Automatic white radish combine harvester

Abstract

The invention discloses an automatic white radish combine harvester, and relates to the technical field of intelligent agricultural equipment.The automatic white radish combine harvester comprises a walking chassis, a pulling device, a flexible clamping device and a cherry cutting device.The pulling device comprises a support and two sets of clamping and pulling conveying mechanisms; soil on the two sides of white radishes is scarified through break shovels of the two sets of clamping and pulling conveying mechanisms, stems and leaves of the white radishes are gathered through ripping guide plates of the two sets of clamping and pulling conveying mechanisms, the gathered stems and leaves of the white radishes are clamped through synchronous belt assemblies of the two sets of clamping and pulling conveying mechanisms, and the white radishes are conveyed backwards in the inclined upward direction. The white radishes are pulled, then the soft clamping device is matched to clamp the white radishes and send the white radishes to the cherry cutting device, stems and leaves of the white radishes are cut off through the cherry cutting device, the cut stems and leaves are thrown back to the field, and the white radishes with the stems and leaves cut off are separated from the soft clamping device and fall into a fruit collecting box to be collected.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent agricultural equipment, and in particular to an automated white radish combine harvester. Background Art

[0002] The harvest of white radish is a key link in the white radish industry. It is also the most time-consuming and least mechanized link. The emergence of white radish combine harvesters has reduced labor costs, reduced dependence on seasonal temporary labor, and increased the production efficiency and output of white radish. Therefore, the quality of white radish combine harvesters has a huge impact on the harvest rate and yield rate of white radish.

[0003] At present, a radish combine harvester usually first loosens the soil around the radish with a loosening shovel, then gathers and clamps the stems and leaves of the radish with a straw supporter, and then takes the radish away from the soil through a conveyor belt connected to the straw supporter. After the radish is separated from the soil, it is sent to a cutter by the conveyor belt, and the stems and leaves of the radish are cut by the cutter to separate the radish from the stems and leaves. Finally, the radish enters a collecting device, and the harvest of the radish is completed.

[0004] However, the height of the loosening shovel and the straw support of the existing white radish combine harvester is not easy to adjust, which makes it difficult to cope with the problem of different planting depths of white radish in different regions. In addition, since the sizes of the loosening shovel and the straw support are fixed, they have poor adaptability when pulling out different varieties of white radish and have low operating efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide an automated white radish combine harvester to solve the problems existing in the above-mentioned related technologies, which can pull out white radishes of different planting depths and different varieties, meet the white radish harvesting needs in different planting environments, and improve the operating efficiency.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides an automatic white radish combine harvester, comprising a walking chassis, a pulling device, a flexible clamping device and a cutting device, wherein the walking chassis can move on the ground; the pulling device comprises a bracket and a clamping and pulling conveying mechanism, the bracket is arranged at the front end of the walking chassis, the clamping and pulling conveying mechanism comprises a slide rail, a slide table, an upper connecting rod, a lower connecting rod, a guide plate, a loosening shovel and a synchronous belt assembly, the slide rail is arranged on the bracket, and the slide rail is inclined upward from front to back, the slide table can slide along the slide rail, the upper connecting rod is fixed to the bottom of the slide table, the lower connecting rod is fixed below the upper connecting rod, and the upper connecting rod and the lower connecting rod both extend along the direction of the slide rail, the guide plate is arranged at the front end of the upper connecting rod, the loosening shovel is arranged at the front end of the lower connecting rod, and the synchronous belt assembly is arranged between the upper connecting rod and the lower connecting rod; the clamping and pulling conveying mechanism is provided with two groups, The loosening shovels of the two groups of the clamping and pulling conveying mechanisms can loosen the soil on both sides of the white radish respectively, the guiding plates of the two groups of the clamping and pulling conveying mechanisms can gather the stems and leaves of the white radish, the synchronous belt assemblies of the two groups of the clamping and pulling conveying mechanisms can clamp the gathered stems and leaves of the white radish, and convey the white radish backward in an oblique upward direction to pull out the white radish, and the spacing between the two groups of the clamping and pulling conveying mechanisms is adjustable; the flexible clamping device is arranged on the walking chassis at a position close to the rear end of the two groups of the clamping and pulling conveying mechanisms, and a fruit collecting box is arranged on the walking chassis at a position close to the rear end of the flexible clamping device, the fruit cutting device is arranged between the two groups of the clamping and pulling conveying mechanisms and the flexible clamping device, the flexible clamping device is used to clamp the white radish between the synchronous belt assemblies of the two groups of the clamping and pulling conveying mechanisms, and convey it to the fruit cutting device, the fruit cutting device is used to cut off the stems and leaves of the white radish, and the fruit collecting box is used to collect the white radish after the stems and leaves are cut off.

