Flexible clamping carrot harvesting vehicle and harvesting method

Abstract

The invention provides a flexible clamping carrot harvesting vehicle and harvesting method.The harvesting vehicle comprises a vehicle body capable of moving in the field, a clamping conveying mechanism is arranged in the front of a chassis of the vehicle in the advancing direction of the vehicle, and the clamping conveying mechanism comprises a pair of conveying belts with the conveying path inclining upwards; the belts on the conveying faces of the two conveying belts make contact with each other or are adjacent to each other to form a clamping conveying path capable of being used for clamping a carrot leaf area on the ground and applying pulling force, and supporting wheels used for supporting the belts are distributed on the two sides of the clamping conveying path in a staggered mode to form large clamping wheels, so that when the clamping conveying path clamps and conveys carrot leaves upwards, the large clamping wheels are clamped by the clamping conveying path. The pulling force of the clamping transmission path on the side part of the carrot leaf area is stable; by integrating advanced mechanical, electronic and automatic technologies, rapid, accurate and mild harvesting operation of carrots can be realized, so that the overall production efficiency is improved, and the loss is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of carrot harvesting, in particular to a flexible carrot-holding harvesting vehicle and a harvesting method. Background Art

[0002] The existing highly automated harvesters have a high operating threshold, which is not conducive to the use of small farmers. In addition, there are no small harvesters on the market that are specifically designed for carrots, which means that the harvesting of small and medium-sized carrots still relies on manual picking, which is time-consuming and inefficient. Summary of the invention

[0003] The present invention proposes a flexible gripping carrot harvester and a harvesting method, aiming to solve the problem of time-consuming and labor-intensive traditional manual harvesting, and to provide farmers with an efficient, reliable and economical mechanized harvesting solution. By integrating advanced mechanical, electronic and automation technologies, it is possible to achieve fast, accurate and gentle harvesting of carrots, thereby improving overall production efficiency and reducing losses.

[0004] The present invention adopts the following technical solutions.

[0005] A flexible clamping carrot harvesting method, the harvesting method uses a flexible clamping carrot harvester with a flexible clamping mechanism, the flexible clamping mechanism includes a clamping and conveying mechanism, when harvesting carrots, the clamping and conveying mechanism clamps the two sides of the ground carrot tassel area of ​​the field ridge with an inclined conveyor belt elastic belt, and in the process of the conveyor belt clamping and conveying the carrot tassels upward, the alternately arranged clamping wheels form a clamping force on the conveying surface, so that the elastic belt can pull out the underground carrot rhizomes with a stable pulling force.

[0006] The conveyor belt first gathers the carrot tops with the eight-shaped input end of the clamping conveyor belt to increase the pulling force.

[0007] The conveyor belt of the clamping conveying mechanism adapts to the specifications and shapes of the field ridges by adjusting its inclination angle with the field ground or the height position of the flexible clamping carrot harvester to optimize the ability to gather the carrot tassels.

[0008] A carrot storage container is provided in the rear area of ​​the clamping conveying mechanism. When the carrot tassels conveyed by the conveyor belt reach the top of the carrot storage container, the underground part of the carrot is completely pulled out and conveyed to the top of the carrot storage container by the conveyor belt. The clamping and conveying mechanism comprises an upper slide and a lower slide; a cutting device (5) for cutting off carrot tassels is provided below the upper slide; after the cutting device cuts the carrot tassels from the top of the carrot rhizome, the upper slide sends the cut stem and leaf parts back to the field, and the lower slide sends the cut carrot rhizome parts to a storage container.

[0009] In the harvesting method, the flexible gripping carrot harvester imitates the travel mode of a forklift, adopts front-wheel drive, rear-wheel steering, and the front wheel is equipped with a differential to cope with the situation where the turning radius of the two wheels is different when turning. The harvesting method includes the following steps: Step 1: System startup and setup: Turn on the power, press the start button on the carrot harvester, and the harvester begins the initialization process; Step 2: Manually operate the harvester to the end of the ridge; specifically: Step A1. Fast forward to the end of the ridge: Press the corresponding steering button to turn, after determining the direction, straighten the rear wheels, press the travel direction button, and quickly move to one end of the ridge; Step A2. Adjust the angle: Press the steering button and adjust the front of the vehicle to be parallel to the ridge; Step 3: Adjust the height and angle of the clamping and conveying mechanism to adapt to the ridge height: by observing the height of the lowest point of the clamping mechanism and the height of the carrot rhizome connection, adjust the height positions of the two straight pull rods distributed front and back, and adjust the height and angle of the clamping and conveying mechanism to make the clamping and conveying mechanism in a suitable position; Step 4: Mechanical harvesting operation; Step B1. Activating the flexible clamping mechanism: When the harvesting vehicle reaches the end of the ridge, the flexible clamping mechanism is activated; Step B2. Start the cutting device: Start the cutting device to separate the carrots delivered by the flexible clamping mechanism into roots and stems.

