Pineapple combined harvesting machine and harvesting method integrating clamping, pulling and conveying

Abstract

The present application relates to a kind of pineapple combined harvester of clamping, wrenching and conveying integration and harvesting method, and belongs to the technical field of pineapple harvesting.The present application solves the problem that existing pineapple harvester picking and conveying are carried out in steps, resulting in low picking efficiency, high fruit damage rate and high energy consumption.Fruit clamping and conveying mechanism is arranged in S-shaped structure, the front end of fruit clamping and conveying mechanism is low and installed on the rack, the rear end of fruit clamping and conveying mechanism is high and installed on the bearing platform, leaf pulling mechanism and straw holder assembly are respectively installed on the front end of the rack, and leaf pulling mechanism is arranged above straw holder assembly, stem fixed clamping mechanism is installed on the rack and arranged below the front part of fruit clamping and conveying mechanism.Under the action of fruit clamping and conveying mechanism, fruit picking, fruit lifting and collecting are completed at one time.The present application is used for pineapple harvesting.

Description

TECHNICAL FIELD

[0001] The present application relates to a pineapple combined harvester integrating clamping, picking and conveying, and a harvesting method, belonging to the technical field of pineapple harvesting. BACKGROUND

[0002] As a fruit rich in nutrients and sweet taste, the planting area of pineapple is expanding with the growth of market demand, driving the rapid development of related industries. However, the pineapple harvesting season is short and the yield is high, and the planting area is extensive, which brings great challenges to the picking operation. At present, pineapple picking mainly relies on manual labor, resulting in high labor costs. Therefore, the development of pineapple combined harvester is of great significance to reduce the picking pressure and improve the harvesting efficiency.

[0003] Regarding the pineapple harvester, there are many related patents have been proposed, such as the pineapple harvesters with publication numbers CN 116326333 A, CN 108738669 A and CN 108076812 A, which all adopt cutting method to pick pineapples. However, since the blades of these machines are fixed at a certain height, they cannot be adjusted according to the differences in the actual growth height of pineapples, resulting in the inability of the blades to accurately cut at the base of the pineapple stem. This often causes part of the harvested pineapples to be damaged or the base of the fruit to be left with too much stem, resulting in low picking accuracy. In addition, although the cross-type pineapple picking vehicle with publication number CN108307795 A can adjust the height of the picking platform through the lifting mechanism to adapt to the different heights of pineapples, the height of its picking platform cannot be adjusted in real time, so it still cannot cope with the height differences caused by the different growth of individual pineapples.

[0004] On the other hand, the pineapple combined harvesters with publication numbers CN 117751769 A, CN 110073806 A and CN 113950947 A generally adopt a working mode of picking and conveying in steps, which, although to some extent, realizes mechanized operation, but has problems such as low picking efficiency, high fruit damage rate, large energy consumption and difficulty in adapting to complex and variable field environments. Specifically, the step-by-step operation often leads to time delay in the picking process, increasing the risk of fruit damage, at the same time, the independent picking and conveying system also increases the overall energy consumption level, and when facing different terrains and pineapple growth conditions, the adjustment flexibility and adaptability are limited.

[0005] In summary, the pineapple harvesters currently proposed have problems such as insufficient picking accuracy, inability to flexibly adapt to the growth height differences of individual pineapples, low picking efficiency, high fruit damage rate, large energy consumption and difficulty in adapting to complex and variable field environments, and cannot realize efficient, accurate and low-loss mechanized harvesting of pineapples. SUMMARY

[0006] The present application is to solve the problem of low efficiency, high fruit damage rate and high energy consumption caused by the step-by-step picking and conveying of the existing pineapple picking machine, and further provides a pineapple combined picking machine and a picking method.

[0007] The technical scheme adopted by the present application to solve the above technical problems is:

[0008] A pineapple combined picking machine integrating clamping, pulling and conveying, comprising a moving assembly, a rack, a bearing platform, a fruit collecting box and a picking execution mechanism, wherein the bearing platform is installed above the moving assembly, the rack is fixed to the front of the bearing platform, the picking execution mechanism comprises a straw holder assembly, a leaf pushing mechanism, a stem fixing and clamping mechanism and a fruit clamping and conveying mechanism, the fruit clamping and conveying mechanism is arranged in an S-shaped structure, the front end of the fruit clamping and conveying mechanism is a low-position end and is installed on the rack, the rear end of the fruit clamping and conveying mechanism is a high-position end and is installed on the bearing platform, the fruit collecting box is installed on the bearing platform below the fruit clamping and conveying mechanism, the leaf pushing mechanism and the straw holder assembly are respectively installed at the front end of the rack, and the leaf pushing mechanism is arranged above the straw holder assembly, the stem fixing and clamping mechanism is installed on the rack below the front of the fruit clamping and conveying mechanism, and the fruit is pulled, picked, lifted and collected at one time under the action of the fruit clamping and conveying mechanism.

[0009] Further, the fruit clamping and conveying mechanism comprises a support assembly and two groups of fruit clamping and conveying assemblies arranged symmetrically, wherein each group of fruit clamping and conveying assemblies comprises a driving assembly, a chain wheel assembly, a guide chain plate and a flexible clamping chain, the guide chain plate is distributed in an S shape, and its lower part, middle part and upper part are fixedly installed on the rack and the bearing platform through the support assembly, the driving assembly is installed at the upper end of the guide chain plate and its output end is connected to the driving sprocket of the chain wheel assembly, the driven sprocket of the chain wheel assembly is rotatably installed at the lower end of the guide chain plate, and the flexible clamping chain is slidably wound around the side of the guide chain plate and forms a first chain transmission assembly with the chain wheel assembly.

[0010] Further, the flexible clamping chain comprises a plurality of flexible clamping units connected in sequence by pin shafts, wherein the flexible clamping unit comprises a flexible clamping link and a profiling clamp module installed on the flexible clamping link.

[0011] Further, the profiling clamp module comprises a fixed base, a plurality of support rods and a plurality of first springs, wherein the fixed base is fixed to the flexible clamping link, the plurality of support rods are arranged on the surface of the fixed base, and one end of each support rod is connected to the fixed base through the first spring.

