Self-propelled broccoli high-efficiency low-damage combined harvester and control method

Abstract

The application provides a self-propelled broccoli high-efficiency low-damage combined harvester and a control method, which comprises a cutting and conveying device, a first buffering device, a first leaf removing device, a second buffering device, a second leaf removing device and a sorting table; the cutting and conveying device cuts broccoli stems and conveys broccoli balls to the first buffering device; the first buffering device slowly transports the broccoli balls to the first leaf removing device; the first leaf removing device clamps the broccoli balls and transports them backward, removes side branches and leaves of the broccoli balls parallel to the walking direction, and conveys the broccoli balls to the second buffering device; the second buffering device slowly transports the broccoli balls to the second leaf removing device; the second leaf removing device clamps the broccoli balls and transports them backward, removes side branches and leaves of the broccoli balls vertical to the walking direction, and conveys the broccoli balls to the sorting table. The application realizes efficient removal of leaves during broccoli harvesting, effectively reduces the damage rate of broccoli, and improves the efficiency and quality of broccoli production.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of broccoli harvesting machinery or the technical field of crop harvesting equipment, and particularly relates to a self-propelled broccoli high-efficiency low-damage combined harvester and a control method. BACKGROUND

[0002] In recent years, broccoli has been increasingly favored by consumers due to its rich content of vitamins and other bioactive compounds. Broccoli is composed of flower balls, leaves, lateral branches, stems, and other components, and is a low-calorie, high-fiber vegetable rich in vitamins, minerals, and antioxidants. It is a high-quality source of protein, containing rich nutrients such as vitamin C and vitamin A. In addition, broccoli also contains sulfides, isothiocyanates, and carotenoids, which have antioxidant, anti-inflammatory, and anticancer effects.

[0003] With the continuous development of combined harvesting machinery, the harvesting of broccoli has gradually been mechanized. The main problems in broccoli harvesting are related to the problems of pulling and cutting, flower and fruit, and tail vegetables. The existing patent CN115643898A discloses a harvesting machine for precise cutting of broccoli plants based on visual recognition, which can adjust the cutting width and achieve precise harvesting of broccoli. However, the harvesting method based on visual recognition of broccoli position has relatively high accuracy, but the harvesting process is time-consuming and inefficient. The existing patent CN115997554A discloses a broccoli combined harvester and its control method. In order to improve the harvesting efficiency, an automatic control device for broccoli fruit packaging is designed, which can realize most of the leaf and skin removal processes during the broccoli conveying process. However, during the cutting and conveying process, the squeezing of broccoli balls needs to be considered, and the conveyor belt is made of flexible material to reduce damage. The inside is provided with a tensioning device to adapt to different sizes of broccoli, otherwise it will cause certain damage to the broccoli. SUMMARY

[0004] In view of the above technical problems, the present application provides a self-propelled broccoli high-efficiency low-damage combined harvester, which realizes efficient removal of leaves during broccoli harvesting and effectively reduces the damage rate of broccoli, thereby improving the efficiency and quality of broccoli production.

[0005] The present application also provides a control method for the self-propelled broccoli high-efficiency low-damage combined harvester.

[0006] The present application achieves the above technical purpose through the following technical means.

[0007] A self-propelled broccoli high-efficiency low-damage combined harvester, comprising a cutting and conveying device, a first-stage buffer device, a first-stage leaf removal device, a second-stage buffer device, a second-stage leaf removal device, a sorting table, and a chassis walking device.

[0008] The cutting conveying device, the first-level buffering device, the first-level defoliating device, the second-level buffering device, the second-level defoliating device and the sorting table are arranged on the chassis traveling device.

[0009] The cutting conveying device, the first-level buffering device, the first-level defoliating device and the second-level buffering device are arranged in sequence from the rear in the traveling direction, the second-level defoliating device is located on one side of the rear end of the second-level buffering device, and the sorting table is located at the rear of the second-level defoliating device; the cutting conveying device is used for cutting broccoli stems and conveying broccoli balls to the first-level buffering device; the first-level buffering device is used for slowly conveying the broccoli balls to the first-level defoliating device; the first-level defoliating device is used for clamping the broccoli balls to convey them backward and remove side branches and leaves of the broccoli balls parallel to the traveling direction, so as to convey the broccoli balls to the second-level buffering device; the second-level buffering device is used for slowly conveying the broccoli balls to the second-level defoliating device; the second-level defoliating device is used for clamping the broccoli balls to convey them backward and remove side branches and leaves of the broccoli balls perpendicular to the traveling direction, so as to convey the broccoli balls to the sorting table.

[0010] In the above scheme, the first-level buffering device comprises first-level slide beams, a first-level bevel gear box, first-level spiral rollers, first threads, first-level buffering device baffles, a first-level driving sprocket and a first-level driven sprocket.

[0011] The two first-level slide beams are symmetrically arranged at the rear of the cutting conveying device, the two first-level spiral rollers are symmetrically arranged at the rear of the two first-level slide beams, and the first-level buffering device baffles are arranged at the rear of the first-level spiral rollers; one end of each of the two first-level spiral rollers is connected with the first-level driving sprocket and the first-level driven sprocket respectively, the first-level driving sprocket is connected with the first-level bevel gear box, and the other end of each of the two first-level spiral rollers is connected with the first-level buffering device baffles; a first channel is arranged between the two first-level slide beams, used for slowly conveying the broccoli balls conveyed by the cutting to the first-level spiral rollers; the first-level bevel gear box is used for driving the first-level driving sprocket to rotate, the first-level driving sprocket drives the first-level driven sprocket to rotate, so that the first-level spiral rollers rotate reversely, the surface of the first-level spiral rollers is provided with the first threads, used for conveying the broccoli balls to the first-level defoliating device.

[0012] In the above scheme, the first-level defoliating device comprises symmetrically arranged first-level defoliating mechanisms, each of which comprises a first-level clamping half-arc, a first-level defoliating device annular guide rail, a first-level clamping half-arc fixing piece, a first-level clamping mechanism transmission chain, a first-level reciprocating cutter, a first-level clamping device transmission sprocket and a first reciprocating driving mechanism.

[0013] The first clamping mechanism transmission chain is arranged on the inner side of the first leaf removing device annular guide rail, and a plurality of first clamping semi-circular arcs are arranged on the circumference of the first clamping mechanism transmission chain, and the first clamping semi-circular arcs are driven by the first clamping mechanism transmission chain to slide along the first leaf removing device annular guide rail; the first clamping device transmission sprocket is installed on the inner side of the two ends of the first leaf removing device annular guide rail and is connected with the first clamping mechanism transmission chain; the second channel is arranged between the two symmetrically arranged first leaf removing device annular guide rails, and the first clamping semi-circular arcs on the two first leaf removing device annular guide rails are combined in pairs to form a circular clamping mechanism when passing through the entrance of the second channel, and are separated at the outlet of the second channel, for clamping the broccoli balls conveyed by the first buffer device and conveying the broccoli balls to the second buffer device through the second channel.

