A multi-row self-propelled field soil lifting and screening beet harvesting apparatus

Abstract

The application provides a multi-row self-propelled beet harvesting device with soil lifting and impurity screening, which comprises a top removing cutting device, a soil lifting and conveying device, a soil screening and impurity removing device, a conveying device, a chassis walking device and a storage box. The top removing cutting device lifts beets from the soil and cuts the top leaves of the beets, separates the cut top leaves from the edible part of the beets, and drops the edible part of the beets back to the soil. The soil lifting and conveying device lifts the edible part of the beets dropped back to the soil and conveys them to the rear soil screening device. The soil screening and impurity removing device screens and cleans the edible part of the beets conveyed by the soil lifting and conveying device. The conveying device lifts the cleaned beets from the soil screening and impurity removing device and conveys them to the storage box. The application realizes the functions of beet lifting, leaf removing, impurity removing, conveying and harvesting, integrates multiple processes, reduces subsequent processing, realizes efficient top leaf removing and impurity cleaning during the beet harvesting process, and improves the efficiency and quality of the harvesting.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of sugar beet harvesting machinery or the technical field of crop harvesting equipment, and particularly relates to a multi-row self-propelled field soil lifting and impurity screening sugar beet harvesting device. BACKGROUND

[0002] Sugar beet is a two-year herbaceous plant and the second sugar crop in the world. It has very high economic value and high sugar yield, accounting for 35% of the total global sugar yield. With the development of 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-area manual harvesting operation has low yield, and traditional segmented harvesting has problems such as low efficiency and impracticality.

[0003] In view of the problems of low efficiency, low integration, low mechanization and low intelligence in sugar beet harvesting, the existing patent CN208001526U discloses a sugar beet harvester composed of a horizontal cleaning mechanism and a vertical cleaning mechanism. The device can clean sugar beet in the horizontal and vertical directions, but many components still rely on manual adjustment, and automation is not achieved, thereby reducing the work efficiency. SUMMARY

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

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

[0006] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0007] The present application achieves the above technical objects through the following technical means.

[0008] A multi-row self-propelled field soil lifting and impurity screening sugar beet harvesting device, comprising a top-removing cutterbar device, a soil lifting and conveying device, a soil screening and impurity removing device, a conveying device, a chassis walking device and a grain storage box.

[0009] The top-removing cutterbar device, the soil lifting and conveying device, the soil screening and impurity removing device, the conveying device and the grain storage box are all arranged on the chassis walking device.

[0010] The top cutting device, the soil lifting and conveying device, the soil screening and cleaning device are arranged in sequence from the walking direction, the conveying device is located at the side of the soil screening and cleaning device, and the storage box is located at the rear of the conveying device; the top cutting device is used for pulling up the beet in the soil and cutting the top leaves of the beet, separating the cut top leaves from the edible part of the beet, and dropping the edible part of the beet back into the soil; the soil lifting and conveying device is used for lifting the edible part of the beet dropped back into the soil and conveying it to the soil screening device at the rear; the soil screening and cleaning device is used for screening and cleaning the edible part of the beet conveyed by the soil lifting and conveying device; and the conveying device is used for lifting and conveying the large beets cleaned by the soil screening and cleaning device into the storage box.

[0011] In the above scheme, the top cutting device comprises a plurality of groups of spiral cone mechanisms, fixed cutters, a top cutting frame, a spiral rod, a spiral cone drive pulley, a spiral rod drive pulley, a spiral cone worm and a spiral cone drive worm.

[0012] Each group of spiral cone mechanisms comprises two symmetrically arranged spiral cones; the spiral cone tips are downwardly inclined and arranged at the front end of the top cutting frame; a channel is arranged between the two spiral cones; the fixed cutters are installed on the top cutting frame above the channel; the spiral rod is installed on the top cutting frame through a bearing, one end of the spiral rod is connected with the spiral rod drive pulley, and the spiral rod drive pulley is used to drive the spiral rod to rotate; the spiral cone drive pulley is connected with the spiral rod drive pulley through a belt, the spiral cone drive pulley is connected with the spiral cone drive worm, the spiral cone worm is connected with the spiral cone, the spiral cone worm is engaged with the spiral cone drive worm, and the spiral cone drive worm is used to drive the two spiral cones of each group of spiral cone mechanisms to rotate in opposite directions.

[0013] In the above scheme, the soil lifting and conveying device comprises a digging shovel, a bearing fixing cover, a conveying belt, a conveying belt fixing frame and a conveying belt drive pulley.

