Soybean harvester

Abstract

The invention discloses a soybean harvester, which relates to the technical field of crop harvesting machinery, and comprises a rack, a dividing plate, a cutting knife assembly arranged on the rack, a combing assembly, a righting assembly and a visual identification assembly, the dividing plates are mounted at the left and right ends of the rack; the cutting knife assembly is installed at the front end of the rack through a cutting knife table. The combing assembly is arranged at the front lower part of the cutting knife assembly, is connected with the rack through a mounting bracket, and is used for guiding and combing lodging soybean plants before the cutting knife assembly cuts; the righting assembly is installed on the side wall of the seedling dividing plate in a foldable mode and used for righting lodging plants. The visual identification assembly is used for identifying the plant lodging state; a linkage control mechanism is arranged between the combing assembly and the righting assembly and used for cooperatively controlling actions of the combing assembly and the righting assembly according to the lodging state of the plants, and the device has the advantages that efficient combing and righting are achieved, righting is accurate, cutting missing is reduced, and the overall harvesting efficiency and the operation quality are improved.

Description

Technical Field

[0001] This invention belongs to the field of crop harvesting machinery technology, and more specifically it relates to a soybean harvester. Background Technology

[0002] Soybeans are an important grain and oil crop in my country, and their yield and quality directly affect food security and economic benefits. During the soybean harvest, due to factors such as wind and rain, pests and diseases, or uneven maturity, lodging of some or large areas of soybean plants frequently occurs in the field. The stems of lodged soybean plants are close to the ground or even intertwined, making it difficult for combine harvesters to cut them smoothly, and easily leading to missed cuts, jamming, and grain loss, seriously affecting operational efficiency and harvest quality.

[0003] Existing soybean harvesters mostly use fixed dividing plates in conjunction with cutters to complete the operation. However, when dealing with lodged plants, the dividing plate has limited ability to guide the lower stems, and the cutter's entry position is inaccurate. This often requires manual assistance to straighten and upright the plants, or manual harvesting of lodged soybeans and placing them on top of the undisturbed ones. This results in high labor intensity and low work efficiency. Although some existing models are equipped with a commonly used straightening mechanism, namely a reel-type straightening mechanism, its straightening effect is limited when dealing with severely lodged plants or plants with inconsistent lodging directions. Furthermore, the reel teeth are prone to entanglement in the plants, affecting the overall smoothness of the operation.

[0004] Therefore, there is an urgent need for a soybean harvester that can efficiently straighten and precisely right lodged soybean plants to reduce missed harvests, lower the risk of entanglement and blockage, and improve overall harvesting efficiency and work quality. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a soybean harvester that has the advantages of efficient combing, precise straightening, reduced missed cutting, and improved overall harvesting efficiency and operation quality.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A soybean harvester includes a frame, a dividing plate, a cutting blade assembly mounted on the frame, and also includes a combing assembly, a straightening assembly, and a vision recognition assembly;

[0008] The dividing plate is installed at both ends of the frame;

[0009] The cutter assembly is mounted on the front end of the frame via a cutter table;

[0010] The combing component is located at the front and below the cutter assembly and is connected to the frame via a mounting bracket. It is used to guide and comb the lodged soybean plants before the cutter assembly cuts.

[0011] The uprighting component can be folded and installed on the side wall of the dividing board to upright lodged plants;

[0012] The visual recognition component is used to identify the lodging state of plants;

[0013] A linkage control mechanism is provided between the straightening component and the uprighting component, which is used to coordinate the operation of the straightening component and the uprighting component according to the plant's lodging state.

[0014] The advantages of this solution are at least as follows: Addressing the problems of existing technologies that rely on fixed-position dividing boards, supporting stalks, or passive guide boards, which cannot dynamically adjust the working posture according to different lodging states, resulting in high missed harvesting rates, repeated compaction, and interference with non-lodging plants, this solution uses a visual recognition component in the harvesting device to collect information on lodging angle, lodging direction, and plant spacing. A linkage control mechanism drives the straightening and combing components to work in tandem. During operation, the visual recognition component detects the lodging state in the working area in real time, and the linkage control mechanism converts the lodging angle, lodging direction, and plant spacing information into action commands for the straightening and combing components, enabling adaptive straightening and combing of plants with different degrees of lodging and different directions.

[0015] This technical solution enables the soybean harvester in this project to dynamically adjust its operating strategy according to different plots and lodging distributions, which can significantly reduce the rate of missed harvesting and the probability of entanglement of soybean plants, reduce manual intervention, improve the continuity of operation and harvesting efficiency per unit time, and at the same time avoid unnecessary interference with non-lodged plants and damage to crops.

