A flexible raking type harvesting device for cistanche based on standard planting

Abstract

The present application relates to a kind of flexible raking type harvesting device based on standard planting Cistanche, belong to agricultural harvesting machinery technical field, technical scheme includes sand removing component and harvesting component, parallelogram single degree of freedom buffer mechanism in sand removing component and two groups of swingable hook spring group constitute parallelogram two degrees of freedom adaptive buffer mechanism, two groups of parallelogram two degrees of freedom adaptive buffer mechanism are symmetrically arranged in the end face of continuous rotation flexible sand removing cylinder two sides and complete flexible sand removing by swinging;The harvesting tine in harvesting component is rotated into soil with harvesting harrow, after contacting Cistanche, adaptive rotary grate located at the top end of harvesting cutter head is reversed by sand resistance, is prevented Cistanche from being taken out by the maximum harvesting angle controlled by limiting block, and flexible raking harvesting is realized.A kind of flexible raking type harvesting device based on standard planting Cistanche realizes adaptive sand removing and flexible raking harvesting when Cistanche is harvested, reduces sand removing power consumption and Cistanche breakage rate, improves harvesting efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of based on standard planting Cistanche collecting device, belong to agricultural machinery technical field, especially related to Cistanche harvesting machinery range. BACKGROUND

[0002] At present, desert area desert Cistanche planting area is nearly 2 million mu, and annual output is 2500 tons.Collecting time influences the yield and quality of Cistanche itself.Collecting too early, Cistanche has not matured, has not reached the collection standard;If collecting too late, Cistanche medicinal effect is greatly reduced, and the quality is poor;Only timely collection Cistanche, can more effectively concentrate nutrients.

[0003] Cistanche is collected in relatively short and concentrated agricultural time, and the current main harvesting method is artificial pulling out Cistanche, and the cost of artificial digging is high and the efficiency is low;There are other auxiliary tools for Cistanche collection, and the existing Cistanche collection tools have low efficiency and poor commodity nature.There are few studies on Cistanche digging mechanism at home and abroad: from the achievements of foreign researchers, it can be seen that the research on Cistanche is mostly aimed at the pharmacological research and extraction method of chemical components of the plant itself, and there is still a gap in the research on efficient digging;The existing research in China is not ideal, and the invention patent with publication number CN 111034457 A discloses a Cistanche collecting mechanism, which has large power consumption and slow travel speed;The invention patent with publication number CN114303580 A discloses a Cistanche collecting mechanism, which has low efficiency and is only aimed at a single Cistanche;The invention patent with publication number CN 115380690 A discloses a Cistanche harvester, which has large destructive and is easy to damage Cistanche.

[0004] In recent years, the development of Cistanche planting industry has an urgent need for mechanized Cistanche collecting device, in order to reduce the labor intensity of Cistanche collection, promote the optimization and upgrading of China's Cistanche planting industry structure, provide a new solution, based on the standard planting of Cistanche in autumn, after digging ditch beside Cistanche planting belt, explore a kind of self-adaptive flexible sanding, continuous rotating raking type collecting device, realize efficient continuous raking type collection, and have obvious function of saving cost and increasing efficiency. SUMMARY

[0005] The purpose of the present application is to provide a kind of based on standard planting Cistanche flexible raking type collecting device, in the digging ditch beside Cistanche planting belt, through the feeding mechanism, it is adaptive to flexible sanding positioning, guiding, and adaptive to continuous raking and harvesting of Cistanche with different diameters.

[0006] The technical scheme adopted to achieve the object of the present application is as follows: the flexible raking type harvesting device for Cistanche is composed of a sand removing component (1) and a harvesting component (2), after the whole harvesting device reaches the predetermined working position by the feeding mechanism, the sand removing component (1) first completes the surface sand removing of Cistanche, and then the longitudinal raking type harvesting is performed by the harvesting component (2).

[0007] In the sand removing component (1), four connecting rods (111) are rotationally connected in the same movement plane at O1ABC and a spring damper (112) is installed between O1 and B to form a parallel quadrilateral single degree of freedom buffer mechanism which is self-adaptive to the linear feeding along O1B in the movement plane, further, two identical hook spring groups (113) are connected at one end to A and C of the parallel quadrilateral single degree of freedom buffer mechanism respectively and at the other end to point D on the sand removing support (114) with an axis intersection angle f to form a parallel quadrilateral two degree of freedom self-adaptive buffer mechanism (11) which swings around BB' axis in the movement plane, the flexible sand removing cylinder brush (12) is arranged along the vertical direction of Cistanche growth, two sets of parallel quadrilateral two degree of freedom self-adaptive buffer mechanisms (11) and (11') with the same structure parameters are arranged in parallel on both sides of the end surface of the flexible sand removing cylinder brush (12), O1 and O1' are symmetrically distributed along the axis of the flexible sand removing cylinder brush (12) to form the sand removing component (1); given the radius of the flexible sand removing cylinder brush (12) as r, the distance between the center axis O1O1' of the sand removing component and the vertex of the azimuth angle α as l1, under the action of the pre-tightening force f, the sand removing cylinder (12) rotates around the center axis O1O1' closely to the sand wall with a rotational speed of n1, the self-adaptive feeding stroke along O1B line is controlled by the spring coefficient k and the damping coefficient c of the spring damper (112) and (112'), and the self-adaptive flexible sand removing is completed by the adaptive swinging of the two sets of identical hook spring groups (113) and (113') around BB' axis in the movement plane.