[0012] Further, the stem fixing and clamping mechanism comprises two symmetrically arranged stem fixing and clamping units, each of which comprises a second synchronous motor, a clamping belt, a first housing, a support positioning frame arranged in the first housing, a driving pulley, at least three driven pulleys and a plurality of tension pulleys, wherein the second synchronous motor is mounted on the first housing and its output end is fixedly connected with the driving pulley, the clamping belt cooperates with the driving pulley and the driven pulleys to form a clamping belt transmission assembly, the Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, and the plurality of tension pulleys are connected to the support positioning frame through tension support wheel rods and second springs.

[0013] Further, the middle part of the tension support wheel rod is hingedly connected with the support positioning frame, one end of the tension support wheel rod is provided with a tension pulley, and the second spring is connected between the support positioning frame and the other end of the tension support wheel rod.

[0014] Further, the leaf pushing mechanism comprises a roller support, a leaf pushing roller, a leaf pushing motor and a plurality of rubber bars, wherein the roller support is fixedly installed at the front end of the frame, the leaf pushing roller and the leaf pushing motor are respectively installed on the roller support, the leaf pushing roller is driven to rotate by the leaf pushing motor, the plurality of rubber bars are arranged in multiple groups along the circumference of the leaf pushing roller, and the multiple leaf pushing rollers in each group are arranged along the axial direction of the rubber bar.

[0015] Further, the bottom of the bearing platform is vertically fixed with an inner sleeve, the top of the moving assembly is vertically fixed with an outer sleeve, the bearing platform is installed above the moving assembly through the inner sleeve and the outer sleeve which cooperate with each other, and the inner sleeve and the outer sleeve are connected through a pin.

[0016] Further, the moving assembly comprises two parallel arranged track-type moving units, and each track-type moving unit comprises a second housing, a mounting frame arranged in the second housing, a third motor, a second chain transmission assembly and a track wheel assembly, the third motor is fixedly installed on the mounting frame, and the third motor drives the track wheel assembly to act through the second chain transmission assembly.

[0017] A harvesting method of the pineapple combined harvester, comprising the following steps:

[0018] Step one, preparation stage:

[0019] The operation of the whole machine structure is checked to ensure that it is in a normal working state, and the driving speed of the moving assembly and the rotating speed of each working part in the harvesting execution mechanism are preset according to the planting density characteristics of the pineapple plants;

[0020] Step two, pineapple plant righting and gathering:

[0021] Adjust the route of the combine harvester to ensure that the front harvesting actuator corresponds to the pineapple planting row, and use the straw lifter to lift the fallen pineapple plants;

[0022] Step 3: Separate the fruit and leaves:

[0023] After the pineapple plant is lifted up, the leaf-pushing mechanism pushes down the outer leaves of the pineapple fruit to separate the fruit and leaves.

[0024] Step 4: Clamp the stem:

[0025] As the moving assembly drives the entire machine forward, the stem fixing clamping mechanism clamps the stem portion at the lower end of the pineapple stalk;

[0026] Step 5: Breaking and lifting the pineapple fruit for harvest:

[0027] After the pineapple plants have been straightened, leaf-removed and fixedly clamped, their fruits are smoothly transported between two groups of fruit clamping and conveying components for picking operations. During the picking process, first, the pineapple fruits enter the front section of the fruit clamping and conveying mechanism. During this process, the front part of the fruit clamping and conveying mechanism firmly clamps the pineapple fruits and conveys them backward in the horizontal direction, and the stem fixing clamping mechanism below it firmly clamps the pineapple stems and conveys them backward in the horizontal direction; then, the pineapple fruits enter the middle section of the fruit clamping and conveying mechanism. During this process, the conveying direction of the fruit clamping and conveying mechanism gradually changes from horizontal to vertical, and a bending moment gradually accumulates in the calyx of the pineapple. When the bending moment exceeds the connection stress between the fruit and the stem, the fruit stalk will break, thereby achieving separation of the fruit and the fruit stalk; finally, the pineapple fruit enters the rear section of the fruit clamping and conveying mechanism, and the conveying direction changes again, gradually transitioning from perpendicular to the ground to parallel to the carrying platform, and finally the fruit falls into the fruit collection box.

[0028] Compared with the prior art, the present invention has the following effects:

[0029] The pineapple combined harvester integrating clamping, prying, conveying and the like of the present application integrates multiple functions such as leaf pricking, stem clamping and holding, and fruit clamping and conveying into one, realizes high mechanization of pineapple picking operation, and has the characteristics of high efficiency, low loss, delicate structure and simple operation. By setting the picking execution mechanism, the way of manually picking pineapples is simulated, the damage to the fruit is effectively reduced, and the picking efficiency is greatly improved. It is the core working component of the pineapple combined harvester, which plays the role of supporting the fallen plants, separating the leaves and fruits, picking the fruits and lifting and collecting. Among them, the straw supporting device plays the role of supporting the fallen pineapple plants and guiding the plants into the next picking process; the leaf pricking mechanism can accurately separate the pineapple leaves and fruits, ensure that the fruits are fully exposed, and lay a convenient foundation for the subsequent picking operation; the stem clamping and holding mechanism realizes stable clamping and holding of the pineapple stem, and provides fixed constraint for the lower end of the pineapple plant for picking; the fruit clamping and conveying mechanism simulates the action of manually prying pineapples to pick the fruits, realizes accurate clamping and conveying of the pineapple fruits, and synchronously completes the prying and pulling type picking and lifting and collecting operation.

[0030] The pineapple combined harvester integrating clamping, prying, conveying and the like of the present application has a unique integrated design of clamping, prying and conveying, which ingeniously integrates pineapple righting and gathering, effective separation of leaves and fruits, stable clamping of stems, accurate picking of fruits, smooth lifting of fruits and centralized collection of fruits into one, and builds a smooth and efficient integrated operation process. Not only does it significantly improve the overall efficiency of the picking operation, greatly reduce the overall energy consumption level, but also greatly relieves the physical pressure of the laborers, creating a more comfortable working environment.

