and is correspondingly arranged at the bottom end of the flexible rotary vegetable pulling device, which is used to pull up the straightened pickled mustard tuber, including a mounting frame, a second driving motor, an active transmission shaft, a bevel gear transmission mechanism, a pulling roller angle adjustment mechanism, a variable taper pulling roller, a telescopic adjustment mechanism and a pulling guide rod. The active transmission shaft is rotatably connected to one end of the mounting frame and is connected to the second driving motor. There are multiple bevel gear transmission mechanisms, which are arranged on the active transmission shaft. The pulling roller angle adjustment mechanism is a group, which is arranged at the other end of the mounting frame and connected to the active transmission shaft. The moving shafts are parallel, and there are multiple groups of variable-taper pulling rollers. The mounting ends of the variable-taper pulling rollers are movably connected to the two pulling roller angle adjustment mechanisms through seat bearings, and one of the seat bearings is connected to the bevel gear transmission mechanism through a telescopic adjustment mechanism. The variable-taper end of the variable-taper pulling roller extends toward the ground. There are multiple pulling guide rods, which are arranged on the pulling roller angle adjustment mechanism and are arranged one by one on one side of the variable-taper pulling roller. The second drive motor can drive the active transmission shaft to rotate, and the active transmission shaft drives the variable-taper pulling roller through the bevel gear transmission mechanism and the telescopic adjustment mechanism to pull up the pickled mustard tuber.

[0014] Among them, the annular band saw root cutting and leaf cutting device is arranged at one end of the frame close to the ground and is correspondingly arranged on the rear side of the V-shaped variable taper extraction device, which is used to cut off the roots of pickled mustard tubers and nearby leaves. It includes a mounting frame, a third drive motor, an active transmission wheel, a driven transmission wheel and an annular band saw cutter. The active transmission wheel and the driven transmission wheel are rotatably connected to the mounting frame. The third drive motor is connected to the active transmission wheel. The annular band saw cutter is sleeved on the active transmission wheel and the driven transmission wheel. The third drive motor can rotate the active transmission wheel and the driven transmission wheel, thereby driving the annular band saw cutter to cut off the roots of pickled mustard tubers and nearby leaves.

[0015] Among them, the vertical elastic clamping and conveying device is arranged on the frame and correspondingly arranged on the front side of the annular band saw root cutting and leaf cutting device, which is used to automatically convey the cut pickled mustard tuber to the collection box, including a transmission mechanism, a corrugated conveyor belt, an active dial-in mechanism and a lifting and conveying mechanism. There are multiple corrugated conveyor belts, which correspond to each group of variable-taper extraction rollers respectively. The transmission mechanism is connected to the corrugated conveyor belt. The active dial-in mechanism is arranged at the inlet end of the corrugated conveyor belt, and the lifting and conveying mechanism is correspondingly arranged on both sides of the corrugated conveyor belt.

[0016] Since most harvested bulbs are used to make pickled vegetables, the requirement for a low mechanical damage rate and a high leaf removal rate is high. In order to further remove the leaves from the bulbs, the present invention provides a secondary leaf removal device at the outlet end of each corrugated conveyor belt. The secondary leaf removal device includes a support frame, a rotary stepping motor, a tooth spline, a leaf cutter, a compression spring, and a spring adjustment frame. The tooth spline is a pair, each connected to a rotary stepping motor. The rotary stepping motor is fixed to the support frame and can drive the tooth spline to rotate. The leaf cutter is provided with multiple blades, which are correspondingly arranged around two tooth splines. The leaf cutter is connected to the spring adjustment frame via a compression spring. When the bulb leaves the conveyor belt, the teeth are inserted into the bulb, which rotates under the drive of the rotary stepper motor and cooperates with the leaf cutters on the surface of the bulb to cut off the surface leaves cleanly; there are multiple groups of leaf cutters and compression springs, the purpose of which is to always keep the leaf cutters compressed so that they fit the surface of the bulb; when the bulb protrudes higher, the position of the leaf cutter is raised by the compression spring so that it can accurately cut the leaves; when the initial position of the leaf cutter is too high, the relative position of the leaf cutter and the bulb can be adjusted by adjusting the spring adjustment frame to achieve complete removal of the leaves.

[0017] The collecting box is arranged at the top of the crawler chassis and is correspondingly arranged at the outlet end of the corrugated conveyor belt, and is used for collecting the cut mustard tubers.

