White radish combine harvester

Abstract

The present invention belongs to the field of agricultural automation equipment and discloses a white radish combine harvester, comprising: a frame, on which a walking chassis, a deep loosening device, a tassel gathering device, and a variable-rigidity tassel clamping, pulling, and conveying device are provided; the walking chassis is used to drive the entire machine to move, and the deep loosening device is used for deep loosening operations; the tassel gathering device is installed at the front end of the frame, and comprises a tassel supporter and a leaf gathering claw assembly provided at the rear end of the tassel supporter, the leaf gathering claw assembly comprising a belt leaf gathering claw that circulates along a vertical plane and a driving mechanism that drives the belt leaf gathering claw to move; during operation, the tassel supporter extends horizontally into the bottom of the tassels on both sides of the white radish to be picked and lifts the tassels on both sides of the white radish; at the same time, the belt leaf gathering claw circulates from bottom to top, and the tassel supporter and the leaf gathering claw assembly work together to gather the white radish tassels into bundles and convey them to the variable-rigidity tassel clamping, pulling, and conveying device. The above-mentioned white radish combine harvester has a good tassel gathering effect and is not prone to errors in clamping and pulling.

Description

Technical Field

[0001] The invention belongs to the field of agricultural automation equipment, and in particular relates to a white radish combine harvester. Background Art

[0002] my country has a wide planting area for white radish. Although the level of mechanized harvesting has reached a certain scope of application, white radish is different from other root crops. It is large in size, with tubers of different sizes, and grows deep into the soil. In addition, mature white radishes will have some tubers exposed to the ground, and the stems and leaves are lush and intertwined with each other, and the stems and leaves are seriously prone to lodging. The simple tassel-supporting device of the existing pulling-type white radish harvester can only support the tassels on the side parallel to the forward direction, making it difficult to achieve a good tassel and leaf gathering effect. In addition, during the clamping and pulling process of the existing white radish harvester, the white radish will fall due to the gravity of the white radish or the clamping force is too light or too heavy, resulting in waste. Based on this, the current white radish harvester cannot be widely used in a variety of white radish farms.

[0003] CN118120436A discloses an automated radish harvester comprising a vehicle body, a clamping and conveying mechanism, a cutting mechanism, and a crushing mechanism. The vehicle body is provided with a storage frame and a guide hopper. The clamping and conveying mechanism comprises a bracket, a pair of pulley assemblies provided on the bracket, and a pair of guide rods provided at the front end of the bracket. The bracket is tilted to the side of the vehicle body with the guide rods facing the ground. The pair of pulley assemblies extend parallel and spaced apart along the length of the bracket. The pair of guide rods are provided on opposite sides of the bracket for guiding the petioles of the radish to the pair of pulley assemblies. However, the white radish harvester disclosed in this patent suffers from poor tassel-holding effect and is prone to extraction failure due to improper gripping force during the clamping and extraction process. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology and provide a white radish combine harvester with good tassel and leaf gathering effect and low error in pinching and pulling.

[0005] In order to solve the above technical problems, the technical solution proposed in the present invention is as follows: a white radish combine harvester, comprising: a frame, on which are provided a walking chassis, a deep loosening device, a tassel and leaf gathering device, and a variable-rigidity tassel clamping and pulling and conveying device; the walking chassis is used to drive the entire machine to move, and the deep loosening device is used for deep loosening operations;

[0006] The tassel gathering device is installed at the front end of the frame, and includes a tassel supporter and a leaf gathering claw assembly arranged at the rear end of the tassel supporter. The leaf gathering claw assembly includes a belt leaf gathering claw that rotates in a circular motion along a vertical plane and a driving mechanism that drives the belt leaf gathering claw to move. During operation, the tassel supporter extends horizontally into the bottom of the tassels on both sides of the white radish to be picked and lifts up the tassels on both sides of the white radish; at the same time, the belt leaf gathering claw rotates in a circular motion from bottom to top, and the tassel supporter and the leaf gathering claw assembly work together to gather the radish tassels into bundles and convey them to the variable-rigidity tassel clamping and extraction conveying device.

[0007] In one embodiment, the variable-rigidity tassel-pulling and conveying device includes a clamping conveyor frame, two clamping belts arranged on the clamping conveyor frame for use in pairs, the two clamping belts move in opposite directions at the same speed, and the two clamping belts are tilted with the front lower and the back higher, and are used to clamp the white radish tassels for extraction and conveying during transportation, and each clamping belt inlet end is provided with a paired feeding wheel; the two clamping belts are provided with a paired variable-rigidity tensioning wheel group, the variable-rigidity tensioning wheel group is fixed on the clamping conveyor frame, and the variable-rigidity tensioning wheel group is connected to a variable-rigidity elastic device for adjusting the tensioning force between the variable-rigidity tensioning wheel groups to achieve variable-rigidity clamping of the white radish tassels.