[0014] The two first reciprocating cutters are symmetrically arranged below the second channel, and the first reciprocating cutters are horizontally reciprocated by the first reciprocating drive mechanism, for removing the side branches and leaves of the broccoli balls parallel to the walking direction.

[0015] Further, the first clamping semi-circular arc is connected with the first clamping mechanism transmission chain through the first clamping semi-circular arc fixing piece, and the first clamping semi-circular arc fixing piece is provided with a limiting groove and can slide along the first leaf removing device annular guide rail.

[0016] Further, the first reciprocating drive mechanism comprises a first reciprocating cutting cam mechanism, a first cam mechanism fixed plate and a first cam mechanism transmission sprocket.

[0017] The first reciprocating cutter is connected with the groove of the first reciprocating cutting cam mechanism through the cam slider, the both ends of the shaft of the first reciprocating cutting cam mechanism are respectively provided with bearings, the bearings are installed on the first cam mechanism fixed plate, the first cam mechanism fixed plate is installed on the support of the first leaf removing device, the shaft of the first reciprocating cutting cam mechanism is provided with the first cam mechanism transmission sprocket, the first cam mechanism transmission sprocket is connected with the first drive mechanism, and the first reciprocating cutting cam mechanism reciprocates the first reciprocating cutter, for removing the side branches and leaves of the broccoli balls parallel to the walking direction.

[0018] In the above scheme, the second buffer device comprises a second slide beam, a second bevel gear box, a second spiral roller driving wheel, a second spiral roller, a second thread, a second buffer device baffle, a second driving sprocket and a second driven sprocket.

[0019] Two secondary slide beams are symmetrically arranged behind the cutting conveying device, two secondary spiral rollers are symmetrically arranged behind the two secondary slide beams, and a secondary buffer device baffle is arranged behind the secondary spiral rollers; one end of each of the two secondary spiral rollers is connected with a secondary driving sprocket and a secondary driven sprocket, the secondary driving sprocket is connected with a secondary bevel gear box, and the other end is connected with the secondary buffer device baffle; a third channel is arranged between the two secondary slide beams, for slowly conveying the broccoli balls conveyed by cutting to the secondary spiral rollers; the secondary bevel gear box is used for driving the secondary driving sprocket to rotate, the secondary driving sprocket drives the secondary driven sprocket to rotate, so that the secondary spiral rollers rotate in the opposite direction, the surface of the secondary spiral rollers is provided with a second thread, and the broccoli balls are conveyed to the secondary leaf removing device.

[0020] In the scheme, the secondary leaf removing device comprises symmetrically arranged secondary leaf removing mechanisms, each of which comprises a secondary clamping semi-circular arc, a secondary leaf removing device annular guide rail, a secondary clamping semi-circular arc fixing piece, a secondary clamping mechanism transmission chain, a secondary reciprocating cutter, a secondary clamping device transmission sprocket and a second reciprocating driving mechanism.

[0021] The secondary clamping mechanism transmission chain is arranged on the inner side of the secondary leaf removing device annular guide rail, a plurality of secondary clamping semi-circular arcs are arranged on the circumference of the secondary clamping mechanism transmission chain, and the secondary clamping semi-circular arcs are driven by the secondary clamping mechanism transmission chain to slide along the secondary leaf removing device annular guide rail; the secondary clamping device transmission sprocket is installed on the inner side of both ends of the secondary leaf removing device annular guide rail and connected with the secondary clamping mechanism transmission chain; a fourth channel is arranged between the two symmetrically arranged secondary leaf removing device annular guide rails, and the secondary clamping semi-circular arcs on the two secondary leaf removing device annular guide rails are combined in pairs to form an arc clamping mechanism at the entrance of the fourth channel and separated at the exit of the fourth channel, for clamping the broccoli balls conveyed by the secondary buffer device and conveying the broccoli balls to the sorting table through the fourth channel.

[0022] The two secondary reciprocating cutters are symmetrically arranged below the fourth channel, the secondary reciprocating cutters are connected with the second reciprocating driving mechanism, and the second reciprocating driving mechanism drives the secondary reciprocating cutters to move horizontally and reciprocally, for removing the side branches and leaves of the broccoli balls perpendicular to the walking direction.

[0023] Further, the secondary clamping semi-circular arc is connected with the secondary clamping mechanism transmission chain through the secondary clamping semi-circular arc fixing piece; the secondary clamping semi-circular arc fixing piece is provided with a limiting groove and can slide along the secondary leaf removing device annular guide rail.

[0024] Further, the second reciprocating driving mechanism comprises a secondary reciprocating cutting cam mechanism, a secondary cam mechanism fixing plate and a secondary cam mechanism transmission sprocket.

[0025] The secondary reciprocating cutter is connected with the groove of the secondary reciprocating cutting cam mechanism through a cam slider, bearings are arranged at both ends of the shaft of the secondary reciprocating cutting cam mechanism, the bearings are installed on the secondary cam mechanism fixing plate, the secondary cam mechanism fixing plate is installed on the support of the secondary defoliating device, a secondary cam mechanism transmission sprocket is arranged on the shaft of the secondary reciprocating cutting cam mechanism, the secondary cam mechanism transmission sprocket is connected with the driving mechanism, and the secondary reciprocating cutting cam mechanism enables the secondary reciprocating cutter to reciprocate, so as to remove the side branches and leaves of the broccoli ball perpendicular to the walking direction.

[0026] A control method of the self-propelled broccoli high-efficiency low-damage combined harvester comprises the following steps:

[0027] The cutting and conveying device cuts the broccoli stems and conveys the broccoli balls to the primary buffer device; the broccoli balls slide along the first channel of the two primary slide beams of the primary buffer device to the primary spiral cylinder, the first thread, and are conveyed to the primary buffer device baffle; the primary clamping semicircular arcs of the primary defoliating device are combined in pairs to form an arc when passing through the inlet of the second channel, are separated at the outlet of the second channel, clamp the broccoli balls at the primary buffer device baffle, and are conveyed to the secondary buffer device through the second channel; the first reciprocating driving mechanism below the second channel enables the primary reciprocating cutter to reciprocate horizontally, so as to remove the side branches and leaves of the broccoli ball parallel to the walking direction; the broccoli balls continue to slide along the third channel of the secondary slide beam of the secondary buffer device to the secondary spiral cylinder, the second thread conveys the broccoli balls to the secondary buffer device baffle, the secondary clamping semicircular arcs of the secondary defoliating device are combined in pairs to form an arc when passing through the inlet of the fourth channel, are separated at the outlet of the second channel, clamp the broccoli balls at the primary buffer device baffle, and are conveyed to the sorting table through the fourth channel; and the second reciprocating driving mechanism below the fourth channel enables the secondary reciprocating cutter to reciprocate horizontally, so as to remove the side branches and leaves of the broccoli ball perpendicular to the walking direction.