[0018] In order to adapt to different mustard tuber planting densities and growth conditions, the separating board has multiple sets of blades, and the front and rear positions and up and down heights of the separating board are adjustable, ultimately achieving continuous and stable straightening of the mustard tuber, ensuring that the mustard tuber can enter the clamping and conveying device and be accurately cut.

[0019] The front end of the V-shaped variable-taper pulling device is designed to be in the shape of a trumpet opening, which is used to straighten the mustard tubers that have fallen or deviated from the planting row, ensuring that the mustard tubers can smoothly enter the middle of the pulling rollers and be reliably pulled up, and also preparing for cutting the roots and leaves;

[0020] Furthermore, in order to achieve reliable transmission, the two ends of the telescopic adjustment mechanism are respectively connected to the seat bearing and the bevel gear transmission mechanism through a universal transmission mechanism. The upper rod of the telescopic adjustment mechanism is provided with a thread, and the adjustment is achieved by rotating the extended length of the threaded rod; the spacing and opening angle of the variable taper picking roller are adjusted by the picking roller angle adjustment mechanism; in order to avoid the problem of difficulty in alignment and feeding caused by the small opening at the front end of the variable taper picking roller, a picking guide rod is designed to enlarge the opening, and the spacing is adjusted by the guide rod spacing adjustment mechanism.

[0021] The present invention innovatively utilizes a ring-shaped band saw blade, allowing the root of the mustard tuber to be cut while also removing any remaining leaves above the tuber. Because ring-shaped band saw blades can be forced out of the drive wheel and dislodged during use, conventional blade stop mechanisms incorporate right-angled grooves in the drive wheel where the band saw blade is mounted to prevent the blade from moving forward or backward. However, during actual operation, the blade edge constantly contacts the groove ribs, causing wear at high speeds and, in severe cases, causing the band saw to break. The present invention incorporates stop grooves on the outer walls of the active and driven drive wheels, into which the ring-shaped band saw blade fits. The driven drive wheel is equipped with a blade tensioning mechanism. The contact surface between the stop groove and the side of the ring-shaped band saw blade is a sloped rib. This reduces prolonged contact between the blade edge and the ribs during high-speed operation and also prevents the band saw blade from moving outward under force. The slope angle is 10-15 degrees, and actual operation has demonstrated that this design ensures high-speed, stable operation of the blade. In addition, an anti-slip rubber pad is provided between the limiting groove and the bottom contact surface of the ring band saw blade to increase the transmission friction, ensure that the blade does not slip when cutting roots and ensure stable cutting operations.

[0022] Since the diameters of mustard tubers vary greatly during the harvest period, in order to avoid problems such as clogging of the tubers and jamming of the conveyor belt during the clamping and conveying process, the present invention is provided with belt spacing adjustment mechanisms in front and behind the corrugated conveyor belt to adjust the belt spacing. The first belt spacing adjustment mechanism is to adjust the spacing of the corrugated conveyor belts according to the overall size of the tubers in the harvested plot before the mechanized harvest begins. The second belt spacing adjustment mechanism is to increase the spacing of the part through the tuber compression spring during the mechanized harvesting process if the tubers are too large, thereby ensuring the smooth passage of the tubers. In addition, in order to reduce the problem of small vegetable balls falling during long-distance clamping and conveying, which leads to a high mechanical loss rate, a lifting and conveying mechanism is designed to lift the vegetable balls; in order to ensure that the vegetable balls reliably enter the corrugated conveyor belt, an active dialing mechanism is designed to actively rotate and feed the vegetable balls; in order to ensure the clamping and conveying effect, a conveyor belt tensioning mechanism that adjusts its tension force is provided on the corrugated conveyor belt; in order to facilitate transmission, the transmission mechanism includes a transmission reversing gearbox, an active conveying roller, and a driven conveying roller. The active conveying roller and the driven conveying roller are arranged at both ends of the corrugated conveyor belt, and the active conveying roller is connected to the transmission reversing gearbox.

