A combined harvester for longitudinally restrained laterally harvested watercress and a method of harvesting

Abstract

The application discloses a longitudinal restraint lateral harvesting combined harvester and harvesting method of water celery, relates to the technical field of automatic harvesting of aquatic vegetables water celery, and is characterized in that a reel type harvesting system is installed on one side of a floating chassis, an adjustable lateral harvesting system is installed on the other side of the floating chassis, a longitudinal restraint device is installed below the floating chassis, and an electric control installation box is installed on the floating chassis; the floating chassis is used for supporting the suspended reel type harvesting system, the longitudinal restraint device, the adjustable lateral harvesting system and the electric control installation box; the reel type harvesting system is used for winding the harvested water celery on the water surface; the longitudinal restraint device is used for ensuring the linearity of the movement direction of the chassis during harvesting; and the adjustable lateral harvesting system is used for adjusting the cutting depth and width of the water celery. The application is used for solving the problems that the existing water celery harvesting technology cannot guarantee the smooth movement of the machine in the celery pond according to the specified direction and cannot realize the automatic collection of the water celery.

Description

Technical Field

[0001] This invention relates to the field of automated harvesting technology for aquatic vegetables, specifically to a combined harvester and method for harvesting water celery with longitudinal constraint lateral harvesting. Background Technology

[0002] As a cold-season vegetable, water celery cultivation has long been plagued by harvesting difficulties. Because it grows in water approximately 70-90cm deep, workers must spend long periods in cold water (0-10℃) during the winter harvest to manually cut and bundle the celery. The working conditions are extremely harsh, and the labor intensity is immense. Labor costs account for 80% of the total cost in the water celery industry. With the increasingly severe shortage of young rural labor, the workers currently engaged in winter water celery harvesting are generally over 50 years old. Coupled with the harsh harvesting environment, manual harvesting of water celery is becoming unsustainable, and the industry's development is severely constrained by the labor shortage during harvesting.

[0003] For the healthy development of the water celery cultivation industry, there is an urgent need for agricultural machinery suitable for mechanized and automated operations to solve the problems of high labor intensity and low harvesting efficiency in water celery harvesting, thereby reducing the amount of labor required in the harvesting process and improving the working environment for water celery growers. Currently, relevant technologies for mechanized harvesting of water celery are gradually emerging in China, with the research results from Yangzhou University and Nanjing Vocational University of Technology being particularly representative. The invention patent application 202111090635.1 filed by Yangzhou University, entitled "A Shallow Water Tall Water Celery Harvester and Method," provides a water celery harvester device composed of a walking module, a fishing net collection module, a harvesting module, a clamping and conveying module, and a collection module. The idea is to use the fishing net collection module to roll up and collect the fishing net that prevents the shallow water tall water celery from falling over; the harvesting module to cut the shallow water tall water celery; the clamping and conveying module to achieve flexible clamping and neat conveying of the shallow water tall water celery; and the collection module to collect the shallow water tall water celery in an orderly manner. However, due to the high water content of water celery in the water and the large biomass of water celery in the celery pond, it is extremely difficult to use a clamping and conveying device. The device successfully and undamagedly collects water celery into the machine cabin, thus raising questions about its reliability in practical applications. Patent application 202210310580.9, "An Experimental Platform for Harvesting Water Celery," provides an experimental system similar in structure and principle to the aforementioned patent. Patent application 202111620625.4, "An Orderly Water Celery Harvester," further emphasizes the concept of "orderly" based on patent application 202111090635.1, "A Shallow Water Tall Stem Water Celery Harvester and Method," and takes necessary measures to ensure orderly transport of water celery, but still cannot guarantee that the water celery is transported and collected "undamaged" and smoothly.

[0004] Nanjing Vocational University of Technology's invention patent application 202210857947.9, "A Deep Water Celery Collector," discloses a manually assisted water celery collecting device composed of a machine frame, a traveling structure, and a stabilizing structure. This device is used to scoop up and drain water celery with high water content from the water, reducing the labor intensity of current manual harvesting operations. However, it does not involve mechanical harvesting operations and therefore does not belong to an automated water celery combined harvesting device. Nanjing Vocational University of Technology further filed invention patent application 202010950169.9, "An Automated Water Celery Harvesting Device," which provides an automated water celery harvesting device containing an underwater traveling device, a harvesting device, and a collection box. One end of the collection box is equipped with a transfer belt driven by a transfer motor. The other end of the transfer belt is equipped with a horizontal conveying device, and the lower end of the horizontal conveying device is equipped with an inclined conveying device. The other end of the inclined conveying device is equipped with a conveying connecting plate, and the harvesting device is located below the conveying connecting plate. The harvesting device is connected to the traveling device via a connecting rod. Theoretically, this device can solve the problems of mechanized harvesting of water celery, orderly harvesting of highly flexible water celery, and orderly transportation and collection of water celery. However, after actual verification by the research team of Nanjing Vocational University of Technology, it was found that the machine has difficulty moving in water, water celery is difficult to be effectively collected upwards by the transfer belt, and there is a problem of damage to water celery. This shows that similar structural and principle devices cannot effectively solve the above problems. Furthermore, Nanjing Vocational University of Technology has filed an invention patent application, 202210385982.5, entitled "An Unmanned Automatic Water Celery Harvester." This machine adopts a double-float design and uses a propeller for propulsion. However, the cutting device is still installed at one end of the floating adjustment device for cutting water celery, and a conveying device installed on the connecting platform is used to transport the water celery. Therefore, this machine has a similar structure to traditional aquatic weed harvesters. However, due to the extremely high water content and fragile stems of water celery, this cutting and conveying method is prone to causing the machine to be unable to move forward, and the water celery to clump and be damaged on the conveying device, resulting in the harvested water celery losing its commercial value. Therefore, this machine does not actually have the capability to harvest and collect wet water celery with high biomass density and high water content. Moreover, the instability of the double-float operating chassis provided by this invention on the water surface further exacerbates the uncertainty of this machine when harvesting wet water celery.

[0005] In conclusion, water celery harvesting, as the most labor-intensive stage of water celery production, currently lacks efficient and practical mechanized and automated equipment to address the issue of harvesting in wet conditions. Existing equipment and publicly available technologies have not been effective, and harvesters still need to wade into the water to cut, transport, drain, and carry the water celery ashore. This situation arises because existing mechanized equipment cannot overcome the resistance during harvesting and the interference during collection, resulting in a heavy workload for the harvesting equipment and an unsuccessful harvesting process. Therefore, focusing on improving the stability of machinery during water celery harvesting and innovatively solving the problem of automatic collection of water celery under wet conditions is crucial to creating an automated harvesting device that conforms to the agronomical production environment and the basic principles of mechanized water celery harvesting. This would avoid manual wading harvesting, improve the working environment for water celery harvesting, and promote the healthy development of the industry. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a combined harvester and method for harvesting water celery with longitudinal constraint and lateral harvesting, which solves the problems in existing water celery harvesting technologies that cannot guarantee the smooth movement of the machine in the celery pond in a specified direction for harvesting, and that cannot achieve automatic collection of water celery.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] A combined harvester for water celery with longitudinal restraint and lateral harvesting includes a floating chassis, a belt-type harvesting system, a longitudinal restraint device, an adjustable lateral harvesting system, and an electrical control mounting box. The belt-type harvesting system is installed on one side of the floating chassis, the adjustable lateral harvesting system is installed on the other side of the floating chassis, the longitudinal restraint device is installed below the floating chassis, and the electrical control mounting box is installed on the floating chassis. The floating chassis supports the suspended belt-type harvesting system, the longitudinal restraint device, the adjustable lateral harvesting system, and the electrical control mounting box. The belt-type harvesting system is used to wind up and propel the harvested water celery on the water surface. The longitudinal restraint device ensures the linearity of the chassis's movement direction during harvesting. The adjustable lateral harvesting system adjusts the cutting depth and width of the water celery.