[0016] The present invention is further configured such that: the combing component includes: a combing plate, the combing plate having a plurality of longitudinally extending U-shaped grooves for guiding and combing the stems of fallen plants;

[0017] Adjustable sliding plates are respectively set on the inner walls of the two sides of adjacent U-shaped grooves, and the width of the U-shaped grooves can be adjusted by a drive mechanism;

[0018] The conical head is located on both sides of each U-shaped groove at the front end of the combing plate to guide the fallen plants smoothly into the U-shaped groove;

[0019] The mounting bracket is connected to a combing plate at one end and a telescopic seat at the other end. The telescopic seat is installed at the bottom of the frame via a first telescopic drive mechanism, and the mounting bracket is installed on the telescopic seat via two sliding rods.

[0020] The advantages of this solution are at least as follows: The straightening component in this technical solution may have difficulty adapting to different crop varieties, plant stems, and lodging angles, leading to soybean plant jamming or damage. This solution addresses this by installing an adjustable sliding plate on the inner wall of the U-shaped groove. This adjustable sliding plate can identify the stem thickness and plant spacing using a visual recognition component, thereby dynamically adjusting the width of the U-shaped groove. This ensures precise alignment and dynamic restraint of lodged stems before they enter the groove. Simultaneously, the conical heads on both sides of each U-shaped groove at the front end of the straightening plate effectively guide lodged plants smoothly into the groove. This structure significantly improves the straightening component's adaptability to plants of different sizes, avoids squeezing or jamming caused by a fixed structure, and reduces mechanical damage to soybean plants during the straightening process.

[0021] The present invention is further configured such that: the combing assembly further includes a plurality of buffer assemblies disposed at the end of the telescopic seat;

[0022] The buffer assembly includes a buffer block disposed at the end of the telescopic seat and an elastic buffer element fitted on the sliding rod, wherein the elastic buffer element is located between the telescopic seat and the mounting bracket;

[0023] One end of the buffer block is provided with an abutment plate, and one side of the abutment plate is provided with a flexible buffer pad.

[0024] The advantages of this scheme are at least as follows: In the actual use of the combing component, the plants may be easily broken due to the large impact when the straw is piled up. By setting a buffer component, the buffer component includes a buffer block set at the end of the telescopic seat and an elastic buffer element fitted on the sliding rod. The elastic buffer element is located between the telescopic seat and the mounting bracket, forming a two-stage buffer structure.

[0025] The elastic buffer absorbs and releases vibration and impact forces along the sliding rod direction; the abutment plate on the buffer block and the flexible buffer pad on one side provide flexible contact when the mounting bracket moves to its limit position, avoiding hard collisions between metals. This effectively improves the operational stability and structural reliability of the combing assembly under complex field conditions, reduces the impact of vibration on the combing assembly, thereby extending the service life of the equipment and ensuring the continuity and stability of the combing action.

[0026] The present invention is further configured such that: the combing assembly further includes: a vibration assembly for preventing the U-shaped groove from being blocked by soil; the vibration assembly includes: a vibration motor and a motor mounting base, wherein the vibration motor is fixedly mounted to the rear end of the combing plate via the motor mounting base.

[0027] The advantages of this solution are at least as follows: Addressing the problem that the U-shaped grooves of the combing assembly are easily clogged by wet soil or debris during field operations, preventing plants from passing through smoothly, affecting the combing effect, and even causing equipment malfunction, this solution incorporates a vibration component at the rear end of the combing plate. This vibration component includes a vibration motor and a motor mounting base, with the motor securely mounted to the combing plate via the mounting base. During operation, the vibration motor generates high-frequency vibrations that are transmitted throughout the combing plate, effectively shaking off soil, straw fragments, and other blockages adhering to and around the U-shaped grooves, keeping the groove channels unobstructed. The added vibration component not only enhances the combing assembly's continuous operating capability under harsh conditions such as wetness and mud, but also avoids downtime for cleaning due to blockages, thereby improving operational efficiency and reliability, and ensuring the continuity and stability of the combing process.

[0028] The present invention is further configured such that the straightening component includes: a rotating seat, a telescopic component, and a mechanical gripper;

[0029] The rotating seat is connected to the dividing plate via a first rotating drive mechanism;

[0030] The telescopic assembly is mounted on the rotating base via a universal joint drive mechanism, and is used to drive the mechanical claw to extend and retract in the horizontal direction;

[0031] The mechanical claw is connected to the output end of the telescopic component, and a flexible pad is provided on the inner side of the mechanical claw.

[0032] The advantages of this solution are at least as follows: Addressing the problems of poor adaptability of existing straightening mechanisms during operation, difficulty in handling plants with different spacing and lodging postures, and the tendency to cause stem damage, this solution incorporates a straightening assembly including a rotating base, a telescopic component, and a mechanical claw. The rotating base is connected to the dividing plate via a first rotation drive mechanism, allowing the mechanical claw to fold and retract inside the dividing plate, with adjustable angle in the horizontal plane. The telescopic component and the mechanical claw are mounted on the rotating base via a universal joint drive mechanism, enabling not only horizontal extension and retraction but also, thanks to the multi-degree-of-freedom characteristics of the universal joint, flexible adjustment of the mechanical claw's posture in space for precise alignment with the target plant. The mechanical claw is connected to the telescopic component, and its inner side has a flexible pad to effectively buffer pressure during clamping and straightening, preventing squeezing damage to the stem. This structure achieves multi-dimensional adjustment and flexible clamping of the straightening action, significantly improving adaptability to complex lodging conditions and ensuring a stable, reliable, and low-damage straightening process.