[0028] Compared with the prior art, the broccoli high-efficiency low-damage combined harvester has the following beneficial effects:

[0029] 1. The posture problem of broccoli during cutting and defoliating is solved, and a buffer device is designed before defoliating, so that the broccoli can keep an upright state and enter the defoliating device, and the problem of missed collection and mechanical damage caused by the posture of the plant can be solved.

[0030] 2. The defoliating device is designed to include a primary defoliating device and a secondary defoliating device, and the circular arc clamping mechanism and the reciprocating cutter can be used to remove the leaves of the broccoli parallel to the walking direction and perpendicular to the walking direction, respectively, so that the flower and fruit damage rate during defoliating of the broccoli is reduced, the removed leaves can be scattered in the field, and the defoliating and returning to the field are realized.

[0031] 3. The application realizes the cutting, conveying, leaf removing, returning to field and harvesting of whole broccoli, integrates multiple procedures, reduces subsequent processing, and improves the efficiency and quality of harvesting broccoli. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The structure of the self-propelled broccoli high-efficiency low-damage combined harvester according to an embodiment of the application is shown in the top view.

[0033] Figure 2 The structure of the self-propelled broccoli high-efficiency low-damage combined harvester according to an embodiment of the application is shown in the side view.

[0034] Figure 3 The buffer device, leaf removing device and separate training conveying device according to an embodiment of the application are shown in the top view.

[0035] Figure 4 The buffer device, leaf removing device and separate training conveying device according to an embodiment of the application are shown in the side view.

[0036] Figure 5 The structure of the primary buffer device according to an embodiment of the application is shown in the schematic view.

[0037] Figure 6 The primary leaf removing device according to an embodiment of the application is shown in the top view.

[0038] Figure 7 The primary leaf removing device according to an embodiment of the application is shown in the side view.

[0039] Figure 8 The structure of the secondary buffer device according to an embodiment of the application is shown in the schematic view.

[0040] Figure 9 The secondary leaf removing device according to an embodiment of the application is shown in the top view.

[0041] Figure 10 The secondary leaf removing device according to an embodiment of the application is shown in the side view.

[0042] In the figure: 1 - cutting conveying device, 2 - first level buffer device, 201 - first level slide beam, 202 - first level bevel gear box, 203 - first level spiral roller, 204 - first thread, 205 - first level buffer device baffle, 206 - first level driving sprocket, 207 - first level driven sprocket, 3 - first level defoliating device, 301 - first level clamping semi-arc, 302 - first level defoliating device annular guide rail, 303 - first level clamping semi-arc fixing piece, 304 - first level clamping mechanism transmission chain, 305 - first level reciprocating cutting cam mechanism, 306 - first level reciprocating cutter, 307 - first level clamping device transmission sprocket, 308 - first level cam mechanism fixing plate, 309 - first level cam mechanism transmission sprocket, 4 - second level buffer device, 401 - second level slide beam, 402 - second level bevel gear box, 403 - second level spiral roller, 404 - second thread, 405 - second level buffer device baffle, 206 - second level driving sprocket, 207 - second level driven sprocket, 5 - second level defoliating device, 501 - second level clamping semi-arc, 502 - second level defoliating device annular guide rail, 503 - second level clamping semi-arc fixing piece, 504 - second level clamping mechanism transmission chain, 505 - second level reciprocating cutting cam mechanism, 506 - second level reciprocating cutter, 507 - second level clamping device transmission sprocket, 508 - second level cam mechanism fixing plate, 509 - second level cam mechanism transmission sprocket, 6 - separate scouring conveying device, 7 - chassis walking device. DETAILED DESCRIPTION

[0043] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar components have the same or similar designations throughout the various figures. The embodiments described below are examples intended to explain the present application and are not to be understood as limiting the present application.

[0044] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated thereby. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited. In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] Embodiment 1

[0046] Figures 1-4 A preferred embodiment of the self-propelled broccoli high-efficiency low-damage combined harvester described in the present application is shown, which comprises a cutting and conveying device 1, a first buffering device 2, a first leaf removing device 3, a second buffering device 4, a second leaf removing device 5, a sorting table 6 and a chassis walking device 7;

[0047] The cutting and conveying device 1, the first buffering device 2, the first leaf removing device 3, the second buffering device 4, the second leaf removing device 5 and the sorting table 6 are all arranged on the chassis walking device 7;

[0048] The cutting conveying device 1, the first buffering device 2, the first defoliating device 3 and the second buffering device 4 are arranged in sequence from the walking direction, the second defoliating device 5 is located at the side of the end of the second buffering device 4, and the sorting table 6 is located behind the second defoliating device 5; the cutting conveying device 1 is used for cutting broccoli stems and conveying broccoli balls to the first buffering device 2; the first buffering device 2 is used for slowly conveying the broccoli balls to the first defoliating device 3; the first defoliating device 3 is used for clamping the broccoli balls to be conveyed backward and removing the side branches and leaves of the broccoli balls parallel to the walking direction, and conveying the broccoli balls to the second buffering device 4; the second buffering device 4 is used for slowly conveying the broccoli balls to the second defoliating device 5; the second defoliating device 5 is used for clamping the broccoli balls to be conveyed backward and removing the side branches and leaves of the broccoli balls perpendicular to the walking direction, and conveying the broccoli balls to the sorting table 6.

[0049] As shown in Figure 5 The first buffering device 2 comprises a first slide beam 201, a first bevel gear box 202, a first spiral roller 203, a first thread 204, a first buffering device baffle 205, a first driving sprocket 206 and a first driven sprocket 207.

[0050] The first slide beam 201 is parallel to the walking direction, two first slide beams 201 are symmetrically arranged behind the cutting conveying device 1, two first spiral rollers 203 are symmetrically arranged behind the two first slide beams 201, and the first buffering device baffle 205 is arranged behind the first spiral roller 203; one end of each of the two first spiral rollers 203 is connected with the first driving sprocket 206 and the first driven sprocket 207 respectively, the first driving sprocket 206 is connected with the first bevel gear box 202, and the other end of each of the two first spiral rollers 203 is connected with the first buffering device baffle 205 through a bearing, and the first buffering device baffle 205 is fixed on the frame of the harvester through a first support; the first buffering device baffle 205 stops the broccoli at the current position, and is used for cooperating with the clamping and conveying and leaf cutting of the subsequent first defoliating device 3; a first channel is arranged between the two first slide beams 201, and is used for slowly conveying the broccoli balls conveyed by cutting to the first spiral roller 203; the first bevel gear box 202 is used for driving the first driving sprocket 206 to rotate, the first driving sprocket 206 drives the first driven sprocket 207 to rotate, so that the two first spiral rollers 203 rotate in opposite directions, the surface of the first spiral roller 203 is provided with the first thread 204, and the broccoli balls are conveyed to the first defoliating device 3. Preferably, the first slide beam 201 is installed parallel to the walking direction, the length of the inclined part of the first slide beam 201 is 145-155 mm, the distance between the two parallel first slide beams 201 is 90-110 mm, and the distance between the outlet of the first slide beam 201 and the frame is 590-610 mm.