[0010] Step B3. The harvester moves forward: After the flexible clamping mechanism and the cutting device are started, the forward button is pressed to start harvesting carrots.

[0011] Step 5: Collection and storage Step C1. Slideway design: The harvester is designed with two slideways. The upper slideway is used to send the cut stems and leaves back to the field, and the lower slideway is used to send the cut edible carrot roots to the storage basket of the carrot storage container.

[0012] Step C2. Full basket processing: When the storage basket for collecting carrots is full, the stop button can be pressed, the collected carrots are first put into the sack, and then the empty basket is put back.

[0013] Step 6. Turn the vehicle around and continue harvesting: Turn the vehicle around to the other end of the ridge and continue harvesting: When all the carrots in one ridge have been harvested, manually press the button to turn the harvester around and harvest the next ridge.

[0014] A flexible clamping carrot harvester comprises a vehicle body that can be used in the field. A clamping and conveying mechanism is arranged at the front part of the chassis of the vehicle in the direction of travel of the vehicle. The clamping and conveying mechanism comprises a pair of conveying belts with an upwardly inclined conveying path. The conveying surfaces of the two conveying belts are in contact or close to each other, forming a clamping and transmission path that can be used to clamp the carrot tassel area on the ground and apply a pulling force. The supporting wheels for supporting the belts are staggeredly distributed on both sides of the clamping and transmission path to form large clamping wheels, so that when the clamping and transmission path clamps and conveys the carrot tassels upward, the pulling force exerted by the clamping and transmission path on the side of the carrot tassel area is stable.

[0015] A driving wheel for driving the transmission belt is provided at the upper end or the lower end of the conveyor belt of the clamping conveying mechanism; During the process of the clamping and conveying mechanism for the carrot fringe, the large clamping wheels on both sides of the clamping transmission path alternately support the conveying surfaces of the two belts, so that the gap between the two belts is constrained to 1-2mm, so that the two belts can form sufficient pulling force and clamping force after clamping the carrot fringe; The two conveyor belts are respectively a first conveyor belt and a second conveyor belt, the front end of the first conveyor belt is provided with a small clamping wheel; the large clamping wheels are divided into a plurality of first large clamping wheels (4) arranged at the first conveyor belt, and a plurality of second large clamping wheels (3) arranged at the second conveyor belt; The front end of the clamping and conveying mechanism is formed with a driven wheel (1), a small clamping wheel (2) and a second large clamping wheel (3) to form an entrance with an adjustable angle, which is used to gather the above-ground stems and leaves of the carrots when harvesting them to increase the pulling force and prevent the roots and stems of the carrots from being separated in the ground before they are pulled out.

[0016] The clamping and conveying mechanism comprises an upper slideway (6) and a lower slideway (7) adjacent to the conveyor belt. A cutting device (5) is provided at the end of the clamping and conveying path. The cutting device comprises two staggered rotating blades for cutting off the top tassels of the carrots. When the top tassels of the carrots at the clamping and conveying path are cut off, the carrots fall to the lower slideway and are sent to a storage basket via the lower slideway. The carrot tassels will continue to be transferred along the transmission belt of the clamping and conveying path for a certain distance before falling into the upper slideway and being sent back to the field. The spacing between the first large clamping wheels is a, and the spacing between the second large clamping wheels is b. By adjusting a and b, the distance between the first large clamping wheel and the second large clamping wheel at the end of the clamping transmission path can be shortened to stabilize the landing point of the cut carrot tops. The diameter d and number of the second large clamping wheels are adapted to the second conveyor belt, and the spacing a is twice the diameter d.