[0008] Preferably, the slide rail includes a support rod, a screw rod, a coupling and a first motor, the support rod is arranged on the bracket, and the support rod is arranged to be inclined upward from front to back, one end of the screw rod is rotatably connected to the front end bottom of the support rod, and the other end is rotatably connected to the rear end bottom of the support rod, and is connected to the output end of the first motor through the coupling, the slide table is sleeved on the screw rod, and the first motor can drive the screw rod to rotate, so as to drive the slide table to move along the screw rod.

[0009] Preferably, the bracket is a portal frame, and the support rod is arranged at the bottom of the crossbeam of the bracket; a slide groove is arranged on the crossbeam of the bracket along its extension direction, and at least two slide grooves are arranged, and the two slide grooves are symmetrically arranged on both sides of the crossbeam of the bracket, and the support rod can be connected to the two slide grooves respectively through two groups of connecting components; the connecting component includes a right-angle connector, a first screw and a second screw, one side of the right-angle connector can be fixedly connected to the top of the support rod by the first screw, and the other side can be fixedly connected to the corresponding slide groove on the crossbeam of the bracket by the second screw.

[0010] Preferably, the synchronous belt assembly includes a driving wheel, a driven wheel, a synchronous belt and a second motor, the driving wheel and the driven wheel are both rotatably connected between the corresponding upper connecting rod and the lower connecting rod, the synchronous belt is sleeved on the driving wheel and the driven wheel, and the driving wheel is connected to the output end of the second motor, and the second motor can drive the driving wheel to rotate to drive the synchronous belt to move.

[0011] Preferably, the flexible clamping device includes a unilateral clamping mechanism, which includes a fixed rod, an eight-shaped clamp assembly, a round roller, a soft transmission belt and a third motor, wherein the fixed rod is vertically arranged on the walking chassis; the eight-shaped clamp assembly includes an upper eight-shaped clamp, a lower eight-shaped clamp, a connecting shaft and a fixed clamp, the middle part of the upper eight-shaped clamp is fixedly connected to the middle part of the lower eight-shaped clamp through the connecting shaft, and the connecting shaft is fixedly connected to the fixed rod through the fixing clamp; the round rollers are vertically arranged in four groups, wherein two groups of the round rollers are respectively arranged between the two ends of the upper eight-shaped clamp and the two ends of the lower eight-shaped clamp, and the other two groups of the round rollers are respectively arranged between the two ends of the upper eight-shaped clamp and the two ends of the lower eight-shaped clamp, and the other two groups of the round rollers are respectively arranged between the two ends of the upper eight-shaped clamp and the two ends of the lower eight-shaped clamp. It is arranged on the walking chassis near the front and rear sides of the figure-eight clamp assembly; the soft transmission belt is sleeved on the four groups of circular rollers to form a trapezoidal structure, and the circular rollers located at the rear side of the figure-eight clamp assembly are connected to the third motor, and the third motor can drive the corresponding circular rollers to rotate to drive the soft transmission belt to move; the single-sided clamping mechanism is provided with two groups, and the two groups of single-sided clamping mechanisms are symmetrically arranged on the walking chassis, and the clamping openings of the figure-eight clamp assemblies of the two groups of single-sided clamping mechanisms are arranged relatively to each other, so that a white radish clamping channel can be formed between the soft transmission belts of the two groups of single-sided clamping mechanisms.

[0012] Preferably, the cherry cutting device includes a motor bracket, a fourth motor, a saw blade and a saw blade pressure plate, the motor bracket is fixed to the rear ends of the upper connecting rods of the two groups of the clamping and conveying mechanisms, the fourth motor is installed on the motor bracket, and the output end of the fourth motor is set downward, the saw blade is connected to the output end of the fourth motor through the saw blade pressure plate, and the fourth motor can drive the saw blade to rotate to cut off the stems and leaves of the white radish.

