Self-propelled intelligent ginger combine harvester

Abstract

The invention relates to a self-propelled intelligent ginger combine harvester which comprises a gathering automatic guide device, a vibration excavating and soil shaking device, an intelligent clamping and conveying device, a floating type flexible soil cleaning and impurity removing device, a stem cutting and seedling throwing device, a collecting and discharging device and an automatic speed regulating system. The deflection angle is monitored in real time, the deviation rectifying action is completed, and intelligent auxiliary driving is achieved; the vibration digging and soil shaking device digs the ginger, shakes soil and removes impurities; the intelligent clamping and conveying device conveys the ginger to the inclined upper part, the feeding amount is dynamically monitored, and intelligent speed regulation is realized; the floating soil cleaning and impurity removing device is used for flexibly removing soil of the ginger bulbs; the stem cutting and seedling slinging device transversely conveys the ginger plants to complete stem cutting and seedling slinging; the collecting and discharging device can dynamically detect the weight of the ginger in the collecting frame and quantitatively and automatically complete discharging; the ginger harvester is low in breakage rate, high in mechanization and intelligence degree, high in universality and adaptability and capable of meeting different ginger harvesting conditions.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery equipment, and in particular to a self-propelled intelligent ginger combine harvester. Background Art

[0002] As an important cash crop in my country, ginger has a large planting area, high yield and good economic benefits. Traditional ginger harvesting mainly relies on manual labor, which is labor-intensive, inefficient and costly, and can hardly meet the needs of ginger industrialization development; the existing ginger harvesting machinery has a single function, high crushing rate and poor adaptability. In the face of ever-changing market demand and increasingly severe labor shortage problems, it is particularly important to develop a ginger combine harvester with high efficiency, low loss and high intelligence; the self-propelled intelligent ginger combine harvester has the advantages of high efficiency, high automation and intelligence, and is the development trend of ginger harvesting machinery. Summary of the invention

[0003] In view of the deficiencies of the prior art, the present invention provides a self-propelled intelligent ginger combine harvester, which can realize the one-time completion of the operations of gathering and guiding ginger, vibrating excavation and shaking soil, intelligent clamping and conveying, flexible soil and weed removal, stem cutting and seedling throwing, container collection, intelligent weighing, quantitative unloading, automatic deviation correction and automatic speed regulation. The machine can intelligently monitor the mechanism operating parameters such as the harvesting and feeding amount of ginger and the driving deviation of the whole machine through sensors, and then feedback and adjust the parameters of each key mechanism, which can be applied to different operating conditions and meet the harvesting agronomic requirements of different ginger, with low damage rate and breakage rate, high mechanization and intelligence, good operation effect, and meet the requirements of ginger harvesting.

[0004] The present invention is implemented through the following technical scheme, and provides a self-propelled intelligent ginger combine harvester, comprising: Chassis frame; The traveling assembly is installed at the bottom of the chassis frame and is used for traveling; The vibration excavation and soil shaking device is installed at the front end of the chassis frame and is used to insert into the soil to dig ginger; The intelligent clamping and conveying device comprises two intelligent clamping and conveying device welded brackets arranged side by side on the left and right, and a circulating clamping and conveying chain is arranged on the intelligent clamping and conveying device welded bracket. The two clamping and conveying chains move backward and upward on the side close to each other, clamping and conveying the ginger plant backward, and then pulling the ginger bulb out of the soil; The stem cutting and seedling throwing device is used to cut the ginger stems and transport the cut ginger seedlings backwards.

[0005] In this solution, the walking assembly drives the entire harvester to move, and the vibrating excavation and soil shaking device is inserted into the soil to realize the excavation of ginger. Then, the two clamping and conveying chains of the intelligent clamping and conveying device are moved backward and upward on the side close to each other, and the ginger plants are clamped and conveyed backward, and then the ginger bulbs are pulled out of the soil. The ginger stems are cut by the stem cutting and seedling throwing device, and the cut ginger seedlings are further conveyed backward, thereby realizing the harvesting of ginger.