[0008] In one embodiment, the variable stiffness tensioning wheel group includes a fixed tensioning wheel and a dynamic tensioning wheel used in pairs, and the variable stiffness elastic device includes a stiffness adjusting part fixed on the clamping conveyor frame, an elastic part connected to the stiffness adjusting part, and a variable stiffness support rod connected to the elastic part. The variable stiffness support rod is connected to the dynamic tensioning wheel, and the tensioning force between the dynamic tensioning wheel and the fixed tensioning wheel is adjusted by adjusting the stiffness adjusting part.

[0009] In one embodiment, the elastic member is a tension spring, the variable stiffness support rod is a double-link mechanism, one end of the double-link mechanism is connected to the tension spring, and the other end is connected to the dynamic tensioning wheel, and the adjusting member includes a paired adjusting nut and a tension spring stiffness adjusting bolt, and the tension spring stiffness adjusting bolt is connected to the tension spring.

[0010] In one embodiment, the variable-rigidity tassel-clamping extraction and conveying device also includes an auxiliary feeding wheel, which is made of flexible material. The base circle diameter of the auxiliary feeding wheel is the same as that of the feeding wheel, and the auxiliary feeding wheel is coaxially arranged to move synchronously with the feeding wheel. The outer edge of the auxiliary feeding wheel is provided with arc-shaped tassel-pulling teeth, which are used to assist in feeding the tassels gathered into bundles into the variable-rigidity tassel-clamping extraction and conveying device.

[0011]

[0012] Where D f is the total deformation, including the deformation of the tassel leaf petiole and the deformation of the elastic member, mm; k0 is the equivalent elastic coefficient of the dynamic tensioner, D is the deformation of the tassel leaf petiole, F is the force on the tassel leaf petiole of the variable stiffness tensioner assembly, N;

[0013] The material and size of the elastic member are determined according to the equivalent elastic coefficient k0 of the dynamic tensioner.

[0014] In one embodiment, it also includes a tassel cutting device and a sorting device arranged at the rear end of the variable stiffness tassel pulling and conveying device.

[0015] In one embodiment, the tassel lifter and leaf gathering claw assembly are two pairs and are used in pairs. The bottom of the tassel lifter is set horizontally, and the top is inclined toward the belt leaf gathering claw, so that the bottom and the top form a sharp angle to insert into the bottom of the tassels on both sides of the white radish. During operation, the tassel lifter and the walking chassis keep a consistent horizontal forward speed and the speed is 0.3-1.0m / s. The rotation speed of the leaf gathering claw assembly is 80-200rpm. Under the interaction between the tassel lifter and the leaf gathering claw, the white radish tassel branches that are "scattered around" are lifted up and combined with the rotation of the belt leaf gathering claw to gather the tassels into bundles.

[0016] In one embodiment, the deep plowing device includes a double-wing plow body deep plowing shovel, which is connected to the frame through a deep plowing shovel arm. The double-wing plow body deep plowing shovel is formed by connecting two single-wing plow body deep plowing shovels. The slope of the rear section of the guide curve formed at the connection between the two single-wing plow bodies is greater than the slope of the front section. The tip pusher angle of the double-wing plow body deep plowing shovel is 40 to 60 degrees.

[0017] In one embodiment, a support arm is provided on the side of the deep plowing shovel arm, and the deep plowing device also includes a deep plowing depth control device, one end of the deep plowing depth control device is hinged to the frame, and the other end is hinged between the deep plowing shovel arm and the support arm.

[0018] Compared with the prior art, the present invention has the following beneficial effects: during the white radish plucking process, the better the tassels are gathered, the more tassels are clamped during plucking, the lower the harvest loss rate and damage rate, and the higher the qualified cutting rate. The white radish combine harvester of the present application controls the forward speed of the harvester's tassel lifter and coordinates the rotation speed of the leaf-gathering claw assembly. The tassel lifter and leaf-gathering claw assembly work together to gather the naturally spread tassels into a bundle, facilitating subsequent tassel-grabbing, plucking, and conveying operations. Furthermore, since the radish tassels and stems are easily damaged and juice overflows when the squeezing force of the clamping mechanism is too great, the friction coefficient between the "tassels-clamping belt" is reduced. If it is too small, it is difficult to meet the pulling force required for white radish harvesting. Therefore, too large or too small a clamping force will directly or indirectly cause pulling failure, resulting in a high loss rate of white radish mechanical harvesting; after the white radish tassels are gathered, the white radish combine harvester of the present application uses a variable stiffness tassel clamping and pulling conveying device for clamping, pulling and conveying, which can better control the force of clamping the tassels to keep it in a moderate state, thereby improving the success rate of white radish pulling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of a white radish combine harvester according to one embodiment;

