Onion harvester

Abstract

The present invention provides a green onion harvester, comprising a chassis and a walking assembly, a digging assembly, a clamping and transporting assembly and a collecting assembly fixedly connected to the chassis; the walking assembly is used to drive the chassis to complete forward, backward or turning movements; the digging assembly is located at the front end of the chassis, and is used to separate the green onion roots from the soil when the walking assembly moves forward; the clamping and transporting assembly is located above the digging assembly, and is used to clamp the green onion and pull the green onion upward when the green onion roots are separated from the soil; the pulled green onion is sent to the collecting assembly located above the chassis for storage through the clamping and transporting assembly. The present invention realizes combined harvesting including digging, transporting and collecting green onions.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural harvesting equipment, and in particular relates to a green onion harvester. Background Art

[0002] With the advancement of science and technology, a large number of agricultural machinery have appeared in the process of agricultural planting, including green onion harvesters. In the green onion production process, the harvesting process is particularly critical, and the quality of green onion harvesting has a direct impact on the final benefits of green onions. Since green onions are mostly planted in a centralized manner, manual picking is time-consuming and laborious. Green onion harvesters can achieve mechanized harvesting of green onions, improve production efficiency, and reduce labor intensity. However, the functions of existing green onion harvesters are relatively single, mainly realizing the excavation, transportation, or collection of green onions, and have not realized the combined harvesting of green onions, including the excavation, transportation, and collection of green onions. Summary of the invention

[0003] The invention aims at the deficiencies in the prior art and provides a green onion harvester.

[0004] The present invention provides a green onion harvester, comprising a chassis and a walking assembly, a soil digging assembly, a clamping and transporting assembly and a collecting assembly fixedly connected to the chassis;

[0005] The walking assembly is used to drive the chassis to complete forward, backward or turning movements; the digging assembly is located at the front end of the chassis, and is used to separate the roots of the green onions from the soil when the walking assembly moves forward; the clamping and transporting assembly is located above the digging assembly, and is used to clamp the green onions and pull them out upward when the roots of the green onions are separated from the soil; the pulled out green onions are sent to the collecting assembly located above the chassis for storage through the clamping and transporting assembly.

[0006] Optionally, the walking assembly includes multiple hub motors located under the chassis; the shaft of each hub motor is fixedly connected to a first connecting member; the first connecting member is provided with a rotatable first connecting rod and a rotatable spring shock absorber; the first connecting rod is rotatably connected to a second connecting member at one end away from the first connecting member; the spring shock absorber is rotatably connected to the second connecting member at one end away from the first connecting member; the length direction of the spring shock absorber intersects with the plane where the top of the chassis is located; the second connecting member is fixedly connected to the bottom of the chassis.

[0007] Optionally, the excavation assembly includes a support frame fixedly connected to the chassis; a slider slidably connected to the support frame is provided on the support frame; the sliding direction of the slider intersects with the plane where the top of the chassis is located, and the projection of the sliding path in the plane where the top of the chassis is located is parallel to the forward direction of the chassis; the slider is fixedly connected to an electric push rod and a loosening machine frame; the end of the electric push rod away from the slider is fixedly connected to the support frame; the length direction of the electric push rod is parallel to the sliding direction of the slider;

[0008] A loosening motor is provided on the loosening machine frame, and the loosening motor is drivingly connected to a first crank; the end of the first crank is rotatably connected to a second connecting rod; the end of the second connecting rod away from the first crank is fixedly connected to a special-shaped loosening knife; the second connecting rod is provided with a first waist-shaped hole that penetrates the second connecting rod; the length direction of the first waist-shaped hole is parallel to the length direction of the second connecting rod; a support rod fixedly connected to the loosening machine frame is passed through the first waist-shaped hole; the loosening motor drives the first crank to rotate, and the first crank drives the second connecting rod to reciprocate on the support rod.

[0009] Optionally, a green onion harvester provided by the present invention includes two digging components; the two digging components are symmetrically arranged below the clamping and transporting components.

[0010] Optionally, a rectangular coordinate system is established with any point on the axis of the support rod as the origin, the forward direction of the chassis as the x-axis, and the direction perpendicular to the plane where the top of the chassis is located as the y-axis; wherein one end of the first crank is always located on the x-axis, and the coordinate (x B ,y B )satisfy , ; is the length of the first crank (332); is the shortest distance between the end of the first crank (332) that is always located on the x-axis and the axis of the support rod (335); ω is the rotational angular velocity of the first crank (332); t is time;

[0011] The coordinates of the end of the second connecting rod away from the first crank satisfy:

[0012] ;

[0013] in, is the length of the second connecting rod; π is the circumference of a circle.