[0017] The clamping and conveying mechanism comprises a ridge adapting mechanism for adjusting the inclination and height of the clamping transmission path, the ridge adapting mechanism comprising a rear straight-line pull rod (16) and a front straight-line pull rod (17) for step-by-step adjustment; the front straight-line pull rod is connected to the front ends of the two conveyor belts via a slider, and the rear straight-line pull rod is connected to the rear ends of the two conveyor belts via a slider; When the front and rear tie rods move up or down by the same distance at the same time, the clamping transmission path is adjusted to adapt to the ridge height by variable height adjustment; When the height of the rear pull rod remains unchanged and the front pull rod moves downward, the auxiliary movement of the two sliders makes the horizontal angle of the conveyor belt increase to adapt to the ridges of the field; when the height of the front pull rod is kept unchanged and the rear pull rod moves downward, the auxiliary movement of the two sliders makes the horizontal angle of the conveyor belt decrease to adapt to the ridges of the field.

[0018] The vehicle comprises a transmission system for front-wheel drive, wherein the front wheels comprise a differential for compensating for the speed difference between the left and right wheels when turning, the rims (10) of the two front wheels are respectively connected to the half shafts (9), and the power output end of the drive motor outputs power to the half shafts through the cooperation of the ball cage (8) and the tripod pin; The suspension system of the vehicle chassis comprises a McPherson suspension system equipped with an adjustable shock absorber (11) and a spring assembly thereof; The vehicle chassis uses rear-wheel steering to facilitate turning the vehicle head for ridge change and harvesting. The steering device is based on the Ackerman steering model and also includes a servo motor with a gear (12) and a rack (13) at the output end. The torque of the servo motor is transmitted through the gear (12) and the rack (13) to output as a thrust to the connecting rod (14), so that the connecting rod pushes the rear wheel through the column, so that the rear wheel deflects to adjust the direction of travel of the vehicle.

[0019] The present invention has the following advantages: 1. Semi-automatic operation: After starting the power, the carrot harvester can control the movement, steering, transportation and harvesting functions through buttons.

[0020] 2. High reliability: The chassis of the carrot harvester is strong enough to withstand a certain degree of impact without failure, ensuring continuous and stable operation.

[0021] 3. Good adaptability: It can adapt to various planting conditions through variable height and angle structure.

[0022] 4. Improve harvesting efficiency: flexible clamping and continuous operation reduce the time of carrot harvesting.

[0023] 5. Reduce labor intensity: Semi-automatic harvesting avoids farmers from bending over excessively when harvesting, reducing the risk of lumbar muscle strain.

[0024] 6. The present invention can be mainly used for small and medium-scale carrot harvesting, helping farmers to automatically harvest carrots, simplifying the conventional picking process, and improving harvesting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Attached Figure 1 It is a schematic diagram of the overall structure of the present invention; Attached Figure 2 It is the overall structural front view of the present invention; Attached Figure 3 It is a left view of the overall structure of the present invention; Attached Figure 4 It is a top view of the overall structure of the present invention; Attached Figure 5 It is a schematic diagram of the flexible clamping structure of the present invention; Attached Figure 6 It is a schematic diagram of the transmission structure of the present invention; Attached Figure 7 It is a schematic diagram of the suspension structure of the present invention; Attached Figure 8 It is a schematic diagram of the steering structure of the present invention; Attached Fig. 9 It is a schematic diagram of a ridge adaptation mechanism for variable height and angle. DETAILED DESCRIPTION

[0026] As shown in the figure, a flexible clamping carrot harvesting method uses a flexible clamping carrot harvester with a flexible clamping mechanism. The flexible clamping mechanism includes a clamping and conveying mechanism. When harvesting carrots, the clamping and conveying mechanism clamps the two sides of the ground carrot tassel area of ​​the field ridge with an inclined conveyor belt elastic belt, and in the process of the conveyor belt clamping and conveying the carrot tassels upward, the alternately arranged clamping wheels form a clamping force on the conveying surface, so that the elastic belt can pull out the underground carrot rhizomes with a stable pulling force.

[0027] The conveyor belt first gathers the carrot tops with the eight-shaped input end of the clamping conveyor belt to increase the pulling force.

[0028] The conveyor belt of the clamping conveying mechanism adapts to the specifications and shapes of the field ridges by adjusting its inclination angle with the field ground or the height position of the flexible clamping carrot harvester to optimize the ability to gather the carrot tassels.

[0029] A carrot storage container is provided in the rear area of ​​the clamping conveying mechanism. When the carrot tassels conveyed by the conveyor belt reach the top of the carrot storage container, the underground part of the carrot is completely pulled out and conveyed to the top of the carrot storage container by the conveyor belt. The clamping and conveying mechanism includes an upper slide and a lower slide; a cutting device 5 for cutting off carrot buds is provided below the upper slide. After the cutting device cuts the carrot buds from the top of the carrot rhizome, the upper slide sends the cut stem and leaf parts back to the field, and the lower slide sends the cut carrot rhizome parts to the storage container.