[0021] Figure 2 This is a structural schematic diagram of a tassel and leaf gathering device for a white radish combine harvester according to one embodiment;

[0022] Figure 3 This is a structural schematic diagram of a variable-rigidity tassel-pulling and conveying device for a white radish combine harvester according to one embodiment;

[0023] Figure 4 This is a schematic structural diagram of a subsoiling device for a white radish combine harvester according to one embodiment;

[0024] Figure 5 Schematic diagram of the double-wing plow body subsoiler structure of a subsoiler device of a white radish combine harvester according to one embodiment;

[0025] Figure 6 A top view of a force analysis of a variable stiffness clamping process according to one embodiment;

[0026] Figure 7 It is a side view of the force analysis of the variable stiffness clamping process of one embodiment. DETAILED DESCRIPTION

[0027] To facilitate understanding of the present invention, the present invention will be described in more comprehensive and detailed form below in conjunction with the accompanying drawings and preferred embodiments. However, the protection scope of the present invention is not limited to the following specific embodiments.

[0028] Unless otherwise defined, all technical terms used hereinafter have the same meanings as those generally understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0029] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0030] See also Figure 1-7 The white radish combine harvester of one embodiment mainly consists of a tassel and leaf gathering device 1, a variable stiffness tassel clip extraction and conveying device 2, a deep loosening device 3, a walking chassis 6, etc. In one embodiment, a tassel cutting device 4 and a sorting device 5 are also connected to the rear end.

[0031] Specifically, the tassel gathering device 1 is fixed to the front end of the frame, and includes a tassel supporting device 1-4 and a leaf gathering claw assembly 1-2 arranged at the rear end of the tassel supporting device 1-4. The leaf gathering claw assembly 1-2 includes a leaf gathering claw belt 1-3 that rotates in a vertical direction and a driving mechanism that drives the belt and leaf gathering claw to rotate in a circular direction. During operation, the tassel supporting device 1-4 extends horizontally into the bottom of the tassels on both sides of the white radish to be picked, and lifts up the tassels on the horizontal side of the forward direction; at the same time, the leaf gathering claw belt 1-3 rotates in a circular direction from bottom to top, and the tassel supporting device 1-4 and the leaf gathering claw assembly 1-2 work together to gather the white radish tassels into bundles and convey them to the variable-rigidity tassel clamping and extraction conveying device 2. Preferably, the tassel gathering device 1 is connected to the frame of the white radish harvester at an inclination angle of 45-90°. More preferably, the inclination angle is greater than 60° and less than 90°, so that the tassel gathering device can better complete the gathering and conveying operations of the white radish tassels.

[0032] During the white radish extraction process, the better the tassels are gathered, the more tassels are clamped during extraction, the lower the harvest loss rate and damage rate, and the higher the qualified rate of cut ends. The white radish combine harvester of the present application controls the forward speed of the tassel supporter 1-4 of the tassel gathering device 1, cooperates with the rotation speed of the leaf gathering claw assembly 1-2, and uses the tassel supporter 1-4 and the leaf gathering claw assembly 1-2 to work together to gather the tassels in the natural state from the "scattered" state into a bundle, which is beneficial for the subsequent tassel clamping, extraction and transportation operations. Furthermore, when the squeezing force of the white radish tassel stems by the clamping mechanism is too large, it is easy to be damaged, resulting in juice overflow, reducing the friction coefficient between the "tassel-clamping belt". If it is too small, it is difficult to meet the extraction force required for the white radish harvest. Therefore, too large or too small a clamping force will directly or indirectly cause extraction failure, thereby causing a high loss rate of the white radish mechanical harvest. To solve this problem, in the present application, after the radish tassels are gathered using the tassel gathering device 1, a variable stiffness tassel clamping, pulling and conveying device 2 is used for clamping, pulling and conveying. This can better control the force of clamping the tassels to maintain them in a moderate state, thereby improving the success rate of white radish pulling.

