Multi-row self-propelled field soil-lifting impurity-screening beet harvesting device

Abstract

The invention provides a multi-row self-propelled field soil-lifting and impurity-screening beet harvesting device. The multi-row self-propelled field soil-lifting and impurity-screening beet harvesting device comprises a topping header device, a soil-lifting conveying device, a soil-screening and impurity-removing device, a conveying device, a chassis walking device and a grain storage box, the topping header device pulls up the beet in the soil and cuts stems and leaves at the top of the beet, the cut top leaves of the beet are separated from edible beet, and the edible beet falls back into the soil; the soil lifting and conveying device is used for shoveling edible beets in the soil and conveying the edible beets to the soil screening device behind the soil lifting and conveying device; the soil screening and impurity removing device is used for carrying out soil screening and cleaning on the edible part of the beet conveyed by the soil lifting and conveying device; the conveying device lifts the big beet cleaned by the soil screening and impurity removing device and conveys the big beet into the grain storage box. The functions of pulling, leaf removing, impurity removing, conveying, harvesting and the like of the beet are achieved, a plurality of procedures are integrated, follow-up treatment is reduced, top leaves and impurities are efficiently removed in the harvesting process of the beet, and the harvesting efficiency and quality are improved.

Description

Technical Field

[0001] The invention belongs to the field of large beet harvesting machinery or the technical field of crop harvesting equipment, and in particular relates to a multi-row self-propelled field soil-lifting and screening mixed beet harvesting device. Background Art

[0002] Sugar beet is a biennial herb and the second largest sugar crop in the world. It has extremely high economic value and high sugar production, accounting for 35% of the world's total sugar production. With the development of the economy and the improvement of people's living conditions, the demand for sugar is increasing year by year, and the planting area of ​​sugar beet is also increasing year by year. Small-scale manual harvesting has a small yield, and traditional segmented harvesting has also encountered problems such as low efficiency and impracticality.

[0003] In response to the problems of low efficiency, low integration, low mechanization and low intelligence in beet harvesting, the existing patent CN208001526U discloses a beet harvester consisting of a horizontal cleaning mechanism and a vertical cleaning mechanism. The device can clean beets in the horizontal and vertical directions, but many components still rely on manual adjustment and fail to achieve automated operation, resulting in reduced operating efficiency. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a multi-row self-propelled field soil-lifting and weed-screening sugar beet harvesting device, which realizes the efficient removal of top leaves and cleaning of impurities during the sugar beet harvesting process, effectively reduces the impurity content of sugar beets, and improves the efficiency and quality of sugar beet harvesting.

[0005] The invention also provides a control method for a multi-row self-propelled field soil-lifting and screening beet harvesting device.

[0006] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0007] The present invention achieves the above technical objectives through the following technical means.

[0008] A multi-row self-propelled field soil-raising and weed-screening sugar beet harvesting device comprises a topping header device, a soil-raising and conveying device, a soil-screening and weed-removing device, a conveying device, a chassis walking device and a grain storage box;

[0009] The decapping platform device, soil lifting and conveying device, soil screening and impurity removal device, conveying device and grain storage box are all arranged on the chassis walking device;

[0010] The topping harvester device, soil lifting and conveying device, and soil screening and impurity removal device are arranged in sequence from the walking direction to the rear, the conveying device is located on the side of the soil screening and impurity removal device, and the grain storage box is located behind the conveying device; the topping harvester device is used to pull up the beets in the soil and cut the top stems and leaves of the beets, separate the cut top leaves of the beets from the edible part of the beets, and the edible part of the beets falls back into the soil; the soil lifting and conveying device is used to shovel up the edible part of the beets that fall back into the soil and convey them to the soil screening device at the rear; the soil screening and impurity removal device is used to screen and clean the edible part of the beets conveyed by the soil lifting and conveying device; the conveying device is used to scoop up the large beets cleaned by the soil screening and impurity removal device and convey them to the grain storage box.

[0011] In the above scheme, the topping header device includes several groups of spiral cone mechanisms, fixed cutting knives, a topping header frame, a spiral rod, a spiral cone driving pulley, a spiral rod driving pulley, a spiral cone turbine and a spiral cone driving worm rod;

[0012] Each set of spiral cone mechanisms includes two symmetrically arranged spiral cones; the tips of the spiral cones are tilted downward at the front end of the topping table frame, a channel is provided between the two spiral cones, and a fixed cutting knife is installed on the topping table frame above the channel; the spiral rod is installed on the topping table frame through a bearing, and one end of the spiral rod is connected to a spiral rod driving pulley, which is used to drive the spiral rod to rotate; the spiral cone driving pulley is connected to the spiral rod driving pulley through a belt, the spiral cone driving pulley is connected to a spiral cone driving worm, the spiral cone turbine is connected to the spiral cone, the spiral cone turbine is meshed with the spiral cone driving worm, and the spiral cone driving worm is used to drive the two spiral cones of each set of spiral cone mechanisms to rotate in opposite directions.