[0008] In the harvesting component (2), the harvesting rake (21) is composed of n*m harvesting rake teeth (22) which are uniformly distributed in n rows along the cylinder generatrix and m columns in the rotation direction, the axis O2O2' of the harvesting rake (21) is arranged along the vertical direction of Cistanche growth and is rotationally connected to the harvesting support (23), one end of the telescopic cylinder (24) is rotationally connected to the harvesting rake (21) and the other end is fixedly connected to the harvesting support (23) to form the harvesting component (2); given the radial length of the harvesting rake tooth (22) as b and the length of the harvesting support (23) as l2 which is adjusted and controlled by the telescopic cylinder (24), after the telescopic cylinder (24) controls the harvesting rake tooth (22) to reach the pre-sand depth h, the harvesting rake (21) rotates around the axis O2O2' with a rotational speed of n2 to complete the harvesting.

[0009] In the above-mentioned harvesting tine (22), the rigid tine body (222) covered with the elastic wrapper (221) is fixedly installed with the harvesting cutter head (223) at the top, the self-adaptive rotary grate (224) with holes is rotationally connected to the top end of the harvesting cutter head (223) and controls the minimum initial harvesting angle γ to be γ min by the elastic locking device (225), the top end of the harvesting cutter head (223) is provided with a limiting block (226) to control the maximum harvesting angle γ max , the self-adaptive rotary grate (224) controls the minimum initial harvesting angle γ to be γ min by the elastic locking device (225) when sand enters, effectively reducing the sand resistance; during the rotation of the harvesting tine (22) during harvesting, the self-adaptive rotary grate (224) reversely rotates under the sand pushing resistance after contacting the cistanche, and the harvesting angle γ gradually increases, and the maximum harvesting angle γ max is limited by the limiting block (226).

[0010] The relative position of the sand removing support (114) and the harvesting support (23) is adjusted, controlled or locked by the azimuth angle α. The distance between the two rotation axes is determined by the azimuth angle α When the plant spacing changes, the azimuth angle α changes to adapt to different plant spacings, and the non-interference condition is e>r+b.

[0011] The beneficial effects of the present application are that the proposed cistanche flexible harvesting device realizes self-adaptive sand removing and flexible harvesting of cistanche, greatly reduces the power consumption for removing sand, makes the stress uniform during cistanche harvesting, avoids damage to cistanche, reduces the waste of cistanche medicinal materials during harvesting, and improves the harvesting efficiency of cistanche based on standard planting. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a structural schematic view of a cistanche flexible harvesting device based on standard planting;

[0013] Figure 2 It is a working principle diagram of the sand removing part;

[0014] Figure 3 It is a structural schematic view of the harvesting part;

[0015] Figure 4 It is a working principle diagram of the harvesting part;

[0016] Figure 5 It is a structural schematic view of the harvesting tine of the harvesting part;

[0017] Figure 6 It is a working schematic view of the harvesting tine of the harvesting part;

[0018] Figure 7 Figure 1 is a working principle diagram of a flexible raking type harvesting device for Cistanche based on standard planting.

[0019] In the figure, 1: sand removing component; 2: harvesting component; 11: parallelogram two-degree-of-freedom adaptive buffer mechanism; 12: sand removing roller brush; 111: connecting rod; 112: spring damper; 113: spring set with hook; 114: sand removing support; 21: harvesting rake; 22: harvesting tine; 23: harvesting support; 24: telescopic cylinder; 221: elastic wrapping body; 222: rigid tine body; 223: harvesting cutter head; 224: adaptive rotary grate; 225: elastic locking device; 226: limiting block. DETAILED DESCRIPTION

[0020] The specific embodiments of the present application are described in further detail below in combination with the accompanying drawings and examples.

