Intelligent self-propelled pepper harvester

Abstract

The invention discloses an intelligent self-propelled pepper harvester which comprises a rack, an engine, an oil tank and a cab are arranged on the upper side of the rack, and the intelligent self-propelled pepper harvester is characterized in that a walking device is arranged on the lower side of the rack, the engine provides power for the walking device, the oil tank is connected with the engine through a pipeline, and the cab is connected with the engine through a pipeline. A storage box is arranged at one end of the upper side of the rack, a header is arranged at the other end of the rack, and the header is connected with a first-stage conveying device; the invention relates to the technical field of pepper harvesting equipment, in particular to an intelligent self-propelled pepper harvester. A stalk cleaning and separating mechanism for mechanical cleaning is used for separating pepper from stalks and pepper leaves, and a gravel cleaning and separating mechanism is used for separating pepper leaves, gravel and pepper; the pneumatic cleaning mechanism is used for further separating residual impurities, so that the impurity rate of the harvested peppers is obviously reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pepper harvesting equipment, and more specifically, to an intelligent self-propelled pepper harvester. Background Art

[0002] Pepper is an important vegetable crop widely cultivated and consumed globally, second only to beans and tomatoes. It contains various essential nutrients, including antioxidants, capsanthin, ascorbic acid, carotenoids, and various minerals. In addition, the unique aroma and taste of pepper also make it very popular among people.

[0003] Guizhou Province is the province with the largest pepper planting area in China, and its planting area accounts for about 1 / 6 of the country. According to statistics, in 2022, the pepper planting area in Guizhou has reached 362,000 hectares, the pepper output has reached 7.7 million tons, and the output value has exceeded 26 billion yuan. However, due to the unique karst landform in Guizhou, 92.5% of the area is mountains and hills, and there are challenges in the pepper planting areas such as small area, dispersion, uneven terrain, soft soil, and large plot slopes. At present, the pepper harvesters in China are mainly large machines, and most of them adopt wheeled walking structures, which makes the harvesting of peppers in Guizhou still mainly rely on manual labor, with high labor intensity, low picking efficiency, poor harvesting environment, and long picking cycle. These problems seriously affect the yield and quality of peppers in Guizhou and restrict the rapid development of the pepper industry in China. Therefore, it is urgent to develop mechanized equipment suitable for pepper harvesting in hilly areas of China.

[0004] In view of the unique karst landform in Guizhou, for the hilly mountainous areas in Guizhou, the peppers in Guizhou hilly areas face difficulties in mechanized harvesting. For some existing self-propelled pepper harvesters, the stability and passability of their walking devices are insufficient. When operating in complex terrains (such as uneven land, plots with ridges), it is easy to experience bumps or even unable to drive normally, affecting the continuity of the harvesting operation. During the harvesting process, operators need to frequently manually intervene in each link, such as adjusting the height of the cutting table, controlling the picking speed, monitoring the material conveying and cleaning conditions, etc. This not only increases the work intensity of the operators but also easily leads to unstable harvesting effects due to human operation errors, making it difficult to meet the large-scale, high-efficiency, and precise pepper harvesting requirements. Moreover, the existing pepper harvesters cannot quickly and effectively separate peppers from the mixed materials, are not convenient for adjusting the harvesting speed in real time according to the growth conditions of peppers, and may cause pepper overflow if there is no timely unloading reminder when the pepper collection bin is full of peppers. If an intelligent self-propelled pepper harvester that can separate peppers and impurities and can adjust the harvesting speed in real time and monitor the height of the grain bin during pepper harvesting can be designed, then the efficiency and net fruit rate of pepper harvesting will be greatly improved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an intelligent self-propelled pepper harvester. The mechanical cleaning stalk cleaning and separating mechanism separates peppers from stalks, and the pepper leaf and sand cleaning and separating mechanism separates pepper leaves, sand and peppers; the pneumatic cleaning mechanism further separates the remaining impurities, significantly reducing the impurity content of the harvested peppers; it covers adaptive adjustment, grain bin monitoring, and on-line monitoring. The cutting table height and the roller speed can be conveniently adjusted adaptively, which can improve the cleaning rate, reduce the breakage rate and the loss rate, and the grain bin monitoring technology can prevent peppers from overflowing.

[0006] An intelligent self-propelled pepper harvester, comprising a frame, on the upper side of the frame are provided an engine, a fuel tank and a cab. It is characterized in that a traveling device is provided on the lower side of the frame, the engine provides power for the traveling device, the fuel tank is connected to the engine through a pipeline, a storage box is provided at one end of the upper side of the frame, a cutting table is provided at the other end of the frame, and the cutting table is connected to a primary conveying device;

[0007] The primary conveying device is rotatably connected to a lifting oil cylinder on one side corresponding to the frame, the lifting oil cylinder is rotatably connected to the upper side of one end of the frame, and a cleaning device is further provided on the frame, and the feed inlet of the cleaning device corresponds to the upper end outlet of the primary conveying device;

[0008] A blower is provided at the lower part of the cleaning device, a secondary conveying device is correspondingly provided on the lower side of the discharge port of the cleaning device, the secondary conveying device is provided on the frame, and the discharge port of the secondary conveying device corresponds to the inlet of the storage box.

