Traditional Chinese Medicine Harvesting System Based on the Combination of Jet and Vibration

Abstract

The present invention provides a Chinese herbal medicine harvesting system based on the combination of jet and vibration, which relates to the field of Chinese herbal medicine excavation. The system includes a chassis, a traveling mechanism, a transportation mechanism, a vibration mechanism, a jet mechanism and a control component. The longitudinal section of the chassis is a U-shaped groove structure, and the traveling mechanisms are respectively arranged at the bottom ends of the outer walls on both sides of the chassis; the transportation mechanism is arranged between the U-shaped grooves of the chassis and includes two sets of transmission components, a driving wheel and multiple grid bars. The two sets of transmission components are respectively arranged corresponding to the inner walls of the U-shaped grooves of the chassis and include a driving wheel, a guiding wheel and a transmission chain; the vibration mechanism is arranged in the middle of the transportation mechanism and located inside the transmission chain, the jet mechanism is arranged above the chassis corresponding to the vibration mechanism, and the control component is arranged at the rear end of the chassis. This system can carry out vibration-jet soil separation while harvesting Chinese herbal medicine, improve the soil separation efficiency and ensure the root-soil separation effect.

Description

Technical Field

[0001] The present invention relates to the technical field of traditional Chinese medicine excavation, and particularly relates to a traditional Chinese medicine harvesting system based on the combination of jet and vibration. Background Art

[0002] During the excavation of traditional Chinese medicines, such as Panax notoginseng, it is necessary to first use excavation tools such as hoes and shovels to start excavating from the periphery of the medicinal plant and gradually dig deeper towards the root, so as to avoid damaging the root and rhizome of Panax notoginseng during the excavation process, which affects the nutritional value and medicinal value of Panax notoginseng. This excavation method will cause a large amount of soil to adhere to the surface of the root of Panax notoginseng, forming a Panax notoginseng-soil complex; therefore, after the excavation of Panax notoginseng, it is also necessary to perform a cleaning step of separating the root from the soil for the root and rhizome of Panax notoginseng. Currently, the conventional cleaning method is mainly to rinse the root and rhizome of Panax notoginseng with clean water. This method has the following problems: First, the cleaning effect is poor, and some soil will still remain on the root and rhizome of Panax notoginseng after cleaning (due to the various shapes of the root and rhizome of Panax notoginseng, there are many gullies or gaps, and the soil adhering in the gullies or gaps forms a cleaning dead angle, which is not easy to be completely removed by single flushing and will remain inside), resulting in the need for repeated cleaning, which not only wastes pure water resources but also reduces the cleaning efficiency of Panax notoginseng; Second, during the flushing process, the water with impact force will repeatedly act on the surface of the root and rhizome of Panax notoginseng, forming continuous friction on the surface of the root and rhizome of Panax notoginseng, thereby causing the epidermis of the root and rhizome of Panax notoginseng to be damaged, affecting the quality and storage time of Panax notoginseng; Third, the surface of the root and rhizome of Panax notoginseng after flushing is attached with water, and due to the "viscosity" of water, it will adhere to the fallen soil and particulate impurities scattered in the air during the cleaning process again, resulting in the need for two or more cleanings, increasing the cleaning cost and prolonging the cleaning time, and seriously reducing the efficiency of the Panax notoginseng harvesting process. Summary of the Invention

[0003] Aiming at the above problems existing in the prior art, the purpose of the present invention is to provide a traditional Chinese medicine harvesting system based on the combination of jet and vibration. While harvesting and transporting traditional Chinese medicines (especially Panax notoginseng), starting from the physical properties and movement trajectories of the traditional Chinese medicine-soil complex, the root-soil separation of traditional Chinese medicines and soil is realized through the composite process of vibration and jet, and water resources are not used during the cleaning process, thereby effectively saving water resources, saving cleaning costs, and effectively improving the cleaning effect and efficiency.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A traditional Chinese medicine harvesting system based on the combination of jet and vibration, comprising a chassis, a traveling mechanism, a transporting mechanism, a vibrating mechanism, a jetting mechanism and a control component. The longitudinal section of the chassis is a U-shaped groove structure, and traveling mechanisms are respectively arranged at the bottom ends of the outer walls on both sides of the chassis. The traveling mechanism includes multiple groups of traveling brackets and traveling wheels. The traveling wheels are connected to the chassis through the traveling brackets and are rotatably arranged at the bottom ends of the traveling brackets; The transporting mechanism is arranged between the U-shaped grooves of the chassis and includes two groups of transmission components, a driving wheel and multiple grid bars. The two groups of transmission components are respectively arranged corresponding to the inner walls of the U-shaped grooves of the chassis and include a driving wheel, a guiding wheel and a transmission chain. The driving wheel and the corresponding guiding wheel are connected by the transmission chain, and the outer diameter of the driving wheel is larger than that of the guiding wheel (the side of the transmission chain connecting the driving wheel and the guiding wheel is an inclined surface); The two driving wheels are fixedly sleeved on the outer wall of the same rotating rod, the two guiding wheels are fixedly sleeved on the outer wall of the same rotating shaft, and a driving wheel is fixedly sleeved on the outer wall of one end of the rotating rod. Multiple grid bars are evenly distributed between the two transmission chains; The vibrating mechanism is arranged in the middle of the transporting mechanism and is located inside the transmission chain. The jetting mechanism is arranged above the chassis corresponding to the vibrating mechanism, and the control component is arranged at the rear end of the chassis.