[0014] The digging shovel is installed at the front end of the conveying belt fixing frame and is used to dig up the edible part of the beet dropped in the soil after being separated by the top cutting device; the conveying belt is located at the rear of the digging shovel and is installed on the transmission belt driven shaft and the transmission belt driving shaft, the transmission belt driven shaft and the transmission belt driving shaft are respectively installed at the two ends of the conveying belt fixing frame; the bearing fixing cover is installed at the front part of the conveying belt fixing frame and is used to fix the transmission belt driven shaft; the conveying belt drive pulley is connected with the transmission belt driving shaft and is used to drive the conveying belt to rotate, so as to transport the large beets and soil dug up by the digging shovel to the soil screening and cleaning device in an oblique upward direction.

[0015] In the above scheme, the digging shovel is downwardly inclined and forms a certain angle with the ground.

[0016] In the above scheme, the spiral rod drive pulley and the conveying belt drive pulley are connected through the conveying belt.

[0017] In the above scheme, the soil screening and impurity removing 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 rack, a soil screening driving device and an impurity removing disc.

[0018] The high-pressure gas inlet is connected with a high-pressure gas source mechanism at one end and connected with the high-pressure gas steel pipe at the other end. A plurality of high-pressure gas steel pipes are stacked and installed on the high-pressure gas steel pipe mounting rack from top to bottom. The high-pressure gas steel pipe mounting rack is installed below the chassis walking device. The impurity removing disc is installed at the outlet of the soil lifting and conveying device. The soil screening driving device is connected with the impurity removing disc for driving the impurity removing disc to rotate. The impurity removing disc is provided with a plurality of mechanical soil screening rods in the circumference. The high-pressure gas steel pipe surrounds the impurity removing disc. The high-pressure gas flow nozzle mounting seat is installed inside the high-pressure gas steel pipe. The high-pressure gas flow nozzle is installed on the high-pressure gas flow nozzle mounting seat. The high-pressure gas flow nozzle sprays high-pressure gas flow to the mechanical soil screening rod.

[0019] Further, it further comprises a high-pressure gas flow nozzle protection cover.

[0020] The high-pressure gas flow nozzle protection cover is installed outside the high-pressure gas flow nozzle for protecting the high-pressure gas flow nozzle from impact and prolonging the service life.

[0021] Further, it further comprises a sensor module and a controller.

[0022] The controller is connected with the sensor module and the airflow pressure valve of the high-pressure gas source mechanism respectively.

[0023] The sensor module is installed on the high-pressure gas flow nozzle mounting seat at the inlet of the soil screening and impurity removing device for shooting the initial state image of the sugar beet before impurity removal on the mechanical soil screening rod and transmitting the image to the controller. The controller processes the image to obtain the passing speed of the sugar beet and the degree of soil adhesion and adjusts the airflow pressure of the high-pressure gas source mechanism and the airflow action time of the high-pressure gas flow nozzle.

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

[0025] P=P1+k2v

[0026] P1=k1A

[0027] Wherein: P1 is the airflow pressure adjusted by the soil adhesion,

[0028] v is the moving speed of the sugar beet,

[0029] A is the soil adhesion area,

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

[0031] k2 is a regulating coefficient related to the 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] Wherein: a is the cleaning distance covered by the nozzle,

[0035] V is the beet moving speed.

[0036] Further, the high-pressure airflow nozzle is a plurality of groups of nozzles arranged in sequence on the high-pressure gas steel pipe along the beet conveying path, and the nozzles are directed inward to efficiently remove the soil attached to the surface of the large beet.

[0037] A control method of the multi-row self-propelled field soil lifting and screening beet harvesting device comprises the following steps:

[0038] The top cutting device pulls up the large beet in the soil into the channel through the front-end spiral cone, cuts off the top leaves of the large beet at the tail of the channel with the fixed cutter, separates the cut top leaves of the beet from the edible part of the beet through the upper spiral rod after cutting off the top leaves, and falls the top leaves of the beet into the field from the side, and falls the edible part of the beet into the soil, the digging shovel at the front end of the soil lifting and conveying device digs up the edible part of the beet and the soil and conveys them to the rear soil screening device through the conveying track; the soil screening and impurity removing device screens and cleans the edible part of the beet conveyed by the soil lifting and conveying device, the high-pressure airflow nozzle of the soil screening and impurity removing device sprays high-pressure airflow to the impurity removing disc to assist the efficient impurity removal of the mechanical soil screening rod; and the conveying device lifts and conveys the large beet cleaned by the soil screening and impurity removing device into the grain storage box.

[0039] Compared with the prior art, the beneficial effects of the present application are:

[0040] 1. The top cutting device of the present application pulls up the beet in the soil and cuts off the top stems and leaves of the beet, separates the cut top leaves of the beet from the edible part of the beet, falls the edible part of the beet into the soil, digs up the edible part of the beet fallen into the soil by the soil lifting and conveying device and conveys it to the rear soil screening device, screens and cleans the edible part of the beet conveyed by the soil lifting and conveying device by the soil screening and impurity removing device; and the conveying device lifts and conveys the large beet cleaned by the soil screening and impurity removing device into the grain storage box. The present application realizes efficient leaf removal during the harvesting process of the large beet, effectively reduces the damage rate of the large beet, improves the efficiency and quality of large beet production, and has a simple structure and is easy to maintain.

