Self-walking medicinal material picking machine

Abstract

The invention provides a self-walking medicinal material picking machine which comprises a machine frame, and moving rolling wheels used for assisting the machine frame in walking are installed at the bottom of the machine frame. The picking mechanism is installed on the surface of the left side of the rack, the picking mechanism is used for automatically picking the medicinal materials, and a material guide plate is arranged between the picking mechanism and the conveying device; the traction frame is mounted on the left side of the rack, and the traction frame is connected with the medicinal material picking mechanism; a fixing frame; and a soil block crushing assembly. Conveyed small soil blocks are effectively separated through a shaking mechanism, then a crushing plate is driven by a second hydraulic cylinder to drive a crushing rod on the bottom side to move in a reciprocating mode, the downwards-moving crushing rod makes contact with large soil blocks to crush the large soil blocks, the crushed soil blocks are screened out of a sieve plate under the cooperation effect of the shaking mechanism, the soil blocks in medicinal materials are better removed, and the medicinal materials are more effectively removed. The screening efficiency is improved, the overall separation requirement of soil blocks in the medicinal materials is met, and the medicinal material picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of medicinal material picking machines, in particular to a self-propelled medicinal material picking machine. Background Art

[0002] Medicinal materials are raw materials for making medicines. In China, they especially refer to Chinese medicinal materials, that is, raw materials for Chinese medicine that have not been processed or made into finished products. Chinese medicine is a traditional Chinese medicinal material. Chinese medicine culture has a long history and is profound and extensive. It not only includes thousands of years of Chinese medicine civilization but also integrates the unique cultural phenomenon of Chinese and Western medicine created by modern Western medicine civilization. It is an important part of China's excellent culture.

[0003] The medicinal material picking machine is an important mechanical equipment used in the medicinal material harvesting process. The traditional manual harvesting method is inefficient, while the self-propelled medicinal material picking machine can complete the medicinal material picking work quickly and efficiently through mechanized operation. However, when the medicinal material picking machine picks the medicinal materials, the medicinal materials are mixed with soil blocks of different volumes, and the medicinal blocks of different sizes are not easy to separate, which affects the subsequent medicinal material picking effect and requires secondary processing, reducing the medicinal material picking efficiency. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the present invention aims to provide a self-propelled medicinal material picking machine that can solve the problem that when the medicinal material picking machine is picking medicinal materials, soil blocks of different volumes are mixed in the medicinal materials, and medicinal blocks of different sizes are difficult to separate, which affects the subsequent picking effect of the medicinal materials, requires secondary processing, and reduces the efficiency of medicinal material picking.

[0005] Specifically, the present invention solves the above technical problems through the following technical solutions: According to the present invention, a self-propelled medicinal material picking machine is provided, the self-propelled medicinal material picking machine comprising: A frame, wherein movable rollers for assisting the frame to move are installed at the bottom of the frame; A picking mechanism is installed on the left side surface of the frame and is used to automatically pick up the medicinal materials. A material guide plate is provided between the picking mechanism and the conveying device. The material guide plate is installed on the top side of the frame and is used to assist the picking mechanism in picking up the medicinal materials and guiding them into the conveying device. A traction frame, which is installed on the left side of the frame and is connected to the medicinal material picking mechanism; A fixed frame, the bottom end of which is connected to the top end of the frame through a shaking mechanism, a conveying device for picking up medicinal materials and conveying them is installed on the side surface of the fixed frame, and a medicinal material collecting component for collecting the conveyed medicinal materials is provided at the end of the conveying device; A power unit, the power unit being mounted on a side surface of the fixing frame and being used to drive the conveying device to work; A soil block crushing assembly is installed on the top side of the fixed frame for crushing large soil blocks among the medicinal materials.

[0006] Furthermore, two movable rollers are symmetrically installed on the bottom side of the right end of the frame, and a traction frame for traction-connecting the frame with the medicinal material picking mechanism is installed on the left end surface of the frame.