[0033] The present invention is further configured such that: the mechanical gripper includes a mounting base, a linkage mechanism, two gripping claws, and a second telescopic drive mechanism;

[0034] The mounting base is rotatably mounted on the output end of the telescopic component;

[0035] The clamping claw is hinged to the mounting base via a linkage mechanism;

[0036] The second telescopic drive mechanism is installed inside the mounting base, and its output end is hinged to the linkage mechanism to drive the clamping jaws to clamp or release.

[0037] The advantages of this scheme are at least as follows: by embedding the two telescopic drive mechanisms inside the mounting base, external interference can be effectively reduced, thereby improving the compactness of the structure. The mounting base is rotatably mounted on the output end of the telescopic component, allowing the mechanical claw to rotate with the mounting base, enhancing spatial adaptability. The linear motion of the second telescopic drive mechanism is converted into the synchronous opening and closing action of the two gripping claws through the linkage mechanism, achieving stable and reliable clamping force transmission.

[0038] The present invention is further configured such that: a roller is rotatably mounted on the bottom of the U-shaped groove, and the axial cross section of the roller surface is a convex arc shape with a high center and low sides.

[0039] The advantages of this scheme are at least as follows: to address the problem of high frictional resistance and easy jamming when the stems of lodged plants move in the U-shaped groove, rollers are installed at the bottom of the groove to convert the sliding friction between the stems and the bottom of the groove into rolling friction, which significantly reduces frictional resistance and improves the smoothness of plant guidance; the roller surface adopts a convex arc design with a high center and low sides to form a self-guiding structure.

[0040] When the stem is placed on the roller, due to the inclined surface of the roller, any lateral deviation will be subject to a lateral force pointing towards the center of the roller. This force will automatically push the off-center stem back to the highest point of the roller, i.e., the center area of ​​the roller, thus forming an effective automatic centering and guiding mechanism. This ensures that the stem always stays on the central axis of the U-shaped groove during movement, preventing lateral deviation, entanglement, or detachment from the groove due to shaking or uneven force during operation, and ensuring the stability and continuity of the combing process.

[0041] The present invention is further configured such that: the elastic buffer is a compression spring, and a dustproof sleeve is covered on the outer surface of the compression spring.

[0042] The advantages of this scheme are at least as follows: while ensuring buffering performance, using compression springs as elastic buffer components has the advantages of relatively simple structure, low cost, and good rebound performance; at the same time, a dustproof sleeve is set on the outer surface of the compression spring to effectively isolate dust, mud, straw fragments and other impurities generated during field operations from entering the spring gap, preventing the spring from jamming, rusting or losing elasticity due to the accumulation of dirt, thereby extending the service life and working reliability of the buffer components.

[0043] The present invention is further configured such that: a plurality of stabilizing rods are provided around the periphery of the mounting base, the stabilizing rods are slidably mounted on the outside of the second telescopic drive mechanism, one end of the stabilizing rod is provided with a thread, and a nut is threadedly connected to its end.

[0044] The advantages of this scheme are at least as follows: by setting a stabilizing rod that slides around the periphery of the mounting base and is fitted to the outside of the second telescopic drive mechanism, a multi-point guiding support is formed for the movement of the mechanical claw, which effectively suppresses the shaking or deflection of the mounting base caused by uneven force during the clamping process, and improves the smoothness of movement and clamping accuracy; the end of the stabilizing rod is locked and fixed by a threaded nut, which not only ensures the firmness of the structural connection, but also facilitates disassembly and maintenance, and allows for gap adjustment or replacement after wear, thereby improving the rigidity of the overall structure.

[0045] The present invention is further configured such that: a clamping plate is detachably mounted on the clamping claw, and the clamping plate is connected to the clamping claw through a detachable connecting mechanism, thereby increasing the contact area of ​​the clamping claw.

[0046] The advantages of this solution are at least as follows: Addressing the issues of significant differences in stem thickness among different crops and the poor adaptability of a single clamping surface, a detachable clamping plate is incorporated. Different sizes or shapes of clamping plates can be replaced according to actual operational needs, flexibly adjusting the contact area and surface characteristics of the clamping claws. The detachable connection mechanism enables rapid assembly and disassembly, facilitating adaptation to different crops or operating conditions and improving the equipment's versatility. Increased contact area helps disperse clamping pressure, further reducing the risk of damage to fragile stems and achieving safer, more flexible straightening operations.