[0014] Optionally, the clamping and transporting assembly is tiltedly arranged on the chassis, and comprises a first transmission device and a second transmission device that are symmetrically arranged; a conveying path for the green onions is between the first transmission device and the second transmission device;

[0015] The first transmission device comprises a first transmission frame, a first conveyor belt, and a first active roller, a first driven roller and a plurality of second driven rollers arranged on the first transmission frame;

[0016] The first conveyor belt is wound end to end on a first active roller, a first driven roller and a plurality of second driven rollers; the first active roller, the first driven roller and the plurality of second driven rollers are arranged in a trapezoidal shape inside the first conveyor belt; the plurality of second driven rollers are evenly arranged on a side close to the second transmission device;

[0017] The first transmission frame is provided with a plurality of second waist-shaped holes; the rotating shaft of each second driven roller is rotatably connected to the corresponding second waist-shaped hole; the length direction of each second waist-shaped hole is perpendicular to the transport direction of the first conveyor belt; the rotating shafts of the plurality of second driven rollers are all in contact with a first elastic member fixedly connected to the first transmission frame;

[0018] The second transmission device comprises a second transmission frame, a second conveyor belt, and a second driving roller, a third driven roller and a plurality of fourth driven rollers arranged on the second transmission frame;

[0019] The second conveyor belt is wound end to end on the second active roller, the third driven roller and a plurality of fourth driven rollers; the second active roller, the third driven roller and a plurality of fourth driven rollers are arranged in a trapezoidal shape inside the second conveyor belt; a plurality of fourth driven rollers are evenly arranged on a side close to the first transmission device; a plurality of the second driven rollers and a plurality of the fourth driven rollers are arranged side by side and staggered;

[0020] The second transmission frame is provided with a plurality of third waist-shaped holes; the rotating shaft of each of the fourth driven rollers is rotatably connected to the corresponding third waist-shaped hole; the length direction of each of the third waist-shaped holes is perpendicular to the transport direction of the second conveyor belt; the rotating shafts of the plurality of fourth driven rollers are all in contact with a second elastic member fixedly connected to the second transmission frame;

[0021] A plurality of third elastic members are evenly arranged on the side of the first conveyor belt away from the first active roller; a first groove for accommodating green onions is formed between two adjacent third elastic members; the length direction of the first groove is perpendicular to the plane where the top of the chassis is located;

[0022] A plurality of fourth elastic members are evenly arranged on the side of the second conveyor belt away from the second active roller; a second groove for accommodating green onions is formed between two adjacent fourth elastic members; the length direction of the second groove is perpendicular to the plane where the top of the chassis is located; on the conveying path of the green onions, one first groove corresponds to one fourth elastic member, and one second groove corresponds to one third elastic member.

[0023] Optionally, the forward speed v1 of the chassis and the transport speed v2 of the first conveyor belt numerically satisfy v1=v2cosθ; θ is the angle between the transport path of the green onion and the forward direction of the chassis.

[0024] Optionally, the collection assembly includes a collection bin and a first baffle and a second baffle for closing a top opening of the collection bin; a multi-link assembly is disposed at the bottom of each of the first baffle and the second baffle;

[0025] The multi-link assembly includes a third link, a fourth link, a fifth link, a sixth link, a second crank and a support column;

[0026] The third connecting rod is used to support the first baffle and the second baffle; one end of the third connecting rod is rotatably connected to the support column; one end of the third connecting rod away from the support column is rotatably connected to the end of the fourth connecting rod; one end of the fourth connecting rod away from the third connecting rod is rotatably connected to the fifth connecting rod and the sixth connecting rod; one end of the fifth connecting rod away from the fourth connecting rod is rotatably connected to the end of the second crank; one end of the sixth connecting rod away from the fourth connecting rod is rotatably connected to the support column; one end of the fifth connecting rod close to the fourth connecting rod is rotatably connected to one end of the sixth connecting rod close to the fourth connecting rod; the second crank transmission is connected to an openable and closable motor; the support column is fixedly connected to the chassis.

[0027] Optionally, a green onion harvester provided by the present invention also includes a soil removing component located below the green onion conveying path; the soil removing component includes a first circular member and a second circular member; the first circular member and the second circular member are rotatably connected to the chassis via a transmission shaft; the axial direction of the transmission shaft is perpendicular to the forward direction of the chassis; the transmission shaft is transmission-connected to a soil removing motor; a plurality of soil removing rods are evenly arranged on the first circular member along the circumference of the first circular member; one end of each soil removing rod away from the first circular member is fixedly connected to the second circular member.

[0028] Optionally, the green onion harvester provided by the present invention also includes a controller; the controller is electrically connected to the walking component, the digging component, the clamping and transporting component, the collecting component and the soil removing component.

[0029] The invention provides a green onion harvester, comprising a chassis, a traveling assembly, a digging assembly, a clamping and transporting assembly and a collecting assembly fixedly connected to the chassis; the traveling assembly drives the chassis to complete forward, backward or turning movements; the digging assembly is located below the clamping and transporting assembly, and is used to separate the green onion roots from the soil when the traveling assembly moves forward; the clamping and transporting assembly is used to clamp the green onions and pull them out upwards when the green onion roots are separated from the soil; the pulled out green onions are sent to the collecting assembly located above the chassis for storage via the clamping and transporting assembly, and the invention realizes the combined harvesting of digging, transporting and collecting green onions. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 An application scenario diagram of a green onion harvester provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a walking assembly provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the structure of an earthmoving assembly provided in an embodiment of the present invention;

[0034] Figure 4 A simulation diagram of the motion path of the second connecting rod provided in an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of a partially exploded structure of a first transmission device provided in an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of a partial explosion structure of a second transmission device provided in an embodiment of the present invention;

[0037] Figure 7 A schematic diagram of the structure of a collection component provided in an embodiment of the present invention;

[0038] Figure 8 A schematic diagram of the structure of a multi-link assembly provided by an embodiment of the present invention;

[0039] Fig. 9 A simplified structural schematic diagram of a multi-link assembly provided in an embodiment of the present invention;

[0040] Fig.10 for Fig. 9 Angle diagram of each connecting rod in FIG.

