Sweet potato digging and potato-soil-seedling separating and harvesting device

Abstract

The invention relates to a harvesting device for digging sweet potatoes and separating sweet potatoes, soil and seedlings. Comprising an excavating potato-soil separating and conveying device, a second potato-soil separating and conveying device, a clamping and conveying device, a potato block separating and conveying device, a round potato block conveying device, a potato block collecting and conveying device, a seedling separating and conveying device, a seedling crushing device and a seedling collecting and conveying device which are mounted on a frame, sweet potatoes are excavated, conveyed and subjected to soil removal through the excavating and potato-soil separating and conveying device, then conveyed and subjected to soil removal through the second potato-soil separating and conveying device and clamped and conveyed through the clamping and conveying mechanism, potato blocks are separated from the potato block separating and conveying device and conveyed, and seedlings are separated from the seedling separating and conveying device and conveyed; the potato blocks are output through the round potato block conveying device and the potato block collecting and conveying device; and the seedlings are output through the seedling crushing device and the seedling collecting and conveying device. According to the harvesting device, sweet potatoes can be dug and collected, potato blocks, soil and seedlings can be separated, the potato blocks and the seedlings can be harvested respectively, and economic benefits are improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, in particular to a sweet potato digging and potato-soil-separating and harvesting device. Background Art

[0002] At present, the process of sweet potato harvesting mainly adopts the process of killing the seedlings first and then harvesting. This process involves using a seedling-killing machine for preliminary treatment, and then using a harvesting machine to harvest the sweet potatoes after a certain period of time, which makes the harvesting cycle long, involves many machines, resulting in high costs, and the degree of mechanization is not high, and it is impossible to achieve the integrated operation of killing the seedlings and harvesting; in addition, during the sweet potato harvesting process, the existing excavation device cannot adaptively adjust the excavation depth according to the terrain environment to effectively reduce the excavation resistance; at the same time, the separation effect of the clay on the surface of the sweet potato and the seedlings connected thereto is not good, resulting in soil blocks and seedlings entering the potato block collection box together with the sweet potatoes, which seriously reduces the efficiency of the sweet potato harvesting; although the existing patented technology of the sweet potato harvester can kill the seedlings before harvesting, the seedlings after killing the seedlings will still enter the conveying and separation device together with the sweet potatoes and soil, which still increases the difficulty of separating the potato soil seedlings; in addition, compared with the sweet potato seedlings being chopped up by the seedling-killing machine and thrown on the ground to rot, if the chopped sweet potato seedlings can be recycled for livestock feeding, it will greatly improve the economic benefits of the growers. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a sweet potato digging and potato-soil-vine separation and harvesting device, which can be used to dig and collect sweet potatoes; during the harvesting process, the potato tubers, soil and potato vines can be separated, and the potato tubers and potato vines can be collected separately, thereby improving economic benefits.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a sweet potato digging and potato-soil-separation harvesting device, comprising: a digging potato-soil separation conveying device, a second potato-soil separation conveying device, a clamping conveying device, a potato block separation conveying device, a round potato block conveying device, a potato block collection conveying device, a seedling separation conveying device, a seedling crushing device, a seedling collection conveying device, and a frame; wherein,

[0005] The excavated potato-soil separation and conveying device comprises a first conveying chain mechanism installed on the front side of the vehicle frame and arranged obliquely with the front lower and the rear higher, and an excavating shovel connected to the front end of the first conveying chain mechanism;

[0006] The second potato-soil separation and conveying device comprises a second conveying chain mechanism installed on the frame and arranged horizontally; the front end of the second conveying chain mechanism is located below the rear end of the first conveying chain mechanism;

[0007] The gripping and conveying device comprises a gripping and conveying mechanism installed on the frame and located above the second conveying chain mechanism, and a manipulator gripping device installed at the conveying end of the gripping and conveying mechanism;

[0008] The potato nugget separation and conveying device comprises a potato nugget conveying mechanism installed on the vehicle frame and located in the upper area behind the clamping and conveying mechanism, and a hooking and separating mechanism located above the front end of the potato nugget conveying mechanism;

[0009] The seedling separation and conveying device comprises a seedling conveying mechanism installed on the frame and located in the lower area behind the clamping and conveying mechanism; the clamping and conveying device also comprises a fan corresponding to the seedling conveying mechanism;

[0010] The excavating sweet potato and soil separation and conveying device is used to excavate sweet potatoes by using an excavating shovel, and separate the excavated sweet potatoes from the soil during the backward conveying process by using a first conveying chain mechanism;

[0011] The second potato-soil separation and conveying device is used to receive the sweet potatoes conveyed by the first conveying chain mechanism through the second conveying chain mechanism, and separate the sweet potatoes from the soil during the backward conveying process;

[0012] The gripping and conveying mechanism is used to drive the manipulator gripping device to sequentially pass through the second potato-soil separation and conveying device, the potato tuber separation and conveying device, and the seedling separation and conveying device;

[0013] The manipulator gripping device cooperates with the second conveying chain mechanism to grip the potato vines of the sweet potatoes conveyed on the second conveying chain mechanism; and is also used to convey the sweet potatoes driven by the gripping conveying mechanism;

[0014] The hooking and separating mechanism cooperates with the manipulator clamping device to separate the potato pieces from the potato vines clamped by the manipulator clamping device, and allows the separated potato pieces to fall to the potato piece conveying mechanism;

[0015] The manipulator gripping device cooperates with the fan and the seedling conveying mechanism to loosen the seedlings in the area of ​​the seedling conveying mechanism; the machine is used to blow the seedlings into the seedling conveying mechanism;

[0016] The circular potato nugget conveying device and the potato nugget collecting and conveying device are installed on the vehicle frame, the top side feeding end is connected with the rear end of the potato nugget conveying mechanism, and the bottom side discharging end is located above the potato nugget collecting and conveying device;

[0017] The seedling crushing device and the seedling collecting and conveying device are installed on the frame, the rear discharge end of the seedling conveying mechanism is located above the feed end of the seedling crushing device, and the discharge end on the bottom side of the seedling crushing device is located above the seedling collecting and conveying device.

[0018] Furthermore, the first conveying chain mechanism includes a first conveying chain and first conveying chain side baffles installed on both sides of the first conveying chain; an excavating shovel fixed shaft is arranged between the front ends of the two first conveying chain side baffles; the excavating shovel fixed shaft is installed with an arc iron plate; the excavating shovel is fixed on the arc iron plate; the rear end of the excavating shovel is also fixed with an extension plate, and the extension plate is connected with the front end of the first conveying chain.

[0019] Furthermore, a rotating fixed frame is provided in the area near the rear end of the two first conveying chain side baffles, and the rotating fixed frame is rotatably connected to the frame; a first hydraulic cylinder is also provided between the two first conveying chain side baffles and the frame; the front end of the first hydraulic cylinder is hinged to a position forward of the middle of the first conveying chain side baffle, and the rear end of the first hydraulic cylinder is hinged to the frame; a first spring tensioning device is also provided between the two first conveying chain side baffles and the frame, one end of the first spring tensioning device is connected to the rear end area of ​​the first conveying chain side baffle, and the other end of the first spring tensioning device is connected to the frame; a second spring tensioning device is also provided between the two first conveying chain side baffles and the frame, one end of the second spring tensioning device is connected to the middle rear area of ​​the first conveying chain side baffle, and the other end of the second spring tensioning device is connected to the front end of the frame.

[0020] Furthermore, the excavated potato-soil separation and conveying device also includes a vibrating wheel, which is installed on the side of the first conveying chain side baffle near the front end through a vibrating wheel hinged support frame; an adaptive wheel depth adjustment device is also arranged between the vibrating wheel hinged support frame and the first conveying chain side baffle; the adaptive wheel depth adjustment device includes a first connecting block, a spring front end fixing plate, an inner spring, an outer spring, a spring rear end fixing plate, an outer connecting tube, and a second connecting block; the front end of the first connecting block is hinged to the vibrating wheel hinged support frame, and the rear end of the second connecting block is hinged to the first conveying chain side baffle; the first connecting block and the spring front end fixing plate are fixedly connected by internal and external bolts, and the left and right ends of the inner spring and the outer spring are respectively fixedly connected to the spring front end fixing plate and the spring rear end fixing plate; the left and right ends of the outer connecting tube are respectively fixedly connected to the spring rear end fixing plate and the second connecting block.