[0030] In the harvesting method, the flexible gripping carrot harvester imitates the travel mode of a forklift, adopts front-wheel drive, rear-wheel steering, and the front wheel is equipped with a differential to cope with the situation where the turning radius of the two wheels is different when turning. The harvesting method includes the following steps: Step 1: System startup and setup: Turn on the power, press the start button on the carrot harvester, and the harvester begins the initialization process; Step 2: Manually operate the harvester to the end of the ridge; specifically: Step A1. Fast forward to the end of the ridge: Press the corresponding steering button to turn, after determining the direction, straighten the rear wheels, press the travel direction button, and quickly move to one end of the ridge; Step A2. Adjust the angle: Press the steering button and adjust the front of the vehicle to be parallel to the ridge; Step 3: Adjust the height and angle of the clamping and conveying mechanism to adapt to the ridge height: by observing the height of the lowest point of the clamping mechanism and the height of the carrot rhizome connection, adjust the height positions of the two straight pull rods distributed front and back, and adjust the height and angle of the clamping and conveying mechanism to make the clamping and conveying mechanism in a suitable position; Step 4: Mechanical harvesting operation; Step B1. Activating the flexible clamping mechanism: When the harvesting vehicle reaches the end of the ridge, the flexible clamping mechanism is activated; Step B2. Start the cutting device: Start the cutting device to separate the carrots delivered by the flexible clamping mechanism into roots and stems.

[0031] Step B3. The harvester moves forward: After the flexible clamping mechanism and the cutting device are started, the forward button is pressed to start harvesting carrots.

[0032] Step 5: Collection and storage Step C1. Slideway design: The harvester is designed with two slideways. The upper slideway is used to send the cut stems and leaves back to the field, and the lower slideway is used to send the cut edible carrot roots to the storage basket of the carrot storage container.

[0033] Step C2. Full basket processing: When the storage basket for collecting carrots is full, the stop button can be pressed, the collected carrots are first put into the sack, and then the empty basket is put back.

[0034] Step 6. Turn the vehicle around and continue harvesting: Turn the vehicle around to the other end of the ridge and continue harvesting: When all the carrots in one ridge have been harvested, manually press the button to turn the harvester around and harvest the next ridge.

[0035] A flexible clamping carrot harvester comprises a vehicle body that can be used in the field. A clamping and conveying mechanism is arranged at the front part of the chassis of the vehicle in the direction of travel of the vehicle. The clamping and conveying mechanism comprises a pair of conveying belts with an upwardly inclined conveying path. The conveying surfaces of the two conveying belts are in contact or close to each other, forming a clamping and transmission path that can be used to clamp the carrot tassel area on the ground and apply a pulling force. The supporting wheels for supporting the belts are staggeredly distributed on both sides of the clamping and transmission path to form large clamping wheels, so that when the clamping and transmission path clamps and conveys the carrot tassels upward, the pulling force exerted by the clamping and transmission path on the side of the carrot tassel area is stable.

[0036] A driving wheel for driving the transmission belt is provided at the upper end or the lower end of the conveyor belt of the clamping conveying mechanism; During the process of the clamping and conveying mechanism for the carrot fringe, the large clamping wheels on both sides of the clamping transmission path alternately support the conveying surfaces of the two belts, so that the gap between the two belts is constrained to 1-2mm, so that the two belts can form sufficient pulling force and clamping force after clamping the carrot fringe; The two conveyor belts are respectively a first conveyor belt and a second conveyor belt, and the front end of the first conveyor belt is provided with a small clamping wheel; the large clamping wheels are divided into a plurality of first large clamping wheels 4 arranged at the first conveyor belt and a plurality of second large clamping wheels 3 arranged at the second conveyor belt; The front end of the clamping and conveying mechanism forms an entrance with an adjustable angle with a driven wheel 1, a small clamping wheel 2 and a second large clamping wheel 3, which is used to gather the above-ground stems and leaves of carrots when harvesting carrots to increase the pulling force and avoid the root and stem separation of the carrots in the ground before they are pulled out.

