Flexible profiling soil-removing and grading integrated harvester with adjustable chain speed for potatoes

Abstract

The embodiment of the invention provides a chain-speed-adjustable flexible profiling soil-removing and grading integrated harvester for potatoes, and relates to the technical field of agricultural machinery application, the chain-speed-adjustable flexible profiling soil-removing and grading integrated harvester comprises a rack, and a traction device used for providing power is arranged on the rack; an excavating device, a soil breaking device, a potato and soil conveying and separating device, a grading device and a collecting device are sequentially arranged on the machine frame along a potato and soil conveying path, the potato and soil conveying and separating device comprises a first-stage potato and soil conveying and separating device and a second-stage potato and soil conveying and separating device, and the second-stage potato and soil conveying and separating device comprises a second-stage separating chain and a first driving assembly. A flexible conveying chain used for clamping potatoes is installed above the second-stage separation chain in parallel, the rotating speed of the second-stage separation chain is the same as that of the flexible conveying chain, a gap allowing the potatoes to pass through exists between the second-stage separation chain and the flexible conveying chain, and a plurality of floating clamping mechanisms are arranged on the flexible conveying chain. The potato-soil separation device has the effects of high potato-soil separation efficiency and low potato peel breaking rate.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery applications, and in particular to a potato harvester. Background Technology

[0003] The invention with application number CN202010874572.8 discloses a potato picking and grading device. The device includes a frame and a side plate. The front end of the side plate is equipped with a traction frame and a transmission mechanism. The bottom front end of the side plate is fixed with a soil-inserting shovel. The rear end of the soil-inserting shovel is connected in sequence to a conveying mechanism, a potato-soil separation mechanism, a residual film and stubble separation mechanism, and a potato grading mechanism. All parts in contact with the potatoes are made of rubber. The grading mechanism is supported by a potato bin. The device can not only complete potato picking, impurity removal, and grading operations, but also minimize damage to the potato skin.

[0004] However, the potato picking and grading device mentioned above has the problem that the potatoes are in a free state during the separation process and are prone to jumping up and down or even falling and rolling with vibration, resulting in poor potato-soil separation effect and a high rate of potato skin damage. Summary of the Invention

[0005] To address the problems of poor potato-soil separation and high potato skin damage rate in existing technologies, this invention provides a potato harvester with a flexible contour-following clamping device.

[0006] This invention provides a potato harvester with adjustable chain speed, flexible contouring, soil removal, and grading, comprising a frame. Along the potato soil conveying path, the frame is sequentially equipped with a digging device, a soil crushing device, a potato soil conveying and separating device, a grading device, and a collecting device. The potato soil conveying and separating device is arranged with a lower front and a higher rear, and includes a primary potato soil conveying and separating device and a secondary potato soil conveying and separating device. The secondary potato soil conveying and separating device includes a secondary separating chain. The frame is also equipped with a shaking wheel for shaking the secondary separating chain. A flexible conveyor chain for clamping potatoes is installed parallel above the secondary separating chain. The secondary separating chain and the flexible conveyor chain rotate at the same speed and have a gap for potatoes to pass through. The flexible conveyor chain is equipped with several floating clamping mechanisms. The frame is also equipped with a first driving component for driving the secondary potato soil conveying and separating device.

[0007] Preferably, the floating clamping mechanism includes a support sleeve, which is fixed to the flexible conveyor chain. The support sleeve is provided with a telescopic rod and a spring, which connects the support sleeve and the telescopic rod. The flexible plate is installed at the end of the telescopic rod.

[0008] Using the above scheme, the flexible conveyor chain achieves contour-following contact and gentle clamping of the potato top by the flexible plate. In this clamping state, the vibrating wheel can maintain high-frequency, low-amplitude vibration to enhance the soil-breaking effect, while the potato will not jump or roll off under the constraint of the clamping structure, greatly reducing the skin breakage rate.

[0009] Preferably, the soil-breaking device includes a swing rod, a swing rod fixing frame, a cylindrical cam, and a motor driving the cylindrical cam. The swing rod is covered with rubber, and one end of the swing rod is connected to the groove of the cylindrical cam. The swing rod fixing frame and the motor are fixed on the frame, and the swing rod is rotatably connected to the swing rod fixing frame.

[0010] Preferably, the soil-breaking device further includes a through-beam laser sensor module for detecting the height of the potato-soil mixture, the sensor module being mounted on the outside of the frame and positioned above and behind the excavating device.