[0021] Furthermore, there are multiple manipulator clamping devices, which are evenly distributed along the conveying direction of the clamping and conveying mechanism; the manipulator clamping device includes a clamping seedling device mounting frame connected to the clamping and conveying mechanism; the clamping seedling device mounting frame is fixed with multiple manipulators along the left and right directions; the manipulator clamping device also includes a clamping seedling device motor, and the clamping seedling device mounting frame is equipped with a clamping seedling device motor driving shaft connected to the output end of the clamping seedling device motor; each manipulator is connected to a wire rope, and multiple wire ropes are connected to the clamping seedling device motor driving shaft; the wire rope is used to wind and tighten or relax on the clamping seedling device motor driving shaft through the rotation of the clamping seedling device motor driving shaft under the drive of the clamping seedling device motor, thereby driving the manipulator to perform a closing action or an opening action.

[0022] Further, the manipulator includes a first left clamping hand, a second left clamping hand, a first tensioning spring, a left connecting frame, an intermediate connecting frame, a second tensioning spring, a connecting pipe, a manipulator connecting plate, a right connecting frame, a third tensioning spring, a first right clamping hand, and a second right clamping hand; the manipulator connecting plate is connected and fixed to the mounting frame of the clamping seedling device; one end of the connecting pipe is fixed to the manipulator connecting plate, and the other end is hinged to the second left clamping hand and the second right clamping hand respectively; the front and rear ends of the second tensioning spring are fixedly connected to the intermediate connecting frame and the connecting pipe respectively; the left and right ends of the left connecting frame are hinged to the second left clamping hand and the intermediate connecting frame respectively; the left and right ends of the right connecting frame are hinged to the intermediate connecting frame and the second right clamping hand respectively; the first left clamping hand is hinged to the second left clamping hand at a position near the rear end, and the first right clamping hand is hinged to the second right clamping hand at a position near the rear end; the steel wire rope passes through the connecting pipe, the second tensioning spring, the intermediate connecting frame and the rear end of the first left clamping hand and the rear end of the first right clamping hand respectively The first and second right clamping hands are connected separately; the steel wire rope is also connected to the middle connecting frame; the first tensioning spring is arranged between the rear end of the first left clamping hand and the second left clamping hand; the third tensioning spring is arranged between the first right clamping hand and the second right clamping hand; when the motor of the clamping seedling device controls the tensioning of the steel wire rope, the steel wire rope pulls the middle connecting frame to close the second left clamping hand and the second right clamping hand, and at the same time, the steel wire rope also pulls the first left clamping hand and the first right clamping hand to close the first left clamping hand relative to the second left clamping hand, and to close the first right clamping hand relative to the second right clamping hand, thereby putting the manipulator in a closed state; when the motor of the clamping seedling device controls the relaxation of the steel wire rope, the middle connecting frame opens the second left clamping hand and the second right clamping hand under the action of the second tensioning spring, and at the same time, the first left clamping hand opens relative to the second left clamping hand under the action of the first tensioning spring, and the first right clamping hand opens relative to the second right clamping hand under the action of the third tensioning spring, thereby putting the manipulator in an open state.

[0023] Furthermore, the hooking and separating mechanism includes a hooking mounting frame, an arc-shaped claw, a first circular shaft, a square connecting plate, a fifth motor, a left crank, a second circular shaft, a hollow rectangular connecting plate, and a right crank; the first circular shaft is rotatably connected to the square connecting plate, the square connecting plate is slidably connected to the arc-shaped claw, the left and right ends of the first circular shaft are respectively connected and fixed to the hooking mounting frame by welding, the rear end of the arc-shaped claw is fixed to the hollow rectangular connecting plate by welding, the hollow rectangular connecting plate is rotatably connected to the second circular shaft, and the left and right points of the second circular shaft are respectively connected to the left crank and the right crank; the power output end of the fifth motor is connected to the left crank or the right crank, which is used to drive the left crank or the right crank to rotate, and then drive the arc-shaped claw through the hollow rectangular connecting plate, so that the arc-shaped claw is guided by the constraint of the square connecting plate, and the front end of the arc-shaped claw performs a hooking action, thereby hooking the potato pieces hanging on the sweet potato seedlings clamped by the manipulator clamping device off the seedlings.

[0024] Furthermore, a leak-proof potato blocking rod group is also provided at the front end of the potato piece conveying mechanism, which is used to make all the sweet potatoes fall and roll onto the potato piece conveying mechanism after the arc-shaped claws hook the sweet potato pieces from the robot clamping device.

[0025] The seedling separation and transportation device also includes a collecting cover arranged above the seedling transportation mechanism; the air outlet direction of the fan corresponds to the inlet end of the collecting cover.

[0026] Furthermore, a seedling blocking stick group is provided at the front end of the seedling conveying mechanism to prevent the seedlings from falling out of the seedling separation and conveying device.

[0027] Advantages of the present invention: The present invention provides a sweet potato digging and potato soil and vine separation and harvesting device, which can be used to dig and collect sweet potatoes; during the harvesting process, the potato tubers, soil and potato vines can be separated, and the potato tubers and potato vines can be collected separately, thereby improving economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-dimensional schematic diagram of a sweet potato digging and potato-soil-separation and harvesting device according to an embodiment;

[0029] Figure 2 It is a three-dimensional schematic diagram of a potato-soil separation and conveying device for excavating potatoes according to an embodiment;

[0030] Figure 3 A three-dimensional schematic diagram of a device for adaptively adjusting wheel depth in an embodiment;

[0031] Figure 4 is a three-dimensional schematic diagram of a second potato-soil separation and conveying device of an embodiment;

[0032] Figure 5 It is a three-dimensional schematic diagram of a clamping and conveying device of an embodiment;

[0033] Figure 6 A three-dimensional schematic diagram of a manipulator gripping device of an embodiment;

[0034] Figure 7 A three-dimensional schematic diagram of a manipulator of an embodiment;

[0035] Figure 8 is a three-dimensional schematic diagram of a fan of an embodiment;

[0036] Fig. 9 is a three-dimensional schematic diagram of a potato tuber separation and conveying device according to an embodiment;

[0037] Fig.10 is a three-dimensional schematic diagram of a round potato tuber conveying device according to an embodiment;

[0038] Fig.11 A three-dimensional schematic diagram of a potato tuber collecting and conveying device according to an embodiment;

[0039] Fig.12 is a three-dimensional schematic diagram of a rice seedling separation and transportation device according to an embodiment;

[0040] Fig.13 A three-dimensional schematic diagram of a rice seedling crushing device according to an embodiment;

[0041] Fig.14 A three-dimensional schematic diagram of a rice seedling collecting and conveying device according to an embodiment;

[0042] Fig.15 is a three-dimensional schematic diagram of a vehicle frame of an embodiment;

[0043] Fig.16 A schematic front view of a sweet potato digging and potato-soil-separation and harvesting device according to an embodiment;

[0044] Fig.17 for Fig.16 AA cross-sectional view of ;

[0045] Fig.18 It is a schematic diagram of the action of the hooking and separating mechanism of the embodiment;

[0046] Among them, 1- excavating potato-soil separation conveying device, 101- excavating shovel, 102- extension plate, 103- first conveying chain, 104- first conveying chain left baffle, 105- first conveying chain right baffle, 106- first spring tensioning device fixing frame, 107- first spring tensioning device, 108- first motor, 109- first motor support plate, 110- first conveying chain driving shaft, 111- rotating fixing frame, 112- first hydraulic cylinder, 113- second spring tensioning device fixing frame, 114- second spring tensioning device, 115- first conveying chain support roller support Plate, 116-first conveyor chain eccentric cam supporting roller, 117-first hydraulic cylinder front fixing frame, 118-adaptive wheel depth adjustment device fixing frame, 119-adaptive wheel depth adjustment device, 120-vibration wheel hinged supporting frame, 121-vibration wheel, 122-digging shovel fixed shaft, 123-arc iron plate, 11901-first connecting block, 11902-spring front end fixing plate, 11903-inner spring, 11904-outer spring, 11905-spring rear end fixing plate, 11906-outer connecting cylinder, 11907-second connecting block;

[0047] 2-second potato-soil separation conveying device, 201-second conveying chain left baffle, 202-second conveying chain, 203-first transmitting infrared sensor, 204 first transmitting infrared sensor support plate, 205-second motor support plate, 206-second motor, 207-second conveying chain driving shaft, 208-second conveying chain right baffle, 209-second transmitting infrared sensor, 210-second transmitting infrared sensor support plate;