[0041] 2. The invention is aimed at the problem of pulling up and removing the top leaves of sugar beet, and a device with a double helical cone structure with fixed blades is designed, which can be rotated into the soil to pull up the sugar beet, thereby reducing mechanical damage to the sugar beet, and also laterally separating the top leaves of the cut sugar beet.

[0042] 3. The invention introduces high-pressure airflow impurity removal technology in the soil screening device during sugar beet harvesting, which significantly improves the cleaning efficiency. Compared with the traditional single mechanical soil screening method, high-pressure airflow can accurately blow off the attached soil and impurities on the surface and in the gaps of the sugar beet, reducing the impurity content of the sugar beet, improving the harvesting quality of the sugar beet, optimizing the soil screening efficiency, and reducing the cleaning burden of subsequent processing steps.

[0043] 4. The sensor module of the invention takes pictures of the sugar beet on the mechanical soil screening rod and transmits them to the controller, which processes the images to obtain the passing speed and soil adhesion degree of the sugar beet, and adjusts the airflow pressure of the high-pressure gas source mechanism and the airflow action time of the high-pressure airflow nozzle, which can effectively improve the impurity removal efficiency of the sugar beet during soil screening and effectively reduce the impurity content of the sugar beet.

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

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

[0046] Figure 1 A three-dimensional schematic view of the structure of a multi-row self-propelled field soil screening sugar beet harvesting device according to an embodiment of the invention.

[0047] Figure 2 A side view schematic diagram of the structure of a multi-row self-propelled field soil screening sugar beet harvesting device according to an embodiment of the invention.

[0048] Figure 3 A three-dimensional schematic view of the structure of the top-removing cutting table device and soil lifting and conveying device according to an embodiment of the invention.

[0049] Figure 4 A front view schematic diagram of the structure of the top-removing cutting table device and soil lifting and conveying device according to an embodiment of the invention.

[0050] Figure 5 A side view schematic diagram of the structure of the top-removing cutting table device and soil lifting and conveying device according to an embodiment of the invention.

[0051] Figure 6 A three-dimensional schematic view of the structure of a spiral cone according to an embodiment of the present application.

[0052] Figure 7 A schematic view of the driving structure of a spiral cone according to an embodiment of the present application.

[0053] Figure 8 A three-dimensional schematic view of the structure of a soil lifting and conveying device according to an embodiment of the present application.

[0054] Figure 9 A three-dimensional schematic view of the structure of a soil screening device and a conveying device according to an embodiment of the present application.

[0055] Figure 10 A front view schematic view of the structure of a soil screening device and a conveying device according to an embodiment of the present application.

[0056] Figure 11 A front view schematic view of a high-pressure gas steel pipe according to an embodiment of the present application.

[0057] Figure 12 A top view schematic view of a high-pressure gas flow nozzle mounting seat according to an embodiment of the present application.

[0058] Figure 13 A side view schematic view of a high-pressure gas flow nozzle mounting seat according to an embodiment of the present application.

[0059] In the figure: 1 - top-off cutting device, 101 - spiral cone, 102 - fixed cutting knife, 103 - top-off cutting frame, 104 - spiral rod, 105 - spiral cone driving pulley, 106 - spiral rod driving pulley, 107 - spiral cone turbine, 108 - spiral cone driving worm, 2 - soil lifting and conveying device, 201 - excavating shovel, 202 - bearing fixing cover, 203 - conveying track, 204 - conveying belt fixing frame, 205 - conveying belt driving wheel, 3 - soil screening and impurity removing device, 301 - high-pressure gas inlet, 302 - high-pressure gas steel pipe, 303 - high-pressure gas flow nozzle mounting seat, 303-1 high-pressure gas flow nozzle protective cover, 303-2 high-pressure gas flow nozzle, 303-3 sensor module, 304 - high-pressure gas steel pipe mounting frame, 305 - soil screening driving device, 4 - conveying device, 5 - chassis traveling device, 6 - grain storage box. DETAILED DESCRIPTION

[0060] Embodiments of the present application are described in detail below with reference to the attached drawings, which show by way of example embodiments in which like numerals indicate like elements or elements having the same or similar function. The embodiments described below are examples intended to explain the present application, and are not to be understood as limiting the present application.

