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

Abstract

The present invention relates to a harvesting device for digging sweet potatoes and separating potato from soil and seedlings, comprising a digging potato-soil separation and conveying device, a second potato-soil separation and conveying device, a clamping conveying device, a potato tuber separation and conveying device, a circular potato tuber conveying device, a potato tuber collecting and conveying device, a seedling separation and conveying device, a seedling crushing device, and a seedling collecting and conveying device installed on a vehicle frame; after the sweet potatoes are dug, conveyed, and soil removed by the digging potato-soil separation and conveying device, they are conveyed and soil removed by the second potato-soil separation and conveying device, clamped and conveyed by a clamping conveying mechanism, and potato tubers are separated and conveyed at the potato tuber separation and conveying device, and seedlings are separated and conveyed at the seedling separation and conveying device; the potato tubers are then output via the circular potato tuber conveying device and the potato tuber collecting and conveying device; and the seedlings are then output via the seedling crushing device and the seedling collecting and conveying device. The harvesting device of the present invention can dig and collect sweet potatoes, separate potato tubers, soil, and seedlings, and harvest the potato tubers and seedlings separately, thereby improving economic benefits.

Description

Technical Field

[0001] The present 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] Currently, sweet potato harvesting primarily involves killing the seedlings before harvesting. This process involves using a seedling-killing machine to pre-treat the sweet potatoes, followed by a harvesting machine after a certain period of time. This results in a long harvesting cycle, involves many machines, and leads to high costs. Furthermore, the degree of mechanization is low, and integrated seedling-killing and harvesting operations cannot be achieved. Furthermore, during the sweet potato harvesting process, existing excavation devices are unable to adaptively adjust the excavation depth according to the terrain to effectively reduce excavation resistance. Furthermore, the separation of clay on the sweet potato surface and the attached seedlings is not effective, causing clods of soil and seedlings to enter the potato block collection box along with the sweet potatoes, severely reducing the efficiency of the sweet potato harvest. Although the existing patented sweet potato harvester technology can kill the seedlings before harvesting, the seedlings after killing the seedlings still enter the conveying and separation device along with the sweet potatoes and soil, which still increases the difficulty of separating the sweet potato, soil, and seedlings. Furthermore, compared to sweet potato seedlings being chopped by a seedling-killing machine and left to rot on the ground, recycling the chopped sweet potato seedlings for livestock feeding would greatly improve the economic benefits for 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 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 its technical problems is: a sweet potato digging and potato-soil-separating harvesting device, comprising: 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,

[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 in an inclined manner 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 mounted 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 includes a gripping and conveying mechanism installed on the vehicle 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 tuber separation and conveying device includes a potato tuber conveying mechanism installed on the vehicle frame and located in the upper rear area of ​​the clamping and conveying mechanism, and a hooking and separating mechanism located above the front end of the potato tuber conveying mechanism;

[0009] The seedling separation and conveying device includes 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 includes a fan corresponding to the seedling conveying mechanism;

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

[0011] The second sweet 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 conveyor chain mechanism to grip the sweet potato vines conveyed on the second conveyor chain mechanism; and is also used to convey the sweet potatoes under the drive of the gripping conveyor 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 blower 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 mounted on the vehicle frame, with the top side feeding end connected to the rear end of the potato nugget conveying mechanism and the bottom side discharging end 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 vehicle 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 provided 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 to the front end of the first conveying chain.

[0019] Furthermore, the two first conveyor 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; a first hydraulic cylinder is respectively provided between the two first conveyor chain side baffles and the frame; the front end of the first hydraulic cylinder is hinged to the middle front position of the first conveyor chain side baffle, and the rear end of the first hydraulic cylinder is hinged to the frame; a first spring tensioning device is respectively provided between the two first conveyor chain side baffles and the frame, one end of the first spring tensioning device is connected to the rear end area of ​​the first conveyor chain side baffle, and the other end of the first spring tensioning device is connected to the frame; a second spring tensioning device is respectively provided between the two first conveyor chain side baffles and the frame, one end of the second spring tensioning device is connected to the middle rear area of ​​the first conveyor 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 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 fixedly connected to the spring front end fixing plate and the spring rear end fixing plate respectively; the left and right ends of the outer connecting tube are fixedly connected to the spring rear end fixing plate and the second connecting block respectively.

[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 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.