[0006] As an optimization, the vibration excavation and soil shaking device includes a vibration excavation and soil shaking device welded bracket fixed to the chassis frame and an excavating shovel mounting bracket located in front of the vibration excavation and soil shaking device welded bracket, the excavating shovel mounting bracket is fixed with an arc-shaped excavating shovel at the lower end, and a plurality of soil screening bars are fixed with the rear end of the arc-shaped excavating shovel, an eccentric rocker arm and a supporting rod are hinged on the excavating shovel mounting bracket, the supporting rod is hinged to the vibration excavation and soil shaking device welded bracket, a hydraulic cylinder I for driving the supporting rod to swing up and down is installed on the vibration excavation and soil shaking device welded bracket, a hydraulic motor I is fixed to the vibration excavation and soil shaking device welded bracket, and the rotating shaft of the hydraulic motor I is connected to the eccentric rocker arm through an eccentric bearing. The arc-shaped digging shovel in this solution is used to dig ginger; the digging depth can be adjusted by the hydraulic cylinder 1 according to the planting depth of the ginger. The arc-shaped digging shovel is set to reduce resistance, better break up the soil ridges and prevent soil accumulation, reduce damage to the ginger, and use the soil screening bars to further break up the soil, reduce the soil attached to the ginger, and reduce the resistance to ginger extraction, thereby further improving the digging and extraction effect of the ginger. In this solution, the hydraulic motor 1 is connected to the eccentric bearing to drive the rocker arm to rotate, so that the digging shovel mounting frame vibrates, further improving the effect of breaking the soil.

[0007] As an optimization, the stem cutting and seedling throwing device includes two left and right side-by-side welded brackets for stem cutting and seedling throwing devices, on which a circulating stem cutting and seedling throwing chain is arranged, and the side of the two stem cutting and seedling throwing chains close to each other moves backwards, and the stem cutting drive motor III is installed on the welded bracket of the stem cutting and seedling throwing device, and the stem cutting drive motor III is installed on the rotating shaft of the stem cutting drive motor III. The stem cutting disc knife located below the stem cutting and seedling throwing chain is installed. This scheme realizes the reversal of the ginger plant to horizontal transportation by rotating the stem cutting and seedling throwing chain backward; the stem cutting drive motor III drives the stem cutting disc knife to rotate, and cuts the ginger stems transported horizontally, and the cut ginger seedlings continue to be transported backwards and thrown on the ground. This method reduces the breakage rate of ginger.

[0008] As an optimization, it also includes an automatic gathering guiding device, which includes two connecting plates respectively hinged on the front end of the two intelligent clamping and conveying device welding brackets, a guide rod is fixed to the connecting plate, and an angle sensor for detecting the swing angle of the guide rod is installed on the connecting plate. The two guide rods are arranged in a forward V-shape and an elastic reset mechanism for driving the guide rod to swing inward is installed on the connecting plate.

[0009] The angle sensor in this solution can monitor the deflection angle of the automatic guiding device in real time, determine the ridge direction of ginger planting, and then feed back the data to the electronic control assembly. The electronic control assembly controls the speed of the left and right driving wheels, adjusts the ginger harvester left and right, completes the correction action, realizes intelligent assisted driving, and thus reduces the leakage rate.

[0010] As an optimization, it also includes a floating flexible soil cleaning and debris removal device, which includes two soil cleaning support frames respectively hinged under the two intelligent clamping and conveying device welded brackets, and the soil cleaning support frames are equipped with flexible soil cleaning and debris removal brushes and a driving motor 1 that drives the flexible soil cleaning and debris removal brushes to rotate, and the intelligent clamping and conveying device welded bracket is fixedly connected to a fixed welding plate, and the soil cleaning support frame is fixedly connected to a floating rod passing through the fixed welding plate, and the fixed welding plate is equipped with a floating spring, and the floating spring pushes the two soil cleaning support frames to swing inward. In this scheme, the driving motor 1 drives the flexible soil cleaning and debris removal brushes to rotate, removes the attached soil on the ginger bulb, and reduces the damage to the ginger bulb. The soil cleaning support frame can swing inward and outward and apply elastic force through the floating spring, and can achieve floating cleaning according to the size of the ginger bulb, further improving the soil cleaning and debris removal effect.

[0011] As an optimization, an automatic speed control system is also included, which includes a photoelectric sensor installed on the welding bracket of the intelligent clamping and conveying device. The automatic speed control system controls the walking speed of the walking assembly and the clamping and conveying speed of the clamping and conveying chain according to the amount of ginger fed detected by the photoelectric sensor. The photoelectric sensor in this solution dynamically monitors the amount of ginger fed, determines the amount of ginger harvested, and then feeds the data back to the electronic control assembly. The electronic control assembly controls the travel speed and the clamping and conveying speed of the clamping and conveying chain, breaking through the limitation of traditional thinking that only weight is used as a reference for the harvest amount, and then completes the speed control and realizes intelligent speed control harvesting.