[0013] Preferably, the walking chassis includes a front wheel assembly, a rear wheel assembly and a frame, and the front wheel assembly and the rear wheel assembly are respectively arranged at the front end and the rear end of the frame to support the frame to move on the ground; the front wheel assembly includes a front wheel, a flange coupling and a fifth motor, the front wheel is rotatably connected to the front end side of the frame, and is connected to the output end of the fifth motor through the flange coupling, and the fifth motor can drive the front wheel to rotate; the front wheel assembly is provided with two groups, and the two groups of front wheel assemblies are respectively arranged on both sides of the front end of the frame; the rear wheel assembly includes two rear wheels, and the two rear wheels are respectively rotatably connected to both sides of the rear end of the frame.

[0014] Preferably, the walking chassis also includes a battery box and a battery pack, the battery box is arranged at the rear end of the frame, and the battery pack is arranged in the battery box; the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all electrically connected to the battery pack.

[0015] Preferably, the loosening shovel comprises a shovel head and a shovel body, the shovel head can be plugged into the shovel body to form a bucket tooth structure, and one end of the shovel body away from the shovel head is fixed to the corresponding end of the lower connecting rod.

[0016] Preferably, the support guide plate is an arc-shaped plate, and the support guide plate is hinged to the corresponding end of the upper connecting rod.

[0017] Compared with the related art, the present invention has achieved the following technical effects:

[0018] The automatic white radish combine harvester provided by the present invention comprises a walking chassis, a pulling device, a flexible clamping device and a cutting device. The pulling device comprises a bracket and two groups of clamping and pulling conveying mechanisms. Each group of clamping and pulling conveying mechanisms comprises a slide rail, a slide table, an upper connecting rod, a lower connecting rod, a guide plate, a loosening shovel and a synchronous belt assembly. During operation, as the walking chassis moves on the ground, the loosening shovels of the two groups of clamping and pulling conveying mechanisms loosen the soil on both sides of the white radish respectively, the guide plates of the two groups of clamping and pulling conveying mechanisms gather the stems and leaves of the white radish, the synchronous belt assemblies of the two groups of clamping and pulling conveying mechanisms clamp the gathered stems and leaves of the white radish, and the white radish is conveyed backward in an oblique upward direction, thereby realizing the pulling of the white radish. Then, the flexible clamping device is cooperated to clamp the white radish and send it to the cutting device. The stems and leaves of the white radish are cut off by the cutting device, and the cut stems and leaves are thrown back into the field. The white radish after the stems and leaves are cut off separates from the flexible clamping device and falls into a fruit collecting box for collection.

[0019] The automated white radish combine harvester provided by the present invention integrates the functions of loosening soil, gathering stems and leaves, pulling out white radishes, cutting cherry, conveying and collecting, has a high degree of automation and is easy to operate. In addition, the heights and spacings of two sets of clamping, pulling and conveying mechanisms can be adjusted, thereby achieving the pulling out of white radishes of different planting depths and different varieties, meeting the white radish harvesting needs in different planting environments, and improving the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of a first angle of the automated white radish combine harvester provided by an embodiment of the present invention;

[0022] Figure 2 A second angle schematic diagram of the automated white radish combine harvester provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of an extraction device and a cutting device provided in an embodiment of the present invention;

[0024] Figure 4 A partial schematic diagram of a clamping and pulling conveying mechanism provided in an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a walking chassis and a flexible clamping device provided in an embodiment of the present invention.

[0026] In the figure: 1-walking chassis, 11-front wheel assembly, 1101-front wheel, 1102-flange coupling, 1103-fifth motor, 12-rear wheel assembly, 13-frame, 14-battery chassis, 15-battery pack, 2-extraction device, 21-bracket, 22-slide rail, 2201-support rod, 2202-screw rod, 2203-coupling, 2204-first motor, 23-slide, 24-upper connecting rod, 25-lower connecting rod, 26-support guide Plate, 27-soil shovel, 28-synchronous belt assembly, 2801-driving wheel, 2802-driven wheel, 2803-synchronous belt, 2804-second motor, 3-flexible clamping device, 31-fixing rod, 32-round roller, 33-soft transmission belt, 34-third motor, 35-upper eight-shaped clamp, 36-lower eight-shaped clamp, 37-connecting shaft, 38-fixing clamp, 39-tension spring, 4-cherry cutting device, 41-motor bracket, 42-fourth motor, 43-saw blade. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide an automated white radish combine harvester to solve the problems existing in the related art, capable of pulling out white radishes of different planting depths and different varieties, meeting the white radish harvesting needs in different planting environments, and improving the operating efficiency.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1-Figure 2 As shown, this embodiment provides an automated white radish combine harvester, comprising a walking chassis 1, a pulling device 2, a flexible clamping device 3 and a cutting device 4.