[0047] In summary, the present invention has at least the following advantages:

[0048] 1. By setting up a straightening component, a straightening component, and a visual recognition component, the visual recognition component collects information on the lodging angle, lodging direction, and plant spacing in real time. The linkage control mechanism drives the straightening component and the straightening component to work together to achieve adaptive straightening and sorting of plants with different degrees and directions of lodging. This significantly reduces the missed harvesting rate and the probability of entanglement, reduces manual intervention, improves harvesting efficiency per unit time, and avoids unnecessary interference and damage to non-lodging plants.

[0049] 2. By setting an adjustable sliding plate on the inner wall of the U-shaped groove and configuring a conical head at the front end to guide the plant into the groove, the width of the groove can be dynamically adjusted according to the recognition result to achieve precise alignment and flexible positioning; a convex arc roller is set at the bottom of the groove to reduce frictional resistance and guide the stem, ensuring a smooth and stable combing process and improving the adaptability of plants of different sizes.

[0050] 3. By incorporating a buffer assembly, the elastic buffer can absorb and release vibration and impact forces along the sliding rod direction; the abutment plate on the buffer block and the flexible buffer pad on one side can provide flexible contact when the mounting bracket moves to its limit position, avoiding hard collisions between metals. This effectively improves the operational stability and structural reliability of the combing assembly under complex field conditions, reduces the impact of vibration on the combing assembly, thereby extending the service life of the equipment, while ensuring the continuity and stability of the combing action;

[0051] 4. By setting up a vibration component, the vibration motor generates high-frequency vibration during operation and transmits it to the entire combing plate, effectively shaking off soil, straw fragments and other blockages attached to and around the U-shaped groove, keeping the groove channel unobstructed, avoiding downtime for cleaning due to blockage, improving work efficiency and reliability, and ensuring the continuity and stability of the combing process.

[0052] 5. By setting up the straightening component and refining the mechanical claw, the rotating seat is connected to the dividing plate through the first rotation drive mechanism, which can realize the mechanical claw folding and storing inside the dividing plate and adjusting its angle in the horizontal plane; the telescopic component and the mechanical claw are installed on the rotating seat through the universal joint drive mechanism, which can not only extend and retract in the horizontal direction, but also, with the help of the multi-degree-of-freedom characteristics of the universal joint, enable the mechanical claw to flexibly adjust its posture in space, accurately align with the target plant and straighten it. Attached Figure Description

[0053] Figure 1 This is an overall schematic diagram of this embodiment;

[0054] Figure 2 This is a schematic diagram of the overall combing component in this embodiment;

[0055] Figure 3 This is an exploded view of the combing component in this embodiment;

[0056] Figure 4 for Figure 3 An enlarged schematic diagram of part A in the middle;

[0057] Figure 5 for Figure 3 Enlarged schematic diagram of part B in the middle;

[0058] Figure 6 for Figure 3 An enlarged schematic diagram of section C;

[0059] Figure 7 This is a schematic diagram of the overall straightening components used in this implementation.

[0060] Reference numerals: 1. Frame; 2. Dividing plate; 3. Cutting blade assembly; 4. Combing assembly; 401. Combing plate; 402. U-shaped groove; 403. Adjustable sliding plate; 404. Conical head; 405. Mounting bracket; 406. Telescopic seat; 407. Buffer assembly; 4071. Buffer block; 4072. Elastic buffer; 4073. Abutment plate; 4074. Flexible buffer pad; 408. Vibration assembly; 4081. Vibration motor; 4082. Motor mounting base; 5. Straightening assembly; 501. Rotating seat; 502. Telescopic assembly; 503. Mechanical gripper; 5031. Mounting base; 5032. Linkage mechanism; 5033. Clamping claw; 6. Roller; 7. Dustproof cover; 8. Stabilizer bar; 9. Nut. Detailed Implementation

[0061] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0062] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0063] Example 1

[0064] like Figure 1 As shown, a soybean harvester includes a frame 1, a dividing plate 2, a cutter assembly 3 mounted on the frame 1, a combing assembly 4, a straightening assembly 5, and a vision recognition assembly. It also includes a conveying and feeding device and a threshing system. The conveying and feeding device is used to send the cut soybean plants to the threshing system for detachment, while the threshing system separates the soybean pods from the plants and delivers clean soybeans.

[0065] The machine frame is equipped with a hydraulic lifting device to mount the front end of the walking mechanism. Dividing plates 2 are installed at both ends of the frame 1 to separate adjacent rows of soybean plants. The cutter assembly 3 is mounted on the front end of the frame 1 via a cutter table to cut the soybean stalks. A straightening assembly 4 is located below and in front of the cutter assembly 3 and connected to the frame 1 via a mounting bracket 405. This assembly guides and straightens the lodged soybean plants before the cutter assembly 3 cuts, ensuring the soybean plants are upright and concentrated within the cutting trajectory. A straightening assembly 5 is foldable and mounted on the side wall of the dividing plate 2 to straighten the lodged plants. The visual recognition component can be a high-definition camera, fixed to the upper front of the frame 1, used to monitor the lodged state of the soybeans in the working area in real time, identify the lodged state, and output the lodging angle.