[0031] The fruit clamping and conveying mechanism can simultaneously apply a 90-degree counterclockwise bending force and clamping stress at the front bend of the mechanism when picking pineapple fruits, which exhibits a series of significant beneficial effects. Specifically, the rotating bending force generated by the component can simulate the action of manually prying pineapples at the pineapple fruit stem, forming an appropriate torque, thereby realizing the prying and pulling type picking of pineapple fruits, greatly reducing the damage that pineapples may suffer during the picking process, and ensuring the integrity of the fruits. At the same time, the clamping force not only ensures that the fruits successfully fall off the plants, but also enables them to continue to move smoothly, seamlessly completing the lifting and collection process of the fruits after the picking process, further reducing the potential damage to the fruits caused by the traditional lifting method, and significantly simplifying the overall structure and operation process of the picking equipment. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a three-dimensional structure diagram of the pineapple combined harvester integrating clamping, prying, conveying and the like of the present application;

[0033] Figure 2Fig. 1 is a perspective view of a harvesting implement;

[0034] Figure 3 Fig. 2 is a perspective view of a fruit clamping and conveying mechanism;

[0035] Figure 4 Fig. 3 is a perspective view of a fruit clamping and conveying assembly;

[0036] Figure 5 Fig. 4 is an enlarged view of a part of the fruit clamping and conveying assembly;

[0037] Figure 6 Fig. 5 is a perspective view of a flexible clamping unit;

[0038] Figure 7 Fig. 6 is a perspective view of a flexible clamping unit;

[0039] Figure 8 Fig. 7 is a perspective view of a stalk fixing and clamping mechanism;

[0040] Figure 9 Fig. 8 is a top view of the stalk fixing and clamping mechanism;

[0041] Figure 10 Fig. 9 is a perspective view of a leaf raking mechanism;

[0042] Figure 11 Fig. 10 is a perspective view of a straw support assembly;

[0043] Figure 12 Fig. 11 is a perspective view of a frame;

[0044] Figure 13 Fig. 12 is a perspective view of a carrying platform;

[0045] Figure 14 Fig. 13 is a perspective view of a tracked moving unit;

[0046] Figure 15 Fig. 14 is a perspective view of a tracked moving unit (second cover not shown);

[0047] Figure 16 Fig. 15 is a front view of a tracked moving unit (second cover not shown).

[0048] In the drawings:

[0049] 1, moving assembly; 11, second cover; 12, mounting frame; 13, third motor; 14, driving track wheel; 15, driven track wheel; 16, supporting track wheel; 17, track; 18, second chain transmission assembly; 110, outer sleeve;

[0050] 2, frame; 21, cross beam; 22, longitudinal beam; 23, inclined beam;

[0051] 3, bearing platform; 31, support frame; 32, bottom plate; 33, coaming;

[0052] 4, fruit collection box;

[0053] 5, harvesting execution mechanism; 51, stooker assembly; 511, stooker main body; 512, stooker support; 52, leaf raking mechanism; 521, roller support; 522, leaf raking roller; 523, leaf raking motor; 524, rubber stick; 53, stem fixing and clamping mechanism; 531, stem fixing and clamping unit; 532, second synchronous motor; 533, clamping belt; 534, first cover; 535, support positioning frame; 537, driven pulley; 538, tension wheel; 539, second spring; 540, tension support wheel rod; 54, fruit clamping and conveying mechanism; 542, fruit clamping and conveying assembly; 544, flexible clamping chain; 545, guide chain plate; 546, first driving sprocket; 547, first driven sprocket; 548, first synchronous motor; 549, speed reducer; 550, flexible clamping chain link; 551, fixed base; 552, support rod; 554, upper support frame; 555, middle support frame; 556, lower support frame. DETAILED DESCRIPTION

[0054] Specific implementation one: combined Figures 1-16 The technical solutions in the embodiments of the present application are described clearly and completely, obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments, based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0055] It should be noted that the description of the present application about "front", "back", "left", "right", "inner", "outer", "left side", "right side", "upper part", "lower part", "top", "bottom" and the like are defined based on the position or relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and not to indicate or imply that the described structure must be constructed and operated in a particular position, therefore, it cannot be understood as a limitation to the present application. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0056] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection, can be direct connection, can also be indirect connection through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] A pineapple combined harvester integrating clamping, prying, conveying and so on comprises a moving assembly 1, a frame 2, a bearing platform 3, a fruit collecting box 4 and a harvesting execution mechanism 5, wherein the bearing platform 3 is installed above the moving assembly 1, the frame 2 is fixedly installed at the front of the bearing platform 3,

[0058] The harvesting execution mechanism 5 comprises a straw holder assembly 51, a leaf pricking mechanism 52, a stem fixed clamping mechanism 53 and a fruit clamping conveying mechanism 54, the fruit clamping conveying mechanism 54 is arranged in an S-shaped structure, the front end of the fruit clamping conveying mechanism 54 is a low-position end and is installed on the frame 2, the rear end of the fruit clamping conveying mechanism 54 is a high-position end and is installed on the bearing platform 3, the fruit collecting box 4 is installed on the bearing platform 3 and is located below the fruit clamping conveying mechanism 54,

[0059] The leaf pricking mechanism 52 and the straw holder assembly 51 are respectively installed at the front end of the frame 2, the leaf pricking mechanism 52 is arranged above the straw holder assembly 51, the stem fixed clamping mechanism 53 is installed on the frame 2 and is arranged below the front part of the fruit clamping conveying mechanism 54, under the action of the fruit clamping conveying mechanism 54, the fruit completes the prying picking, fruit lifting and collecting work at one time.

[0060] The pineapple combined harvester integrating clamping, prying, conveying and so on of the present application integrates the functions of leaf pricking, stem fixed clamping and fruit clamping conveying, realizes the high mechanization of pineapple picking operation, and has the characteristics of high efficiency, low loss, exquisite structure and simple operation. By arranging the harvesting execution mechanism 5, the mode of manual pineapple picking is simulated, the fruit damage is effectively reduced, and the picking efficiency is greatly improved. It is the core working part of the pineapple combined harvester, which plays the roles of supporting the fallen plants, separating the leaves and fruits, picking the fruits and lifting and collecting. Among them, the straw holder assembly 51 plays the role of supporting the fallen pineapple plants and guiding the plants to enter the next picking process; the leaf pricking mechanism 52 can accurately separate the pineapple leaves and fruits, ensure that the fruits are fully exposed, and lay a convenient foundation for the subsequent picking operation; the stem fixed clamping mechanism 53 realizes the stable clamping of the pineapple stem, provides the fixed constraint of the lower end of the plant for the pineapple picking; the fruit clamping conveying mechanism 54 picks the fruits by simulating the action of manually prying the pineapple, realizes the accurate clamping and conveying of the pineapple fruits, and synchronously completes the prying picking and lifting and collecting operation.

[0061] The mobile assembly 1 is the core mobile component of the pineapple combined harvester, which carries the weight of the entire machine and provides the ability to flexibly shuttle and stably travel in the pineapple field. It carries the carrying platform 3 and the picking execution mechanism 5 through the frame 2.