[0048] 3-gripping conveying device, 301-manipulator gripping device, 302-first chain, 303-left support plate of gripping conveying device, 304-fan, 305-third driving shaft, 306-second chain, 307-third motor support plate, 308-third motor, 309-right support plate of gripping conveying device, 310-fan support frame, 311-fourth motor support plate, 312-fourth motor, 313-fourth driving shaft, 30101-gripping seedling device motor, 30102-gripping seedling device motor support plate, 30103-motor controller, 30104-left connecting plate, 30105-gripping seedling device motor driving shaft, 30106-wire rope, 30107-right connecting plate, 30108-receiving infrared sensor, 30109-manipulator support Support plate, 30110-manipulator, 30401-fan support bottom plate, 30402-first fan motor, 30403-fan housing, 30404-second fan motor, 30405-grid bar, 30406-second fan, 30407-first fan, 3011001-first left clamping hand, 3011002-second left clamping hand, 3011003-first tensioning spring, 3011004-left connecting frame, 3011005-middle connecting frame, 3011006-second tensioning spring, 3011007-connecting pipe, 3011008-manipulator connecting plate, 3011009-right connecting frame, 3011010-third tensioning spring, 3011011-first right clamping hand, 3011012-second right clamping hand;

[0049] 4-potato piece separation and conveying device, 401-anti-leakage potato blocking rod group, 402-anti-leakage potato blocking rod group bottom plate, 403-arc claw, 404-left support frame, 405-first circular axis, 406-square connecting plate, 407-fifth motor support plate, 408-fifth motor, 409-left crank, 410-second circular axis, 411-hollow rectangular parallelepiped connecting plate, 412-conveyor chain left baffle, 413-conveyor chain, 414-conveyor chain driving shaft, 415-sixth motor support plate, 416-sixth motor, 417-conveyor chain right baffle, 418-right support frame, 419-right crank;

[0050] 5-circular potato tuber conveying device, 501-left outer semicircular fixed plate support frame, 502-left outer semicircular fixed plate, 503-left outer track, 504-right outer track, 505-left roller, 506-fence, 507-right roller, 508-right outer semicircular fixed plate, 509-side fence, 510-rotating crankshaft, 511-support plate, 512-right outer semicircular fixed plate support frame, 513-seventh motor, 514-inner circular fixed support plate;

[0051] 6- potato collecting and conveying device, 601- potato collecting box, 602- roller, 603- potato conveying side baffle, 604- eighth motor support plate, 605- eighth motor;

[0052] 7-seedling separation and conveying device, 701-seedling blocking rod group, 702-seedling blocking rod group support plate, 703-seedling conveyor belt left baffle, 704-collecting cover, 705-ninth motor support plate, 706-ninth motor, 707-seedling conveyor belt, 708-seedling conveyor belt right baffle, 709-third transmitting infrared sensor, 710-fourth transmitting infrared sensor;

[0053] 8-seedling crushing device, 801-housing, 802-scimitar, 803-chain, 804-first rotating shaft of the scimitar, 805-tenth motor support plate, 806-tenth motor, 807-second rotating shaft of the scimitar;

[0054] 9-seedling collection and conveying device, 901-broken seedling collection box, 902-seedling conveying side baffle, 903-drum, 904-eleventh motor support plate, 905-eleventh motor;

[0055] 10- crawler walking mechanism;

[0056] 11-frame, 1101-first spring tensioning device support frame, 1102-potato-soil separation and conveying device support frame, 1103-hydraulic cylinder support frame, 1104-second spring tensioning device support frame, 1105-first truss, 1106-second truss, 1107-third truss, 1108-fourth truss, 1109-seedling crushing device support frame, 1110-arc plate, 1111-support bottom plate. DETAILED DESCRIPTION

[0057] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0058] Example

[0059] Please refer to Figures 1 to 18 As shown, the present embodiment provides a sweet potato digging and potato-soil-separating-harvesting device which is mainly composed of a digging potato-soil separating and conveying device 1, a second potato-soil separating and conveying device 2, a clamping conveying device 3, a potato nugget separating and conveying device 4, a circular potato nugget conveying device 5, a potato nugget collecting and conveying device 6, a seedling separating and conveying device 7, a seedling crushing device 8, a seedling collecting and conveying device 9 and a frame 11.

[0060] Please refer to Figure 1 , Figure 2 , Figure 3 and Fig.15As shown, the excavated potato-soil separation and conveying device 1 includes a first conveying chain mechanism installed on the front side of the frame 11 and tilted in a manner of being lower in the front and higher in the back; the first conveying chain mechanism includes a first conveying chain 103, a first conveying chain side baffle, a first motor 108, a first motor support plate 109, a first conveying chain driving shaft 110, a first conveying chain support roller support plate 115, and a first conveying chain eccentric cam support roller 116; the first conveying chain side baffle includes a first conveying chain left baffle 104 and a first conveying chain right baffle 105; the first motor 108 is fixed to the first motor support plate 109 by bolts, and the first motor support plate 109 is fixedly connected to the first conveying chain by welding. On the right baffle plate 105 of the conveying chain, the first motor 108 controls the rotation of the first conveying chain driving shaft 110, thereby controlling the first conveying chain 103 to drive the potato and soil conveying and separation upward, and the curved rods on the first conveying chain 103 can effectively drive the potato and soil separation; the left-right symmetrically arranged first conveying chain support roller support plates 115 are respectively fixedly connected to the first conveying chain left baffle plate 104 and the first conveying chain right baffle plate 105; the left-right symmetrically arranged first conveying chain support rollers 116 are fixedly connected to the corresponding first conveying chain support roller support plates 115 by bolts, and the first conveying chain eccentric cam support rollers 116 can support and vibrate the first conveying chain 103 to separate the potato and soil.

[0061] Refer to Figure 1 , Figure 2 As shown, the digging sweet potato and soil separation and conveying device 1 also includes a digging shovel 101, an extension plate 102, a digging shovel fixed shaft 122, and an arc iron plate 123; the digging shovel 101 and the extension plate 102 are fixed together by pin connection, and the rear end of the extension plate 102 is connected to the front end of the first conveying chain 103. The extension plate 102 can effectively transport the sweet potatoes upward and play a role in leaking soil, thereby reducing soil transportation. The digging shovel 101 is fixedly connected to the digging shovel fixed shaft 122 through the arc iron plate 123 below.

[0062] Refer to Figure 1 , Figure 2 and Fig.15As shown, the excavating potato-soil separation and conveying device 1 also includes a first spring tensioning device fixing frame 106, a first spring tensioning device 107, a rotating fixing frame 111, a first hydraulic cylinder 112, a second spring tensioning device fixing frame 113, a second spring tensioning device 114, and a first hydraulic cylinder front fixing frame 117; the left-right symmetrically arranged first spring tensioning device fixing frame 106 is respectively fixedly connected to the rear end area of ​​the left baffle plate 104 of the first conveying chain and the right baffle plate 105 of the first conveying chain; the front end and the rear end of the left-right symmetrically arranged first spring tensioning device 107 are respectively connected and fixed to the left-right symmetrically arranged first spring tensioning device fixing frame 106 and the left-right symmetrically arranged second spring tensioning device supporting frame 1104 on the frame 11 by pins; the left-right symmetrically arranged rotating fixing frames 111 are respectively welded to the areas near the rear end of the left baffle plate 104 of the first conveying chain and the right baffle plate 105 of the first conveying chain; the left-right symmetrically arranged rotating fixing frames 111 are respectively connected to the device The left-right symmetrical excavating potato-soil separation conveying device support frame 1102 arranged on the frame 11 is fixedly connected by pins; the left-right symmetrically arranged second spring tensioning device fixing frame 113 is respectively fixedly connected to the middle and rear areas of the first conveying chain left baffle 104 and the first conveying chain right baffle 105; the front and rear ends of the left-right symmetrically arranged second spring tensioning device 114 are respectively connected and fixed to the left-right symmetrically arranged second spring tensioning device fixing frame 113 and the left-right symmetrical first spring tensioning device support frame 1101 arranged on the frame 11 by pins; the left-right symmetrically arranged first hydraulic cylinder front fixing frame 117 is respectively fixedly connected to the middle and front positions of the first conveying chain left baffle 104 and the first conveying chain right baffle 105; the front and rear ends of the left-right symmetrically arranged first hydraulic cylinder 112 are respectively connected and fixed to the left-right symmetrical first hydraulic cylinder front fixing frame 117 and the left-right symmetrical hydraulic cylinder support frame 1103 arranged on the frame 11 by pins.