[0066] A linkage control mechanism is provided between the straightening component 4 and the straightening component 5. The information on the collapsed state collected by the visual recognition component is transmitted to the linkage control mechanism through the control system and converted into control commands for the straightening component 4 and the straightening component 5, thereby realizing the coordinated action of the two.

[0067] During operation, the soybean harvester moves along the field. The vision recognition component first scans the lodging status of the crops within the area in front of the machine, identifying the lodging angle, direction, and location of the lodged area. The control system then makes a judgment based on the recognition results. When lodged plants are detected, the straightening component 4 is activated first, straightening the stems to a more parallel state and removing some tangling. After straightening is completed, the straightening component 5 begins to work. After the plant posture is corrected, the harvester moves forward, allowing the cutting blade component 3 to smoothly cut the stems, avoiding missed cuts or uneven cuts caused by lodging, and avoiding repeated crushing, thereby improving work efficiency.

[0068] Example 2

[0069] like Figure 2 , Figure 3 As shown, the straightening assembly 4 includes: a straightening plate 401, on which multiple longitudinally extending U-shaped grooves 402 are provided for guiding and straightening the stems of fallen plants; an adjustable sliding plate 403, respectively disposed on the inner walls of the two sides of adjacent U-shaped grooves 402, and the width of the U-shaped grooves 402 is adjusted by a drive mechanism; a conical head 404, disposed on both sides of each U-shaped groove 402 at the front end of the straightening plate 401, for guiding the fallen plants to smoothly enter the U-shaped grooves 402; and a mounting bracket 405, one end of which is connected to the straightening plate 401, and the other end of which is connected to a telescopic seat 406, the telescopic seat 406 being mounted on the machine by a first telescopic drive mechanism. At the bottom of frame 1, the first telescopic drive mechanism can be an electric push rod, a hydraulic cylinder, or a hydraulic oil cylinder. The mounting bracket 405 is mounted on the telescopic seat 406 via two sliding rods. Furthermore, the adjustable slide plate 403 is slidably mounted on the combing plate 401 and located on the inner walls of the adjacent U-shaped groove 402 on both sides. The drive mechanism is located at one end of the adjustable slide plate 403 and is also located inside the combing plate 401. Specifically, the combing plate 401 opposite the U-shaped groove 402 has a groove, and the drive mechanism is fixedly installed inside the groove. After the groove is installed and cooperated with the combing plate 401 and the mounting bracket 405, it is in a sealed environment.

[0070] like Figure 4As shown, the combing assembly 4 also includes several buffer assemblies 407 disposed at the end of the telescopic seat 406. Each buffer assembly 407 includes a buffer block 4071 disposed at the end of the telescopic seat 406 and an elastic buffer member 4072 fitted onto the sliding rod. The elastic buffer member 4072 is located between the telescopic seat 406 and the mounting bracket 405. One end of the buffer block 4071 is provided with an abutment plate 4073, and one side of the abutment plate 4073 is provided with a flexible buffer pad 4074, which can be made of rubber or silicone. The buffer block 4071 and the elastic buffer member 4072 form a two-stage buffer structure. The elastic buffer member 4072 can absorb and release vibrations and impacts along the direction of the sliding rod, while the abutment plate 4073 on the buffer block 4071 and the flexible buffer pad 4074 on one side can provide flexible contact when the mounting bracket 405 moves to its limit position, avoiding hard collisions between metals, thereby reducing the impact of vibration on the combing assembly 4.

[0071] In some embodiments, in order to increase the connection strength between the abutment plate 4073 and the buffer block 4071, a reinforcing rib is also provided between the abutment plate 4073 and the buffer block 4071, thereby increasing their connection strength.

[0072] To prevent the elastic buffer 4072 from getting stuck, corroding, or losing its elasticity due to the accumulation of dirt, in some preferred embodiments, the elastic buffer 4072 is a compression spring, and a dustproof sleeve 7 is wrapped around the outer surface of the compression spring. The dustproof sleeve 7 can effectively prevent dust, mud, straw fragments and other impurities generated during field operations from entering the gap of the compression spring.

[0073] like Figure 5 As shown, in some embodiments, to prevent the problem of high frictional resistance, easy jamming, and damage to the plant stems when they move within the U-shaped groove 402, a roller 6 is rotatably installed at the bottom of the U-shaped groove 402. The roller 6 has an axial cross-section that is high in the middle and low on both sides. This means that when the stem is placed on the roller 6, due to the inclined surface effect of the roller, any tendency to shift laterally will be met with a lateral force pointing towards the center of the roller 6. This force will automatically push the stem that has deviated from the center back to the highest point of the roller 6 (i.e., the central area of ​​the roller 6). This structure forms an effective automatic centering guide structure, ensuring that the stem always remains on the central axis of the U-shaped groove 402 during movement, effectively preventing lateral shifting and twisting due to shaking or uneven force, thus ensuring the stability and continuity of the straightening process.