[0041] Fig.11 A relationship diagram between the external torque required for the BC rod to maintain balance and the BC rod angle provided by an embodiment of the present invention;

[0042] Fig.12 A schematic structural diagram of a soil removal assembly provided in an embodiment of the present invention.

[0043] Among them, 1. chassis; 2. walking assembly, 21. hub motor, 22. first connecting piece, 23. first connecting rod, 24. spring shock absorber, 25. second connecting piece; 3. digging assembly, 31. support frame, 311. slider, 32. electric push rod, 33. loosening frame, 331. loosening motor, 332. first crank, 333. second connecting rod, 3331. first waist-shaped hole, 334. special-shaped loosening knife, 335. support rod; 4. clamping and transporting assembly, 41. first transmission device, 411. first transmission frame, 4111. second waist-shaped hole, 4112. first elastic member, 412. first conveyor belt, 4121. third elastic member, 4122. first groove, 413. first active roller, 414. first driven roller, 415. second driven roller Roller, 42, second transmission device, 421, second transmission frame, 4211, third waist-shaped hole, 4212, second elastic member, 4221, fourth elastic member, 4222, second groove, 422, second conveyor belt, 423, second active roller, 424, third driven roller, 425, fourth driven roller; 5, collecting assembly, 51, collecting bin, 52, first baffle, 53, second baffle, 54, multi-link assembly, 541, third connecting rod, 542, fourth connecting rod, 543, fifth connecting rod, 544, sixth connecting rod, 545, second crank, 546, support column, 547, openable and closable motor; 6, soil removing assembly, 61, first circular member, 62, second circular member, 63, transmission shaft, 64, soil removing motor, 65, soil removing rod; 7, controller. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, this embodiment provides a green onion harvester, including a chassis 1 and a walking component 2, a digging component 3, a clamping and transporting component 4 and a collecting component 5 fixedly connected to the chassis 1.

[0046] The walking component 2 is used to drive the chassis 1 to complete forward, backward or turning movements; the digging component 3 is located at the front end of the chassis 1 (when harvesting green onions, the end of the chassis 1 close to the green onions is the front end), and is used to separate the roots of the green onions from the soil when the walking component 2 moves forward; the clamping and transporting component 4 is located above the digging component 3, and is used to clamp the green onions and pull them out upward when the roots of the green onions are separated from the soil; the pulled out green onions are sent to the collecting component 5 located above the chassis 1 for storage through the clamping and transporting component 4.

[0047] For example, Figure 2 As shown, the travel assembly 2 includes a plurality of wheel hub motors 21 located below the chassis 1; the wheel hub motor 21 is a wheel hub motor with a Hall sensor, which can provide power and control speed at the same time, and realize differential steering through the rotation speed of each wheel hub motor 21.

[0048] The shaft of each hub motor 21 is fixedly connected to a first connecting member 22; a rotatable first connecting rod 23 and a rotatable spring shock absorber 24 are provided on the first connecting member 22; the end of the first connecting rod 23 away from the first connecting member 22 is rotatably connected to the second connecting member 25; the end of the spring shock absorber 24 away from the first connecting member 22 is rotatably connected to the second connecting member 25; the length direction of the spring shock absorber 24 intersects with the plane where the top of the chassis 1 is located; the second connecting member 25 is fixedly connected to the bottom of the chassis 1.

[0049] There are multiple first connecting rods 23, such as Figure 2 As shown, two first connecting rods 23 are arranged on each side of the first connecting member 22 and the second connecting member 25 to improve the stability of the connection between the hub motor 21 and the chassis 1; the spring shock absorber 24 helps the walking component 2 to adapt to complex road surfaces, reduce the amplitude of the shaking of the entire green onion harvester, and avoid damage to the green onions in the collecting component 5 due to shaking.

[0050] For example, Figure 3 As shown, the earth-moving assembly 3 includes a support frame 31 fixedly connected to the chassis 1; a slider 311 slidably connected to the support frame 31 is provided on the support frame 31; optionally, a guide rail matching the slider 311 is provided on the support frame 31, and the slider 311 slides on the guide rail; the sliding direction of the slider 311 intersects with the plane where the top of the chassis 1 is located, and the projection of the sliding path in the plane where the top of the chassis 1 is located is parallel to the forward direction of the chassis 1, that is, the sliding direction of the slider 311 is toward the ground or away from the ground.

[0051] The slider 311 is fixedly connected to the electric push rod 32 and the tiller frame 33; one end of the electric push rod 32 away from the slider 311 is fixedly connected to the support frame 31; the length direction of the electric push rod 32 is parallel to the sliding direction of the slider 311; the slider 311 slides toward or away from the ground by extending or contracting the electric push rod 32.