[0006] Based on the further optimization of the above scheme, the vibrating mechanism includes a vibrating shaft, a vibrating cam, a transmission gear and a photoelectric sensor. The two ends of the vibrating shaft are respectively rotatably connected to the side walls on both sides of the chassis, and one end of the vibrating shaft penetrates through the corresponding side wall on one side and is fixedly sleeved with the transmission gear. The vibrating shaft is located on the outer wall between the two transmission chains and is fixedly sleeved with the vibrating cam corresponding to the grid bars; The photoelectric sensor is arranged on the inner wall of one side of the chassis and is located above the grid bars on the inclined surface.

[0007] In order to ensure the stability of the two vibrating cams, based on the further optimization of the above scheme, the two vibrating cams are connected by a connecting rod.

[0008] Based on the further optimization of the above scheme, the jetting mechanism includes a jetting frame, a nozzle and an air pipe. The longitudinal section of the jetting frame is a portal structure, and its bottom ends are respectively fixedly connected to the side walls of the U-shaped grooves of the chassis. The jetting frame is vertically arranged with the inclined surface of the transmission chain, and multiple nozzles are evenly arranged on the cross beam of the jetting frame; An air pipe is arranged on one side of the jetting frame, and the air pipe is respectively communicated with multiple nozzles. An electromagnetic valve is arranged between the air pipe and the nozzle (the opening and closing of the nozzle are controlled by the electromagnetic valve).

[0009] Based on further optimization of the above solution, the control component is fixedly arranged on the end face of the placement platform at the rear end of the chassis, and the control component includes a transportation controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transportation controller includes a transportation motor, a driving gear and a driving chain. The output shaft of the transportation motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel through the driving chain. The vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear through the vibration chain. The output end of the high-pressure air pump is communicated with one end of the air pipe far away from the air jet frame. The control motor, transportation motor, vibration motor, photoelectric sensor, high-pressure air pump, solenoid valve and PID controller of the walking wheel are all electrically connected to the industrial computer.

[0010] Based on further optimization of the above solution, the specific steps for the harvesting system to harvest Chinese medicinal materials are as follows:

[0011] Step A: Move the entire harvesting system to the Chinese medicinal material harvesting position through the walking mechanism, start the operation of the transportation mechanism, and gradually place the excavated Chinese medicinal material complex at the bottom of the inclined plane of the transportation mechanism. The Chinese medicinal material complex moves upward gradually through the transmission of the transportation mechanism.

[0012] Step B: When the Chinese medicinal material complex is transmitted to the soil removal area, start the vibration mechanism to vibrate the Chinese medicinal material complex, and monitor the motion state of the moving Chinese medicinal material complex through the photoelectric sensor and use the PID controller to adjust the vibration, so that the Chinese medicinal material complex reaches the optimal motion posture.

[0013] Step C: During the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, start the air jet mechanism to peel off the soil and the Chinese medicinal materials.

[0014] Based on further optimization of the above solution, the specific content of Step A is as follows:

[0015] Step A1: In the stationary state of the transportation mechanism, to ensure the normal placement of the Chinese medicinal material complex between the grid bars without getting stuck between adjacent grid bars or rolling off the grid bars, and at the same time ensure the soil screening efficiency;

[0016] First, through the collection and research of the volume sizes of a large number of similar Chinese medicinal material complexes, set the width threshold of the Chinese medicinal material complex, and limit the distance between adjacent two grid bars according to the width threshold;

[0017] Then, design the angle of the transmission chain:

[0018]

[0019] In the formula: F represents the force exerted by the grid bar on the Chinese medicinal material complex; mgRepresents the self - gravity of the traditional Chinese medicine complex; Represents the angle between the transmission chain and the horizontal plane;

[0020] When it can ensure the stable operation of the traditional Chinese medicine complex on the transmission chain;

[0021] Step A2. During the process of starting the operation of the transmission chain, the traditional Chinese medicine complex is transported obliquely upward on the section of the transmission chain. When the grid bars are not vibrating, the forces acting on the traditional Chinese medicine complex (ignoring the influence of air resistance) are:

[0022]

[0023] In the formula: m 1 Represents the mass of the traditional Chinese medicine complex when the transmission chain is not vibrating; Represents the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 Represents the frictional force between the traditional Chinese medicine complex and the grid bars when the transmission chain is not vibrating; a x1 Represents the tangential acceleration of the traditional Chinese medicine complex when the transmission chain is not vibrating; F N1 Represents the supporting force of the working surface on the traditional Chinese medicine complex when the transmission chain is not vibrating; a y1 Represents the normal acceleration of the traditional Chinese medicine complex when the transmission chain is not vibrating;

[0024] Taking the movement direction of the transmission chain as the positive direction, when the traditional Chinese medicine complex can move normally on the transportation mechanism.