[0062] The carrying platform 3 is the carrying and collecting mechanism of the pineapple combined harvester. The carrying platform 3 includes a support frame 31, a bottom plate 32 fixed on the support frame 31, and a plurality of surrounding plates 33 surrounding the outside of the bottom plate 32, wherein one surrounding plate 33 is hinged between the bottom plate 32 and the adjacent rotating plate. One surrounding plate 33 is hingedly installed on the bottom plate 32 by bolts, which can effectively block and fix the fruit collecting box 4 placed on the bottom plate 32 when the surrounding plate 33 is in the closed state, preventing it from falling or sliding during transportation. When loading and unloading the picking box, the surrounding plate 33 can be easily opened for easy handling.

[0063] The frame 2 is the carrying structure of the pineapple combined harvester, which is the component that supports and connects the mobile assembly 1, the carrying platform 3, and the picking execution mechanism 5. The frame 2 includes a plurality of cross beams 21, a plurality of longitudinal beams 22, and a plurality of inclined beams 23, wherein the cross beams 21 are parallel to the ground and are used to connect the left and right sides of the frame 2, providing lateral support force to resist impact force from the side direction and enhancing the overall stability of the frame 2. The longitudinal beams 22 extend along the longitudinal direction of the frame 2 and are the main load-bearing components of the frame 2, which not only support the weight of the pineapple harvester but also transfer longitudinal loads from the ground or other components. The inclined beams 23 are welded at an inclined angle on the cross beams 21 and the longitudinal beams 22 to enhance the rigidity and stability of the frame 2.

[0064] The straw support assembly 51 includes a straw support main body 511 and a straw support bracket 512, the straw support main body 511 is installed at the front end of the frame 2 and is lower than the straw raking mechanism 52 through the straw support bracket 512, the straw support main body 511 can be welded from a steel plate, its shape is a half of the cone structure divided symmetrically, the straw support main body 511 and the straw support bracket 512 can be connected by bolts, which is convenient for subsequent replacement and adjustment. The number of fruit clamping and conveying mechanisms 54 is one or more. When the number is more, a plurality of fruit clamping and conveying mechanisms 54 are arranged side by side to realize efficient pineapple picking.

[0065] The pineapple combined harvester integrating clamping, prying, conveying is also provided with a remote control system, which is the core hub for the driver to control the pineapple combined harvester, and allows the driver to remotely monitor and adjust various functions of the pineapple combined harvester in a safe position away from the work site through advanced electronic interfaces and communication technologies, and the system mainly includes a remote controller, a receiver and a control system. The system integrates sensor data feedback, automatic control algorithms and intuitive control interfaces, so that the driver can efficiently manage key operation parameters such as machine start, travel speed, picking strength, fruit collection and conveying. In addition, the remote control system also has fault diagnosis and early warning functions, which can timely discover and report mechanical faults, ensure continuous and stable harvesting operation, and lay a solid foundation for the modernization and intelligent development of pineapple planting industry.

[0066] The pineapple combined harvester integrating clamping, prying, conveying of the application ingeniously integrates pineapple righting, effective separation of fruit and leaves, stable clamping of stems, accurate picking of fruits, smooth lifting of fruits and centralized collection of fruits and other key links into one, and builds a smooth and efficient integrated operation process. Not only significantly improves the overall efficiency of picking operation, greatly reduces the overall energy consumption level, but also greatly relieves the physical pressure of laborers, and creates a more comfortable working environment.

[0067] The fruit clamping and conveying mechanism can simultaneously apply a 90-degree counterclockwise bending force and clamping stress at the front bending part during picking of pineapple fruits, and exhibits a series of significant beneficial effects. Specifically, the rotating bending force generated by the component can simulate the action of manually prying pineapple at the pineapple fruit stem, forming a suitable torque, so as to realize prying picking of pineapple fruits, greatly reducing the damage that pineapple may suffer during harvesting, and ensuring the integrity of the fruits. At the same time, the clamping force not only ensures that the fruits successfully fall off the plant, but also enables them to continue to move smoothly, seamlessly connecting the lifting and collection processes of the fruits after picking, not only further reducing the potential damage to the fruits caused by the traditional lifting method, but also significantly simplifying the overall structure and operation process of the harvesting equipment.

[0068] The fruit clamping and conveying mechanism 54 comprises a support assembly and two sets of fruit clamping and conveying assemblies 542 arranged symmetrically, wherein each set of the fruit clamping and conveying assemblies 542 comprises a driving assembly, a sprocket assembly, a guide chain plate 545 and a flexible clamping chain 544. The guide chain plate 545 is arranged in an S shape, and the lower, middle and upper portions thereof are fixedly installed on the rack 2 and the load platform 3 by the support assembly. The driving assembly is installed at the upper end of the guide chain plate 545 and has an output end connected to a first driving sprocket 546 of the sprocket assembly. A first driven sprocket 547 of the sprocket assembly is rotatably installed at the lower end of the guide chain plate 545. The flexible clamping chain 544 is slidably arranged around the lateral side of the guide chain plate 545 and forms a first chain transmission assembly with the sprocket assembly. In this way, the guide chain plate 545 is arranged in an S shape in space to define the running track and spatial positioning of the flexible clamping chain 544. The support assembly fixes the fruit clamping and conveying assemblies 542 at three positions, i.e., the upper, middle and lower positions of the fruit clamping and conveying assemblies 542, on the rack 2 and the load platform 3, thereby ensuring the stability of the fruit clamping and conveying mechanism 54 during operation. The driving assembly comprises a first synchronous motor 548 and a speed reducer 549. The first synchronous motor 548 is connected to the first driving sprocket 546 through the speed reducer 549, and the first synchronous motor 548 drives the flexible clamping chain 544 to run through the sprocket assembly. The fruit is subjected to the clamping action of the two sets of fruit clamping and conveying assemblies 542 arranged symmetrically, and the plucking, lifting and collecting operations are completed at one time. The support assembly comprises an upper support frame 554, a middle support frame 555 and a lower support frame 556. The upper support frame 554 and the middle support frame 555 are fixedly installed on the upper and front portions of the load platform 3, respectively. The lower support frame 556 is fixedly installed on the rack 2.