[0007] Furthermore, the picking mechanism includes a servo motor, a rotating roller and a picking claw. The servo motor is fixedly installed on the front side of the left end of the frame. The rotating roller is installed on the output shaft of the servo motor. The picking claws for medicinal materials are evenly installed in a ring shape on the surface of the rotating roller.

[0008] Furthermore, the shaking mechanism includes a guide plate, a fixed plate, a limiting column, a limiting plate and a vibration part. The guide plate is fixedly connected to the bottom side of the fixed frame, the bottom end of the guide plate is slidably connected to the top side of the frame, the bottom end side surface of the fixed frame is fixedly connected with the fixed plate, the limiting plate is fixedly connected to the top side surface of the frame, and the vibration part is installed between the limiting plate and the fixed plate, and the vibration part realizes the vibration of the fixed frame.

[0009] Furthermore, the vibration part includes a limit column, a vibration spring, a vibration motor and a knocking head. The limit column is fixedly connected to the bottom surface of the fixed plate, and the bottom end of the limit column passes through the surface of the limit plate. The limit plate and the fixed plate are elastically connected by a vibration spring sleeved on the surface of the limit column. The vibration motor is fixedly connected to the bottom side of the limit plate, and the output end of the vibration motor is equipped with a knocking head for cyclically knocking the fixed plate.

[0010] Furthermore, the power mechanism includes a power motor, a first driving wheel, a driving belt, a second driving wheel, a driving main shaft, a driving main roller, a first driving tooth, a driving slave shaft, a driving slave roller and a second driving tooth. The power motor is installed on the side surface of the fixed frame, the output end of the power motor is connected to the first driving wheel, the first driving wheel is connected to the second driving wheel through a driving belt, the inner cavity of the second driving wheel is installed with a driving main shaft, the surface of the driving main shaft is sleeved with the surface of the driving main roller, the driving slave shaft is installed on the side surface of the fixed frame, the surface of the driving slave shaft is adjusted with the driving main roller, the driving slave roller is connected to the driving main roller through a conveying device, the surface of the driving main roller is installed with a first driving tooth, and the surface of the driving slave roller is installed with a second driving tooth.

[0011] Furthermore, the conveying device includes a conveyor belt, meshing teeth and a screening part. The inner wall of the conveyor belt is installed with meshing teeth, the inner wall of the conveyor belt is evenly installed with meshing teeth, and the surface of the conveyor belt is installed with a screening part for assisting soil blocks to be screened off.

[0012] Furthermore, the screening part includes a connecting block, a screening plate and a baffle, the connecting block is fixedly connected to the surface of the conveyor belt, the side surface of the connecting block is fixedly connected to the screening plate, and the surface of the screening plate is fixedly connected to the baffle.

[0013] Furthermore, the soil crushing assembly includes a fixed frame, a second hydraulic cylinder, a crushing plate, a connecting spring and a crushing rod. The fixed frame is fixedly connected to the top side of the fixed frame, the top side of the fixed frame is fixedly connected to the second hydraulic cylinder, the output end of the second hydraulic cylinder is fixedly connected to the crushing plate, and a crushing cavity for installing the connecting spring is opened on the bottom side of the crushing plate, and a crushing rod connected to the connecting spring is installed in the crushing cavity.

[0014] Furthermore, the medicinal material collecting assembly includes a collecting shell, a first hydraulic cylinder, a pushing seat, a limiting sliding frame, a first rotating frame, an adjusting plate, a second rotating frame and a rotating bottom plate, the collecting shell is fixedly connected to the right side surface of the fixed frame, the bottom of the collecting shell is installed with a rotating bottom plate that can be rotatably opened, the bottom side surface of the collecting shell is fixedly connected to the first hydraulic cylinder, the output end of the first hydraulic cylinder is fixedly connected to the pushing seat, the limiting sliding frame is fixedly connected to the bottom side surface of the collecting shell, the inner cavity of the limiting sliding block is slidably connected to the pushing seat, and the first rotating frame is installed on the mounting surface of the pushing seat, the first rotating frame is connected to the second rotating frame through the adjusting plate, and the second rotating frame is fixedly connected to the bottom side surface of the rotating bottom plate; the inner wall of the first rotating frame is fixedly connected to the first rotating shaft, the first rotating shaft passes through one end of the adjusting plate, the other end of the adjusting plate passes through the second rotating shaft, and the second rotating shaft is fixedly connected to the inner wall of the second rotating frame.