[0012] As an optimization, a collection and unloading device is also included, which includes a lateral conveying device, an intelligent weighing and collecting device, and a quantitative automatic unloading device. The lateral conveying device conveys the ginger cut by the stem cutting and seedling throwing device to one side to the collection frame of the intelligent weighing and collecting device, the intelligent weighing and collecting device weighs the collection frame containing the ginger, and the quantitative automatic unloading device pushes the collection frame to the ground. This optimization scheme realizes the functions of intelligent weighing, quantitative collection, and automatic unloading of ginger, greatly reducing manpower and material resources and improving economic benefits.

[0013] As an optimization, the lateral conveying device includes a lateral conveyor belt and a hydraulic motor III for driving the lateral conveyor belt to convey horizontally. In this solution, the lateral conveying device is installed below the stem cutting and seedling throwing device, which can transport the cut ginger to one side and apply a supporting force to reduce the crushing of the ginger due to gravity.

[0014] As an optimization, the intelligent weighing and collecting device includes a quantitative automatic unloading device guide rail and a weight sensor installed on the quantitative automatic unloading device guide rail. In this solution, the weight of the ginger in the collection frame is dynamically monitored by the weight sensor.

[0015] As an optimization, the automatic unloading device includes a hydraulic cylinder II located on one side of the collection frame and a hydraulic cylinder II push plate installed on the telescopic shaft of the hydraulic cylinder II. When the ginger in the collection frame reaches a certain weight, the hydraulic cylinder II will push the collection frame down through the hydraulic cylinder II push plate, and the collection frame will automatically slide to the ground to complete the unloading.

[0016] The beneficial effects of the present invention are: 1. This harvester can complete the following operations at one time: automatic guiding for gathering ginger, vibration excavation and soil shaking, intelligent clamping and conveying, flexible soil and weed removal, stem cutting and seedling throwing, container collection, intelligent weighing, quantitative unloading, automatic deviation correction and automatic speed regulation; 2. The automatic steering device can sense the deflection angle through the angle sensor and feed it back to the electronic control assembly to complete automatic deviation correction and realize intelligent assisted driving; 3. The intelligent clamping and conveying device works stably, increases the feeding rate, and reduces the broken stems of ginger during the clamping and conveying process. In addition, the feeding amount of ginger can be dynamically monitored through the photoelectric sensor, and the feedback is fed back to the electronic control assembly to complete the speed control, thus realizing intelligent speed control harvesting; 4. The vibration excavation and soil shaking device uses a combination of arc-shaped excavation shovel and soil screening grid, which causes less damage to the ginger bulbs during excavation, helps to reduce resistance, better break up soil ridges and prevent soil accumulation; 5. The floating flexible soil cleaning and weed removal device reduces the damage to the ginger bulbs. It can realize floating weed removal according to the size of the ginger bulbs, further improving the soil cleaning and weed removal effect. 6. The stem cutting and seedling throwing device changes the movement direction of the ginger plant, so that the ginger is transported horizontally. The horizontal transport device exerts an upward force on the ginger bulb, reducing the breakage of the ginger; 7. The collecting and unloading device realizes the functions of horizontal conveying, collecting and framing, intelligent dynamic weighing, automatic quantitative unloading, etc., which reduces manpower and material resources and improves economic benefits; 8. All structures of the present invention can be disassembled, which is convenient for assembly. The power output is stable, and the breakage rate and crushing rate are low. The mechanization and intelligence levels are high, and the versatility and adaptability are strong, which can meet the harvesting of different ginger conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the whole structure of the present invention; Figure 2 It is a left side view of the present invention; Figure 3 is a top view of the present invention; Figure 4 It is a structural schematic diagram of the automatic guiding device for gathering according to the present invention; Figure 5 It is a schematic diagram of the structure of the vibration excavation and soil shaking device of the present invention; Figure 6 It is a schematic diagram of the eccentric rocker arm structure of the present invention; Figure 7 It is a structural schematic diagram of the intelligent clamping and conveying device of the present invention; Figure 8 It is a schematic structural diagram of the stem cutting and seedling throwing device of the present invention; Fig. 9 It is a left view of the stem cutting and seedling throwing device of the present invention; Fig.10 It is a schematic structural diagram of the floating flexible soil cleaning and impurity removal device of the present invention; Fig.11 It is a schematic diagram of the installation of the collecting and unloading device and the chassis frame of the present invention; Fig.12 It is a schematic diagram of the installation of the lateral conveying device, intelligent weighing and collecting, and quantitative automatic unloading device of the present invention; Fig.13 It is a left view of the collecting and unloading device of the present invention; Fig.14 is a bottom view of the collecting and unloading device of the present invention; Fig.15 is a flow chart of the deviation correction control system of the present invention; Fig.16 It is a flow chart of the automatic speed regulation system of the present invention; As shown in the figure: 1. Collecting and unloading device, 101. Collecting and unloading device welded bracket, 2. Stem cutting and throwing device, 201. Driving sprocket II, 202. Stem cutting and throwing device welded bracket, 203. Stem cutting drive motor III, 204. Stem throwing device support wheel, 205. Driven sprocket II, 206. Drive motor II, 207. Stem cutting disc knife, 208. Stem throwing chain, 3. Floating flexible soil cleaning and debris removal device, 301. Drive motor I, 302. Motor deceleration , 303, coupling, 304, fixed welding plate welding, 305, soil cleaning support frame, 306, flexible soil cleaning and debris removal brush, 307, fixed welding plate, 308, floating spring, 309, floating rod, 310, roller, 4, chassis frame, 5, crawler walking assembly, 6, intelligent clamping and conveying device, 601, driving sprocket I, 602, intelligent clamping and conveying device welding bracket, 603, clamping conveying chain, 604, photoelectric sensor, 605, hydraulic motor II, 606, intelligent clamping conveying device support wheel, 607, driven sprocket I, 7, electronic control assembly, 8, vibration excavation and soil shaking device, 801, vibration excavation and soil shaking device welding bracket, 802, hydraulic cylinder I, 803, support frame, 804, hydraulic motor II, 805, eccentric rocker arm, 806, support rod, 807, soil screening bar, 808, arc excavation shovel, 9, automatic gathering guide device, 901, slewing bearing, 902, connecting plate, 90 3. Guide rod, 904. Angle sensor, 905. Bolt, 10. Horizontal conveying device, 1001. Baffle, 1002. Horizontal conveyor belt, 1003. Bearing with seat, 1004. Hydraulic motor III, 1005. Roller, 11. Intelligent weighing and collecting device, 1101. Collecting frame, 1102. Weight sensor, 12. Quantitative automatic unloading device, 1201. Guide rail, 1202. Hydraulic cylinder II push plate, 1203. Hydraulic cylinder II. DETAILED DESCRIPTION