[0069] The flexible clamping chain 544 comprises a plurality of flexible clamping units connected in sequence by pin shafts. Each flexible clamping unit comprises a flexible clamping link 550 and a profiling clamp module installed on the flexible clamping link 550. In this way, the plurality of flexible clamping units are connected to each other by pin shafts to form a closed loop transmission chain system. During three-dimensional conveying, the flexible clamping link 550 can adapt to changes in spatial layout by bending and twisting of adjacent two flexible clamping links 550 to adapt to various complex three-dimensional paths, thereby achieving three-dimensional conveying of the fruit.

[0070] The profiling clamp module comprises a fixed base 551, a plurality of support rods 552 and a plurality of first springs, wherein the fixed base 551 is fixed on the flexible clamping link 550, the plurality of support rods 552 are arranged on the surface of the fixed base 551, and one end of each support rod 552 is connected to the fixed base 551 through a first spring. In this way, the plurality of support rods 552 can be arranged in a matrix, and the support rods 552 are connected to the fixed base 551 through the first springs, so that the support rods 552 have a certain range of movement in the axial and radial directions, thereby having a certain height adaptability and clamping force, ensuring that fruits of different shapes and sizes are clamped accurately, stably and with low damage. The plurality of support rods 552 arranged on the fixed base 551 form a certain clamping width, and the accuracy requirement for the clamping position of the pineapple is relatively low, as long as the pineapple fruit can be clamped, the picking can be realized, and the fault tolerance is larger compared with the prior art.

[0071] The stem fixing and clamping mechanism 53 comprises two stem fixing and clamping units 531 arranged symmetrically, each stem fixing and clamping unit 531 comprises a second synchronous motor 532, a clamping belt 533, a first housing 534, a support positioning frame 535 arranged in the first housing 534, a driving pulley, at least three driven pulleys 537 and a plurality of tension pulleys 538, wherein the second synchronous motor 532 is installed on the first housing 534 and its output end is fixedly connected to the driving pulley, the clamping belt 533 cooperates with the driving pulley and each driven pulley 537 to form a clamping belt transmission assembly, a Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, and the plurality of tension pulleys 538 are connected to the support positioning frame 535 through tension support pulley rods 540 and second springs 539. In this way, the clamping belt 533 is distributed in a right-angled trapezoidal shape under the positioning action of the driving pulley and the at least three driven pulleys 537 corresponding thereto, and is divided into two parallel sides of different lengths and two perpendicular sides and inclined sides of the parallel sides, wherein the parallel short side and the inclined side are the effective working intervals of the clamping belt 533 in the stem fixing and clamping mechanism 53. The first housing 534 wraps the main working components therein to protect the mechanism from external interference, and only the effective working interval of the clamping belt 533 is exposed. The second synchronous motor 532 provides power for the driving pulley, drives the remaining driven pulleys 537 through belt transmission, and the tension pulleys 538 tightly adhere to the inner side of the clamping belt 533 to provide continuous tension for the clamping belt 533. The support positioning frame 535 provides positioning and support for the main components of the stem fixing and clamping mechanism 53. A Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, the front part of the Y-shaped gap adopts a V-shaped converging structure, and the pineapple stem is stably fixed by combining the synchronous motor driven belt clamping mode, thereby enhancing the stability during picking.

[0072] The middle part of the tension support wheel rod 540 is hinged with the support positioning frame 535, one end of the tension support wheel rod 540 is provided with the tension wheel 538, and the second spring 539 is connected between the support positioning frame 535 and the other end of the tension support wheel rod 540, and the second spring 539 is a tension spring. Through the tension effect of the second spring 539, the tension wheel 538 is always close to the inner side of the clamping belt 533, and the two stem clamping units 531 can adapt to the clamping power of stems with different diameters, and enough clamping force is guaranteed.

[0073] The leaf stripping mechanism 52 comprises a roller support 521, a leaf stripping roller 522, a leaf stripping motor 523 and a plurality of rubber sticks 524, wherein the roller support 521 is fixedly installed at the front end of the frame 2, the leaf stripping roller 522 and the leaf stripping motor 523 are respectively installed on the roller support 521, the leaf stripping roller 522 is driven to rotate by the leaf stripping motor 523, the plurality of rubber sticks 524 are arranged in multiple groups along the circumference of the leaf stripping roller 522, and the multiple leaf stripping rollers 522 in each group are arranged along the axial direction of the rubber stick 524. In this way, the leaf stripping roller 522 is installed on the roller support 521 through a bearing, so that the leaf stripping roller 522 can rotate around the central axis, and the leaf stripping motor 523 drives the leaf stripping roller 522 to rotate the rubber stick 524 as a power source. By arranging a plurality of rubber sticks 524 on the surface of the leaf stripping roller 522, the leaf blades wrapped around the pineapple fruits can be more easily separated from the fruit bodies. The leaf stripping mechanism 52 of the present application can effectively separate the leaf blades wrapped around the pineapple fruits and press them below the level of the fruit bodies, thereby significantly reducing the obstruction and interference of the leaf blades to the fruits during the picking process, and creating a convenient operation space for the subsequent fruit picking.

[0074] The bottom of the bearing platform 3 is vertically provided with an inner sleeve, the top of the moving assembly 1 is vertically provided with an outer sleeve 110, the bearing platform 3 is installed above the moving assembly 1 through the matched inner sleeve and outer sleeve 110, and the inner sleeve and the outer sleeve 110 are connected through a pin. In this way, a plurality of pin holes are formed in the inner sleeve and the outer sleeve 110 along the height direction thereof, the number of the inner sleeve and the outer sleeve 110 is the same, and is preferably two or more, the relative sliding movement of the inner sleeve and the outer sleeve 110 is combined with the pre-designed pin hole positioning mechanism, the length is accurately adjusted through the pin, and then the height position of the bearing platform 3, the frame 2 and the picking execution mechanism 5 is adjusted, the height of the picking execution mechanism 5 from the ground is effectively adjusted, and the diversified needs for picking different varieties of pineapples are met.