[0009] As a further limitation of the present technical solution, the cutter bar includes a dividing board, a press wheel, a pick tooth drum, a Hall sensor, a first hydraulic motor, an inclination sensor, an inclined side conveyor belt, a second hydraulic motor, and a ground roller. The dividing board includes a support frame and trapezoidal plates fixed on both sides of the support frame. The side of the trapezoidal plate facing away from the machine frame is an inclined surface. The support frame is fixedly connected to the housing of the first conveyor belt assembly. A press wheel is arranged between the dividing boards. Both ends of the press wheel are respectively rotatably connected to the upper middle parts of the trapezoidal plates. The press wheel is located on the side of the press board facing away from the machine frame. The dividing board further includes a protective board. The protective board is fixedly connected to the upper side of the support frame. The protective board is placed between the trapezoidal plates. A pick tooth drum is arranged inside the dividing board. Both ends of the central axis of the pick tooth drum are respectively rotatably connected to the dividing board. A Hall sensor is installed on the pick tooth drum. An inclination sensor is installed on the upper side of the dividing board. An inclined side conveyor belt is arranged at the rear end near the machine frame inside the dividing board. The inclined side conveyor belt is inclined. The conveying direction of the inclined side conveyor belt is perpendicular to the conveying direction of the first conveying device. One end of the inclined side conveyor belt corresponds to the upper side position of the lower end of the first conveying device. The inclined side conveyor belt is connected to the second hydraulic motor. The second hydraulic motor can control the operation of the inclined side conveyor belt. The dividing board is fixedly connected to the first hydraulic motor. The first hydraulic motor drives the pick tooth drum to rotate through a sprocket chain drive. The lower side of the dividing board is rotatably connected to the ground roller. The ground roller is located between the pick tooth drum and the inclined side conveyor belt.

[0010] As a further limitation of the present technical solution, the pick tooth drum includes a connecting pipe, a picking tooth seat, and a flange. The flanges are evenly arranged in a straight line direction and are respectively rotatably connected to the dividing board. The centers of the flanges are fixedly connected through the connecting pipe. The outer edges of the opposite sides of the flanges are respectively fixedly connected to both ends of a group of picking tooth seats arranged circumferentially and evenly.

[0011] As a further limitation of the present technical solution, the picking tooth seat includes a fixing plate and a flexible pick tooth. The fixing plate is fixedly connected to the flange. A group of evenly arranged flexible pick teeth are fixedly arranged on the fixing plate. The flexible pick teeth are made of 65Mn spring steel and an elastic rubber sleeve. The bending angle of the spring steel is 158 degrees. The surface of the spring steel is coated with the flexible rubber sleeve.

[0012] As a further limitation of the present technical solution, the cleaning device includes a cleaning device support frame, a stalk cleaning and separating mechanism, a pepper leaf and sand cleaning and separating mechanism, a pneumatic separating mechanism, a hopper, and a stalk discharge plate. The cleaning device support frame is fixed on the frame. The stalk cleaning and separating mechanism is arranged on the cleaning device support frame. One end of the cleaning device support frame is provided with a stalk discharge plate inclined downward at 45 degrees. The stalk discharge plate is arranged below the first end of the stalk cleaning and separating mechanism. The pepper leaf and sand cleaning and separating mechanism is arranged below the stalk cleaning and separating mechanism. One end of the pepper leaf and sand cleaning and separating mechanism is provided with a hopper for receiving the peppers conveyed by the pepper leaf and sand cleaning and separating mechanism. The hopper is fixed to the cleaning device support frame. A pneumatic separating mechanism is arranged on one side of the hopper. An outlet is arranged at the lower part of the hopper, and an impurity outlet is arranged on the other side of the hopper. The pneumatic separating mechanism is the blower.

[0013] As a further limitation of the present technical solution, the receiving box includes a grain bin monitor, a discharge oil cylinder, a storage box, and a box support seat. The upper part of one side of the storage box is rotatably connected to the upper end of the box support seat. The lower end of the box support seat is fixedly connected to the frame. The outer shell of the discharge oil cylinder is also rotatably connected to the box support seat. The end of the telescopic rod of the discharge oil cylinder is rotatably connected to the upper part of one side of the storage box. A notch is arranged on one side of the storage box corresponding to the discharge port of the secondary conveying device to facilitate the entry of materials. The grain bin monitor is arranged in the upper part of the storage box.