[0023] The beneficial effects of the present invention are as follows: the remote-controlled self-propelled vegetable combine harvester of the present invention adopts a mechanized harvesting method that is not affected by the undulation of the ridge surface, whether the vegetable roots settle, and the length of the roots. It does not require the development of a complex profiling cutting system, and can achieve reliable root cutting operations for vegetables (pickled mustard tubers), thereby achieving a combined harvesting operation of the entire process from root cutting, leaf removal to collection of vegetables. The combine harvester of the present invention has a high pass rate for cutting the roots of vegetable bulbs and good consistency in the height of the cut roots; the vertical elastic clamping and conveying device can effectively alleviate the problems of blockage and damage that are prone to occur when different vegetables enter the device continuously, and has good versatility; the whole machine has strong harvesting adaptability and high reliability, and is an advanced and applicable pickled mustard tuber combine harvesting equipment that can be used to harvest pickled mustard tubers, green leafy vegetables, and other vegetables. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the three-dimensional structure of the remote-controlled self-propelled vegetable combine harvester of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the flexible rotary vegetable picking device of the present invention;

[0026] Figure 3 Schematic diagram of a specific embodiment of the vegetable peeling board of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the V-shaped variable taper extraction device of the present invention;

[0028] Figure 5 It is a front view of the ring-shaped band saw root cutting and leaf cutting device of the present invention;

[0029] Figure 6 A top view of the ring-shaped band saw root and leaf cutting device of the present invention;

[0030] Figure 7 for Figure 6 A partial enlarged schematic diagram of part A;

[0031] Figure 8 It is a structural schematic diagram of the vertical elastic clamping and conveying device of the present invention;

[0032] Figure 9 It is a structural schematic diagram of the secondary leaf removal device of the present invention. DETAILED DESCRIPTION

[0033] The following detailed description of preferred embodiments of the present invention is provided in conjunction with the accompanying drawings to facilitate understanding of the advantages and features of the present invention by those skilled in the art, thereby providing a clearer and more precise definition of the scope of protection of the present invention. Directional terms used in the present invention, such as "up," "down," "front," "back," "left," "right," "top," and "bottom," are intended solely to refer to the directions of the accompanying drawings. Therefore, the directional terms used are intended to illustrate and facilitate understanding of the present invention and are not intended to limit the present invention.

[0034] like Figure 1 The remote control self-propelled vegetable harvester shown includes a crawler chassis 6, a remote control system 8, a frame 4, a flexible rotary vegetable pulling device 2, a V-shaped variable taper extraction device 1, an annular band saw root cutting and leaf cutting device 3, a vertical elastic clamping conveying device 5 and a collecting box 7, wherein the remote control system 8 and the frame 4 are arranged on the top of the crawler chassis 6 and the collecting box 7, the frame 4 is inclined with respect to the horizontal plane and can be adjusted in height, the flexible rotary vegetable pulling device 2, the V-shaped variable taper extraction device 1, the annular band saw root cutting and leaf cutting device 3 are installed at the bottom of the frame 4, the vertical elastic clamping conveying device 5 is flat on the surface of the frame 4, the collecting box 7 is installed at the top of the crawler chassis 6 and is correspondingly arranged on the rear side of the vertical elastic clamping conveying device 5, the remote control self-propelled vegetable harvester can complete the functions of pulling, root cutting, leaf removal, conveying, and packing of two rows of vegetables (such as pickled mustard tubers) in one operation.

[0035] Specifically, combined Figure 2 、 Figure 3 The flexible rotary vegetable plucking device shown is arranged at one end of the frame close to the ground, and is used to achieve stable straightening of the mustard tuber, including a mounting bracket 2-5, a plucking plate 2-1, a reel shaft 2-2, a first drive motor 2-3, and a plucking position adjustment mechanism 2-4. The plucking position adjustment mechanism 2-4 is a pair and is arranged on both sides of the mounting bracket 2-5. The plucking wheel shaft 2-2 is rotatably connected to the plucking position adjustment mechanism 2-4 and is connected to the first drive motor 2-2. The plucking plate 2-1 is two and is fixed to the reel shaft 2- 2, each plucking plate 2-1 is composed of one group (2 leaves), two groups (4 leaves) or three groups (6 leaves). One to three groups of leaves are assembled according to actual needs. The L-shaped angle steel of the plucking position adjustment mechanism 2-4 has long grooves in the vertical and horizontal directions. According to the growth conditions of different varieties of pickled mustard tubers, the plucking position adjustment mechanism 2-4 is adjusted, that is, the front and rear positions and the up and down heights of the plucking plate 2-1 are adjusted, and finally the pickled mustard tubers are continuously and stably straightened to ensure that the pickled mustard tubers can enter the clamping and conveying device and be accurately cut.