[0051] Preferably, the primary spiral roller 203 is installed parallel to the walking direction, the diameter of the primary spiral roller 203 is 90-100 mm, the height of the first thread 204 is 18-22 mm, which is beneficial to move the broccoli ball forward and avoid scratching the broccoli, the distance between the two primary spiral rollers 203 is 160-170 mm, and the thread directions of the two primary spiral rollers 203 are opposite and rotate inward, which can slowly convey the broccoli backward.

[0052] Preferably, the primary buffer device baffle 205 is installed behind the two primary spiral rollers 203, the height of the primary buffer device baffle 205 is 13-17 mm lower than that of the primary spiral roller 203, and the thickness of the primary buffer device baffle 205 is 38-42 mm. As shown in the figure, the primary leaf removing device 3 comprises symmetrically arranged primary leaf removing mechanisms, each of which comprises a primary clamping semi-circular arc 301, a primary leaf removing device annular guide rail 302, a primary clamping semi-circular arc fixing plate 303, a primary clamping mechanism transmission chain 304, a primary reciprocating cutter 306, a primary clamping device transmission sprocket 307, and a first reciprocating driving mechanism. Figure 6

[0053] The two primary leaf removing device annular guide rails 302 are fixed on the frame of the harvester through the second support parallel to the walking direction, and are used to fix the main components of the primary leaf removing device; the primary clamping mechanism transmission chain 304 is arranged on the inner side of the primary leaf removing device annular guide rail 302, and a plurality of primary clamping semi-circular arcs 301 are arranged on the circumference of the primary clamping mechanism transmission chain 304, the primary clamping semi-circular arc 301 is driven by the primary clamping mechanism transmission chain 304 and can slide along the primary leaf removing device annular guide rail 302; the primary clamping device transmission sprocket 307 is installed on the inner side of both ends of the primary leaf removing device annular guide rail 302 and is connected with the primary clamping mechanism transmission chain 304, which is used to provide the transmission force of the primary clamping mechanism transmission chain 304; a second passage is arranged between the two symmetrically arranged primary leaf removing device annular guide rails 302, and the primary clamping semi-circular arcs 301 on the two primary leaf removing device annular guide rails 302 are combined in pairs to form a circular clamping mechanism when passing through the entrance of the second passage, and are separated at the outlet of the second passage, which is used to clamp the broccoli balls conveyed by the primary buffer device 2 and convey them backward to the secondary buffer device 4 through the second passage.

[0054] The two primary reciprocating cutters 306 are symmetrically arranged below the second passage, the primary reciprocating cutter 306 is horizontally reciprocated by the first reciprocating driving mechanism, which is used to remove the side branches and leaves of the broccoli ball parallel to the walking direction.

[0055] ​The first-stage clamping semicircular arc 301 is connected to the first-stage clamping mechanism transmission chain 304 via the first-stage clamping semicircular arc fixing plate 303; the first-stage clamping semicircular arc fixing plate 303 is provided with a limiting groove, which can slide along the annular guide rail 302 of the first-stage leaf removal device.

[0056] like Figure 7 As shown, the first reciprocating drive mechanism includes a first-stage reciprocating cutting cam mechanism 305, a first-stage cam mechanism fixing plate 308, and a first-stage cam mechanism transmission sprocket 309.

[0057] The primary reciprocating cutter 306 is connected to the groove of the primary reciprocating cutting cam mechanism 305 via a cam slider. Bearings are provided at both ends of the shaft of the primary reciprocating cutting cam mechanism 305. The bearings are mounted on the primary cam mechanism fixing plate 308. The primary cam mechanism fixing plate 308 is mounted on the bracket of the primary leaf removal device. A primary cam mechanism transmission sprocket 309 is provided on the shaft of the primary reciprocating cutting cam mechanism 305. The primary cam mechanism transmission sprocket 309 is connected to the first drive mechanism and is used to provide rotational power to the primary reciprocating cutting cam mechanism 305. The primary reciprocating cutting cam mechanism 305 causes the primary reciprocating cutter 306 to move horizontally back and forth, which is used to remove the side branches and leaves of the broccoli head parallel to the walking direction.

[0058] Preferably, the annular guide rail 302 of the first-stage leaf removal device is installed parallel to the walking direction after the first-stage buffer device 2. The distance between the two annular guide rails 302 of the first-stage leaf removal device is 90-110mm, the length of the guide rail is 620-630mm, and the width of the guide rail is 140-160mm. Six first-stage clamping semicircular arcs 301 are installed on each annular guide rail 302 of the first-stage leaf removal device. The inner radius is 50-70mm, the outer radius is 70-90mm, and the height of the first-stage clamping semicircular arcs 301 from the frame is 560-580mm.

[0059] Preferably, the primary reciprocating cutter 306 is installed parallel to the travel direction below the gap between the two guide rails, 30-50mm from the guide rail plane. The distance between the two primary reciprocating cutters 306 is 50-60mm, and the length of the primary reciprocating cutter 306 is 500-510mm. The primary reciprocating cutting cam mechanism 305 is connected to the primary reciprocating cutter 306 via a cam slider. One end of the cam slider is slidably connected to the cam groove of the primary reciprocating cutting cam mechanism 305, and the other end is fixed to the primary reciprocating cutter 306. The width of the cam groove is 13-15mm. When the cam rotates, it can drive the cam slider to perform reciprocating motion, and the cam slider drives the primary reciprocating cutter 306 to perform reciprocating motion.

[0060] like Figure 8As shown, the secondary buffering device 4 comprises secondary slide beams 401, a secondary bevel gear box 402, secondary spiral rollers 403, second threads 404 and a secondary buffering device baffle 405;

[0061] The two secondary slide beams 401 are symmetrically arranged behind the cutting and conveying device 1, the two secondary spiral rollers 403 are symmetrically arranged behind the two secondary slide beams 401, and the secondary buffering device baffle 405 is arranged behind the secondary spiral rollers 403, so that the broccoli can be stopped at the current position, facilitating the clamping conveying and leaf cutting of the secondary leaf removing device 5; one end of each of the two secondary spiral rollers 403 is connected with a secondary driving sprocket 406 and a secondary driven sprocket 407 respectively, the secondary driving sprocket 406 is connected with the secondary bevel gear box 402, and the other end of each of the two secondary spiral rollers 403 is connected with the secondary buffering device baffle 405 through a bearing, and the secondary buffering device baffle 405 is fixed on the frame of the harvester through a third support; a third passage is arranged between the two secondary slide beams 401 for slowly conveying the broccoli balls conveyed by cutting to the secondary spiral rollers 403; the secondary bevel gear box 402 is used to drive the secondary driving sprocket 406 to rotate, the secondary driving sprocket 406 drives the secondary driven sprocket 407 to rotate, so that the two secondary spiral rollers 403 rotate in opposite directions, and the surface of the secondary spiral rollers 403 is provided with the second threads 404 for conveying the broccoli balls to the secondary leaf removing device 5.