[0014] As a further limitation of the present technical solution, a controller is also provided and is arranged in the cab. The controller conducts data transmission with the Hall sensor, the inclination sensor, and the grain bin monitor. The Hall sensor is used to monitor the real-time rotation speed of the spring tooth drum. During harvesting, the Hall sensor transmits the monitored rotation speed of the spring tooth drum to the controller. The controller adjusts the rotation speed of the hydraulic motor 1 according to the monitored value, and then adjusts the rotation speed of the spring tooth drum. The inclination sensor is used to monitor the height of the cutting table and adjusts the height of the cutting table according to the growth situation of the peppers and the height value of the cutting table to adapt to the harvesting height of the pepper plants. When the peppers in the storage box reach the grain bin monitor, the monitor gets stuck and alarms, reminding the driver to unload the peppers in the storage box through the discharge oil cylinder.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are:

[0016] (1) By adopting a crawler-type walking device, it can effectively adapt to the complex terrain in hilly areas, ensure the stable operation of the equipment under different terrain conditions, reduce the damage to pepper plants, and improve the feasibility and efficiency of the harvesting operation.

[0017] (2) The mechanical cleaning stalk cleaning and separating mechanism separates peppers from stalks, and the pepper leaf and sand cleaning and separating mechanism separates pepper leaves, sand from peppers; the pneumatic cleaning mechanism further separates the remaining impurities, significantly reducing the impurity content rate of harvested peppers and improving the quality of pepper harvesting.

[0018] (3) It covers adaptive adjustment, granary monitoring, online monitoring, and adaptive adjustment of cutter bar height and roller speed, improving the picking rate, reducing the breakage rate and loss rate; the granary monitoring technology avoids pepper overflow. Description of the Drawings

[0019] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0020] Figure 1 is a side view of the present invention;

[0021] Figure 2 is a side view of the cutter bar of the present invention;

[0022] Figure 3 is a front view of the spring tooth roller of the present invention;

[0023] Figure 4 is a front view of the picking spring tooth seat of the present invention;

[0024] Figure 5 is a three-dimensional view of the flexible spring tooth of the present invention;

[0025] Figure 6 is a front view of the cleaning device of the present invention;

[0026] Figure 7 is a partial front view of the present invention;

[0027] Figure 8 is a side view of the material receiving box of the present invention;

[0028] Figure 9 is a three-dimensional view of the present invention.

[0029] In the figure: 1. Header; 101. Divider board; 102. Pressing wheel; 103. Spring tooth cylinder; 1031. Connecting pipe; 1302. Picking spring tooth seat; 1303. Flange; 104. Hall sensor; 105. Hydraulic motor I; 106. Inclination sensor; 107. Oblique side conveyor belt; 108. Hydraulic motor II; 109. Ground roller; 2. First-stage conveying device; 3. Cab; 4. Cleaning device support frame; 401. Cleaning device support frame; 402. Stem cleaning and separating mechanism; 4021. Stem cleaning and separating mechanism support plate; 4022. Star wheel set; 403. Pepper leaf and sand cleaning and separating mechanism; 404. Pneumatic separating mechanism; 405. Hopper; 406. Stem discharge plate; 5. Second-stage conveying device; 6. Receiving box; 601. Grain bin monitor; 602. Discharging oil cylinder; 603. Storage box; 604. Feed box support seat; 7. Frame; 8. Fuel tank; 9. Traveling device; 10. Fan; 11. Engine; 12. Lifting oil cylinder. Detailed implementation manners

[0030] The present invention will be further described below in conjunction with the accompanying drawings and implementation manners.

[0031] An intelligent self-propelled pepper harvester, comprising a frame, on the upper side of the frame 7 are provided an engine 11, a fuel tank 8 and a cab 3, characterized in that, on the lower side of the frame 7 is provided a traveling device 9, the engine 11 provides power for the traveling device 9, the fuel tank 8 is connected to the engine 11 through a pipeline, on one end of the upper side of the frame 7 is provided a storage box 603, on the other end of the frame 7 is provided a header 1, and the header 1 is connected to a first-stage conveying device 2;

[0032] One side of the first-stage conveying device 2 corresponding to the frame 7 is rotatably connected to a lifting oil cylinder 12, the lifting oil cylinder 12 is rotatably connected to the upper side of one end of the frame 7, and a cleaning device 4 is further provided on the frame 7, and the feed inlet of the cleaning device 4 corresponds to the upper end outlet of the first-stage conveying device 2;

[0033] A fan 10 is provided below the cleaning device 4, a second-stage conveying device 5 is correspondingly provided below the discharge outlet of the cleaning device 4, the second-stage conveying device 5 is provided on the frame 7, and the discharge outlet of the second-stage conveying device 5 corresponds to the inlet of the storage box 603.

