Integrated harvesting device for root crops

Abstract

The embodiment of the invention provides an integrated harvesting device for root crops, which comprises a frame, and an advancing module is mounted at the bottom of the frame; the cutting module swings outwards to cut stems and leaves and swings inwards to reset; the digging module can dig the root crops from the soil and lift the root crops, and reset the root crops after completing digging and lifting actions; the transfer module can receive the root crops lifted by the digging module and lift the root crops again, and reset the root crops after completing the lifting action again; the shifting fork module can receive the rhizome crops lifted again by the transfer module and continuously transport the rhizome crops backwards; and an inlet of the storage box is communicated with the transportation terminal point of the shifting fork module. According to the integrated harvesting device for the rhizome crops, through mutual cooperation and circulating reciprocating motion of all the mechanical structures, stem and leaf cutting, digging, mud removing, collecting and transporting work is integrated, mechanical operation of the whole harvesting process of the rhizome crops is achieved, and the integrated harvesting device is suitable for the technical field of agricultural equipment.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural equipment, and in particular to an integrated harvesting device for root and tuber crops. Background Art

[0002] Root crops have high yields, rich nutrition, and strong adaptability to the environment. They have become one of the most important food crops in the world and play a pivotal role in the agricultural field. The product organs of root crops are roots and tubers. When collecting, the tubers of the main products are buried deep in the soil of the field ridges and need to be dug out for processing. Therefore, manual harvesting is difficult and inefficient.

[0003] At present, traditional root and tuber crops are usually harvested using a plowing harvester, which needs to be towed by a tractor and is not suitable for hilly slopes and small family-grown land. It also has relatively simple functions and can only complete part of the harvesting process. In the later stage, a lot of material, human and financial resources are still needed to complete tasks such as cutting stems and leaves and transportation. Summary of the invention

[0004] In order to solve one of the above technical defects, an embodiment of the present application provides an integrated harvesting device for root and tuber crops, comprising:

[0005] Frame;

[0006] A traveling module is arranged at the bottom of the frame;

[0007] A mounting frame is vertically arranged in the middle of the frame chassis, and the mounting frame includes a first cross bar, a second cross bar and a third cross bar which are sequentially arranged from bottom to top;

[0008] The cutting module is arranged on one side of the head of the frame chassis. When working, the cutting module swings outward to cut the stems and leaves, and swings inward to reset;

[0009] A digging module is arranged on the first crossbar, and is used to dig and lift the root crops from the soil, and reset them after completing the digging and lifting actions;

[0010] The transfer module is arranged on the second crossbar, and is used to receive the root crops lifted by the digging module, align them and lift them again, and reset them after completing the lifting action;

[0011] The fork module is arranged on the third crossbar and is used to receive the root crops lifted by the transfer module and transport them backwards;

[0012] The storage box is arranged on one side of the mounting frame, and the entrance of the storage box is connected with the transportation terminal of the shift fork module.

[0013] Furthermore, the cutting module comprises:

[0014] A bottom plate, connected to the chassis of the frame;

[0015] A top plate is arranged directly above the bottom plate, the top plate is connected to the vehicle frame through a connecting piece, and a first through hole is opened on a side of the top plate close to the excavation module;

[0016] A first motor is disposed above the top plate, the first motor is mounted on the vehicle frame through a motor bracket, and an output shaft of the first motor passes downward through the top plate from the first through hole;

[0017] A first crank is disposed between the top plate and the bottom plate, and one end of the first crank is connected to the output shaft of the first motor;

[0018] A rotating shaft is vertically arranged on a side of the bottom plate away from the output shaft of the first motor, and two ends of the rotating shaft are respectively connected to the top plate and the bottom plate;

[0019] A first rocker, one end of which is hinged on the rotating shaft, a second through hole is opened in the middle section of the first rocker, a second motor is installed on the other end of the first rocker, and an output shaft of the second motor passes downward through the first rocker and is connected to a cutting blade;

[0020] One end of the first connecting rod is hinged to the other end of the first crank, and the other end of the first connecting rod is hinged to the second through hole of the first rocker.

[0021] Furthermore, the mining module includes:

[0022] The third motor is mounted on the first crossbar through a support member, and the first crossbar is arranged higher than the chassis of the frame. The third motor is a double-shaft motor, and a set of crank rocker mechanisms are arranged on both sides of the third motor, and the two sets of crank rocker mechanisms are symmetrically arranged about the mounting frame;

[0023] The crank rocker mechanism includes:

[0024] A second crank, an output shaft of the third motor passes through the support member and is connected to one end of the second crank;

[0025] A second rocker, one end of which is hinged to the frame chassis through a first bearing seat, and the first bearing seat is located between the mounting frame and the cutting module;

[0026] A second connecting rod, one end of which is hinged to the other end of the second crank, and the other end of the second connecting rod is hinged to the other end of the second rocker;

[0027] a connecting rod extension rod, one end of which is connected to the other end of the second connecting rod;

[0028] The excavation module also includes an excavation shovel, which is arranged between the two sets of crank rocker mechanisms and is respectively connected to the other ends of the connecting rod extension rods on both sides.

[0029] Furthermore, the transfer module comprises:

[0030] The fourth motor is mounted on the second crossbar through a motor bracket. The fourth motor is a double-shaft motor. A set of double rocker mechanisms are respectively arranged on both sides of the fourth motor. The two sets of double rocker mechanisms are symmetrically arranged about the mounting frame.

[0031] The double rocker mechanism includes:

[0032] a third rocker, one end of which is connected to the output shaft of the fourth motor;

[0033] A fourth rocker, one end of which is hinged to one side of the mounting frame on the frame through a second bearing seat, the second bearing seat is higher than the fourth motor, and the second bearing seat is located between the mounting frame and the cutting module;

[0034] A third connecting rod, one end of which is hinged to the other end of the third rocker, and the other end of the third connecting rod is hinged to the other end of the fourth rocker;

[0035] A rocker extension rod, one end of which is connected to the other end of the fourth rocker;

[0036] The transfer module also includes a collecting claw, which is arranged between two sets of double rocker mechanisms, and the collecting claw is respectively connected to the other end of the rocker extension rods on both sides.