[0009] In the above scheme, the floating chassis includes a left buoy, a right buoy, a main support frame, a jet-assisted steering system, a jet-assisted harvesting attitude control system, a left propeller, a right propeller, and a deflector. The left and right buoys are arranged in parallel and connected by the main support frame. The jet-assisted steering system is installed on the left buoy, and the jet-assisted harvesting attitude control system is installed on the right buoy. The left and right propellers are respectively installed at the tail of the left and right buoys, and the deflector is located in the middle of the main support frame and positioned between the left and right buoys.

[0010] In the above scheme, the jet-assisted steering system includes a diaphragm pump, a split-type high-frequency solenoid valve, and a dual-outlet injector. The diaphragm pump draws water from the water source through a filter, the split-type high-frequency solenoid valve divides the water, and the dual-outlet injector sprays the water to create a reaction force that enables the floating chassis to turn around. The jet-assisted harvesting posture control system includes a second diaphragm pump, a straight-through high-frequency solenoid valve, and a single-outlet injector. The single-outlet injector is installed at the end of the horizontal cutter of the adjustable lateral harvesting system and is used to spray a high-speed jet in the opposite direction of travel. The second diaphragm pump draws water from the water source through a filter, the straight-through high-frequency solenoid valve controls its opening and closing, and the single-outlet injector sprays the water.

[0011] In the above scheme, the belt-type harvesting system includes a harvesting system bracket, a claw-operated push rod motor, a drum, an electromagnetic clutch, a motor mounting bracket, a stepper motor, a pressure roller device, a gravity belt winding system, a push rod motor clamping block, claws, a dual-purpose slider, a crossbar, and a guide rod. The pressure roller device is used to tension the gravity belt winding system. The stepper motor is mounted on the harvesting system bracket via the motor mounting bracket, and the stepper motor output shaft is connected to the drum input shaft via the electromagnetic clutch. The operation of the drum is achieved by closing or opening the electromagnetic clutch. The claw-operated push rod motor is fixed to the harvesting system bracket via the push rod motor clamping block. The output end of the claw-operated push rod motor is connected to a hole on the crossbar, and both ends of the crossbar are connected to the dual-purpose slider via bolts. The dual-purpose slider is slidably connected to the guide rod. When the claw-operated push rod motor is working, it can drive the dual-purpose slider to move up and down along the guide rod. One longitudinal end of the gravity belt winding system is fixed to the drum, and the other longitudinal end is connected to the claw. The two transverse ends of the gravity belt winding system are respectively engaged with the dual-purpose slider.

[0012] In the above scheme, the dual-purpose slider includes a slider movement guide groove and a tape winding guide groove; the slider movement guide groove and the tape winding guide groove are vertically distributed, and a threaded hole is provided in the extension direction of the slider movement guide groove. The slider movement guide groove is slidably connected to the guide rod, the threaded hole is connected to the crossbar by bolts, and the tape winding guide groove is connected to the gravity tape winding. The dual-purpose slider is driven by the crossbar to drive the gravity tape winding and the chuck to move up or down, thereby adjusting the height of the chuck and the gravity tape winding.

[0013] In the above scheme, the longitudinal constraint device includes a depth control push rod motor, a front connecting rod, a fixed bearing, a synchronous actuation connecting rod, a rear connecting rod, a front long support rod, a rear long support rod, and a horizontal sliding shoe. The two ends of the front and rear connecting rods are respectively mounted below the main support frame in the floating chassis via fixed bearings. One end of the front and rear long support rods is connected to the front and rear connecting rods respectively, and the other end is connected to both ends of the horizontal sliding shoe. The front and rear connecting rods are connected to the synchronous actuation connecting rod via an upper force-bearing square tube. The front connecting rod is connected to the output end of the depth control push rod motor. The depth control push rod motor drives the front and rear connecting rods to rotate synchronously relative to the main support frame, thereby adjusting the height of the horizontal sliding shoe relative to the water surface.

[0014] In the above scheme, the horizontal sliding shoe includes a sliding shoe body and a sliding shoe blade; the sliding shoe body is equipped with a sliding shoe blade; the sliding shoe body has mounting holes at both ends, and the mounting holes are connected to the front support rod and the rear support rod by bolts.

[0015] In the above scheme, the front connecting rod includes a hollow connecting shaft and an end connecting shaft; the hollow connecting shaft has end connecting shafts at both ends and a force-bearing square tube in the middle. The upper end of the force-bearing square tube is provided with a connecting lug and a push rod motor connecting lug. A synchronous actuation connecting rod is connected between the connecting lugs on the front connecting rod and the rear connecting rod. The push rod motor connecting lug is used to connect to the output end of the depth control push rod motor. An L-shaped rod is also provided on the hollow connecting shaft. Two L-shaped rods are arranged back to back. A connecting rod torsion spring force plate is provided next to the L-shaped rod and on the hollow connecting shaft. A torsion spring is provided on the hollow connecting shaft. One end of the torsion spring is attached to the support rod torsion spring force plate on the front long support rod, and the other end is attached to the connecting rod torsion spring force plate. The torsion spring further enhances the contact between the pressure end and the L-shaped rod. The front long support rod is fixed in the axial direction of the front connecting rod by a coil spring for axial limitation.

[0016] In the above scheme, the adjustable lateral harvesting system includes an electric cutter device, an electric push rod for cutting angle control, a motor for cutting depth control, a screw and nut adjustment device, a cutter guide rail, a cutter guide groove ring, a cutter fixing block, and a connecting part for the cutting depth control motor. The electric cutter device is equipped with a horizontal cutter and a vertical mounting rod. A vertical cutter guide rail is fixed on the vertical mounting rod, and a cutter guide groove ring is fitted around the outer ring of the cutter guide rail. The cutter guide groove ring is hinged to the output end of the electric push rod for cutting angle control. A cutter fixing block is also provided on the vertical mounting rod, and the cutter fixing block is connected to a slider on the screw and nut adjustment device. The operation of the cutting depth control motor can drive the screw and nut adjustment device to move up or down, thereby driving the electric cutter device to move up or down. The operation of the electric push rod for cutting angle control can drive the cutter guide groove ring to push the vertical mounting rod to rotate, thereby adjusting the vertical distance of the horizontal cutter extending out of the floating chassis.

[0017] The harvesting method of a longitudinally constrained lateral harvesting water celery combine harvester includes the following steps:

[0018] 1) Place the water celery combine harvester within the reserved agronomic area of ​​the celery pond;

[0019] 2) Adjust the depth of the horizontal cutter in the water and the width of the horizontal cutter extension by means of the adjustable lateral harvesting system;

[0020] 3) Adjust the depth of the horizontal sliding shoe in the longitudinal restraint device so that the silt at the bottom of the pond provides support for the longitudinal restraint device;

[0021] 4) The electric cutter device harvests water celery. At the same time, the jet-assisted harvesting posture control system sprays high-pressure water jets. The high-pressure water jets counteract the cutting resistance of the horizontal cutter and the clockwise additional torque brought to the water celery combine harvester by the water resistance, while ensuring that the water celery combine harvester always moves forward along the edge of the water celery planting area.

[0022] 5) The water celery combine harvester moves forward along the edge of the water celery planting area to complete the cutting of a row of water celery. The cut water celery lies down and floats on the water surface and is perpendicular to the unharvested area. When the water celery combine harvester moves to the end, it needs to turn around. The left and right propellers move in opposite directions to provide the main power for turning around in place. The jet-assisted steering system assists in turning around.

[0023] 6) Use a belt-type harvesting system to roll up and push the harvested water celery on the water surface;

[0024] 7) Repeat the above steps to harvest again.