[0061] In the description of the application, it is to be understood by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, and not indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation to the application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0062] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0063] Embodiment 1

[0064] Figure 1 、 2 and 3 shows a preferred embodiment of the multi-row self-propelled field soil screening and impurity removing beet harvesting device, which comprises a top removing cutterbar device 1, a soil lifting and conveying device 2, a soil screening and impurity removing device 3, a conveying device 4, a chassis walking device 5 and a storage tank 6;

[0065] The top removing cutterbar device 1, the soil lifting and conveying device 2, the soil screening and impurity removing device 3, the conveying device 4 and the storage tank 6 are all arranged on the chassis walking device 5;

[0066] The top cutting device 1, the soil lifting and conveying device 2, 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 at the side of the soil screening and impurity removing device 3, and the storage box 6 is located at the rear of the conveying device 4; the top cutting device 1 is used for pulling up the beet in the soil and cutting the top leaves of the beet, separating the cut top leaves of the beet from the edible part of the beet, and dropping the edible part of the beet back into the soil; the soil lifting and conveying device 2 is used for lifting the edible part of the beet dropped back into the soil and conveying it to the rear soil screening device 3; the soil screening and impurity removing device 3 is used for screening and cleaning the edible part of the beet conveyed by the soil lifting and conveying device 2; and the conveying device 4 is used for lifting and conveying the large beets cleaned by the soil screening and impurity removing device 3 into the storage box 6.

[0067] As shown in Figures 4-7 The top cutting device 1 includes a plurality of groups of spiral cone mechanisms, a fixed cutter 102, a top cutting frame 103, a spiral rod 104, a spiral cone drive pulley 105, a spiral rod drive pulley 106, a spiral cone turbine 107, and a spiral cone drive turbine 108.

[0068] Each group of spiral cone mechanisms includes two symmetrically arranged spiral cones 101; the spiral cones 101 are arranged with the tip end downwardly inclined at the front end of the top cutting frame 103, a channel is arranged between the two spiral cones 101, the fixed cutter 102 is installed above the channel end of the top cutting frame 103, and the top leaves of the large beets can be cut and separated; the spiral rod 104 is installed on the top cutting frame 103 through a bearing, one end of the spiral rod 104 is connected with the spiral rod drive pulley 106, and the spiral rod drive pulley 106 is used for driving the spiral rod 104 to rotate; the spiral cone drive pulley 105 is connected with the spiral rod drive pulley 106 through a belt, the spiral cone drive pulley 105 is connected with the spiral cone drive turbine 108, the spiral cone turbine 107 is connected with the spiral cone 101, the spiral cone turbine 107 is engaged with the spiral cone drive turbine 108, and the spiral cone drive turbine 108 is used for driving the two spiral cones 101 of each group of spiral cone mechanisms to rotate in opposite directions.

[0069] In one embodiment of the present application, the spiral cone mechanism has two groups, a total of four spiral cones 101, and the four spiral cone 101 tips are downwardly inclined and symmetrically arranged in two groups at the front end of the top removal header frame 103. Preferably, the diameter of the spiral cone is 65-75 mm, the thread height of each spiral cone is 9-11 mm, a channel is provided between the two spiral cones 101 of each group, the width of the channel is 90-110 mm, two fixed knives 102 are fixed on the top removal header frame 103 above the channel between the two spiral cones 101, and the width of the knife is 115-125 mm. The spiral rod 104 is connected with the spiral rod drive pulley 106, and preferably the spiral height of the spiral rod is 25-30 mm. The spiral rod drive pulley 106 drives the spiral rod 104 to rotate, so that the separated large sugar beet top stems and leaves are removed from the side and returned to the field; the spiral rod drive pulley 106 transmits power to the spiral cone drive pulley 105, the spiral cone drive pulley 105 drives the spiral cone drive worm 108 to rotate, drives the spiral cone worm 107, and thus provides power to the spiral cone 101, and drives each pair of spiral cones 101 to rotate in opposite directions.

[0070] The present application is aimed at the problem of pulling up and removing the top leaves of large sugar beets, and a top removal header device 1 with a double spiral cone mechanism and fixed knives is designed. The spiral cone 101 can be rotated into the soil to pull up the large sugar beet, which is beneficial to reduce the mechanical damage of the large sugar beet, and at the same time can separate the large sugar beet from the top leaves.