[0031] In this embodiment, the traveling chassis 1 can move on the ground.

[0032] In this embodiment, the extraction device 2 includes a bracket 21 and a clamping and extracting conveying mechanism. The bracket 21 is arranged at the front end of the walking chassis 1. The clamping and extracting conveying mechanism includes a slide rail 22, a slide 23, an upper connecting rod 24, a lower connecting rod 25, a guide plate 26, a loosening shovel 27 and a synchronous belt assembly 28. The slide rail 22 is arranged on the bracket 21, and the slide rail 22 is arranged upwardly inclined from front to rear. The slide 23 can slide along the slide rail 22. The upper connecting rod 24 is fixed to the bottom of the slide 23, the lower connecting rod 25 is fixed below the upper connecting rod 24, and the upper connecting rod 24 and the lower connecting rod 25 both extend along the direction of the slide rail 22. The guide plate 26 is arranged at the front end of the upper connecting rod 24, the loosening shovel 27 is arranged at the front end of the lower connecting rod 25, and the synchronous belt assembly 28 is arranged between the upper connecting rod 24 and the lower connecting rod 25.

[0033] Furthermore, two groups of clamping and pulling conveying mechanisms are provided, and the loosening shovels 27 of the two groups of clamping and pulling conveying mechanisms can loosen the soil on both sides of the white radish respectively, and the guide plates 26 of the two groups of clamping and pulling conveying mechanisms can gather the stems and leaves of the white radish. The synchronous belt assemblies 28 of the two groups of clamping and pulling conveying mechanisms can clamp the gathered stems and leaves of the white radish, and convey the white radish backward in an oblique upward direction to pull out the white radish, and the spacing between the two groups of clamping and pulling conveying mechanisms is adjustable.

[0034] It should be noted that, in the present embodiment, each set of clamping and pulling conveying mechanisms cooperates with the slide 23 through the corresponding slide rails 22 to achieve height adjustment on the bracket 21, thereby adapting to the extraction of white radishes at different planting depths. At the same time, the extraction device 2 in the present embodiment adopts a split design, that is, two sets of clamping and pulling conveying mechanisms cooperate with each other to achieve the operations of loosening the soil, gathering the stems and leaves, and clamping and conveying the stems and leaves, and then by changing the spacing between the two sets of clamping and pulling conveying mechanisms, it can adapt to the extraction of white radishes of different varieties.

[0035] In this embodiment, the flexible clamping device 3 is arranged on the walking chassis 1 at a position close to the rear end of the two groups of clamping and pulling conveying mechanisms, and a fruit collecting box is arranged on the walking chassis 1 at a position close to the rear end of the flexible clamping device 3. The cherry cutting device 4 is arranged between the two groups of clamping and pulling conveying mechanisms and the flexible clamping device 3. The flexible clamping device 3 is used to clamp the white radish between the synchronous belt assemblies 28 of the two groups of clamping and pulling conveying mechanisms and convey it to the cherry cutting device 4. The cherry cutting device 4 is used to cut off the stems and leaves of the white radish, and the fruit collecting box is used to collect the white radish after the stems and leaves are cut off.

[0036] In this embodiment, if Figure 3 As shown, the slide rail 22 includes a support rod 2201, a screw rod 2202, a coupling 2203 and a first motor 2204. The support rod 2201 is arranged on the bracket 21, and the support rod 2201 is arranged upwardly inclined from front to back. One end of the screw rod 2202 is rotatably connected to the front end bottom of the support rod 2201, and the other end is rotatably connected to the rear end bottom of the support rod 2201, and is connected to the output end of the first motor 2204 through the coupling 2203. The slide 23 is sleeved on the screw rod 2202, and the first motor 2204 can drive the screw rod 2202 to rotate, so as to drive the slide 23 to move along the screw rod 2202. Specifically, the first motor 2204 in this embodiment is preferably a DC motor.