[0022] Further, the manipulator includes a first left clamping hand, a second left clamping hand, a first tensioning spring, a left connecting frame, a middle connecting frame, a second tensioning spring, a connecting tube, 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 clamping seedling device mounting frame; one end of the connecting tube 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 middle connecting frame and the connecting tube; the left and right ends of the left connecting frame are respectively hinged to the second left clamping hand and the middle connecting frame; the left and right ends of the right connecting frame are respectively hinged to the middle 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 tube, the second tensioning spring, the middle connecting frame and the rear end of the first left clamping hand and the rear end of the first right clamping hand The second right clamping hand is opened by the first tensioning spring and the second left clamping hand is opened by the first tensioning spring.

[0023] Furthermore, the hooking and separation mechanism includes a hooking mounting frame, an arc 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 claw, the left and right ends of the first circular shaft are respectively connected and fixed to the hook mounting frame by welding, the rear end of the arc 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 for driving the left crank or the right crank to rotate, and then driving the arc claw through the hollow rectangular connecting plate, so that the arc claw is constrained and guided by the square connecting plate, and the front end of the arc claw performs a hooking action, thereby hooking the potato pieces hanging on the sweet potato seedlings clamped by the manipulator clamping device away from the seedlings.

[0024] Furthermore, a leak-proof potato blocking rod group is provided at the front end of the potato piece conveying mechanism, which is used to allow all the sweet potatoes to fall and roll onto the potato piece conveying mechanism after the arc-shaped claws hook the sweet potato pieces off the manipulator 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-vine separation and harvesting device, which can 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 Schematic diagram of a sweet potato digging and potato-soil-separating and harvesting device according to an embodiment;

[0029] Figure 2 A perspective schematic diagram of a device for separating and conveying excavated potatoes and soil 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 perspective schematic diagram of a second potato-soil separation and conveying device according to an embodiment;

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

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

[0036] Figure 9 A perspective schematic diagram of a potato tuber separation and conveying device according to an embodiment;

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

[0038] Figure 11 A schematic perspective view of a potato tuber collecting and conveying device according to an embodiment;

[0039] Figure 12 is a perspective schematic diagram of a rice seedling separation and transportation device according to an embodiment;

[0040] Figure 13 is a perspective schematic diagram of a rice seedling crushing device according to an embodiment;

[0041] Figure 14 A perspective schematic diagram of a rice seedling collecting and conveying device according to an embodiment;

[0042] Figure 15 is a perspective schematic diagram of a vehicle frame of an embodiment;

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

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

[0045] Figure 18 A schematic diagram of the operation of the hooking and separating mechanism of the embodiment;

[0046] Among them, 1- excavating potato-soil separation and conveying device, 101- excavating shovel, 102- extension plate, 103- first conveyor chain, 104- first conveyor chain left baffle, 105- first conveyor 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 conveyor chain driving shaft, 111- rotating fixed frame, 112- first hydraulic cylinder, 113- second spring tensioning device fixing frame, 114- second spring tensioning device, 115- first conveyor chain support roller support Plate, 116-first conveyor chain eccentric cam support roller, 117-first hydraulic cylinder front fixing bracket, 118-adaptive wheel depth adjustment device fixing bracket, 119-adaptive wheel depth adjustment device, 120-vibrating pressure wheel hinged support bracket, 121-vibrating pressure wheel, 122-excavating 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 and conveying device, 201-second conveyor chain left baffle, 202-second conveyor chain, 203-first infrared emitting sensor, 204-first infrared emitting sensor support plate, 205-second motor support plate, 206-second motor, 207-second conveyor chain driving shaft, 208-second conveyor chain right baffle, 209-second infrared emitting sensor, 210-second infrared emitting sensor support plate;

[0048] 3-gripping and conveying device, 301-manipulator gripping device, 302-first chain, 303-left support plate of gripping and 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 and 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 base 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- leak-proof potato blocking rod group, 402- leak-proof potato blocking rod group bottom plate, 403- arc-shaped 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-guard rail, 507-right roller, 508-right outer semicircular fixed plate, 509-side guard rail, 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 collection and conveying device, 601- potato collection 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 scimitar, 805-tenth motor support plate, 806-tenth motor, 807-second rotating shaft of 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 scope of protection of the present invention.

[0058] Example

[0059] Please refer to Figures 1 to 18 As shown, this embodiment provides a sweet potato digging and potato-soil-separating-and-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 block separating and conveying device 4, a circular potato block conveying device 5, a potato block 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 Figure 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 lower front and higher rear; 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 fixed 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 for potato and soil separation.