[0037] The clamping and conveying mechanism includes an upper slide 6 and a lower slide 7 adjacent to the conveyor belt. A cutting device 5 is provided at the end of the clamping and transmission path. The cutting device includes two staggered rotating blades for cutting off the top tassels of the carrots. When the top tassels of the carrots at the clamping and transmission path are cut off, the carrots fall to the lower slide and are sent to the storage basket through the lower slide. The carrot tassels will continue to be transmitted for a distance along the transmission belt of the clamping and transmission path, and then fall into the upper slide and are sent back to the field. The spacing between the first large clamping wheels is a, and the spacing between the second large clamping wheels is b. By adjusting a and b, the distance between the first large clamping wheel and the second large clamping wheel at the end of the clamping transmission path can be shortened to stabilize the landing point of the cut carrot tops. The diameter d and number of the second large clamping wheels are adapted to the second conveyor belt, and the spacing a is twice the diameter d.

[0038] The clamping and conveying mechanism includes a ridge adapting mechanism for adjusting the inclination and height of the clamping transmission path, and the ridge adapting mechanism includes a rear straight-line pull rod 16 and a front straight-line pull rod 17 for step-by-step adjustment; the front straight-line pull rod is connected to the front ends of the two conveyor belts through a slider, and the rear straight-line pull rod is connected to the rear ends of the two conveyor belts through a slider; When the front and rear tie rods move up or down by the same distance at the same time, the clamping transmission path is adjusted to adapt to the ridge height by variable height adjustment; When the height of the rear pull rod remains unchanged and the front pull rod moves downward, the auxiliary movement of the two sliders makes the horizontal angle of the conveyor belt increase to adapt to the ridges of the field; when the height of the front pull rod is kept unchanged and the rear pull rod moves downward, the auxiliary movement of the two sliders makes the horizontal angle of the conveyor belt decrease to adapt to the ridges of the field.

[0039] The vehicle includes a transmission system for front-wheel drive, wherein the front wheels include a differential for compensating for the speed difference between the left and right wheels when turning, the rims 10 of the two front wheels are respectively connected to the half shafts 9, and the power output end of the drive motor outputs the power to the half shafts through the cooperation of the ball cage 8 and the tripod pin; The suspension system of the vehicle chassis includes a McPherson suspension system equipped with an adjustable shock absorber 11 and its spring assembly; The vehicle chassis uses rear-wheel steering to facilitate turning the vehicle head for changing ridges for harvesting. Its steering device is based on the Ackerman steering model and also includes a servo motor with a gear 12 and a rack 13 at the output end. The torque of the servo motor is transmitted through the gear 12 and the rack 13 to output as a thrust to the connecting rod 14, so that the connecting rod pushes the rear wheel through the column, causing the rear wheel to deflect to adjust the direction of the vehicle.

[0040] Example: This example proposes a miniaturized design of a carrot harvester. The main design solutions include an independent suspension structure, a rear-wheel steering system, a flexible clamping mechanism, a ridge height adaptable structure, and a hardware control module.

[0041] Independent suspension structure: The front wheels adopt independent suspension, which can adjust the chassis height by adjusting the rod length in stages.

[0042] Rear wheel steering system: The rear wheel independent steering system uses rack and pinion transmission to reduce the turning radius and improve the flexibility and accessibility of the harvester.

[0043] Flexible clamping mechanism: through the flexible belt transmission, it can reduce the mechanical damage of carrot picking and facilitate continuous operation.

[0044] Variable height structure: The flexible clamping and picking structure can be raised and lowered as a whole through a straight pull rod to adapt to harvesting conditions of different ridge heights.

[0045] Variable angle structure: Through the connecting rod slider structure, the inclination angle of the flexible clamping mechanism can be adjusted to ensure that the entry point of the clamping structure is appropriate.

[0046] Hardware control module: With STM32F104 single chip microcomputer as the control core, it coordinates the motor drive modules and realizes the possibility of speed control, steering, picking, cutting and collection and storage.

[0047] It includes the following parts: 1. Flexible clamping mechanism The front end of the flexible clamping device is provided with an entrance angle through the driven wheel 1, the small clamping wheel 2 and the clamping wheel 3, which is used to gather the stems and leaves of the carrots together to provide a greater pulling force and reduce the situation where the carrots are separated from the roots and stems in the field. Among them, the clamping wheel 2 is a small clamping wheel, and its function is to speed up the carrots to enter the pulling stage. Figure 5 shown.

[0048] In addition, during the extraction phase, the staggered layout of the clamping wheels is used to provide a continuous and stable clamping force, see Figure 5 The middle clamping wheels 3 and 4 are staggered.

[0049] If a configuration in which the clamping wheels are distributed opposite each other is adopted, when the carrot tops are transmitted to the clamping wheel position, the clamping force they are subjected to will increase due to the rigidity of the clamping wheel. After leaving the clamping wheel and being in a position where only two belts are clamped, the clamping force will decrease due to the elasticity of the belts.