[0025] Beneficial effects:

[0026] (1) The adjustable lateral harvesting system in this invention can effectively adjust the harvesting depth and lateral harvesting width of water celery. The lateral harvesting form can ensure that the water celery can lie down in an orderly horizontal state after harvesting. The configured jet-assisted harvesting posture control system can help the machine maintain a stable forward direction during the harvesting process. The belt-type harvesting system can cover the water celery that is lying down in an orderly horizontal state after harvesting with gravity belts, and rely on the winding action of the belt-type harvesting system to gather the water celery to the shore. The longitudinal constraint device can cut the horizontal sliding shoe into the silt, providing a certain constraint for the longitudinal movement of the floating chassis, ensuring the linearity of the chassis movement direction during harvesting and preventing drift. The configured jet-assisted steering system can assist the machine in the turning process after the cutting and harvesting work is completed.

[0027] (2) This invention simplifies, mechanizes and automates the process of harvesting water celery, fully complies with the agronomic conditions for water celery cultivation, and truly respects the physical characteristics of water celery. It meets the prerequisite that workers can collect water celery without going into the water, and can achieve automatic harvesting. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the longitudinally constrained lateral harvesting water celery combine harvester of the present invention;

[0029] Figure 2 for Figure 1 A schematic diagram of the floating chassis structure shown;

[0030] Figure 3 for Figure 2 A schematic diagram of the right-side floating compartment in the structure shown;

[0031] Figure 4 for Figure 2 The schematic diagram of the jet-assisted steering system in the structure shown is as follows;

[0032] Figure 5 for Figure 4 A schematic diagram of a dual-outlet injector structure in the system shown.

[0033] Figure 6 for Figure 2 The schematic diagram of the jet-assisted harvesting attitude control system in the structure shown is as follows;

[0034] Figure 7 for Figure 6 A schematic diagram of a single-outlet injector in the system shown.

[0035] Figure 8 for Figure 1 A schematic diagram of the belt harvesting system shown in the diagram;

[0036] Figure 9 This is a schematic diagram of a gravity-driven harvesting system after the belt is unwound and its covering of horizontally lying water celery.

[0037] Figure 10 for Figure 8 The diagram shows the structure of the gripper in the belt-type harvesting system.

[0038] Figure 11 for Figure 8 The diagram shows the structure of a dual-purpose slider in a roll-type harvesting system.

[0039] Figure 12 for Figure 3 The diagram shows the structure of the pressure roller device in the belt harvesting system.

[0040] Figure 13 for Figure 1 A schematic diagram of the longitudinal constraint device in the structure shown;

[0041] Figure 14 for Figure 13 A schematic diagram of the front connecting rod in the longitudinal constraint device shown.

[0042] Figure 15 for Figure 13 A schematic diagram of the front support rod in the longitudinal restraint device shown.

[0043] Figure 16 for Figure 13 A schematic diagram of the horizontal sliding shoe in the longitudinal constraint device shown;

[0044] Figure 17 for Figure 1 A schematic diagram of the adjustable lateral harvesting system shown in the diagram;

[0045] Figure 18 This is a schematic diagram of the entire process of harvesting water celery using the longitudinally constrained lateral harvesting water celery combine harvester of the present invention;

[0046] Figure 19 This is a schematic diagram illustrating the adjustment of the harvesting depth and longitudinal constraint depth of the water celery combine harvester with longitudinal constraint and lateral harvesting according to the present invention.

[0047] Figure 20 This is a schematic diagram illustrating the adjustment of the harvesting width of the water celery combine harvester with longitudinal constraint and lateral harvesting according to the present invention;

[0048] Figure 21 This is a schematic diagram of a second embodiment of the water celery combine harvester of the present invention, in which the floating chassis is changed from propeller drive to paddle wheel drive;

[0049] Figure 22 for Figure 1 A schematic diagram of the second embodiment of the floating chassis in the structure shown;

[0050] Figure 23 for Figure 1 A schematic diagram of the second embodiment of the longitudinal constraint device in the structure shown.

[0051] The attached figures are labeled as follows:

[0052] 1-Floating chassis; 2-Belt harvesting system; 3-Longitudinal restraint device; 4-Adjustable lateral harvesting system; 5-Electrical control mounting box

[0053] 11-Left buoy; 12-Right buoy; 13-Main support frame; 14-Jet-assisted steering system; 15-Jet-assisted harvesting attitude control system; 161-Left propeller; 162-Right propeller; 17-Baffle plate;

[0054] 121-Main body of the floating hull; 122-Floating hull opening; 123-Floating hull notch; 124-Notch reinforcement plate; 125-Paddle wheel drive mounting plate; 126-Stern auxiliary component mounting sheet metal; 127-Bow auxiliary component mounting sheet metal;

[0055] 141-Diaphragm pump; 142, 143, 144, 145 high-frequency solenoid valves that split into two; 146-1, 146-2, 146-3, 146-4 dual-outlet injectors;

[0056] 1465 - Left inlet; 1466 - Right inlet; 1461 - Left outlet; 1462 - Right outlet; 1463 - Dual-outlet ejector mounting plate; 1464 - Dual-outlet ejector mounting hole;

[0057] 151 - Second diaphragm pump; 152 - Straight-through high-frequency solenoid valve; 153 - Single-outlet injector;

[0058] 21-Harvesting system support frame; 22-Claw retracting push rod motor; 23-Drum; 24-Electromagnetic clutch; 25-Motor mounting bracket; 26-Stepper motor; 27-Pressure roller device; 28-Gravity winding; 29-Push rod motor clamping block; 200-Claw; 201-Dual-purpose slider; 202-Crossbar; 203-Guide rod; 280-Slotted window; 281-Counterweight block; 2001-Angle iron crossbeam; 2002-Shift fork; 2010-Threaded hole; 2011-Slider moving guide groove; 2012-Wrapping guide groove; 270-Pressure roller device shaft; 271-Pressure roller support rod; 272-Pressure roller guard plate;

[0059] 31-Depth control push rod motor; 32-Front connecting rod; 33-Fixed bearing; 34-Coil spring; 35-Synchronous actuation connecting rod; 36-Rear connecting rod; 37-Front long support rod; 38-Rear long support rod; 39-Horizontal sliding shoe; 320-Connecting rod hollow rotating shaft; 321-Force-bearing square tube; 322-Connecting ear; 323-L-shaped rod; 324-Connecting rod torsion spring force plate; 325-End connecting shaft; 326-Push rod motor connecting ear; 370-Long support rod connecting hole; 371-Pressure bearing end; 372-Support rod connecting end; 373-Long support rod body; 374-End clearance groove; 375-End connecting hole; 390-Sliding shoe body; 391-Mounting hole; 392-Sliding shoe blade.

[0060] 41-Electric cutting device; 42-Angle control electric push rod; 43-Cutting depth control motor; 44-Screw nut adjustment device; 45-Cutting guide rail; 46-Cutting guide groove ring; 47-Cutting pressure block; 48-Cutting fixing block; 49-Cutting depth control motor connector. Detailed Implementation

[0061] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0062] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] Longitudinal constraint lateral harvesting water celery combine harvester, such as Figure 1 As shown, it includes a floating chassis 1, a belt harvesting system 2, a longitudinal restraint device 3, an adjustable lateral harvesting system 4, and an electrical control mounting box 5; the belt harvesting system 2 is installed on the left side of the floating chassis 1, the adjustable lateral harvesting system 4 is installed on the right side of the floating chassis 1, the longitudinal restraint device 3 is installed in the lower middle of the floating chassis 1, and the electrical control mounting box 5 is installed in the space on both sides of the middle of the floating chassis 1;

[0065] Floating chassis 1, such as Figure 2 As shown, it includes a left float 11, a right float 12, a main support frame 13, a jet-assisted steering system 14, a jet-assisted harvesting attitude control system 15, a left propeller 161, a right propeller 162, and a deflector 17.