[0013] In the above scheme, the earth-moving and conveying device includes an excavating shovel, a bearing fixing cover, a conveying crawler, a conveying belt fixing frame and a conveying belt driving wheel;

[0014] The digging shovel is installed at the front end of the conveyor belt fixing frame, and is used to scoop up the edible part of the beets that fall into the soil after being separated by the topping harvesting device. The conveyor belt is located behind the digging shovel and is installed on the driven shaft of the transmission belt and the driving shaft of the transmission belt. The driven shaft of the transmission belt and the driving shaft of the transmission belt are respectively installed at the two ends of the conveyor belt fixing frame. The bearing fixing cover is installed at the front of the conveyor belt fixing frame to fix the driven shaft of the transmission belt. The conveyor belt driving wheel is connected to the driving shaft of the transmission belt, and is used to drive the conveyor belt to rotate, so as to transport the large beets and soil scooped up by the digging shovel backward and obliquely upward to the soil screening and impurity removal device.

[0015] In the above solution, the digging shovel is tilted downward to form a certain angle with the ground.

[0016] In the above solution, the spiral rod driving pulley and the conveyor belt driving pulley are connected through a conveyor belt.

[0017] In the above scheme, the soil screening and impurity removal device comprises a high-pressure gas inlet, a high-pressure gas steel pipe, a high-pressure gas flow nozzle mounting seat, a high-pressure gas flow nozzle, a high-pressure gas steel pipe mounting frame, a soil screening drive device and an impurity removal disc;

[0018] One end of the high-pressure gas inlet is connected to the high-pressure gas source mechanism, and the other end is connected to the high-pressure gas steel pipe. Several high-pressure gas steel pipes are stacked from top to bottom and installed on a high-pressure gas steel pipe mounting frame. The high-pressure gas steel pipe mounting frame is installed under the chassis walking device. The debris removal disc is installed at the outlet of the soil lifting and conveying device. The soil screening drive device is connected to the debris removal disc to drive the debris removal disc to rotate. A plurality of mechanical soil screening rods are arranged around the debris removal disc; the high-pressure gas steel pipe surrounds the debris removal disc, the high-pressure airflow nozzle mounting seat is installed on the inner side of the high-pressure gas steel pipe, the high-pressure airflow nozzle is installed on the high-pressure airflow nozzle mounting seat, and the high-pressure airflow nozzle sprays high-pressure airflow to the mechanical soil screening rod.

[0019] Further, it also includes a high-pressure air flow nozzle protection cover;

[0020] The high-pressure airflow nozzle protection cover is installed on the outside of the high-pressure airflow nozzle and is used to protect the high-pressure airflow nozzle from impact and prolong the service life.

[0021] Furthermore, it also includes a sensor module and a controller;

[0022] The controller is connected to the sensor module and the air flow pressure valve of the high-pressure air source mechanism respectively;

[0023] The sensor module is installed on the high-pressure airflow nozzle mounting seat at the entrance of the soil screening and impurity removal device, and is used to capture the initial state image of the beets on the mechanical soil screening rod before impurities are removed, and transmit it to the controller, which processes the image to obtain the passing speed of the beets and the degree of soil adhesion, and adjusts the airflow pressure of the high-pressure air source mechanism and the airflow action time of the high-pressure airflow nozzle;

[0024] The controller adjusts the air flow pressure of the high-pressure air source mechanism according to the following formula:

[0025] P=P1+k2v

[0026] P1=k1A

[0027] Where: P1 is the air flow pressure regulated by soil adhesion,

[0028] v is the beet moving speed,

[0029] A is the soil attachment area,

[0030] k1 is the proportional coefficient of the surface characteristics of soil and beet,

[0031] k2 is the adjustment coefficient related to speed and airflow impact force,

[0032] The controller adjusts the airflow action time of the high-pressure airflow nozzle according to the following formula:

[0033]

[0034] Where: a is the cleaning distance covered by the nozzle,

[0035] v is the beet moving speed.

[0036] Furthermore, the high-pressure airflow nozzles are multiple groups of nozzles, which are arranged in sequence on the high-pressure gas steel pipe along the sugar beet transmission path, and the nozzles are facing inward to efficiently remove the soil attached to the surface of the sugar beets.

[0037] A control method for a multi-row self-propelled field soil-lifting and screening beet harvesting device according to the present invention comprises the following steps:

[0038] The topping harvesting platform device pulls up the large beets in the soil through the spiral cone at the front end and puts them into the channel. The fixed cutting knife cuts off the top leaves of the large beets at the tail end of the channel. After cutting off the top leaves, the cut top leaves of the beets are separated from the edible part of the beets through the spiral rod above. The top leaves of the beets fall into the field from the side, and the edible part of the beets falls back into the soil. The digging shovel at the front end of the soil lifting and conveying device scoops up the edible part of the beets and the soil and conveys them backward to the rear soil screening device through the conveying crawler; the soil screening and impurity removal device screens and cleans the edible part of the beets conveyed by the soil lifting and conveying device, and the high-pressure airflow nozzle of the soil screening and impurity removal device sprays high-pressure airflow to the impurity removal disk to assist the mechanical soil screening rod in efficient impurity removal; the conveying device scoops up the large beets cleaned by the soil screening and impurity removal device and conveys them to the grain storage box.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The topping harvesting device of the present invention pulls up the beets in the soil and cuts the top stems and leaves of the beets, separates the cut top leaves of the beets from the edible part of the beets, and the edible part of the beets falls back into the soil. The soil lifting and conveying device scoops up the edible part of the beets that falls back into the soil and conveys it to the rear soil screening device. The soil screening and impurity removal device screens and cleans the edible part of the beets conveyed by the soil lifting and conveying device; the conveying device scoops up the beets cleaned by the soil screening and impurity removal device and conveys them to the grain storage box. The present invention realizes efficient leaf removal during the harvesting of beets and effectively reduces the damage rate of beets, so as to improve the efficiency and quality of beet production and has a simple structure and is easy to maintain.