[0063] Refer to Figure 2 and Figure 3As shown, the potato-soil separation and conveying device 1 also includes an adaptive wheel depth adjustment device fixing frame 118, an adaptive wheel depth adjustment device 119, a vibration and pressure wheel hinge support frame 120, and a vibration and pressure wheel 121; the left-right symmetrically arranged vibration and pressure wheels 121 are respectively installed on the sides of the left baffle plate 104 of the first conveying chain and the right baffle plate 105 of the first conveying chain near the front end through the vibration and pressure wheel hinge support frame 120; the vibration and pressure wheel hinge support frame 120 is a hinge connection mechanism. An adaptive wheel depth adjustment device 119 is also provided between the vibration wheel hinge support frame 120 and the first conveyor chain side baffle; the adaptive wheel depth adjustment device fixing frames 118 arranged symmetrically on the left and right are respectively welded to the middle front position of the first conveyor chain left baffle 104 and the first conveyor chain right baffle 105; the adaptive wheel depth adjustment device 119 includes a first connecting block 11901, a spring front end fixing plate 11902, an inner spring 11903, an outer spring 11904, a spring rear end fixing plate 11905, an outer connecting tube 11906, and a second connecting block 1190 7; The front end of the first connection block 11901 is hinged to the vibration wheel hinge support frame 120, and the rear end of the second connection block 11907 is hinged to the adaptive wheel depth adjustment device fixing frame 118; the first connection block 11901 and the spring front end fixing plate 11902 are fixedly connected by internal and external threads, and the left and right ends of the inner spring 11903 and the outer spring 11904 are respectively fixedly connected to the spring front end fixing plate 11902 and the spring rear end fixing plate 11905; the left and right ends of the outer connection tube 11906 are respectively fixedly connected to the spring rear end fixing plate 11905 and the second connection block 11907. The adaptive wheel depth adjustment device 119 can effectively adjust the depth of the depth according to the terrain in a self-excited manner; the adaptive wheel depth adjustment device 119 pulls and presses the vibration wheel hinge support frame 120 to realize the adaptive depth adjustment of the vibration wheel 121.

[0064] Please refer to Figure 4As shown, the second potato-soil separation and conveying device 2 includes a second conveying chain mechanism installed on the frame 11 and arranged horizontally; the front end of the second conveying chain mechanism is located below the rear end of the first conveying chain mechanism; specifically, the second conveying chain mechanism includes a second conveying chain left baffle 201, a second conveying chain 202, a second motor support plate 205, a second motor 206, a second conveying chain driving shaft 207, and a second conveying chain right baffle 208; the second conveying chain mechanism is welded and fixed to the left-right symmetrical second spring tensioning device support frame 1104 and the second truss 1106 arranged on the frame 11 through the second conveying chain left baffle 201 and the second conveying chain right baffle 208; the second conveying chain left baffle 201 and the second conveying chain right baffle 208 are used to prevent the sweet potatoes from falling from both sides during the conveying process; the second motor 206 is fixed to the second motor support plate 205 by bolt connection, and the second motor 206 controls the rotation of the second conveying chain driving shaft 207 to control the rotation of the second conveying chain 202.

[0065] Please refer to Figure 5 , Figure 6 , Figure 7 , Fig.15 As shown, the gripping and conveying device 3 includes a gripping and conveying mechanism installed on the frame 11 and located above the second conveying chain mechanism, and a manipulator gripping device 301 installed at the conveying end of the gripping and conveying mechanism.

[0066] Refer to Figure 5 As shown, the clamping and conveying mechanism also includes a first chain 302, a left support plate 303 of a clamping and conveying device, a third driving shaft 305, a second chain 306, a third motor support plate 307, a third motor 308, a right support plate 309 of a clamping and conveying device, a fourth motor support plate 311, a fourth motor 312 and a fourth driving shaft 313; the clamping and conveying device 3 is welded and fixed to the left and right symmetrical first trusses 1105 and second trusses 1106 arranged on the frame 11 through the left support plate 303 of the clamping and conveying device and the right support plate 309 of the clamping and conveying device respectively; the third motor 308 and the fourth motor 312 synchronously control the rotation of the third driving shaft 305 and the fourth driving shaft 313, thereby driving the first chain 302 and the second chain 306 to rotate clockwise (according to the right viewing angle of the overall harvesting device), and the third motor 308 and the fourth motor 312 are respectively fixed to the third motor support plate 307 and the fourth motor support plate 311 by bolts.

[0067] Refer to Figure 5 and Figure 6As shown, there are multiple manipulator gripping devices 301, which are evenly distributed along the conveying direction of the gripping conveying mechanism; the manipulator gripping device 301 includes a gripping seedling device mounting frame connected to the gripping conveying mechanism; the gripping seedling device mounting frame is fixed with multiple manipulators 30110 along the left and right directions; the manipulator gripping device 301 also includes a gripping seedling device motor 30101, and a gripping seedling device connected to the output end of the gripping seedling device motor 30101 is installed on the gripping seedling device mounting frame. The motor driving shaft 30105 of the seedling device; each manipulator 30110 is connected with a steel wire rope 30106, and a plurality of steel wire ropes 30106 are connected with the motor driving shaft 30105 of the seedling clamping device; the steel wire rope 30106 is used to be wound on the motor driving shaft 30105 of the seedling clamping device through the rotation of the motor driving shaft 30105 of the seedling clamping device motor under the drive of the seedling clamping device motor 30101, and tightened or loosened, thereby driving the manipulator 30110 to perform a closing action or an opening action. Specifically, the mounting frame of the seedling clamping device includes a motor support plate 30102 of the seedling clamping device, a left connecting plate 30104, a right connecting plate 30107, and a manipulator support plate 30109; the manipulator clamping device 301 is fixedly connected to the first chain 302 and the second chain 306 by bolts through the left connecting plate 30104 and the right connecting plate 30107 at the left and right ends respectively; the seedling clamping device motor 30101 is fixed to the seedling clamping device motor support plate 30102 by bolts.

[0068] Refer to Figure 6 and Figure 7As shown, the manipulator 30110 includes a first left clamping hand 3011001, a second left clamping hand 3011002, a first tensioning spring 3011003, a left connecting frame 3011004, an intermediate connecting frame 3011005, a second tensioning spring 3011006, a connecting pipe 3011007, a manipulator connecting plate 3011008, a right connecting frame 3011009, a third tensioning spring 3011010, a first right clamping hand 3011011, and a second right clamping hand 3011012; the manipulator connecting plate 3011008 is connected and fixed to the mounting frame of the clamping seedling device; one end of the connecting pipe 3011007 is connected to the manipulator connecting plate 30 11008 is fixed, and the other end is hinged to the second left clamping hand 3011002 and the second right clamping hand 3011012 respectively; the front and rear ends of the second tensioning spring 3011006 are fixedly connected to the middle connecting frame 3011005 and the connecting pipe 3011007 respectively; the left and right ends of the left connecting frame 3011004 are hinged to the second left clamping hand 3011002 and the middle connecting frame 3011005 respectively; the left and right ends of the right connecting frame 3011009 are hinged to the middle connecting frame 3011005 and the second right clamping hand 3011012 respectively; the first left clamping hand 3011001 is hinged to the second left clamping hand 3011002 at a position close to the rear end, and the first right The gripping hand 3011011 is hinged to the second right gripping hand 3011012 at a position close to the rear end; the steel wire rope 30106 passes through the connecting pipe 3011007, the second tensioning spring 3011006, and the intermediate connecting frame 3011005 and is respectively connected to the rear ends of the first left gripping hand 3011001 and the first right gripping hand 3011011; the steel wire rope 30106 is also connected to the intermediate connecting frame 3011005; the first tensioning spring 3011003 is arranged between the rear end of the first left gripping hand 3011001 and the second left gripping hand 3011002; the first right gripping hand 3011011 and the second right gripping hand 3011012 are connected to the first left gripping hand 3011001. The third tensioning spring 3011010 is arranged between 11012; when the motor 30101 of the clamping seedling device controls the wire rope 30106 to be tensioned, the wire rope 30106 pulls the intermediate connecting frame 3011005 to close the second left clamping hand 3011002 and the second right clamping hand 3011012, and at the same time, the wire rope also pulls the first left clamping hand 3011001 and the first right clamping hand 3011011 to close the first left clamping hand 3011001 relative to the second left clamping hand 3011002, and the first right clamping hand 3011011 is closed relative to the second right clamping hand 3011012, thereby putting the manipulator 30110 in a closed state;When the motor 30101 of the rice seedling clamping device controls the steel wire 30106 to relax, the middle connecting frame 3011005 opens the second left clamping hand 3011002 and the second right clamping hand 3011012 under the action of the second tensioning spring 3011006. At the same time, the first left clamping hand 3011001 opens relative to the second left clamping hand 3011002 under the action of the first tensioning spring 3011003, and the first right clamping hand 3011011 opens relative to the second right clamping hand 3011012 under the action of the third tensioning spring 3011010, thereby making the manipulator 30110 in an open state.