[0071] As shown in Figure 5 and 8 , the soil lifting and conveying device 2 includes a digging shovel 201, a bearing fixing cover 202, a conveying belt 203, a conveying belt fixing frame 204, and a conveying belt drive wheel 205;

[0072] The digging shovel 201 is installed at the front end of the conveying belt fixing frame 204, and is used to shovel the edible part of the sugar beet that falls into the soil after being separated by the top removal header device 1. The conveying belt 203 is located behind the digging shovel 201 and is installed on the transmission belt driven shaft and the transmission belt driving shaft, which are respectively installed at both ends of the conveying belt fixing frame 204. The bearing fixing cover 202 is installed at the front of the conveying belt fixing frame 204 to fix the transmission belt driven shaft. The conveying belt drive wheel 205 is connected with the transmission belt driving shaft to drive the conveying belt 203 to rotate, and the large sugar beet and soil shovelled by the digging shovel 201 are transported obliquely upward to the soil screening and impurity removing device 3.4. The self-propelled field soil lifting and screening sugar beet harvesting device of claim 3, wherein the digging shovel 201 is downwardly inclined at an angle with the ground, which can shovel the large sugar beet that falls into the soil after being separated by the top removal header device 1 and can reduce the damage to the large sugar beet.

[0073] In one embodiment of the present application, the angle between the digging shovel 201 and the ground is 10-13°, which can more easily cut into the soil, reduce the mechanical load and resistance, improve the digging efficiency, and reduce soil compaction. Preferably, the total length of the digging shovel is 1100-1300 mm, and there are 8 shovel blades with a length of 190-210 mm and a width of 55-65 mm arranged transversely, and the spacing between the shovel blades is 119-121 mm, which can shovel the sugar beet that falls in the soil after the separation of the topping cutterbar device 1. The width of the conveying belt 203 is 490-510 mm, and after the digging shovel 201, it is used to transport the sugar beet and soil shovelled by the digging shovel 201 obliquely upward to the soil screening and impurity removing device 3.

[0074] As shown in Figure 5 , the screw rod drive pulley 106 and the conveying belt drive wheel 205 are connected by a conveying belt.

[0075] As shown in Figures 9-12 , the soil screening and impurity removing 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 rack 304, a soil screening driving device 305, and an impurity removing disc.

[0076] The high-pressure gas inlet 301 is connected to a high-pressure gas source mechanism at one end and connected to the high-pressure gas steel pipe 302 at the other end. A plurality of high-pressure gas steel pipes 302 are stacked and installed from top to bottom on the high-pressure gas steel pipe mounting rack 304, which is installed below the chassis walking device 5. The impurity removing disc is installed at the outlet of the soil conveying device 2, and the soil screening driving device 305 is connected to the impurity removing disc to drive the rotation of the impurity removing disc. The impurity removing disc is provided with a plurality of mechanical soil screening rods. The high-pressure gas steel pipe 302 surrounds the impurity removing disc. The high-pressure gas flow nozzle mounting seat 303 is installed on the inside of the high-pressure gas steel pipe 302. The high-pressure gas flow nozzle 303-2 is installed on the high-pressure gas flow nozzle mounting seat 303, and the high-pressure gas flow nozzle 303-2 sprays high-pressure gas flow to the mechanical soil screening rod.

[0077] As shown in Figure 12 and 13 , it also includes a high-pressure gas flow nozzle protective cover 303-1.

[0078] The high-pressure gas flow nozzle protective cover 303-1 is installed on the outside of the high-pressure gas flow nozzle 303-2 to protect the high-pressure gas flow nozzle 303-2 from impact and prolong its service life.

[0079] In one embodiment of the present application, preferably, the high-pressure gas steel pipe 302 has a diameter of 15-25 mm, the high-pressure gas steel pipe 302 is arranged around the soil screening driving device 305, the circular inner diameter surrounded by the high-pressure gas steel pipe 302 is 1100-1300 mm, the high-pressure gas jet nozzle mounting seat 303 is mounted on the inner side of the high-pressure gas steel pipe 302, which is used to assist the soil screening driving device 305 to efficiently remove the soil attached to the sugar beet, the high-pressure gas jet nozzle 303-2 and the sensor module 303-3 are mounted on the high-pressure gas jet nozzle mounting seat 303, the high-pressure gas jet nozzle protection cover 303-1 is mounted on the outer side of the high-pressure gas jet nozzle 303-2, which is used to protect the high-pressure gas jet nozzle 303-2 from impact and prolong its service life, and the sensor module 303-3 is used to detect the passing speed of the sugar beet and the degree of soil adhesion and other parameters;

[0080] As shown in Figure 12 and 13 , the sensor module 303-3 and the controller are further included;

[0081] The controller is connected with the sensor module 303-3 and the airflow pressure valve of the high-pressure gas 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 gas jet nozzle mounting seat 303 at the inlet of the soil screening and impurity removing device 3, which is used to take the initial state image of the sugar beet on the mechanical soil screening rod before impurity removal and transmit it to the controller, the controller processes the image to obtain the passing speed of the sugar beet and the degree of soil adhesion, and adjusts the airflow pressure of the high-pressure gas source mechanism and the airflow action time of the high-pressure gas jet nozzle 303-2, when the visual sensor detects that the sugar beet enters the soil screening and impurity removing device 3, it starts to collect the initial state image before impurity removal, and at the same time, the high-pressure airflow valve is opened, the valve opening of the high-pressure airflow valve is controlled by the controller;