[0036] Specifically, combined Figure 4The V-shaped variable taper pulling device shown is arranged at one end of the frame close to the ground and is correspondingly arranged at the bottom end of the flexible rotary vegetable pulling device, and is used to pull up the straightened mustard tuber, including a mounting frame 1-13, a second drive motor 1-12, an active transmission shaft 1-11, a bevel gear transmission mechanism 1-10, a pulling roller angle adjustment mechanism, a variable taper pulling roller 1-2, a telescopic adjustment mechanism 1-8 and a pulling guide rod 1-1, the active transmission shaft 1-11 is rotatably connected to the top of the mounting frame 1-13 and is connected to the second drive motor 1-12. The two drive motors 1-12 are connected, the bevel gear transmission mechanism 1-10 has two groups, two in each group, which are arranged on the active transmission shaft 1-11, the extraction roller angle adjustment mechanism is a group, including the first extraction roller angle adjustment mechanism 1-6 and the second extraction roller angle adjustment mechanism 1-14, which are arranged at the bottom end of the mounting frame 1-13 and parallel to the active transmission shaft 1-11, the variable taper extraction roller 1-2 is two groups, two in each group, and the mounting ends (top ends) of the variable taper extraction rollers 1-2 are respectively connected by The seat bearing 1-5 and the seat bearing 1-15 are movably connected to the two extraction roller angle adjustment mechanisms, and the seat bearing 1-5 installed on the first extraction roller angle adjustment mechanism 1-6 is connected to the bevel gear transmission mechanism 1-10 through the telescopic adjustment mechanism 1-8. The two ends of the telescopic adjustment mechanism 1-8 are respectively connected to the seat bearing 1-5 and the bevel gear transmission mechanism 1-10 through the first universal transmission mechanism 1-7 and the second universal transmission mechanism 1-9. The upper rod of the telescopic adjustment mechanism 1-8 is provided with a thread. The adjustment is achieved by rotating the extended length of the threaded rod. The tapered end (bottom end) of the variable-taper extraction roller 1-2 extends toward the ground, and the two opposite variable-taper extraction rollers 1-2 are arranged in a V shape. The extraction guide rods 1-1 are divided into two groups, which are arranged on the mounting frame 1-13 through the guide rod fixing shaft 1-3 and the guide rod spacing adjustment mechanism 1-4 and are arranged one-to-one on one side of the variable-taper extraction roller 1-2. The guide rod spacing adjustment mechanism 1-4 can be used to move the extraction guide rods 1-1 left and right to adjust the spacing.

[0037] Specifically, combined Figure 5-7The annular band saw root cutting and leaf cutting device shown is arranged at one end of the frame close to the ground, and is correspondingly arranged on the rear side of the V-shaped variable taper extraction device, for cutting off the roots of mustard tuber and nearby leaves, including a mounting frame 3-8, a third drive motor 3-6, an active transmission wheel 3-2, a driven transmission wheel 3-4 and an annular band saw cutter 3-3, the active transmission wheel 3-2 and the driven transmission wheel 3-4 are rotatably connected to the two ends of the mounting frame 3-8, and are sleeved with a cover 3-9, and a reinforcing rib 3-7 is provided between the cover 3-9 and the mounting frame 3-8, the third drive motor 3-6 is connected to the active transmission wheel 3-2, and the annular band saw cutter 3-3 is sleeved on the active transmission wheel 3-2, the driven transmission wheel 3-4 and the annular band saw cutter 3-3. On the driven transmission wheel 3-4, the outer walls of the active transmission wheel 3-2 and the driven transmission wheel 3-4 are provided with a limiting groove 3-1 for the annular band saw cutter 3-3 to be embedded, and the driven transmission wheel 3-4 is provided with a cutter tensioning mechanism 3-5. The contact surface between the limiting groove 3-1 and the side of the annular band saw cutter 3-3 is a sloped rib, which not only reduces the long-term contact between the cutter edge and the rib during high-speed operation, but also prevents the band saw from being forced to run outward. The slope angle is 10°-15°. In addition, a non-slip rubber pad 3-10 is provided between the limiting groove 3-1 and the bottom contact surface of the annular band saw cutter 3-3 to increase the transmission friction, ensure that the cutter does not slip when cutting roots, and stabilize the cutting operation.