[0018] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0019] like Figures 1 to 16 As shown, the self-propelled intelligent ginger combine harvester of the present invention includes a chassis frame 4, a traveling assembly 5, a vibrating excavation and soil shaking device 8, an intelligent clamping and conveying device 6, a stem cutting and seedling throwing device 2, a gathering automatic guiding device 9, a floating flexible soil cleaning and impurity removing device 3, an electric control assembly 7, a collecting and unloading device 1 and an automatic speed regulation system.

[0020] like Fig.11 As shown, the chassis frame 4 is a welded whole frame for installing various components. The traveling assembly 5 is installed at the bottom of the chassis frame 4 for traveling. The traveling assembly 5 in this embodiment includes crawler traveling mechanisms on both sides.

[0021] The vibration excavation and soil shaking device 8 is installed at the front end of the chassis frame 4 and is used to insert the soil to realize the excavation of ginger; Figure 5 As shown, the vibration excavation and soil shaking device 8 includes a vibration excavation and soil shaking device welded bracket 801 fixed to the chassis frame 4 and an excavation shovel mounting frame located in front of the vibration excavation and soil shaking device welded bracket 801. The lower end of the excavation shovel mounting frame is fixedly connected to an arc excavation shovel 808, which is an arc-shaped structure protruding downward, and a plurality of soil screening bars 807 are fixedly connected to the rear end of the arc excavation shovel 808. The soil screening bars 807 are used to further break up the soil, reduce the soil attached to the ginger, and reduce the resistance to extracting the ginger, thereby further improving the excavation and extraction effect of the ginger. Two eccentric rocker arms 805 and two supporting rods 806 are hinged on both sides of the excavator shovel mounting frame. The supporting rods 806 are hinged to the welded bracket 801 of the vibrating excavator and soil shaking device. The welded bracket 801 of the vibrating excavator and soil shaking device is equipped with a hydraulic cylinder I802 for driving the supporting rods 806 to swing up and down. One end of the hydraulic cylinder I802 is connected to the lower end of the welded bracket 801 of the vibrating excavator and soil shaking device, and the other end is hinged to the supporting rods 806. The height of the excavator shovel mounting frame is adjusted by the hydraulic cylinder I, thereby adjusting the excavation depth.