[0052] like Figure 3 As shown, a loosening motor 331 is provided on the loosening machine frame 33, and the loosening motor 331 is transmission-connected to the first crank 332; the first crank 332 can be coaxially connected to a gear, and a gear is fixed on the output shaft of the loosening motor 331, and the two gears are engaged. When the output shaft of the loosening motor 331 rotates, the first crank 332 is driven to rotate by the gear; the first crank 332 can also be coaxially connected to a pulley, and a pulley is fixed on the output shaft of the loosening motor 331, and the two pulleys are connected by belt transmission. When the output shaft of the loosening motor 331 rotates, the first crank 332 is driven to rotate by the belt and the pulley.

[0053] The end of the first crank 332 is rotatably connected to the second connecting rod 333; the plane where the length direction of the second connecting rod 333 is located is parallel to the plane where the sliding direction of the slider 311 is located, and the plane where the length direction of the second connecting rod 333 is located and the plane where the sliding direction of the slider 311 is located are both perpendicular to the ground; the end of the second connecting rod 333 away from the first crank 332 is fixedly connected to a special-shaped loosening knife 334; the second connecting rod 333 is provided with a first waist-shaped hole 3331 that passes through the second connecting rod 333; the length direction of the first waist-shaped hole 3331 is parallel to the length direction of the second connecting rod 333; a support rod 335 fixedly connected to the loosening frame 33 is passed through the first waist-shaped hole 3331; the loosening motor 331 drives the first crank 332 to rotate, and the first crank 332 drives the second connecting rod 333 to reciprocate on the support rod 335.

[0054] like Figure 3 As shown, the first crank 332 and the second connecting rod 333 constitute a first crank connecting rod; the special-shaped loosening knife 334 is connected to a pair of parallel crank connecting rods through two pins to increase stability; the parallel crank connecting rod is connected to the loosening frame 33 through a pin shaft, a flange and a bearing, the loosening frame 33 is connected to the two sliders 311 through screws, the electric push rod 32 is fixed to the loosening frame 33 through pins, and pushes the loosening frame 33 to move linearly, the loosening motor 331 is fixed to the loosening frame 33, and the power is transmitted from the loosening motor 331 to the crank of the parallel crank connecting rod through a gear with a module of 1, so as to amplify the torque of the loosening motor 331 when loosening the soil.

[0055] The special-shaped loosening knife 334 has two knife tips, and the special-shaped loosening knife 334 is bent at 135 degrees, and has three stainless steel cylinders with interference fit, which increases the breadth and efficiency of loosening while reducing the loosening resistance.

[0056] The working process of the digging component 3 is: first start the loosening motor 331 for position calibration, transmit power to the parallel crank connecting rod through gears, drive the special-shaped loosening knife 334 to move, and the special-shaped loosening knife 334 loosens the soil on both sides of the root of the green onion through two knife tips and the cylinder embedded on the knife body, and adjusts the loosening depth through the electric push rod 32 to adapt to the rooting depth of the green onion.

[0057] For example, Figure 1 As shown, there are two digging assemblies 3 ; the two digging assemblies 3 are symmetrically arranged below the clamping and transporting assembly 4 , and the green onions in the soil are located between the two digging assemblies 3 .

[0058] A rectangular coordinate system is established with any point on the axis of the support rod 335 as the origin, the forward direction of the chassis 1 as the x-axis, and the direction perpendicular to the plane where the top of the chassis 1 is located as the y-axis; wherein one end of the first crank 332 is always located on the x-axis, and the coordinate (x B ,y B )satisfy , The coordinates of the end of the second connecting rod 333 away from the first crank 332 satisfy:

[0059] .

[0060] in, is the length of the second connecting rod 333; is the length of the first crank 332; is the shortest distance between the end of the first crank 332 always located on the x-axis and the axis of the support rod 335; π is the pi; ω is the rotational angular velocity of the first crank 332; t is time. Figure 4 As shown, by observing the simulation image, the speed of the end of the special-shaped loosening blade 334 gradually decreases along the (length) direction of the second connecting rod 333 during the process of shoveling into the soil, and gradually increases in the direction perpendicular to the second connecting rod 333. This speed change feature, combined with the softness of the soil for green onion planting, enables the digging component 3 to effectively realize the functions of turning over and loosening the soil, which can meet the loosening needs during the green onion harvesting process and improve the working efficiency.

[0061] like Figure 1 , Figure 5 and Figure 6 As shown, the clamping and transporting assembly 4 is tiltedly arranged on the chassis 1. Optionally, the clamping and transporting assembly 4 is tiltedly arranged on the support frame 31, and includes a first transmission device 41 and a second transmission device 42 that are symmetrically arranged; the conveying path for the green onions is between the first transmission device 41 and the second transmission device 42.

[0062] like Figure 5As shown, the first transmission device 41 includes a first transmission frame 411, a first conveyor belt 412, and a first active roller 413, a first driven roller 414 and a plurality of second driven rollers 415 arranged on the first transmission frame 411. The first active roller 413 and the first driven roller 414 are both fixedly connected to the first transmission frame 411 through bearings.

[0063] The first conveyor belt 412 is wound end to end around a first active roller 413, a first driven roller 414 and a plurality of second driven rollers 415; the first active roller 413, the first driven roller 414 and a plurality of second driven rollers 415 are arranged in a trapezoidal shape inside the first conveyor belt 412; the plurality of second driven rollers 415 are evenly arranged on one side close to the second transmission device 42.