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

[0085] P=P1+k2v

[0086] P1=k1A

[0087] Wherein: P1 is the airflow pressure adjusted by the soil adhesion, unit: Pa,

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

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

[0090] k1 is a ratio coefficient of soil and sugar beet surface characteristics, which describes the direct influence of the degree of soil adhesion on the air flow pressure requirement. The more soil adhesion, the greater the required air flow pressure; the influencing factors of k1 are mainly as follows: different types of soil have different requirements for air flow pressure, clay and soil with more organic matter have stronger adhesion than sandy soil, so higher air flow pressure is required for effective cleaning; different sizes of soil particles, smaller soil particles require higher pressure to clean due to their stronger hydration and surface adhesion, while larger particles are easier to be blown away by air flow, so lower pressure is required; different soil humidity, wet soil particles are more likely to adhere to the surface of sugar beet than dry soil particles, when the humidity is higher, the soil is more difficult to clean, and the air flow pressure needs to be increased accordingly, k1 can be obtained through experiment or simulation analysis;

[0091] K2 is a speed and air flow impact force related adjustment coefficient, which describes the influence of the moving speed of sugar beet on the air flow pressure requirement, the faster the sugar beet passes through, the shorter the time of air flow contact with the surface of sugar beet, in order to ensure sufficient cleaning effect, the air flow pressure needs to be increased, k2 can be obtained through experiment or simulation analysis;

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

[0093]

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

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

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

[0097] The more soil adhesion, the greater the required air flow pressure to ensure effective cleaning, with the increase of the conveying speed of sugar beet, the nozzle action time window needs to be increased, and the air flow pressure needs to be appropriately increased to offset the problem of decrease of cleaning efficiency.

[0098] Further, in one specific embodiment of the present application, the sensor module 303-3 is also installed on the high-pressure air flow nozzle mounting seat 303 at the outlet of the soil screening and impurity removing device 3, which is used to shoot the state image of sugar beet after impurity removal on the mechanical soil screening rod, and transmit it to the controller, so as to facilitate subsequent calculation of the impurity content of sugar beet after impurity removal. The sensor surface has an anti-static coating, which can reduce the adhesion of dust, and the mechanical soil screening rod will continuously rotate to convey the sugar beet backward.

[0099] Further, in one specific embodiment of the present application, in order to further improve the impurity removal effect, a sensor module 303-3 is arranged on at least two rows of high-pressure airflow nozzle mounting seats 303 at the inlet of the soil screening and impurity removal device 3; each sensor independently captures the initial state image of the sugar beet before impurity removal, covering different angles and positions, and the images are captured in time synchronization, ensuring that the same batch of sugar beet is captured by the sensors; preferably, the captured images are subjected to image correction, image registration, segmentation and feature extraction and other preprocessing methods in the prior art, which can realize the functions of image distortion correction, color adjustment, multi-view image alignment and the like; then the images collected by each row of sensors are paired according to the time stamp and position, so as to correspond to the specific sugar beet, and then the feature parameters of the attached soil information in the image are synthesized into global features by using a fusion algorithm, mainly using a weighted average method, and different weights are given to the feature parameters according to the shooting angle or definition of the sensor;

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

[0101]

[0102] wherein:

[0103] is the weight of the soil attachment area, and the influence factor corresponding to the i th sensor,

[0104] is the weight of the sugar beet moving speed, and the influence factor corresponding to the i th sensor,

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

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

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

[0108] The high-pressure airflow nozzle 303-2 is a plurality of nozzles arranged on the high-pressure gas steel pipe 302 along the sugar beet conveying path, and the nozzle faces the inside to efficiently remove the attached soil on the surface of the sugar beet.

[0109] The soil screening and impurity removal device 3 of the present application increases the high-pressure airflow impurity removal during the sugar beet harvesting process, effectively reduces the impurity content of the sugar beet, and improves the efficiency and quality of the sugar beet harvesting.

[0110] The sensor module 303-3 of the application shoots the sugar beet image on the mechanical soil screening rod and transmits it to the controller, the controller processes the image to obtain the passing speed and soil adhesion degree of the sugar beet, 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 of the sugar beet during soil screening and effectively reduce the impurity content of the sugar beet.

[0111] The structure of the conveying device 4 is the prior art, and in one specific embodiment of the application, the vertical cleaning mechanism in the utility model patent CN208001526U can be used to lift and convey the cleaned sugar beet from the soil screening and impurity removal device 3 into the grain storage box 6.