[0015] The present invention has at least the following beneficial effects: The self-propelled medicinal material picking machine according to the present invention picks up the medicinal materials through the picking claws, sends them to the subsequent material guide plate through the rotating roller, and is introduced into the conveying shaft for conveying through the guide plate, thereby realizing automatic picking up of the medicinal materials. The medicinal materials conveyed by the conveying device are effectively separated from the small pieces of soil by the shaking mechanism and the soil crushing mechanism under the action of the shaking mechanism. Then, the crushing plate drives the crushing rod on the bottom side to move back and forth under the drive of the second hydraulic cylinder, and the downward-moving crushing rod contacts the large soil blocks and crushes them. The crushed soil blocks are sieved out from the screen plate under the cooperation of the shaking mechanism, so that the soil blocks in the medicinal materials are better removed, the screening efficiency is improved, the overall separation requirements of the soil blocks in the medicinal materials are guaranteed, the secondary separation operation is reduced, and the efficiency of picking up the medicinal materials is improved. Under the action of the medicinal material collecting component, the medicinal materials collected in the collection shell are conveniently discharged automatically and centrally, which reduces the labor intensity of manual unloading and improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0017] Figure 1 It is a schematic diagram showing the three-dimensional structure of a medicinal material picking machine involved in one embodiment of the present invention.

[0018] Figure 2 The figure is a schematic diagram showing the connection structure between the medicinal material picking mechanism and the frame of the medicinal material picking machine involved in one embodiment of the present invention.

[0019] Figure 3 The figure shows a bottom-up structural diagram of a medicinal material picking machine according to an embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram showing the structure of the picking mechanism of the medicinal material picking machine involved in one embodiment of the present invention.

[0021] Figure 5 To show Figure 1 Schematic diagram of the locally enlarged structure at point A in the middle.

[0022] Figure 6 To show Figure 4 A partial enlarged diagram of the structure at point B in the middle.

[0023] Figure 7 The figure shows a schematic diagram of the connection structure between the conveyor belt, the driven slave roller and the driven master roller of the medicinal material picking machine according to one embodiment of the present invention.

[0024] Figure 8 The present invention is a schematic diagram showing the cross-sectional structure of a soil block crushing assembly of a medicinal material picker according to an embodiment of the present invention.

[0025] Figure 9 The present invention is a schematic diagram showing a top view of the connection structure of a conveying device of a medicinal material picking machine involved in one embodiment of the present invention.

[0026] Figure 10 The present invention is a schematic diagram showing the bottom bottom structure of a medicinal material collecting component of a medicinal material picking machine involved in one embodiment of the present invention.

[0027] Figure 11 The present invention is a schematic diagram showing the structure of a medicinal material picking mechanism of a medicinal material picking machine according to an embodiment of the present invention.

[0028] Description of Reference Numerals 1. Frame; 2. Move the roller; 3. Medicinal material collection assembly; 31. Collection shell; 32. First hydraulic cylinder; 33. Push seat; 34. Limiting slide frame; 35. First rotating frame; 36. Adjustment plate; 37. Second rotating frame; 38. Rotating bottom plate; 4. Shaking mechanism; 41. Guide plate; 42. Fixing plate; 43. Limiting column; 44. Vibration spring; 45. Limiting plate; 46. Vibration motor; 47. Knocking head; 5. Fixed frame; 6. Power unit; 61. Power motor; 62. First drive wheel; 63. Drive belt; 64. Second drive wheel; 65. Drive main shaft; 66. Drive main roller; 67. First drive gear; 68. Drive slave shaft; 69. Drive slave roller; 610. Second drive gear; 7. Conveying device; 71. Conveyor belt; 72. Meshing teeth; 73. Connecting block; 74. Screening plate; 75. Baffle; 8. Soil breaking assembly; 81. Fixed frame; 82. Second hydraulic cylinder; 83. Breaking plate; 84. Connecting spring; 85. Breaking rod; 9. Guide plate; 10. Picking mechanism; 101. Servo motor; 102. Rotating roller; 103. Picking claw; 11. Traction frame; 12. Medicinal material collection organization. DETAILED DESCRIPTION