[0064] A plurality of second waist-shaped holes 4111 are provided on the first transmission frame 411; the rotating shaft of each second driven roller 415 is rotatably connected to the corresponding second waist-shaped hole 4111; the length direction of each second waist-shaped hole 4111 is perpendicular to the transport direction of the first conveyor belt 412; the rotating shafts of the plurality of second driven rollers 415 are all in contact with the first elastic member 4112 fixedly connected to the first transmission frame 411.

[0065] like Figure 6 As shown, the second transmission device 42 includes a second transmission frame 421 , a second conveyor belt 422 , and a second active roller 423 , a third driven roller 424 , and a plurality of fourth driven rollers 425 arranged on the second transmission frame 421 .

[0066] The second conveyor belt 422 is wound end to end around the second active roller 423, the third driven roller 424 and multiple fourth driven rollers 425; the second active roller 423, the third driven roller 424 and multiple fourth driven rollers 425 are arranged in a trapezoidal shape inside the second conveyor belt 422; the multiple fourth driven rollers 425 are evenly arranged on the side close to the first transmission device 41; the multiple second driven rollers 415 and the multiple fourth driven rollers 425 are staggered side by side.

[0067] A plurality of third waist-shaped holes 4211 are provided on the second transmission frame 421; the rotating shaft of each fourth driven roller 425 is rotatably connected to the corresponding third waist-shaped hole 4211; the length direction of each third waist-shaped hole 4211 is perpendicular to the transport direction of the second conveyor belt 422; the rotating shafts of the plurality of fourth driven rollers 425 are all in contact with the second elastic member 4212 fixedly connected to the second transmission frame 421.

[0068] A plurality of third elastic members 4121 are evenly arranged on the side of the first conveyor belt 412 away from the first active roller 413; a first groove 4122 for accommodating green onions is formed between two adjacent third elastic members 4121; and the length direction of the first groove 4122 is perpendicular to the plane where the top of the chassis 1 is located.

[0069] A plurality of fourth elastic members 4221 are evenly arranged on the side of the second conveyor belt 422 away from the second active roller 423; a second groove 4222 for accommodating green onions is formed between two adjacent fourth elastic members 4221; the length direction of the second groove 4222 is perpendicular to the plane where the top of the chassis 1 is located; on the conveying path of the green onions, one of the first grooves 4122 corresponds to one of the fourth elastic members 4221; one of the second grooves 4222 corresponds to one of the third elastic members 4121, that is, a plurality of first grooves 4122 and a plurality of second grooves 4222 are staggered and arranged side by side.

[0070] The first active roller 413 and the second active roller 423 are both driven by a worm gear motor with an encoder through a coupling. The first elastic member 4112 and the second elastic member 4212 are both spring steel sheets. Taking the first elastic member 4112 as an example, the spring steel sheet seat is fixed to the first transmission frame 411 by bolts. The movable range of the stainless steel spring steel sheet is 15 mm. The spring steel sheet is fixed to the spring steel sheet seat by riveting. The rotating shaft of the second driven roller 415 is pushed into the second waist-shaped hole 4111 by the spring steel sheet.

[0071] The cooperation between the second driven roller 415 and the first elastic member 4112, as well as the cooperation between the fourth driven roller 425 and the second elastic member 4212, can adapt to green onions of different thicknesses. The elastic force of the elastic member acts on the driven roller and the conveyor belt, so that the conveyor belts on both sides of the green onion are always in contact with and clamp the green onion. Multiple second driven rollers 415 and multiple fourth driven rollers 425 are arranged side by side in a staggered manner to avoid the second driven rollers 415 and the fourth driven rollers 425 from squeezing the green onion and causing damage to the green onion. Similarly, multiple first grooves 4122 and multiple second grooves 4222 are arranged side by side in a staggered manner to avoid the third elastic member 4121 and the fourth elastic member 4221 from squeezing the green onion and causing damage to the green onion.

[0072] The forward speed v1 of the chassis 1 and the transport speed v2 of the first conveyor belt 412 numerically satisfy v1=v2cosθ; θ is the angle between the transport path of the green onion and the forward direction of the chassis 1. The transport speed of the first conveyor belt 412 is the same as the transport speed of the second conveyor belt 422. Taking the first conveyor belt 412 as an example,

[0073] The horizontal component of the speed of the first conveyor belt 412 relative to the ground is 0, and the vertical component is v2sinθ, and the direction is vertically upward, that is, the first conveyor belt 412 only moves vertically upward relative to the ground. The purpose is to make the green onions only receive vertical upward force during the process of being pulled out of the soil. The horizontal component of the speed of the first conveyor belt 412 is the same as the forward speed of the green onion harvester and is opposite in direction to prevent the green onions from breaking.

[0074] like Figure 1 As shown, a set of wheels can also be arranged below the digging component 3 to support the digging component 3 and the clamping and transporting component 4, so as to prevent the green onion harvester from tilting forward due to the heavy weight of the digging component 3 and the clamping and transporting component 4.

[0075] like Figure 7 As shown, the collecting assembly 5 includes a collecting bin 51 and a first baffle 52 and a second baffle 53 for closing the top opening of the collecting bin 51 ; a multi-link assembly 54 is disposed at the bottom of the first baffle 52 and the second baffle 53 .