[0025] Based on the further optimization of the above - mentioned scheme, the specific content of step B is as follows:

[0026] Step B1. In order to meet the requirement of vibrating and removing soil from the traditional Chinese medicine complex, it is necessary to transport the traditional Chinese medicine complex obliquely upward on the section of the transmission chain. Under the action of the vibration cam on the transmission chain, the grid bars perform reciprocating jumps perpendicular to the working surface of the transmission chain on the traditional Chinese medicine complex. The conditions are:

[0027]

[0028] Step B2. After the traditional Chinese medicine complex jumps due to vibration, in order to ensure that the traditional Chinese medicine complex can be transported normally while vibrating, prevent the traditional Chinese medicine complex from falling downward due to vibration, and at the same time ensure that the vibration mechanism throws the traditional Chinese medicine complex to a suitable position; under the vibration condition, the grid bars are affected by the vibration mechanism, and their cross-sectional shapes are approximately in a broken line state, and the moving directions of the grid bars change accordingly; as the vibration intensifies, the acting force of the grid bars on the traditional Chinese medicine complex increases, and the movement of the traditional Chinese medicine complex intensifies. To meet the requirement of vibration for soil removal, the conditions are as follows:

[0029]

[0030] In the formula: m 2 represents the mass of the traditional Chinese medicine complex under the vibration condition; represents the angle between the vibrating grid bar section and the horizontal plane under the vibration condition; F S2 represents the frictional force between the traditional Chinese medicine complex and the grid bars in the broken line state of the transmission chain; a x2 represents the tangential acceleration of the traditional Chinese medicine complex in the broken line state of the transmission chain; F N2 represents the supporting force of the working surface on the traditional Chinese medicine complex in the broken line state of the transmission chain; a y2 represents the normal acceleration of the traditional Chinese medicine complex in the broken line state of the transmission chain;

[0031] When is satisfied, the traditional Chinese medicine complex will not fall and will be thrown to the soil removal position of the air jet mechanism following the vibration mechanism;

[0032] Step B3. After the traditional Chinese medicine complex makes normal vibration jumps, the movement of the traditional Chinese medicine complex is monitored by an optoelectronic sensor. The installation and monitoring height of the optoelectronic sensor L is:

[0033]

[0034] That is L The setting range of

[0035] In the formula: L H represents the height threshold, that is, when the traditional Chinese medicine is higher than this height, it will be damaged; v represents the speed when the complex leaves the grid bars; h represents the maximum jitter height of the grid bars;

[0036] During the monitoring of the optoelectronic sensor, the PID controller synchronously adjusts: when the traditional Chinese medicine complex does not reach the optimal height, the vibration mechanism is adjusted to increase the frequency, so that the traditional Chinese medicine complex is further thrown up to reach the predetermined height; conversely, by adjusting the vibration mechanism to reduce the frequency, the throwing height of the traditional Chinese medicine complex is reduced to complete the PID closed-loop control.

[0037] Based on the further optimization of the above scheme, the specific PID closed-loop control method is as follows:

[0038] First, the proportional coefficient K p , integral coefficient K i and differential coefficient K d of the PID controller are respectively defined, and a target distance value setpoint (the target distance value can be set as the distance within the measurement range of the optoelectronic sensor) is preset; then, the PID controller continuously monitors and adjusts the rotation speed of the motor. In each iteration of the main loop, the distance data of the optoelectronic sensor is read by calling read_sensor() function and assigned to measured_value , where read_sensor() function simulates obtaining distance data from the optoelectronic sensor (in practical applications, this function will read physical signals, such as analog voltages, and convert them into percentages or other distance-related units; here, it is assumed to return a value between the nearest distance of 0 and the farthest distance of 100); the PID controller calculates the error error for each cycle:

[0039]

[0040] and obtains the output value output through the error value:

[0041]

[0042] In the formula: previous_error represents the previous error value;

[0043] Subsequently, set_motor_speed is used to convert the output value output of the PID controller into a control signal for the motor speed. Among them, output = 0 indicates that the motor stops running, and output = 100 indicates that the motor runs at the maximum speed (that is, the size of output determines the percentage of the motor speed);

[0044] Finally, previous_error is updated, that is, the current error is assigned to previous_error, to provide a reference for the next cycle; during the loop iteration process, the execution frequency of the loop is controlled by setting a delay program;

[0045] The main loop continuously repeats the above process, monitors the sensor data once per second, calculates the PID control output, and adjusts the rotational speed of the motor to keep the system at the target distance.

[0046] Based on further optimization of the above solution, in step C, the nozzle of the jet mechanism needs to have a certain angle and peeling force to peel the soil from the Chinese medicinal materials and achieve the best separation effect; among them, the nozzle angle includes the horizontal angle (i.e., the angle between the nozzle and the horizontal plane) and the vertical angle (i.e., the angle between the nozzle and the plane of the jet frame):

[0047]

[0048] In the formula: H represents the distance between the end of the nozzle and the transmission chain; S represents the distance between the Chinese medicinal material complex and the end of the nozzle;

[0049] At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F p is:

[0050]

[0051]

[0052] In the formula: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, that is, the degree of attenuation of the ejected gas affected by the environment; t represents the time from the gas ejected from the nozzle to acting on the Chinese medicinal material complex; F f represents the adhesion force between the soil and the Chinese medicinal materials;

[0053] That is, the gas ejected from the nozzle separates the soil at an initial pressure of F 0 .