[0034] In this embodiment, the first-stage conveying device 2 is a conveyor belt assembly in the prior art and is driven by a motor. During the pepper harvesting process, materials such as peppers, stems, and pepper leaves knocked down by the spring tooth cylinder 103 are thrown onto the first-stage conveying device 2, and the first-stage conveying device 2 transports these materials to the stem cleaning and separating mechanism 402 of the cleaning device 4, realizing the preliminary conveying of the materials and providing material transmission support for the subsequent cleaning process.

[0035] After being cleaned by the cleaning device 4 and removed impurities by the fan 10 , the peppers enter the secondary conveying device 5 and are transported from the secondary conveying device 5 to the receiving box 6 .

[0036] The cutting platform 1 includes a straw-dividing plate 101, a straw-pressing wheel 102, a spring-tooth roller 103, a Hall sensor 104, a hydraulic motor 105, an inclination sensor 106, an inclined conveyor belt 107, a hydraulic motor 2 108 and a ground roller 109. The straw-dividing plate 101 includes a support frame and a trapezoidal plate fixed on both sides of the support frame. The side of the trapezoidal plate facing away from the frame 7 is an inclined surface. The support frame is fixedly connected to the shell of the primary conveyor belt assembly. A straw-pressing roller 106 is arranged between the straw-dividing plates 101. The two ends of the rice pressing wheel 102 are respectively connected to the middle and upper part of the trapezoidal plate in rotation, and the rice pressing wheel is located on the side of the rice pressing plate away from the frame 7. The rice dividing plate 101 also includes a protective plate, which is fixedly connected to the upper side of the support frame, and the protective plate is placed between the trapezoidal plates. A spring-toothed roller 103 is arranged in the rice dividing plate 101, and the two ends of the central axis of the spring-toothed roller 103 are respectively connected to the rice dividing plate 101 in rotation. The tilt sensor 104 is installed on the upper side of the dividing plate 101, and the inclined conveyor belt 107 is arranged at one end of the inner rear side of the dividing plate 101 close to the frame. The inclined conveyor belt 107 is arranged obliquely, and the conveying direction of the inclined conveyor belt 107 is arranged perpendicular to the conveying direction of the primary conveying device 2. One end of the inclined conveyor belt 107 corresponds to the upper side position of the lower end of the primary conveying device 2, and the inclined conveyor belt 107 is connected to the hydraulic motor 108, the inclined conveyor belt 107 can be controlled to work through the hydraulic motor 108, the straw dividing plate 101 is fixedly connected to the hydraulic motor 105, the hydraulic motor 105 is connected to the elastic tooth roller 103 through the sprocket chain transmission, the hydraulic motor 105 drives the elastic tooth roller 103 to rotate through the sprocket chain transmission, the lower side of the straw dividing plate 101 is rotatably connected to the ground roller 109, and the ground roller 109 is located between the elastic tooth roller 103 and the inclined conveyor belt 107.

[0037] The spring-tooth roller 103 includes a connecting tube 1031, a picking spring-tooth seat 1302 and a flange 1303. The flange 1303 is evenly arranged along a straight line direction and is rotatably connected to the straw dividing plate 101. The center of the flange 1303 is fixedly connected through the connecting tube 1031, and the outer edges of the opposite sides of the flange 1303 are respectively fixedly connected to two ends of a group of picking spring-tooth seats 1302 evenly arranged circumferentially.

[0038] Furthermore, there are three flanges 1303 , which are respectively located at both ends and the middle of the connecting pipe 1301 .

[0039] The picking spring tooth seat 1302 includes a fixing plate and flexible spring teeth. The fixing plate is fixedly connected to the flange 1303. A group of evenly arranged flexible spring teeth are fixedly arranged on the fixing plate. The flexible spring teeth are made of 65Mn spring steel and an elastic rubber sleeve. The bending angle of the spring steel is 158 degrees, and the surface of the spring steel is coated with the flexible rubber sleeve.

[0040] In this embodiment, the cutting table 1 includes components such as a dividing board 101, a press wheel 102, and a spring tooth drum 103. The dividing board 101 gathers the chili plants to be picked and separates the plants on both sides through a support frame and trapezoidal plates on both sides. The press wheel 102 presses down the too tall plants to facilitate uniform feeding into the spring tooth drum 103. The spring tooth drum 103 rotates at a high speed driven by a hydraulic motor 105, knocking off the chili peppers, stems, and pepper leaves on the chili plants. The knocked-off materials are thrown onto the inclined conveyor belt 107 to complete the front-end operation process of chili picking. The inclined conveyor belt sends the materials into the first-stage conveying device 2. During this process, the Hall sensor 104 monitors the rotation speed of the spring tooth drum and transmits the speed data to the controller. Subsequently, the controller adjusts the rotation speed of the spring tooth drum 103 by adjusting the rotation speed of the hydraulic motor 105 according to the detected value.