[0041] 2. Aiming at the problem of pulling up and removing the top leaves of beets, the present invention designs a device with a double spiral cone structure with a fixed blade. The double spiral cone can rotate into the soil to pull up the beets, which is beneficial to reduce mechanical damage to the beets and can also laterally separate the top leaves of the cut beets.

[0042] 3. The present invention introduces high-pressure airflow impurity removal technology in the soil screening and impurity removal device during the beet harvesting process, which significantly improves the cleaning efficiency. Compared with the traditional single mechanical soil screening method, the high-pressure airflow can accurately blow away the attached soil and impurities on the surface and in the gaps of the beets, reduce the impurity rate of the beets, improve the harvest quality of the beets, optimize the soil screening operation efficiency, and reduce the cleaning burden of the subsequent processing links.

[0043] 4. The sensor module of the present invention captures the image of the beets on the mechanical soil screening rod and transmits it to the controller. The controller processes the image to obtain the passing speed of the beets and the degree of soil adhesion, and adjusts the airflow pressure of the high-pressure air source mechanism and the airflow action time of the high-pressure airflow nozzle, which can effectively improve the impurity removal efficiency when screening the soil for the beets and effectively reduce the impurity content of the beets.

[0044] 5. The present invention realizes the functions of pulling out, removing leaves, removing impurities, conveying and harvesting beets, integrates multiple processes into one, reduces subsequent processing, and improves the efficiency and quality of beet harvesting.

[0045] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a three-dimensional schematic diagram of the structure of a multi-row self-propelled field soil-lifting and screening sugar beet harvesting device according to one embodiment of the present invention.

[0047] Figure 2 The present invention is a schematic side view of the structure of a multi-row self-propelled field soil-lifting and sifting sugar beet harvester according to one embodiment of the present invention.

[0048] Figure 3 It is a three-dimensional schematic diagram of the structure of a top removal header device and a soil lifting and conveying device according to an embodiment of the present invention.

[0049] Figure 4 It is a schematic front view of the structure of a top removal header device and a soil lifting and conveying device according to one embodiment of the present invention.

[0050] Figure 5 The present invention is a schematic side view of the structure of a decapping header device and a soil lifting and conveying device according to an embodiment of the present invention.

[0051] Figure 6 It is a three-dimensional schematic diagram of the structure of a spiral cone according to one embodiment of the present invention.

[0052] Figure 7 It is a schematic diagram of the driving structure of a spiral cone according to one embodiment of the present invention.

[0053] Figure 8 It is a three-dimensional schematic diagram of the structure of an earth-moving and conveying device according to one embodiment of the present invention.

[0054] Fig. 9 It is a three-dimensional schematic diagram of the structure of a soil screening device and a conveying device according to one embodiment of the present invention.

[0055] Fig.10 It is a schematic front view of the structure of a soil screening device and a conveying device according to one embodiment of the present invention.

[0056] Fig.11 It is a front schematic diagram of a high-pressure gas steel pipe according to one embodiment of the present invention.

[0057] Fig.12 It is a schematic top view of a high-pressure airflow nozzle mounting seat according to one embodiment of the present invention.

[0058] Fig.13 It is a schematic side view of a high-pressure airflow nozzle mounting seat according to one embodiment of the present invention.

[0059] In the figure: 1-topping cutting platform device, 101-spiral cone, 102-fixed cutting knife, 103-topping cutting platform frame, 104-spiral rod, 105-spiral cone driving pulley, 106-spiral rod driving pulley, 107-spiral cone turbine, 108-spiral cone driving vortex rod, 2-soil lifting and conveying device, 201-digging shovel, 202-bearing fixing cover, 203-transmission crawler, 204-conveyor belt fixing frame, 205-conveyor belt driving wheel, 3-soil screening and impurity removal device, 301-high-pressure gas inlet, 302-high-pressure gas steel pipe, 303-high-pressure airflow nozzle mounting seat, 303-1 high-pressure airflow nozzle protective cover, 303-2 high-pressure airflow nozzle, 303-3 sensor module, 304-high-pressure gas steel pipe mounting frame, 305-soil screening drive device, 4-conveying device, 5-chassis walking device, 6-grain storage box. DETAILED DESCRIPTION

[0060] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0061] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] Example 1

[0064] Figure 1 , 2 3 shows a preferred embodiment of the multi-row self-propelled field soil-raising and sifting beet harvester, which comprises a topping header device 1, a soil-raising and conveying device 2, a soil-sieving and impurity-removing device 3, a conveying device 4, a chassis walking device 5 and a grain storage box 6;