[0112] Example 2

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

[0114] The method comprises the following steps:

[0115] The top cutting device 1 pulls up the sugar beet in the soil into the channel through the front end of the spiral cone 101, and the fixed cutting knife 102 cuts off the top leaves of the sugar beet at the tail of the channel, and after the top leaves are cut off, the spiral rod 104 above separates the cut top leaves from the edible part of the sugar beet, and the top leaves fall into the field from the side, and the edible part of the sugar beet falls back into the soil, and the front end of the lifting shovel 201 of the soil lifting and conveying device 2 lifts the edible part of the sugar beet and the soil and conveys them to the rear soil screening device 3 through the conveying track 203; the soil screening and impurity removal device 3 screens and cleans the edible part of the sugar beet conveyed 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 disc to assist the mechanical soil screening rod in efficiently removing impurities; and the conveying device 4 lifts and conveys the cleaned sugar beet from the soil screening and impurity removal device 3 into the grain storage box 6.

[0116] The application realizes the functions of pulling up, leaf removal, impurity removal, conveying and harvesting of sugar beet, integrates multiple processes, reduces subsequent processing, improves the efficiency and quality of sugar beet harvesting, has good equipment stability, effectively reduces the impurity content of sugar beet, and can realize the function of leaf removal and returning to the field.

[0117] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0118] The above detailed description merely illustrates feasible embodiments of the present application, and is not intended to limit the protection scope of the present application, and equivalent embodiments or changes made without departing from the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-row self-propelled field beet harvesting apparatus of the type having a plurality of rows of self-propelled beet lifting and cleaning units, characterized in that, The device comprises a top cutting-off platform device (1), a soil lifting and conveying device (2), a soil screening and impurity removing device (3), a conveying device (4), a chassis walking device (5) and a storage tank (6); The top cutting-off platform device (1), the soil lifting and conveying device (2), the soil screening and impurity removing device (3), the conveying device (4) and the storage tank (6) are all arranged on the chassis walking device (5); The top cutting-off platform device (1), the soil lifting and conveying device (2) and the soil screening and impurity removing device (3) are arranged in sequence from the rear in the walking direction, the conveying device (4) is located at the side of the soil screening and impurity removing device (3), and the storage tank (6) is located at the rear of the conveying device (4); the top cutting-off platform device (1) is used for lifting and cutting the top leaves of the beet, separating the cut top leaves from the edible part of the beet, and dropping the edible part of the beet back into the soil; The soil lifting and conveying device (2) is used for lifting the edible part of the beet dropped back into the soil and conveying it into the soil screening and impurity removing device (3) at the rear; the soil screening and impurity removing device (3) is used for screening and cleaning the edible part of the beet conveyed by the soil lifting and conveying device (2); The conveying device (4) is used for lifting and conveying the beet cleaned by the soil screening and impurity removing device (3) into the storage tank (6); The soil screening and impurity removing 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 rack (304), a soil screening driving device (305) and an impurity removing disc; One end of the high-pressure gas inlet (301) is connected with a high-pressure gas source mechanism, and the other end is connected with the high-pressure gas steel pipe (302); a plurality of high-pressure gas steel pipes (302) are stacked and installed on the high-pressure gas steel pipe mounting rack (304) from top to bottom; the high-pressure gas steel pipe mounting rack (304) is installed below the chassis walking device (5); the impurity removing disc is installed at the outlet of the soil lifting and conveying device (2); the soil screening driving device (305) is connected with the impurity removing disc and used for driving the impurity removing disc to rotate; a plurality of mechanical soil screening rods are arranged on the circumference of the impurity removing disc; the high-pressure gas steel pipe (302) surrounds the impurity removing disc; the high-pressure gas flow nozzle mounting seat (303) is installed on the inner side of the high-pressure gas steel pipe (302); the high-pressure gas flow nozzle (303-2) is installed on the high-pressure gas flow nozzle mounting seat (303); the high-pressure gas flow nozzle (303-2) sprays high-pressure gas flow to the mechanical soil screening rod; It also comprises a sensor module (303-3) and a controller; The controller is connected with the sensor module (303-3) and the airflow pressure valve of the high-pressure gas source mechanism respectively; The sensor module (303-3) is installed on the high-pressure gas flow nozzle mounting seat (303) at the inlet of the soil screening and impurity removing device (3) and used for shooting the initial state image of the beet before impurity removal on the mechanical soil screening rod and transmitting the image to the controller; the controller processes the image to obtain the passing speed of the beet and the degree of soil adhesion and adjusts the airflow pressure of the high-pressure gas source mechanism and the airflow action time of the high-pressure gas flow nozzle (303-2); The controller adjusts the air pressure of the high-pressure air source mechanism according to the following formula: P = P1 + k2v P1 = k1A Wherein: P1 is the air pressure of the soil adhesion adjustment, v is the beet moving speed, A is the soil adhesion area, k1 is the proportion coefficient of soil and beet surface characteristics, k2 is the adjustment coefficient of speed and air flow impact force, The controller adjusts the air flow action time of the high-pressure air flow nozzle (303-2) according to the following formula: Wherein: d is the cleaning distance covered by the nozzle.