[0037] In this embodiment, the bracket 21 is a door-type frame, and the support rod 2201 is arranged at the bottom of the beam of the bracket 21; a slide groove is arranged on the beam of the bracket 21 along its extension direction, and there are at least two slide grooves, the two slide grooves are symmetrically arranged on both sides of the beam of the bracket 21, and the support rod 2201 can be connected to the two slide grooves respectively through two groups of connecting components; the connecting component includes a right-angle connector, a first screw and a second screw, one side of the right-angle connector can be fixedly connected to the top of the support rod 2201 through the first screw, and the other side can be fixedly connected to the corresponding slide groove on the beam of the bracket 21 through the second screw, that is, the installation position of the support rod 2201 on the beam of the bracket 21 can be adjusted along the slide groove on the beam, thereby realizing the spacing adjustment of the two groups of clamping and pulling conveying mechanisms.

[0038] In this embodiment, if Figure 4As shown, the synchronous belt assembly 28 includes a driving wheel 2801, a driven wheel 2802, a synchronous belt 2803 and a second motor 2804. The driving wheel 2801 and the driven wheel 2802 are both rotatably connected between the corresponding upper connecting rod 24 and the lower connecting rod 25. The synchronous belt 2803 is sleeved on the driving wheel 2801 and the driven wheel 2802, and the driving wheel 2801 is connected to the output end of the second motor 2804. The second motor 2804 can drive the driving wheel 2801 to rotate to drive the synchronous belt 2803 to move. Specifically, the second motor 2804 in this embodiment is preferably a gear reduction motor.

[0039] In this embodiment, if Figure 5 As shown, the flexible clamping device 3 includes a single-sided clamping mechanism, which includes a fixed rod 31, an eight-shaped clamp assembly, a round roller 32, a soft transmission belt 33 and a third motor 34. The fixed rod 31 is vertically arranged on the walking chassis 1; the eight-shaped clamp assembly includes an upper eight-shaped clamp 35, a lower eight-shaped clamp 36, a connecting shaft 37 and a fixed clamp 38. In this embodiment, a tension spring 39 is arranged between the two clamp arms of the upper eight-shaped clamp 35 and between the two clamp arms of the lower eight-shaped clamp 36. The middle part of the upper eight-shaped clamp 35 is fixedly connected to the middle part of the lower eight-shaped clamp 36 through the connecting shaft 37, and the connecting shaft 37 is fixedly connected to the fixed rod 31 through the fixing clamp 38; four groups of round rollers 32 are vertically arranged, wherein two groups of round rollers 32 are respectively arranged at both ends of the upper eight-shaped clamp 35 and the lower eight-shaped clamp 36. Between the two ends of the figure-eight clamp 36, another two groups of round rollers 32 are respectively arranged on the walking chassis 1 near the front and rear sides of the figure-eight clamp assembly; the soft transmission belt 33 is sleeved on the four groups of round rollers 32 to form a trapezoidal structure, and the round rollers 32 located at the rear side of the figure-eight clamp assembly are connected to the third motor 34, and the third motor 34 can drive the corresponding round rollers 32 to rotate to drive the soft transmission belt 33 to move. Specifically, the third motor 34 in this embodiment is preferably a T-shaped reduction motor; two groups of unilateral clamping mechanisms are provided, and the two groups of unilateral clamping mechanisms are symmetrically arranged on the walking chassis 1, and the clamping openings of the figure-eight clamp assemblies of the two groups of unilateral clamping mechanisms are arranged relatively to each other, so that a white radish clamping channel can be formed between the soft transmission belts 33 of the two groups of unilateral clamping mechanisms.