[0054] Based on further optimization of the above solution, the adhesion force between the soil and the Chinese medicinal materials F f is obtained through a pre-calibration experiment, specifically:

[0055] Plant Chinese medicinal materials of different shapes in containers filled with soil, and use the clamping device of a universal mechanical testing machine to clamp the part of the Chinese medicinal materials exposed from the soil, apply a vertical pulling force to pull out the Chinese medicinal materials until they are completely separated from the soil, and record the maximum pulling force during the pulling process F lmax-I ; I = 1, 2, …, N, indicating that the Chinese medicinal materials with N groups of different shapes are tested, then:

[0056]

[0057] In the formula: represents the standard deviation of the maximum tensile force of Chinese medicinal materials with different shapes; the preset standard deviation threshold , if , then the two values farthest from the mean value of the maximum tensile force are removed, and the calculation is performed again, and this is repeated iteratively until , and the mean value of the maximum tensile force at this time is the adhesion force between the soil and the Chinese medicinal materials F f .

[0058] The following are the technical effects of the solution of the present invention:

[0059] In the present application, while harvesting and transporting Chinese medicinal materials through the transportation mechanism, starting from the characteristics of the complex composed of Chinese medicinal materials and soil and the movement trajectory composed of the transmission chain and the grid bars, the vibration mechanism is used to throw up the transported complex of Chinese medicinal materials, and while the complex of Chinese medicinal materials is thrown up, the jet mechanism is used to eject high-pressure gas, so as to blow away the soil adhering to the rhizome part of the Chinese medicinal materials. The transportation mechanism, the vibration mechanism, and the jet mechanism are used in cooperation to separate the Chinese medicinal materials from the soil. First, it is not necessary to use water resources for cleaning and separating the Chinese medicinal materials, effectively saving water resources and separation costs; second, by using the cooperation of vibration and jet, the soil adhering to the surface of the Chinese medicinal materials (especially in the grooves and gaps) can be effectively shaken off and separated, with good separation effect and high efficiency, and there is no need to perform repeated cleaning and separation, effectively avoiding the damage to the epidermis of the Chinese medicinal materials caused by multiple separations; third, the blown soil falls through the gaps between the grid bars, thus effectively avoiding the secondary adhesion of the soil to the surface of the Chinese medicinal materials, improving the effectiveness of separation, and further improving the separation efficiency and effect. Description of the Drawings

[0060] Figure 1 is the overall structural schematic diagram of the harvesting system in the embodiment of the present invention.

[0061] Figure 2 is the structural schematic diagram of the transportation mechanism and the vibration mechanism of the harvesting system in the embodiment of the present invention.

[0062] Figure 3 is the structural schematic diagram of the jet mechanism of the harvesting system in the embodiment of the present invention.

[0063] Figure 4 is the flow chart of the PID control in the embodiment of the present invention.

[0064] Figure 5 ​It is a flowchart of the vibration-jet combined soil removal of the harvesting system in the embodiment of the present invention.

[0065] Among them, 10 is the chassis; 20 is the traveling mechanism; 30 is the transportation mechanism; 311 is the driving wheel; 312 is the guide wheel; 313 is the transmission chain; 32 is the drive wheel; 33 is the grid bar; 40 is the vibration mechanism; 41 is the vibration shaft; 42 is the vibration cam; 43 is the transmission gear; 44 is the photoelectric sensor; 50 is the jet mechanism; 51 is the jet frame; 52 is the nozzle; 53 is the air pipe; 60 is the control component. Specific embodiments

[0066] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0067] Embodiment 1:

[0068] A traditional Chinese medicine harvesting system based on the combination of jet and vibration includes a chassis 10, a traveling mechanism 20, a transportation mechanism 30, a vibration mechanism 40, a jet mechanism 50 and a control component 60 (as Figure 1 shown). The longitudinal section of the chassis 10 is a U-shaped groove structure, and the traveling mechanisms 20 are respectively arranged at the bottom ends of the outer walls on both sides of the chassis 10. The traveling mechanism 20 includes multiple groups of traveling brackets and traveling wheels (as Figure 1 shown. In this embodiment, three traveling wheels are arranged on one side of the chassis 10, and a total of six traveling wheels are arranged). The traveling wheels are connected to the chassis 10 through the traveling brackets and are rotatably arranged at the bottom ends of the traveling brackets; the transportation mechanism 30 is arranged between the U-shaped grooves of the chassis 10 and includes two groups of transmission components, a drive wheel 32 and multiple grid bars 33. The two groups of transmission components are respectively arranged corresponding to the inner walls of the U-shaped grooves of the chassis 10 and include a driving wheel 311, a guide wheel 312 and a transmission chain 313 (as Figure 2 shown). The driving wheel 311 and the corresponding guide wheel 312 are connected by a transmission chain 313, and the outer diameter of the driving wheel 311 is larger than the outer diameter of the guide wheel 312 (so that one side of the transmission chain 313 connecting the driving wheel 311 and the guide wheel 3130 is an inclined surface, as Figure 2 shown); the two driving wheels 311 are fixedly sleeved on the outer wall of the same rotating rod, and the two guide wheels 312 are fixedly sleeved on the outer wall of the same rotating shaft (as Figure 2 shown, the rotating shaft and the rotating rod are parallel to each other). One end of the outer wall of the rotating rod is fixedly sleeved with the drive wheel 32, and multiple grid bars 33 are evenly distributed between the two transmission chains 313 (as Figure 2 shown, the multiple grid bars 33 are parallel to the rotating rod). The vibration mechanism 40 is arranged in the middle of the transportation mechanism 30 and is located inside the transmission chain 313 (as Figure 2As shown, that is, the vibration mechanism 40 is located within the inner circle surrounded by the grid bars 33. The vibration mechanism 40 includes a vibration shaft 41, a vibration cam 42, a transmission gear 43, and a photoelectric sensor 44. Both ends of the vibration shaft 41 are rotatably connected to the side walls on both sides of the chassis 10, and one end of the vibration shaft 41 penetrates through the corresponding side wall on one side and is fixedly sleeved with the transmission gear 43 (the vibration shaft 41 and the rotating rod are parallel to each other). The vibration shaft 41 is located on the outer wall between the two transmission chains 313 and is fixedly sleeved with the vibration cam 42 corresponding to the grid bars 33. The two vibration cams 42 are connected by a connecting rod (as Figure 2 shown); the photoelectric sensor 44 is arranged on the inner wall of one side of the chassis 10 and is located above the grid bars 33 on the inclined plane. The jetting mechanism 50 is arranged above the chassis 10 corresponding to the vibration mechanism 40. The jetting mechanism 50 includes a jetting frame 51, a nozzle 52, and an air pipe 53 (as Figure 3 shown). The longitudinal section of the jetting frame 51 is a portal structure, and its bottom end is fixedly connected to the side walls of the U-shaped groove of the chassis 10 (as Figure 1 shown). The jetting frame 51 is perpendicular to the inclined plane of the transmission chain 313, and a plurality of nozzles 52 are evenly arranged on the cross beam of the jetting frame 51 (the number of nozzles 52 is set according to the actual situation, see Figure 3 shown. In this embodiment, two rows are set, and each row contains 7 nozzles 52); an air pipe 53 is arranged on one side of the jetting frame 51, and the air pipe 53 is respectively communicated with a plurality of nozzles 52. An electromagnetic valve is arranged between the air pipe 53 and the nozzle 52 (the opening and closing of the nozzle 52 are controlled by the electromagnetic valve). The control component 60 is arranged at the rear end of the chassis 10. The control component 60 is fixedly arranged on the end face of the placement platform at the rear end of the chassis 10, and the control component 60 includes a transportation controller, a vibration controller, a high-pressure air pump, an industrial computer, and a PID controller. The transportation controller includes a transportation motor, a driving gear, and a driving chain. The output shaft of the transportation motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel 32 through the driving chain; the vibration controller includes a vibration motor, a vibration gear, and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear 43 through the vibration chain; the output end of the high-pressure air pump is communicated with one end of the air pipe 53 away from the jetting frame 51; the control motor of the walking wheel, the transportation motor, the vibration motor, the photoelectric sensor 44, the high-pressure air pump, the electromagnetic valve, and the PID controller are all electrically connected to the industrial computer.

[0069] The specific steps for the harvesting system to harvest Chinese medicinal materials are as follows:

[0070] Step A: Move the entire harvesting system to the Chinese medicinal material harvesting position through the walking mechanism, start the operation of the transportation mechanism, and gradually place the excavated Chinese medicinal material complex at the bottom of the inclined plane of the transportation mechanism. The Chinese medicinal material complex moves upward step by step through the transmission of the transportation mechanism; specifically:

[0071] Step A1. When the transport mechanism is in a stationary state, to ensure the normal placement of the Chinese medicinal material complex between the grid bars without getting stuck between adjacent grid bars or rolling off the grid bars, and at the same time ensure the efficiency of soil screening;

[0072] First, through the collection and research of the volume sizes of a large number of similar Chinese medicinal material complexes, set the width threshold of the Chinese medicinal material complex, and limit the distance between two adjacent grid bars according to the width threshold;

[0073] Then, design the angle of the drive chain:

[0074]

[0075] In the formula: F represents the force exerted by the grid bar on the Chinese medicinal material complex; mg represents the self - gravity of the Chinese medicinal material complex; represents the angle between the drive chain and the horizontal plane;

[0076] When , it can ensure the stable operation of the Chinese medicinal material complex on the drive chain;

[0077] Step A2. During the process of starting the operation of the drive chain, the Chinese medicinal material complex is transported obliquely upward on the cross - section of the drive chain. When the grid bars are not vibrating, the forces acting on the Chinese medicinal material complex (ignoring the influence of air resistance) are:

[0078]

[0079] In the formula: m 1 represents the mass of the Chinese medicinal material complex when the drive chain is not vibrating; represents the angle between the drive chain and the horizontal plane when the drive chain is not vibrating; F S1 represents the frictional force between the Chinese medicinal material complex and the grid bars when the drive chain is not vibrating; a x1 represents the tangential acceleration of the Chinese medicinal material complex when the drive chain is not vibrating; F N1 represents the supporting force of the working surface on the Chinese medicinal material complex when the drive chain is not vibrating; a y1 represents the normal acceleration of the Chinese medicinal material complex when the drive chain is not vibrating;

[0080] Taking the movement direction of the drive chain as the positive direction, when , the Chinese medicinal material complex can move normally on the transport mechanism.