[0076] like Figure 8 As shown, the multi-link assembly 54 includes a third link 541 , a fourth link 542 , a fifth link 543 , a sixth link 544 , a second crank 545 and a support column 546 .

[0077] The third connecting rod 541 is used to support the first baffle plate 52 and the second baffle plate 53; the first baffle plate 52 and the second baffle plate 53 are arranged side by side and in a V-shape; when the green onions fall onto the first baffle plate 52 and / or the second baffle plate 53, they finally stay at a position close to the middle of the first baffle plate 52 and the second baffle plate 53, reducing the probability of the green onions falling out of the collection bin 51.

[0078] One end of the third connecting rod 541 is rotatably connected to the support column 546; the end of the third connecting rod 541 away from the support column 546 is rotatably connected to the end of the fourth connecting rod 542; the end of the fourth connecting rod 542 away from the third connecting rod 541 is rotatably connected to the fifth connecting rod 543 and the sixth connecting rod 544; the end of the fifth connecting rod 543 away from the fourth connecting rod 542 is rotatably connected to the end of the second crank 545; the end of the sixth connecting rod 544 away from the fourth connecting rod 542 is rotatably connected to the support column 546; the end of the fifth connecting rod 543 close to the fourth connecting rod 542 is rotatably connected to the end of the sixth connecting rod 544 close to the fourth connecting rod 542; the second crank 545 is transmission-connected to the openable and closable motor 547; the support column 546 is fixedly connected to the chassis 1.

[0079] like Figure 7 As shown, there are four multi-link assemblies 54 , which form two pairs of multi-link assemblies 54 , wherein one pair of multi-link assemblies 54 supports the first baffle 52 , and the other pair of multi-link assemblies 54 supports the second baffle 53 .

[0080] Taking the first baffle 52 as an example, the opening and closing motor 547 can rotate, and the power is transmitted to the main transmission shaft through gears. The main transmission shaft drives the second crank 545 to rotate, and the second crank 545 drives the third connecting rod 541, the fourth connecting rod 542, the fifth connecting rod 543 and the sixth connecting rod 544 to move, thereby realizing the downward rotation of the first baffle 52 for sorting, and the green onions fall into the collection bin 51.

[0081] The structural diagram of the multi-link assembly 54 is shown in FIG. Fig. 9 and Fig.10 As shown, at this time, the length direction of the second crank 545 is parallel to the length direction of the fifth connecting rod 543; the BC rod is set as the second crank 545, with a length of L6; the AF rod is set as the third connecting rod 541, with a length of L3; the FD rod is set as the fourth connecting rod 542, with a length of L4; the CD rod is set as the fifth connecting rod 543, with a length of L7; the DE rod is set as the sixth connecting rod 544, with a length of L5; the AE rod is set as the support column 546, with a length of L1+L2, the second crank 545 rotates with point B as the center and L6 as the radius, the length of the AB rod is L1; the length of the BE rod is L2; ​​the angle change of each axis is solved by establishing accurate constraint equations:

[0082] ;

[0083] .

[0084] Among them, F0 is the magnitude of the vertical downward force applied to the end of the third connecting rod 541 away from the support column 546; F2 is the magnitude of the force along the BE rod; F3 is the magnitude of the force along the AF rod; F4 is the magnitude of the force along the FD rod; F5 is the magnitude of the force along the DE rod; θ1 is the maximum angle between the AF rod and the AE rod; θ2 is the maximum angle between the BC rod and the AE rod; θ3 is the maximum angle between the CD rod and the AE rod; θ4 is the minimum angle between the CD rod and the AE rod; θ5 is the maximum angle between the DE rod and the AE rod.

[0085] In order to intuitively analyze the motion characteristics of the mechanism, MATLAB was used for simulation to present the dynamic behavior. Considering the impact force on point F when the green onion falls, the external torque required for the BC rod to achieve force balance at various angles under different impact forces was calculated in detail. This analysis process not only involves precise calculations of physical mechanics, but also fully considers the dynamic stability of the mechanism in actual operation. Based on these calculation results, the appropriate motor torque and rod size were selected to ensure that the mechanism maintains a high degree of stability and reliability during continuous operation. This design method that comprehensively considers mechanical characteristics, dynamic simulation and actual needs enables the double dead point mechanism to show excellent performance in handling green onion sorting tasks.

[0086] After calculation, it is found that when force F0 is applied at point F, the relationship between the external torque required for the BC rod to maintain balance and the angle of the BC rod is as follows Fig.11 As shown. Fig.11 It can be seen that near the dead point, the change in the balancing torque is relatively small, indicating that the dead point position is relatively stable.

[0087] like Figure 1 and Fig.12 As shown, the green onion harvester provided in this embodiment also includes a controller 7 and a soil removing component 6 located below the green onion conveying path; the soil removing component 6 is a cage-shaped structure, and the soil removing component 6 includes a first circular component 61 and a second circular component 62; the first circular component 61 and the second circular component 62 are rotatably connected to the chassis 1 through a transmission shaft 63; the axial direction of the transmission shaft 63 is perpendicular to the forward direction of the chassis 1; the transmission shaft 63 is transmission-connected to a soil removing motor 64; a plurality of soil removing rods 65 are evenly arranged on the first circular component 61 along the circumference of the first circular component 61; each soil removing rod 65 is fixedly connected to the second circular component 62 at one end away from the first circular component 61.