[0061] Refer again 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 a 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, 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 again Figure 1 、 Figure 2 and Figure 15As shown, the potato-soil separation and conveying device 1 further 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 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 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 symmetrical second spring tensioning device support frame 1104 arranged on the vehicle 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 first conveying chain left baffle 104 and the first conveying chain right baffle 105; the left-right symmetrical rotating fixing frames 111 are respectively connected to the device The left-right symmetrical excavating potato-soil separation and 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 fixedly connected 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 fixedly connected 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 again 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 vibrating wheel hinge support frame 120, and a vibrating wheel 121; the left and right symmetrically arranged vibrating wheels 121 are respectively installed on the side of the first conveying chain left baffle 104 and the first conveying chain right baffle 105 near the front end through the vibrating wheel hinge support frame 120; the vibrating wheel hinge support frame 120 is a hinge connection mechanism. An adaptive wheel depth adjustment device 119 is further 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 sides are welded to the middle front position of the first conveyor chain left baffle 104 and the first conveyor chain right baffle 105 respectively; 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 connecting block 11901 is hinged to the vibrating wheel hinged support frame 120, and the rear end of the second connecting block 11907 is hinged to the adaptive wheel depth adjustment device fixing frame 118. The first connecting block 11901 is fixedly connected to the spring front fixing plate 11902 via internal and external threads. The left and right ends of the inner spring 11903 and the outer spring 11904 are respectively fixedly connected to the spring front fixing plate 11902 and the spring rear fixing plate 11905. The left and right ends of the outer connecting tube 11906 are respectively fixedly connected to the spring rear fixing plate 11905 and the second connecting block 11907. The adaptive wheel depth adjustment device 119 can effectively and self-excitedly adjust the wheel depth according to the terrain. By pulling and pressing the vibrating wheel hinged support frame 120 by the adaptive wheel depth adjustment device 119, the vibrating wheel 121 can achieve adaptive depth adjustment during its movement.

[0064] Please refer to Figure 4As shown, the second sweet 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 transportation; 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, thereby controlling the rotation of the second conveying chain 202.

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

[0066] Refer again 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 again 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 seedling device motor driving shaft 30105; each manipulator 30110 is connected to a steel wire rope 30106, and multiple steel wire ropes 30106 are connected to the seedling clamping device motor driving shaft 30105; the steel wire rope 30106 is used to be wound and tensioned or relaxed on the seedling clamping device motor driving shaft 30105 through the rotation of the seedling clamping device motor driving shaft 30105 under the drive of the seedling clamping device motor 30101, thereby driving the manipulator 30110 to perform a closing action or an opening action. Specifically, the seedling clamping device mounting frame includes a seedling clamping device motor support plate 30102, 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 again 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 near the rear end, and the first right The gripping hand 3011011 is hinged to the second right gripping hand 3011012 at a position near the rear end; the steel wire rope 30106 passes through the connecting tube 3011007, the second tensioning spring 3011006, and the intermediate connecting frame 3011005 and is connected to the rear end of the first left gripping hand 3011001 and the rear end of the first right gripping hand 3011011 respectively; the steel wire rope 30106 is also connected to the intermediate connecting frame 3011005; the first tensioning spring 3011003 is provided 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 each other; The third tensioning spring 3011010 is provided between 11012; when the motor 30101 of the clamping seedling device controls the steel wire rope 30106 to be tensioned, the steel wire rope 30106 pulls the intermediate connecting frame 3011005, so that the second left clamping hand 3011002 and the second right clamping hand 3011012 are closed. At the same time, the steel wire rope also pulls the first left clamping hand 3011001 and the first right clamping hand 3011011, so that the first left clamping hand 3011001 is closed 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 rice seedling clamping device motor 30101 controls the steel wire rope 30106 to loosen, the middle connecting frame 3011005, under the action of the second tensioning spring 3011006, causes the second left clamping hand 3011002 and the second right clamping hand 3011012 to open. Simultaneously, 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 placing the manipulator 30110 in an open state.

[0069] Please refer to Figure 9 and Figure 15 As shown, the potato tuber separation and conveying device 4 includes a potato tuber conveying mechanism mounted on the vehicle frame 11 and located in the upper rear area of ​​the clamping conveying mechanism, and a hooking and separating mechanism located above the front end of the potato tuber conveying mechanism. Specifically, the potato tuber conveying mechanism includes a conveyor chain left baffle 412, a conveyor chain 413, a conveyor chain driving shaft 414, a sixth motor support plate 415, a sixth motor 416, and a conveyor chain right baffle 417. The potato tuber conveying mechanism is welded and fixedly connected to a left-right symmetrical third truss 1107 provided on the vehicle frame 11 via the conveyor chain left baffle 412 and the conveyor chain right baffle 417. The conveyor chain left baffle 412 and the conveyor chain right baffle 417 are used to prevent the potato tubers from falling from both sides during conveyance. The curved rod on the conveyor chain 413 can further separate the potato tubers from the soil.