[0081] Step B: After the traditional Chinese medicine complex is transported to the soil removal area, start the vibration mechanism to vibrate the traditional Chinese medicine complex, and monitor the motion state of the moving traditional Chinese medicine complex through a photoelectric sensor and use a PID controller to adjust the vibration so that the traditional Chinese medicine complex reaches the optimal motion posture; specifically:

[0082] Step B1: To meet the requirements of vibrating and removing soil from the traditional Chinese medicine complex, the traditional Chinese medicine complex needs to be conveyed obliquely upward at the cross-section of the transmission chain. Under the action of the vibration cam on the transmission chain, the grid bars perform reciprocating jumps perpendicular to the working surface of the transmission chain on the traditional Chinese medicine complex. The conditions are:

[0083]

[0084] Step B2: After the traditional Chinese medicine complex realizes jumping due to vibration, to ensure that the traditional Chinese medicine complex can be transported normally while vibrating, prevent the traditional Chinese medicine complex from falling downward due to vibration, and at the same time ensure that the vibration mechanism throws the traditional Chinese medicine complex to a suitable position; under the vibration condition, the grid bars are affected by the vibration mechanism, and their cross-sectional shape is approximately in a broken line state, and the movement direction of the grid bars changes accordingly; as the vibration intensifies, the force exerted by the grid bars on the traditional Chinese medicine complex increases, and the movement of the traditional Chinese medicine complex intensifies. To meet the requirements of vibrating and removing soil, the conditions are:

[0085]

[0086] In the formula: m 2 represents the mass of the traditional Chinese medicine complex under the vibration condition; represents the angle between the vibrating grid bar section and the horizontal plane under the vibration condition; F S2 represents the frictional force between the traditional Chinese medicine complex and the grid bars in the broken line state of the transmission chain; a x2 represents the tangential acceleration of the traditional Chinese medicine complex in the broken line state of the transmission chain; F N2 represents the supporting force of the working surface on the traditional Chinese medicine complex in the broken line state of the transmission chain; a y2 represents the normal acceleration of the traditional Chinese medicine complex in the broken line state of the transmission chain;

[0087] When is satisfied, the traditional Chinese medicine complex will not fall and will be thrown to the soil removal position of the air jet mechanism following the vibration mechanism;

[0088] Step B3: After the traditional Chinese medicine complex performs normal vibrating jumps, monitor the movement of the traditional Chinese medicine complex through a photoelectric sensor. The installation and monitoring height of the photoelectric sensor L is:

[0089]

[0090] That is L The setting range of is:

[0091] Wherein: L H represents the height threshold, that is, when the traditional Chinese medicine is higher than this height, it will be damaged; v represents the speed when the composite body leaves the grid bar; h represents the maximum jitter height of the grid bar;

[0092] During the monitoring process of the photoelectric sensor, the PID controller synchronously adjusts: when the traditional Chinese medicine composite body does not reach the optimal height, the vibration mechanism is adjusted to increase the frequency, so that the traditional Chinese medicine composite body is further thrown up to reach the predetermined height; otherwise, the vibration mechanism is adjusted to reduce the frequency, so that the throwing height of the traditional Chinese medicine composite body is reduced, and the PID closed-loop control is completed:

[0093] First, the proportional coefficient of the PID controller is defined respectively K p , the integral coefficient K i and the differential coefficient K d , and a target distance value setpoint (the target distance value can be set as the distance within the measurement range of the photoelectric sensor); then, the PID controller continuously monitors and adjusts the rotational speed of the motor. In each iteration of the main loop, the distance data of the photoelectric sensor is read by calling read_sensor() function and assigned to measured_value , where read_sensor() function simulates obtaining distance data from the photoelectric sensor (in practical applications, this function will read physical signals, such as analog voltages, and convert them into percentages or other distance-related units; here, it is assumed to return a value between the nearest distance of 0 and the farthest distance of 100; for actual hardware, sensor data acquisition may require an ADC to interpret the signal in a usable form); the PID controller calculates the error error in each cycle:

[0094]

[0095] and obtains the output value output through the error value:

[0096]

[0097] Wherein: previous_error represents the previous error value;

[0098] Subsequently, set_motor_speed (in practical applications, this function can be used to convert the output value of the PID controller into a control signal for the motor speed through a PWM signal or a digital control interface. Here, output = 0 indicates that the motor stops running, and output = 100 indicates that the motor runs at the maximum speed (i.e., the magnitude of output determines the percentage of the motor speed));

[0099] Finally, update previous_error , that is, assign the current error to previous_error, for reference in the next cycle; during the loop iteration process, the execution frequency of the loop is controlled by setting a delay program;

[0100] The main loop continuously repeats the above process, monitors the sensor data once per second, calculates the PID control output, and adjusts the motor speed to keep the system at the target distance.