[0069] Please refer to Fig. 9 and Fig.15 As shown, the potato nugget separation and conveying device 4 includes a potato nugget conveying mechanism installed on the frame 11 and located in the upper area behind the clamping conveying mechanism, and a hook separation mechanism located above the front end of the potato nugget conveying mechanism. Specifically, the potato nugget conveying mechanism includes a conveying chain left baffle 412, a conveying chain 413, a conveying chain driving shaft 414, a sixth motor support plate 415, a sixth motor 416, and a conveying chain right baffle 417; the potato nugget conveying mechanism is welded and fixedly connected to the left-right symmetrical third truss 1107 arranged on the frame 11 through the conveying chain left baffle 412 and the conveying chain right baffle 417; the conveying chain left baffle 412 and the conveying chain right baffle 417 are used to prevent the potato nugget from falling from both sides during the conveying process; the curved rod on the conveying chain 413 can further separate the potato nugget from the soil.

[0070] Refer to Fig. 9 and Fig.18As shown, the hooking and separating mechanism includes a hooking mounting frame, an arc-shaped claw 403, a first circular shaft 405, a square connecting plate 406, a fifth motor 408, a left crank 409, a second circular shaft 410, a hollow rectangular connecting plate 411, and a right crank 419; the first circular shaft 405 is rotatably connected to the square connecting plate 406, the square connecting plate 406 is slidably connected to the arc-shaped claw 403, the left and right ends of the first circular shaft 405 are respectively connected and fixed to the hooking mounting frame by welding, the rear end of the arc-shaped claw 403 is connected and fixed to the hollow rectangular connecting plate 411 by welding, and the hollow rectangular connecting plate 411 is connected to the second circular shaft 410 is rotatably connected, and the left and right points of the second circular shaft 410 are respectively connected to the left crank 409 and the right crank 419 through pins; the power output end of the fifth motor 408 is connected to the left crank 409 or the right crank 419, and is used to drive the left crank 409 or the right crank 419 to rotate, and then drive the arc claw 403 through the hollow rectangular connecting plate 411, so that the arc claw 403 is constrained and guided by the square connecting plate 406, and the front end of the arc claw 403 performs a hooking action, and then the potato pieces hanging on the sweet potato seedlings clamped by the manipulator clamping device 301 are hooked off the seedlings, so that the potato pieces fall onto the conveying chain 413. In this embodiment, the hook mounting frame includes a left support frame 404 and a right support frame 418; the left and right ends of the first circular shaft 405 are respectively connected and fixed to the left support frame 404 and the right support frame 418 by welding; a fifth motor support plate 407 is fixed to the left support frame 404; the fifth motor 408 is fixed to the fifth motor support plate 407 by bolts; the power output end of the fifth motor 408 is connected to the left crank 409.

[0071] Refer to Fig. 9 As shown, the front end of the potato nugget conveying mechanism is also provided with a leak-proof potato blocking rod group 401, which is used to make all the sweet potatoes fall and roll onto the potato nugget conveying mechanism after the arc-shaped claw 403 hooks the sweet potato nugget from the manipulator gripping device 301, so as to prevent the potato nugget from falling outside the potato nugget conveying mechanism. In this embodiment, the potato nugget separation and conveying device also includes a leak-proof potato blocking rod group bottom plate 402, and the left and right ends of the leak-proof potato blocking rod group bottom plate 402 are respectively welded to the front ends of the left baffle 412 and the right baffle 417 of the conveying chain; the leak-proof potato blocking rod group 401 is fixed to the leak-proof potato blocking rod group bottom plate 402 by welding; the leak-proof potato blocking rod group 401 and the manipulator 30110 are arranged in an interlaced manner, and the gap of the leak-proof potato blocking rod group 401 allows the manipulator 30110 in a closed state to pass smoothly.

[0072] Please refer to Fig.10 and Fig.15As shown, the circular potato nugget conveying device 5 includes a left outer semicircular fixed plate support frame 501, a left outer semicircular fixed plate 502, a left outer track 503, a right outer track 504, a left roller 505, a fence 506, a right roller 507, a right outer semicircular fixed plate 508, a side fence 509, a rotating crankshaft 510, a support plate 511, a right outer semicircular fixed plate support frame 512, a seventh motor 513 and an inner circular fixed support plate 514; the circular potato nugget conveying device 5 is top-side fed The material end is connected with the rear end of the potato tuber conveying mechanism; the circular potato tuber conveying device 5 is fixed to the left-right symmetrical fourth truss 1108 arranged on the frame 11 through the left-right symmetrical left outer semicircular fixed plate support frame 501 and the right outer semicircular fixed plate support frame 512 welded and connected; the left outer semicircular fixed plate support frame 501 and the right outer semicircular fixed plate support frame 512 are respectively fixedly connected to the left outer semicircular fixed plate 502 and the right outer semicircular fixed plate 508 by welding; the support plate 51 1 and the inner circular fixed support plate 514 are fixedly connected by welding, and the left outer track 503 and the right outer track 504 are respectively slidably rotated on the left outer semicircular fixed plate 502 and the right outer semicircular fixed plate 508 through the left roller 505 and the right roller 507; the fence 506 is used to block the sweet potato pieces so that they slowly rotate and fall to the bottom, thereby reducing the damage of the sweet potato pieces to the skin; the seventh motor 513 is fixed to the support plate 511 by bolt connection, and the seventh motor 513 controls the rotation of the rotating crankshaft 510 to drive the left outer track 503 and the right outer track 504 to slide and rotate on the left outer semicircular fixed plate 502 and the right outer semicircular fixed plate 508, and controls the clockwise rotation to make the sweet potato pieces slowly fall and transport; the side fence 509 is used to prevent the sweet potato pieces from falling from the side; the potato pieces are transported from the conveying chain 413 on the potato piece separation and conveying device 4 to the circular potato piece conveying device 5; and then output from the circular potato piece conveying device 5 to the potato piece collecting and conveying device 6.

[0073] Please refer to Fig.11 and Fig.15 As shown, the potato collecting and conveying device 6 includes a potato collecting box 601, a roller 602, a potato conveying side baffle 603, an eighth motor support plate 604 and an eighth motor 605; the potato collecting and conveying device 6 is fixedly connected to the support base plate 1111 arranged at the rear end of the frame 11 by welding; the eighth motor 605 is fixed to the eighth motor support plate 604 by bolts, and the eighth motor support plate 604 is fixedly connected to the potato conveying side baffle 603 by welding; the eighth motor 605 controls the rotation of the roller 602, thereby driving the potato collecting box 601 to be conveyed to the left and falling to the ground.

[0074] Please refer to Fig.12 and Fig.15As shown, the seedling separation and conveying device 7 includes a seedling conveying mechanism installed on the frame 11 and located in the lower area behind the clamping and conveying mechanism; the seedling separation and conveying device 7 also includes a collecting cover 704 arranged above the seedling conveying mechanism. Specifically, the seedling conveying mechanism includes a left baffle plate 703 of the seedling conveyor belt, a ninth motor support plate 705, a ninth motor 706, a seedling conveyor belt 707, and a right baffle plate 708 of the seedling conveyor belt; the seedling conveying mechanism is fixedly connected to a third truss 1107 arranged on the frame 11 by welding the left baffle plate 703 of the seedling conveyor belt and the right baffle plate 708 of the seedling conveyor belt; the collecting cover 704 is fixed to the left baffle plate 703 of the seedling conveyor belt and the right baffle plate 708 of the seedling conveyor belt; the left baffle plate 703 of the seedling conveyor belt, the right baffle plate 708 of the seedling conveyor belt and the collecting cover 704 are used to prevent the sweet potato seedlings from being blown out; the ninth motor 706 is fixed to the ninth motor support plate 705 by bolt connection, and the seedling conveyor belt 707 is controlled to rotate by the ninth motor 706 to realize the conveying of the sweet potato seedlings.

[0075] Refer to Fig.12 As shown, the front end of the seedling conveying mechanism is provided with a seedling blocking rod group 701, which is used to prevent the seedlings from falling outside the seedling separation and conveying device 7. In this embodiment, the seedling separation and conveying device 7 also includes a seedling blocking rod group support plate 702; the left and right ends of the seedling blocking rod group support plate 702 are respectively welded to the front ends of the left baffle plate 703 and the right baffle plate 708 of the seedling conveying belt; the seedling blocking rod group 701 is welded and fixedly connected to the seedling blocking rod group support plate 702, and the seedling blocking rod group 701 and the seedling blocking rod group support plate 702 are arranged in a high front and low back manner to prevent the sweet potato seedlings from falling below, and to enable all the potato seedlings to be conveyed to the seedling conveying belt 707; the seedling blocking rod group 701 and the manipulator 30110 are arranged in an interlaced manner, and the gap of the seedling blocking rod group 701 allows the manipulator 30110 in a closed state to pass smoothly.