[0029] In order to enable people in this technical field to better understand the solution of this application, the technical solution in the embodiment of this application will be clearly and completely described below in combination with the drawings in the embodiment of this application. Obviously, the described embodiment is only an embodiment of a part of this application, not all embodiments, and the present invention is not limited to this specific embodiment.

[0030] Figure 1-11 It is a schematic diagram showing the structure of the medicinal material picking machine of the present invention from various perspectives.

[0031] like Figure 1-4As shown, the self-propelled medicinal material picking machine includes: a frame 1, a moving roller 2 for assisting the frame 1 to move is installed at the bottom of the frame 1; a picking mechanism 10, the picking mechanism 10 is installed on the left surface of the frame 1, the picking mechanism 10 is used to automatically pick up the medicinal materials, and a material guide plate 9 is provided between the picking mechanism 10 and the conveying device 7, the material guide plate 9 is installed on the top side of the frame 1, and the material guide plate 9 is used to assist the picking mechanism 10 in picking up the medicinal materials and introducing them into the conveying device 7; a traction frame 11, the traction frame 11 is installed on the left side of the frame 1, the traction frame 11 is connected to the medicinal material picking mechanism 12, wherein the traction frame 1 1 can be connected to the tractor's connecting plate, used to fix the traction frame 11 on the tractor to achieve power transmission; the fixing frame 5, the bottom end of the fixing frame 5 is connected to the top of the frame 1 through the shaking mechanism 4, the side surface of the fixing frame 5 is installed with a conveying device 7 for picking up medicinal materials and transporting them, and the end of the conveying device 7 is provided with a medicinal material collecting assembly 3 for collecting the transported medicinal materials; the power unit 6, the power unit 6 is installed on the side surface of the fixing frame 5, and the power unit 6 is used to drive the conveying device 7 to work; the soil clod breaking assembly 8, the top side of the fixing frame 5 is installed with a soil clod breaking assembly 8 for picking up large clods of medicinal materials and crushing them.

[0032] The medicinal materials are picked up by the picking claws 103 under the action of the picking mechanism 10, and are sent to the subsequent guide plate 9 by the rotating roller 102, and are introduced into the conveying shaft for conveying through the guide plate 9, so as to realize the automatic picking up of the medicinal materials. The medicinal materials conveyed by the conveying device 7 are effectively separated by the shaking mechanism 4 and the soil block crushing mechanism under the action of the shaking mechanism 4. Then, the crushing plate 83 drives the crushing rod 85 on the bottom side to move back and forth under the drive of the second hydraulic cylinder 82, and the downward-moving crushing rod 85 contacts the large soil blocks and crushes them. The crushed soil blocks are sieved out from the sieve plate under the cooperation of the shaking mechanism 4, so as to better remove the soil blocks in the medicinal materials, improve the screening efficiency, ensure the overall separation requirements of the soil blocks in the medicinal materials, reduce the secondary separation operation situation, and improve the efficiency of picking up the medicinal materials. Under the action of the medicinal materials collecting component 3, it is convenient to automatically discharge the medicinal materials collected in the collecting shell 31, reduce the labor intensity of manual unloading, and improve efficiency.

[0033] Two movable rollers 2 are symmetrically installed on the bottom side of the right end of the frame 1, and a traction frame 11 for traction-connecting the frame 1 with a medicinal material picking mechanism 12 is installed on the left end surface of the frame 1.