[0066] Taking the right-side floating pod 12 as an example, such as Figure 3 As shown, a float generally has a float body 121, a float opening 122, a float notch 123, a notch reinforcing plate 124, a paddle wheel drive mounting plate 125, a stern auxiliary component mounting sheet metal 126, and a bow auxiliary component mounting sheet metal 127, wherein the bow auxiliary component mounting sheet metal 127 has the same structure as the stern auxiliary component mounting sheet metal 126; the left float 11 and the right float 12 are structurally symmetrical.

[0067] like Figure 2 As shown, the left float 11 and the right float 12 are respectively installed on the left and right sides of the main support frame 13, and are fixed to the corresponding parts of the main support frame 13 by bolt connection; the right propeller 162 is installed on the tail auxiliary mounting sheet metal 126 at the tail of the right float 12, and the left propeller 161 is similarly installed at the corresponding position of the left float 11. The left and right propellers are independently controlled and can drive and steer the whole machine.

[0068] The principle of the jet-assisted steering system 14 is shown in the figure below. Figure 4 As shown, the system includes a diaphragm pump 141, high-frequency solenoid valves 142, 143, 144, and 145 that split into two, dual-outlet ejectors 146-1, 146-2, 146-3, and 146-4, as well as their associated filter devices, water pipes, safety valves, main switch valves, pressure gauges, flow meters, and other devices. The main body of the jet-assisted steering system 14 is installed on the left floating hull 11.

[0069] Dual-outlet injector 146, such as Figure 5As shown, each has a left inlet 1465, a right inlet 1466, a left outlet 1461, a right outlet 1462, a dual-outlet ejector mounting plate 1463, and a dual-outlet ejector mounting hole 1464; the dual-outlet ejectors 146-1, 146-2, 146-3, and 146-4 are respectively mounted on the stern auxiliary mounting sheet metal of the left float 11, the stern auxiliary mounting sheet metal 126 of the right float 12, and the bow auxiliary mounting sheet metal of the left float 11, and... The bow auxiliary component of the right-side floating hull 12 is mounted on sheet metal 127; during installation, the dual-outlet injector mounting plate 1463 is fitted to it and bolted in place through the dual-outlet injector mounting hole 1464; the diaphragm pump 141 draws water from the Qintang water source through a filtration device, pressurizes it, and then, through a main switch valve, flow meter, and other devices, diverts the water into the two-way high-frequency solenoid valves 142, 143, 144, and 145, with the two-way high-frequency solenoid valve 142 diverting the water to the dual-outlet jet nozzles 146-3 and... The water inlet 1465 of nozzle 146-4 sprays water from its corresponding left outlet 1461, generating a reaction force; the high-frequency solenoid valve 144, which splits the flow, outputs water to the right inlet 1466 of dual-outlet jet nozzles 146-3 and 146-4, and sprays water from its corresponding right outlet 1462, generating a reaction force; the high-frequency solenoid valve 143, which splits the flow, outputs water to the right inlet 1466 of dual-outlet jet nozzles 146-1 and 146-2, and sprays water from its corresponding right outlet. The jet is ejected from outlet 1462, generating a reaction force; the split-flow high-frequency solenoid valve 145 divides the output to the left inlet 1465 of the dual-outlet jet nozzles 146-1 and 146-2, and ejects it from the corresponding left outlet 1461, generating a reaction force; the split-flow high-frequency solenoid valves 142-145 can be switched on and off and have flow control via PWM pulse width modulation, that is, they can control the start, stop and magnitude of the reaction force, and the flow rate that can pass through the two outlets of the split-flow high-frequency solenoid valves is consistent.

[0070] The principle of the jet-assisted harvesting attitude control system 15 is shown in the figure below. Figure 6 As shown, the jet-assisted steering system 15 operates on a similar principle to the jet-assisted steering system 14, including a second diaphragm pump 151, a direct-flow high-frequency solenoid valve 152, and a single-outlet injector 153, along with its associated filter, water pipes, safety valve, main switch valve, pressure gauge, flow meter, and other devices. The main body of the jet-assisted harvesting attitude control system 15 is mounted on the right-side floating hull 12, while the single-outlet injector 153 is mounted at the end of the horizontal cutter of the adjustable lateral harvesting system 4, used to spray a high-speed jet towards the rear of the implement; the single-outlet injector 153, as... Figure 7As shown, it includes an inlet 1532, an outlet 1531, a single-outlet ejector mounting plate 1533, and a single-outlet ejector mounting hole 1534; the second diaphragm pump 151 draws water from the Qintang water source through a filtration device, pressurizes it, and then diverts it through a main switch valve, flow meter, and other devices to a straight-through high-frequency solenoid valve 152, and then into the inlet 1532 of the single-outlet ejector 153, and sprays it out from the outlet 1531. The straight-through high-frequency solenoid valve 152 controls the on / off state and the flow rate, that is, it can control the start, stop, and magnitude of the reaction force.

[0071] Belt harvesting system 2, such as Figure 8 As shown, it includes a harvesting system support 21, a gripper retracting push rod motor 22, a drum 23, an electromagnetic clutch 24, a motor mounting bracket 25, a stepper motor 26, a pressure roller device 27, a gravity winding belt 28, a push rod motor clamping block 29, grippers 200, a dual-purpose slider 201, a crossbar 202, and a guide rod 203; two guide rods 203 are welded to the rear sides of the harvesting system support 21.

[0072] Gravity winding 28, such as Figure 9 As shown, a polyethylene film / mesh or other material with moderate softness and hardness has slotted windows 280 equidistantly cut on both sides along the longitudinal direction, and a counterweight 281 is installed horizontally below. The counterweight 281 is installed at a certain distance along the longitudinal direction of the gravity belt 28.

[0073] Claw 200, such as Figure 10 As shown, it has an angle iron crossbeam 2001 and three shift forks 2002 installed at equal intervals along the angle iron crossbeam;

[0074] Dual-purpose slider 201, such as Figure 11 As shown, it has a threaded hole 2010, a slider moving guide groove 2011 and a tape winding guide groove 2012, wherein the slider moving guide groove 2011 and the tape winding guide groove 2012 are arranged vertically, and the center line of the threaded hole 2010 is parallel to the center line of the slider moving guide groove 2011.

[0075] Pressure roller device 27, such as Figure 12 As shown, it includes a pressure roller device shaft 270, a pressure roller support rod 271, a pressure roller guard plate 272, and two pressure rollers 272 installed at both ends of the pressure roller support rod 271. The pressure rollers 272 can rotate around the center of the pressure rollers 272 on the pressure roller support rod 271.

[0076] Stepper motor 26 is mounted on the harvesting system bracket 21 at a designated position via motor mounting bracket 25. The output shaft of stepper motor 26 is connected to the power input shaft of drum 23 via electromagnetic clutch 24 and related support bearings. When the electromagnetic clutch is energized and closed, it drives drum 23 to rotate without slippage. Claw take-up and release push rod motor 22 is fixed to the upper rear part of harvesting system bracket 21 via push rod motor clamping block 29 and necessary bolts. The push rod end of claw take-up and release push rod motor 22 is bolted to the hole in the middle of crossbar 202. The lower parts on both sides of crossbar 202 are fixedly connected to dual-purpose sliders 201 via bolts. The purpose of the above connection is to ensure that when claw take-up and release push rod motor 22 extends and retracts, it can drive crossbar 202 and further drive dual-purpose sliders 201 on both sides. Through the cooperation between slider movement guide groove 2011 and guide rod 203, dual-purpose sliders 201 move up and down along guide rod 203.

[0077] One end of the gravity winding belt 28 is fixed to the drum 23, and the main body of the gravity winding belt 28 is wound around the drum 23. The other end of the gravity winding belt 28 is fixed to the angle iron beam 2001 of the claw 200 through buckles, rivets and other devices, so as to connect the gravity winding belt 28 and the claw 200. At the same time, both sides of the gravity winding belt 28 are located in the winding guide groove 2012 of the dual-purpose slider 201. Therefore, when the claw retraction push rod motor 22 extends and retracts, it can drive the gravity winding belt 28 and the claw 200 to move up and down, and adjust the actual height of the claw position.