[0076] Please refer to Figure 5 , Figure 8 and Fig.17As shown, the gripping and conveying device 3 also includes a fan 304 corresponding to the seedling conveying mechanism; the air outlet direction of the fan 304 corresponds to the inlet end of the collecting cover 704; the fan 304 is used to blow the seedlings into the seedling conveying mechanism. Specifically, the fan 304 is welded and fixed to the left support plate 303 of the clamping and conveying device and the right support plate 309 of the clamping and conveying device through a left-right symmetrical fan support frame 310; the fan 304 includes a fan support base plate 30401, a first fan motor 30402, a fan casing 30403, a second fan motor 30404, a grid bar 30405, a second fan 30406, and a first fan 30407; the first fan motor 30402 and the second fan motor 30404 are fixedly connected to the fan casing 30403 by bolts; the fan casing 30403 is fixedly connected to the fan support base plate 30401 by bolts, and the second fan 30406 and the first fan 30407 are respectively controlled to rotate by the first fan motor 30402 and the second fan motor 30404, thereby realizing the operation of the fan 304.

[0077] Please refer to Fig.13 and Fig.15 As shown, the seedling crushing device 8 is installed on the frame 11; the feeding end of the top side of the seedling crushing device 8 corresponds to the discharging end of the seedling separation and conveying device 7 above it; the discharging end of the bottom side of the seedling crushing device 8 is located above the seedling collecting and conveying device 9. In this embodiment, the seedling crushing device 8 includes a housing 801, a curved knife 802, a chain 803, a curved knife first rotating shaft 804, a tenth motor support plate 805, a tenth motor 806 and a curved knife second rotating shaft 807; the seedling crushing device 8 is welded and fixed to the seedling crushing device support frame 1109 provided on the frame 11 through the housing 801; the curved knife 802 is fixed to the curved knife first rotating shaft 804 through screw connection; the tenth motor 806 is fixed to the tenth motor support plate 805 through bolt connection, and the tenth motor 806 controls the rotation of the curved knife first rotating shaft 804, thereby driving the curved knife second rotating shaft 807 to rotate through the chain 803, thereby realizing the shredding of the sweet potato seedlings.

[0078] Please refer to Fig.14 and Fig.15 As shown, the seedling collecting and conveying device 9 includes a broken seedling collecting box 901, a seedling conveying side baffle 902, a roller 903, an eleventh motor support plate 904 and an eleventh motor 905; the seedling collecting and conveying device 9 is welded and fixed to a supporting bottom plate 1111 arranged on the frame 11; the eleventh motor 905 is fixed to the eleventh motor support plate 904 by bolt connection; the seedlings fall from the discharge end of the seedling crushing device 8 to the broken seedling collecting box 901, and the rotation of the roller 903 is controlled by the eleventh motor support plate 904, thereby controlling the broken seedling collecting box 901 to be slowly conveyed to the left and fall to the ground.

[0079] Please refer to Fig.15 As shown, the frame 11 is provided with a first spring tensioning device support frame 1101, a potato-soil separation and conveying device support frame 1102, a hydraulic cylinder support frame 1103, a second spring tensioning device support frame 1104, a first truss 1105, a second truss 1106, a third truss 1107, a fourth truss 1108, a rice seedling crushing device support frame 1109, and a supporting bottom plate 1111. The rear end of the frame 11 is also provided with an arc plate 1110, which can effectively reduce the resistance caused by the obstruction of branches, so that it can effectively pass through the branch obstacles; the bottom side of the frame 11 is also installed with a crawler walking mechanism 10.

[0080] Please refer to Figure 1 , Figure 4 , Figure 6 and Fig.12 As shown, the manipulator clamping device 301 also includes a motor controller 30103 and a receiving infrared sensor 30108; the motor controller 30103 is fixed by bolts, and the receiving infrared sensor 30108 is installed on the right end of the manipulator support plate 30109; the motor controller 30103 controls the rotation of the motor 30101 of the clamping seedling device according to the signal received by the receiving infrared sensor 30108, thereby controlling the stretching, tensioning or relaxation of the wire rope 30106, driving the manipulator 30110 to close or open. The second conveying chain mechanism also includes a first transmitting infrared sensor 203, a first transmitting infrared sensor support plate 204, a second transmitting infrared sensor 209 and a second transmitting infrared sensor support plate 210; the first transmitting infrared sensor support plate 204 is fixed to the rear end area of ​​the side of the right baffle 208 of the second conveying chain; the second transmitting infrared sensor support plate 210 is fixed to the middle area of ​​the side of the right baffle 208 of the second conveying chain; the first transmitting infrared sensor 203 is fixed to the first transmitting infrared sensor support plate 204 by bolt connection; the second transmitting infrared sensor 209 is fixed to the second transmitting infrared sensor support plate 210 by bolt connection. The seedling separation and conveying device also includes a third emitting infrared sensor 709 and a fourth emitting infrared sensor 710; the third emitting infrared sensor 709 and the fourth emitting infrared sensor 710 are fixed one above and one below at a position near the front end on the right side of the collecting cover 704 by bolt connection; the installation position of the third emitting infrared sensor 709 is lower than the bottom plate 402 of the leak-proof potato blocking rod group to ensure that under the clockwise rotation of the clamping and conveying mechanism, the manipulator 30110 is always in a closed state before reaching the position of the third emitting infrared sensor 709, so that the manipulator 30110 can smoothly pass through the leak-proof potato blocking rod group 401.

[0081] When the receiving infrared sensor 30108 of a certain manipulator clamping device 301 is aligned with the first transmitting infrared sensor 203, the motor controller 30103 controls the rotation of the motor 30101 of the clamping seedling device through the received signal, thereby driving the steel wire rope 30106 fixedly connected to the driving shaft 30105 of the motor of the clamping seedling device to relax, and under the joint action of the first tensioning spring 3011003, the second tensioning spring 3011006 and the third tensioning spring 3011010, the first left clamping hand 3011001, the second left clamping hand 3011002, the first right clamping hand 3011011 and the second right clamping hand 3011012 are all opened, that is, the manipulator 30110 is in an open state to clamp the seedlings. The robot clamping device 301 continues to move, and when the receiving infrared sensor 30108 is aligned with the second transmitting infrared sensor 209, the motor controller 30103 controls the rotation of the clamping seedling device motor 30101 through the received signal, driving the steel wire rope 30106 fixedly connected to the driving shaft 30105 of the clamping seedling device motor to be tightened, and the first left clamping hand 3011001, the second left clamping hand 3011002, the first right clamping hand 3011011 and the second right clamping hand 3011012 are retracted and closed to clamp the sweet potato body on the second conveying chain mechanism. The manipulator clamping device 301 continues to move, and when the receiving infrared sensor 30108 is aligned with the third transmitting infrared sensor 709, the motor controller 30103 controls the manipulator to open and release the seedlings; the sweet potato seedlings fall under the action of gravity, and the seedlings are blown into the seedling separation and conveying device 7 by the fan 304. When the receiving infrared sensor 30108 is aligned with the fourth transmitting infrared sensor 710, the motor controller 30103 controls the manipulator to close, so that it can pass through the seedling blocking stick group 701.

[0082] The working process of a sweet potato digging and potato-soil-separation and harvesting device provided by the present invention is as follows:

[0083] 1. According to the agronomic requirements of sweet potato planting, the excavation depth of the potato-soil separation and conveying device 1 is controlled by the first hydraulic cylinder 112, so that the excavation depth can be reduced as much as possible while all the sweet potatoes can be excavated without damage, thereby reducing the excavation resistance. The adaptive wheel sinking device 119 can adjust the height of the vibrating wheel 121 in real time according to the complex terrain environment, so that it can maintain a stable excavation depth and reduce the excavation resistance;