[0040] It should be noted that when the white radish combine harvester provided in the present embodiment is in operation, after the white radish is clamped and pulled by the pulling device 2, the white radish is continued to be driven to be transported in an oblique upward direction to a position close to the flexible clamping device 3, and the white radish is clamped by the flexible clamping device 3 for horizontal transportation. The two sets of soft transmission belts 33 in the present embodiment have different rotation directions, which can transport the white radish backwards, and the tensioned and fitted state of the soft transmission belts 33 can make the transportation of the white radish smoother, and effectively avoid the white radish falling due to the looseness of the conveyor belt due to too long transportation time; in particular, in the present embodiment, the soft transmission belt of the single-sided clamping mechanism located on the left side There is a speed difference between the belt 33 and the soft transmission belt 33 of the single-sided clamping mechanism on the right side, which makes the white radish rotate around the axis during horizontal transportation, twisting the originally loose stems and leaves into a ball, and the minimum transmission speed between the soft transmission belts 33 of the two sets of single-sided clamping mechanisms is greater than the transmission speed between the synchronous belt assemblies 28 of the two sets of clamping and pulling conveying mechanisms. Under the joint action of the two sets of clamping and pulling conveying mechanisms and the two sets of single-sided clamping mechanisms, the white radish can be straightened from free hanging to a vertical angle or a larger angle with the two sets of clamping and pulling conveying mechanisms, and then transported to the cherry cutting device 4, effectively reducing the residual rate on the white radish after the stems and leaves are cut.

[0041] In this embodiment, if Figure 3 As shown, the cherry cutting device 4 includes a motor bracket 41, a fourth motor 42, a saw blade 43 and a saw blade pressure plate. The motor bracket 41 is fixed to the rear end of the upper connecting rod 24 of the two sets of clamping and pulling conveying mechanisms. The fourth motor 42 is installed on the motor bracket 41, and the output end of the fourth motor 42 is set downward. The saw blade 43 is connected to the output end of the fourth motor 42 through the saw blade pressure plate. The fourth motor 42 can drive the saw blade 43 to rotate to cut off the stems and leaves of the white radish, thereby retaining the white radish fruit.

[0042] In this embodiment, if Figure 2 As shown, the walking chassis 1 includes a front wheel assembly 11, a rear wheel assembly 12 and a frame 13. The front wheel assembly 11 and the rear wheel assembly 12 are respectively arranged at the front end and the rear end of the frame 13 to support the frame 13 to move on the ground; the front wheel assembly 11 includes a front wheel 1101, a flange coupling 1102 and a fifth motor 1103. The front wheel 1101 is rotatably connected to the front end side of the frame 13 and is connected to the output end of the fifth motor 1103 through the flange coupling 1102. The fifth motor 1103 can drive the front wheel 1101 to rotate. Specifically, the fifth motor 1103 in this embodiment is preferably a stepping reduction motor; the front wheel assembly 11 is provided with two groups, and the two groups of front wheel assemblies 11 are respectively arranged on both sides of the front end of the frame 13; the rear wheel assembly 12 includes two rear wheels, and the two rear wheels are respectively rotatably connected to both sides of the rear end of the frame 13.

[0043] In this embodiment, the walking chassis 1 also includes a battery box 14 and a battery pack 15. The battery box 14 is arranged at the rear end of the frame 13, and the battery pack 15 is arranged in the battery box 14; the first motor 2204, the second motor 2804, the third motor 34, the fourth motor 42 and the fifth motor 1103 are all electrically connected to the battery pack 15.

[0044] In this embodiment, the loosening shovel 27 includes a shovel head and a shovel body. The shovel head can be inserted into the shovel body to form a bucket tooth structure. The end of the shovel body away from the shovel head is fixed to the end of the corresponding lower connecting rod 25. During operation, the soil around the white radish is loosened by two symmetrically arranged loosening shovels 27, so that the adhesion between the white radish and the soil is reduced, the fruit and soil are separated, the pulling force is reduced, and the stems and leaves are avoided from being pulled apart during the pulling of the white radish, resulting in missed pulling. The shovel head and the shovel body in this embodiment are designed in a split type, which is convenient for replacing the worn shovel head. In addition, the surface modification method design process is used to change the geometric external shape of the macroscopic soil-contacting surface of the mechanical soil-contacting component, thereby achieving drag reduction during the loosening process, solving the problems of large operating resistance and high missed pulling rate of the loosening shovel 27 that are common in the operation of the white radish combine harvester.