[0050] In this example, the flexible clamping structure adopts a staggered distribution of clamping wheels and reduces the gap between the two belts to 1-2 mm to ensure that the carrot tops can be clamped while providing sufficient pulling force and clamping force.

[0051] Since the length of the transmission belt is limited, the spacing a and spacing b are adjusted after the staggered layout to make the last two clamping wheels of the staggered layout as close as possible, so as to ensure the landing point of the carrot tops after cutting under the condition of limiting the length of the conveyor belt. Among them, the spacing b is equal to twice the diameter d of the clamping wheel 3, and the diameter and number of the clamping wheel 3 are configured according to the length of the transmission belt.

[0052] The picked carrots are transported by the belt, cut by the cutting device on the way, and finally enter the storage basket along the chute at the bottom.

[0053] 2. Cutting device The cutting device 5 mainly relies on two staggered rotating blades to cut off the top tassels of the carrots, and then the carrots will immediately fall to the lower slide 7 and then enter the storage basket. The carrot tassels will continue to be transferred along the conveyor belt for a distance, and finally fall into the upper slide 6 and return to the field. Figure 2 shown.

[0054] 3. Frame The frame is constructed with square aluminum tubes. The main frame is built by using drilled holes and bolts. The key stress-bearing parts are then reinforced by adding diagonal supports through welding technology, providing a stable main frame for the entire harvester.

[0055] 4. Transmission system The transmission part selects a drive mode in which a motor drives two half-axles, and a differential is purchased to compensate for the speed difference between the left and right wheels when turning. The ball cage 8 and the tripod pin cooperate to transmit power to the half-axle 9, and the half-axle 9 then transmits power to the rim 10. Figure 6 shown.

[0056] 5. Suspension system A key component in the design and implementation of the flexible grip carrot harvester is the vehicle's suspension system. The main task of this system is to ensure the stability of the machine when operating on various terrains. At the same time, it protects the machine body and harvesting device from excessive vibration, thereby ensuring the quality and efficiency of carrot harvesting.

[0057] The design of the suspension system combines the stability and elastic response characteristics of the MacPherson suspension system. The system can automatically adjust according to changes in terrain, maintain constant contact between the harvesting device and the ground, and reduce severe vibrations caused by uneven ground.

[0058] In addition, the suspension system takes into account the adaptability to the variability of the working environment. It is equipped with an adjustable shock absorber 11 and its spring assembly. The adjustment of the shock absorber can make the stiffness of the harvester reach an appropriate state for the running stability, so that the harvester can still maintain stable working performance when dealing with soil hardness differences, slope changes and other complex farmland conditions that may affect the harvesting effect, such as Figure 7 shown.

[0059] In terms of material selection, we use wear-resistant and corrosion-resistant materials to construct suspension components to resist wear and tear during long-term operation and the impact of severe weather conditions. All suspension components are designed to be easy to inspect and replace to facilitate daily maintenance and reduce long-term operating costs.

[0060] 6. Steering device Since the harvester has a relatively slow speed and needs to turn its head to change ridges for harvesting, rear-wheel steering is used to reduce the harvester's turning radius, improve the harvester's maneuverability, and make the steering more flexible. The specific construction of rear-wheel steering refers to the Ackerman steering model.

[0061] The servo motor converts the torque into thrust through the cooperation of the gear 12 and the rack 13, and the thrust is then transmitted to the column 15 via the connecting rod 14, and finally the rear wheel is deflected to achieve the direction adjustment, such as Figure 8and Figure 2 The steering system is very responsive, making it possible to steer nimbly even on narrow field roads.

[0062] 7. Variable ridge height and variable angle device The schematic diagram of the variable height and variable angle structure is as follows: Fig. 9 As shown, the main parts are the rear straight tie rod 16 and the front straight tie rod 17, and their lengths can be adjusted. The tie rod adjustment is step-by-step.

[0063] When the front and rear straight tie rods move up or down the same distance at the same time, variable height adjustment is achieved.

[0064] When the height of the rear tie rod 16 remains unchanged and the front tie rod 17 moves downward for a distance, the horizontal angle of the conveyor belt is increased by the auxiliary movement of the two sliders. Similarly, the height of the front tie rod 17 remains unchanged and the rear tie rod 16 moves downward for a distance, and the horizontal angle of the conveyor belt is decreased by the auxiliary movement of the two sliders.