[0037] Furthermore, the fork module comprises:

[0038] The wavy transport main trough is installed on the third crossbar, and a set of parallelogram mechanisms are respectively arranged on both sides of the wavy transport main trough, and the two sets of parallelogram mechanisms are symmetrically arranged about the mounting frame;

[0039] The parallelogram mechanism includes:

[0040] A fourth connecting rod and a fifth connecting rod are arranged in parallel with each other, and one end of the fourth connecting rod and the fifth connecting rod are respectively hinged on the side wall of the wave-shaped transport main trough;

[0041] The fork module also includes:

[0042] A power mechanism is arranged on the mounting frame, and an output end of the power mechanism is connected to input ends of the fourth connecting rod and the fifth connecting rod respectively;

[0043] Two horizontally arranged wavy transport auxiliary troughs are symmetrically arranged with respect to the wavy transport main trough, and the other ends of the fourth connecting rod and the fifth connecting rod are respectively hinged on the side walls of the wavy transport auxiliary trough.

[0044] Further, the power mechanism is a fourth motor, whose output shaft is the output end of the power mechanism, and the input ends of the fourth connecting rod and the fifth connecting rod are connected to the output shaft of the fourth motor through two sets of gear set modules, and the two sets of gear set modules are symmetrically arranged about the mounting frame, and the gear set modules include:

[0045] A first gear is connected to an output shaft of a fourth motor, and the output shaft of the fourth motor passes through the first gear and is connected to one end of a third rocker;

[0046] A second gear is mounted on one side of the third crossbar through a gear bracket, the gear bracket is located between the fourth motor and the third crossbar, and the second gear is meshed with the first gear;

[0047] A third gear is arranged on the side wall of the wave-shaped main transport trough, the third gear is located between the fourth connecting rod and the fifth connecting rod, and the third gear is meshed with the second gear;

[0048] The two fourth gears are respectively arranged on both sides of the third gear on the side wall of the wavy transport main trough. One end of the fourth connecting rod and the fifth connecting rod are respectively connected to the two fourth gears and rotate coaxially. The two fourth gears are respectively meshed with the third gear.

[0049] Furthermore, the rear end of the excavating shovel is connected with an extension plate in a sparse tooth shape. When working, the tooth gaps at the front end of the collecting claw and the tooth gaps of the extension plate are staggered and do not interfere with each other.

[0050] Further, the first gear and the two fourth gears have the same number of teeth.

[0051] Furthermore, the top of the wavy main transport trough is wavy, the tail of the wavy main transport trough is a downward slope, the end of the slope is the transport end of the fork module, and the wavy main transport trough includes:

[0052] Two corrugated middle plates are arranged on the third cross bar at intervals, the two corrugated middle plates are arranged symmetrically about the mounting frame, and the side walls of the corrugated middle plates are the side walls of the corrugated transport main trough;

[0053] The two corrugated strips are symmetrically arranged about the mounting frame, the two corrugated strips are respectively arranged on the outer sides of the two corrugated middle plates, and the two corrugated strips are respectively connected to the top of the corrugated middle plates on one side thereof.

[0054] Furthermore, a solar panel is installed on one side of the top of the frame away from the storage box.

[0055] The integrated harvesting device for rhizomes provided in the embodiment of the present application is used, and the cutting module is used to realize the cutting of the stems and leaves of rhizomes. When the stems and leaves of rhizomes are cut, the digging module is inserted into the soil to prepare for digging. The digging module goes deep into the soil, digs up the rhizomes, and sends them to the transfer module above. The transfer module continues to lift after receiving the rhizomes, and sends the rhizomes to the fork module above. The fork module transports the rhizomes backward to the storage box. Through the mutual cooperation and cyclic reciprocating motion of the above multiple modules, the integrated operation of cutting, digging, collecting and transporting the stems and leaves of rhizomes can be continuously realized, and the mechanized operation of the whole process of harvesting rhizomes can be realized.

[0056] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the contents pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0058] Figure 1 A schematic diagram of the three-dimensional structure of the integrated harvesting device for root and tuber crops provided in an embodiment of the present application;

[0059] Figure 2 A front view of the integrated harvesting device for root and tuber crops provided in an embodiment of the present application;

[0060] Figure 3 A top view of the integrated harvesting device for root and tuber crops provided in an embodiment of the present application;

[0061] Figure 4 A cross-sectional view of an integrated harvesting device for root and tuber crops provided in an embodiment of the present application;

[0062] Figure 5 A three-dimensional diagram of a cutting module provided in an embodiment of the present application, Figure 1 The enlarged schematic diagram of the X in the middle;

[0063] Figure 6 A schematic diagram of the structure of a cutting module provided in an embodiment of the present application;

[0064] Figure 7 A schematic diagram of a mining module in mining action provided by an embodiment of the present application;

[0065] Figure 8A schematic diagram of the lifting action of the excavation module provided in an embodiment of the present application;

[0066] Fig. 9 A schematic diagram of the structure of an excavating shovel provided in an embodiment of the present application;

[0067] Fig.10 A schematic diagram of the structure of a transfer module provided in an embodiment of the present application;

[0068] Fig.11 A schematic diagram of the structure of the collecting claw provided in an embodiment of the present application;

[0069] Fig.12 A schematic diagram of the cooperation between the excavation module and the transfer module provided in an embodiment of the present application;

[0070] Fig.13 A schematic diagram of the structure of the fork module provided in an embodiment of the present application;

[0071] Fig.14 A schematic diagram of the structure of a fork module and a gear set module provided in an embodiment of the present application;

[0072] Fig.15 A schematic diagram of the transfer module and the fork module provided in the embodiment of the present application when they cooperate;