[0033] Specifically, in one embodiment, the tassel supporter 1-4 and the leaf-gathering claw assembly 1-2 are two pairs, which are respectively used to gather the tassels on both sides of the white radish into bundles. The bottom of the tassel supporter 1-4 is set horizontally, and the top is inclined to the leaf-gathering claw belt 1-3, so that the bottom and the top form a sharp angle to insert into the bottom of the tassels on both sides of the white radish. Preferably, the side of the tassel supporter 1-4 is similar to a triangle, and the forward force is used to lift the tassels and combine with the belt leaf-gathering claws to gather the tassels into bundles. Among them, the leaf-gathering claw belt 1-3 is composed of a base belt and leaf-gathering fingers. The working principle and structure of the base belt are consistent with those of an ordinary belt. The leaf-gathering fingers are made of rubber and are evenly distributed on the outer edge of the base belt at a certain interval. Due to the high elasticity of the rubber material, it can produce a flexible leaf-gathering effect on the tassels.

[0034] Preferably, the horizontal forward speed V of the tassel lifters 1-4 ism The speed V of the leaf-gathering claw belt 1-3 is 0.3-1.0m / s. t The speed is 80-200rpm, and the forward momentum is used to lift the tassels and combine with the belt to gather the tassels into a bundle. Control this speed range and the distance between the tassel lifter 1-4 and the belt 1-3 with the leaf-gathering claws. The two are as close as possible so that after the tassel lifter 1-4 lifts the tassels, the belt 1-3 with the leaf-gathering claws can roll up all the tassels. The two work together to gather the tassels in a natural state from the "spread out" state into a bundle, which is convenient for the subsequent tassel clamping, pulling and conveying operations.

[0035] Specifically, in one embodiment, the variable-rigidity clamping tassel extraction and conveying device 2 includes a clamping conveying frame 2-3 and two clamping belts 2-9 arranged on the clamping conveying frame. The two clamping belts 2-9 are arranged at an angle and move in opposite directions at the same speed. The inclined arrangement with the front lower and the back higher can provide a backward and upward force for the white radish during clamping and conveying, so that the white radish can be pulled out while being transported. A feeding wheel 2-8 is provided at the end of each clamping belt 2-9, and the two feeding wheels 2-8 are symmetrically arranged. Preferably, in one embodiment, it also includes an auxiliary feeding wheel 2-10, which is mounted on the upper and lower surfaces of the feeding wheel 2-8 via flanges, bolts and nuts. The auxiliary feeding wheel 2-10 is made of a flexible material, has the same base diameter as the feeding wheel, and is coaxially arranged and moves synchronously with the feeding wheel. The outer edge of the auxiliary feeding wheel 2-10 is provided with arc-shaped tassel-pulling teeth, which are used to assist in feeding the bundled tassels into the variable-rigidity clamping tassel extraction and conveying device 2. Specifically, the auxiliary feeding tassel-pulling wheel 2-10 is made of rubber, and the arc-shaped tassel-pulling teeth are evenly arranged on the outer edge. During operation, the feeding wheel 2-8 and the auxiliary feeding wheel 2-10 feed the gathered tassel leaf bundle into the variable-rigidity tassel-clamping and pulling conveying device 2.

[0036] The two clamping belts 2-9 are equipped with a paired variable stiffness tensioning pulley set, which is fixed to the clamping conveyor frame 2-3. The variable stiffness tensioning pulley set provides clamping force for the two clamping belts 2-9. The tension is adjusted by the variable stiffness elastic device on the clamping conveyor frame 2-3. This tension acts evenly on the two clamping belts 2-9, thereby providing appropriate holding force to clamp the white radish leaves. During operation, the two clamping belts 2-9 of the same specifications and models move in opposite directions at the same speed. The white radish leaves are gathered into bundles from the "spread out" state by the leaf gathering device. At the same time, at the forward speed of the white radish combine harvester, they enter the clamping and pulling conveyor device 2 from the feed wheel 2-8. The variable stiffness clamping and pulling conveyor device 2 then provides appropriate tension to the leaves. At the same time, the clamping belts 2-9 are transported obliquely and rearward at a certain angle, pulling the fleshy roots of the radish from the soil, completing the pulling and harvesting.