[0034] The two movable rollers 2 are provided to assist the medicinal material picking machine in moving.

[0035] The picking mechanism 10 includes a servo motor 101, a rotating roller 102 and a picking claw 103. The servo motor 101 is fixedly mounted on the front left end of the frame 1. The rotating roller 102 is mounted on the output shaft of the servo motor 101. The picking claw 103 for medicinal materials is evenly mounted in a ring shape on the surface of the rotating roller 102.

[0036] Preferably, when picking up medicinal materials, the servo motor 101 is started, and the servo motor 101 drives the rotating roller 102 to drive the picking claw 103 fixedly connected to the surface to rotate, and the medicinal materials are picked up by the picking claw 103, and sent to the subsequent material guide plate 9 through the rotating roller 102, and then introduced into the conveying shaft for transportation through the material guide plate 9.

[0037] refer to Figure 1 and Figure 3-Figure 5 As shown, the shaking mechanism 4 includes a guide plate 41, a fixed plate 42, a limiting column 43, a limiting plate 45 and a vibration part. The guide plate 41 is fixedly connected to the bottom side of the fixed frame 5, and the bottom end of the guide plate 41 is slidingly connected to the top side of the frame 1. The bottom side surface of the fixed frame 5 is fixedly connected with the fixed plate 42, and the limiting plate 45 is fixedly connected to the top side surface of the frame 1. The vibration part is installed between the limiting plate 45 and the fixed plate 42, and the vibration part realizes the vibration of the fixed frame 5.

[0038] When the conveying device 7 is conveying medicinal materials, the four vibration motors 46 arranged on the top of the frame 1 are responsible for the control and coordination of the entire system through the main controller. The slave controller performs corresponding actions according to the instructions of the main controller to realize the synchronous operation control of the above four vibration motors 46. The vibration motor 46 drives the knocking head 47 to perform cyclic vibration and knock on the fixed plate 42. At the same time, the vibration spring 44 cooperates with the fixed plate 42 to vibrate back and forth, effectively ensuring that the medicinal materials in the conveying device 7 are vibrated.

[0039] The vibration part includes a limit column 43, a vibration spring 44, a vibration motor 46 and a knocking head 47. The limit column 43 is fixedly connected to the bottom surface of the fixed plate 42. The bottom end of the limit column 43 passes through the surface of the limit plate 45. The limit plate 45 and the fixed plate 42 are elastically connected by the vibration spring 44 sleeved on the surface of the limit column 43. The vibration motor 46 is fixedly connected to the bottom side of the limit plate 45. The output end of the vibration motor 46 is equipped with a knocking head 47 for cyclically knocking the fixed plate 42.

[0040] Figure 1-4 as well as Figure 6-7As shown, the power mechanism includes a power motor 61, a first driving wheel 62, a driving belt 63, a second driving wheel 64, a driving main shaft 65, a driving main roller 66, a first driving tooth 67, a driving slave shaft 68, a driving slave roller 69 and a second driving tooth 610. The power motor 61 is installed on the side surface of the fixed frame 5, and the output end of the power motor 61 is connected to the first driving wheel 62. The first driving wheel 62 is connected to the second driving wheel 64 through the driving belt 63. The inner cavity of the second driving wheel 64 is installed with the driving main shaft 65, and the surface of the driving main shaft 65 is sleeved with the surface of the driving main roller 66. The driving slave shaft 68 is installed on the side surface of the fixed frame 5. The surface of the driving slave shaft 68 is adjusted with the driving main roller 66. The driving slave roller 69 is connected to the driving main roller 66 through the conveying device 7. The surface of the driving main roller 66 is installed with the first driving tooth 67, and the surface of the driving slave roller 69 is installed with the second driving tooth 610.

[0041] The conveying device 7 includes a conveyor belt 71, meshing teeth 72 and a screening part. The meshing teeth 72 are installed on the inner wall of the conveyor belt 71. The meshing teeth 72 are installed at equal intervals on the inner wall of the conveyor belt 71. The surface of the conveyor belt 71 is installed with a screening part for assisting the sieving of soil blocks.