[0078] There are four pressure roller devices 27 in total, which are installed in two groups at the rear and middle of the harvesting system support 21. The lateral installation width is exactly the distance between the two opposite slotted windows 280 of the gravity belt 28 in the lateral direction. The longitudinal installation distance is 1.5 times the distance between the two adjacent slotted windows 280 in the longitudinal direction of the gravity belt 28. When the gravity belt 28 moves, it can ensure that at any time, at least one of the two groups of pressure rollers 272 is exactly in the slotted window 280. Therefore, the two pressure roller devices 27 in the same group that are simultaneously in the slotted window 280 can play the role of tensioning the gravity belt 28 in the lateral direction and prevent the gravity belt 28 from bending in the lateral direction.

[0079] The belt harvesting system 2 is fixedly connected to the harvesting system bracket 21 and the main support frame 13 by bolts;

[0080] Longitudinal restraint device 3, such as Figure 13 As shown, it includes a depth control push rod motor 31, a front connecting rod 32, a fixed support bearing 33, a coil spring 34, a synchronous actuation connecting rod 35, a rear connecting rod 36, a front long support rod 37, a rear long support rod 38, and a horizontal sliding shoe 39.

[0081] Front link 32, such as Figure 14As shown, the component is a one-piece welded part, including a hollow rotating shaft 320 for the connecting rod, a force-bearing square tube 321, a connecting lug 322, an L-shaped rod 323, a connecting rod torsion spring force plate 324, an end connecting shaft 325, and a push rod motor connecting lug 326; the rear connecting rod 36 is also a one-piece welded part, with structural details consistent with the front connecting rod 32, but lacks the push rod motor connecting lug 326;

[0082] Forward support rod 37, such as Figure 15 As shown, it is also an integral welded component, including a long support rod connecting hole 370, a pressure-bearing end 371, a support rod connecting end 372, a long support rod body 373, an end gap groove 374 and an end connecting hole 375. The long support rod connecting hole 370, the support rod torsion spring force plate 376, and the pressure-bearing end 371 are located on the support rod connecting end 372. The rear long support rod 38 is also an integral welded component, and its structural details are the same as those of the front long support rod 37.

[0083] Horizontal skid shoe 39, such as Figure 16 As shown, it is also an integral welded component, the structure of which includes a sliding shoe body 390, a sliding shoe blade 392, and a mounting hole 391 located on the sliding shoe body 390;

[0084] The front connecting rod 32 and the rear connecting rod 36 are respectively hoisted and installed at the lower middle part of the main support frame 13 through the cooperation of the fixed bearing 33 and the end connecting shaft 325. The front connecting rod 32 and the rear connecting rod 36 are connected to each other through the connecting lug 322 located at the top of the force-bearing square tube 321 and the hinge at the end of the synchronous actuation connecting rod 35. The push rod motor connecting lug 326 of the front connecting rod 32 is connected to the corresponding part of the main support frame 13 through the depth control push rod motor 31. The two front long support rods 37 are respectively fitted into the end connecting shafts 325 on both sides of the front connecting rod 32 through the long support rod connecting holes 370. On the upper part, under the action of gravity, the pressure-bearing end 371 contacts the L-shaped rod 323 of the front connecting rod 32. The torsion spring 34 is fitted on the hollow rotating shaft 320 of the connecting rod. One end of the torsion spring 34 is attached to the torsion spring force plate 376 of the support rod, and the other end is attached to the torsion spring force plate 324 of the connecting rod. The presence of the torsion spring further enhances the contact between the pressure-bearing end 371 and the L-shaped rod 323 of the front connecting rod 32. The front long support rod 37 is fixed in the axial direction of the front connecting rod 32 by the axial limiting effect of the coil spring 34 on the one hand, and by the installation of a sleeve nut between the fixed support bearing 33 and the support rod connecting end 372 on the other hand.

[0085] Similarly, installation between the rear connecting rod 36 and the rear long support rod 38 can be achieved;

[0086] The horizontal sliding shoe 39 is hinged to the end connection holes 375 at the ends of the rear long support rod 38 and the front long support rod 37, thus connecting the rear long support rod 38 and the front long support rod 37. The spacing between the mounting holes 391 at both ends of the sliding shoe body 390 is equal to the spacing between the two fixed bearings 33 in the longitudinal direction of the main support frame 13. Therefore, on both sides of the longitudinal constraint device 3, a set of parallelogram mechanisms is formed, consisting of the main support frame 13, the rear long support rod 38, the front long support rod 37, and the horizontal sliding shoe 39. The two sets of parallelogram mechanisms located on both sides of the longitudinal constraint device 3 are independent of each other in terms of the upward movement of the horizontal sliding shoe 39, but during the upward movement, due to the influence of the longitudinal constraint device 39, they are mutually independent. The reaction force of the torsion spring 34 provides some resistance. The two sets of parallelogram mechanisms located on both sides of the longitudinal constraint device 3 are not independent in terms of the downward limit movement distance of the horizontal sliding shoe 39. They are both limited by the limiting effect between the bearing end 371 of the front long support rod 37 and the L-shaped rod 323 of the front connecting rod 32, as well as the limiting effect between the corresponding bearing end of the rear long support rod 38 and the corresponding L-shaped rod of the rear connecting rod 36. The rotation angle of the end connecting shaft 325 of the front connecting rod 32 relative to the bearing 33 can only be adjusted by extending or shortening the push rod motor 31 to adjust the position of the L-shaped rod 323 and thus adjust the maximum downward depth of the horizontal sliding shoe 39.

[0087] Adjustable lateral harvesting system 4, such as Figure 17 As shown, it includes an electric cutter device 41, an electric push rod for cutting angle control 42, a motor for cutting depth control 43, a lead screw and nut adjustment device 44, a cutter guide rail 45, a cutter guide groove ring 46, a cutter pressure block 47, a cutter fixing block 48, and a connecting piece for the cutting depth control motor 49.

[0088] The electric cutter device 41 is a commercial standard product, which includes a complete motor and transmission system. The overall structure consists of a vertical mounting rod and a horizontal cutter part. The vertical mounting rod of the electric cutter device 41 is improved by welding a flat cutter guide rail 45. The cutter guide rail 45 can be fitted with the cutter guide groove ring 46. The cutter guide groove ring 46 and the cutter guide rail 45 have a sliding fit. The cutter guide groove ring 46 will not obstruct the up and down movement of the electric cutter device 41.

[0089] One end of the angle cutting control electric push rod 42 is hinged to a designated position on the main support frame 13, and the other end is hinged to a designated position on the cutter guide groove ring 46. The cutter pressure block 47 is fixedly installed on the main support frame 13 and has an arc groove on one side. The arc groove fits into the outer circle of the cutter guide groove ring 46 to assist in fixing the cutter guide groove ring 46 in the vertical direction.

[0090] The lead screw and nut adjusting device 44 is also a commercial standard product, installed on the right side of the float 12 on the notch reinforcement plate 124 located in the notch 123 of the float 12. The power input shaft above the lead screw and nut adjusting device 44 is connected to the cutting depth control motor 43 via the cutting depth control motor connector 49. The electric cutter device 41 is engaged with the center hole of the cutter fixing block 48 through its vertical mounting rod. The cutter fixing block 48 is connected to the slider on the side of the lead screw and nut adjusting device 44 in the horizontal direction by bolts. After installation, it can limit the electric cutter device in the vertical direction, but does not restrict the vertical mounting rod of the electric cutter device 41 from rotating around the center hole of the cutter fixing block 48.