[0065] The decapping platform device 1, soil lifting and conveying device 2, soil screening and impurity removal device 3, conveying device 4 and grain storage box 6 are all arranged on the chassis walking device 5;

[0066] The topping header device 1, the soil lifting and conveying device 2, and the soil screening and impurity removing device 3 are arranged in sequence from the walking direction to the rear, the conveying device 4 is located on the side of the soil screening and impurity removing device 3, and the grain storage box 6 is located behind the conveying device 4; the topping header device 1 is used to pull up the beets in the soil and cut the top stems and leaves of the beets, separate the cut top leaves of the beets from the edible part of the beets, and the edible part of the beets falls back into the soil; the soil lifting and conveying device 2 is used to shovel up the edible part of the beets that fall back into the soil and convey them to the soil screening device 3 at the rear; the soil screening and impurity removing device 3 is used to screen and clean the edible part of the beets conveyed by the soil lifting and conveying device 2; the conveying device 4 is used to scoop up the large beets cleaned by the soil screening and impurity removing device 3 and convey them to the grain storage box 6.

[0067] like Figure 4-7 As shown, the detopping header device 1 includes several groups of spiral cone mechanisms, a fixed cutter 102, a detopping header frame 103, a spiral rod 104, a spiral cone driving pulley 105, a spiral rod driving pulley 106, a spiral cone turbine 107 and a spiral cone driving worm 108;

[0068] Each set of spiral cone mechanisms includes two symmetrically arranged spiral cones 101; the tips of the spiral cones 101 are tilted downward at the front end of the topping table frame 103, a channel is provided between the two spiral cones 101, and a fixed cutter 102 is installed on the topping table frame 103 above the end of the channel, which can cut and separate the top leaves of large beets; the spiral rod 104 is installed on the topping table frame 103 through a bearing, and one end of the spiral rod 104 is connected to a spiral rod driving pulley 106, which is used to drive the spiral rod 104 to rotate; the spiral cone driving pulley 105 is connected to the spiral rod driving pulley 106 through a belt, the spiral cone driving pulley 105 is connected to a spiral cone driving vortex 108, the spiral cone turbine 107 is connected to the spiral cone 101, the spiral cone turbine 107 is meshed with the spiral cone driving vortex 108, and the spiral cone driving vortex 108 is used to drive the two spiral cones 101 of each set of spiral cone mechanisms to rotate in opposite directions.

[0069] In a specific embodiment of the present invention, the spiral cone mechanism has two groups, a total of four spiral cones 101, the tips of the four spiral cones 101 are tilted downward and divided into two groups and symmetrically arranged at the front end of the detopping table frame 103, preferably, the diameter of the spiral cone is 65-75 mm, the thread height of each spiral cone is 9-11 mm, and a channel is provided between the two spiral cones 101 in each group, and the width of the channel is 90-110 mm, and the two fixed cutting knives 102 are fixed on the detopping table frame 103 above the channel between the two spiral cones 101, and the width of the cutting knives is 115-125 mm; the spiral rod 104 is connected to the spiral rod drive pulley 106, and preferably, the spiral height of the spiral rod is 25-30 mm. The screw rod driving pulley 106 drives the screw rod 104 to rotate, so that the top stems and leaves of the separated beets are removed and returned to the field from the side; the screw rod driving pulley 106 transmits power to the spiral cone driving pulley 105, the spiral cone driving pulley 105 drives the spiral cone driving vortex rod 108 to rotate, drives the spiral cone turbine 107 to provide power to the spiral cone 101, and drives each pair of spiral cones 101 to rotate in the opposite direction.

[0070] Aiming at the problem of pulling up and removing top leaves of beets, the present invention designs a topping harvesting platform device 1 with a double spiral cone mechanism with fixed cutting blades. The spiral cone 101 can rotate into the soil to pull up the beets, which is beneficial to reduce mechanical damage to the beets and can also separate the beets from the top leaves.

[0071] like Figure 5 and 8 As shown, the earth-moving and conveying device 2 includes an excavating shovel 201, a bearing fixing cover 202, a conveying crawler 203, a conveying belt fixing frame 204 and a conveying belt driving wheel 205;

[0072] The digging shovel 201 is installed at the front end of the conveyor belt fixing frame 204, and is used to scoop up the edible part of the beet that falls into the soil after being separated by the decapping header device 1. The conveyor crawler 203 is located behind the digging shovel 201 and is installed on the driven shaft of the transmission belt and the driving shaft of the transmission belt. The driven shaft of the transmission belt and the driving shaft of the transmission belt are respectively installed at the two ends of the conveyor belt fixing frame 204. The bearing fixing cover 202 is installed at the front of the conveyor belt fixing frame 204 to fix the driven shaft of the transmission belt. The conveyor belt driving wheel 205 is connected to the driving shaft of the transmission belt, and is used to drive the conveyor crawler 203 to rotate, and transport the large beets and soil scooped by the digging shovel 201 backward and upward to the soil screening and impurity removal device 3. 4. A multi-row self-propelled field soil-raising and impurity-screening beet harvesting device according to claim 3, characterized in that the digging shovel 201 is tilted downward to form a certain angle with the ground, and can scoop up the large beets that fall into the soil after being separated by the decapping header device 1 and can reduce the damage of the large beets.