[0073] Among them, 10 is a frame, 11 is a mounting frame, 111 is a first crossbar, 112 is a second crossbar, 113 is a third crossbar, 20 is a travel module, 201 is a wheel, 202 is a fifth motor, 30 is a cutting module, 301 is a top plate, 302 is a bottom plate, 303 is a first through hole, 304 is a first motor, 305 is a first crank, 306 is a rotating shaft, 307 is a first rocker, 308 is a second through hole, 309 is a second motor, 310 is a cutting blade, 311 is a first connecting rod, 40 is an excavation module, 401 is a third motor, 402 is a support, 403 is a second crank, 404 is a second rocker, 405 is a first bearing seat, 406 is a second connecting rod, 407 is a connecting rod extension rod, 408 is a second connecting rod, 409 is a second connecting rod extension rod, 410 is a first connecting rod, 411 is a first connecting rod, 412 is a second connecting rod, 413 is a second connecting rod, 414 is a second connecting rod, 415 is a first connecting rod, 416 is a first connecting rod, 417 is a second connecting rod, 418 is a second connecting rod, 419 is a second connecting rod, 420 is a first connecting rod, 421 is a first connecting rod, 422 is a first connecting rod, 423 is a first connecting rod, 424 is a second connecting rod, 425 is a first connecting rod, 426 is a first connecting rod, 427 is a first connecting rod, 428 is a first connecting rod, 429 is a second connecting rod, 430 is a first connecting rod, 431 is a first connecting rod, 432 is a first connecting 8 is an excavating shovel, 409 is an extension plate, 50 is a transfer module, 501 is a fourth motor, 502 is a third rocker, 503 is a fourth rocker, 504 is a second bearing seat, 505 is a third connecting rod, 506 is a rocker extension rod, 507 is a collecting claw, 60 is a fork module, 601 is a wavy transport main trough, 602 is a fourth connecting rod, 603 is a fifth connecting rod, 604 is a wavy transport auxiliary trough, 605 is a wavy middle plate, 606 is a wavy strip plate, 608 is a mud removal baffle, 70 is a storage box, 701 is a transport plate, 80 is a gear set module, 801 is a first gear, 802 is a second gear, 803 is a gear bracket, 804 is a third gear, 805 is a fourth gear, and 90 is a solar panel. DETAILED DESCRIPTION

[0074] In order to make the technical solutions and advantages of the embodiments of the present application more clear, the following Figure 1-15 The exemplary embodiments of the present application are further described in detail. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0075] In the process of realizing this application, the inventor found that root crops have high yield, rich nutrition, strong adaptability to the environment, and have become one of the important food crops in the world, occupying a pivotal position in the agricultural field. The product organs of root crops are roots and tubers. When collecting, the tubers of the main products are deeply buried in the soil of the field ridges and need to be dug out and processed. Therefore, manual harvesting is adopted, which is difficult and inefficient.

[0076] At present, traditional root and tuber crops are usually harvested using a plowing harvester, which needs to be towed by a tractor and is not suitable for hilly slopes and small family-grown land. It also has relatively simple functions and can only complete part of the harvesting process. In the later stage, a lot of material, human and financial resources are still needed to complete tasks such as cutting stems and leaves and transportation.

[0077] In response to the above problems, Figure 1-4 As shown, an embodiment of the present application provides an integrated harvesting device for root and tuber crops (hereinafter referred to as the harvesting device), comprising:

[0078] The frame 10 is composed of a plurality of aluminum plates, forming the basic frame of the whole vehicle and supporting the entire mechanical structure. A traveling module 20 is installed at the bottom thereof. A mounting frame 11 is vertically provided in the middle of the chassis of the frame 10. The mounting frame 11 includes a first cross bar 111, a second cross bar 112 and a third cross bar 113 which are sequentially arranged from bottom to top.

[0079] The cutting module 30 is arranged on one side of the head of the chassis of the frame 10. The cutting module 30 swings outward to cut the stems and leaves, and swings inward to reset;

[0080] The digging module 40 is disposed on the first crossbar 111 and is used to dig and lift the root crops from the soil and reset them after the digging and lifting actions are completed;

[0081] The transfer module 50 is disposed on the second crossbar 112, and is used to receive the root crops lifted by the digging module 40, lift them again, and reset them after completing the lifting action;

[0082] The fork module 60 is disposed on the third crossbar 113 and is used to receive the root crops lifted again by the transfer module 50 and transport them backward continuously;

[0083] The storage box 70 is disposed on one side of the mounting frame 11 , and an entrance at the top of the storage box 70 is connected to the transportation destination of the fork module 60 .

[0084] In specific implementation, taking the harvesting of taro as an example, the harvesting device drives to the field through the traveling module 20, adjusts the position of the front of the vehicle to align the mounting frame 11 with the ridge where the taro is located, and the cutting module 30 is started and swung outward to cut off the stems and leaves on the upper part of the taro. When the stems and leaves of the taro are cut, the digging module 40 is inserted into the soil to prepare for digging. The taro is dug up by digging deep into the soil, and the taro is lifted to a preset height and sent to the upper transfer module 50. After the transfer module 50 receives the taro, it continues to lift and sends the taro to the upper fork module 60. The fork module 60 transports the taro backward to the storage box 70. After the storage box 70 is full or the harvesting task of an area is completed, the harvesting device transports the harvested taro to the designated location through the traveling module 20. Through the mutual cooperation and cyclic reciprocating motion of the above multiple modules, the integrated operation of cutting, digging, collecting and transporting the stems and leaves of root crops can be continuously realized.

[0085] As a preferred solution, Figure 5 , Figure 6 As shown, the cutting module 30 includes:

[0086] A top plate 301 and a bottom plate 302 are arranged at intervals from top to bottom, the bottom plate 302 is connected to the chassis of the frame 10, the top plate 301 is connected to the frame 10 through a connecting piece, and a first through hole 303 is opened on one side of the top plate 301 close to the excavation module 40;

[0087] The first motor 304 is disposed above the top plate 301. The first motor 304 is mounted on the vehicle frame 10 through a motor bracket. The output shaft of the first motor 304 passes through the top plate 301 downward from the first through hole 303.