[0041] The cleaning device 4 includes a cleaning device support frame 401, a stem cleaning and separating mechanism 402, a pepper leaf and sand cleaning and separating mechanism 403, a pneumatic separating mechanism 404, a hopper 405, and a stem discharge plate 406. The cleaning device support frame 401 is fixed on the frame 7. The stem cleaning and separating mechanism 402 is arranged on the cleaning device support frame 401. One end of the cleaning device support frame 401 is provided with a stem discharge plate 406 that is inclined downward at 45 degrees. The stem discharge plate 706 is arranged below the first end of the stem cleaning and separating mechanism 702. The pepper leaf and sand cleaning and separating mechanism 403 is arranged below the stem cleaning and separating mechanism 402. One end of the pepper leaf and sand cleaning and separating mechanism 403 is provided with a hopper 405. The hopper 405 is used to receive the chili peppers conveyed by the pepper leaf and sand cleaning and separating mechanism 403. The hopper 405 is fixed to the cleaning device support frame 401. A pneumatic separating mechanism 404 is arranged on one side of the hopper 405. The lower part of the hopper 405 is provided with an outlet, and a waste outlet is arranged on the other side of the hopper 405;

[0042] The pneumatic separating mechanism 404 is the blower 10.

[0043] The stem cleaning and separating mechanism 402 includes a support plate 4021 for the stem cleaning and separating mechanism and a star wheel set 4022. There are several groups of the star wheel set 4022, which are rotatably connected to the support plate 4021 of the stem cleaning and separating mechanism. The support plate 4021 of the stem cleaning and separating mechanism is symmetrically arranged and fixed on the support frame 401 of the cleaning device.

[0044] The stem cleaning and separating mechanism 402 and the pepper leaf and sand cleaning and separating mechanism 403 are driven by a sprocket and chain transmission assembly, and the sprocket and chain transmission assembly is driven by a motor.

[0045] In this embodiment, the cleaning device 4 is composed of a support frame 401 of the cleaning device, a stem cleaning and separating mechanism 402, a pepper leaf and sand cleaning and separating mechanism 403, a pneumatic separating mechanism 404, a hopper 405, and a stem discharge plate 406. Each part operates in coordination to achieve efficient cleaning of peppers.

[0046] The mixed materials such as peppers, stems, and pepper leaves picked from the cutting table 1 and conveyed by the primary conveying device 2 will enter the stem cleaning and separating mechanism 402 of the cleaning device 4. These materials are the preliminary products in the pepper harvesting process, containing the target product peppers and various impurities. The stem cleaning and separating mechanism 402 is inclined. After the mixed materials enter this mechanism, due to the inclination of the mechanism and their own movement, the stems will move along with the mechanism towards the stem discharge plate 406. During this process, peppers, pepper leaves, etc. will fall through the gaps of the stem cleaning and separating mechanism 402, while the stems will be conveyed along the mechanism to the stem discharge plate 406 and finally discharged from the stem discharge plate 406 out of the cleaning device 4, thus realizing the preliminary separation of peppers and stems. The peppers, pepper leaves, and possibly existing sand and stones that fall through the gaps of the stem cleaning and separating mechanism 402 will enter the lower pepper leaf and sand cleaning and separating mechanism 403. This mechanism further screens the materials. Most of the pepper leaves and sand will fall through the gaps of the mechanism to the field, while the peppers and a small part of the pepper leaves will move along the mechanism to the hopper 405. The peppers and a small part of the pepper leaves that enter the hopper 405 will reach the air outlet of the pneumatic separating mechanism 404 (i.e., the fan 10). The airflow generated by the fan 10 will blow away the light impurities such as pepper leaves, while the heavier peppers will continue to fall along the hopper 405. After this step, impurities such as pepper leaves in the peppers are further removed, greatly reducing the impurity content rate of the peppers. After the above multi-stage cleaning, the peppers with a higher purity will fall from the lower outlet of the hopper 405 and drop onto the secondary conveying device 5. The secondary conveying device 5 then conveys these cleaned peppers to the receiving box 6 for storage, completing the entire cleaning process.

[0047] The material receiving box 6 includes a granary monitor 601, a discharging oil cylinder 602, a storage box 603 and a material box support base 604. The upper part of one side of the storage box 603 is rotatably connected to the upper end of the material box support base 604. The lower end of the material box support base 604 is fixedly connected to the frame 7. The outer shell of the discharging oil cylinder 602 is also rotatably connected to the material box support base 604. The end of the telescopic rod of the discharging oil cylinder 602 is rotatably connected to the upper part of one side of the storage box 603. A notch is provided on one side of the storage box 603 corresponding to the discharge port of the secondary conveying device 5 to facilitate the entry of materials. The granary monitor 601 is arranged in the upper part of the storage box 603. The granary monitor 601 is a rotary vane type level switch level control sensor.