[0045] In the present embodiment, the guide plate 26 is an arc-shaped plate. During operation, the walking chassis 1 moves close to the ground, and the scattered branches and leaves of the white radish are stood up and gathered under the action of the two symmetrically arranged arc-shaped guide plates 26, and are concentratedly sent between the synchronous belt assemblies 28 of the two groups of clamping and pulling conveying mechanisms. The guide plate 26 in the present embodiment has the functions of both a guide plate and a feeding guide plate, which saves costs and simplifies the structure. In addition, the guide plate 26 is hinged to the end of the corresponding upper connecting rod 24, which is convenient for adjusting the angle of the guide plate 26 to adapt to the white radish in different planting environments and improve the efficiency of gathering the stems and leaves.

[0046] The working process of the automated white radish combine harvester provided in this embodiment is as follows:

[0047] During operation, as the walking chassis 1 moves on the ground, the loosening shovels 27 of the two sets of clamping and pulling conveying mechanisms loosen the soil on both sides of the white radish, and the stems and leaves of the white radish are gathered by the guide plates 26 of the two sets of clamping and pulling conveying mechanisms. The gathered stems and leaves of the white radish are clamped by the synchronous belt assemblies 28 of the two sets of clamping and pulling conveying mechanisms, and the white radish is conveyed backward in an upward oblique direction to achieve the extraction of the white radish, and then, the flexible clamping device 3 is used to clamp the white radish and send it to the cutting device 4, and the stems and leaves of the white radish are cut off by the cutting device 4, and the cut stems and leaves are thrown back into the field. The white radish after the stems and leaves are cut off separates from the flexible clamping device 3 and falls into the fruit collecting box to be collected.

[0048] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An automated white radish combine harvester, characterized in that: The present invention relates to a method for dismantling a lifting device and a lifting device for lifting the lifting device, wherein the lifting device is a lifting device for lifting the lifting device, wherein the lifting device is a lifting device for lifting the lifting device, wherein the lifting device is a lifting device for lifting the lifting device, wherein the lifting device is a lifting device for lifting the lifting device, wherein the lifting device is a lifting device for lifting the lifting device, wherein the lifting device is a lifting device for lifting the lifting device, wherein the lifting device is a lifting device The loosening shovel of the structure can loosen the soil on both sides of the white radish respectively, the supporting guide plates of the two groups of the clamping and pulling conveying mechanisms can gather the stems and leaves of the white radish, the synchronous belt assemblies of the two groups of the clamping and pulling conveying mechanisms can clamp the gathered stems and leaves of the white radish, and convey the white radish backward in an oblique upward direction to pull out the white radish, and the spacing between the two groups of the clamping and pulling conveying mechanisms is adjustable; the flexible clamping device is arranged on the walking chassis at a position close to the rear ends of the two groups of the clamping and pulling conveying mechanisms, and a fruit collecting box is arranged on the walking chassis at a position close to the rear ends of the flexible clamping device, the cutting device is arranged between the two groups of the clamping and pulling conveying mechanisms and the flexible clamping device, the flexible clamping device is used to clamp the white radish between the synchronous belt assemblies of the two groups of the clamping and pulling conveying mechanisms, and convey it to the cutting device, the cutting device is used to cut off the stems and leaves of the white radish, and the fruit collecting box is used to collect the white radish after the stems and leaves are cut off.

2. The automatic white radish combine harvester according to claim 1, characterized in that: The slide rail includes a support rod, a screw rod, a coupling and a first motor. The support rod is arranged on the bracket and is inclined upward from front to back. One end of the screw rod is rotatably connected to the front end bottom of the support rod, and the other end is rotatably connected to the rear end bottom of the support rod, and is connected to the output end of the first motor through the coupling. The slide table is sleeved on the screw rod, and the first motor can drive the screw rod to rotate to drive the slide table to move along the screw rod.

3. The automatic white radish combine harvester according to claim 2, characterized in that: The bracket is a door-type frame, and the support rod is arranged at the bottom of the crossbeam of the bracket; a slide groove is arranged on the crossbeam of the bracket along its extension direction, and at least two slide grooves are arranged, and the two slide grooves are symmetrically arranged on both sides of the crossbeam of the bracket, and the support rod can be connected to the two slide grooves respectively through two groups of connecting components; the connecting component includes a right-angle connector, a first screw and a second screw, one side of the right-angle connector can be fixedly connected to the top of the support rod by the first screw, and the other side can be fixedly connected to the corresponding slide groove on the crossbeam of the bracket by the second screw.