[0038] Specifically, combined Figure 8The vertical elastic clamping conveying device shown is arranged on the frame and correspondingly arranged on the rear side of the ring-shaped band saw root cutting and leaf cutting device, and is used to automatically convey the cut mustard tuber to the collection box, including a mounting frame 5-3 and a transmission mechanism arranged on the mounting frame 5-3, a corrugated conveyor belt 5-1, an active dial-in mechanism 5-5, and a lifting and conveying mechanism 5-7, wherein the transmission mechanism includes a transmission reversing gear box 5-10, an active conveying roller 5-11, and a driven conveying roller 5-4, and the active conveying roller 5-11 and the driven conveying roller 5-4 are arranged at both ends of the corrugated conveyor belt 5-1, and the active conveying roller 5-11 and the driven conveying roller 5-4 are arranged at both ends of the corrugated conveyor belt 5-1. The roller 5-11 is connected to the transmission reversing gear box 5-10, and the transmission reversing gear box 5-10 is connected to the power system through the transmission gear 5-9. The corrugated conveyor belts 5-1 are divided into two groups, with two belts in each group, corresponding to each group of variable-taper extraction rollers. A channel for the passage of pickled mustard tubers is formed between the same group of corrugated conveyor belts 5-1. A conveyor belt tensioning mechanism 5-6 for adjusting its tensioning force is provided on the corrugated conveyor belt 5-1. The active dial-in mechanism 5-5 is provided at the inlet end of the corrugated conveyor belt 5-1, and the lifting and conveying mechanism 5-7 is correspondingly provided on the bottom side of the corrugated conveyor belt 5-1. In addition, belt spacing adjustment mechanisms are respectively provided before and after the corrugated conveyor belt 5-1 to adjust the belt spacing. The first belt spacing adjustment mechanism 5-8 is used to adjust the spacing of the corrugated conveyor belt 5-1 before mechanized harvesting begins, based on the overall size of the vegetable balls in the harvested plot. The second belt spacing adjustment mechanism 5-2 is used during the mechanized harvesting process. If the vegetable balls are too large, the spacing of the part is increased by the vegetable ball compression spring, thereby ensuring the smooth passage of the vegetable balls. In addition, position adjustment mechanisms 5-121 are respectively provided before and after the corrugated conveyor belt 5-1 to adjust the position of the corrugated conveyor belt 5-1.

[0039] Specifically, combined Figure 9 The secondary leaf removal device shown is installed at the outlet end (rear end) of each corrugated conveyor belt, and includes a support frame 5-13, a rotary stepping motor 5-12, a spline 5-16, a leaf cutter 5-17, a compression spring 5-14 and a spring adjustment frame 5-15. The splines 5-16 are a pair, each connected to the rotary stepping motor 5-12. The rotary stepping motor 5-12 is fixed on the support frame 5-13. The rotary stepping motor 5-12 can drive the spline 5-16 to rotate. The leaf cutter 5-17 has four fixed blades, which are correspondingly arranged around the two splines 5-16. The blade angles of the upper and lower groups are designed to be different. The leaf cutter 5-17 is connected to the spring adjustment frame 5-15 through a compression spring 5-14. The relative position of the leaf cutter 5-17 and the bulb can be adjusted by adjusting the spring adjustment frame 5-15. The position of the leaf cutter 5-17 is improved by compressing the spring 5-14 so that it can accurately cut the leaves.

[0040] The working principle of the present invention is as follows:

[0041] First, according to the growth conditions of the mustard tuber in the planting field, combined with the ridge surface conditions and cutting requirements, the height of the front end of the harvester from the ridge surface is adjusted in turn, the relative position of the vegetable picking plate 2-1 and the variable taper pulling roller 1-2 and the V-shaped opening of the variable taper pulling roller 1-2 are adjusted, the relative position of the variable taper pulling roller 1-2, the corrugated conveyor belt 5-1 and the annular band saw cutter 3-3 are adjusted to determine the root cutting height, and the position parameters and operating speed of each device and mechanism are adjusted. Start the crawler travel transmission system. As the combine harvester moves forward at a constant speed, the mustard tubers planted in each row enter their respective pulling, cutting and feeding devices. The roots of the mustard tubers are first straightened continuously and stably by the pulling plate 2-1 and guided by the pulling guide rod 1-1. The second drive motor 1-12 drives the variable taper pulling roller 1-2 to move through the bevel gear transmission mechanism 1-10. Under the action of the variable taper pulling roller 1-2, the mustard tubers are lifted to the designated position and then clamped and fixed by the corrugated conveyor belt 5-1. Then, when the mustard tubers are separated from the variable taper pulling roller 1- At the moment of 2, the third drive motor 3-6 drives the annular band saw cutter 3-3 to cut off the vegetable roots and the leaves above the tuber at the same time. The mustard tuber with the cut roots and leaves is transported to the upper rear of the machine along the corrugated conveyor belt 5-1. The lifting and conveying mechanism 5-7 lifts the bottom of the vegetable ball. When the bulb leaves the corrugated conveyor belt 5-1, the tooth 5-16 is inserted into the bulb, and rotates under the drive of the rotary stepping motor 5-12, and cooperates with the leaf cutter 5-17 on the surface of the bulb to cut off the surface leaves. Finally, the mustard tuber falls into the collection box 7, completing the whole process of the mustard tuber combined harvest.

[0042] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "disposed," and "provided with" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0043] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A remote-controlled self-propelled vegetable combine harvester, characterized in that: It includes crawler chassis, remote control system, frame, flexible rotary vegetable pulling device, V-shaped variable taper extraction device, ring band saw root and leaf cutting device, vertical elastic clamping and conveying device, secondary leaf removal device and collection box; The remote control system and the frame are arranged on the top of the crawler chassis, and the frame is inclined with respect to the horizontal plane; The flexible rotary vegetable plowing device is arranged at one end of the frame close to the ground, and is used to achieve stable straightening of vegetables. It includes a mounting bracket, a plowing plate, a reel shaft, a first drive motor, and a reel position adjustment mechanism. The reel position adjustment mechanism is arranged on the mounting bracket and can be adjusted up and down. The reel shaft is rotatably connected to the reel position adjustment mechanism and is connected to the first drive motor. There are multiple plowing plates fixed on the reel shaft. The first drive motor can drive the reel shaft to rotate so that the plowing plates can stably straighten the vegetables. The V-shaped variable taper pulling device is arranged at one end of the frame close to the ground and is correspondingly arranged at the bottom end of the flexible rotary vegetable pulling device, for pulling up the vegetables after straightening, and includes a mounting frame, a second driving motor, an active transmission shaft, a bevel gear transmission mechanism, a pulling roller angle adjustment mechanism, a variable taper pulling roller, a telescopic adjustment mechanism and a pulling guide rod. The active transmission shaft is rotatably connected to one end of the mounting frame and is connected to the second driving motor. The bevel gear transmission mechanism is multiple and is arranged on the active transmission shaft. The pulling roller angle adjustment mechanism is a group and is arranged at the other end of the mounting frame and connected to the main The movable transmission shafts are parallel, and the variable-taper pulling rollers are in multiple groups. The mounting ends of the variable-taper pulling rollers are movably connected to the two pulling roller angle adjustment mechanisms through seat bearings, and one of the seat bearings is connected to the bevel gear transmission mechanism through a telescopic adjustment mechanism. The tapered end of the variable-taper pulling roller extends toward the ground. The pulling guide rods are multiple and are arranged on the mounting frame and are correspondingly arranged on one side of the variable-taper pulling roller. The second drive motor can drive the active transmission shaft to rotate, and the active transmission shaft drives the variable-taper pulling roller through the bevel gear transmission mechanism and the telescopic adjustment mechanism to pull up the vegetables. The annular band saw root cutting and leaf cutting device is arranged at one end of the frame close to the ground and is correspondingly arranged on the rear side of the V-shaped variable taper extraction device, and is used to cut off the roots of vegetables and nearby leaves. It includes a mounting frame, a third drive motor, a driving transmission wheel, a driven transmission wheel and an annular band saw cutting knife. The driving transmission wheel and the driven transmission wheel are rotatably connected to the mounting frame. The third drive motor is connected to the driving transmission wheel. The annular band saw cutting knife is sleeved on the driving transmission wheel and the driven transmission wheel. The third drive motor can rotate the driving transmission wheel and the driven transmission wheel, thereby driving the annular band saw cutting knife to cut off the roots of vegetables and nearby leaves. The vertical elastic clamping conveyor device is arranged on the frame and correspondingly arranged in front of the ring-shaped band saw root cutting and leaf cutting device, and is used to automatically convey the cut vegetables to the collection box, including a transmission mechanism, a corrugated conveyor belt, an active dialing mechanism and a lifting conveying mechanism. The corrugated conveyor belt is multiple and corresponds to each group of variable-taper extraction rollers. The transmission mechanism is connected to the corrugated conveyor belt, the active dialing mechanism is arranged at the inlet end of the corrugated conveyor belt, and the lifting conveying mechanism is correspondingly arranged at the bottom of the corrugated conveyor belt. The secondary leaf removal device is correspondingly arranged at the outlet end of each corrugated conveyor belt, and includes a support frame, a rotary stepping motor, a gear slotting, a leaf cutter, a compression spring and a spring adjustment frame. The gear slotting is a pair, each of which is connected to a rotary stepping motor. The rotary stepping motor is fixed to the support frame and can drive the gear slotting to rotate. There are multiple leaf cutters, which are correspondingly arranged around the two gear slottings. The leaf cutters are connected to the spring adjustment frame through a compression spring. The collecting box is arranged on the top of the crawler chassis and is correspondingly arranged at the outlet end of the corrugated conveyor belt, and is used for collecting the cut vegetables.