[0088] The bearing seat is fixed on the chassis 1, the transmission shaft 63 and the bearing are over-fitted, the transmission shaft 63 and the first circular member 61 and the second circular member 62 are circumferentially fixed by keys and axially fixed by sleeves, and the soil removing motor 64 is fixed on the chassis 1 through the motor seat; the soil removing motor 64 drives the transmission shaft 63 by gear meshing or belt combined with pulley, and then drives the first circular member 61 and the second circular member 62 to rotate, and multiple soil removing rods 65 contact the roots of the green onions during transportation to reduce the soil attached to the roots of the green onions.

[0089] The controller 7 is electrically connected to the walking assembly 2, the digging assembly 3, the clamping and transporting assembly 4, the collecting assembly 5 and the soil removing assembly 6 to control the working state of each motor and each electric push rod in the green onion harvester.

[0090] The green onion harvester provided in this embodiment realizes the combined harvesting including digging, conveying and collecting of green onions.

[0091] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A green onion harvester, characterized in that: It comprises a chassis (1), and a walking assembly (2), an earth-moving assembly (3), a gripping and transporting assembly (4), and a collecting assembly (5) connected to the chassis (1); The walking assembly (2) is used to drive the chassis (1) to complete forward, backward or turning movements; the digging assembly (3) is located at the front end of the chassis (1) and is used to separate the roots of the green onions from the soil when the walking assembly (2) moves forward; the clamping and transporting assembly (4) is located above the digging assembly (3) and is used to clamp the green onions and pull them out upwards when the roots of the green onions are separated from the soil; the pulled green onions are sent to the collecting assembly (5) located above the chassis (1) for storage via the clamping and transporting assembly (4); The travel assembly (2) comprises a plurality of wheel hub motors (21) located below the chassis (1); the shaft of each wheel hub motor (21) is fixedly connected to a first connecting member (22); the first connecting member (22) is provided with a rotatable first connecting rod (23) and a rotatable spring shock absorber (24); an end of the first connecting rod (23) away from the first connecting member (22) is rotatably connected to a second connecting member (25); an end of the spring shock absorber (24) away from the first connecting member (22) is rotatably connected to the second connecting member (25); the length direction of the spring shock absorber (24) intersects with the plane where the top of the chassis (1) is located; and the second connecting member (25) is fixedly connected to the bottom of the chassis (1); The earthmoving assembly (3) comprises a support frame (31) fixedly connected to the chassis (1); a slider (311) slidably connected to the support frame (31) is provided on the support frame (31); the sliding direction of the slider (311) intersects with the plane where the top of the chassis (1) is located, and the projection of the sliding path in the plane where the top of the chassis (1) is located is parallel to the forward direction of the chassis (1); the slider (311) is fixedly connected to an electric push rod (32) and a loosening frame (33); the end of the electric push rod (32) away from the slider (311) is fixedly connected to the support frame (31); the length direction of the electric push rod (32) is parallel to the sliding direction of the slider (311); The loosening machine frame (33) is provided with a loosening motor (331), and the loosening motor (331) is drivingly connected to a first crank (332); the end of the first crank (332) is rotatably connected to a second connecting rod (333); the end of the second connecting rod (333) away from the first crank (332) is fixedly connected to a special-shaped loosening knife (334); the second connecting rod (333) is provided with a first waist-shaped hole (3331) penetrating the second connecting rod (333); the length of the first waist-shaped hole (3331) is The first waist-shaped hole (3331) is provided with a support rod (335) fixedly connected to the loosening machine frame (33); the loosening motor (331) drives the first crank (332) to rotate, and the first crank (332) drives the second connecting rod (333) to move back and forth on the support rod (335); the special-shaped loosening knife (334) has two knife tips, and the special-shaped loosening knife (334) is bent at 135 degrees and has three stainless steel cylinders with interference fit.

2. The green onion harvester according to claim 1, characterized in that: It comprises two earth-moving assemblies (3); the two earth-moving assemblies (3) are symmetrically arranged below the clamping and transporting assembly (4).

3. The green onion harvester according to claim 1, characterized in that: A rectangular coordinate system is established with any point on the axis of the support rod (335) as the origin, the forward direction of the chassis (1) as the x-axis, and the direction perpendicular to the plane where the top of the chassis (1) is located as the y-axis; wherein one end of the first crank (332) is always located on the x-axis, and the coordinate (x B ,y B )satisfy , ; is the length of the first crank (332); is the shortest distance between the end of the first crank (332) that is always located on the x-axis and the axis of the support rod (335); ω is the rotational angular velocity of the first crank (332); t is time; The coordinates of the end of the second connecting rod (333) away from the first crank (332) satisfy: ： in, is the length of the second connecting rod (333); π is the circumference of a circle.