[0048] In this embodiment, when the secondary conveying device 5 conveys peppers to the material receiving box 6 and the height of the peppers reaches the granary monitor 601, the monitor emits an alarm signal to prompt the driver to operate the discharging oil cylinder 602. The telescopic rod of the discharging oil cylinder 602 can drive the storage box 603 to swing, so that the upper side port of the storage box 603 tilts to one side to pour out the peppers, realizing the unloading of the peppers in the storage box 603 and achieving the storage and unloading control of the harvested peppers.

[0049] A controller is also provided and is arranged in the cab 3. The controller conducts data transmission with the Hall sensor 104, the inclination sensor 106 and the granary monitor 601. The Hall sensor 104 can monitor the rotation speed of the spring tooth drum 103 and adjust the rotation speed of the hydraulic motor 105 according to the monitoring result, thereby adjusting the rotation speed of the spring tooth drum 103. The inclination sensor 106 monitors the height of the cutting table 1. At the same time, according to the growth condition of the peppers in the harvesting area and after comparing with the detected height of the cutting table 1, it adjusts the height of the cutting table 1 to adapt to the harvesting interval of the pepper plants. The granary monitor 601 is used to monitor the height of the peppers in the granary. When the peppers in the storage box 603 reach the granary monitor 601, the monitor gets stuck and alarms, reminding the driver to unload the peppers in the storage box 603 through the discharging oil cylinder 602.

[0050] In this embodiment, the Hall sensor 104 is used to monitor the real-time rotation speed of the tooth drum 103. During harvesting, the Hall sensor 104 transmits the monitored rotation speed of the tooth drum 103 to the controller, and the controller adjusts the rotation speed of the first hydraulic motor 105 according to the monitored value, thereby adjusting the rotation speed of the tooth drum 103. The inclination sensor 106 is used to monitor the height of the header 1, and adjusts the height of the header 1 according to the growth condition of the chili peppers and the height value of the header 1, so as to adapt to the harvesting height of the chili pepper plants. The granary monitor 601 monitors the height of the chili peppers in the granary in real time. When the height of the chili peppers reaches the position of the granary monitor 601, the monitor gets stuck and alarms, reminding the driver to unload the chili peppers in the storage box 603 to a suitable position through the unloading oil cylinder 602.

[0051] The usage method of the present invention is as follows: Before starting the chili pepper harvesting operation, the operator needs to conduct a comprehensive and detailed inspection of the harvester. Check whether the appearance of the machine is damaged and whether the connections of all components are firm to ensure that there is no abnormality in the fuselage. At the same time, check the harvesting environment, clear the obstacles in the operation area, and ensure that there are no safety hazards around. After entering the cab 3, start the engine 11, check whether the parameters on the instrument panel are normal, and test whether the power can be smoothly transmitted to each component such as the traveling device 9, the conveying device, and the cleaning device 5, and confirm that all devices can operate normally. Start the header 1, the first-stage conveying device 2, the second-stage conveying device 5, and the cleaning device 4, and observe the operating status of each device to check whether its functions are normal.

[0052] Start the traveling device 9 and drive the harvester towards the predetermined chili pepper planting area. During the driving process, the tracks on both sides of the traveling device 9 should accurately enter the furrows so that the chili pepper plants to be harvested are exactly in the middle position of the header 1. This can not only improve the chili pepper harvesting rate but also avoid damage to the chili pepper plants when the tracks move forward. In addition, the inclination sensor 106 on the header 1 will detect the height of the header, and at the same time adjust the height of the header 1 according to the growth condition of the chili peppers and the detected header height data to adapt to chili pepper plants of different heights and prepare for efficient harvesting;

[0053] When the equipment is in place and debugged, the operator selects a suitable traveling speed according to the actual conditions such as the growth condition of the chili pepper plants, the planting density, and the land conditions. The harvester starts to move forward. The dividing board 101 will gather the chili pepper plants to be picked in the middle and separate the chili pepper plants on both sides at the same time, facilitating subsequent picking. Before the chili pepper plants enter the header 1, the press wheel 102 will function to lower the too-high chili pepper plants to a suitable height so that they can be smoothly fed into the tooth drum 103 together with other plants;

[0054] The elastic tooth drum 103 rotates at a high speed driven by the hydraulic motor 105, knocking off the peppers, stems, pepper leaves, etc. on the fed pepper plants. During this process, the Hall sensor 104 will detect the rotation speed of the elastic tooth drum and adjust the rotation speed of the elastic tooth drum 103 according to these data, effectively improving the picking rate of peppers and reducing the breakage rate while ensuring the picking efficiency. The materials such as peppers, stems, and pepper leaves knocked off by the elastic tooth drum 103 will be thrown onto the rear inclined conveyor belt 107 driven by the elastic tooth drum 103. The materials on the inclined conveyor belt 107 will be transported to the primary conveying device 2 driven by the hydraulic motor 108, and then the primary conveying device 2 will transport these materials to the cleaning device 4;