[0073] In a specific embodiment of the present invention, the angle between the digging shovel 201 and the ground is 10-13°, which can make it easier to cut into the soil, reduce mechanical load and resistance, improve excavation efficiency, and reduce soil compaction. Preferably, the total length of the digging shovel is 1100-1300 mm, and 8 shovel blades with a length of 190-210 mm and a width of 55-65 mm are arranged horizontally, and the distance between the shovel blades is 119-121 mm. The large beets that fall into the soil after separation by the topping harvesting table device 1 can be shoveled up. The width of the conveyor crawler 203 is 490-510 mm. After the digging shovel 201, it is used to transport the large beets and soil scooped up by the digging shovel 201 backward and obliquely upward to the soil screening and impurity removal device 3.

[0074] like Figure 5 As shown, the screw rod driving pulley 106 and the conveyor belt driving pulley 205 are connected via a conveyor belt.

[0075] like Figure 9-12 As shown, the soil screening and impurity removal device 3 includes a high-pressure gas inlet 301, a high-pressure gas steel pipe 302, a high-pressure gas flow nozzle mounting seat 303, a high-pressure gas flow nozzle 303-2, a high-pressure gas steel pipe mounting frame 304, a soil screening drive device 305 and an impurity removal disc;

[0076] One end of the high-pressure gas inlet 301 is connected to the high-pressure gas source mechanism, and the other end is connected to the high-pressure gas steel pipe 302. Several high-pressure gas steel pipes 302 are stacked from top to bottom and installed on a high-pressure gas steel pipe mounting frame 304. The high-pressure gas steel pipe mounting frame 304 is installed under the chassis walking device 5. The debris removal disk is installed at the outlet of the soil lifting and conveying device 2. The soil screening drive device 305 is connected to the debris removal disk to drive the debris removal disk to rotate. A plurality of mechanical soil screening rods are arranged on the circumference of the debris removal disk; the high-pressure gas steel pipe 302 surrounds the debris removal disk, the high-pressure airflow nozzle mounting seat 303 is installed on the inner side of the high-pressure gas steel pipe 302, the high-pressure airflow nozzle 303-2 is installed on the high-pressure airflow nozzle mounting seat 303, and the high-pressure airflow nozzle 303-2 sprays high-pressure airflow to the mechanical soil screening rod.

[0077] like Fig.12 and 13 As shown, it also includes a high-pressure airflow nozzle protection cover 303-1;

[0078] The high-pressure airflow nozzle protection cover 303-1 is installed on the outside of the high-pressure airflow nozzle 303-2 to protect the high-pressure airflow nozzle 303-2 from impact and extend its service life.

[0079] In a specific embodiment of the present invention, preferably, the diameter of the high-pressure gas steel pipe 302 is 15-25 mm, the high-pressure gas steel pipe 302 surrounds the soil screening drive device 305, and the inner diameter of the circle surrounded by the high-pressure gas steel pipe 302 is 1100-1300 mm. The high-pressure airflow nozzle mounting seat 303 is installed on the inner side of the high-pressure gas steel pipe 302 to assist the soil screening drive device 305 to efficiently remove the soil attached to the beet. The high-pressure airflow nozzle 303-2 and the sensor module 303-3 are installed on the high-pressure airflow nozzle mounting seat 303. A high-pressure airflow nozzle protective cover 303-1 is installed on the outer side of the high-pressure airflow nozzle 303-2 to protect the high-pressure airflow nozzle 303-2 from impact and prolong its service life, and to detect parameters such as the passing speed of the beet and the degree of soil adhesion;

[0080] like Fig.12 and 13 As shown, it also includes a sensor module 303-3 and a controller;

[0081] The controller is connected to the sensor module 303-3 and the air flow pressure valve of the high-pressure air source mechanism respectively;

[0082] Preferably, the sensor module 303 - 3 is a visual sensor.

[0083] Preferably, the sensor module 303-3 is mounted on the high-pressure airflow nozzle mounting seat 303 at the entrance of the soil screening and impurity removing device 3, and is used to capture the initial state image of the large beets on the mechanical soil screening rod before impurities are removed, and transmit it to the controller, which processes the image to obtain the passing speed of the large beets and the degree of soil adhesion, and adjusts the airflow pressure of the high-pressure air source mechanism and the airflow action time of the high-pressure airflow nozzle 303-2. When the visual sensor detects that large beets have entered the soil screening and impurity removing device 3, it starts to collect the initial state image before impurities are removed, and simultaneously opens the high-pressure airflow valve, and the valve opening of the high-pressure airflow valve is controlled by the controller;

[0084] The controller adjusts the air flow pressure of the high-pressure air source mechanism according to the following formula:

[0085] P=P1+k2v

[0086] P1=k1A

[0087] Where: P1 is the air flow pressure regulated by soil adhesion, unit: Pa,

[0088] v is the speed of beet movement, unit: m / s,

[0089] A is the soil attachment area, unit: cm 2 or%,

[0090] k1 is the proportional coefficient of the surface characteristics of soil and sugar beet, which describes the direct effect of soil adhesion on the airflow pressure requirement. The more soil is attached, the greater the required airflow pressure; the factors affecting k1 are mainly: different soil types have different requirements for airflow pressure, clay and soil with more organic matter have stronger adhesion than sand, so higher airflow pressure is required to effectively remove; soil particles are of different sizes, smaller soil particles require higher pressure to remove due to their stronger hydration and surface adhesion, while larger particles are easier to be blown away by airflow, so lower pressure is required; soil humidity is different, wet soil particles are more likely to adhere to the surface of sugar beets than dry soil particles, when the humidity is higher, the soil is more difficult to remove, and the airflow pressure needs to be increased accordingly, k1 can be obtained through experiments or simulation analysis;

[0091] K2 is the adjustment coefficient related to speed and airflow impact force, which describes the effect of beet moving speed on airflow pressure demand. The faster the beet passes, the shorter the contact time between the airflow and the beet surface. In order to ensure sufficient cleaning effect, the airflow pressure needs to be increased. K2 can be obtained through experiments or simulation analysis.

[0092] The controller adjusts the airflow action time of the high-pressure airflow nozzle 303-2 according to the following formula:

[0093]

[0094] Where: d is the cleaning distance covered by the nozzle,

[0095] v is the moving speed of beet, unit: m / s.

[0096] The visual sensor can continuously take a group of dynamic photos, calculate the change rate of the big beet according to the displacement of the big beet in each photo, and transmit it to the controller to calculate the movement speed v of the beet.

[0097] The more dirt adheres, the greater the airflow pressure is required to ensure effective cleaning. As the beet conveying speed increases, the nozzle action time window needs to be increased and the airflow pressure needs to be appropriately increased to offset the problem of decreased cleaning efficiency.

[0098] Furthermore, in a specific embodiment of the present invention, the sensor module 303-3 is also installed on the high-pressure airflow nozzle mounting base 303 at the outlet of the soil screening and impurity removing device 3, and is used to capture the state image of the large beets on the mechanical soil screening rod after impurities are removed, and transmit it to the controller for subsequent calculation of the impurity content of the large beets after impurities are removed. The sensor surface has an anti-static coating to reduce the adhesion of dust, and the mechanical soil screening rod will continue to rotate to transport the large beets backward.

[0099] Furthermore, in a specific embodiment of the present invention, in order to further improve the impurity removal effect, at least two rows of high-pressure airflow nozzle mounting seats 303 at the entrance of the soil screening and impurity removal device 3 are provided with sensor modules 303-3; each sensor independently captures the initial state image of the beet before impurity removal, covering different angles and positions, and time synchronization needs to be maintained when collecting images to ensure that the sensors capture large beets from the same batch; preferably, the captured images are subjected to image correction, image registration, segmentation, and feature extraction and other pre-processing methods using existing technologies, which can achieve image distortion correction, color adjustment, and alignment of multi-view images; then, the images collected by each row of sensors are paired according to timestamps and positions so as to correspond to specific beets, and then the feature parameters of the attached soil information in the image are synthesized into global features using a fusion algorithm, mainly using a weighted average method, and assigning different weights to the feature parameters according to the shooting angle or clarity of the sensor;

[0100] The controller can adjust the air flow pressure of the high-pressure air source mechanism according to the following formula:

[0101]

[0102] in:

[0103] is the weight of the soil adhesion area, corresponding to the influencing factor of the i-th sensor,

[0104] is the weight of the beet moving speed, corresponding to the influencing factor of the i-th sensor,

[0105] v is the speed of beet movement, unit: m / s,

[0106] A is the soil attachment area, unit: cm 2 or%,

[0107] and The weights can be directly divided equally according to the number of sensors, or different parameter weights can be assigned according to specific values ​​set by the user.

[0108] The high-pressure airflow nozzles 303-2 are multiple groups of nozzles, which are arranged in sequence on the high-pressure gas steel pipe 302 along the sugar beet transmission path, and the nozzles are facing inward to efficiently remove the dirt attached to the surface of the sugar beets.

[0109] The soil screening and impurity removal device 3 of the present invention adds high-pressure airflow impurity removal during the beet harvesting process, effectively reduces the impurity rate of the beets, and improves the efficiency and quality of the beet harvesting.

[0110] The sensor module 303-3 of the present invention captures the image of the beets on the mechanical soil screening rod and transmits it to the controller. The controller processes the image to obtain the passing speed of the beets and the degree of soil adhesion, and adjusts the airflow pressure of the high-pressure air source mechanism and the airflow action time of the high-pressure airflow nozzle, which can effectively improve the impurity removal efficiency when screening the soil for the beets and effectively reduce the impurity content of the beets.

[0111] The structure of the conveying device 4 described in the present invention is the prior art. In a specific embodiment of the present invention, the vertical cleaning mechanism in the utility model patent CN208001526U can be adopted to pick up the large beets cleaned by the soil screening and impurity removal device 3 through multiple dials and convey them to the grain storage box 6.

[0112] Example 2

[0113] A control method for a multi-row self-propelled field soil-lifting and screening beet harvesting device according to Example 1 has the above-mentioned beneficial effects, which will not be repeated here.