[0101] Step C: During the vibration process, after the traditional Chinese medicine complex reaches the optimal motion posture, start the air jet mechanism to peel the soil from the traditional Chinese medicine;

[0102] Among them, the nozzle of the air jet mechanism needs to be at a certain angle and with a peeling force to peel the soil from the traditional Chinese medicine to achieve the best separation effect; the nozzle angle includes the horizontal angle (i.e., the angle between the nozzle and the horizontal plane) and the vertical angle (i.e., the angle between the nozzle and the plane of the air jet frame):

[0103]

[0104] In the formula: H represents the distance between the nozzle end and the transmission chain; S represents the distance between the traditional Chinese medicine complex and the nozzle end;

[0105] Meanwhile, the contact force F p between the gas ejected from the nozzle and the traditional Chinese medicine complex is:

[0106]

[0107]

[0108] In the formula: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, that is, the degree of attenuation of the ejected gas affected by the environment; t represents the time from the gas ejected from the nozzle to acting on the traditional Chinese medicine complex; F fIndicates the adhesion force between the soil and the Chinese medicinal materials, which is obtained through a pre-calibrated experiment. Specifically:

[0109] Plant Chinese medicinal materials of different shapes in a container filled with soil, and use the clamping device of a universal mechanical testing machine to clamp the part of the Chinese medicinal materials exposed from the soil, apply a vertical pulling force to pull out the Chinese medicinal materials until they are completely separated from the soil, and record the maximum pulling force during the pulling process F lmax-I ; I = 1, 2, …, N , indicating that there are N groups of Chinese medicinal materials of different shapes for testing, then:

[0110]

[0111] In the formula: Indicates the standard deviation of the maximum pulling force of Chinese medicinal materials of different shapes; the preset standard deviation threshold , if , then eliminate the two values farthest from the mean value of the maximum pulling force , and calculate again, and repeat this iteration until (eliminating the large pulling force generated by Chinese medicinal materials with very irregular shapes through the above method to avoid the large pulling force generated by very irregular shapes from affecting the accuracy of obtaining the soil adhesion force), and the mean value of the maximum pulling force at this time Is the adhesion force between the soil and the Chinese medicinal materials F f ;

[0112] That is, the gas sprayed by the nozzle separates the soil at an initial pressure of F 0 .

[0113] Example 2:

[0114] As another preferred embodiment of the present invention, after completing the separation operation of the Chinese medicinal materials and the soil, in order to ensure the cleanliness of the entire equipment, on the basis of the solution of Example 1, the harvesting system can also perform self-cleaning. Specifically:

[0115] After completing the root-soil separation operation, a certain amount of soil will adhere to the grid bars. First, obtain the adhesion force between the soil and the grid bars through research on the physical properties of the soil and the grid bars F t , F t Obtained through a pre-calibrated experiment. Specifically: Place the grid bars horizontally in the soil, and apply a vertical pulling force to the grid bars through the clamping device of a universal mechanical testing machine, pull the grid bars out of the soil until they are completely separated from the soil, and record the maximum pulling force during the pulling process F Lmax-I , I = 1, 2, …, N, it means that N groups of grid bars are used for testing, then:

[0116]

[0117] After that, after completing the root-soil separation operation, the jet mechanism and the vibration mechanism are controlled by an industrial computer to operate under predetermined conditions, specifically:

[0118]

[0119] In the formula: P It represents the self-cleaning power of the jet structure of the harvesting system; P H It represents the maximum power of the high-pressure pump; F c It represents the self-cleaning force of the harvesting system; f It represents the frequency at which the transmission chain vibrates normally without damage; f t It represents the frequency required for the soil to be peeled off from the grid bars; f 0 It represents the vibration frequency of the vibration mechanism;

[0120] Through the vibration of the grid bars and the jetting of the nozzles, when the force of the nozzles on the soil on the grid bars is greater than the soil adhesion force and the vibration frequency of the grid bars is greater than the frequency required for the soil to be peeled off from the grid bars, the self-cleaning of the soil peeled off from the grid bars is achieved without damaging the equipment.