2. The remote-controlled self-propelled vegetable combine harvester according to claim 1, characterized in that: The two ends of the telescopic adjustment mechanism are respectively connected to the seat bearing and the bevel gear transmission mechanism through a universal transmission mechanism.

3. The remote-controlled self-propelled vegetable combine harvester according to claim 2, characterized in that: One end of the extraction guide rod is connected to the mounting frame through a guide rod spacing adjustment mechanism.

4. The remote-controlled self-propelled vegetable combine harvester according to claim 1, characterized in that: The outer walls of the active transmission wheel and the driven transmission wheel are provided with limiting grooves for the annular band saw cutting blade to be embedded. The contact surface between the limiting groove and the side of the annular band saw cutting blade is a sloped rib with a slope angle of 10°-15°; an anti-slip rubber pad is provided between the limiting groove and the bottom contact surface of the annular band saw cutting blade.

5. The remote-controlled self-propelled vegetable combine harvester according to claim 4, characterized in that: A cutter tensioning mechanism is provided on the driven transmission wheel.

6. The remote-controlled self-propelled vegetable combine harvester according to claim 1, characterized in that: The corrugated conveyor belt is provided with a belt spacing adjustment mechanism for adjusting the spacing between the belts.

7. The remote-controlled self-propelled vegetable combine harvester according to claim 1, characterized in that: The corrugated conveyor belt is provided with a conveyor belt tensioning mechanism for adjusting its tensioning force.

8. The remote-controlled self-propelled vegetable combine harvester according to claim 1, characterized in that: The transmission mechanism includes a transmission reversing gear box, an active conveying roller, and a driven conveying roller. The active conveying roller and the driven conveying roller are arranged at both ends of the corrugated conveyor belt, and the active conveying roller is connected to the transmission reversing gear box.

9. A method for harvesting mustard tubers, using the remote-controlled self-propelled vegetable combine harvester according to any one of claims 1 to 8, characterized in that: The steps include: 1) Based on the growth conditions of different varieties of mustard tubers, at the harvesting stage, at a height of 15 cm to 20 cm from the planting ridge, a leaf trimmer is first used to cut the leaves above the tubers of the mustard tubers, establishing the first leaf removal process; 2) After completing the first leaf removal process, a remote-controlled self-propelled vegetable combine harvester is used to remotely harvest the mustard greens. During the operation, the position of the harvester is fine-tuned according to the position of the vegetable ball to ensure that the mustard greens can smoothly enter the extraction channel. As the mustard greens enter the extraction channel one by one, the roots of the mustard greens are cut by the circular band saw cutter under the combined action of the lifting of the extraction roller and the clamping of the corrugated conveyor belt, and the remaining leaves above the tuber are also cut off. The cut mustard greens are transported to the collection box behind the harvester along the clamping conveyor belt, completing the entire mechanized harvesting process of the mustard greens.

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