[0070] Refer again Figure 9 and Figure 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 parallelepiped 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 fixed to the hollow rectangular parallelepiped connecting plate 411 by welding, and the hollow rectangular parallelepiped connecting plate 411 is fixed 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, which 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 away from the seedlings, so that the potato pieces fall onto the conveyor 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; the fifth motor support plate 407 is fixed on the left support frame 404; the fifth motor 408 is fixed to the fifth motor support plate 407 by bolt connection; the power output end of the fifth motor 408 is connected to the left crank 409.

[0071] Refer again Figure 9 As shown, the front end of the potato tuber conveying mechanism is also provided with a leak-proof potato stopper group 401, which is used to prevent the sweet potatoes from falling off the potato tuber conveying mechanism after the arc-shaped claws 403 hook the sweet potato tubers from the manipulator gripping device 301, thereby preventing the sweet potatoes from falling off the potato tuber conveying mechanism. In this embodiment, the potato tuber separation and conveying device also includes a leak-proof potato stopper group bottom plate 402, the left and right ends of which are respectively welded to the front ends of the conveyor chain left baffle 412 and the conveyor chain right baffle 417; the leak-proof potato stopper group 401 is fixed to the leak-proof potato stopper group bottom plate 402 by welding; the leak-proof potato stopper group 401 is staggered with the manipulator 30110, and the gap between the leak-proof potato stopper group 401 allows the manipulator 30110 to pass smoothly in a closed state.

[0072] Please refer to Figure 10 and Figure 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 fed from the top and side of the device 5. 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 provided on the frame 11 by welding the left outer semicircular fixed plate support frame 501 and the right outer semicircular fixed plate support frame 512; 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 slid and rotated on the left outer semicircular fixed plate 502 and the right outer semicircular fixed plate 508 by the left roller 505 and the right roller 507; the guardrail 506 is used to block the sweet potato pieces so that they rotate slowly and fall to the bottom, reducing the damage to the skin of the sweet potato pieces; 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 slowly fall and transport the sweet potato pieces; the side guardrail 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 separating 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 Figure 11 and Figure 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 Figure 12 and Figure 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 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 708 of the seedling conveyor belt; the seedling conveying mechanism is fixedly connected to the third truss 1107 arranged on the frame 11 by welding the left baffle 703 of the seedling conveyor belt and the right baffle 708 of the seedling conveyor belt; the collecting cover 704 is fixed on the left baffle 703 of the seedling conveyor belt and the right baffle 708 of the seedling conveyor belt; the left baffle 703 of the seedling conveyor belt, the right baffle 708 of the seedling conveyor belt and the collecting cover 704 are used to prevent the sweet potato seedlings from being blown away; the ninth motor 706 is fixed to the ninth motor support plate 705 by bolts, 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 again Figure 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 703 and the right baffle 708 of the seedling conveyor 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 enable all the potato seedlings to be conveyed to the seedling conveyor belt 707; the seedling blocking rod group 701 and the manipulator 30110 are arranged in an interlaced manner, and the gap between the seedling blocking rod group 701 allows the manipulator 30110 in the closed state to pass smoothly.

[0076] Please refer to Figure 5 、 Figure 8 and Figure 17As shown, the clamping 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 and the right support plate 309 of the clamping and conveying device through the left and right symmetrical fan support frames 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 to realize the operation of the fan 304.

[0077] Please refer to Figure 13 and Figure 15 As shown, the rice seedling crushing device 8 is mounted on the vehicle frame 11; the feed end on the top side of the rice seedling crushing device 8 corresponds to the discharge end of the rice seedling separation and conveying device 7 above it; the discharge end on the bottom side of the rice seedling crushing device 8 is located above the rice seedling collecting and conveying device 9. In this embodiment, the rice seedling crushing device 8 includes a housing 801, a scimitar 802, a chain 803, a first scimitar rotating shaft 804, a tenth motor support plate 805, a tenth motor 806, and a second scimitar rotating shaft 807; the rice seedling crushing device 8 is welded to the rice seedling crushing device support frame 1109 provided on the vehicle frame 11 through the housing 801; the scimitar 802 is fixed to the first scimitar rotating shaft 804 by screws; the tenth motor 806 is fixed to the tenth motor support plate 805 by bolts, and the tenth motor 806 controls the rotation of the first scimitar rotating shaft 804, thereby driving the second scimitar rotating shaft 807 to rotate through the chain 803, thereby chopping the sweet potato seedlings.