[0074] like Figure 6As shown, in some preferred embodiments, to prevent the U-shaped groove 402 from being blocked by soil, the combing assembly 4 further includes a vibration assembly 408, which includes a vibration motor 4081 and a motor mounting base 4082. The vibration motor 4081 is fixedly installed at the rear end of the combing plate 401 through the motor mounting base 4082. In use, the vibration motor 4081 vibrates intermittently, at high frequency, and with small amplitude, thereby transmitting the generated vibration directly to the entire combing plate 401 through the motor mounting base 4082, causing the entire combing plate 401 and the U-shaped groove 402 structure on it to vibrate synchronously. This breaks the adhesion between the wet soil and the metal surface, and shakes away the soil and debris adhering to the inner wall, bottom, and rollers 6 of the U-shaped groove 402, thereby keeping the groove channel continuously unobstructed.

[0075] In some other preferred embodiments, the visual recognition component can also simultaneously detect whether there is wet soil, residual straw fragments, or small pebbles adhering to the groove. The visual recognition component identifies the state within the groove, and then the control system controls the vibration component 408 to generate high-frequency vibrations, loosening and removing any adhering materials from the U-shaped groove 402 and its surrounding area, thus preventing clogging of the groove.

[0076] Example 3

[0077] like Figure 7 As shown, the straightening assembly 5 includes: a rotating seat 501, a telescopic assembly 502, and a mechanical claw 503. The rotating seat 501 is connected to the side wall of the dividing plate 2 via a first rotary drive mechanism. The first rotary drive mechanism uses a servo motor and a reducer. Its fixed end is mounted on the dividing plate 2, and its output shaft is fixedly connected to the base of the rotating seat 501. The servo motor is equipped with a rotary encoder, which collects the rotation angle information of the motor shaft and feeds it back to the control system to achieve closed-loop control. It can also be equipped with an electrical limit switch to prevent the rotating seat 501 from moving beyond its range. The first rotary drive mechanism allows the rotating seat 501 to rotate from 0° to 180° under the drive of the servo motor. During operation, the rotating seat 501 drives the entire straightening mechanism to unfold outward to the working position. In non-operation or transportation state, it can be folded inward and close to the side wall of the dividing plate 2.

[0078] In some other preferred embodiments, the straightening component 5 is stored in the groove by opening a groove on the dividing plate 2 and by a first rotary drive mechanism. In order to prevent the straightening component 5 from being entered into the groove by dust, mud, straw debris and other debris in the field when it is not in use, thereby causing wear, jamming or aging of the moving parts or other corrosion problems, this embodiment provides an openable and closable protective cover assembly at the opening of the groove. The protective cover assembly includes a liftable sealing plate and a sealing plate drive mechanism. The sealing plate opens and closes the groove through the sealing plate drive mechanism. The sealing plate drive mechanism can be a miniature electric push rod or an electromagnetic push rod, one end of which is fixedly installed on the dividing plate 2, and the output end of the sealing plate drive mechanism is fixedly installed on the sealing plate.

[0079] Optionally, to further improve the sealing effect, an elastic sealing strip is provided at the edge where the sealing plate and the dividing plate 2 contact. The elastic sealing strip can be a rubber strip or a silicone strip. When the sealing plate is closed, the elastic sealing strip is compressed to enhance the dustproof and waterproof ability of the gap.

[0080] The telescopic component 502 is mounted on the rotating base 501 via a universal joint drive mechanism to drive the mechanical claw 503 to extend and retract in the horizontal direction. The telescopic component 502 can be an electric push rod or a hydraulic cylinder, one end of which is hinged to the rotating base 501 and driven by the universal joint drive mechanism. The mechanical claw 503 is connected to the output end of the telescopic component 502. The inner side of the mechanical claw 503 is provided with a flexible pad, which can be a silicone or rubber pad, thereby preventing the mechanical claw 503 from directly contacting the soybean plant and thus damaging the soybean plant.

[0081] like Figure 7 As shown, the mechanical gripper 503 includes a mounting base 5031, a linkage mechanism 5032, two gripping claws 5033, and a second telescopic drive mechanism. The mounting base 5031 is rotatably mounted on the output end of the telescopic assembly 502. The gripping claws 5033 are hinged to the mounting base 5031 via the linkage mechanism 5032. The second telescopic drive mechanism is installed inside the mounting base 5031, and its output end is hinged to the linkage mechanism 5032 to drive the gripping claws 5033 to clamp or release.

[0082] The universal joint drive mechanism is an integrated module containing a rotary drive unit and a spherical compensation joint. The integrated module is fixed on the end face of the rotary seat 501, and its outer shell can rotate 360 ​​degrees on the rotary seat 501. The output end of the integrated module is a spherical joint, and one end of the telescopic component 502 is provided with a ball head, which is connected to the spherical joint. During operation, the rotary drive inside the integrated module (such as a built-in motor + reducer) drives the output end shell to rotate, and the spherical joint allows the telescopic component 502 connected to it to swing in multiple directions.