[0022] A hydraulic motor I804 is fixedly connected to the welded bracket 801 of the vibration excavation and soil shaking device, and the rotating shaft of the hydraulic motor I804 is connected to the eccentric rocker arm 805 through an eccentric bearing. The hydraulic motor II804 is connected to the eccentric bearing 809 to drive the eccentric rocker arm 805 to rotate, so that the arc-shaped excavating shovel 808 generates a back-and-forth swinging vibration, which improves the excavation effect after entering the soil and facilitates the soil screening bar 807 to further break the soil.

[0023] like Figure 7 As shown, the intelligent clamping and conveying device 6 includes two intelligent clamping and conveying device welding brackets 602 arranged side by side. The intelligent clamping and conveying device welding brackets 602 are tilted and the front end is lower than the rear end. The two ends of the intelligent clamping and conveying device welding bracket 602 are respectively axially connected with a driving sprocket I601 and a driven sprocket I607. The intelligent clamping and conveying device welding bracket 602 is provided with a circulating clamping and conveying chain 603. The clamping and conveying chain 603 bypasses the driving sprocket I601 and the driven sprocket I607. The hydraulic motor II605 drives the driving sprocket I601 to rotate. The intelligent clamping and conveying device welding bracket 602 is also equipped with a plurality of supporting wheels 606 for supporting the clamping and conveying chain 603 to improve the clamping effect.

[0024] The two clamping and conveying chains 603 move toward the upper and rearward sides thereof, clamping and conveying the ginger plants backwards, thereby pulling the ginger bulbs out of the soil.

[0025] like Figure 7 As shown, it also includes an automatic speed control system, which includes a photoelectric sensor 604 installed on the welding bracket 602 of the intelligent clamping and conveying device. The photoelectric sensor 604 is set to dynamically monitor the feeding amount of ginger, judge the harvested amount of ginger, and then feed back the data to the electronic control assembly 7. The electronic control assembly 7 controls the speed of the clamping and conveying chain 603 by controlling the driving speed and the speed of the hydraulic motor II605 to meet higher harvesting requirements, breaking through the limitation of traditional thinking that only weight is used as a reference for the harvest amount, and then completing the speed control to realize intelligent speed control harvesting.

[0026] The automatic gathering guide device 9 is installed at the front end of the intelligent clamping and conveying device 6. Figure 4 As shown, the automatic gathering guide device 9 includes two connecting plates 902 which are hinged at the front ends of the two intelligent clamping and conveying device welding brackets 602 by bolts 905 respectively. A guide rod 903 is fixedly connected to the front end of the connecting plate 902. The front end of the guide rod 903 is conical. An angle sensor 904 for detecting the swing angle of the guide rod 903 is installed on the connecting plate 902. The two guide rods 903 are arranged in a forward V-shape and an elastic reset mechanism for driving the guide rod 903 to swing inward is installed on the connecting plate 902. The elastic reset mechanism in this embodiment adopts a torsion spring or a slewing bearing 901 that provides torque.

[0027] The automatic gathering guide device 9 is installed at the front end of the intelligent clamping and conveying device 6 at a certain inclination angle. The angle sensor 904 can monitor the deflection angle of the automatic gathering guide device 9 in real time to judge the ginger planting ridge direction, and then feed the data back to the electronic control assembly 7. The electronic control assembly 7 controls the speed of the left and right driving wheels, adjusts the ginger harvester to the left and right, completes the deviation correction action, realizes intelligent assisted driving, and thus reduces the leakage rate.

[0028] The floating flexible soil cleaning and impurity removal device 3 is installed below the intelligent clamping and conveying device 6 to remove the soil covering the ginger conveyed by the intelligent clamping and conveying device 6. Fig.10 As shown, the floating flexible soil cleaning and debris removing device 3 includes two soil cleaning support frames 305 respectively hinged under two intelligent clamping and conveying device welded brackets 602. The soil cleaning support frames 305 are hinged under the intelligent clamping and conveying device welded brackets 602 through hinge joints 304, and the two soil cleaning support frames 305 can swing left and right.