[0078] Please refer to Figure 14 and Figure 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 the support base plate 1111 set 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 collection box 901 to be slowly conveyed to the left and fall to the ground.

[0079] Please refer to Figure 15 As shown, the vehicle frame 11 is equipped 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 seedling crushing device support frame 1109, and a support base 1111. A curved plate 1110 is also provided at the rear end of the vehicle frame 11 to effectively reduce the resistance caused by tree branches, allowing the vehicle to effectively pass through tree branch obstacles. A crawler walking mechanism 10 is also installed on the bottom side of the vehicle frame 11.

[0080] Please refer to Figure 1 、 Figure 4 、 Figure 6 and Figure 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 at the right end of the manipulator support plate 30109; the motor controller 30103 controls the rotation of the clamping seedling device motor 30101 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 area at the rear end 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 bolts; the second transmitting infrared sensor 209 is fixed to the second transmitting infrared sensor support plate 210 by bolts. 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 by bolts on the right side of the collecting cover 704 near the front end; 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 in a closed state until it reaches 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 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 relax. 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 manipulator 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 fan 304 blows the seedlings into the seedling separation and conveying device 7. 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 the sweet potato digging and potato-soil-separating and harvesting device provided by the present invention is as follows:

[0083] 1. According to the agronomic requirements of sweet potato cultivation, 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 ensuring that all sweet potatoes can be excavated without damage, thereby reducing the excavation resistance. The adaptive wheel depth adjustment 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 digging action of the digging shovel 101, the sweet potatoes, together with the soil blocks and the vines, are transported upward from the digging shovel 101 to the extension plate 102, and then transported to the first conveyor chain 103. Under the vibration action of the curved rod on the first conveyor chain 103 and the first conveyor chain eccentric cam supporting roller 116, the potatoes and soil can be effectively separated. The first conveyor chain left baffle 104 and the first conveyor 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 conveyor chain 103 to the second conveyor chain 202. The second conveyor chain left baffle 201 and the second conveyor 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 conveyor chain 202 and transports them clockwise (from the right side 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 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 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 follow the sweet potato vines clamped by the manipulator 30110 and move upward along with the first chain 302 and the second chain 306 to rotate clockwise, and the left crank 409 will be 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 conveyor chain 413. The left baffle 412 and the right baffle 417 of the conveyor chain can effectively prevent the sweet potato pieces from falling from both sides during the conveying process of the conveyor chain 413. The sweet potato pieces are transported from the conveyor chain 413 to the circular potato piece conveying device 5. The seventh motor 513 rotates to drive the crankshaft 510 fixedly connected to the side fence 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 move between the left outer semicircular fixed plate 502 and the right outer semicircular fixed plate 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 collecting box 601. The barrier 506 can effectively allow the sweet potato pieces to fall slowly, avoiding 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 collecting box 601, and the eighth motor 605 controls the rotation of the drum 602, thereby driving the potato piece collecting box 601 to be transported to the left, and slowly transported to the ground where they fall, completing the harvesting of the sweet potato pieces.

[0085] 3. The installation height of the third emitting infrared 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 emitting infrared 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 emitting infrared 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 emitting infrared sensor 709. The position of the seedling conveyor belt 707 is kept in an open state until the position of the fourth infrared emitting 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 backward 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 703 of the seedling conveyor belt, the collection cover 704 and the right baffle 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 to the seedling crushing device through the seedling conveyor belt 707 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 gripping seedling device motor 30101 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 in advance before entering the seedling blocking stick group 701, 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. It is now in a closed state. The sweet potato seedlings transported down from the seedling conveyor belt 707 are chopped in the process of 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. The chopped sweet potato seedlings fall into the broken seedling collection box 901. The eleventh motor 905 drives the roller 903 to rotate by rotation, thereby driving the broken seedling collection box 901 to slowly transport to the left to the ground where it falls, 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 fall within the protection scope of the present invention.