[0083] In some embodiments, to enable the mechanical gripper 503 to move stably in the horizontal direction, a plurality of stabilizing rods 8 are provided around the periphery of the mounting base 5031. The stabilizing rods 8 are slidably mounted on the outside of the second telescopic drive mechanism. One end of each stabilizing rod 8 is threaded, and a nut 9 is threadedly connected to its end. The second telescopic drive mechanism can be an electric push rod, a hydraulic cylinder, or a hydraulic oil cylinder. Specifically, the stabilizing rods 8 are slidably mounted on the outside of the second telescopic drive mechanism. The stabilizing rods 8 are circular metal rods, with their main body parallel to the axis of the second telescopic drive mechanism. Guide holes corresponding to the number and position of the stabilizing rods 8 are provided on the housing of the mounting base 5031. The rods 8 pass through the guide holes to achieve slidable mounting. Wear-resistant bushings can be provided inside the guide holes to reduce friction and improve guiding accuracy.

[0084] A detachable clamping plate (not shown in the figure) is mounted on the clamping claw 5033. The clamping plate is connected to the clamping claw 5033 via a detachable connecting mechanism to increase the contact area of ​​the clamping claw 5033. The detachable connecting mechanism includes multiple threaded holes on the clamping claw 5033, through holes on the clamping plate that match the threaded holes, and bolts. The bolts pass through the through holes on the clamping plate and are screwed into the threaded holes of the clamping claw 5033 to securely lock the clamping plate. At the same time, various types of clamping plates can be replaced by the detachable clamping plates to adapt to different types of plants, not limited to soybean plants.

[0085] Example 4

[0086] Based on Embodiment 1, Embodiment 2, or Embodiment 3, the present invention also provides a working process for a soybean harvester, the specific steps of which are as follows:

[0087] S1 (Visual Recognition): As the soybean harvester moves forward, the visual recognition component installed on the upper front of frame 1 continuously monitors the work area ahead and collects image information in real time. The control system analyzes the images to accurately identify the lodging angle, lodging direction, degree of lodging, and whether there is entanglement among the soybean plants, and uses this information as a basis for decision-making.

[0088] S2 (Plant Straightening): When lodged plants are detected, the control system first drives the straightening assembly 4 to work. The straightening assembly 4 extends from the bottom of the frame 1 via the first telescopic drive mechanism. Then, the adjustable slide plate 403 adjusts the width of the U-shaped groove 402 according to the plant density identified by the visual recognition component. As the harvester moves forward, the front end of the lodged plant is guided into the U-shaped groove 402 by the conical head 404 at the front end of the straightening plate 401. The stem moves backward within the groove, and the convex arc-shaped roller 6 at the bottom uses its inclined plane effect to automatically push the stem back to the center, achieving stable centering. The vibration assembly 408 is activated as needed, using high-frequency vibration to break the adhesion of wet soil, shaking off soil and debris adhering to the groove and roller 6 to prevent blockage. The elastic buffer 4072 and the abutment plate 4073 with flexible pads in the buffer assembly 407 work together to effectively absorb the impact and vibration during movement.

[0089] S3 (Plant Straightening): After the plants are straightened into a relatively parallel and orderly state, the control system activates the straightening assembly 5. The first rotary drive mechanism drives the rotating seat 501, causing the entire straightening assembly 5 to rotate outward from the groove on the side wall of the dividing plate 2 to the working position. The universal joint drive mechanism operates, and its internal rotary drive unit drives the outer shell to rotate 360 ​​degrees, aligning the mechanical claw 503 with the target plant. The telescopic assembly 502 drives its output end to extend horizontally, moving the mechanical claw 503 to the side of the plant. The second telescopic drive mechanism drives the clamping claw 5033 to close, using the inner flexible pad and detachable clamping plate to achieve flexible and stable clamping of the stem. Subsequently, the fallen plant is straightened and guided into the cutting trajectory of the cutter assembly 3.

[0090] S4 (Cut): Cutting and Completion: The straightened plant enters the effective cutting range of the cutter assembly 3, where the cutter quickly severs it. The cut plant is then conveyed to the subsequent threshing system by a conveyor.

[0091] S5 (Cycle and Reset): After completing one straightening cut, the clamping claw 5033 releases, the telescopic component 502 retracts, and the mechanical claw 503 resets. The universal joint drive mechanism adjusts its orientation, ready to process the next plant. When the work area ends or needs to be moved, the rotating seat 501 drives the straightening component 5 to fold inward, and the sealing plate of the protective cover closes, protecting the internal mechanism.

[0092] It should be noted that when harvesting soybean plants, the harvester needs to stop during step S3 (straightening the plants) while it is moving, and then straightening work is carried out. Of course, the parts of the plants that have not fallen over can be harvested first, and the fallen soybean plants can be processed in the end. At the same time, the fallen plants are straightened and guided into the cutting trajectory of the cutter assembly 3. After the cutter assembly 3 cuts, the mechanical claw 503 in the straightening assembly 5 is released after ensuring that it can be received by the conveying device.