[0037] More specifically, the variable stiffness tension wheel group includes a fixed tension wheel 2-7 and a dynamic tension wheel 2-6 used in pairs, and there are multiple sets of fixed tension wheels 2-7 and dynamic tension wheels 2-6. A pair of dynamic tension wheels 2-6 arranged behind the feeding wheel 2-8 (clamping and pulling section) are symmetrically arranged with the fixed tension wheel 2-7 to provide a larger clamping force for the clamping belt 2-9, which is used to clamp the white radish tassels and pull out the white radish. After the white radish is pulled out, it enters the conveying section. The multiple pairs of dynamic tension wheels 2-6 and fixed tension wheels 2-7 arranged in the conveying section are staggered, because at this time it is only necessary to keep the white radish from falling from the clamping belt 2-9. The variable stiffness clamping tassel pulling and conveying device 2 mainly relies on the two wheel groups of dynamic tension wheel 2-6 and fixed tension wheel 2-7 to provide tension to the clamping belt 2-9. The cross section where the clamping belt 2-9 contacts the tassels evenly transfers the tension to the white radish tassel stems at this location. The variable stiffness elastic device includes a stiffness adjustment member fixed to the clamping conveyor frame, an elastic member connected to the stiffness adjustment member, and a variable stiffness support rod connected to the elastic member. The variable stiffness support rod is connected to the dynamic tensioning pulley. Adjusting the stiffness adjustment member adjusts the tension between the dynamic tensioning pulley 2-6 and the fixed tensioning pulley 2-7. Preferably, the variable stiffness elastic device specifically includes a variable stiffness support rod 2-1, a tension spring 2-2, a tension spring stiffness adjustment bolt 2-4, and an adjustment nut 2-5. Preferably, the variable stiffness support rod 2-1 is a double-link mechanism, with one end connected to the tension spring 2-2 and the other end connected to the dynamic tensioning pulley 2-6. When the tension needs to be adjusted, the adjustment nut 2-5 is adjusted. By cooperating with the tension spring stiffness adjustment bolt 2-4, the tension of the tension spring 2-2 is adjusted, thereby adjusting the tension angle of the variable stiffness support rod 2-1, and ultimately effectively adjusting the tension between the dynamic tensioning pulley 2-6 and the fixed tensioning pulley 2-7.

[0038] By establishing a Burgers rheological model for white radish tassels, obtaining the creep parameters of the tassels according to the creep test, and obtaining the constitutive equations of the tassels and the tassel clamping and extraction device, the plastic deformation of the tassels during clamping is analyzed, and the relationship between the deformation of the tassels during the tassel clamping and extraction process is constructed, and the stress conditions of the variable stiffness tassel clamping process are analyzed. Combined with the results of the field tassel clamping and extraction force test, the torque required to be provided by the elastic member (such as the tension spring 2-2) of the variable stiffness tassel clamping and extraction conveying device 2 is obtained. In summary, the specific parameters of the tension spring 2-2 in the variable stiffness tassel clamping and extraction conveying device 2, such as material selection, spring mean diameter, material diameter, effective number of turns and other parameters, can be obtained.

[0039] Specifically, see Figure 6 and 7In one embodiment, the relevant parameters of the variable stiffness clamping tassel extraction and conveying device 2 when working during the variable stiffness clamping process are as follows: R is the initial diameter of the tassel leaf petiole, mm; l is the tassel leaf conveying distance during the feeding process, mm; δ is the thickness of the tassel leaf petiole after being squeezed, mm; D0 is the floating amount of the dynamic tensioning wheel, mm; r is the radius of the dynamic tensioning wheel, mm; L is the length of the variable stiffness support rod (the straight-line distance between the two end points), mm; L1 is the projection distance of the axis at both ends of the variable stiffness support rod in the direction of the frame, mm; is the angle between the variable stiffness support rod and the frame, mm; θ is the floating angle, (°); F N is the clamping force, N; F is the force exerted on the variable stiffness tensioning wheel assembly from the tassel leaf petiole, N; F N and F are the action and reaction forces, F s is the resistance to pulling out the white radish, N; F f is the pulling force of white radish, N.

[0040] When the variable stiffness tassel extracting and conveying device 2 is working, the following relationship is satisfied:

[0041]

[0042] The changes in the deformation D of the tassel leaf petiole and the floating amount D0 of the dynamic tensioner can be expressed as

[0043] D=D0=2R-δ (2)

[0044] During operation, the ratio of the extrusion speed v1 of the variable stiffness clamping tassel extracting and conveying device 2 on the tassel leaf petiole to the tassel leaf conveying speed v2 during feeding is expressed as

[0045]

[0046] During the variable stiffness clamping process, the deformation of the tassel leaf petiole satisfies the relationship

[0047]

[0048] Where D f is the total deformation, including the deformation of the tassel leaf petiole and the tension spring, mm; k0 is the equivalent elastic coefficient of the dynamic tensioner, N / mm.

[0049] The tensile moment M generated by the tension spring 2-2 in the variable stiffness clamp tassel extraction and conveying device 2 n for

[0050]

[0051] Where G is the shear modulus of the tension spring material, which is commonly 79 GPa for spring materials; d is the diameter of the tension spring, in mm; D is the mean diameter of the spring, in mm; x is the amount of stretching, in mm; and n is the number of effective coils of the tension spring.