[0011] Using the above solution, the sensor module detects the thickness of the potato-soil mixture in real time. Based on the different heights of the potato-soil mixture, the motor speed is intelligently controlled. The motor drives the cylindrical cam to rotate, and the cylindrical cam continuously drives the swing arm to swing up and down, which initially breaks up large pieces of soil, thereby reducing the burden of subsequent potato-soil separation and improving the overall separation efficiency.

[0012] Preferably, the outer side of the frame is also provided with a chain speed adjustment device. The chain speed adjustment device includes an input sprocket for connecting to the power source, an output sprocket group for connecting to the primary soil conveying and separating device, a chain speed adjuster, and a chain. The output sprocket group includes sprockets of different sizes arranged coaxially. The chain speed adjuster includes an upper pivot, a lower pivot, a return spring, an upper pivot side plate, and an upper pivot side plate. The upper pivot is mounted on the frame. The upper pivot side plates are movably connected to the upper pivot and the lower pivot at both ends, forming a parallelogram structure. The return spring connects the upper pivot and the lower pivot. The lower pivot body is equipped with a pulley guide plate for guiding the chain and a return spring 2 for adjusting the chain tension. The return spring 2 connects the lower pivot body and the pulley guide plate. A guide wheel and a tension wheel are installed on the pulley guide plate. The frame is also equipped with an adjusting motor for controlling the movement of the pulley guide plate. A steel cable is wound around the adjusting motor, and the other end of the steel cable is fixed to the upper pivot side plate 1. The chain is wound around one of the sprockets in the input sprocket, tension wheel, guide wheel and output sprocket group. The rotation of the adjusting motor drives the steel cable to move, and the steel cable drives the chain speed adjuster to move, thereby driving the chain to switch on the output sprocket group.

[0013] Using the above scheme, the height of the potato-soil mixture is measured by a sensor module, the chain transmission ratio is changed, and the speed of the primary potato-soil conveying and separating chain is adjusted, so that the speed of the primary potato-soil separating chain can be adjusted according to the different heights of the potato-soil mixture.

[0014] Preferably, the grading device is a double-roller grading device, which includes an outer roller movably connected to the frame, and an inner roller coaxially arranged inside the outer roller. The outer and inner rollers have a helical structure, with the inner roller having a pitch greater than the diameter of medium-sized potatoes but less than the diameter of large potatoes, and the outer roller having a pitch greater than the diameter of small potatoes but less than the diameter of medium-sized potatoes. The surfaces of the inner and outer rollers are covered with rubber. The double-roller grading device also includes a second drive assembly for driving the double-roller grading device to rotate.

[0015] Using the above scheme, small and medium-sized potatoes quickly pass through the inner roller and fall into the outer roller. A soft material protects the potatoes from fall damage, while large potatoes continue to be conveyed backward. In the outer roller, small potatoes continue to fall, and medium-sized potatoes continue to be conveyed backward, thus completing the entire grading process. This structural design makes the overall structure more compact and occupies less space. At the same time, because the movement time of large potatoes in the roller is shortened and the number of contacts with other potatoes is reduced, the collision frequency of potatoes during the grading process is significantly reduced, helping to reduce damage to small, medium, and large potatoes, and improving grading quality and yield.

[0016] Preferably, the collecting device includes a small potato collecting box, a medium potato collecting box, and a large potato collecting box. The collecting device is arranged sequentially on the frame to collect various types of potatoes after grading by the grading device. The height difference between the collecting device and the grading device is less than the critical height for potato damage.

[0017] Preferably, the excavating device includes an excavating shovel fixing plate fixed to the front end of the frame, and a plurality of excavating shovels are fixed on the excavating shovel fixing plate.

[0018] Compared with the prior art, the present invention has the following significant advantages: 1. The secondary potato soil conveying and separating device of the present invention, wherein the conveyor chain operates synchronously with the clamping mechanism of the flexible conveyor chain, so as to achieve gentle clamping and efficient conveying of potatoes. While ensuring that the potato body is not damaged, the device also enhances the soil breaking effect by cooperating with high frequency and low amplitude vibration, thus achieving a coordinated unity of high frequency shaking and low damage soil removal.

[0019] 2. The soil breaking device in this invention detects the thickness of the potato soil using a sensor, and intelligently controls a motor to drive a cylindrical cam to move a swing rod up and down, effectively breaking up compacted soil, reducing the separation burden, and improving the efficiency of potato soil separation.

[0020] 3. The chain speed adjustment device in this invention detects the height of the potato-soil mixture using a sensor, intelligently controls and adjusts the length of the motor cable, drives the chain speed adjustment device, and adjusts the chain to switch between large and small sprockets, thereby realizing the automatic adjustment of the speed of the primary potato-soil conveying and separating device, achieving efficient adaptation to the separation requirements of different feed amounts.