[0055] The materials entering the cleaning device 4 will first be processed by the stem cleaning and separating mechanism 402. The stem cleaning and separating mechanism 402 is inclined. The stems will move towards the stem discharge plate 406 with the movement of the mechanism and finally be discharged from the stem discharge plate 406, realizing the preliminary separation of peppers and stems. The peppers, pepper leaves, etc. will fall from the gaps of the stem cleaning and separating mechanism 402 to the pepper leaf and sand cleaning and separating mechanism 403. In the pepper leaf and sand cleaning and separating mechanism 403, most of the pepper leaves and sand will fall to the field through the gaps, and the peppers and a small part of the pepper leaves will enter the hopper 405. Then, the pneumatic separation mechanism 404 (fan 10) will further clean the materials entering the hopper 705, blowing away the light impurities such as pepper leaves and only leaving the peppers;

[0056] The cleaned peppers will fall from the outlet at the lower part of the hopper 405 and drop onto the secondary conveying device 5, and the secondary conveying device 5 will transport the peppers to the receiving box 6 for storage.

[0057] When the height of the peppers in the receiving box 6 reaches the position of the granary monitor 601, the monitor will send an alarm signal to remind the operator to operate the unloading oil cylinder 602 in time to unload the peppers in the receiving box 6 to avoid pepper overflow.

[0058] The specific embodiments of the present invention disclosed above are only for illustration. However, the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An intelligent self-propelled pepper harvester, comprising a frame (7), an engine (11), a fuel tank (8) and a cab (3) are arranged on the upper side of the frame (7), characterized in that: A traveling device (9) is arranged at the lower side of the frame (7), the engine (11) provides power for the traveling device (9), the oil tank (8) is connected to the engine (11) through a pipeline, a material receiving box (6) is arranged at one end of the upper side of the frame (7), a cutting platform (1) is arranged at the other end of the frame (7), and the cutting platform (1) is connected to a primary conveying device (2); The primary conveying device (2) is rotatably connected to a lifting cylinder (12) corresponding to one side of the frame (7), and the lifting cylinder (12) is rotatably connected to the upper side of one end of the frame (7). A cleaning device (4) is also provided on the frame (7), and the feed port of the cleaning device (4) corresponds to the upper end outlet of the primary conveying device (2); A fan (10) is provided at the lower part of the cleaning device (4), and a secondary conveying device (5) is provided correspondingly at the lower side of the discharge port of the cleaning device (4). The secondary conveying device (5) is arranged on the frame (7), and the discharge port of the secondary conveying device (5) corresponds to the inlet of the receiving box (6).

2. The intelligent self-propelled pepper harvester according to claim 1 is characterized in that: The cutting platform (1) comprises a straw-dividing plate (101), a straw-pressing wheel (102), a spring-toothed roller (103), a Hall sensor (104), a hydraulic motor 1 (105), an inclination sensor (106), an inclined conveyor belt (107), a hydraulic motor 2 (108) and a ground roller (109); the straw-dividing plate (101) comprises a support frame and a trapezoidal plate fixed on both sides of the support frame, the side of the trapezoidal plate facing away from the frame (7) is an inclined surface, the support frame is fixedly connected to the shell of the primary conveyor belt assembly, and a pressure roller (102) is provided between the straw-dividing plates (101). The invention relates to a straw wheel (102), wherein the two ends of the straw pressing wheel (102) are respectively rotatably connected to the middle and upper part of the trapezoidal plate, the straw pressing wheel is located on the side of the straw pressing plate away from the frame (7), the straw dividing plate (101) also includes a protective plate, the protective plate is fixedly connected to the upper side of the support frame, the protective plate is placed between the trapezoidal plates, a spring-toothed roller (103) is arranged inside the straw dividing plate (101), the two ends of the central axis of the spring-toothed roller (103) are respectively rotatably connected to the straw dividing plate (101), and a Hall sensor (103) is installed on the spring-toothed roller (103) 04), a tilt sensor (106) is installed on the upper side of the support frame of the straw-dividing plate (101), and an inclined conveyor belt (107) is arranged on the inner rear side of the straw-dividing plate (101) near one end of the frame (7), and the inclined conveyor belt (107) is arranged obliquely, and the conveying direction of the inclined conveyor belt (107) is arranged perpendicular to the conveying direction of the primary conveying device (2), and one end of the inclined conveyor belt (107) corresponds to the upper side position of the lower end of the primary conveying device (2), and the inclined conveyor belt (107) is transmission-connected to the hydraulic motor 2 (1 08), the operation of the inclined conveyor belt (107) can be controlled by hydraulic motor 2 (108), the straw-dividing plate (101) is fixedly connected to hydraulic motor 1 (105), the hydraulic motor 1 (105) is connected to the elastic tooth roller (103) through a sprocket chain transmission, the hydraulic motor 1 (105) drives the elastic tooth roller (103) to rotate through the sprocket chain transmission, the lower side of the straw-dividing plate (101) is rotatably connected to the ground roller (109), and the ground roller (109) is located between the elastic tooth roller (103) and the inclined conveyor belt (107).