2. A multi-row self-propelled field beet harvesting apparatus of the type defined in claim 1, characterised in that, The top cutting device (1) comprises a plurality of groups of spiral cone mechanisms, fixed knives (102), a top cutting frame (103), a spiral rod (104), a spiral cone drive pulley (105), a spiral rod drive pulley (106), a spiral cone turbine (107) and a spiral cone drive turbine (108); Each group of spiral cone mechanisms comprises two symmetrically arranged spiral cones (101); the spiral cones (101) are arranged with their tips downwardly inclined at the front end of the top cutting frame (103), a channel is provided between the two spiral cones (101), and the fixed knives (102) are mounted on the top cutting frame (103) above the channel; the spiral rod (104) is mounted on the top cutting frame (103) through a bearing, one end of the spiral rod (104) is connected with the spiral rod drive pulley (106), and the spiral rod drive pulley (106) is used to drive the spiral rod (104) to rotate; the spiral cone drive pulley (105) is connected with the spiral rod drive pulley (106) through a belt, the spiral cone drive pulley (105) is connected with the spiral cone drive turbine (108), the spiral cone turbine (107) is connected with the spiral cone (101), the spiral cone turbine (107) is engaged with the spiral cone drive turbine (108), and the spiral cone drive turbine (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 beet harvesting apparatus of the type defined in claim 2, characterised in that, The soil lifting and conveying device (2) comprises a digging shovel (201), a bearing fixing cover (202), a conveying belt (203), a conveying belt fixing frame (204) and a conveying belt drive wheel (205); The digging shovel (201) is installed at the front end of the conveying belt fixing frame (204) and is used to shovel the edible part of the beet falling into the soil after being separated by the top cutting device (1); the conveying belt (203) is located behind the digging shovel (201) and is installed on a transmission belt driven shaft and a transmission belt driving shaft, which are respectively installed at the two ends of the conveying belt fixing frame (204); the bearing fixing cover (202) is installed at the front part of the conveying belt fixing frame (204) and is used to fix the transmission belt driven shaft; and the conveying belt drive wheel (205) is connected with the transmission belt driving shaft and is used to drive the conveying belt (203) to rotate, so that the beet and soil shovelled by the digging shovel (201) are transported obliquely upwardly to the soil screening and impurity removing device (3).

4. A multi-row self-propelled field beet harvesting apparatus of the type defined in claim 3, characterised in that, The digging shovel (201) is downwardly inclined and forms a certain angle with the ground.

5. A multi-row self-propelled field beet harvesting apparatus of the type defined in claim 3, characterised in that, The spiral rod drive pulley (106) and the conveying belt drive wheel (205) are connected through a conveying belt.

6. A multi-row self-propelled field dirt and trash beet harvesting device according to claim 1, characterized in that, It also comprises a high-pressure air flow nozzle protection cover (303-1). The high-pressure airflow nozzle protection cover (303-1) is installed outside the high-pressure airflow nozzle (303-2) to protect the high-pressure airflow nozzle (303-2) from impact and prolong the service life.

7. A multi-row self-propelled field dirt and trash beet harvesting device according to claim 1, characterized in that, The high-pressure airflow nozzle (303-2) is a plurality of groups of nozzles arranged on the high-pressure gas steel pipe (302) along the beet conveying path, and the nozzles are directed inward to efficiently remove the soil attached to the surface of the beet.

8. A method of controlling a multi-row self-propelled field soil lifting and sieving sugar beet harvesting apparatus according to any one of claims 3 to 5, characterised in that, The method comprises the following steps: The top cutting device (1) pulls the beet in the soil into the channel through the front-end spiral cone (101), fixes the cutting knife (102) to cut the top leaves of the beet at the tail of the channel, separates the cut top leaves of the beet from the edible part of the beet through the upper spiral rod (104) after cutting the top leaves, and falls the top leaves of the beet from the side into the field, and falls the edible part of the beet into the soil, and the front-end digging shovel (201) of the soil lifting and conveying device (2) digs up the edible part of the beet and the soil and conveys them to the rear through the conveying track (203) to the soil screening and impurity removing device (3) at the rear; the soil screening and impurity removing device (3) screens and cleans the edible part of the beet conveyed by the soil lifting and conveying device (2), and the high-pressure airflow nozzle (303-2) of the soil screening and impurity removing device (3) sprays high-pressure airflow to the impurity removing disc to assist the mechanical soil screening rod in efficiently removing impurities; and the conveying device (4) lifts and conveys the beet cleaned by the soil screening and impurity removing device (3) into the grain storage box (6).

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