[0075] The mobile assembly 1 comprises two parallelly arranged caterpillar mobile units, each of which comprises a second housing 11, a mounting frame 12, a third motor 13, a second chain transmission assembly 18 and a caterpillar wheel assembly arranged in the second housing 11, the third motor 13 being fixed on the mounting frame 12 and driving the caterpillar wheel assembly to move through the second chain transmission assembly 18. In this way, the two caterpillar mobile units are symmetrically distributed on the left and right sides of the whole machine with respect to the central cross section of the whole machine. The mounting frame 12 is the framework of the caterpillar mobile unit, which bears the weight of the third motor 13, the second chain transmission assembly 18, the caterpillar wheel assembly and other core components, and ensures the stability and accuracy of these components during installation and operation. The caterpillar wheel assembly comprises a driving caterpillar wheel 14, a driven caterpillar wheel 15, a plurality of supporting caterpillar wheels 16 and a caterpillar belt 17. The second housing 11 provides comprehensive and necessary protection for the caterpillar mobile unit, effectively blocking the interference of the external environment on the caterpillar mobile unit, especially avoiding the accidental entanglement of plant materials such as pineapple leaves into the caterpillar transmission system, which is crucial for preventing the whole machine from being blocked and ensuring the work efficiency. The third motor 13 serves as a power source, which drives the second driving sprocket in the second chain transmission assembly 18 to rotate, and the rotating motion is transmitted to the second driven sprocket through the chain transmission system, and then drives the driving caterpillar wheel 14 to rotate. Under the cooperative support and guidance of the driven caterpillar wheel 15 and the supporting caterpillar wheel 16, the driving caterpillar wheel 14 drives the whole caterpillar belt 17 to move around, thereby realizing the effective movement and flexible movement of the caterpillar mobile unit. The outer sleeve 110 is fixed on the top end of the mounting frame 12. Each caterpillar mobile unit is provided with a battery pack.

[0076] A method for harvesting pineapples by using the pineapple harvesting machine, comprising the following steps:

[0077] Step one, preparation stage:

[0078] The structure operation of the whole machine is checked to ensure that it is in a normal working state. Meanwhile, the driving speed of the moving assembly 1 and the rotating speed of each working component in the harvesting execution mechanism 5 are set in advance according to the planting density characteristics of the pineapple plants. Before the pineapple combined harvester with the integrated clamping, pulling and conveying functions is put into operation, the leaf poking mechanism 52, the stem fixing and clamping mechanism 53 and the fruit clamping and conveying mechanism 54 in the harvesting execution mechanism 5 are started first, and the whole machine is controlled to move forward, backward and turn through the remote control system, so as to comprehensively check the structure operation of the whole machine and ensure that it is in a normal working state. According to the actual situation of the height of the pineapple plants in the field, the driver adjusts the ground clearance of the whole machine to ensure that each component in the harvesting execution mechanism 5 can correspond to the respective working object and to ensure that the whole machine can easily cross the pineapple planting row during the movement to meet the actual working requirements. At the same time, the constant working driving speed of the harvester, i.e. the rotating speed of the third motor 13, is set in advance according to the planting density characteristics of the pineapple plants, and the synchronous motors of the leaf poking motor 523, the stem fixing and clamping unit 531 and the fruit clamping and conveying assembly 542 are adjusted through the control system, aiming to match the rotating speed of the working components with the forward speed of the whole machine. This step ensures the smoothness of the pineapple feeding and picking process and avoids problems such as blockage or misplacement, thereby ensuring the smooth progress of the picking work. Thus, the preparation work before the operation of the pineapple combined harvester is completed.

[0079] Step two, pineapple plant righting and gathering:

[0080] The driving route of the combined harvester is adjusted to ensure that the front-end harvesting execution mechanism 5 corresponds to the pineapple planting row, and the pineapple plants that are lying down are righted by the straw righter 511. After the pineapple combined harvester with the integrated clamping, pulling and conveying functions is put into operation and reaches a stable state, the driving route of the combined harvester is adjusted through the remote control driving mode to ensure that the front-end harvesting execution mechanism 5 corresponds to the pineapple planting row, and the combined harvester will not damage the pineapple plants when driving between the rows. The combined harvester drives along the planting row and starts the picking work process. The straw righter 511 at the front end of the combined harvester is the first to enter the pineapple cluster, and this device effectively right the pineapple plants that are lying down by relying on the conical curved surface guide plate structure to complete the work of righting and gathering the pineapple plants.

[0081] Step three, fruit and leaf separation:

[0082] After the pineapple plant is lifted, the leaves surrounding the pineapple fruit are pressed down by the leaf pushing mechanism 52 to achieve fruit-leaf separation; the straw 511 effectively straightens the pineapple plant while its leaf gathering function also raises a problem: the leaves on the upper end of the pineapple stem, which are adjacent to the fruit stalk, will tightly wrap the pineapple fruit, which undoubtedly constitutes an obstacle to the subsequent fruit picking operation. In order to solve this problem, the leaf pushing mechanism 52 is needed to accurately achieve fruit-leaf separation to ensure that the fruit is fully exposed, thereby facilitating the picking work. Under normal working conditions, the leaf pushing roller 522 of the leaf pushing mechanism 52 rotates at a constant speed under the drive of the motor, and two leaf pushing rollers 522 correspond to one pineapple as a group. The distance between the two leaf pushing rollers 522 can allow the pineapple to pass through, but the pineapple leaves wrapped around the periphery of the fruit will gradually be pressed down and separated from the fruit under the action of the rubber stick 524 on the rotating leaf pushing roller 522. With the advance of the harvesting machine, the leaves are transitionally moved from under the leaf pushing roller 522 to under the roller support 521 under the back-pushing action of the rubber stick 524, and are gradually further pressed down along with the slope at the front end of the roller support 521 until reaching the lowest point at the end of the roller support 521. At this point, the leaves that wrapped around the pineapple fruit and hindered the harvesting in the early stage have been completely separated from the fruit under the action of the leaf pushing roller 522, completing the fruit-leaf separation work, and the top end of the plant leaks the obvious pineapple fruit to be picked.