Claims

1. A method for harvesting carrots with flexible gripping, characterized in that: The harvesting method uses a flexible clamping carrot harvester with a flexible clamping mechanism, and the flexible clamping mechanism includes a clamping and conveying mechanism. When harvesting carrots, the clamping and conveying mechanism clamps the two sides of the ground carrot tassel area of ​​the field ridges with an inclined conveyor belt elastic belt, and in the process of the conveyor belt clamping and conveying the carrot tassels upward, the clamping force of the conveying surface is formed by the alternately arranged clamping wheels, so that the elastic belt can pull out the underground carrot rhizomes with a stable pulling force.

2. The method for harvesting carrots with flexible gripping according to claim 1, characterized in that: The conveyor belt first gathers the carrot tops with the eight-shaped input end of the clamping conveyor belt to increase the pulling force.

3. The method for harvesting carrots with flexible gripping according to claim 2, characterized in that: The conveyor belt of the clamping conveying mechanism adapts to the specifications and shapes of the field ridges by adjusting its inclination angle with the field ground or the height position of the flexible clamping carrot harvester to optimize the ability to gather the carrot tassels.

4. The method for harvesting carrots with flexible gripping according to claim 1, characterized in that: A carrot storage container is provided in the rear area of ​​the clamping conveying mechanism. When the carrot tassels conveyed by the conveyor belt reach the top of the carrot storage container, the underground part of the carrot is completely pulled out and conveyed to the top of the carrot storage container by the conveyor belt. The clamping and conveying mechanism comprises an upper slide and a lower slide; a cutting device (5) for cutting off carrot tassels is provided below the upper slide; after the cutting device cuts the carrot tassels from the top of the carrot rhizome, the upper slide sends the cut stem and leaf parts back to the field, and the lower slide sends the cut carrot rhizome parts to a storage container.

5. The method for harvesting carrots with flexible gripping according to claim 4, characterized in that: In the harvesting method, the flexible gripping carrot harvester imitates the travel mode of a forklift, adopts front-wheel drive, rear-wheel steering, and the front wheel is equipped with a differential to cope with the situation where the turning radius of the two wheels is different when turning. The harvesting method includes the following steps: Step 1: System startup and setup: Turn on the power, press the start button on the carrot harvester, and the harvester begins the initialization process; Step 2: Manually operate the harvester to the end of the ridge; specifically: Step A1. Fast forward to the end of the ridge: Press the corresponding steering button to turn, after determining the direction, straighten the rear wheels, press the travel direction button, and quickly move to one end of the ridge; Step A2. Adjust the angle: Press the steering button and adjust the front of the vehicle to be parallel to the ridge; Step 3: Adjust the height and angle of the clamping and conveying mechanism to adapt to the ridge height: by observing the height of the lowest point of the clamping mechanism and the height of the carrot rhizome connection, adjust the height positions of the two straight pull rods distributed front and back, and adjust the height and angle of the clamping and conveying mechanism to make the clamping and conveying mechanism in a suitable position; Step 4: Mechanical harvesting operation; Step B1. Activating the flexible clamping mechanism: When the harvesting vehicle reaches the end of the ridge, the flexible clamping mechanism is activated; Step B2. Starting the cutting device: Starting the cutting device to separate the carrots delivered by the flexible clamping mechanism into roots and stems; Step B3. The harvester moves forward: After the flexible clamping mechanism and the cutting device are started, the forward button is pressed to start harvesting carrots; Step 5: Collection and storage Step C1. Slideway design: The harvester is designed with two slideways, the upper slideway is used to send the cut stems and leaves back to the field, and the lower slideway is used to send the cut edible carrot roots to the storage basket of the carrot storage container; Step C2. Full basket processing: When the storage basket for collecting carrots is full, the stop button can be pressed, and the collected carrots are first put into the sack, and then the empty basket is put back; Step 6. Turn the vehicle around and continue harvesting: Turn the vehicle around to the other end of the ridge and continue harvesting: When all the carrots in one ridge have been harvested, manually press the button to turn the harvester around and harvest the next ridge.

6. Flexible gripping carrot harvester, characterized in that: The harvester includes a vehicle body that can be used in the field. In the direction of travel of the vehicle, a clamping and conveying mechanism is arranged at the front part of the chassis of the vehicle. The clamping and conveying mechanism includes a pair of conveyor belts with an upwardly inclined conveying path. The conveying surfaces of the two conveyor belts are in contact or close to each other, forming a clamping transmission path that can be used to clamp the carrot bud area on the ground and apply a pulling force. The support wheels for supporting the belts are staggeredly distributed on both sides of the clamping transmission path to form large clamping wheels, so that when the clamping transmission path clamps and conveys the carrot buds upward, the pulling force of the clamping transmission path on the side of the carrot bud area is stable.