[0093] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0094] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A soybean harvester, comprising a frame (1), a dividing plate (2), and a cutter assembly (3) mounted on the frame (1), characterized in that: It also includes a combing component (4), a straightening component (5), and a visual recognition component; The dividing plate (2) is installed at both ends of the frame (1); The cutting blade assembly (3) is mounted on the front end of the frame (1) via a cutting blade table; The combing component (4) is located at the front and lower part of the cutter assembly (3) and is connected to the frame (1) via a mounting bracket (405) for guiding and combing the lodged soybean plants before the cutter assembly (3) cuts; The straightening component (5) can be folded and installed on the side wall of the dividing plate (2) to straighten the fallen plants; The visual recognition component is used to identify the lodging state of plants; A linkage control mechanism is provided between the straightening component (4) and the uprighting component (5) to coordinate the operation of the straightening component (4) and the uprighting component (5) according to the plant's lodging state.

2. The soybean harvester according to claim 1, characterized in that: The combing component (4) includes: a combing plate (401), which has multiple longitudinally extending U-shaped grooves (402) for guiding and combing the stems of fallen plants; Adjustable slide plates (403) are respectively set on the inner walls of the two sides of the adjacent U-shaped grooves (402), and the width of the U-shaped grooves (402) is adjusted by a drive mechanism; A conical head (404) is set on both sides of each U-shaped groove (402) at the front end of the combing plate (401) to guide the fallen plants smoothly into the U-shaped groove (402). The mounting bracket (405) is connected to the comb plate (401) at one end and to the telescopic seat (406) at the other end. The telescopic seat (406) is installed on the bottom of the frame (1) through the first telescopic drive mechanism. The mounting bracket (405) is installed on the telescopic seat (406) through two sliding rods.

3. The soybean harvester according to claim 2, characterized in that: The combing assembly (4) also includes several buffer assemblies (407) disposed at the end of the telescopic seat (406); The buffer assembly (407) includes a buffer block (4071) disposed at the end of the telescopic seat (406) and an elastic buffer member (4072) fitted on the sliding rod. The elastic buffer member (4072) is located between the telescopic seat (406) and the mounting bracket (405). One end of the buffer block (4071) is provided with an abutment plate (4073), and one side of the abutment plate (4073) is provided with a flexible buffer pad (4074).

4. The soybean harvester according to claim 2, characterized in that: The combing assembly (4) further includes a vibration assembly (408) for preventing the U-shaped groove (402) from being blocked by soil; the vibration assembly (408) includes a vibration motor (4081) and a motor mounting base (4082), wherein the vibration motor (4081) is fixedly installed on the rear end of the combing plate (401) through the motor mounting base (4082).

5. The soybean harvester according to claim 4, characterized in that: The straightening component (5) includes: a rotating base (501), a telescopic component (502), and a mechanical claw (503); The rotating seat (501) is connected to the dividing plate (2) via a first rotating drive mechanism; The telescopic assembly (502) is mounted on the rotary seat (501) via a universal joint drive mechanism, and is used to drive the mechanical claw (503) to extend and retract in the horizontal direction; The mechanical claw (503) is connected to the output end of the telescopic component (502), and a flexible pad is provided on the inner side of the mechanical claw (503).

6. The soybean harvester according to claim 3, characterized in that: The mechanical gripper (503) includes a mounting base (5031), a linkage mechanism (5032), two gripping claws (5033), and a second telescopic drive mechanism; The mounting base (5031) is rotatably mounted on the output end of the telescopic assembly (502); The clamping claw (5033) is hinged to the mounting base (5031) via a linkage mechanism (5032); The second telescopic drive mechanism is installed inside the mounting base (5031), and its output end is hinged to the linkage mechanism (5032) to drive the clamping claw (5033) to clamp or release.

7. The soybean harvester according to claim 2, characterized in that: The bottom of the U-shaped groove (402) is rotatably mounted with a roller (6), and the axial cross section of the roller (6) is a convex arc shape with a high middle and low sides.

8. The soybean harvester according to claim 3, characterized in that: The elastic buffer (4072) is a compression spring, and a dustproof sleeve (7) is wrapped around the outer surface of the compression spring.

9. The soybean harvester according to claim 5, characterized in that: The mounting base (5031) is provided with a plurality of stabilizing rods (8) around its perimeter. The stabilizing rods (8) are slidably mounted on the outside of the second telescopic drive mechanism. One end of the stabilizing rod (8) is threaded and a nut (9) is threadedly connected to its end.

10. The soybean harvester according to claim 6, characterized in that: A clamping plate can be detachably installed on the clamping claw (5033). The clamping plate is connected to the clamping claw (5033) through a detachable connecting mechanism to increase the contact area of ​​the clamping claw (5033).

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