[0042] The conveyor belt 71 is meshed and connected with the second driving teeth 610 of the driving slave roller 69 and the first driving teeth 67 on the surface of the driving main roller 66 through the meshing teeth 72, thereby realizing anti-slip rotation of the conveyor belt 71 and ensuring stable and automatic transportation of medicinal materials.

[0043] The screening part includes a connecting block 73, a screening plate 74 and a baffle 75. The connecting block 73 is fixedly connected to the surface of the conveyor belt 71. The screening plate 74 is fixedly connected to the side surface of the connecting block 73. The baffle 75 is fixedly connected to the surface of the screening plate 74.

[0044] Adjacent screening plates 74 are arranged at equal distances to facilitate the effective separation of small soil clods from the medicinal materials under the action of vibration.

[0045] like Figure 1-4 as well as Figure 8 As shown, the soil crushing assembly 8 includes a fixed frame 81, a second hydraulic cylinder 82, a crushing plate 83, a connecting spring 84 and a crushing rod 85. The fixed frame 81 is fixedly connected to the top side of the fixed frame 5, the top side of the fixed frame 81 is fixedly connected to the second hydraulic cylinder 82, the output end of the second hydraulic cylinder 82 is fixedly connected to the crushing plate 83, and the bottom side of the crushing plate 83 is provided with a crushing cavity for installing the connecting spring 84, and a crushing rod 85 connected to the connecting spring 84 is installed in the crushing cavity.

[0046] In this embodiment, the second hydraulic cylinder 82 is started, and the second hydraulic cylinder 82 pushes the fixedly connected crushing plate 83 to move, and the crushing plate 83 drives the crushing rod 85 on the bottom side to move back and forth, and the downward-moving crushing rod 85 contacts the large soil blocks and crushes them. The crushed soil blocks are sieved out from the screen plate with the cooperation of the shaking mechanism 4, so that the soil blocks in the medicinal materials can be better removed, the screening efficiency can be improved, the overall separation requirements of the soil blocks in the medicinal materials can be guaranteed, the secondary separation operation can be reduced, and the efficiency of picking up medicinal materials can be improved.

[0047] The medicinal material collecting assembly 3 includes a collecting shell 31, a first hydraulic cylinder 32, a pushing seat 33, a limiting sliding frame 34, a first rotating frame 35, an adjusting plate 36, a second rotating frame 37 and a rotating base plate 38. The collecting shell 31 is fixedly connected to the right side surface of the fixed frame 5, and a rotating base plate 38 that can be rotatably opened is installed at the bottom of the collecting shell 31. The bottom side surface of the collecting shell 31 is fixedly connected to the first hydraulic cylinder 32, and the output end of the first hydraulic cylinder 32 is fixedly connected to the pushing seat 33. The limiting sliding frame 34 is fixedly connected to the bottom side surface of the collecting shell 31, and the inner cavity of the limiting sliding block is slidably connected to the pushing seat 33. The first rotating frame 35 is installed on the mounting surface of the pushing seat 33. The first rotating frame 35 is connected to the second rotating frame 37 through the adjusting plate 36, and the second rotating frame 37 is fixedly connected to the bottom side surface of the rotating base plate 38; the inner wall of the first rotating frame 35 is fixedly connected to the first rotating shaft, the first rotating shaft passes through one end of the adjusting plate 36, and the other end of the adjusting plate 36 passes through the second rotating shaft, and the second rotating shaft is fixedly connected to the inner wall of the second rotating frame 37.

[0048] Specifically, through the operation of the first hydraulic cylinder 32, the first hydraulic cylinder 32 pushes the fixedly connected pushing seat 33 to move, and the pushing seat 33 moves through the fixedly connected driving adjustment plate 36, and the adjustment plate 36 pushes the second rotating frame 37 to drive the rotating bottom plate 38 to open along the bottom end of the collecting shell 31, so as to facilitate the automatic discharge of the medicinal materials collected in the collecting shell 31, reduce the labor intensity of manual unloading, and improve efficiency.