7. The flexible gripping carrot harvester according to claim 6, characterized in that: A driving wheel for driving the transmission belt is provided at the upper end or the lower end of the conveyor belt of the clamping conveying mechanism; During the process of the clamping and conveying mechanism for the carrot fringe, the large clamping wheels on both sides of the clamping transmission path alternately support the conveying surfaces of the two belts, so that the gap between the two belts is constrained to 1-2mm, so that the two belts can form sufficient pulling force and clamping force after clamping the carrot fringe; The two conveyor belts are respectively a first conveyor belt and a second conveyor belt, the front end of the first conveyor belt is provided with a small clamping wheel; the large clamping wheels are divided into a plurality of first large clamping wheels (4) arranged at the first conveyor belt, and a plurality of second large clamping wheels (3) arranged at the second conveyor belt; The front end of the clamping and conveying mechanism is formed with a driven wheel (1), a small clamping wheel (2) and a second large clamping wheel (3) to form an entrance with an adjustable angle, which is used to gather the above-ground stems and leaves of the carrots when harvesting them to increase the pulling force and prevent the roots and stems of the carrots from being separated in the ground before they are pulled out.

8. The flexible gripping carrot harvester according to claim 7, characterized in that: The clamping and conveying mechanism comprises an upper slideway (6) and a lower slideway (7) adjacent to the conveyor belt. A cutting device (5) is provided at the end of the clamping and conveying path. The cutting device comprises two staggered rotating blades for cutting off the top tassels of the carrots. When the top tassels of the carrots at the clamping and conveying path are cut off, the carrots fall to the lower slideway and are sent to a storage basket via the lower slideway. The carrot tassels will continue to be transferred along the transmission belt of the clamping and conveying path for a certain distance before falling into the upper slideway and being sent back to the field. The spacing between the first large clamping wheels is a, and the spacing between the second large clamping wheels is b. By adjusting a and b, the distance between the first large clamping wheel and the second large clamping wheel at the end of the clamping transmission path can be shortened to stabilize the landing point of the cut carrot tops. The diameter d and number of the second large clamping wheels are adapted to the second conveyor belt, and the spacing a is twice the diameter d.

9. The flexible gripping carrot harvester according to claim 6, characterized in that: The clamping and conveying mechanism comprises a ridge adapting mechanism for adjusting the inclination and height of the clamping transmission path, the ridge adapting mechanism comprising a rear straight-line pull rod (16) and a front straight-line pull rod (17) for step-by-step adjustment; the front straight-line pull rod is connected to the front ends of the two conveyor belts via a slider, and the rear straight-line pull rod is connected to the rear ends of the two conveyor belts via a slider; When the front and rear tie rods move up or down by the same distance at the same time, the clamping transmission path is adjusted to adapt to the ridge height by variable height adjustment; When the height of the rear pull rod remains unchanged and the front pull rod moves downward, the auxiliary movement of the two sliders makes the horizontal angle of the conveyor belt increase to adapt to the ridges of the field; when the height of the front pull rod is kept unchanged and the rear pull rod moves downward, the auxiliary movement of the two sliders makes the horizontal angle of the conveyor belt decrease to adapt to the ridges of the field.

10. The flexible gripping carrot harvester according to claim 6, characterized in that: The vehicle comprises a transmission system for front-wheel drive, wherein the front wheels comprise a differential for compensating for the speed difference between the left and right wheels when turning, the rims (10) of the two front wheels are respectively connected to the half shafts (9), and the power output end of the drive motor outputs power to the half shafts through the cooperation of the ball cage (8) and the tripod pin; The suspension system of the vehicle chassis comprises a McPherson suspension system equipped with an adjustable shock absorber (11) and a spring assembly thereof; The vehicle chassis uses rear-wheel steering to facilitate turning the vehicle head for ridge change and harvesting. The steering device is based on the Ackerman steering model and also includes a servo motor with a gear (12) and a rack (13) at the output end. The torque of the servo motor is transmitted through the gear (12) and the rack (13) to output as a thrust to the connecting rod (14), so that the connecting rod pushes the rear wheel through the column, so that the rear wheel deflects to adjust the direction of travel of the vehicle.

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