[0088] A first crank 305 is disposed between the top plate 301 and the bottom plate 302 , and one end of the first crank 305 is connected to the output shaft of the first motor 304 ;

[0089] The rotating shaft 306 is vertically arranged on a side of the bottom plate 302 away from the output shaft of the first motor 304, and the two ends of the rotating shaft 306 are respectively connected to the top plate 301 and the bottom plate 302;

[0090] A first rocker 307, one end of which is hinged on the rotating shaft 306, a second through hole 308 is opened in the middle of the first rocker 307, a second motor 309 is installed at the other end of the first rocker 307, and the output shaft of the second motor 309 passes downward through the first rocker 307 and is connected to a cutting blade 310;

[0091] One end of the first connecting rod 311 is hinged to the other end of the first crank 305 , and the other end of the first connecting rod 311 is hinged to the second through hole 308 of the first rocker 307 .

[0092] In the specific implementation, taking taro harvesting as an example, when the harvester is working, the cutting module 30 is initially located at the initial position (at Figure 6 The first rocker 307 is placed horizontally, and the cutting blade 310 is located in front of the digging shovel 408, in preparation for cutting the taro stems and leaves. When the vehicle reaches the appropriate position, the first crank 305 starts to rotate (along the direction of the rotation) under the drive of the first motor 304. Figure 6 The first rocker 307 is driven to swing in the counterclockwise direction, and the second motor 309 starts to work, driving the cutting blade 310 to rotate at a high speed. At this time, the high-speed rotating cutting blade 310 will be pushed toward the stems and leaves of the taro above the soil, and the stems and leaves will be cut during the swinging of the first rocker 307, and continue to move to a position where it will not interfere with the digging shovel 408 (at Figure 6 ), the first motor 304 and the second motor 309 stop working.

[0093] Specifically, Figure 6 As shown, the dotted line on the right represents the initial position of the cutting module 30, and the solid line on the left represents the end position of one operation of the cutting module 30. When the cutting module 30 is working, the slow stroke of the crank rocker is used as the working stroke, and the rotating cutting blade 310 is slowly pushed out through the first rocker 307 to reduce the impact on the mechanism when the blade cuts the stems and leaves; the fast stroke of the crank rocker is used as the return stroke, and the mechanism is quickly reset, so that the cutting module 30 can perform the next cutting in time, reduce the intermediate preparation time, and improve the efficiency of leaf cutting. The leaf cutting module 30 stops moving at the end position of one operation, and the excavation module 40 will excavate the taro. When the taro excavation work is completed, the cutting module 30 moves again and quickly resets, and the vehicle moves forward to start cutting the stems and leaves of the next taro. The cutting module 30 adopts the design of the crank rocker mechanism, which can reduce the time required for cutting stems and leaves without interfering with other mechanisms, and cooperates with the excavation module 40 and the vehicle travel module to achieve continuous cutting of taro stems and leaves, thereby improving cutting efficiency.

[0094] As a supplement to the above cutting module solution, the cutting module 30 can be further modularly designed to facilitate the adjustment of the height of the cutting module to adapt to different cutting scenarios and avoid damage to root crops caused by cutting errors. Specifically, the relative height of the cutting module 30 on the rotating shaft 306 can be adjusted between the top plate 301 and the bottom plate 302.

[0095] As a preferred solution, Figure 7 , Figure 8As shown, the mining module 40 includes:

[0096] The third motor 401 is mounted on the first crossbar 111 through the support member 402, and the first crossbar 111 is arranged higher than the chassis of the frame 10. The third motor 401 is a double-axle motor. A set of crank rocker mechanisms are respectively arranged on both sides of the third motor 401, and the two sets of crank rocker mechanisms are symmetrically arranged about the mounting frame 11.

[0097] The crank rocker mechanism includes:

[0098] A second crank 403, an output shaft of the third motor 401 passes through the support member 402 and is connected to one end of the second crank 403;

[0099] A second rocker 404, one end of which is hinged to the chassis of the frame 10 through a first bearing seat 405, and the first bearing seat 405 is located between the mounting frame 11 and the cutting module 30;

[0100] A second connecting rod 406, one end of which is hinged to the other end of the second crank 403, and the other end of the second connecting rod 406 is hinged to the other end of the second rocker 404;

[0101] A connecting rod extension rod 407, one end of which is connected to the other end of the second connecting rod 406, and the angle between the connecting rod extension rod 407 and the second connecting rod 406 is an obtuse angle;

[0102] The excavation module 40 further includes an excavation shovel 408 , which is disposed between the two sets of crank rocker mechanisms and is connected to the other ends of the connecting rod extension rods 407 on both sides respectively.

[0103] In specific implementation, taking taro harvesting as an example, after the taro stems and leaves are cut by the leaf cutting module 30, the digging shovel 408 starts to move from the set initial position, the third motor 401 drives the second crank 403 to rotate, and transmits power to the digging shovel 408 through the second connecting rod 406. The digging shovel 408 penetrates into the soil under the guidance of the second rocker 404, and moves forward and upward under the drive of the second connecting rod 406 to dig up the taro, and then sends it to the upper transfer module 50. During the entire digging process, there is no interference between the digging module 40 and the upper transfer module 50, and then the second connecting rod 406 continues to push the digging shovel 408 to move back to the initial position. The slow stroke of the crank rocker is used as the working stroke to reduce the impact of the digging shovel 408 when it contacts the soil; the fast stroke is the return stroke, so that the mechanism can reach the ready state at a faster speed. In the excavation module 40 of the harvesting device, a second rocker 404 is provided, and the angle between the connecting rod extension rod 407 and the second connecting rod 406 is set to an obtuse angle, both of which are to form a labor-saving lever structure, thereby reducing the main force, and using a small motor to drive a larger load.