[0021] The embodiments are as follows:

[0022] In combination Figure 1 , the sand removing component (1) and the harvesting component (2) constitute the Cistanche flexible raking type harvesting device, after the feeding mechanism makes the entire harvesting device reach the predetermined working position, the sand removing component (1) first completes the surface sand removing of Cistanche, and the harvesting component (2) performs longitudinal raking type harvesting.

[0023] Figure 2The working principle diagram of the shown sanding component, in the sanding component (1), four connecting rods (111) are sequentially connected in rotation at O1ABC in the same movement plane, and the spring damper (112) is installed between O1 and B to form a parallel four-bar single degree of freedom buffer mechanism in the movement plane along the O1B straight line self-adaptive feeding, further composed of two identical hook spring groups (113) with one end respectively fixed to the parallel four-bar single degree of freedom buffer mechanism A, C, and the other end respectively fixed to the point D on the sanding support (114) with shaft intersection angle f to form a parallel four-bar two degree of freedom adaptive buffer mechanism (11) swinging around the BB' axis in the movement plane, the flexible sanding drum brush (12) is arranged along the vertical direction of the growth of the cistanche, two groups of parallel four-bar two degree of freedom adaptive buffer mechanisms (11), (11') with the same structural parameters are arranged in parallel on both sides of the end face of the flexible sanding drum brush (12), O1 and O1' are distributed symmetrically along the axis of the flexible sanding drum brush (12) to form the sanding component (1); given the radius of the flexible sanding drum brush (12) as r=200mm, the distance between the sanding component center axis O1O1' and the vertex of the azimuth angle α as l1=1000mm, under the action of the pre-tightening force f during harvesting, the sanding drum brush (12) is tightly attached to the sand wall and rotates around the center axis O1O1' with a speed of n1=200rpm, the spring coefficient k and the damping coefficient c of the spring damper (112), (112') control the adaptive feeding stroke along the O1B line, and the adaptive swinging around the BB' axis in the movement plane is completed by the two sets of identical hook spring groups (113), (113') to complete the adaptive flexible sanding.

[0024] In combination with Figure 3 , Figure 4 , the harvesting component (2) is composed of the harvesting rake (21) which is composed of 18 harvesting rake teeth (22) arranged in 6 rows along the drum generatrix and 3 columns in the rotation direction, the harvesting rake (21) axis O2O2' is arranged along the vertical direction of the growth of the cistanche and is rotationally connected to the harvesting support (23), one end of the telescopic cylinder (24) is rotationally connected to the harvesting rake (21), the other end is fixed to the harvesting support (23), and the harvesting component (2) is formed; given the radial length of the harvesting rake tooth (22) as b=400mm, the length of the harvesting support (23) as l2=700mm and adjusted and controlled by the telescopic cylinder (24), after the telescopic cylinder (24) controls the harvesting rake tooth (22) to the pre-sand depth h, the cistanche harvesting rake (21) rotates around the axis O2O2' with a speed of n2=10rpm to complete the harvesting. Considering the diameter of the cistanche, the distance between the pre-digging sand wall and the cistanche, etc., the pre-sand depth h is initially set as 200mm.

[0025] In combination with Figure 5The rigid rake body (222) covered with the elastic wrapper (221) is fixedly installed with the harvesting cutter head (223) at the top, the self-adaptive rotary grate (224) with holes is rotationally connected to the top end of the harvesting cutter head (223) and controls the minimum harvesting angle γ of the initial state to γ min The harvesting cutter head (223) is installed with the limiting block (226) to control the maximum harvesting angle γ of the harvesting angle γ max In the working state, the rotation of the harvesting rake (21) makes the self-adaptive rotary grate (224) reversely rotate under the sand pushing resistance, and the harvesting angle γ gradually increases until γ max The self-adaptive rotary grate (224) can reduce the resistance by sand leakage in the working process.

[0026] In combination Figure 6 With the working principle of the harvesting component (2), n2 is the rotating speed of the harvesting rake (21), v is the moving speed of the harvesting rake (21), when the harvesting rake (21) drives the harvesting rake (22) to rotate and insert into the sand, the self-adaptive rotary grate (224) with holes is rotationally connected to the top end of the harvesting cutter head (223) and controls the minimum harvesting angle γ of the initial state to γ min , effectively reducing the sand entering resistance; when the harvesting rake (21) moves to position 1, the rigid rake body (222) covered with the elastic wrapper (221) contacts the Cistanche, effectively protecting the Cistanche from being damaged; when the harvesting rake (21) moves to position 2, the self-adaptive rotary grate (224) with holes reversely rotates under the sand pushing resistance, and the harvesting angle γ gradually increases until γ max The self-adaptive rotary grate (224) reduces the resistance by sand leakage, and the harvesting rake (22) is in the shape of inverted "7" at this time, realizing the flexible harvesting of Cistanche; when the harvesting rake (21) moves to position 3, the Cistanche is successfully harvested, and the next harvesting rake (22) is driven by the harvesting rake (21) to be inserted into the sand; continue in this way to realize continuous harvesting.