[0052] The torque generated by the tension spring on the dynamic tensioner is

[0053] M' n =FL1 (6)

[0054] From the above formula, the elastic equivalent coefficient k0 of the movable tensioner can be obtained as follows:

[0055]

[0056] It can be seen from this that the elastic equivalent coefficient k0 of the dynamic tensioner is closely related to the structural parameters of the tension spring.

[0057] Therefore, the material, size and other parameters of the tension spring can be determined according to the elastic equivalent coefficient k0 of the dynamic tensioning pulley.

[0058] The clamping force required to successfully remove the radish leaves must meet the following requirements:

[0059]

[0060] Where γ is the safety factor, which is the ratio of the friction force provided by the tassel-clamping mechanism to the pulling resistance of the white radish; μ is the friction coefficient between the tassel-leaf petiole and the clamping belt, and μ is taken as 1.29 through measurement.

[0061] White radish pulling resistance F s The pulling resistance is related to factors such as the weight of the white radish itself, soil friction, adhesion between the soil and fleshy roots, adhesion between the root system and soil, and pulling angle. The pulling resistance under different soil types varies significantly. In this study, white radish planted in sandy soil was selected as the research object, and the pulling force F was measured in the field. s The value of γ is 52.1~86.5N. To ensure smooth tassel removal, γ>1 is required. The larger the γ value, the greater the clamping force, which is likely to cause squeezing damage to the tassel leaf petiole, which is not conducive to stable and continuous operation. Considering all factors, γ=3 is selected.

[0062] In summary, the practical significance of the variable-rigidity tassel-pulling and conveying device in production is that, by using a variable-rigidity tassel-pulling clamp, the friction coefficient between the tassel leaf petiole and the clamping belt during the continuous tassel-pulling operation of a radish combine harvester can be reduced, thereby preventing a series of adverse consequences. In one embodiment, based on an analysis of the forces acting on the tassel leaf during the clamping process, the equivalent elastic coefficient of the dynamic tensioning pulley is determined to be 7.6 N / mm to 21.2 N / mm, and the torque applied by the elastic member to the dynamic tensioning pulley is 8 to 25 N·m.

[0063] Specifically, in one embodiment, the deep plowing device 3 includes a deep plowing shovel arm 30 and a double-wing plow body deep plowing shovel 31. The double-wing plow body deep plowing shovel 31 is connected to the frame through the deep plowing shovel arm 30. Specifically, the deep plowing shovel arm 30 is connected to the frame through a hinge seat 310. Preferably, the double-wing plow body subsoiler 31 comprises two seamlessly connected single-wing plow body subsoilers 311. The width of the two seamlessly connected single-wing plow body subsoilers is 150 to 250 mm. The double-wing plow body subsoiler 31 is formed by connecting two single-wing plow body subsoilers. The slope of the guide curve formed at the connection between the two single-wing plow bodies is greater than the slope of the front section. The wedge-shaped plowshare combined subsoiler tip has a soil penetration angle of 40 to 60 degrees, which is smaller than the 35 to 40 degree push-up angle of conventional moldboard plows (traditional single-wing moldboard plows have a soil-pushing angle of 35 to 40 degrees). The double-wing plow body subsoiler 31 of the present application can break the soil below the white radish while providing the white radish with an upward movement along the soil. The use of the double-wing plow body subsoiler 31 improves the soil disturbance caused by the subsoiler, reduces the adhesion between the soil and the fleshy roots of the white radish, and thus reduces the force required to pull the white radish out, improving overall operation quality and reducing the loss (missed pulling) rate.

[0064] The design of the double-wing plow body subsoiler 31 of the present application is realized by combining the design reference of the plowshare subsoiler in the "Agricultural Machinery Design Manual" and the actual operation conditions of white radish harvesting. Its purpose is to reduce the resistance when pulling out the white radish so as to achieve smooth pulling out of the white radish. Specifically, in one embodiment, during the white radish pulling process, there is no need to consider factors such as soil drainage and furrowing effect. In order to reduce the resistance to subsoiling, the tip pusher angle of the double-wing plow body subsoiler 31 (i.e., the initial root angle) is set to 40-60° (the tip pusher angle of the single-wing plow body subsoiler is 20-30°); the root angle difference is 7-15°. In static state, the bottom surface of the subsoiler is in a horizontal position with the crawler contact surface, and the installation angle is 0°. During deep tillage operation, the deep tillage shovel can achieve deep tillage operation at 0 to 250 mm below the ridge surface, and the installation angle can vary from 0 to 35°. In order to ensure the passability of the entire machine during field / highway transportation, a wide range of adjustment from 0 to 550 mm on the ground can be achieved. The guide curve and the two clamping belts of the variable-rigidity clamping tassel extraction and conveying device are in a coplanar relationship in space. The guide curve is a smooth curve that is obliquely small at the beginning and large at the end, so that the deep tillage device can provide an upward thrust to the fleshy roots of the white radish during harvesting operations, which is beneficial for continuous extraction operations.