4. The green onion harvester according to claim 1, characterized in that: The clamping and transporting assembly (4) is arranged obliquely on the chassis (1), and comprises a first transmission device (41) and a second transmission device (42) which are symmetrically arranged; a transport path for green onions is provided between the first transmission device (41) and the second transmission device (42); The first transmission device (41) comprises a first transmission frame (411), a first conveyor belt (412), and a first driving roller (413), a first driven roller (414), and a plurality of second driven rollers (415) arranged on the first transmission frame (411); The first conveyor belt (412) is wound end to end on a first active roller (413), a first driven roller (414) and a plurality of second driven rollers (415); the first active roller (413), the first driven roller (414) and the plurality of second driven rollers (415) are arranged in a trapezoidal shape inside the first conveyor belt (412); the plurality of second driven rollers (415) are evenly arranged on a side close to the second transmission device (42); The first transmission frame (411) is provided with a plurality of second waist-shaped holes (4111); the rotating shaft of each second driven roller (415) is rotatably connected to the corresponding second waist-shaped hole (4111); the length direction of each second waist-shaped hole (4111) is perpendicular to the transport direction of the first conveyor belt (412); the rotating shafts of the plurality of second driven rollers (415) are all in contact with a first elastic member (4112) fixedly connected to the first transmission frame (411); The second transmission device (42) comprises a second transmission frame (421), a second conveyor belt (422), and a second active roller (423), a third driven roller (424), and a plurality of fourth driven rollers (425) arranged on the second transmission frame (421); The second conveyor belt (422) is wound end to end on a second active roller (423), a third driven roller (424) and a plurality of fourth driven rollers (425); the second active roller (423), the third driven roller (424) and a plurality of fourth driven rollers (425) are arranged in a trapezoidal shape inside the second conveyor belt (422); the plurality of fourth driven rollers (425) are evenly arranged on a side close to the first transmission device (41); the plurality of second driven rollers (415) and the plurality of fourth driven rollers (425) are arranged side by side and staggered; The second transmission frame (421) is provided with a plurality of third waist-shaped holes (4211); the rotating shaft of each of the fourth driven rollers (425) is rotatably connected to the corresponding third waist-shaped hole (4211); the length direction of each of the third waist-shaped holes (4211) is perpendicular to the transport direction of the second conveyor belt (422); the rotating shafts of the plurality of fourth driven rollers (425) are all in contact with a second elastic member (4212) fixedly connected to the second transmission frame (421); A plurality of third elastic members (4121) are evenly arranged on the side of the first conveyor belt (412) away from the first active roller (413); a first groove (4122) for accommodating green onions is formed between two adjacent third elastic members (4121); the length direction of the first groove (4122) is perpendicular to the plane where the top of the chassis (1) is located; A plurality of fourth elastic members (4221) are evenly arranged on the side of the second conveyor belt (422) away from the second active roller (423); a second groove (4222) for accommodating green onions is formed between two adjacent fourth elastic members (4221); the length direction of the second groove (4222) is perpendicular to the plane where the top of the chassis (1) is located; on the conveying path of the green onions, one first groove (4122) corresponds to one fourth elastic member (4221), and one second groove (4222) corresponds to one third elastic member (4121).

5. The green onion harvester according to claim 4, characterized in that: The forward speed v1 of the chassis (1) and the transport speed v2 of the first conveyor belt (412) numerically satisfy ; θ is the angle between the conveying path of the green onion and the forward direction of the chassis (1).

6. The green onion harvester according to claim 1, characterized in that: The collecting assembly (5) comprises a collecting bin (51) and a first baffle (52) and a second baffle (53) for closing a top opening of the collecting bin (51); a multi-link assembly (54) is provided at the bottom of each of the first baffle (52) and the second baffle (53); The multi-link assembly (54) comprises a third link (541), a fourth link (542), a fifth link (543), a sixth link (544), a second crank (545), and a support column (546); The third connecting rod (541) is used to support the first baffle (52) and the second baffle (53); one end of the third connecting rod (541) is rotatably connected to the support column (546); one end of the third connecting rod (541) away from the support column (546) is rotatably connected to the end of the fourth connecting rod (542); one end of the fourth connecting rod (542) away from the third connecting rod (541) is rotatably connected to the fifth connecting rod (543) and the sixth connecting rod (544); the fifth connecting rod (543) away from the fourth connecting rod One end of the rod (542) is rotatably connected to the end of the second crank (545); one end of the sixth connecting rod (544) away from the fourth connecting rod (542) is rotatably connected to the support column (546); one end of the fifth connecting rod (543) close to the fourth connecting rod (542) is rotatably connected to one end of the sixth connecting rod (544) close to the fourth connecting rod (542); the second crank (545) is transmission-connected to an openable and closable motor (547); and the support column (546) is fixedly connected to the chassis (1).

7. The green onion harvester according to claim 1, characterized in that: The invention also comprises a soil removing assembly (6) located below the green onion conveying path; the soil removing assembly (6) comprises a first circular member (61) and a second circular member (62); the first circular member (61) and the second circular member (62) are rotatably connected to the chassis (1) via a transmission shaft (63); the axial direction of the transmission shaft (63) is perpendicular to the forward direction of the chassis (1); the transmission shaft (63) is connected to a soil removing motor (64); a plurality of soil removing rods (65) are evenly arranged on the first circular member (61) along the circumference of the first circular member (61); one end of each soil removing rod (65) away from the first circular member (61) is fixedly connected to the second circular member (62).

8. The green onion harvester according to claim 7, characterized in that: It also comprises a controller (7); the controller (7) is electrically connected to the walking component (2), the earth-digging component (3), the clamping and transporting component (4), the collecting component (5) and the earth-removing component (6).

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