[0062] Preferably, the secondary slide beams 401 are installed parallel to the walking direction, the length of the inclined part of the secondary slide beams 401 is 145-155 mm, the distance between the two parallel secondary slide beams 401 is 90-110 mm, and the distance between the outlet of the secondary slide beams 401 and the frame is 490-500 mm; the secondary spiral rollers 403 are installed in two parallel parts along the walking direction, the diameter of the secondary spiral rollers 403 is 90-110 mm, the height of the second threads 404 is 18-22 mm, the distance between the two secondary spiral rollers 403 is 160-170 mm, and the thread directions of the two secondary spiral rollers 403 are opposite and rotate inward, which can slowly convey the broccoli backward; the secondary buffering device baffle 405 is installed behind the two secondary spiral rollers 403, the height of the secondary buffering device baffle 405 is 13-17 mm lower than that of the secondary spiral rollers 403, and the thickness of the secondary buffering device baffle 405 is 38-42 mm. Figure 9 As shown, the secondary leaf removing device 5 comprises symmetrically arranged secondary leaf removing mechanisms, each of which comprises a secondary clamping semi-circular arc 501, a secondary leaf removing device annular guide rail 502, a secondary clamping semi-circular arc fixing piece 503, a secondary clamping mechanism transmission chain 504, a secondary reciprocating cutter 506, a secondary clamping device transmission sprocket 507 and a second reciprocating driving mechanism.

[0063] Two annular guide rails 502 of the secondary defoliation device are fixed to the harvester frame perpendicular to the walking direction via a fourth bracket, used to fix the main components of the secondary defoliation device; the secondary clamping mechanism transmission chain 504 is arranged inside the annular guide rails 502 of the secondary defoliation device, and several secondary clamping semicircular arcs 501 are provided on the circumference of the secondary clamping mechanism transmission chain 504. The secondary clamping semicircular arcs 501 are driven by the secondary clamping mechanism transmission chain 504 and can slide along the annular guide rails 502 of the secondary defoliation device; the secondary clamping device transmission sprocket 507 is mounted on... The inner sides of both ends of the annular guide rail 502 of the secondary leaf removal device are connected to the transmission chain 504 of the secondary clamping mechanism to provide the transmission power of the transmission chain 504 of the secondary clamping mechanism; a fourth channel is provided between the two symmetrically arranged annular guide rails 502 of the secondary leaf removal device, and the secondary clamping semicircular arcs 501 on the two annular guide rails 502 of the secondary leaf removal device are paired together to form an arc clamping mechanism when passing through the entrance of the fourth channel, and separate at the exit of the fourth channel to clamp the broccoli balls conveyed by the secondary buffer device 2, and convey them to the sorting table 6 through the fourth channel;

[0064] Two secondary reciprocating cutters 506 are symmetrically arranged below the fourth channel. The secondary reciprocating cutters 506 and the second reciprocating drive mechanism cause the secondary reciprocating cutters 506 to move horizontally back and forth, which is used to remove the side branches and leaves of the broccoli head that are perpendicular to the walking direction.

[0065] Preferably, the secondary clamping semicircular arc 501 is connected to the secondary clamping mechanism transmission chain 504 via the secondary clamping semicircular arc fixing piece 503; the secondary clamping semicircular arc fixing piece 503 is provided with a limiting groove, which can slide along the annular guide rail 502 of the secondary leaf removal device.

[0066] like Figure 10 As shown, the second reciprocating drive mechanism includes a two-stage reciprocating cutting cam mechanism 505, a two-stage cam mechanism fixing plate 508, and a two-stage cam mechanism transmission sprocket 509;

[0067] The secondary reciprocating cutter 506 is connected to the groove of the secondary reciprocating cutting cam mechanism 505 via a cam slider. Bearings are provided at both ends of the shaft of the secondary reciprocating cutting cam mechanism 505. The bearings are mounted on the secondary cam mechanism fixing plate 508. The secondary cam mechanism fixing plate 508 is mounted on the bracket of the secondary leaf removal device. The shaft of the secondary reciprocating cutting cam mechanism 505 is provided with a secondary cam mechanism transmission sprocket 509. The secondary cam mechanism transmission sprocket 509 is connected to the drive mechanism and is used to provide rotational power for the secondary reciprocating cutting cam mechanism 505. The secondary reciprocating cutting cam mechanism 505 causes the secondary reciprocating cutter 506 to reciprocate, which is used to remove the side branches and leaves of the broccoli head perpendicular to the walking direction.

[0068] Preferably, the two secondary leaf removal device annular guide rails 502 are installed vertically to the walking direction behind the secondary buffer device 4, the distance between the two secondary leaf removal device annular guide rails 502 is 90-110 mm, the length of the guide rail is 620-630 mm, the width of the guide rail is 140-160 mm, 6 secondary clamping semi-arc 501 are installed on each secondary leaf removal device annular guide rail 502, the inner radius is 50-70 mm, the outer radius is 70-90 mm, and the height of the primary clamping semi-arc 501 from the rack is 560-580 mm.

[0069] Preferably, the two secondary reciprocating cutting knives 506 are installed vertically to the walking direction below the gap between the two guide rails, 30-50 mm away from the guide rail plane, the distance between the two secondary reciprocating cutting knives 506 is 50-60 mm, the length of the cutting knife is 500-510 mm, the secondary reciprocating cutting cam mechanism 505 is connected with the secondary reciprocating cutting knife 506 through a cam slider, one end of the cam slider is slidably connected with the cam groove of the secondary reciprocating cutting cam mechanism 505, the other end is fixed with the secondary reciprocating cutting knife 506, the width of the cam groove is 13-15 mm, when the cam rotates, the cam slider can be driven to move reciprocally, and the secondary reciprocating cutting knife 506 is driven to move reciprocally by the cam slider.

[0070] In one specific embodiment of the present application, the structure of the cutting and conveying device 1 adopts the constant-speed reverse double-disc cutting device and the transverse conveying device in the CN113207422A patent. In order to adapt the constant-speed reverse double-disc cutting device to the growth height of broccoli, the present application sets the constant-speed reverse double-disc cutting device below the transverse conveying device, which is beneficial to cutting the broccoli without damage. The constant-speed reverse double-disc cutting device can realize stable cutting of broccoli rhizomes, reduce the damage rate of cutting rhizomes, and the conveying belt of the transverse conveying device 4 adopts flexible material, which can reduce the damage in the conveying process.