[0065] In one embodiment, in order to avoid insufficient structural strength of the subsoiler arm 30 due to direction correction during field operation of the white radish combine harvester, a support arm 32 is provided on the side of the subsoiler arm 31.

[0066] The subsoiling device 3 also includes a subsoiling depth control device 34. One end of the subsoiling depth control device 34 is hinged to the frame, and the other end is hinged between the subsoiling shovel arm 31 and the support arm 32. The subsoiling depth is adjusted by adjusting the subsoiling depth control device 34. Specifically, the subsoiling depth control device 34 is a hydraulic cylinder that can achieve efficient and low-resistance subsoiling operations of 0 to 25 cm below the ridge.

[0067] During the white radish extraction process, the better the tassels are gathered, the more tassels are clamped during extraction, the lower the harvest loss rate and damage rate, and the higher the qualified rate of cut ends. The white radish combine harvester of the present application controls the forward speed of the harvester tassel supporter 1-4, cooperates with the rotation speed of the leaf-gathering claw assembly 1-2, and uses the tassel supporter 1-4 and the leaf-gathering claw assembly 1-2 to work together to gather the tassels in the natural state from the "spreading out to all sides" state into a bundle, which is beneficial to the subsequent clamping, extraction and transportation operations. Furthermore, when the squeezing force of the white radish tassel stems is too large by the clamping mechanism, it is easy to be damaged, resulting in juice overflow, reducing the friction coefficient between the "tassel-clamping belt". If it is too small, it is difficult to meet the extraction force required for the white radish harvest. Therefore, too large or too small a clamping force will directly or indirectly cause extraction failure, thereby causing a high loss rate of the white radish mechanical harvest. In the present application, after the radish tassels are gathered, they are clamped, pulled and conveyed using a variable stiffness clamping tassel extraction and conveying device 2. In the variable stiffness clamping tassel extraction and conveying device 2, the adjusting nut 2-5 is adjusted, and the tension spring 2-2 is adjusted in coordination with the tension spring stiffness adjusting bolt 2-4, thereby adjusting the tightness of the tension spring 2-2, thereby adjusting the angle of the variable stiffness support rod 2-1, and finally achieving the adjustment of the tension between the dynamic tensioning wheel 2-6 and the fixed tensioning wheel 2-7. In actual work, according to the specific situation of the tassels, adjusting the tension between the dynamic tensioning wheel 2-6 and the fixed tensioning wheel 2-7 can better control the force of clamping the tassels to maintain it in a moderate state, thereby improving the success rate of white radish extraction.