[0049] In summary, the present invention has been described in detail through specific implementation methods. However, the present invention is not limited to the above implementation methods. Those skilled in the art can make various changes or modifications to these implementation methods. Without departing from the principles and essence of the present invention, these changes and modifications fall within the scope of protection of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A self-propelled medicinal material picking machine, characterized in that: The self-propelled medicinal material picking machine includes: A frame (1), wherein a movable roller (2) is installed at the bottom of the frame (1) for assisting the frame (1) in moving; A picking mechanism (10), the picking mechanism (10) is mounted on the left side surface of the frame (1), the picking mechanism (10) is used to automatically pick up medicinal materials, a guide plate (9) is provided between the picking mechanism (10) and the conveying device (7), the guide plate (9) is mounted on the top side of the frame (1), and the guide plate (9) is used to assist the picking mechanism (10) in picking up medicinal materials and introducing them into the conveying device (7); A traction frame (11), the traction frame (11) is installed on the left side of the frame (1), and the traction frame (11) is connected to the medicinal material picking mechanism (12); A fixed frame (5), the bottom end of the fixed frame (5) is connected to the top end of the frame (1) through a shaking mechanism (4), a conveying device (7) for picking up medicinal materials and conveying them is installed on the side surface of the fixed frame (5), and a medicinal material collecting component (3) for collecting the conveyed medicinal materials is provided at the end of the conveying device (7); A power unit (6), the power unit (6) being mounted on a side surface of the fixing frame (5), and the power unit (6) being used to drive the conveying device (7) to operate; A soil clod breaking component (8) is installed on the top side of the fixing frame (5) for picking up large soil clods in the medicinal materials and breaking them.

2. The self-propelled medicinal material picking machine according to claim 1, characterized in that: Two movable rollers (2) are symmetrically mounted on the bottom side of the right end of the frame (1), and a traction frame (11) for tractionally connecting the frame (1) to the medicinal material picking mechanism (12) is mounted on the surface of the left end of the frame (1).

3. The self-propelled medicinal material picking machine according to claim 1, characterized in that: The picking mechanism (10) comprises a servo motor (101), a rotating roller (102) and a picking claw (103); the servo motor (101) is fixedly mounted on the front side of the left end of the frame (1); the rotating roller (102) is mounted on the output shaft of the servo motor (101); and the picking claw (103) for medicinal materials is evenly mounted in a circular shape on the surface of the rotating roller (102).

4. The self-propelled medicinal material picking machine according to claim 1, characterized in that: The shaking mechanism (4) includes a guide plate (41), a fixed plate (42), a limiting column (43), a limiting plate (45) and a vibration part, wherein the guide plate (41) is fixedly connected to the bottom side of the fixed frame (5), the bottom end of the guide plate (41) is slidably connected to the top side of the frame (1), the bottom end side surface of the fixed frame (5) is fixedly connected to the fixed plate (42), the limiting plate (45) is fixedly connected to the top side surface of the frame (1), and the vibration part is installed between the limiting plate (45) and the fixed plate (42), and the vibration part realizes the vibration of the fixed frame (5).

5. The self-propelled medicinal material picking machine according to claim 4, characterized in that: The vibration part includes a limiting column (43), a vibration spring (44), a vibration motor (46) and a knocking head (47), wherein the limiting column (43) is fixedly connected to the bottom surface of the fixed plate (42), and the bottom end of the limiting column (43) passes through the surface of the limiting plate (45), and the limiting plate (45) and the fixed plate (42) are elastically connected through the vibration spring (44) sleeved on the surface of the limiting column (43). The vibration motor (46) is fixedly connected to the bottom side of the limiting plate (45), and the output end of the vibration motor (46) is equipped with a knocking head (47) for cyclically knocking the fixed plate (42).