[0021] 4. The dual-roller grading device in this invention adopts an inner and outer double-layer structure to achieve precise grading of potatoes into small, medium, and large sizes. Its compact structure effectively reduces the collision frequency between large and small / medium-sized potatoes and minimizes damage to large potatoes compared to traditional rollers, thus improving grading quality and overall potato quality. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention; Figure 2 This is a schematic diagram of the core structure of the present invention; Figure 3 This is a schematic diagram of the potato soil conveying and separating device of the present invention; Figure 4 This is a schematic diagram of the structure of the oscillating soil crushing device and the chain speed adjustment device of the present invention; Figure 5 A flowchart illustrating the operation of this invention.

[0023] The attached diagram is labeled as follows: 1. Frame; 2. Excavating device; 3. Soil-crushing device; 4. Three-point suspension device; 5. Primary soil conveying and separating device; 6. Chain speed regulating device; 7. Secondary soil conveying and separating device; 8. Collection hopper; 9. Double rollers; 11. Collection device; 12. Secondary driven shaft; 13. Secondary driven wheel; 15. Vibrating wheel; 16. Secondary driving wheel; 17. Secondary driving shaft; 21. Inner roller; 22. Outer roller; 27. Tertiary driving shaft; 28. Tertiary driving wheel; 29. ​​Tertiary driven shaft; 30. Tertiary driven wheel; 33. Primary driving shaft; 34. Primary driving wheel; 35. Gearbox output shaft; 38. Primary driven shaft; 39. Primary driven wheel; 40. Excavating shovel; 41. Excavating shovel fixing plate; 43. Through-beam laser. Sensor module; 44. Swing rod fixing rod; 45. Swing rod; 51. Motor; 52. Cylindrical cam; 53. Large sprocket; 54. Middle sprocket; 55. Small sprocket; 61. Gearbox; 62. Input sprocket; 63. Second output wheel; 64. Steel cable; 65. Adjusting motor; 66. Upper pivot body; 67. Lower pivot body; 68. Return spring one; 69. Upper pivot side plate one; 71. Return spring two; 72. Pulley guide plate; 73. Tension wheel; 74. Guide wheel; 75. Upper pivot side plate two; 76. Support sleeve; 78. Telescopic rod; 79. Flexible plate; 82. Small potato collection box; 83. Medium potato collection box; 84. Large potato collection box; 85. Large potato collection hopper; 86. Support wheel groove; 87. Spiral side plate; 89. Support wheel groove two. Detailed Implementation

[0024] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] The following is in conjunction with the appendix Figure 1-5 The embodiments of the present invention will be described in further detail below.

[0027] Reference Figure 1 This application provides a potato desoiling and grading integrated harvester, including a frame 1. The frame 1 is equipped with a traction device 4 for providing power. Along the potato soil conveying path, the frame 1 is equipped with a digging device 2, a soil breaking device 3, a primary potato soil conveying and separating device 5, a secondary potato soil conveying and separating device 7, a collection bucket 8, a grading device 9, and a collection device 11. The traction device includes a three-point suspension device 4 and a gearbox 61. The three-point suspension device 4 is fixed on the frame and connected to the tractor. The gearbox 61 is fixed on the frame and connected to the tractor's power output shaft. The gearbox 61 is equipped with a gearbox output shaft 35.

[0028] Reference Figure 2The excavating device 2 includes an excavating shovel 40 and an excavating shovel fixing plate 41. The excavating shovel 40 is evenly fixed on the excavating shovel fixing plate 41, which is fixed at the front end of the frame 1 and forms a 45° angle with the horizontal plane to ensure the excavating shovel's entry angle into the soil. The collecting hopper 8 is used to connect the secondary potato soil conveying and separating device 7 and the grading device 9.

[0029] Reference Figure 2 , Figure 3 The primary potato soil conveying and separating device 5 includes a primary separating chain, comprising a horizontally parallel primary drive shaft 33 and a primary driven shaft 38. The primary drive shaft 33 and the primary driven shaft 38 are rotatably mounted on the frame 1. Each end of the primary drive shaft 33 and the primary driven shaft 38 is respectively equipped with a primary drive wheel 34 and a primary driven wheel 39, which are meshed by a chain to form a closed-loop transmission chain. Several screen rods are connected at equal intervals along the chain, forming a chain-driven conveyor belt. The primary drive shaft 33 is positioned higher than the primary driven shaft 38, and the primary separating chain is inclined at the front and rear. The primary potato soil conveying and separating device 5 also includes a chain speed adjusting device 6 for transmitting power from the gearbox. The chain speed adjusting device 6 connects the primary drive wheel 34 and the gearbox output shaft 35. During operation, the potato soil scooped up by the digging device 2 falls onto the conveyor belt, and the potatoes are conveyed backward along with the screen rods. The soil leaks through the gaps between the screen rods, achieving initial separation of the potato soil and potatoes.