[0071] When the broccoli ball is cut off by the cutting and conveying device 1, the head faces upward and is conveyed upward and backward by the left and right conveying belts. The fine stems below the broccoli ball are in the first channel, the large flower ball on the upper part of the broccoli is clamped on the two primary slide beams 201 respectively, and the fine stems below the broccoli are clamped in the middle of the two primary spiral rollers 203. The primary spiral rollers 203 rotate to bring the broccoli backward, so that the broccoli moves backward. The present application solves the posture problem of broccoli cutting and leaf removal by using the constant-speed reverse double-disc cutting device of the cutting and conveying device 1 in cooperation with the transverse conveying device, so that the broccoli fruit enters the buffer device in the correct posture, and can also cooperate with the subsequent leaf removal to operate normally.

[0072] In one specific embodiment of the present application, the first slide beam 201 is installed in two parallel to the walking direction, and the angle with the ground is 150 degrees. The length of the inclined part of the first slide beam 201 is 150 mm. The distance between the two first slide beams 201 is 100 mm. The distance from the outlet of the first slide beam 201 to the height of the rack is 600 mm. The first spiral roller 203 is installed in two parallel to the walking direction. The diameter of the first spiral roller 203 is 90 mm. The height of the first thread 204 is 20 mm. The distance between the two first spiral rollers 203 is 165 mm. The thread directions of the two first spiral rollers 203 are opposite, and they rotate inward simultaneously, which can slowly convey the broccoli backward. The first buffer device baffle 205 is installed behind the two first spiral rollers 203. The height of the first buffer device baffle 205 is 15 mm lower than that of the first spiral roller 203. The thickness of the first buffer device baffle 205 is 40 mm.

[0073] The two first leaf-removing device ring guides 302 are installed in parallel to the walking direction behind the first buffer device 2. The distance between the two first leaf-removing device ring guides 302 is 180 mm. The length of the first leaf-removing device ring guide 302 is 630 mm. The width of the first leaf-removing device ring guide 302 is 150 mm. Six first clamping semi-arc 301s are installed on each first leaf-removing device ring guide 302. The inner radius of the first clamping semi-arc 301 is 60 mm. The outer radius of the first clamping semi-arc 301 is 80 mm. The distance from the first clamping semi-arc 301 to the height of the rack is 570 mm. The two first reciprocating knives 306 are installed in parallel to the walking direction below the second passage between the two first leaf-removing device ring guides 302, 40 mm away from the guide plane. The distance between the two first reciprocating knives 306 is 60 mm. The length of the first reciprocating knife 306 is 510 mm. The first reciprocating cutting cam mechanism 305 is connected with the first reciprocating knife 306 through a cam slider. One end of the cam slider is slidably connected with the cam groove of the first reciprocating cutting cam mechanism 305. The other end of the cam slider is fixed with the first reciprocating knife 306. The width of the cam groove is 15 mm. When the cam rotates, it can drive the cam slider to make reciprocating motion. The cam slider drives the first reciprocating knife 306 to make reciprocating motion.

[0074] The two second slide beams 401 are installed in parallel to the walking direction, and the angle with the ground is 150 degrees. The length of the inclined part of the second slide beam 401 is 150 mm. The distance between the two parallel second slide beams 401 is 100 mm. The distance from the outlet of the second slide beam 401 to the height of the rack is 490 mm. The two second spiral rollers 403 are installed in parallel to the walking direction. The diameter of the second spiral roller 403 is 90 mm. The height of the second thread 404 is 20 mm. The distance between the two second spiral rollers 403 is 165 mm. The directions of the second threads 404 of the two second spiral rollers 403 are opposite, and they rotate inward simultaneously, which can slowly convey the broccoli backward. The second buffer device baffle 405 is installed behind the two second spiral rollers 403. The height of the second buffer device baffle 405 is 15 mm lower than that of the second spiral roller 403. The thickness of the second buffer device baffle 405 is 40 mm.

[0075] Two said secondary defoliation device annular guide rails 502 are installed vertically to the walking direction behind the secondary buffer device 4, the distance between the two secondary defoliation device annular guide rails 502 is 180 mm, the guide rail length is 630 mm, the guide rail width is 150 mm, 6 secondary clamping semi-circular arcs 501 are installed on each secondary defoliation device annular guide rail 502, the inner radius is 60 mm, the outer radius is 80 mm, the height of the secondary clamping semi-circular arc 501 from the rack is 420 mm; the secondary reciprocating cutter 506 is installed vertically to the walking direction below the gap between the two guide rails, 40 mm away from the guide rail plane, the distance between the two secondary reciprocating cutters 506 is 60 mm, the cutter length is 510 mm, the secondary reciprocating cutting cam mechanism 505 is connected with the secondary reciprocating cutter 506 through a cam slider, one end of the cam slider is in sliding connection with the cam groove of the secondary reciprocating cutting cam mechanism 505, the other end is fixed with the secondary reciprocating cutter 506, the width of the cam groove is 15 mm, when the cam rotates, the cam slider can be driven to make reciprocating motion, and the cam slider drives the secondary reciprocating cutter 506 to make reciprocating motion.

[0076] In one specific embodiment of the present application, the diameter of the broccoli ball is 13 cm on average, and in combination with the size design of the first channel, the first spiral roller 203, the second channel, the third channel, the second spiral roller 403 and the fourth channel, the broccoli ball will not fall out during transportation.

[0077] The specific implementation process of the self-propelled broccoli high-efficiency low-damage combined harvester is as follows: when the broccoli is harvested, the broccoli first passes through the double-disc cutter of the cutting and conveying device 1 to cut off the stems; the cut broccoli is conveyed upward by the double longitudinal conveying belt with an adjustable distance and an elastic arc-shaped groove; the broccoli fruits conveyed by the conveying belt pass through the first slide beam 201 of the first buffer device 2, and then pass through the first spiral roller 203 to convey the broccoli to the first buffer device baffle 205, and wait for clamping of the first defoliation device 3; then the first clamping semi-circular arc 301 of the first defoliation device 3 clamps the broccoli to continue to convey it backward, and the first defoliation reciprocating cutter 306 can remove the leaves parallel to the walking direction; after the first defoliation is completed, the broccoli automatically slides into the second slide beam 401 of the second buffer device 4, and then passes through the second spiral roller 403 to convey the broccoli to the second buffer device baffle 405, and waits for clamping of the second defoliation device 5; the second clamping semi-circular arc 501 of the second defoliation device clamps the broccoli to continue to convey it backward, and the second defoliation reciprocating cutter 506 can remove the leaves parallel to the walking direction; after the defoliation is completed, the broccoli automatically falls into the sorting table 6.

[0078] Example 2

[0079] A control method of the self-propelled broccoli high-efficiency low-damage combined harvester according to the embodiment 1, thus having the beneficial effects of the embodiment 1, which are not repeated here.