[0027] In combination Figure 7 The relative positions of the sand wiping support (114) and the harvesting support (23) are adjusted, controlled or locked by the azimuth angle α. Given the azimuth angle α = 60°, the two rotating axes are determined by the azimuth angle α to be apart from each other by When the plant spacing changes, the azimuth angle α changes to adapt to different plant spacings, at this time e > r + b = 600 mm, and the two devices do not interfere with each other.

Claims

1. A flexible raking type harvesting device for Cistanche based on standard planting, characterized in that, The flexible raking type harvesting device of Cistanche is composed of the sand removing part (1) and the harvesting part (2). After the feeding mechanism makes the whole harvesting device reach the predetermined working position, the sand removing part (1) first completes the surface sand removing of Cistanche, and then the longitudinal raking type harvesting is carried out by the harvesting part (2); In the sand removing part (1), four connecting rods (111) are rotationally connected in the same movement plane at O1ABC, and a spring damper (112) is installed between O1 and B to form a parallelogram single degree of freedom buffer mechanism which is self-adaptive to the linear feeding along O1B in the movement plane. Further, two identical hook spring groups (113) are respectively fixed at A and C of the parallelogram single degree of freedom buffer mechanism at one end, and are respectively fixed at the point D on the sand removing support (114) at the other end with an axis intersection angle f to form a parallelogram two degree of freedom self-adaptive buffer mechanism (11) which swings around the BB' axis in the movement plane. The flexible sand removing cylinder brush (12) is arranged along the vertical direction of Cistanche growth. Two groups of parallelogram two degree of freedom self-adaptive buffer mechanisms (11) and (11') with the same structure parameters are symmetrically arranged on the two sides of the end surface of the flexible sand removing cylinder brush (12). O1 and O1' are distributed symmetrically along the axis of the flexible sand removing cylinder brush (12) to form the sand removing part (1). Given that the radius of the flexible sand removing cylinder brush (12) is r, the distance between the center axis O1O1' of the sand removing part and the vertex of the azimuth angle α is l1, under the action of the pre-tightening force f, the flexible sand removing cylinder brush (12) rotates around the center axis O1O1' and the rotating speed is n1 when it is in close contact with the sand wall. Meanwhile, the spring coefficient k and the damping coefficient c of the spring damper (112) and (112') control the self-adaptive feeding stroke along the O1B line, and two sets of identical hook spring groups (113) and (113') adaptively swing around the BB' axis in the movement plane to complete the self-adaptive flexible sand removing. The harvesting component (2) is composed of n*m harvesting rakes (22) which are arranged in n rows along the generatrix of the drum and m columns in the rotation direction, the axis O2O2' of the harvesting rakes (21) is arranged along the vertical direction of the growth of the cistanche and is rotationally connected to the harvesting support (23), one end of the telescopic cylinder (24) is rotationally connected to the harvesting rakes (21) and the other end is fixedly connected to the harvesting support (23), constituting the harvesting component (2); the given harvesting rake (22) has a radial length of b, the length of the harvesting support (23) is l2 and is adjusted and controlled by the telescopic cylinder (24), the telescopic cylinder (24) controls the harvesting rake (22) to a pre-sand depth h during harvesting, the harvesting rakes (21) are rotated around the axis O2O2' by the motor and the rotation speed is n2, and the harvesting is completed; in the above-mentioned harvesting rake (22), the rigid rake body (222) covered with the elastic wrapping body (221) is fixedly installed with the harvesting bit (223) at the top, the self-adaptive rotary grate (224) with holes is rotationally connected to the top end of the harvesting bit (223) and controls the initial harvesting angle γ to be the minimum γ min by the elastic locking device (225), the top end of the harvesting bit (223) is provided with a limiting block (226) to control the maximum extreme value of the harvesting angle γ max ; when the sand enters, the self-adaptive rotary grate (224) controls the initial harvesting angle γ to be the minimum γ min by the elastic locking device (225), effectively reducing the sand entering resistance; during the rotation of the harvesting rakes (21) during harvesting, the self-adaptive rotary grate (224) reversely rotates under the sand pushing resistance after the harvesting rake (22) contacts the cistanche, the harvesting angle γ gradually increases, and the maximum extreme value of the harvesting angle γ max is limited by the limiting block (226), and the flexible raking type harvesting of the cistanche is realized, and the self-adaptive rotary grate (224) can reduce the resistance by sand leakage.

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