[0029] The soil cleaning support frame 305 is equipped with a flexible soil cleaning and debris removing brush 306 and a driving motor I301 for driving the flexible soil cleaning and debris removing brush 306 to rotate. The rotating shaft of the driving motor I301 is connected to the motor reducer 302, and the motor reducer 302 drives the roller 310 in the center of the flexible soil cleaning and debris removing brush 306 to rotate through the coupling 303.

[0030] The intelligent clamping and conveying device welding bracket 602 is fixedly connected with a fixed welding plate 307, and the soil cleaning support frame 305 is fixedly connected with a floating rod 309 passing through the fixed welding plate 307. The diameter of the floating rod 309 is smaller than the diameter of the through hole, so that the soil cleaning support frame 305 will not interfere with the through hole when swinging. The fixed welding plate 307 is equipped with a floating spring 308, and the floating rod 309 is equipped with a nut. The floating spring 308 is sleeved on the floating rod 309 and is located between the fixed welding plate 307 and the nut. The floating rod 309 is located on the outside of the soil cleaning support frame 305. Therefore, when the floating spring 308 presses down the floating rod 309, it pushes the two soil cleaning support frames 305 to swing inward. Soil cleaning and impurity removal are achieved through the floating spring 308 and the floating rod 309. The flexible soil and debris cleaning brush 306 is driven to rotate by the driving motor 1301 to remove the attached soil on the ginger bulb and reduce the damage to the ginger bulb. According to the different sizes of the ginger bulb, floating debris cleaning can be achieved to further improve the soil and debris cleaning effect.

[0031] The stem cutting and seedling throwing device 2 is located below the end of the intelligent clamping and conveying device 6, and is used to cut the ginger stems and continue to convey the cut ginger seedlings backwards. Figure 8 , 9 As shown, the stem cutting and seedling throwing device 2 includes two stem cutting and seedling throwing device welded brackets 202 arranged side by side on the left and right. The stem cutting and seedling throwing device welded brackets 202 are in the shape of long strips extending forward and backward and are fixed on the chassis frame 4.

[0032] The two ends of the stem cutting and throwing device welded bracket 202 are respectively connected to a driving sprocket II201 and a driven sprocket II205. The stem cutting and throwing device welded bracket 202 is provided with a circulating stem cutting and throwing chain 208. The stem cutting and throwing chain 208 passes around the driving sprocket II201 and the driven sprocket II205. The driving motor II206 drives the driving sprocket II201 to rotate, so that the side of the two stem cutting and throwing chains 208 close to each other moves backward. The stem cutting and throwing device welded bracket 202 is equipped with a stem cutting and throwing device support wheel 204 to achieve effective clamping of the ginger plant.

[0033] The stem cutting drive motor III203 is mounted on the welded bracket 202 of the stem cutting and throwing device, and the stem cutting drive motor III203 is mounted on the rotating shaft of the stem cutting drive motor III203. The stem cutting disc 207 is located below the stem cutting and throwing chain 208. The stem cutting drive motor III203 drives the stem cutting disc 207 to rotate, and cuts the ginger stems transported laterally. After all the stems of the whole ginger plant are completely cut off, the ginger falls onto the transverse conveying device 10, and the cut ginger seedlings continue to be transported backward and thrown on the ground. This method reduces the breakage rate of the ginger.

[0034] The collecting and unloading device 1 is also included, and the collecting and unloading device 1 includes a transverse conveying device 10, an intelligent weighing and collecting device 11, and a quantitative automatic unloading device 12. The collecting and unloading device 1 also includes a collecting and unloading device welding bracket 101 fixedly connected to the rear of the chassis frame 4. The transverse conveying device 10 conveys the ginger cut by the stem cutting and seedling throwing device 2 to one side to the collecting frame 1101 of the intelligent weighing and collecting device 11, and the intelligent weighing and collecting device 11 weighs the collecting frame 1101 containing the ginger, and the quantitative automatic unloading device 12 pushes the collecting frame 1101 to the ground.

[0035] like Fig.12 As shown, the transverse conveying device 10 includes a seat bearing 1003 fixed on the welding bracket 101 of the collecting and unloading device, a baffle 1001, a hydraulic motor III 1004, a roller 1005 and a transverse conveyor belt 1002. The transverse conveying device 10 is installed below the stem cutting and seedling throwing device 2, which can apply an upward supporting force to the ginger after the stem is cut, thereby reducing the crushing of the ginger due to gravity.