[0084] 2. The harvester moves forward through the crawler walking mechanism 12. Under the excavation action of the excavating shovel 101, the sweet potatoes are transported upward from the excavating shovel 101 to the extension plate 102 together with the soil blocks and the vines, and then transported to the first conveying chain 103. Under the vibration action of the curved rod on the first conveying chain 103 and the first conveying chain eccentric cam supporting roller 116, the potatoes and soil can be effectively separated. The first conveying chain left baffle 104 and the first conveying chain right baffle 105 installed on both sides can effectively prevent the sweet potatoes from falling from both sides. The sweet potatoes are transported from the first conveying chain 103 to the second conveying chain 202. The second conveying chain left baffle 201 and the second conveying chain right baffle 208 installed on both sides can effectively prevent the sweet potatoes from falling from both sides. The manipulator 30110 clamps the sweet potato vines transported on the second conveying chain 202 and transports them clockwise (from the right viewing angle of the harvester). The third motor 3 08 and the fourth motor 312 synchronously control the third driving shaft 305 and the fourth driving shaft 313 to rotate clockwise respectively, thereby driving the first chain 302 and the second chain 306 to rotate synchronously clockwise respectively, thereby driving the manipulator clamping device 301 fixedly installed on the first chain 302 and the second chain 306 to rotate clockwise. When the receiving infrared sensor 30108 on the manipulator clamping device 301 is rotated to the position aligned with the first transmitting infrared sensor 203, the motor controller 30103 controls the motor 30101 of the clamping seedling device to rotate according to the received signal, so that the wire rope 30106 is loosened, and the manipulator 30110 is opened. The manipulator 30110 is in an open state from the position of the first transmitting infrared sensor 203 to the position of the second transmitting infrared sensor 209. This process is the state of grabbing and lifting up the sweet potato seedlings.When the receiving infrared sensor 30108 on the manipulator clamping device 301 is rotated to the position aligned with the second transmitting infrared sensor 209, the motor controller 30103 controls the motor 30101 of the clamping seedling device to rotate according to the received signal, so that the wire rope 30106 is tightened, and the manipulator 30110 is closed to clamp the sweet potato seedlings. The manipulator 30110 is in a closed state from the position of the second transmitting infrared sensor 209 to the position of the third transmitting infrared sensor 709. This process is the state of clamping the sweet potato seedlings and conveying them. The potato pieces and the sweet potato vines are together, so the sweet potato pieces will be transported upward along with the sweet potato vines clamped by the manipulator 30110 and rotated clockwise along the first chain 302 and the second chain 306. The left crank 409 is driven to rotate by the fifth motor 408, thereby driving the arc-shaped claw 403 to hook the sweet potato pieces off the manipulator 30110 and drop them onto the conveyor chain 413. The anti-leakage potato blocking rod group 401 and the manipulator 30110 are arranged in a staggered manner, so that the closed manipulator 30110 can pass smoothly, and the anti-leakage potato blocking rod group 401 can effectively prevent The sweet potato pieces fall downward, so that all of them can fall onto the conveying chain 413. The left baffle plate 412 and the right baffle plate 417 of the conveying chain can effectively prevent the sweet potato pieces from falling from both sides during the conveying process of the conveying chain 413. The sweet potato pieces are transported from the conveying chain 413 to the circular potato piece conveying device 5, and the seventh motor 513 rotates to drive the crankshaft 510 fixedly connected to the side baffle 509 to rotate. Under the action of the left roller 505 and the right roller 507, the left outer track 503 and the right outer track 504 are driven to rotate on the left outer semicircular fixed plate 502 and the right outer track 504. The outer semicircular fixed plate 508 and the upper inner circular fixed support plate 514 rotate, driving the sweet potato pieces to slowly rotate clockwise (from the main viewing angle of the harvester) and fall into the potato piece collection box 601. The barrier 506 can effectively allow the sweet potato pieces to fall slowly to avoid skin damage caused by collision between the sweet potato pieces. The sweet potato pieces fall from the circular potato piece conveying device 5 into the potato piece collection box 601, and the eighth motor 605 controls the rotation of the roller 602, thereby driving the potato piece collection box 601 to be conveyed to the left, and slowly conveyed to the ground where it falls, completing the harvesting of the sweet potato pieces.

[0085] 3. The installation height of the third infrared emitting sensor 709 is lower than the bottom plate 402 of the anti-leakage potato blocking stick group, so that the manipulator 30110 is always in a closed state before rotating clockwise to the position of the third infrared emitting sensor 709, so that it can pass through the anti-leakage potato blocking stick group 401. When the manipulator clamping device 301 rotates to the position where the receiving infrared sensor 30108 is aligned with the third infrared emitting sensor 709, the motor controller 30103 controls the motor 30101 of the clamping seedling device to rotate according to the received signal, so that the wire rope 30106 is relaxed, so that the manipulator 30110 is opened, and the manipulator 30110 moves from the third infrared emitting sensor 709. The position of the seedling conveyor belt 707 is kept open until the position of the fourth infrared sensor 710. This process is the state of releasing the sweet potato seedlings. At this time, the sweet potato seedlings fall down under the action of gravity. Under the action of the fan 304, the sweet potato seedlings are blown backwards so that the sweet potato seedlings can fall onto the seedling conveyor belt 707. The seedling blocking stick group 701 and the manipulator 30110 are arranged in a staggered position. The seedling blocking stick group 701 can effectively prevent the sweet potato seedlings from falling downward. The left baffle plate 703 of the seedling conveyor belt, the collection cover 704 and the right baffle plate 708 of the seedling conveyor belt can effectively prevent the sweet potato seedlings from being blown away from both sides and above. The sweet potato seedlings are transported by the seedling conveyor belt 707 to the seedling crushing device 8, when the manipulator gripping device 301 rotates to the position where the receiving infrared sensor 30108 is aligned with the fourth transmitting infrared sensor 710, the motor controller 30103 controls the rotation of the motor 30101 of the gripping device according to the received signal, so that the wire rope 30106 is tightened, so that the manipulator 30110 closes and passes through the seedling blocking stick group 701, and the installation position of the fourth transmitting infrared sensor 710 is higher than the seedling blocking stick group 701, so that the manipulator 30110 closes and passes through the seedling blocking stick group 701 in advance, and the manipulator 30110 is in a state from the position of the fourth transmitting infrared sensor 710 to the position of the first transmitting infrared sensor 203. The scimitar conveyor belt 707 is in a closed state, and the sweet potato seedlings that fall from the seedling conveyor belt 707 are chopped while passing through the seedling crushing device 8. The tenth motor 806 rotates to drive the first rotating shaft 804 of the scimitar to rotate, and under the action of the chain 803, the second rotating shaft 807 of the scimitar is driven to rotate. The scimitar 802 fixedly mounted on the first rotating shaft 804 and the second rotating shaft 807 of the scimitar chops the sweet potato seedlings through high-speed rotation, and the chopped sweet potato seedlings fall into the broken seedling collection box 901. The eleventh motor 905 rotates to drive the roller 903 to rotate, thereby driving the broken seedling collection box 901 to slowly transport to the left to the ground where it falls, thereby completing the harvesting of the sweet potato seedlings.

[0086] The above embodiments should not limit the present invention in any way, and any technical solutions obtained by equivalent replacement or equivalent conversion shall fall within the protection scope of the present invention.

Claims

1. A harvesting device for digging sweet potatoes and separating sweet potatoes from soil and vines, characterized in that: The harvesting device comprises: a digging potato-soil separation and conveying device, a second potato-soil separation and conveying device, a clamping conveying device, a potato block separation and conveying device, a round potato block conveying device, a potato block collecting and conveying device, a seedling separation and conveying device, a seedling crushing device, a seedling collecting and conveying device, and a frame; wherein, The excavated potato-soil separation and conveying device comprises a first conveying chain mechanism installed on the front side of the vehicle frame and arranged obliquely with the front lower and the rear higher, and an excavating shovel connected to the front end of the first conveying chain mechanism; The second potato-soil separation and conveying device comprises a second conveying chain mechanism installed on the frame and arranged horizontally; the front end of the second conveying chain mechanism is located below the rear end of the first conveying chain mechanism; The gripping and conveying device comprises a gripping and conveying mechanism installed on the frame and located above the second conveying chain mechanism, and a manipulator gripping device installed at the conveying end of the gripping and conveying mechanism; The potato nugget separation and conveying device comprises a potato nugget conveying mechanism installed on the vehicle frame and located in the upper area behind the clamping and conveying mechanism, and a hooking and separating mechanism located above the front end of the potato nugget conveying mechanism; The seedling separation and conveying device comprises a seedling conveying mechanism installed on the frame and located in the lower area behind the clamping and conveying mechanism; the clamping and conveying device also comprises a fan corresponding to the seedling conveying mechanism; The excavating sweet potato and soil separation and conveying device is used to excavate sweet potatoes by using an excavating shovel, and separate the excavated sweet potatoes from the soil during the backward conveying process by using a first conveying chain mechanism; The second potato-soil separation and conveying device is used to receive the sweet potatoes conveyed by the first conveying chain mechanism through the second conveying chain mechanism, and separate the sweet potatoes from the soil during the backward conveying process; The gripping and conveying mechanism is used to drive the manipulator gripping device to sequentially pass through the second potato-soil separation and conveying device, the potato tuber separation and conveying device, and the seedling separation and conveying device; The manipulator gripping device cooperates with the second conveying chain mechanism to grip the potato vines of the sweet potatoes conveyed on the second conveying chain mechanism; and is also used to convey the sweet potatoes driven by the gripping conveying mechanism; The hooking and separating mechanism cooperates with the manipulator clamping device to separate the potato pieces from the potato vines clamped by the manipulator clamping device, and allows the separated potato pieces to fall to the potato piece conveying mechanism; The manipulator gripping device cooperates with the fan and the seedling conveying mechanism to loosen the seedlings in the area of ​​the seedling conveying mechanism; the machine is used to blow the seedlings into the seedling conveying mechanism; The circular potato nugget conveying device and the potato nugget collecting and conveying device are installed on the vehicle frame, the top side feeding end is connected with the rear end of the potato nugget conveying mechanism, and the bottom side discharging end is located above the potato nugget collecting and conveying device; The seedling crushing device and the seedling collecting and conveying device are installed on the frame, the rear discharge end of the seedling conveying mechanism is located above the feed end of the seedling crushing device, and the discharge end on the bottom side of the seedling crushing device is located above the seedling collecting and conveying device.