[0091] By controlling the rotation of the cutting depth control motor 43, the power input shaft above the lead screw nut adjustment device 44 can be rotated, which in turn causes the slider on the side of the lead screw nut adjustment device 44 to move up and down, which in turn causes the cutter fixing block 48 to move up and down, and in turn causes the electric cutter device 41 to move up and down, thus adjusting the cutting depth of the cutter device for harvesting water celery; at the same time, by controlling the extension and retraction of the cutting angle control electric push rod 42, the cutter guide groove ring 46 is pushed, and the cutter guide rail 45 causes the vertical mounting rod of the electric cutter device 41 to rotate around the center hole of the cutter fixing block 48, so as to change the net width of the horizontal cutter part extending laterally out of the right floating hull 12, thereby achieving effective adjustment of the water celery cutting width;

[0092] Combination Figure 17 and Figure 7 As shown, the single-outlet injector 153 is installed at the end of the horizontal cutter section of the adjustable lateral harvesting system 4 away from the right-side floating hull 12. The outlet 1531 of the single-outlet injector 153 is perpendicular to the horizontal cutter section of the adjustable lateral harvesting system 4 and can spray backward.

[0093] Electrical control mounting box 5, such as Figure 1 As shown, the two parts are installed in the space on both sides of the middle of the floating chassis 1, which are used to hold the whole machine's battery, electronic control, signal receiving and other devices. The whole machine can be controlled by GPS+RTK, or by inertial navigation based on gyroscope, or by direct remote control by shore remote control device, so as to realize autonomous or remote control-based water celery harvesting operation.

[0094] This invention provides a practical and usable method for harvesting water celery, which is achieved using the aforementioned longitudinally constrained lateral harvesting water celery combine harvester. The harvesting process is illustrated below. Figure 18 As shown, it includes the following steps:

[0095] 1) After the machine is installed, place it in the water celery planting area in the celery pond and the reserved area for mechanized operation agronomy adjacent to the bank. If there is no reserved area, the area can be cut out manually in the densely planted celery pond first.

[0096] 2) Combining Figure 19 and Figure 20 As shown, by controlling the cutting angle control electric push rod 42 and the cutting depth control motor 43, the depth of the horizontal cutting part of the electric cutter device 41 in the water and the net width of the horizontal cutting part extending laterally out of the right float 12 are controlled, so as to adjust the water celery cutting width achieved by the movement of the implement. Preferably, in order to ensure harvesting efficiency, the horizontal cutting part of the electric cutter device 41 should be perpendicular to the side of the right float 12, that is, to ensure the maximum harvesting width and the highest harvesting efficiency.

[0097] 3) By remotely controlling each propeller from the shore, the machine is straightened and the side of the machine is aligned with the edge of the water celery planting area;

[0098] 4) Combining Figure 19 As shown, by adjusting the extension and retraction of the depth control push rod motor 31, the depth of the horizontal sliding shoe 39 of the longitudinal constraint device 3 is adjusted so that it cuts into the thick silt layer by 2-3 cm. Since the thick silt layer at the bottom of the celery pond also has the characteristics of being softer at the top and harder at the bottom, the horizontal sliding shoe 39 cuts into the pond by 2-3 cm, and the silt at the bottom of the pond can provide a certain support force.

[0099] 5) When the electric cutter device 41 is turned on, the machine moves forward along the edge of the water celery planting area and cuts the water celery within the harvesting range of the electric cutter device 41. During the water celery cutting process, the cutting resistance and water resistance of the cutter will bring additional clockwise torque to the machine, causing the machine to tend to turn and penetrate into the densely planted water celery, which will hinder the work. In order to overcome this problem, the jet-assisted harvesting posture control system 15 can be turned on at the same time, so that the single-outlet jet 153 can spray high-pressure water jet backward. This jet can not only counteract the additional clockwise torque brought to the machine by the cutting resistance and water resistance of the cutter, ensuring that the machine always moves forward along the edge of the water celery planting area, but also promote the cut water celery to lie vertically on the machine on the water surface. The intensity adjustment of the high-pressure water jet can be achieved by controlling the flow rate of the direct-flow high-frequency solenoid valve 152 by PWM (pulse width modulation).

[0100] 6) The machine moves forward along the edge of the water celery planting area to complete the cutting of a row of water celery. The cut water celery lies down and floats on the water surface, perpendicular to the unharvested area. When the machine reaches the end, it needs to be turned around. Before turning around, the extension and retraction of the depth control push rod motor 31 must be adjusted to raise the horizontal sliding shoe 39 from the silt. During the turning operation, the left propeller 161 and the right propeller 162 move in opposite directions, providing the main power for turning around in place. At the same time, the jet-assisted steering system 14 works. Taking the machine turning to the right (clockwise) as an example, the split-type high-frequency solenoid valves 142 and 143 open, and the split-type high-frequency solenoid valves 144 and 145 close. The right outlet 1462 of the dual-outlet injectors 146-1 and 146-2, and the left outlet 1461 of the dual-outlet injectors 146-3 and 146-4 spray high-pressure water jets to provide auxiliary torque for the machine to turn to the right (clockwise), improving... Its steering efficiency improves working speed; similarly, when the machine needs to turn left (counterclockwise), the split-type high-frequency solenoid valves 142 and 143 can be closed, and the split-type high-frequency solenoid valves 144 and 145 can be opened, so that the left outlet 1461 of the dual-outlet injectors 146-1 and 146-2, and the right outlet 1462 of the dual-outlet injectors 146-3 and 146-4 can spray high-pressure water jets; the jet intensity derived from the same split-type high-frequency solenoid valve can also be achieved by controlling the flow rate of the split-type high-frequency solenoid valve based on PWM (pulse width modulation); the existence of the jet-assisted steering system 14 helps to improve the machine's ability to turn around on the spot, reduce its turning radius, and facilitate machine operation in narrow spaces;

[0101] 7) After the machine has turned around, adjust the extension and retraction of the depth control push rod motor 31 so that the horizontal sliding shoe 39 re-deepens into the silt by 2-3 cm. The left floating pod 11 of the machine is close to the harvested water celery lying on the water surface. The center of the belt harvesting system 2 located outside the left floating pod 11 of the machine is basically in the center of the horizontally lying water celery. Control the extension of the claw retraction push rod motor 22. The push rod motor 22 drives the crossbar 202 and the dual-purpose slider 201 to move down, and drives the three forks 2002 of the claw 200 to penetrate into the horizontally lying water celery. The gravity belt 28 also moves down synchronously.

[0102] 8) Disconnect the electromagnetic clutch 24 to cut off the power connection between the stepper motor 26 and the drum 23; the implement moves forward along the edge of the water celery harvesting area. Since the three forks 2002 of the chuck 200 are inserted into the horizontally lying water celery, the drum 23 unwinds during the forward movement of the implement, and the gravity belt 28 is gradually laid flat on the upper part of the harvested water celery that is lying still on the water surface. Since a counterweight 281 is installed horizontally below the gravity belt 28, the gravity belt 28 can make close contact with the water celery on the water surface; the belt guide groove 2012 of the dual-purpose slider 201 can guide the gravity belt, and the pressure roller device 27 can further guide the gravity belt by contacting the slotted window 280 of the gravity belt 28; the implement moves forward along the edge of the water celery harvesting area until the bank;

[0103] 9) After the machine moves to the shore and stops, the electromagnetic clutch 24 is energized and closes, controlling the stepper motor 26 to rotate in the opposite direction, driving the drum 23 to perform a winding action. Therefore, under the action of the end fork 2002 and the lower counterweight 281, the gravity belt 28 drives the water celery floating on the water surface to gradually move towards the shore.

[0104] 10) Using manual labor or onshore robotic arms, cranes, or other devices, the water celery near the shore is scooped up, drained, and then brought ashore. As the drum 23 gradually rewinds, all the water celery cut by the machine in the previous operation is scooped up and harvested. Then, the chuck release push rod motor 22 shortens, driving the crossbar 202 and the dual-purpose slider 201 to move upward, and in turn driving the chuck 200 and the gravity winding belt 28 to leave the water surface. At this point, the machine completes the entire process of cutting and harvesting and turns around to carry out the next cutting and harvesting operation.