[0104] This module uses a labor-saving lever to amplify the applied force. When completing the same work, only a smaller force is needed, which makes the operation easier and reduces the power required by the third motor 401. Secondly, the excavation module designed with a labor-saving lever structure can greatly shorten the working time and improve work efficiency when completing the same work. In terms of stability, the mechanical structure of the crank rocker mechanism is relatively stable, not prone to failure, and has a long service life and reliability. At the same time, the crank rocker mechanism is also relatively reliable in terms of safety. Even if the mechanism fails during operation, it will not cause harm to the operator, thereby improving the safety of the excavation operation.

[0105] As a supplement to the above-mentioned digging module solution, in the process of realizing this application, the inventor found that the root crops planted by the same farmer have roughly the same growth depth and do not need to adjust the digging depth. However, due to the different planting varieties and growth environments of the root crops planted by different farmers, the digging depth needs to be adjusted when digging. Furthermore, the third motor 401 in the harvesting device can adjust the installation position of the support member 402 on the first crossbar 111 to achieve the purpose of adjusting the digging depth of the digging shovel to adapt to different digging scenarios.

[0106] As a preferred solution, Fig.10 As shown, the transfer module 50 includes:

[0107] The fourth motor 501 is mounted on the second crossbar 112 through a motor bracket. The fourth motor 501 is a double-shaft motor. A set of double rocker mechanisms are respectively arranged on both sides of the fourth motor 501. The two sets of double rocker mechanisms are symmetrically arranged about the mounting frame 11.

[0108] The double rocker mechanism includes:

[0109] A third rocker 502, one end of which is connected to the output shaft of the fourth motor 501;

[0110] A fourth rocker 503, one end of which is hinged to one side of the mounting frame 11 on the frame 10 through a second bearing seat 504, the second bearing seat 504 is arranged higher than the fourth motor 501, and the second bearing seat 504 is located between the mounting frame 11 and the cutting module 30;

[0111] A third connecting rod 505, one end of which is hinged to the other end of the third rocking rod 502, and the other end of the third connecting rod 505 is hinged to the other end of the fourth rocking rod 503;

[0112] A rocker extension rod 506, one end of which is connected to the other end of the fourth rocker 503, and the angle between the rocker extension rod 506 and the fourth rocker 503 is an acute angle;

[0113] The transfer module 50 also includes a collecting claw 507, which is disposed between two sets of double rocker mechanisms. The collecting claw 507 is respectively connected to the other end of the rocker extension rods 506 on both sides.

[0114] In specific implementation, taking taro harvesting as an example, when the transport module 50 is in the initial position (such as Fig.10 As shown, the collecting claw 507 naturally hangs down in an L shape. After the excavating module 40 completes an excavation operation, the taro is lifted upward by the excavating shovel 408 to the initial position of the transfer module 50 (as shown in FIG. Fig.12 As shown in the figure, the circle represents root crops, and the arrow represents its movement trend). Since the excavation module 40 will continue to move back to its initial position, the excavation shovel 408 will be in an upward tilted posture on the way back. At this time, the taro in the excavation shovel 408 will naturally slide from the tail of the shovel body to the collecting claw 507 below. After the collecting claw 507 receives the taro, the fourth motor 501 starts to work, driving the third rocker 503 to rotate, and the power is transmitted to the fourth rocker 503 through the third connecting rod 505. The fourth rocker 504, together with the rocker extension rod 506 and the collecting claw 508, rotates upward around the second bearing seat 504, lifting the taro upward to the fork module 60. During the entire transportation process, there is no interference between the transportation module 50 and the upper fork module 60. Subsequently, the collecting claw 507 continues to move back to the initial position through the double rocker mechanism under the drive of the fourth motor, waiting for the arrival of the next excavation shovel 408.

[0115] As a supplement to the above-mentioned mining module and transport module, such as Fig. 9 , Fig.11 As shown, the rear end of the digging shovel 408 is connected with a sparsely toothed extension plate 409. Since the collecting claw 507 is on the motion track of the digging shovel 408, when the digging shovel 408 and the collecting claw 507 meet, the tooth gaps at the front end of the collecting claw 507 and the tooth gaps of the extension plate 409 can intersect each other without interfering with each other, so that the collecting claw 507 can receive root crops without interfering with the subsequent return movement of the digging shovel 408. Moreover, the claw-shaped collecting device can reduce the weight of the mechanism itself and avoid interference with the digging mechanism, and it is also conducive to screening out part of the mud and sand brought up by the digging shovel 408, as the first part of the mud removal work, which is convenient for subsequent transportation and mud removal work.

[0116] As a preferred solution, Fig.13 , 14 As shown, the fork module 60 includes:

[0117] The wavy transport main trough 601 is installed on the third crossbar 113. A set of parallelogram mechanisms are respectively arranged on both sides of the wavy transport main trough 601. The two sets of parallelogram mechanisms are symmetrically arranged about the mounting frame 11.

[0118] The parallelogram mechanism includes:

[0119] A fourth connecting rod 602 and a fifth connecting rod 603 are arranged parallel to each other, and one end of the fourth connecting rod 602 and the fifth connecting rod 603 are respectively hinged to the side wall of the wave-shaped main transport trough 601;

[0120] The fork module 60 further includes:

[0121] The power mechanism is arranged on the mounting frame 11, and the output end of the power mechanism is connected to the input end of the fourth connecting rod 602 and the fifth connecting rod 603 respectively;

[0122] Two horizontally arranged wavy transport auxiliary troughs 604, the two wavy transport auxiliary troughs 604 are symmetrically arranged about the wavy transport main trough 601, and the other ends of the fourth connecting rod 602 and the fifth connecting rod 603 are respectively hinged on the side walls of the wavy transport auxiliary troughs 604;

[0123] The wavy depressions on the wavy transport main trough 601 and the wavy transport auxiliary trough 604 match the shape of the root crops when they are placed horizontally, so that the transport trough can fit the outer contour of the root crops and avoid damage to the root crops during transportation.