[0083] Step four, clamping the stem:

[0084] With the movement of the mobile assembly 1, the stem clamping mechanism 53 clamps the stem part of the lower end of the pineapple fruit stem; during the process of picking up the pineapple fruit, the pineapple stem should be kept in a fixed state to generate a bending moment at the fruit stem connection, thereby achieving effective separation of the fruit stem. Although the pineapple plant root system is fixed to the ground, the fixed point is far from the fruit stem position, which leads to a large lever effect or unstable factor during picking, which is not conducive to the smooth picking of the fruit. In order to further enhance the stability and control force during picking, the pineapple plant needs to be further constrained and fixed by the stem clamping mechanism 53. The stem clamping mechanism 53 is designed to be composed of two symmetrical stem clamping units 531, which form a V-shaped convergent structure at the front end, aiming to accurately guide the pineapple plant to smoothly enter the predetermined position. During operation, the synchronous motor serves as a power source, driving the belt through the cooperative operation of the transmission system including the driving pulley and the driven pulley 537. The pineapple plant is guided by the belt, one by one through the end of the V-shaped convergent structure, and smoothly enters the clamping interval defined by the two clamping units. At this time, the distance between the two belts is in the minimum state. Inside each stem clamping unit 531, tension support wheels are configured, which generate support tension on the inner side of the clamping belt 533 under the action of the constant prestress provided by the tension spring. It is worth noting that the support tension generated inside the clamping belt 533 of the two stem clamping units 531 is equal in size but opposite in direction, which, when acting on the pineapple stem, is converted into balanced and effective clamping stress, thereby firmly fixing the stem part of the lower end of the pineapple fruit stem, thereby achieving effective fixation of the pineapple stem.

[0085] Step five, picking and lifting of the pineapple fruit:

[0086] After the pineapple plant is treated by righting, leaf pushing and fixed clamping, the fruit is smoothly sent between the two sets of fruit clamping and conveying assemblies 542, and the picking operation is carried out. During the picking process, first, the pineapple fruit enters the front section of the fruit clamping and conveying mechanism 54. During this process, the front part of the fruit clamping and conveying mechanism 54 firmly clamps the pineapple fruit and conveys it in the horizontal direction. The stem clamping mechanism 53 below firmly clamps the pineapple stem and conveys it in the horizontal direction. Then, the pineapple fruit enters the middle section of the fruit clamping and conveying mechanism 54. During this process, the conveying direction of the fruit clamping and conveying mechanism 54 gradually changes from horizontal to vertical. The bending moment gradually accumulates at the calyx part of the pineapple. When the bending moment exceeds the connection stress between the fruit and the stem, the fruit stalk will break, thereby achieving the separation of the fruit and the fruit stalk. Finally, the pineapple fruit enters the rear section of the fruit clamping and conveying mechanism 54. The conveying direction again changes from the vertical ground direction to parallel to the loading platform 3, and finally the fruit falls into the fruit collection box 4. The fruit clamping and conveying mechanism 54 is the core component of fruit picking and lifting collection. The two sets of fruit clamping and conveying assemblies 542 are combined into one by the clamping and conveying mechanism support frame at the upper, middle and lower positions, and are fixed on the rack 2. During operation, the first synchronous motor 548 drives the first driving sprocket 546 to rotate through the reducer 549. Under the cooperative action of the first driven sprocket 547, the flexible clamping chain 544 starts to run along the S-shaped path carefully constructed in the three-dimensional space by the guide chain plate 545. In one set of fruit clamping and conveying assemblies 542, the rotation speeds of the two first synchronous motors 548 are kept the same but the rotation directions are opposite. This design enables the flexible clamping chain 544 of the corresponding set of clamping mechanisms to run at the same speed but in opposite directions. In this way, a continuous and stable clamping space is constructed between the two sets of assemblies. The generation of clamping force mainly depends on the profiling clamp module on the flexible clamping unit. The support rods 552 are arranged in an array on this module and can flexibly adapt to and clamp various irregular materials under the action of the elastic force of the first spring. Therefore, it can accurately profile clamp the pineapple fruit with uneven surface and has adaptability to pineapple fruits of different sizes.

[0087] After the pineapple plant is treated by righting, leaf pushing and fixed clamping, the fruit can be smoothly sent between the two fruit clamping and conveying assemblies 542 to expand the picking operation. This process mainly includes three links: first, at the front end of the flexible clamping chain 544, the clamping chain is in a horizontal state, mainly responsible for accurate positioning and firm clamping of the pineapple fruit. Then, into the middle section of the flexible clamping chain 544, the transmission direction of the clamping chain gradually changes from horizontal to vertical to the ground. In this process, the flexible clamping chain 544 firmly holds the pineapple fruit, and at the same time, the stem fixed clamping mechanism 53 also tightly fixes the stem of the pineapple. Therefore, a bending moment is gradually accumulated at the calyx part of the pineapple. When this bending moment exceeds the connecting stress between the fruit and the stem, the fruit stalk will break, thereby realizing the separation of the fruit and the fruit stalk, and completing the picking of the fruit by pulling. Then, with the continuous operation of the flexible conveying belt, the fruit slowly rises with the conveying chain. Finally, at the end of the flexible clamping chain 544, the conveying direction changes again, from vertical to the ground to gradually transition to parallel to the carrying platform 3. At this stage, the pineapple fruit naturally falls off the end of the flexible chain and falls into the pre-set collection box on the carrying platform 3. Thus, the picking and lifting of the pineapple fruit by pulling are completed.

[0088] After the pineapple fruit is picked and conveyed by the fruit clamping and conveying mechanism 54, it is conveyed to the carrying platform 3 and accumulated there. When the pineapple fruit on the carrying platform 3 reaches the preset full load, it means that the current picking area has completed the operation. At this time, the picking machine is driven to the edge of the field, and the operator transfers the full load collection box from the carrying platform 3 to the transport vehicle for subsequent transfer and storage work. After completing this transfer process, the picking machine returns to the pineapple field to continue the next round of pineapple picking operation. Thus, a working cycle of pineapple picking is completed.