Claims

1. A Chinese medicinal material harvesting device based on the combination of air jet and vibration, characterized in that: It includes a chassis, a walking mechanism, a transportation mechanism, a vibration mechanism, an injection mechanism and a control component. The longitudinal section of the chassis is a U-shaped groove structure and the walking mechanisms are respectively arranged at the bottom ends of the outer walls on both sides of the chassis. The walking mechanism includes multiple groups of walking brackets and walking wheels. The walking wheels are connected to the chassis through the walking brackets and the walking wheels are rotatably arranged at the bottom ends of the walking brackets; the transportation mechanism is arranged between the U-shaped grooves of the chassis, including two groups of transmission components, driving wheels and multiple bars. The two groups of transmission components are respectively arranged corresponding to the inner walls of the U-shaped grooves of the chassis, including driving wheels, guide wheels and transmission chains. The driving wheels are connected to the corresponding guide wheels through transmission chains and the outer diameter of the driving wheels is larger than the outer diameter of the guide wheels; the two driving wheels are fixedly sleeved on the outer wall of the same rotating rod, the two guide wheels are fixedly sleeved on the outer wall of the same rotating shaft, the outer wall of one end of the rotating rod is fixedly sleeved on the driving wheel, and the multiple bars are evenly distributed between the two transmission chains; the vibration mechanism is arranged in the middle of the transportation mechanism and is located on the inner circle of the transmission chain, the injection mechanism is arranged above the chassis corresponding to the vibration mechanism, and the control component is arranged at the rear end of the chassis; The vibration mechanism includes a vibration shaft, a vibration cam, a transmission gear and a photoelectric sensor. The two ends of the vibration shaft are rotatably connected to the two side walls of the chassis respectively, and one end of the vibration shaft passes through the corresponding side wall on one side and is fixedly sleeved with the transmission gear. The vibration shaft is located on the outer wall between the two transmission chains and is fixedly sleeved with the vibration cam on the corresponding grid bar; the photoelectric sensor is arranged on the inner wall of one side of the chassis and is located on the upper side of the grid bar on the inclined surface; The jet mechanism includes a jet frame, a nozzle and an air pipe. The longitudinal section of the jet frame is a door-shaped structure and the bottom end thereof is fixedly connected to the side walls of the U-shaped groove of the chassis. The jet frame is vertically arranged with the inclined surface of the transmission chain and a plurality of nozzles are evenly arranged on the crossbeam of the jet frame. An air pipe is arranged on one side of the jet frame and the air pipe is connected to the plurality of nozzles respectively, and an electromagnetic valve is arranged between the air pipe and the nozzle. The control component is fixedly arranged on the end surface of the placement platform at the rear end of the chassis and includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transport controller includes a transport motor, a driving gear and a driving chain. The output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel through the driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear through the vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe away from the jet frame; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer; The specific steps of harvesting Chinese medicinal materials by the harvesting device are as follows: Step A, moving the entire harvesting system to the Chinese medicinal material harvesting position through the walking mechanism, starting the operation of the transport mechanism, and gradually placing the excavated Chinese medicinal material complex at the bottom of the slope of the transport mechanism, and the Chinese medicinal material complex is gradually moved upward through the transmission of the transport mechanism; Step B, after the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by a photoelectric sensor, and the vibration is adjusted by a PID controller, so that the Chinese medicinal material complex reaches the soil removal position; Step C: During the vibration process, after the Chinese medicinal material complex reaches the soil removal position, the jet mechanism is started to peel off the soil and the Chinese medicinal materials.

2. The Chinese medicinal material harvesting device based on the combination of air jet and vibration according to claim 1, characterized in that: The step A is specifically as follows: Step A1, when the transport mechanism is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars and does not get stuck between adjacent bars or roll off the bars, and to ensure the efficiency of soil screening; Firstly, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent bars is limited according to the width threshold; Then, design the angle of the transmission chain: Where: F It represents the force of the bars on the TCM complex; mg It represents the self-weight of the TCM complex; Indicates the angle between the transmission chain and the horizontal plane; when When the Chinese medicinal materials complex is in motion, it can ensure the stable operation of the transmission chain; Step A2: During the process of starting the transmission chain, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain. When the bars are not vibrated, the force on the Chinese medicinal material complex is: Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain is not vibrating; Indicates the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 It indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is not vibrating; a x1 It indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; F N1 It indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is not vibrating; a y1 It represents the normal acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; Taking the moving direction of the transmission chain as the positive direction, when When transported, the Chinese medicinal materials complex can move normally on the transport mechanism.

3. The Chinese medicinal material harvesting device based on the combination of air jet and vibration according to claim 2, characterized in that: The step B is specifically as follows: Step B1: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cross section of the transmission chain, and under the action of the vibration cam on the transmission chain, the grid bars realize the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain, and the conditions are: Step B2: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the fence bars are acted upon by the vibration mechanism, and the cross-sectional shape thereof is approximately a broken line state, and the movement direction of the fence bars changes accordingly; as the vibration intensifies, the force of the fence bars on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are: Where: m 2 represents the mass of the Chinese medicinal material complex under vibration conditions; It indicates the angle between the vibration grid segment and the horizontal plane under vibration conditions; F S2 Indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is in a broken line state; a x2 It indicates the tangential acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; F N2 Indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; When satisfied When the Chinese medicinal material complex is used, it will not fall and will be thrown to the soil removal position of the jet mechanism along with the vibration mechanism; Step B3: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L for: Right now L The setting range is: Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; v represents the speed of the complex when it leaves the bars; h Indicates the maximum shaking height of the grid bar; During the monitoring process of the photoelectric sensor, the PID controller is synchronously regulated: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by regulating the vibration mechanism, so that the Chinese medicinal material complex is further thrown up to reach the predetermined height; On the contrary, the vibration mechanism is adjusted to reduce the frequency, thereby reducing the height of the Chinese medicinal material complex, thereby completing PID closed-loop control.

4. The Chinese medicinal material harvesting device based on the combination of air jet and vibration according to claim 3, characterized in that: In step C, the nozzle of the jet mechanism needs to separate the soil from the Chinese medicinal materials to achieve a separation effect; wherein the nozzle angle includes a horizontal angle and vertical angle : Where: H represents the distance between the nozzle end and the transmission chain; S represents the distance between the Chinese medicinal material complex and the nozzle end; At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F p for: Where: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; t It indicates the time from when the gas is ejected from the nozzle to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials; The gas ejected from the nozzle is F Soil separation is performed with an initial pressure of 0.

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