[0124] In specific implementation, taking taro harvesting as an example, the collecting claw 507 lifts the taro upwards, and after reaching the highest point (such as Fig.15 As shown, the circle in the figure represents root crops, and the arrow represents its movement trend), it will continue to move back to its initial position, and the collecting claw 507 will move upward and backward on the way back. At this time, the taro in the collecting claw 507 will naturally slide from the tail of the collecting claw 507 to the wavy transport groove of the fork module 60 below, and the power mechanism drives the fourth connecting rod 602 and the fifth connecting rod 603 to rotate synchronously in a circle. Due to the setting of the parallelogram mechanism, the wavy transport auxiliary groove 604 continuously reciprocates within a certain range and remains in a horizontal state. The taro is continuously lifted upward from the upper groove of the wavy transport main groove 601 by the wavy transport auxiliary groove 604 and falls backward to the next groove of the wavy transport main groove 601. Every time it is lifted, the taro that falls into the wavy transport main groove 601 will move backward for a certain displacement until the taro reaches the transportation end of the wavy transport main groove 601 and falls into the storage box 70.

[0125] The fork module mainly utilizes its mechanical characteristics of continuous reciprocating motion to improve the efficiency of transportation. When the root crops are harvested and transferred to the fork module, they can be efficiently transferred and transported without having to be transferred one by one. In addition, this mechanism has a high fault tolerance rate, eliminating the situation of wasted work such as empty load that may occur when transferring one by one. The non-stop transmission mechanism can ensure that every root crop can be transported when it arrives. In addition, the operation complexity of this mechanism is low, and there is no need for too many complex mechanical movements, which greatly reduces the possibility of mistakes.

[0126] As a supplement to the above preferred solution, Fig.13 , 14 As shown, the top of the wavy transport main trough 601 is wavy, and the tail of the wavy transport main trough 601 is a downward slope. The end of the slope is the transport end of the fork module 60. A transport plate 701 is provided at the end of the slope. The transport plate 701 is connected to the frame. The storage box 70 is provided on one side of the transport plate 701, and the entrance of the top of the storage box 70 is connected to the transport plate 701. The wavy transport main trough 601 includes:

[0127] Two wavy middle plates 605 are arranged on the third cross bar 113 at intervals. The two wavy middle plates 605 are symmetrically arranged about the mounting frame 11. The side walls of the wavy middle plates 605 are the side walls of the wavy main transport trough 601.

[0128] The two wavy strips 606 are symmetrically arranged with respect to the mounting frame 11 . The two wavy strips 606 are respectively arranged on the outer sides of the two wavy middle plates 605 . The two wavy strips 606 are respectively connected to the top of the wavy middle plates 605 on one side thereof.

[0129] The wavy main transport trough 601 is designed in a sieve shape as a whole. When the root crops are continuously lifted and dropped, some of the soil adhering to the roots of the root crops can be removed through friction.

[0130] More specifically, scraper plates 608 are respectively provided on both sides above the fork module 60, and the scraper plates 608 are connected to the frame 10. The scraper plates 608 on both sides are opened downward, and a plurality of mud removing brushes are provided on the scraper plates 608. In conjunction with the fork module 60, most of the mud adhering to the roots of the root tuber crops can be removed by friction between each other and between the root tuber crops and the mud removing brushes during transportation. When the root tuber crops arrive in the storage box 70, they are in a relatively clean state, which is convenient for subsequent transportation and other processing of the root tuber crops, and saves labor costs to the maximum extent.

[0131] In the process of implementing the present application, the inventor discovered that the transfer module 50 and the fork mechanism 60 need to jointly undertake the transportation of root crops, and need to cooperate with each other during work to complete the acceptance of root crops. However, since the fork mechanism 60 is constantly performing reciprocating motion, it is inevitable that errors and omissions will occur during the process of accepting root crops from the transfer module 50.

[0132] In view of the above problems, a preferred solution is provided in the embodiments of the present application. Fig.14 As shown, the power mechanism is a fourth motor 501, whose output shaft is the output end of the power mechanism, and the input ends of the fourth connecting rod 602 and the fifth connecting rod 603 are connected to the output shaft of the fourth motor 501 through two sets of gear group modules 80. The two sets of gear group modules 80 are symmetrically arranged about the mounting frame 11. The gear group module 80 includes:

[0133] The first gear 801 is connected to the output shaft of the fourth motor 501. The output shaft of the fourth motor 501 passes through the first gear 801 and is connected to one end of the third rocker 502.

[0134] The second gear 802 is mounted on one side of the third crossbar 113 through a gear bracket 803. The gear bracket 803 is located between the fourth motor 501 and the third crossbar 113. The second gear 802 is meshed with the first gear 801.

[0135] The third gear 804 is disposed on the side wall of the wave-shaped main transport trough 601. The third gear 804 is located between the fourth connecting rod 602 and the fifth connecting rod 603. The third gear 804 is meshed with the second gear 802.

[0136] The two fourth gears 805 are respectively arranged on both sides of the third gear 804 on the side wall of the wavy transport main trough 601, and one end of the fourth connecting rod 602 and the fifth connecting rod 603 are respectively connected to the two fourth gears 805 and rotate coaxially, and the two fourth gears 805 are respectively meshed with the third gear 804.

[0137] As a preferred solution, the first gear 801 and the two fourth gears 805 have the same number of teeth.

[0138] In specific implementation, in the gear group module 80, the first gear 801 is the prime mover, driven by the fourth motor 501, and the third rocker 502 of the transfer module is connected to the first gear 801 for coaxial rotation; the power is transmitted by the middle second gear 802 and the third gear 804, and the fourth connecting rod 602 and the fifth connecting rod 603 of the fork module are respectively connected to the fourth gear 805 for coaxial rotation. Since the first gear 801 and the fourth gear 805 have the same number of teeth, when the transfer module 50 moves for a cycle, the fork module 60 also moves for a cycle. By adjusting the initial positions of the transfer module 50 and the fork module 60, the wavy transport trough of the fork module 60 can receive the root crops rolled down from the collecting claw 507 of the transfer module 50. In this way, the two groups of mechanisms can perform periodic movements to jointly complete the receiving and transportation of root crops. Therefore, the working process of the combined mechanism is as follows: the collecting claw 507 in the transfer module 50 receives the root crops dug up by the digging shovel 408, and the collecting claw 507 lifts the root crops upwards driven by the fourth rocker 503; because the gear group module 80 transmits power, the fork module 60 moves at the same time, and when the collecting claw 507 reaches the highest point, the root crops will roll down to the wavy transport trough moving below, and the transport trough will gradually transport the root crops to the rear storage box 70. In this process, the transfer module 50 resets, completing a cycle of movement, and preparing for the next transfer. The relative positions of the transfer module 50 and the fork module 60 when receiving are as shown in the figure. Fig.15 shown.