[0089] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A harvesting method of a pineapple combined harvester integrated with clamping, pulling and conveying, characterized in that: The pineapple combined harvester comprises a moving assembly (1), a frame (2), a bearing platform (3), a fruit collecting box (4) and a harvesting execution mechanism (5), wherein the bearing platform (3) is installed above the moving assembly (1), the frame (2) is fixed to the front of the bearing platform (3), the harvesting execution mechanism (5) comprises a straw supporting assembly (51), a leaf pushing mechanism (52), a stem clamping mechanism (53) and a fruit clamping and conveying mechanism (54), the fruit clamping and conveying mechanism (54) is arranged in an S-shaped structure, the front end of the fruit clamping and conveying mechanism (54) is a low-position end and is installed on the frame (2), the rear end of the fruit clamping and conveying mechanism (54) is a high-position end and is installed on the bearing platform (3), the fruit collecting box (4) is installed on the bearing platform (3) and below the fruit clamping and conveying mechanism (54), the leaf pushing mechanism (52) and the straw supporting assembly (51) are respectively installed at the front end of the frame (2), and the leaf pushing mechanism (52) is arranged above the straw supporting assembly (51), the stem clamping mechanism (53) is installed on the frame (2) and arranged below the front of the fruit clamping and conveying mechanism (54), and the pineapple fruit is pulled, lifted and collected at one time under the action of the fruit clamping and conveying mechanism (54); The harvesting method comprises the following steps: Step one, preparation stage: The operation of the whole machine structure is checked to ensure that it is in a normal working state, and the moving speed of the moving assembly (1) and the rotating speed of each working part in the harvesting execution mechanism (5) are set in advance according to the planting density characteristics of the pineapple plants; Step two, pineapple plant righting and gathering: The travel route of the combined harvester is adjusted to ensure that the front harvesting execution mechanism (5) corresponds to the pineapple planting row, and the pineapple plants are righted by the straw supporting assembly (51); Step three, fruit and leaf separation: After the pineapple plants are righted, the leaves around the pineapple fruits are pressed down by the leaf pushing mechanism (52) to realize fruit and leaf separation; Step four, stem clamping: With the moving assembly (1) driving the whole machine to move forward, the stem clamping mechanism (53) clamps the stem part at the lower end of the pineapple fruit stem; Step five, pineapple fruit pulling and lifting harvesting: After the pineapple plant is treated by righting, leaf pushing and fixed clamping, the fruit is smoothly sent into the fruit clamping conveying mechanism (54), and the picking operation is carried out. During the picking process, first, the pineapple fruit enters the front section of the fruit clamping conveying mechanism (54). During this process, the front part of the fruit clamping conveying mechanism (54) firmly clamps the pineapple fruit and conveys it in the horizontal direction, and the stem fixed clamping mechanism (53) below firmly clamps the pineapple stem and conveys it in the horizontal direction. Subsequently, the pineapple fruit enters the middle section of the fruit clamping conveying mechanism (54). During this process, the conveying direction of the fruit clamping conveying mechanism (54) gradually changes from horizontal to vertical, and the bending moment gradually accumulates at the calyx part of the pineapple. When the bending moment exceeds the connecting stress between the fruit and the stem, the fruit stalk will break, thereby realizing the separation of the fruit and the fruit stalk. Finally, the pineapple fruit enters the rear section of the fruit clamping conveying mechanism (54), and the conveying direction again changes from the vertical ground direction to gradually transition to parallel to the bearing platform (3), and finally the fruit falls into the fruit collection box (4).

2. The recovery method of claim 1, wherein: The fruit clamping conveying mechanism (54) comprises a support assembly and two symmetrical fruit clamping conveying assemblies (542). Each fruit clamping conveying assembly (542) comprises a driving assembly, a chain wheel assembly, a guide chain plate (545) and a flexible clamping chain (544). The guide chain plate (545) is arranged in an S shape, and its lower, middle and upper parts are fixedly installed on the rack (2) and the bearing platform (3) through the support assembly. The driving assembly is installed at the upper end of the guide chain plate (545) and its output end is connected to the first driving sprocket (546) of the chain wheel assembly. The first driven sprocket (547) of the chain wheel assembly is rotatably installed at the lower end of the guide chain plate (545). The flexible clamping chain (544) is slidably arranged around the side of the guide chain plate (545) and forms a first chain transmission assembly with the chain wheel assembly.

3. The recovery method of claim 2, wherein: The flexible clamping chain (544) comprises a plurality of flexible clamping units connected in sequence by pins. The flexible clamping unit comprises a flexible clamping link (550) and a profiling clamp module installed on the flexible clamping link (550).

4. The recovery method of claim 3, wherein: The profiling clamp module comprises a fixed base (551), a plurality of support rods (552) and a plurality of first springs. The fixed base (551) is fixedly installed on the flexible clamping link (550). The plurality of support rods (552) are arranged on the surface of the fixed base (551), and one end of each support rod (552) is connected to the fixed base (551) through a first spring.

5. The recovery method of claim 1, wherein: The stem fixing and clamping mechanism (53) comprises two symmetrically arranged stem fixing and clamping units (531), each of which comprises a second synchronous motor (532), a clamping belt (533), a first housing (534), a support positioning frame (535) arranged in the first housing (534), a driving pulley, at least three driven pulleys (537) and a plurality of tension pulleys (538), wherein the second synchronous motor (532) is mounted on the first housing (534) and its output end is fixedly connected with the driving pulley, the clamping belt (533) cooperates with the driving pulley and each driven pulley (537) to form a clamping belt transmission assembly, a Y-shaped gap is formed between the two clamping belt transmission assemblies from front to back, and the plurality of tension pulleys (538) are connected to the support positioning frame (535) through a tension support wheel rod (540) and a second spring (539).

6. The recovery method of claim 5, wherein: The middle part of the tension support wheel rod (540) is hinged to the support positioning frame (535), one end of the tension support wheel rod (540) is provided with a tension pulley (538), and the second spring (539) is connected between the support positioning frame (535) and the other end of the tension support wheel rod (540). The second spring (539) is a tension spring.

7. The recovery method of claim 1, wherein: The leaf stirring mechanism (52) comprises a roller support (521), a leaf stirring roller (522), a leaf stirring motor (523) and a plurality of rubber bars (524), wherein the roller support (521) is fixedly installed at the front end of the rack (2), the leaf stirring roller (522) and the leaf stirring motor (523) are respectively installed on the roller support (521), the leaf stirring roller (522) is driven to rotate by the leaf stirring motor (523), and the plurality of rubber bars (524) are arranged in multiple groups along the circumference of the leaf stirring roller (522), and the multiple leaf stirring rollers (522) in each group are arranged along the axis of the rubber bar (524).

8. The recovery method of claim 1, wherein: The bottom of the bearing platform (3) is vertically provided with an inner sleeve, the top of the moving assembly (1) is vertically provided with an outer sleeve (110), and the bearing platform (3) is installed above the moving assembly (1) through the matched inner sleeve and outer sleeve (110). The inner sleeve and the outer sleeve (110) are connected by a pin.

9. The recovery method of claim 1, wherein: The moving assembly (1) comprises two parallel arranged track type moving units, the track type moving unit comprises a second housing (11) and a mounting frame (12), a third motor (13), a second chain transmission assembly (18) and a track wheel assembly arranged in the second housing (11), the third motor (13) is fixedly installed on the mounting frame (12), and the third motor (13) drives the track wheel assembly to act through the second chain transmission assembly (18).

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