Claims

1. A harvesting device for digging sweet potatoes and separating the sweet potatoes from the soil and vines, characterized by: The harvesting device includes: 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 in an inclined manner 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 mounted 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 includes a gripping and conveying mechanism installed on the vehicle 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 tuber separation and conveying device includes a potato tuber conveying mechanism installed on the vehicle frame and located in the upper rear area of ​​the clamping and conveying mechanism, and a hooking and separating mechanism located above the front end of the potato tuber conveying mechanism; The seedling separation and conveying device includes 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 includes a fan corresponding to the seedling conveying mechanism; The excavated sweet potato and soil separation and conveying device is used to excavate sweet potatoes by using an excavating shovel, and to separate the excavated sweet potatoes from the soil during the backward conveying process by using a first conveying chain mechanism; The second sweet 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 conveyor chain mechanism to grip the sweet potato vines conveyed on the second conveyor chain mechanism; and is also used to convey the sweet potatoes under the drive of the gripping conveyor 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 fan 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 mounted on the vehicle frame, with the top side feeding end connected to the rear end of the potato nugget conveying mechanism and the bottom side discharging end located above the potato nugget collecting and conveying device; The seedling crushing device and the seedling collecting and conveying device are installed on the vehicle 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-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 provided 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 to the front end of the first conveying chain.

3. The sweet potato digging and potato-soil-separation harvesting device according to claim 2, characterized in that: The two first conveyor 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; a first hydraulic cylinder is also provided between the two first conveyor chain side baffles and the frame; the front end of the first hydraulic cylinder is hinged to the middle front position of the first conveyor 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 conveyor chain side baffles and the frame, one end of the first spring tensioning device is connected to the rear end area of ​​the first conveyor 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 conveyor chain side baffles and the frame, one end of the second spring tensioning device is connected to the middle rear area of ​​the first conveyor chain side baffle, and the other end of the second spring tensioning device is connected to the front end of the frame.

4. The sweet potato digging and potato-soil-separation harvesting device according to claim 2, characterized in that: 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 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 fixedly connected to the spring front end fixing plate and the spring rear end fixing plate respectively; the left and right ends of the outer connecting tube are fixedly connected to the spring rear end fixing plate and the second connecting block respectively.

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. The sweet potato digging and potato-soil-separation harvesting device according to claim 5, characterized in that: The robot arm includes a first left clamping hand, a second left clamping hand, a first tensioning spring, a left connecting frame, a middle connecting frame, a second tensioning spring, a connecting tube, a robot connecting plate, a right connecting frame, a third tensioning spring, the first right clamping hand, and the second right clamping hand; the robot connecting plate is connected and fixed to the clamping seedling device mounting frame; one end of the connecting tube is fixed to the robot 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 middle connecting frame and the connecting tube; the left and right ends of the left connecting frame are respectively hinged to the second left clamping hand and the middle connecting frame; the left and right ends of the right connecting frame are respectively hinged to the middle 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 tube, the second tensioning spring, and the middle 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 provided between the rear end of the first left clamping hand and the second left clamping hand; the third tensioning spring is provided 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, so that the second left clamping hand and the second right clamping hand are closed. At the same time, the steel wire rope also pulls the first left clamping hand and the first right clamping hand, so that the first left clamping hand is closed relative to the second left clamping hand, and the first right clamping hand is closed 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 relax, the middle connecting frame opens the second left clamping hand and the second right clamping hand under the action of the second tensioning spring. At the same time, the first left clamping hand is opened relative to the second left clamping hand under the action of the first tensioning spring, and the first right clamping hand is opened 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-separation harvesting device according to claim 1, characterized in that: The hooking and separating mechanism includes a hooking mounting frame, an arc 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, and the square connecting plate is slidably connected to the arc claw, and the left and right ends of the first circular shaft are respectively connected and fixed to the hook mounting frame by welding, and the rear end of the arc claw is fixed to the hollow rectangular connecting plate by welding, and 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 for driving the left crank or the right crank to rotate, and then driving the arc claw through the hollow rectangular connecting plate, so that the arc claw, under the constraint guidance of the square connecting plate, the front end of the arc claw performs a hooking action, and then the potato pieces hanging on the sweet potato seedlings clamped by the manipulator clamping device are hooked away from the seedlings.

8. The sweet potato digging and potato-soil-separation harvesting device according to claim 7, characterized in that: The front end of the potato piece conveying mechanism is also provided with a leakage-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. The sweet potato digging and potato-soil-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. The sweet potato digging and potato soil and vine separation harvesting device according to claim 9, characterized in that: 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.

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