[0080] The control method of the self-propelled broccoli high-efficiency low-damage combined harvester comprises the following steps:

[0081] The cutting and conveying device 1 cuts the broccoli stems and conveys the broccoli balls to the primary buffer device 2; the broccoli balls slide along the first passageway of the two primary slide beams 201 of the primary buffer device 2 to the primary spiral drum 203, the first thread 204, and the primary buffer device baffle 205, the primary clamping semi-circular arcs 301 of the primary leaf-removing device 3 are combined in pairs to form a circular arc when passing through the entrance of the second passageway, and are separated at the exit of the second passageway, the broccoli balls at the primary buffer device baffle 205 are clamped and conveyed through the second passageway to the secondary buffer device 4, and the first reciprocating driving mechanism below the second passageway enables the primary reciprocating cutter 306 to move horizontally and reciprocally to remove the side branches and leaves of the broccoli balls parallel to the walking direction; the broccoli balls continue to slide along the third passageway of the secondary slide beam 401 of the secondary buffer device 4 to the secondary spiral drum 403, the second thread 404, and the secondary buffer device baffle 405, the secondary clamping semi-circular arcs 501 of the secondary leaf-removing device 5 are combined in pairs to form a circular arc when passing through the entrance of the fourth passageway, and are separated at the exit of the second passageway, the broccoli balls at the primary buffer device baffle 205 are clamped and conveyed through the fourth passageway to the sorting table 6, and the second reciprocating driving mechanism below the fourth passageway enables the secondary reciprocating cutter 506 to move horizontally and reciprocally to remove the side branches and leaves of the broccoli balls perpendicular to the walking direction.

[0082] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0083] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present application, and are not intended to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A self-propelled broccoli high-efficiency low-damage combined harvester, characterized in that, It comprises cutting conveying device (1), first level buffer device (2), first level leaf removing device (3), second level buffer device (4), second level leaf removing device (5), sorting table (6) and chassis walking device (7); The cutting conveying device (1), first level buffer device (2), first level leaf removing device (3), second level buffer device (4), second level leaf removing device (5) and sorting table (6) are all arranged on the chassis walking device (7); The cutting conveying device (1), first level buffer device (2), first level leaf removing device (3) and second level buffer device (4) are arranged in turn from the walking direction, the second level leaf removing device (5) is located at the side of the end of the second level buffer device (4), and the sorting table (6) is located behind the second level leaf removing device (5); the cutting conveying device (1) is used for cutting broccoli stems and conveying broccoli balls to the first level buffer device (2); the first level buffer device (2) is used for slowly conveying the broccoli balls to the first level leaf removing device (3), the first level leaf removing device (3) is used for clamping the broccoli balls to convey them backward and remove the side branches and leaves of the broccoli balls parallel to the walking direction, and the broccoli balls are conveyed to the second level buffer device (4); the second level buffer device (4) is used for slowly conveying the broccoli balls to the second level leaf removing device (5), and the second level leaf removing device (5) is used for clamping the broccoli balls to convey them backward and remove the side branches and leaves of the broccoli balls perpendicular to the walking direction, and the broccoli balls are conveyed to the sorting table (6); The first level buffer device (2) comprises first level slide beams (201), first level bevel gear boxes (202), first level spiral rollers (203), first threads (204), first level buffer device baffles (205), first level driving sprockets (206) and first level driven sprockets (207); The two first level slide beams (201) are symmetrically arranged behind the cutting conveying device (1), the two first level spiral rollers (203) are symmetrically arranged behind the two first level slide beams (201), and the first level buffer device baffles (205) are arranged behind the first level spiral rollers (203); one end of each of the two first level spiral rollers (203) is connected with the first level driving sprocket (206) and the first level driven sprocket (207) respectively, the first level driving sprocket (206) is connected with the first level bevel gear box (202), the other end of each of the two first level spiral rollers (203) is connected with the first level buffer device baffle (205), and a first channel is arranged between the two first level slide beams (201) and used for slowly conveying the cut and conveyed broccoli balls to the first level spiral rollers (203); the first level bevel gear box (202) is used for driving the first level driving sprocket (206) to rotate, the first level driving sprocket (206) drives the first level driven sprocket (207) to rotate, so that the two first level spiral rollers (203) rotate in opposite directions, the surface of the first level spiral roller (203) is provided with the first thread (204), and the first thread (204) is used for conveying the broccoli balls to the first level leaf removing device (3).

2. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 1, characterized in that, The primary defoliating device (3) comprises symmetrically arranged primary defoliating mechanisms, each of which comprises a primary clamping semi-circular arc (301), a primary defoliating device annular guide rail (302), a primary clamping semi-circular arc fixing plate (303), a primary clamping mechanism transmission chain (304), a primary reciprocating cutter (306), a primary clamping device transmission sprocket (307) and a first reciprocating driving mechanism; The primary clamping mechanism transmission chain (304) is arranged on the inner side of the primary defoliating device annular guide rail (302), and a plurality of primary clamping semi-circular arcs (301) are arranged on the circumference of the primary clamping mechanism transmission chain (304), and the primary clamping semi-circular arc (301) is driven by the primary clamping mechanism transmission chain (304) to be capable of sliding along the primary defoliating device annular guide rail (302); the primary clamping device transmission sprocket (307) is installed on the inner side of the two ends of the primary defoliating device annular guide rail (302) and is connected with the primary clamping mechanism transmission chain (304); a second channel is arranged between the two symmetrically arranged primary defoliating device annular guide rails (302), and the primary clamping semi-circular arcs (301) on the two primary defoliating device annular guide rails (302) are combined in pairs to form an arc clamping mechanism when passing through the entrance of the second channel, and are separated at the outlet of the second channel, for clamping the broccoli balls conveyed by the primary buffer device (2) and conveying the broccoli balls to the secondary buffer device (4) through the second channel. The two primary reciprocating cutters (306) are symmetrically arranged below the second channel, the primary reciprocating cutter (306) is connected with the first reciprocating driving mechanism, and the first reciprocating driving mechanism drives the primary reciprocating cutter (306) to move horizontally and reciprocally, for removing the side branches and leaves of the broccoli balls parallel to the walking direction.

3. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 2, characterized in that, The primary clamping semi-circular arc (301) is connected with the primary clamping mechanism transmission chain (304) through the primary clamping semi-circular arc fixing plate (303), and the primary clamping semi-circular arc fixing plate (303) is provided with a limiting groove and is capable of sliding along the primary defoliating device annular guide rail (302).

4. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 2, characterized in that, The first reciprocating driving mechanism comprises a primary reciprocating cutting cam mechanism (305), a primary cam mechanism fixing plate (308) and a primary cam mechanism transmission sprocket (309); The primary reciprocating cutter (306) is connected with the recess of the primary reciprocating cutting cam mechanism (305) through a cam slider, the shaft of the primary reciprocating cutting cam mechanism (305) is provided with a bearing at both ends, the bearing is installed on the primary cam mechanism fixing plate (308), the primary cam mechanism fixing plate (308) is installed on the support of the primary defoliating device, the shaft of the primary reciprocating cutting cam mechanism (305) is provided with the primary cam mechanism transmission sprocket (309), the primary cam mechanism transmission sprocket (309) is connected with the first driving mechanism, and the primary reciprocating cutting cam mechanism (305) drives the primary reciprocating cutter (306) to move reciprocally, for removing the side branches and leaves of the broccoli balls parallel to the walking direction.

5. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 4, characterized in that, The secondary buffering device (4) comprises secondary slide beams (401), a secondary bevel gear box (402), secondary spiral rollers (403), second threads (404), secondary buffering device baffles (405), a secondary driving sprocket (406) and a secondary driven sprocket (407); The two secondary slide beams (401) are symmetrically arranged at the rear of the cutting conveying device (1), the two secondary spiral rollers (403) are symmetrically arranged at the rear of the two secondary slide beams (401), and the secondary buffering device baffles (405) are arranged at the rear of the secondary spiral rollers (403); one end of each of the two secondary spiral rollers (403) is connected with the secondary driving sprocket (406) and the secondary driven sprocket (407) respectively, the secondary driving sprocket (406) is connected with the secondary bevel gear box (402), and the other end of each of the two secondary spiral rollers (403) is connected with the secondary buffering device baffles (405) respectively; a third channel is arranged between the two secondary slide beams (401) and used for slowly conveying the broccoli balls conveyed by cutting to the secondary spiral rollers (403); the secondary bevel gear box (402) is used for driving the secondary driving sprocket (406) to rotate, the secondary driving sprocket (406) drives the secondary driven sprocket (407) to rotate, so that the two secondary spiral rollers (403) rotate in opposite directions, the surface of the secondary spiral roller (403) is provided with the second thread (404), and the broccoli balls are conveyed to the secondary leaf removing device (5).

6. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 5, characterized in that, The secondary leaf removing device (5) comprises symmetrically arranged secondary leaf removing mechanisms, each of which comprises a secondary clamping semi-circular arc (501), a secondary leaf removing device annular guide rail (502), a secondary clamping semi-circular arc fixing plate (503), a secondary clamping mechanism transmission chain (504), a secondary reciprocating cutter (506), a secondary clamping device transmission sprocket (507) and a second reciprocating driving mechanism; The secondary clamping mechanism transmission chain (504) is arranged at the inner side of the secondary leaf removing device annular guide rail (502), a plurality of secondary clamping semi-circular arcs (501) are arranged on the circumference of the secondary clamping mechanism transmission chain (504), the secondary clamping semi-circular arc (501) is driven by the secondary clamping mechanism transmission chain (504) and can slide along the secondary leaf removing device annular guide rail (502); the secondary clamping device transmission sprocket (507) is installed at the inner side of the two ends of the secondary leaf removing device annular guide rail (502) and connected with the secondary clamping mechanism transmission chain (504); a fourth channel is arranged between the two symmetrically arranged secondary leaf removing device annular guide rails (502), and the secondary clamping semi-circular arcs (501) on the two secondary leaf removing device annular guide rails (502) are combined in pairs to form a circular clamping mechanism at the inlet of the fourth channel and are separated at the outlet of the fourth channel, so as to clamp the broccoli balls conveyed by the secondary buffering device (4) and convey the broccoli balls to the sorting table (6) through the fourth channel. Two second-level reciprocating cutters (506) are symmetrically arranged below the fourth channel, and the second-level reciprocating cutters (506) are horizontally reciprocated by a second-level reciprocating drive mechanism, for removing the side branches and leaves of the broccoli ball perpendicular to the walking direction.

7. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 6, characterized in that, The second-level clamping semi-circular arc (501) is connected with the second-level clamping mechanism transmission chain (504) through a second-level clamping semi-circular arc fixing plate (503), and a limiting groove is arranged on the second-level clamping semi-circular arc fixing plate (503) and can slide along the second-level leaf removing device annular guide rail (502).

8. The self-propelled broccoli high-efficiency low-damage combined harvester according to claim 6, characterized in that, The second-level reciprocating drive mechanism comprises a second-level reciprocating cutting cam mechanism (505), a second-level cam mechanism fixing plate (508) and a second-level cam mechanism transmission sprocket (509). The second-level reciprocating cutters (506) are connected with the recesses of the second-level reciprocating cutting cam mechanism (505) through cam sliders, bearings are arranged at both ends of the shaft of the second-level reciprocating cutting cam mechanism (505), the bearings are installed on the second-level cam mechanism fixing plate (508), the second-level cam mechanism fixing plate (508) is installed on the support of the second-level leaf removing device, the shaft of the second-level reciprocating cutting cam mechanism (505) is provided with the second-level cam mechanism transmission sprocket (509), the second-level cam mechanism transmission sprocket (509) is connected with a drive mechanism, and the second-level reciprocating cutting cam mechanism (505) reciprocates the second-level reciprocating cutters (506), for removing the side branches and leaves of the broccoli ball perpendicular to the walking direction.

9. A control method of the self-propelled broccoli high-efficiency low-damage combined harvester according to any one of claims 6 to 8, characterized in that, The method comprises the following steps: The cutting and conveying device (1) cuts the broccoli stems and conveys the broccoli balls to the first-level buffering device (2); the broccoli balls slide along the first channels of the two first-level slide beams (201) of the first-level buffering device (2) to the first-level spiral roller (203), the first screw thread (204) conveys the broccoli balls to the first-level buffering device baffle (205), the first-level clamping semi-circular arcs (301) of the first-level leaf removing device (3) are combined in pairs to form an arc at the inlet of the second channel, are separated at the outlet of the second channel, clamp the broccoli balls at the first-level buffering device baffle (205) and convey the broccoli balls through the second channel to the second-level buffering device (4), the first reciprocating drive mechanism below the second channel reciprocates the first-level reciprocating cutters (306) horizontally, and the side branches and leaves of the broccoli ball parallel to the walking direction are removed; the broccoli balls continue to slide along the third channels of the second-level slide beams (401) of the second-level buffering device (4) to the second-level spiral roller (403), the second screw thread (404) conveys the broccoli balls to the second-level buffering device baffle (405), the second-level clamping semi-circular arcs (501) of the second-level leaf removing device (5) are combined in pairs to form an arc at the inlet of the fourth channel, are separated at the outlet of the second channel, clamp the broccoli balls at the first-level buffering device baffle (205) and convey the broccoli balls through the fourth channel to the sorting table (6), and the second reciprocating drive mechanism below the fourth channel reciprocates the second-level reciprocating cutters (506) horizontally, and the side branches and leaves of the broccoli ball perpendicular to the walking direction are removed.

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