Claims

1. A white radish combine harvester, characterized in that: include: The frame is equipped with a walking chassis, a deep loosening device, a tassel gathering device and a variable stiffness tassel clamping and pulling and conveying device; the walking chassis is used to drive the whole machine to move, and the deep loosening device is used for deep loosening operations; The tassel-gathering device is installed at the front end of the frame, and includes a tassel-supporting device and a leaf-gathering claw assembly arranged at the rear end of the tassel-supporting device. The leaf-gathering claw assembly includes a belt leaf-gathering claw that circulates along a vertical plane and a driving mechanism that drives the belt leaf-gathering claw to move. During operation, the tassel-supporting device extends horizontally into the bottom of the tassels on both sides of the white radish to be picked and lifts up the tassels on both sides of the white radish; at the same time, the belt leaf-gathering claw circulates from bottom to top, and the tassel-supporting device and the leaf-gathering claw assembly work together to gather the tassels of the white radish into bundles and convey them to the variable-rigidity tassel-clamping and extraction conveying device; The variable stiffness clamping tassel pulling and conveying device includes a clamping conveying frame, two clamping belts arranged on the clamping conveying frame for use in pairs, the two clamping belts move in opposite directions at the same speed, and the two clamping belts are tilted and arranged with a low front and a high rear, and are used for clamping the white radish tassels and leaves for pulling and conveying during transportation; the inlet end of each clamping belt is provided with a paired feeding wheel; the two clamping belts are provided with a paired variable stiffness tensioning wheel group, the variable stiffness tensioning wheel group is fixed on the clamping conveying frame, and the variable stiffness tensioning wheel group is connected to a variable stiffness elastic device for adjusting the tensioning force between the variable stiffness tensioning wheel groups to achieve variable stiffness clamping of the white radish tassels and leaves; The variable stiffness tensioning wheel assembly includes a fixed tensioning wheel and a dynamic tensioning wheel used in pairs. The variable stiffness elastic device includes a stiffness adjusting member fixed to the clamping conveyor frame, an elastic member connected to the stiffness adjusting member, and a variable stiffness support rod connected to the elastic member. The variable stiffness support rod is connected to the dynamic tensioning wheel. The tension between the dynamic tensioning wheel and the fixed tensioning wheel is adjusted by adjusting the stiffness adjusting member. The elastic member is a tension spring, and the variable stiffness support rod is a double-link mechanism, one end of the double-link mechanism is connected to the tension spring, and the other end is connected to the dynamic tensioning wheel. The adjustment member includes a matching adjustment nut and a tension spring stiffness adjustment bolt, and the tension spring stiffness adjustment bolt is connected to the tension spring. During the variable stiffness clamping process, the deformation of the tassel leaf petiole and the deformation of the elastic member satisfy the relationship: Where, D f is the total deformation, including the deformation of the tassel leaf petiole and the elastic part, mm; k 0 is the equivalent elastic coefficient of the dynamic tensioner, D is the deformation of the tassel leaf petiole, F The variable stiffness tension wheel group is subjected to the force from the tassel leaf petiole, N; Tensile torque generated by the tension spring in the variable stiffness tassel extraction and conveying device M n for Where, G is the shear modulus of the tension spring material, G Take 79GPa; d is the diameter of the tension spring, mm; R o is the mean diameter of the tension spring, mm; x is the stretching amount, mm; n is the effective number of coils of the tension spring; The torque generated by the tension spring on the dynamic tensioner is Where, L 1 is the projection distance of the axis at both ends of the support rod in the direction of the frame; The elastic equivalent coefficient of the movable tensioner can be obtained k 0 is: ; D 0 is the floating amount of the dynamic tensioner, mm; According to the equivalent elastic coefficient of the dynamic tensioner k 0Determine the material and size of the elastic member.

2. The white radish combine harvester according to claim 1, characterized in that: The variable-rigidity tassel-clamping extraction and conveying device also includes an auxiliary feeding wheel, which is made of flexible material. The base circle diameter of the auxiliary feeding wheel is the same as that of the feeding wheel, and the auxiliary feeding wheel is coaxially arranged to move synchronously with the feeding wheel. The outer edge of the auxiliary feeding wheel is provided with arc-shaped tassel-pulling teeth, which are used to assist in feeding the tassels gathered into bundles into the variable-rigidity tassel-clamping extraction and conveying device.

3. The white radish combine harvester according to claim 1, characterized in that: It also includes a tassel cutting device and a sorting device arranged at the rear end of the variable rigidity tassel pulling and conveying device.

4. The white radish combine harvester according to claim 1, characterized in that: The tassel lifters and leaf gathering claw assemblies are divided into two pairs and used in pairs. The bottom of the tassel lifters is set horizontally, and the top is inclined toward the belt leaf gathering claws, so that the bottom and the top form a sharp angle to insert into the bottom of the tassels on both sides of the white radish. During operation, the tassel lifters and the walking chassis keep a consistent horizontal forward speed of 0.3-1.0m / s, and the rotation speed of the leaf gathering claw assembly is 80-200rpm. Under the mutual action of the tassel lifters and the leaf gathering claws, the white radish tassel branches that are "scattered around" are lifted up and combined with the rotation of the belt leaf gathering claws to gather the tassels into bundles.

5. The white radish combine harvester according to claim 1, characterized in that: The deep plowing device includes a double-wing plow body deep plowing shovel, which is connected to the frame through a deep plowing shovel arm. The double-wing plow body deep plowing shovel is formed by connecting two single-wing plow body deep plowing shovels. The rear section slope of the guide curve formed at the connection between the two single-wing plow bodies is greater than the front section slope. The shovel tip pusher angle of the double-wing plow body deep plowing shovel is 40~60°.

6. The white radish combine harvester according to claim 5, characterized in that: A support arm is provided on the side of the deep plowing shovel arm. The deep plowing device also includes a deep plowing depth regulating device. One end of the deep plowing depth regulating device is hinged to the frame, and the other end is hinged between the deep plowing shovel arm and the support arm.

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