6. The self-propelled medicinal material picking machine according to claim 1, characterized in that: The power mechanism comprises a power motor (61), a first driving wheel (62), a driving belt (63), a second driving wheel (64), a driving main shaft (65), a driving main roller (66), a first driving tooth (67), a driving slave shaft (68), a driving slave roller (69) and a second driving tooth (610), wherein the power motor (61) is mounted on a side surface of a fixing frame (5), an output end of the power motor (61) is connected to the first driving wheel (62), and the first driving wheel (62) is connected to the second driving wheel (64) via a driving belt (63). The second driving wheel (64) is connected, and a driving main shaft (65) is installed in the inner cavity of the second driving wheel (64). The surface of the driving main shaft (65) is sleeved with the surface of the driving main roller (66). The driving slave shaft (68) is installed on the side surface of the fixed frame (5). The surface of the driving slave shaft (68) is adjusted with the driving main roller (66). The driving slave roller (69) is connected to the driving main roller (66) through the conveying device (7). The surface of the driving main roller (66) is installed with a first driving tooth (67), and the surface of the driving slave roller (69) is installed with a second driving tooth (610).

7. The self-propelled medicinal material picking machine according to claim 1, characterized in that: The conveying device (7) comprises a conveyor belt (71), meshing teeth (72) and a screening part. The inner wall of the conveyor belt (71) is provided with meshing teeth (72). The inner wall of the conveyor belt (71) is provided with meshing teeth (72) at equal intervals. The surface of the conveyor belt (71) is provided with a screening part for assisting in screening out soil blocks.

8. The self-propelled medicinal material picking machine according to claim 7, characterized in that: The screening portion comprises a connecting block (73), a screening plate (74) and a baffle (75); the connecting block (73) is fixedly connected to the surface of the conveyor belt (71); the screening plate (74) is fixedly connected to the side surface of the connecting block (73); and the baffle (75) is fixedly connected to the surface of the screening plate (74).

9. The self-propelled medicinal material picking machine according to claim 1, characterized in that: The soil block crushing assembly (8) comprises a fixed frame (81), a second hydraulic cylinder (82), a crushing plate (83), a connecting spring (84) and a crushing rod (85), wherein the fixed frame (81) is fixedly connected to the top side of the fixed frame (5), the top side of the fixed frame (81) is fixedly connected to the second hydraulic cylinder (82), the output end of the second hydraulic cylinder (82) is fixedly connected to the crushing plate (83), the bottom side of the crushing plate (83) is provided with a crushing cavity for installing the connecting spring (84), and the crushing rod (85) connected to the connecting spring (84) is installed in the crushing cavity.

10. The self-propelled medicinal material picking machine according to claim 1, characterized in that: The medicinal material collecting assembly (3) comprises a collecting shell (31), a first hydraulic cylinder (32), a pushing seat (33), a limiting sliding frame (34), a first rotating frame (35), an adjusting plate (36), a second rotating frame (37) and a rotating bottom plate (38), wherein the collecting shell (31) is fixedly connected to the right side surface of the fixing frame (5), a rotating bottom plate (38) that can be rotatably opened is installed at the bottom of the collecting shell (31), a first hydraulic cylinder (32) is fixedly connected to the bottom side surface of the collecting shell (31), an output end of the first hydraulic cylinder (32) is fixedly connected to the pushing seat (33), the limiting sliding frame (34) is fixedly connected to the bottom side surface of the collecting shell (31), an inner cavity of the limiting sliding block is slidably connected to the pushing seat (33), a first rotating frame (35) is installed on the mounting surface of the pushing seat (33), the first rotating frame (35) is connected to the second rotating frame (37) through the adjusting plate (36), and the second rotating frame (37) is fixedly connected to the bottom side surface of the rotating bottom plate (38); A first rotating shaft is fixedly connected to the inner wall of the first rotating frame (35), the first rotating shaft passes through one end of the adjustment plate (36), the other end of the adjustment plate (36) passes through a second rotating shaft, and the second rotating shaft is fixedly connected to the inner wall of the second rotating frame (37).

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