2. A sweet potato digging and potato soil and vine separation harvesting device according to claim 1, characterized in that: The first conveying chain mechanism includes a first conveying chain and first conveying chain side baffles installed on both sides of the first conveying chain; an excavating shovel fixed shaft is arranged between the front ends of the two first conveying chain side baffles; the excavating shovel fixed shaft is installed with an arc iron plate; the excavating shovel is fixed on the arc iron plate; the rear end of the excavating shovel is also fixed with an extension plate, and the extension plate is connected with the front end of the first conveying chain.

3. A sweet potato digging and potato soil and vine separation harvesting device according to claim 2, characterized in that: The two first conveying chain side baffles are provided with a rotating fixed frame in the area near the rear end, and the rotating fixed frame is rotatably connected to the frame; first hydraulic cylinders are also provided between the two first conveying chain side baffles and the frame; the front end of the first hydraulic cylinder is hinged to the middle front position of the first conveying chain side baffle, and the rear end of the first hydraulic cylinder is hinged to the frame; first spring tensioning devices are also provided between the two first conveying chain side baffles and the frame, one end of the first spring tensioning device is connected to the rear end area of ​​the first conveying chain side baffle, and the other end of the first spring tensioning device is connected to the frame; second spring tensioning devices are also provided between the two first conveying chain side baffles and the frame, one end of the second spring tensioning device is connected to the middle rear area of ​​the first conveying chain side baffle, and the other end of the second spring tensioning device is connected to the front end of the frame.

4. A sweet potato digging and potato soil and vine separation harvesting device according to claim 2 or 3, characterized in that: The potato-soil separation and conveying device also includes a vibrating wheel, which is installed on the side of the first conveying chain side baffle near the front end through a vibrating wheel hinged support frame; an adaptive wheel depth adjustment device is also provided between the vibrating wheel hinged support frame and the first conveying chain side baffle; the adaptive wheel depth adjustment device includes a first connecting block, a spring front end fixing plate, an inner spring, an outer spring, a spring rear end fixing plate, an outer connecting tube, and a second connecting block; the front end of the first connecting block is hinged to the vibrating wheel hinged support frame, and the rear end of the second connecting block is hinged to the first conveying chain side baffle; the first connecting block and the spring front end fixing plate are fixedly connected by internal and external bolts, and the left and right ends of the inner spring and the outer spring are respectively fixedly connected to the spring front end fixing plate and the spring rear end fixing plate; the left and right ends of the outer connecting tube are respectively fixedly connected to the spring rear end fixing plate and the second connecting block.

5. A sweet potato digging and potato-soil-separation harvesting device according to any one of claims 1 to 4, characterized in that: There are multiple manipulator clamping devices, which are evenly distributed along the conveying direction of the clamping and conveying mechanism; the manipulator clamping device includes a clamping seedling device mounting frame connected to the clamping and conveying mechanism; the clamping seedling device mounting frame is fixed with multiple manipulators along the left and right directions; the manipulator clamping device also includes a clamping seedling device motor, and the clamping seedling device mounting frame is equipped with a clamping seedling device motor driving shaft connected to the output end of the clamping seedling device motor; each manipulator is connected to a wire rope, and multiple wire ropes are connected to the clamping seedling device motor driving shaft; the wire rope is used to be wound and tensioned or relaxed on the clamping seedling device motor driving shaft through the rotation of the clamping seedling device motor driving shaft under the drive of the clamping seedling device motor, thereby driving the manipulator to perform a closing action or an opening action.

6. A sweet potato digging and potato soil and vine separation harvesting device according to claim 5, characterized in that: The manipulator includes a first left clamping hand, a second left clamping hand, a first tensioning spring, a left connecting frame, an intermediate connecting frame, a second tensioning spring, a connecting pipe, a manipulator connecting plate, a right connecting frame, a third tensioning spring, a first right clamping hand, and a second right clamping hand; the manipulator connecting plate is connected and fixed to the mounting frame of the clamping seedling device; one end of the connecting pipe is fixed to the manipulator connecting plate, and the other end is hinged to the second left clamping hand and the second right clamping hand respectively; the front and rear ends of the second tensioning spring are respectively fixedly connected to the intermediate connecting frame and the connecting pipe; the left and right ends of the left connecting frame are respectively hinged to the second left clamping hand and the intermediate connecting frame; the left and right ends of the right connecting frame are respectively hinged to the intermediate connecting frame and the second right clamping hand; the first left clamping hand is hinged to the second left clamping hand at a position near the rear end, and the first right clamping hand is hinged to the second right clamping hand at a position near the rear end; the steel wire rope passes through the connecting pipe, the second tensioning spring, and the intermediate connecting frame and is respectively connected to the rear end of the first left clamping hand and the rear end of the first right clamping hand ; The steel wire rope is also connected to the middle connecting frame; the first tensioning spring is arranged between the rear end of the first left clamping hand and the second left clamping hand; the third tensioning spring is arranged between the first right clamping hand and the second right clamping hand; when the motor of the clamping seedling device controls the steel wire rope to be tensioned, the steel wire rope pulls the middle connecting frame to close the second left clamping hand and the second right clamping hand, and at the same time, the steel wire rope also pulls the first left clamping hand and the first right clamping hand to close the first left clamping hand relative to the second left clamping hand, and to close the first right clamping hand relative to the second right clamping hand, thereby putting the manipulator in a closed state; when the motor of the clamping seedling device controls the steel wire rope to be relaxed, the middle connecting frame opens the second left clamping hand and the second right clamping hand under the action of the second tensioning spring, and at the same time, the first left clamping hand opens relative to the second left clamping hand under the action of the first tensioning spring, and the first right clamping hand opens relative to the second right clamping hand under the action of the third tensioning spring, thereby putting the manipulator in an open state.

7. The sweet potato digging and potato soil and vine separation harvesting device according to claim 1, characterized in that: The hooking and separating mechanism comprises a hooking mounting frame, an arc-shaped claw, a first circular shaft, a square connecting plate, a fifth motor, a left crank, a second circular shaft, a hollow rectangular connecting plate, and a right crank; the first circular shaft is rotatably connected to the square connecting plate, the square connecting plate is slidably connected to the arc-shaped claw, the left and right ends of the first circular shaft are respectively connected and fixed to the hooking mounting frame by welding, the rear end of the arc-shaped claw is fixed to the hollow rectangular connecting plate by welding, the hollow rectangular connecting plate is rotatably connected to the second circular shaft, and the left and right points of the second circular shaft are respectively connected to the left crank and the right crank; the power output end of the fifth motor is connected to the left crank or the right crank, and is used to drive the left crank or the right crank to rotate, and then drive the arc-shaped claw through the hollow rectangular connecting plate, so that the arc-shaped claw is guided by the constraint of the square connecting plate, and the front end of the arc-shaped claw performs a hooking action, and then the potato pieces hanging on the sweet potato seedlings clamped by the manipulator clamping device are hooked off the seedlings.

8. A sweet potato digging and potato soil and vine separation harvesting device according to claim 7, characterized in that: The front end of the potato piece conveying mechanism is also provided with a leak-proof potato blocking rod group, which is used to make all the sweet potatoes fall and roll onto the potato piece conveying mechanism after the arc-shaped claws hook the sweet potato pieces away from the manipulator clamping device.

9. A sweet potato digging and potato soil and vine separation harvesting device according to claim 1, characterized in that: The seedling separation and transportation device also includes a collecting cover arranged above the seedling transportation mechanism; the air outlet direction of the fan corresponds to the inlet end of the collecting cover.

10. A sweet potato digging and potato soil and vine separation harvesting device according to claim 9, characterized in that: A seedling blocking stick group is arranged at the front end of the seedling conveying mechanism to prevent the seedlings from falling out of the seedling separation and conveying device.

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