[0114] The method comprises the following steps:

[0115] The topping harvesting platform device 1 pulls up the large beets in the soil through the spiral cone 101 at the front end and puts them into the channel. The fixed cutting knife 102 cuts off the top leaves of the large beets at the tail end of the channel. After cutting off the top leaves, the cut top leaves of the beets are separated from the edible part of the beets by the spiral rod 104 above. The top leaves of the beets fall into the field from the side, and the edible part of the beets falls back into the soil. The digging shovel 201 at the front end of the soil lifting and conveying device 2 scoops up the edible part of the beets and the soil and conveys them backwards to the rear soil screening device 3 through the conveying crawler 203; the soil screening and impurity removal device 3 screens and cleans the edible part of the beets conveyed by the soil lifting and conveying device 2, and the high-pressure airflow nozzle 303-2 of the soil screening and impurity removal device 3 sprays high-pressure airflow to the impurity removal disk to assist the mechanical soil screening rod in efficient impurity removal; the conveying device 4 scoops up the large beets cleaned by the soil screening and impurity removal device 3 and conveys them to the grain storage box 6.

[0116] The present invention realizes the functions of pulling out, defoliating, removing impurities, conveying and harvesting beets, integrates multiple processes into one, reduces subsequent processing, improves the efficiency and quality of beet harvesting, and has good equipment stability, effectively reduces the impurity rate of beets, and can realize the function of defoliating and returning to the field.

[0117] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0118] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-row self-propelled field soil-lifting and screening beet harvester, characterized in that: It comprises a decapping platform device (1), a soil lifting and conveying device (2), a soil screening and impurity removal device (3), a conveying device (4), a chassis walking device (5) and a grain storage box (6); The decapping platform device (1), soil lifting and conveying device (2), soil screening and impurity removal device (3), conveying device (4) and grain storage box (6) are all arranged on the chassis walking device (5); The topping header device (1), the soil lifting and conveying device (2), and the soil screening and impurity removal device (3) are arranged in sequence from the walking direction to the rear, the conveying device (4) is located on the side of the soil screening and impurity removal device (3), and the grain storage box (6) is located behind the conveying device (4); the topping header device (1) is used to pull up the beets in the soil and cut the top stems and leaves of the beets, separate the cut top leaves of the beets from the edible part of the beets, and the edible part of the beets falls back into the soil; The soil lifting and conveying device (2) is used to scoop up the edible part of the beets that has fallen back into the soil and convey it to the soil screening device (3) at the rear; the soil screening and impurity removal device (3) is used to screen and clean the edible part of the beets that has been conveyed by the soil lifting and conveying device (2); The conveying device (4) is used to pick up the large beets cleaned by the soil screening and impurity removal device (3) and convey them to the grain storage box (6).

2. A multi-row self-propelled field soil-lifting and screening beet harvester according to claim 1, characterized in that: The decapping platform device (1) comprises a plurality of groups of spiral cone mechanisms, a fixed cutting knife (102), a decapping platform frame (103), a spiral rod (104), a spiral cone driving pulley (105), a spiral rod driving pulley (106), a spiral cone turbine (107) and a spiral cone driving worm (108); Each set of spiral cone mechanisms comprises two symmetrically arranged spiral cones (101); the tips of the spiral cones (101) are arranged at a downward tilt at the front end of a decapping frame (103); a channel is provided between the two spiral cones (101); a fixed cutter (102) is mounted on the decapping frame (103) above the channel; the spiral rod (104) is mounted on the decapping frame (103) via a bearing, and one end of the spiral rod (104) is connected to a spiral rod driving pulley (106); the spiral rod driving pulley (106) is connected to the decapping frame (103); 06) is used to drive the spiral rod (104) to rotate; the spiral cone driving pulley (105) is connected to the spiral rod driving pulley (106) through a belt, the spiral cone driving pulley (105) is connected to the spiral cone driving worm (108), the spiral cone turbine (107) is connected to the spiral cone (101), the spiral cone turbine (107) is meshed with the spiral cone driving worm (108), and the spiral cone driving worm (108) is used to drive the two spiral cones (101) of each group of spiral cone mechanisms to rotate in opposite directions.

3. A multi-row self-propelled field soil-lifting and screening beet harvesting device according to claim 2, characterized in that: The earth-moving and conveying device (2) comprises an excavating shovel (201), a bearing fixing cover (202), a conveying crawler belt (203), a conveying belt fixing frame (204) and a conveying belt driving wheel (205); The digging shovel (201) is installed at the front end of the conveyor belt fixing frame (204) and is used to scoop up the edible part of the beets that fall into the soil after being separated by the topping cutter device (1). The conveyor crawler (203) is located behind the digging shovel (201) and is installed on the driven shaft of the transmission belt and the driving shaft of the transmission belt. The driven shaft of the transmission belt and the driving shaft of the transmission belt are respectively installed at the two ends of the conveyor belt fixing frame (204). The bearing fixing cover (202) is installed at the front of the conveyor belt fixing frame (204) and is used to fix the driven shaft of the transmission belt. The conveyor belt driving wheel (205) is connected to the driving shaft of the transmission belt and is used to drive the conveyor crawler (203) to rotate, so as to transport the large beets and soil scooped up by the digging shovel (201) backward and obliquely upward to the soil screening and impurity removal device (3).