3. The intelligent self-propelled pepper harvester according to claim 2 is characterized in that: The spring-tooth roller (103) comprises a connecting tube (1031), a picking spring-tooth seat (1302) and a flange (1303); the flange (1303) is evenly arranged along a straight line direction and is rotatably connected to the grass-dividing plate (101); the center of the flange (1303) is fixedly connected via the connecting tube (1031); the outer edges of the opposite sides of the flange (1303) are respectively fixedly connected to two ends of a group of picking spring-tooth seats (1302) evenly arranged in a circle.

4. The intelligent self-propelled pepper harvester according to claim 3 is characterized in that: The picking spring tooth seat (1302) includes a fixed plate and flexible spring teeth, the fixed plate is fixedly connected to the flange (1303), a group of evenly arranged flexible spring teeth are fixedly arranged on the fixed plate, the flexible spring teeth are made of 65Mn spring steel and elastic rubber sleeves, the bending angle of the spring steel is 158 degrees, and the surface of the spring steel is covered with the flexible rubber sleeve.

5. The intelligent self-propelled pepper harvester according to claim 4 is characterized in that: The cleaning device (4) comprises a cleaning device support frame (401), a stem cleaning and separation mechanism (402), a pepper leaf, sand and stone cleaning and separation mechanism (403), a pneumatic separation mechanism (404), a hopper (405) and a stem discharge plate (406); the cleaning device support frame (401) is fixed to the frame (7); the stem cleaning and separation mechanism (402) is arranged on the cleaning device support frame (401); one end of the cleaning device support frame (401) is provided with a stem discharge plate (406) arranged to be inclined downward at 45 degrees; the stem discharge plate (406) is arranged below the first end of the stem cleaning and separation mechanism (402); A pepper leaf and sand and stone cleaning and separation mechanism (403) is arranged at the lower side of the stem cleaning and separation mechanism (402), a hopper (405) is arranged at one end of the pepper leaf and sand and stone cleaning and separation mechanism (403), the hopper (405) is used to receive the peppers transported by the pepper leaf and sand and stone cleaning and separation mechanism (403), the hopper (405) fixes the cleaning device support frame (401), a pneumatic separation mechanism (404) is arranged at one side of the hopper (405), an outlet is arranged at the lower part of the hopper (405), and an impurity outlet is arranged at the other side of the hopper (405), and the pneumatic separation mechanism (404) is the fan (10).

6. The intelligent self-propelled pepper harvester according to claim 5, characterized in that: The material receiving box (6) includes a granary monitor (601), a discharge cylinder (602), a storage box (603) and a material box support seat (604). An upper portion of one side of the storage box (603) is rotatably connected to the upper end of the material box support seat (604), and a lower end of the material box support seat (604) is fixedly connected to the frame (7). The material box support seat (604) is also rotatably connected to the outer shell of the discharge cylinder (602). The end of the telescopic rod of the discharge cylinder (602) is rotatably connected to an upper portion of one side of the storage box (603). A recess is provided on one side of the storage box (603) corresponding to the discharge port of the secondary conveying device (5) to facilitate the entry of materials. The granary monitor (601) is provided on the upper inner portion of the storage box (603).

7. The intelligent self-propelled pepper harvester according to claim 6, characterized in that: A controller is also provided, which is arranged in the cab (3). The controller and the Hall sensor (104), the tilt sensor (106) and the granary monitor (601) perform data transmission. The Hall sensor (104) is used to monitor the real-time rotation speed of the spring-tooth roller. During harvesting, the Hall sensor (104) transmits the rotation speed of the spring-tooth roller to the controller. The controller adjusts the rotation speed of the hydraulic motor 1 (105) according to the monitored value, thereby adjusting the rotation speed of the spring-tooth roller (103). The tilt sensor (106) is used to monitor the height of the cutting platform. The height of the cutting platform (1) is adjusted according to the growth condition of the pepper and the value of the cutting platform height so as to adapt to the harvesting height of the pepper plants. The granary monitor (1201) is used to monitor the height of the peppers in the storage box. When the peppers in the storage box (603) reach the granary monitor (601), the monitor is stuck and an alarm is sounded, reminding the driver to unload the peppers in the storage box (603) through the unloading cylinder (602).

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