[0036] like Fig.13 , 14 As shown, the intelligent weighing and collecting device 11 includes a collecting frame 1101 installed on the guide rail 1201 of the quantitative automatic unloading device and a weight sensor 1102 installed on the guide rail. The intelligent weighing and collecting device 11 is installed below the transverse transmission device 10, and the weight of the ginger in the collecting frame 1101 can be dynamically monitored by the weight sensor 1102.

[0037] like Fig.13 , 14 As shown, the quantitative automatic unloading device 12 includes a hydraulic cylinder II1203 and a guide rail 1201 fixed on the welding bracket 101 of the collecting and unloading device. When the ginger in the collecting frame 1101 reaches a certain weight, the hydraulic cylinder II push plate 1202 will push the collecting frame 1101 to slide down along the guide rail 1201, and the collecting frame 1101 automatically slides to the ground to complete the unloading.

[0038] The method of using the present invention: The traveling assembly drives the entire harvester to travel. During operation, the automatic gathering guide device gathers and guides the ginger plants. The angle sensor 904 can monitor the deflection angle of the automatic gathering guide device 9 in real time to determine the ginger planting ridge direction, and then feed the data back to the electronic control assembly 7. The electronic control assembly 7 controls the speed of the left and right driving wheels, adjusts the ginger harvester left and right, completes the deviation correction action, realizes intelligent assisted driving, and reduces the leakage rate.

[0039] The excavation of ginger is achieved by inserting a vibrating excavation and shaking soil device into the soil, and then the two clamping and conveying chains of the intelligent clamping and conveying device move backward and upward on the side close to each other, clamping and conveying the ginger plant backward, and then pulling the ginger bulb out of the soil. The photoelectric sensor is fixed on the support welding frame of the intelligent clamping and conveying device, which can dynamically monitor the feeding amount of ginger and then feed the data back to the electronic control assembly, which controls the driving speed and the clamping and conveying speed of the clamping and conveying chain. During the transportation process, the floating flexible soil cleaning and impurity removal device flexibly removes the soil of the ginger bulb; the ginger after impurities are continuously transported obliquely to the rear, and the ginger plant enters the stem cutting and seedling throwing device.

[0040] The ginger stalks are cut by the stem cutting and seedling throwing device and the cut ginger seedlings are continuously transported backwards, thereby achieving the harvest of ginger. The ginger bulbs fall on the conveyor belt in an orderly manner and are transported to the collection frame by the conveyor belt. The ginger seedlings are continuously transported and thrown to the ground. The weight of the ginger in the collection frame 1101 is dynamically monitored by the weight sensor 1102. When the ginger in the collection frame 1101 reaches a certain weight, the hydraulic cylinder II push plate 1202 will push the collection frame 1101 to slide down along the guide rail 1201, and the collection frame 1101 automatically slides to the ground to complete the unloading.

[0041] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A self-propelled intelligent ginger combine harvester, characterized in that: include: Chassis frame (4); A walking assembly (5) is installed at the bottom of the chassis frame (4) and is used for walking; A vibration excavation and soil shaking device (8) is installed at the front end of the chassis frame (4) and is used to insert into the soil to realize the excavation of ginger; The intelligent clamping and conveying device (6) comprises two intelligent clamping and conveying device welded brackets (602) arranged side by side on the left and right, wherein a circulating clamping and conveying chain (603) is provided on the intelligent clamping and conveying device welded brackets (602), and the two clamping and conveying chains (603) move backward and upward on the sides close to each other, clamping and conveying the ginger plants backward, thereby pulling the ginger bulbs out of the soil; The stem cutting and seedling throwing device (2) is used to cut the ginger stems and continue to transport the cut ginger seedlings backwards.

2. The self-propelled intelligent ginger combine harvester according to claim 1, characterized in that: The vibration excavation and soil shaking device (8) comprises a vibration excavation and soil shaking device welded bracket (801) fixedly connected to the chassis main frame (4) and an excavating shovel mounting bracket located in front of the vibration excavation and soil shaking device welded bracket (801); an arc-shaped excavating shovel (808) is fixedly connected to the lower end of the excavating shovel mounting bracket; a plurality of soil screening bars (807) are fixedly connected to the rear end of the arc-shaped excavating shovel (808); an eccentric rocker arm (805) and a support rod (806) are hingedly connected to the excavating shovel mounting bracket; the support rod (806) is hingedly connected to the vibration excavation and soil shaking device welded bracket (801); a hydraulic cylinder I (802) for driving the support rod (806) to swing up and down is installed on the vibration excavation and soil shaking device welded bracket (801); a hydraulic motor I (804) is fixedly connected to the vibration excavation and soil shaking device welded bracket (801); a rotating shaft of the hydraulic motor I (804) is connected to the eccentric rocker arm (805) via an eccentric bearing.