4. The automatic white radish combine harvester according to claim 2, characterized in that: The synchronous belt assembly includes a driving wheel, a driven wheel, a synchronous belt and a second motor. The driving wheel and the driven wheel are both rotatably connected between the corresponding upper connecting rod and the lower connecting rod. The synchronous belt is sleeved on the driving wheel and the driven wheel, and the driving wheel is connected to the output end of the second motor. The second motor can drive the driving wheel to rotate to drive the synchronous belt to move.

5. The automatic white radish combine harvester according to claim 4, characterized in that: The flexible clamping device includes a single-sided clamping mechanism, which includes a fixed rod, an eight-shaped clamp assembly, a round roller, a soft transmission belt and a third motor. The fixed rod is vertically arranged on the walking chassis; the eight-shaped clamp assembly includes an upper eight-shaped clamp, a lower eight-shaped clamp, a connecting shaft and a fixed clamp, the middle part of the upper eight-shaped clamp is fixedly connected to the middle part of the lower eight-shaped clamp through the connecting shaft, and the connecting shaft is fixedly connected to the fixed rod through the fixing clamp; the round rollers are vertically arranged in four groups, wherein two groups of the round rollers are respectively arranged between the two ends of the upper eight-shaped clamp and the two ends of the lower eight-shaped clamp, and the other two groups of the round rollers are respectively arranged On the walking chassis, near the front and rear sides of the figure-eight clamp assembly; the soft transmission belt is sleeved on the four groups of circular rollers to form a trapezoidal structure, and the circular rollers located at the rear side of the figure-eight clamp assembly are connected to the third motor, and the third motor can drive the corresponding circular rollers to rotate to drive the soft transmission belt to move; the single-sided clamping mechanism is provided with two groups, and the two groups of the single-sided clamping mechanisms are symmetrically arranged on the walking chassis, and the clamping openings of the figure-eight clamp assemblies of the two groups of the single-sided clamping mechanisms are arranged relatively to each other, so that a white radish clamping channel can be formed between the soft transmission belts of the two groups of the single-sided clamping mechanisms.

6. The automatic white radish combine harvester according to claim 5, characterized in that: The cherry cutting device includes a motor bracket, a fourth motor, a saw blade and a saw blade pressure plate. The motor bracket is fixed to the rear ends of the upper connecting rods of the two groups of the clamping and pulling conveying mechanisms. The fourth motor is installed on the motor bracket, and the output end of the fourth motor is set downward. The saw blade is connected to the output end of the fourth motor through the saw blade pressure plate. The fourth motor can drive the saw blade to rotate to cut off the stems and leaves of the white radish.

7. The automatic white radish combine harvester according to claim 6, characterized in that: The walking chassis includes a front wheel assembly, a rear wheel assembly and a frame, and the front wheel assembly and the rear wheel assembly are respectively arranged at the front end and the rear end of the frame to support the frame to move on the ground; the front wheel assembly includes a front wheel, a flange coupling and a fifth motor, and the front wheel is rotatably connected to the front end side of the frame and is connected to the output end of the fifth motor through the flange coupling, and the fifth motor can drive the front wheel to rotate; the front wheel assembly is provided with two groups, and the two groups of front wheel assemblies are respectively arranged on both sides of the front end of the frame; the rear wheel assembly includes two rear wheels, and the two rear wheels are respectively rotatably connected to both sides of the rear end of the frame.

8. The automatic white radish combine harvester according to claim 7, characterized in that: The walking chassis also includes a battery box and a battery pack. The battery box is arranged at the rear end of the frame, and the battery pack is arranged in the battery box; the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all electrically connected to the battery pack.

9. The automatic white radish combine harvester according to claim 1, characterized in that: The tiller shovel comprises a shovel head and a shovel body. The shovel head can be plugged into the shovel body to form a bucket tooth structure. One end of the shovel body away from the shovel head is fixed to the corresponding end of the lower connecting rod.

10. The automatic white radish combine harvester according to claim 1, characterized in that: The support guide plate is an arc-shaped plate, and the support guide plate is hinged to the corresponding end of the upper connecting rod.

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