[0105] 11) As the water celery harvesting process progresses, the water celery in the pond is gradually harvested and brought ashore. The water level in the pond will continue to drop, and the position of the machine itself will also gradually decrease. At this time, it is necessary to promptly cause the depth control push rod motor 31 to retract, driving the front connecting rod 32 to rotate. This, in turn, drives the rear connecting rod 36 to rotate through the synchronous actuation connecting rod 35. This, in turn, causes the front long support rod 37 and the rear long support rod 38 to press down through the L-shaped rods 323 on each of them, causing the horizontal sliding shoes 39 on both sides to move upward. This ensures that the horizontal sliding shoes can still stably cut into the thick silt layer by 2-3 cm during subsequent work. Similarly, as the water level continues to drop, it is also necessary to adjust the cutting depth control motor 43 in the adjustable lateral harvesting system 4, and control the screw nut adjustment device 44 to move the electric cutter device 41 upward, ensuring the consistency of the cutting depth of the machine when cutting water celery.

[0106] This invention has the following advantages: This technical solution innovatively proposes a combined harvester for water celery with longitudinal constraint and lateral harvesting, along with its corresponding harvesting and processing scheme, specifically for the automated harvesting of densely planted, high-biomass mature water celery in celery ponds. The adjustable lateral harvesting system of this machine can effectively adjust the harvesting depth and lateral harvesting width. The lateral harvesting method ensures that the water celery lies flat and orderly in a horizontal position after harvesting. The jet-assisted harvesting posture control system helps the machine maintain a stable forward direction during harvesting. The belt-type harvesting system covers the harvested, horizontally lying water celery with a gravity belt and uses its winding action to gather the water celery to the bank. The longitudinal constraint device cuts the horizontal sliding shoe into the silt, providing a certain constraint on the longitudinal movement of the floating chassis, ensuring the linearity of the chassis's movement direction during harvesting and preventing drift. The jet-assisted steering system assists the machine in turning around after cutting and harvesting. This invention simplifies, mechanizes, and automates the process of harvesting water celery, fully complies with the existing agronomic conditions for water celery cultivation in southern and central Jiangsu, and truly respects the physical characteristics of water celery. It meets the prerequisite of allowing workers to collect water celery without going into the water, making it a more realistic and feasible solution for automated harvesting of water celery at present.

[0107] As an alternative embodiment, the floating chassis of the longitudinally constrained, laterally harvesting water celery combine harvester of the present invention can be changed from being driven by the left propeller 161 and the right propeller 162 to being driven by a paddle wheel, as shown below. Figure 21 As shown, the paddle wheel drive device 18 consists of a paddle wheel 181, a paddle wheel drive motor mounting plate 182, and a paddle wheel drive motor 183. The paddle wheel drive motor 183 can drive the paddle wheel 181 to rotate forward or backward. Therefore, the machine can move forward, backward, and turn by relying on the paddle wheel drive devices 18 installed on both sides of the floating chassis. The baffle plate 17 plays a role in separating the flow field disturbance caused by the left and right paddle wheel drive devices, thereby improving the driving efficiency and control effect of the machine.

[0108] The floating chassis 1 in this invention also has a third embodiment, such as... Figure 22As shown, the floating chassis 1 no longer has the jet-assisted steering system 14 and the jet-assisted harvesting attitude control system 15 installed. Instead, an attitude control propeller 163 is horizontally mounted below the front of the main support frame 13. The attitude control propeller 163 can generate lateral tension or thrust at the front of the floating chassis 1 to assist in adjusting the actual attitude of the floating chassis 1 during harvesting. That is, when the floating chassis 1 is prone to turning to the right and getting stuck in the water celery due to harvesting resistance during harvesting, the attitude control propeller 163 can be controlled to generate thrust to help correct this phenomenon; similarly, after harvesting... During the process, when the floating chassis 1 needs to tow the gravity winding belt 28 located on the other side of the floating chassis 1, the attitude control propeller 163 also needs to rotate in the opposite direction to generate tension in order to maintain the walking direction of the floating chassis 1. Furthermore, in order to improve the attitude control power and efficiency provided by the attitude control propeller 163, the attitude control propeller 163 can be further expanded to two units, and installed in opposite directions on the lower front and lower rear of the main support frame 13, respectively. The two propellers rotate synchronously in the same direction, which can provide a more efficient rotational torque around the center of the machine, ensuring that all operations can be carried out normally.

[0109] The longitudinal constraint device 3 in this invention has a second embodiment, such as... Figure 23 As shown, the front long support rod 37 is replaced with a curved rod 37-1 with a similar structure. At the same time, the rear long support rod 38, rear connecting rod 36, synchronous actuation connecting rod 35, horizontal sliding shoe 39 and their associated parts are no longer retained. Since the curved rod 37-1 has a bent structure, it is also conducive to its end sliding in the silt, stabilizing the forward direction of the machine and preventing the machine from yawing due to lateral interference. The depth control push rod motor 31 can still continue to adjust the depth of the curved rod 37-1 in the silt based on the front connecting rod 32.

[0110] In this invention, in order to improve the effect of the cut water celery lying vertically on the water surface of the machine and facilitate subsequent harvesting operations, a side jet water spraying system can be further installed on the right floating pod 12 of the machine. This system can spray a horizontal jet vertically from the side of the right floating pod 12 during the water celery harvesting process, acting on the head of the water celery that is exposed above the water surface, causing it to lie down after harvesting and be perpendicular to the direction of the machine's movement. The machine equipped with the side jet water spraying system can be regarded as another embodiment of the machine.

[0111] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0112] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A combined harvester for water celery with longitudinal constraint and lateral harvesting, characterized in that, The system includes a floating chassis (1), a belt harvesting system (2), a longitudinal restraint device (3), an adjustable lateral harvesting system (4), and an electrical control mounting box (5). The belt harvesting system (2) is installed on one side of the floating chassis (1), the adjustable lateral harvesting system (4) is installed on the other side of the floating chassis (1), the longitudinal restraint device (3) is installed below the floating chassis (1), and the electrical control mounting box (5) is installed on the floating chassis (1). The floating chassis (1) is used to support the suspended belt harvesting system (2), the longitudinal restraint device (3), the adjustable lateral harvesting system (4), and the electrical control mounting box (5). Box (5); The belt-type harvesting system (2) is used to roll up and push the harvested water celery on the water surface; The longitudinal constraint device (3) is used to ensure the linearity of the chassis movement direction during harvesting; The adjustable lateral harvesting system (4) is used to adjust the cutting depth and cutting width of the water celery; The belt-type harvesting system (2) includes a harvesting system bracket (21), a claw release push rod motor (22), a drum (23), an electromagnetic clutch (24), a motor mounting bracket (25), a stepper motor (26), a pressure roller device (27), a gravity belt winding (28), a push rod motor clamping block (29), and a card The system includes a claw (200), a dual-purpose slider (201), a crossbar (202), and a guide rod (203); the pressure roller device (27) is used to tension the gravity winding belt (28); the stepper motor (26) is mounted on the harvesting system bracket (21) via a motor mounting bracket (25), and the output shaft of the stepper motor (26) is connected to the input shaft of the drum (23) via an electromagnetic clutch (24). The drum (23) can be operated or not operated by closing or opening the electromagnetic clutch (24); the claw take-up and release push rod motor (22) is fixed to the harvesting system bracket (21) via a push rod motor clamping block (29). The output end of the claw take-up and release push rod motor (22) is connected to the hole on the crossbar (202). The two ends of the crossbar (202) are connected to the dual-purpose slider (201) by bolts. The dual-purpose slider (201) is slidably connected to the guide rod (203). When the claw take-up and release push rod motor (22) is working, it can drive the dual-purpose slider (201) to move up and down along the guide rod (203). One end of the gravity winding tape (28) is fixed on the drum (23) in the longitudinal direction, and the other end in the longitudinal direction is connected to the claw (200). The two ends of the gravity winding tape (28) in the transverse direction are respectively engaged with the dual-purpose slider (201).

2. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 1, characterized in that, The floating chassis (1) includes a left floating pod (11), a right floating pod (12), a main support frame (13), a jet-assisted steering system (14), a jet-assisted harvesting attitude control system (15), a left propeller (161), a right propeller (162), and a baffle plate (17). The left floating pod (11) and the right floating pod (12) are arranged in parallel and connected by the main support frame (13). The left floating pod (11) is equipped with a jet-assisted steering system (14), and the right floating pod (12) is equipped with a jet-assisted harvesting attitude control system (15). The left propeller (161) and the right propeller (162) are respectively located at the tail of the left floating pod (11) and the right floating pod (12). The baffle plate (17) is located in the middle of the main support frame (13) and is placed between the left floating pod (11) and the right floating pod (12).

3. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 2, characterized in that, The jet-assisted steering system (14) includes a diaphragm pump (141), a split-type high-frequency solenoid valve, and a dual-outlet injector (146). The diaphragm pump (141) draws water from the water source through a filter, the split-type high-frequency solenoid valve divides the water, and the dual-outlet injector (146) sprays the water to form a reaction force, which enables the floating chassis (1) to turn around. The jet-assisted harvesting posture control system (15) includes a second diaphragm pump (151), a direct-flow high-frequency solenoid valve (152), and a single-outlet injector (153). The single-outlet injector (153) is installed at the end of the horizontal cutter of the adjustable lateral harvesting system (4) and is used to spray a high-speed jet in the opposite direction of travel. The second diaphragm pump (151) draws water from the water source through a filter, the direct-flow high-frequency solenoid valve (152) controls its opening and closing, and the single-outlet injector (153) sprays the water.

4. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 1, characterized in that, The dual-purpose slider (201) includes a slider moving guide groove (2011) and a tape winding guide groove (2012); the slider moving guide groove (2011) and the tape winding guide groove (2012) are vertically distributed, and a threaded hole (2010) is provided in the extending direction of the slider moving guide groove (2011). The slider moving guide groove (2011) is slidably connected to the guide rod (203), the threaded hole (2010) is connected to the crossbar (202) by bolts, and the tape winding guide groove (2012) is connected to the gravity tape winding (28). The dual-purpose slider (201) is driven by the crossbar (202) to drive the gravity tape winding (28) and the claw (200) to move up or down, thereby adjusting the height of the claw (200) and the gravity tape winding (28).

5. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 1, characterized in that, The longitudinal constraint device (3) includes a depth control push rod motor (31), a front connecting rod (32), a fixed bearing (33), a synchronous actuation connecting rod (35), a rear connecting rod (36), a front long support rod (37), a rear long support rod (38), and a horizontal sliding shoe (39); the two ends of the front connecting rod (32) and the rear connecting rod (36) are respectively set below the main support frame (13) in the floating chassis (1) through the fixed bearing (33), and one end of the front long support rod (37) and the rear long support rod (38) are respectively connected to the front connecting rod (35). 32) is connected to the rear connecting rod (36), and the other end is connected to both ends of the horizontal sliding shoe (39); the front connecting rod (32) and the rear connecting rod (36) are connected to the synchronous actuation connecting rod (35) through the upper force-bearing square tube (321), the front connecting rod (32) is connected to the output end of the depth control push rod motor (31), and the depth control push rod motor (31) works to push the front connecting rod (32) and the rear connecting rod (36) to rotate synchronously relative to the main support frame (13) to adjust the height of the horizontal sliding shoe (39) relative to the water surface.

6. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 5, characterized in that, The horizontal sliding shoe (39) includes a sliding shoe body (390) and a sliding shoe blade (392); the sliding shoe body (390) is equipped with a sliding shoe blade (392); the sliding shoe body (390) has mounting holes (391) at both ends, and the mounting holes (391) are connected to the front long support rod (37) and the rear long support rod (38) by bolts.

7. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 5, characterized in that, The front connecting rod (32) includes a hollow shaft (320) and an end connecting shaft (325); the hollow shaft (320) has end connecting shafts (325) at both ends and a force-bearing square tube (321) in the middle. The upper end of the force-bearing square tube (321) is provided with a connecting ear (322) and a push rod motor connecting ear (326). A synchronous actuation connecting rod (35) is connected between the connecting ears (322) on the front connecting rod (32) and the rear connecting rod (36). The push rod motor connecting ear (326) is used to connect to the output end of the depth control push rod motor (31). An L-shaped rod is also provided on the hollow shaft (320). 323), wherein two L-shaped rods (323) are arranged back to back, and a connecting rod torsion spring force plate (324) is provided next to the L-shaped rod (323) and on the connecting rod hollow shaft (320); a torsion spring (34) is provided on the connecting rod hollow shaft (320), one end of the torsion spring (34) is attached to the support rod torsion spring force plate (376) on the front long support rod (37), and the other end is attached to the connecting rod torsion spring force plate (324). The torsion spring (34) further enhances the contact between the pressure end (371) and the L-shaped rod (323); the front long support rod (37) is fixed in the axial direction of the front connecting rod (32) by the axial limit of the coil spring (34).

8. The water celery combine harvester with longitudinal constraint and lateral harvesting according to claim 1, characterized in that, The adjustable lateral harvesting system (4) includes an electric cutter device (41), an electric push rod for cutting angle control (42), a motor for cutting depth control (43), a screw and nut adjustment device (44), a cutter guide rail (45), a cutter guide groove ring (46), a cutter fixing block (48), and a cutting depth control motor connector (49). The electric cutter device (41) is equipped with a horizontal cutter and a vertical mounting rod. A vertical cutter guide rail (45) is fixed on the vertical mounting rod. A cutter guide groove ring (46) is fitted around the outer ring of the cutter guide rail (45). The ring (46) is hinged to the output end of the angle control electric push rod (42). A cutter fixing block (48) is also provided on the vertical mounting rod. The cutter fixing block (48) is connected to the slider on the screw nut adjusting device (44). The cutting depth control motor (43) can drive the screw nut adjusting device (44) to move up or down, thereby driving the cutting device (41) to move up or down. The angle control electric push rod (42) can drive the cutter guide groove ring (46) to push the vertical mounting rod to rotate, thereby adjusting the vertical distance of the horizontal cutter extending out of the floating chassis (1).

9. The harvesting method of the water celery combine harvester with longitudinal constraint lateral harvesting according to claim 8, characterized in that, Includes the following steps: 1) Place the water celery combine harvester within the reserved agronomic area of ​​the celery pond; 2) Adjust the depth of the horizontal cutter in the water and the width of the horizontal cutter extension by means of the adjustable lateral harvesting system (4); 3) Adjust the depth of the horizontal sliding shoe (30) in the longitudinal restraint device (3) so that the silt at the bottom of the pond provides support to the longitudinal restraint device (3); 4) The electric cutter device (41) harvests water celery. At the same time, the jet-assisted harvesting posture control system (15) sprays out high-pressure water jets. The high-pressure water jets offset the cutting resistance of the horizontal cutter and the clockwise additional torque brought to the water celery combine harvester by the water resistance, while ensuring that the water celery combine harvester always moves forward along the edge of the water celery planting area. 5) The water celery combine harvester moves forward along the edge of the water celery planting area to complete the cutting of a row of water celery. The cut water celery lies down and floats on the water surface and is perpendicular to the unharvested area. When the water celery combine harvester moves to the end, it needs to turn around. The left propeller (161) and the right propeller (162) move in opposite directions to provide the main power for turning around in place. The jet-assisted steering system (14) assists in turning around. 6) Use a belt-type harvesting system (2) to roll up and push the harvested water celery on the water surface; 7) Repeat the above steps to harvest again.

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