3. The self-propelled intelligent ginger combine harvester according to claim 1, characterized in that: The stem cutting and seedling throwing device (2) comprises two stem cutting and seedling throwing device welded brackets (202) arranged side by side on the left and right, a circulating stem cutting and seedling throwing chain (208) being provided on the stem cutting and seedling throwing device welded brackets (202), the two stem cutting and seedling throwing chains (208) being moved backwards on the sides close to each other, a stem cutting drive motor III (203) being provided on the stem cutting and seedling throwing device welded brackets (202), and a stem cutting disc knife (207) being located below the stem cutting and seedling throwing chains (208) being provided on the rotating shaft of the stem cutting drive motor III (203).

4. The self-propelled intelligent ginger combine harvester according to claim 1, characterized in that: The invention also comprises an automatic gathering guide device (9), the automatic gathering guide device (9) comprising two connecting plates (902) respectively hinged on the front ends of two intelligent clamping and conveying device welding brackets (602), a guide rod (903) being fixedly connected to the connecting plate (902), an angle sensor (904) for detecting the swing angle of the guide rod (903) being installed on the connecting plate (902), the two guide rods (903) being arranged in a forward V-shape, and an elastic reset mechanism for driving the guide rod (903) to swing inwards being installed on the connecting plate (902).

5. The self-propelled intelligent ginger combine harvester according to claim 1, characterized in that: The invention also comprises a floating flexible soil cleaning and debris removing device (3), wherein the floating flexible soil cleaning and debris removing device (3) comprises two soil cleaning support frames (305) respectively hinged below two intelligent clamping and conveying device welded support frames (602), the soil cleaning support frames (305) are provided with flexible soil cleaning and debris removing brushes (306) and a driving motor I (301) for driving the flexible soil cleaning and debris removing brushes (306) to rotate, the intelligent clamping and conveying device welded support frame (602) is fixedly connected with a fixed welding plate (307), the soil cleaning support frame (305) is fixedly connected with a floating rod (309) passing through the fixed welding plate (307), the fixed welding plate (307) is provided with a floating spring (308), and the floating spring (308) pushes the two soil cleaning support frames (305) to swing inwards.

6. The self-propelled intelligent ginger combine harvester according to claim 1, characterized in that: It also includes an automatic speed control system, which includes a photoelectric sensor (604) installed on a welding bracket (602) of the intelligent clamping and conveying device. The automatic speed control system controls the walking speed of the walking assembly (5) and the clamping and conveying speed of the clamping and conveying chain (603) according to the amount of ginger fed detected by the photoelectric sensor (604).

7. The self-propelled intelligent ginger combine harvester according to claim 1, characterized in that: The invention also comprises a collecting and unloading device (1), wherein the collecting and unloading device (1) comprises a lateral conveying device (10), an intelligent weighing and collecting device (11), and a quantitative automatic unloading device (12); the lateral conveying device (10) conveys the ginger cut by the stem cutting and seedling throwing device (2) to one side to a collecting frame (1101) of the intelligent weighing and collecting device (11); the intelligent weighing and collecting device (11) weighs the collecting frame (1101) containing the ginger; and the quantitative automatic unloading device (12) pushes the collecting frame (1101) to the ground.

8. The self-propelled intelligent ginger combine harvester according to claim 7, characterized in that: The transverse conveying device (10) comprises a transverse conveyor belt (1002) and a hydraulic motor III (1004) for driving the transverse conveyor belt (1002) to convey transversely.

9. The self-propelled intelligent ginger combine harvester according to claim 7, characterized in that: The intelligent weighing and collecting device (11) comprises a quantitative automatic unloading device guide rail (1201) and a weight sensor (1102) installed on the quantitative automatic unloading device guide rail (1201).

10. The self-propelled intelligent ginger combine harvester according to claim 7, characterized in that: The automatic unloading device (12) comprises a hydraulic cylinder II (1203) located on one side of the collecting frame (1101) and a hydraulic cylinder II push plate (1202) installed on the telescopic shaft of the hydraulic cylinder II (1203).

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