[0139] The combined mechanism that transmits power from the transfer module and the fork module through the gear group module can realize the four actions of receiving, lifting, demudding and transporting under the drive of one motor. While improving mechanical efficiency, it greatly reduces the number of drive motors required to complete the corresponding functions and reduces the prime movers in the mechanism, which is beneficial to the use and maintenance of the harvester. Compared with circuit control, the mechanical coordination of the two groups of modules is more stable and reliable.

[0140] As a preferred solution, an energy storage system is provided on the side of the frame 10 away from the storage box 70, and a solar panel 90 is provided on the top. The energy storage system uses a 12V large-capacity model aircraft lithium battery to power various mechanisms. At the same time, the solar panel provided on the top can assist in charging the battery.

[0141] It should be noted that the harvesting of taro listed in the above embodiment is only one embodiment of the present harvesting device. The integrated harvesting device for root and tuber crops provided in the present application is not limited to the harvesting operation of taro, but is also applicable to other root and tuber / potato crops similar to taro, and during the harvesting, it can also realize automated harvesting that integrates stem and leaf cutting, digging, mud removal, collection and transportation.

[0142] The integrated harvesting device for rhizomes and tubers provided by the present application mainly includes a traveling module, a cutting module, a digging module, a transfer module and a fork module, and each module cooperates with each other to complete the whole process of harvesting rhizomes and tubers. The cutting module uses the slow stroke of the crank rocker mechanism as the working stroke to reduce the impact of the blade when it contacts the stems and leaves of rhizomes and tubers, and the fast stroke is the return stroke, so that the mechanism can reach the ready state at a faster speed; the digging module uses the labor-saving lever structure of the crank rocker mechanism to reduce the torque required by the prime mover when digging rhizomes and tubers, and improves the mechanical efficiency, wherein the crank is used as the prime mover, and the slow stroke of the crank rocker is used as the working stroke to reduce the impact of the digging shovel when it contacts the soil, and the fast stroke is the return stroke, so that the mechanism can reach the ready state at a faster speed; the transfer module transmits power through the double rocker mechanism and the fork module through the gear set module to realize the common motor drive, and uses the mechanical linkage between the mechanisms to improve the stability of the mechanism coordination, so that one drive motor can complete the four actions of receiving, lifting, transporting and demuding. This project can realize continuous operation of root crop harvesting, greatly improve the efficiency of root crop harvesting, and improve the level of agricultural mechanization of root crops, and has strong practicality.

[0143] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0144] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0145] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0146] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0147] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An integrated harvesting device for root and tuber crops, characterized in that: include: Frame (10); A traveling module (20) is arranged at the bottom of the vehicle frame (10); A mounting frame (11) is vertically arranged in the middle of the chassis of the vehicle frame (10), wherein the mounting frame (11) comprises a first cross bar (111), a second cross bar (112) and a third cross bar (113) which are sequentially arranged at intervals from bottom to top; A cutting module (30) is arranged on one side of the chassis head of the vehicle frame (10); when in operation, the cutting module (30) swings outwards to cut stems and leaves, and swings inwards to reset; A digging module (40) is arranged on the first crossbar (111) and is used to dig and lift the root crops from the soil and reset them after the digging and lifting actions are completed; The transfer module (50) is arranged on the second crossbar (112) and is used to receive the root crops lifted by the digging module (40), align them and lift them again, and reset them after completing the lifting action; The fork module (60) is arranged on the third crossbar (113) and is used to receive the root and tuber crops lifted again by the transfer module (50) and transport them backwards; A storage box (70) is arranged on one side of the mounting frame (11), and an entrance of the storage box (70) is connected to a transport destination of the fork module (60).

2. The integrated harvesting device for root and tuber crops according to claim 1 is characterized in that: The cutting module (30) comprises: A bottom plate (302) connected to the chassis of the vehicle frame (10); A top plate (301) is arranged directly above the bottom plate (302), the top plate (301) being connected to the vehicle frame (10) via a connecting piece, and a first through hole (303) is provided on a side of the top plate (301) close to the excavation module (40); A first motor (304) is disposed above the top plate (301); the first motor (304) is mounted on the vehicle frame (10) via a motor bracket; an output shaft of the first motor (304) passes downward through the top plate (301) from the first through hole (303); A first crank (305) is arranged between the top plate (301) and the bottom plate (302), and one end of the first crank (305) is connected to the output shaft of the first motor (304); A rotating shaft (306) is vertically arranged on a side of the bottom plate (302) away from the output shaft of the first motor (304), and two ends of the rotating shaft (306) are respectively connected to the top plate (301) and the bottom plate (302); A first rocker (307), one end of which is hinged on the rotating shaft (306); a second through hole (308) is provided at the middle section of the first rocker (307); a second motor (309) is installed at the other end of the first rocker (307); an output shaft of the second motor (309) passes downward through the first rocker (307) and is connected to a cutting blade (310); One end of the first connecting rod (311) is hinged to the other end of the first crank (305), and the other end of the first connecting rod (311) is hinged to the second through hole (308) of the first rocker (307).