4. A multi-row self-propelled field soil-lifting and screening beet harvester according to claim 3, characterized in that: The digging shovel (201) is tilted downward to form a certain angle with the ground.

5. The multi-row self-propelled field soil-lifting and screening beet harvesting device according to claim 3, characterized in that: The screw rod driving pulley (106) and the conveyor belt driving pulley (205) are connected via a conveyor belt.

6. A multi-row self-propelled field soil-lifting and screening beet harvester according to claim 1, characterized in that: The soil screening and impurity removal device (3) comprises a high-pressure gas inlet (301), a high-pressure gas steel pipe (302), a high-pressure gas flow nozzle mounting seat (303), a high-pressure gas flow nozzle (303-2), a high-pressure gas steel pipe mounting frame (304), a soil screening drive device (305) and an impurity removal disc; One end of the high-pressure gas inlet (301) is connected to a high-pressure gas source mechanism, and the other end is connected to a high-pressure gas steel pipe (302). A plurality of high-pressure gas steel pipes (302) are stacked and installed on a high-pressure gas steel pipe mounting frame (304) from top to bottom. The high-pressure gas steel pipe mounting frame (304) is installed below the chassis walking device (5). The debris removal disk is installed at the outlet of the soil lifting and conveying device (2). The soil screening drive device (305) is connected to the debris removal disk and is used to drive the debris removal disk to rotate. A plurality of mechanical soil screening rods are arranged on the circumference of the debris removal disk. The high-pressure gas steel pipe (302) surrounds the debris removal disk. The high-pressure airflow nozzle mounting seat (303) is installed on the inner side of the high-pressure gas steel pipe (302). The high-pressure airflow nozzle (303-2) is installed on the high-pressure airflow nozzle mounting seat (303). The high-pressure airflow nozzle (303-2) sprays high-pressure airflow toward the mechanical soil screening rod.

7. A multi-row self-propelled field soil-lifting and sifting beet harvester according to claim 6, characterized in that: Also included is a high-pressure airflow nozzle protection cover (303-1); The high-pressure airflow nozzle protection cover (303-1) is installed outside the high-pressure airflow nozzle (303-2) and is used to protect the high-pressure airflow nozzle (303-2) from impact and extend its service life.

8. The multi-row self-propelled field soil-lifting and sifting beet harvester according to claim 6, characterized in that: Also includes a sensor module (303-3) and a controller; The controller is respectively connected to the sensor module (303-3) and the air flow pressure valve of the high-pressure air source mechanism; The sensor module (303-3) is mounted on a high-pressure airflow nozzle mounting seat (303) at the entrance of the soil screening and impurity removal device (3) and is used to capture an image of the initial state of the beets on the mechanical soil screening rod before impurities are removed and transmit the image to a controller, which processes the image to obtain the passing speed of the beets and the degree of soil adhesion, and adjusts the airflow pressure of the high-pressure air source mechanism and the airflow action time of the high-pressure airflow nozzle (303-2); The controller adjusts the air flow pressure of the high-pressure air source mechanism according to the following formula: P=P1+k2v P1=k1A Where: P1 is the air flow pressure regulated by soil adhesion, v is the beet moving speed, A is the soil attachment area, k1 is the proportional coefficient of the surface characteristics of soil and beet, k2 is the adjustment coefficient related to speed and airflow impact force, The controller adjusts the airflow action time of the high-pressure airflow nozzle (303-2) according to the following formula: Where: d is the cleaning distance covered by the nozzle, v is the beet moving speed.

9. The multi-row self-propelled field soil-lifting and screening beet harvesting device according to claim 6, characterized in that: The high-pressure airflow nozzles (303-2) are multiple groups of nozzles, which are arranged in sequence on the high-pressure gas steel pipe (302) along the sugar beet transmission path, and the nozzles are facing inward to efficiently remove the dirt attached to the surface of the sugar beets.

10. A control method for a multi-row self-propelled field soil-lifting and screening beet harvester according to any one of claims 1 to 9, characterized in that: The following steps are involved: The topping header device (1) pulls up the large beets in the soil through the spiral cone (101) at the front end and puts them into the channel. The fixed cutting knife (102) cuts off the top leaves of the large beets at the end of the channel. After the top leaves are cut off, the cut top leaves of the beets are separated from the edible part of the beets through the spiral rod (104) above. The top leaves of the beets fall into the field from the side, and the edible part of the beets falls back into the soil. The digging shovel (201) at the front end of the soil lifting and conveying device (2) scoops up the edible part. The beets and soil are transported backwards to the soil screening device (3) at the rear through the conveying crawler (203); the soil screening and impurity removal device (3) screens and cleans the edible beets delivered by the soil lifting and conveying device (2); the high-pressure airflow nozzle (303-2) of the soil screening and impurity removal device (3) sprays high-pressure airflow to the impurity removal disk to assist the mechanical soil screening rod in efficiently removing impurities; the conveying device (4) scoops up the large beets cleaned by the soil screening and impurity removal device (3) and transports them to the grain storage box (6).

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