3. The integrated harvesting device for root and tuber crops according to claim 1 is characterized in that: The mining module (40) comprises: The third motor (401) is mounted on the first crossbar (111) via a support member (402), and the first crossbar (111) is arranged higher than the chassis of the vehicle frame (10). The third motor (401) is a double-axle motor, and a set of crank rocker mechanisms are arranged on both sides of the third motor. The two sets of crank rocker mechanisms are symmetrically arranged about the mounting frame (11). The crank-rocker mechanism comprises: A second crank (403), wherein the output shaft of the third motor (401) passes through the support member (402) and is connected to one end of the second crank (403); A second rocker (404), one end of which is hinged to the chassis of the vehicle frame (10) via a first bearing seat (405), wherein the first bearing seat (405) is located between the mounting frame (11) and the cutting module (30); A second connecting rod (406), one end of which is hinged to the other end of the second crank (403), and the other end of the second connecting rod (406) is hinged to the other end of the second rocker (404); A connecting rod extension rod (407), one end of which is connected to the other end of the second connecting rod (406); The excavation module (40) further comprises an excavation shovel (408), wherein the excavation shovel (408) is arranged between two sets of crank rocker mechanisms, and the excavation shovel (408) is respectively connected to the other ends of the connecting rod extension rods (407) on both sides.

4. The integrated harvesting device for root and tuber crops according to claim 1 is characterized in that: The transfer module (50) comprises: a fourth motor (501) mounted on the second crossbar (112) via a motor bracket, the fourth motor (501) being a double-shaft motor, with a set of double rocker mechanisms respectively arranged on both sides thereof, the two sets of double rocker mechanisms being symmetrically arranged about the mounting frame (11); The double rocker mechanism comprises: A third rocker (502), one end of which is connected to the output shaft of the fourth motor (501); a fourth rocker (503), one end of which is hinged to one side of a mounting frame (11) on the vehicle frame (10) through a second bearing seat (504), the second bearing seat (504) being arranged higher than the fourth motor (501), and the second bearing seat (504) being located between the mounting frame (11) and the cutting module (30); A third connecting rod (505), one end of which is hinged to the other end of the third rocking rod (502), and the other end of the third connecting rod (505) is hinged to the other end of the fourth rocking rod (503); A rocker extension rod (506), one end of which is connected to the other end of the fourth rocker (503); The transfer module (50) further comprises a collecting claw (507), wherein the collecting claw (507) is arranged between the two sets of double rocker mechanisms, and the collecting claw (507) is respectively connected to the other ends of the rocker extension rods (506) on both sides.

5. The integrated harvesting device for root and tuber crops according to claim 1 is characterized in that: The fork module (60) comprises: A wavy transport main trough (601) is mounted on the third crossbar (113), with a set of parallelogram mechanisms respectively arranged on both sides of the wavy transport main trough (601), and the two sets of parallelogram mechanisms are symmetrically arranged about the mounting frame (11); The parallelogram mechanism comprises: A fourth connecting rod (602) and a fifth connecting rod (603) are arranged parallel to each other, and one end of each of the fourth connecting rod (602) and the fifth connecting rod (603) is hinged to the side wall of the wavy main transport trough (601); The fork module (60) further comprises: A power mechanism is arranged on the mounting frame (11), wherein the output end of the power mechanism is respectively connected to the input ends of the fourth connecting rod (602) and the fifth connecting rod (603); Two horizontally arranged wavy transport auxiliary troughs (604) are symmetrically arranged with respect to the wavy transport main trough (601), and the other ends of the fourth connecting rod (602) and the fifth connecting rod (603) are respectively hinged on the side walls of the wavy transport auxiliary troughs (604).

6. The integrated harvesting device for root and tuber crops according to claim 4 or 5, characterized in that: The power mechanism is the fourth motor (501), whose output shaft is the output end of the power mechanism, and the input ends of the fourth connecting rod (602) and the fifth connecting rod (603) are connected to the output shaft of the fourth motor (501) through two sets of gear set modules (80). The two sets of gear set modules (80) are symmetrically arranged with respect to the mounting frame (11), and the gear set modules (80) include: A first gear (801) is connected to an output shaft of a fourth motor (501); the output shaft of the fourth motor (501) passes through the first gear (801) and is connected to one end of the third rocker (502); A second gear (802) is mounted on one side of the third crossbar (113) via a gear bracket (803), the gear bracket (803) is located between the fourth motor (501) and the third crossbar (113), and the second gear (802) is meshed with the first gear (801); a third gear (804) disposed on a side wall of the wavy main transport trough (601), the third gear (804) being located between the fourth connecting rod (602) and the fifth connecting rod (603), and the third gear (804) being meshed with the second gear (802); Two fourth gears (805) are respectively arranged on both sides of the third gear (804) on the side wall of the wavy transport main trough (601); one end of the fourth connecting rod (602) and the fifth connecting rod (603) are respectively connected to the two fourth gears (805) and rotate coaxially; the two fourth gears (805) are respectively meshed with the third gear (804).

7. The integrated harvesting device for root and tuber crops according to claim 3 or 4, characterized in that: The rear end of the digging shovel (408) is connected to an extension plate (409) in the form of sparse teeth. When working, the tooth gaps at the front end of the collecting claw (507) and the tooth gaps of the extension plate (409) are interlaced and do not interfere with each other.

8. The integrated harvesting device for root and tuber crops according to claim 6 is characterized in that: The first gear (801) and the two fourth gears (805) have the same number of teeth.

9. The integrated harvesting device for root and tuber crops according to claim 5, characterized in that: The top of the wavy main transport trough (601) is wavy, the tail of the wavy main transport trough (601) is a downward slope, the end point of the slope is the transport end point of the fork module (60), and the wavy main transport trough (601) comprises: Two wavy middle plates (605) are arranged at intervals on the third crossbar (113), the two wavy middle plates (605) are symmetrically arranged with respect to the mounting frame (11), and the side walls of the wavy middle plates (605) are the side walls of the wavy main transport trough (601); The two wavy strips (606) are symmetrically arranged with respect to the mounting frame (11); the two wavy strips (606) are respectively arranged on the outsides of the two wavy middle plates (605); and the two wavy strips (606) are respectively connected to the top of the wavy middle plates (605) on one side thereof.

10. The integrated harvesting device for root and tuber crops according to claim 1, characterized in that: A solar panel (90) is installed on a side of the top of the vehicle frame (10) away from the storage box (70).

Images