[0030] Reference Figure 2 , Figure 3The secondary potato soil conveying and separating device 7 includes a secondary separating chain, a secondary drive shaft 17, a secondary drive wheel 16, a secondary driven shaft 12, and a secondary driven wheel 13. The specific installation relationship and tilt angle are the same as those of the primary separating chain. A vibrating wheel 15 is provided on the frame to vibrate the secondary separating chain. A flexible separating chain is provided above the secondary separating chain. The flexible separating chain includes a tertiary drive shaft 27, a tertiary driven shaft 29, a tertiary drive wheel 28, and a tertiary driven wheel 30. The specific installation relationship and tilt angle are the same as those of the primary separating chain. There is a certain gap between the secondary separating chain and the flexible separating chain 31 for potatoes to pass through. Several support sleeves 76 are evenly distributed on the rods of the flexible separating chain 31. A telescopic rod 78 is provided inside the support sleeve 76. One end of the telescopic rod 78 is connected to the support sleeve 76 by a spring, and the other end of the telescopic rod 78 is provided with a flexible plate 79. The frame also includes a first drive assembly, which comprises a second output wheel 63 mounted on the gearbox output shaft 35. A secondary drive wheel 16 and a tertiary drive wheel 28 are connected to the second output wheel 63 via chains. The secondary drive wheel 16 is also connected to the vibrating wheel 15 via a chain. The second output wheel 63 drives the secondary drive wheel 16 and the tertiary drive wheel 28 to rotate at the same speed. The secondary drive wheel 16 drives the vibrating wheel to rotate. The telescopic rod 78 of the flexible separation chain and the flexible plate 79 are connected by springs to form a floating clamping structure. When potatoes enter the secondary separation chain, the flexible plate 79 makes contoured contact with and gently clamps the top of the potato. The vibrating wheel 15 vibrates at high frequency and low amplitude. Under the constraint of the upper and lower clamping structures, the potatoes will not jump or roll, greatly enhancing the soil-breaking effect and reducing the skin breakage rate.

[0031] Reference Figure 2The grading device 9 includes a double-layer roller grading device, which includes an outer roller 22 movably connected to the frame 1. An inner roller 21 is coaxially mounted inside the outer roller 22. The inner roller 21 and outer roller 22 are aligned and connected at the potato entry point. The outer roller 22 and inner roller 21 form a spiral mechanism, with the inner roller's pitch being greater than that of the outer roller. After potatoes fall from the collection hopper into the double-layer roller grading device, small and medium-sized potatoes, due to their thickness being less than the inner roller's pitch, quickly pass through the inner roller and fall into the outer roller. Rubber sleeves are installed on both the inner and outer rollers to protect the potatoes from fall damage. Large potatoes, due to their larger size, cannot pass through the inner roller's pitch. Spiral side plates 87 are provided at the ends of both the inner and outer rollers, allowing large potatoes to continue being conveyed along these spiral side plates. The double-layer roller grading device also includes a second drive assembly, which includes a small bevel gear 19 movably connected to the frame. The outer roller 22 is provided with a large bevel gear 23. The small bevel gear 19 meshes with the large bevel gear 23. The small bevel gear 19 is chain-connected to a third-stage drive wheel 28. The rotation of the third-stage drive wheel 28 drives the small bevel gear 19 to rotate, which in turn drives the large bevel gear 23 to rotate, thereby driving the double-layer roller grading device to rotate. The outer roller 22 is also provided with support wheel grooves 86 and 89 at its front and rear ends, respectively. The frame is provided with two sets of support wheels, each set of support wheels rolling in the corresponding support wheel groove 86 or support wheel groove 89 to assist the rotation of the double-layer roller grading device.

[0032] Reference Figure 2 The collecting device 11 includes a small potato collecting box 82, which is located below the outer roller 22. A medium potato collecting box 83 is located behind the small potato collecting box 82, which corresponds to the outlet of the outer roller. A large potato collecting box 84 is located behind the medium potato collecting box 83. The collecting device 11 also includes a large potato collecting hopper 85, which is located at the outlet of the inner roller. The large potato collecting hopper 85 guides the large potatoes from the outlet of the inner roller to the large potato collecting box 84. The height difference between all collecting boxes and the grading device is less than the critical height for potato damage.

[0033] Reference Figure 4 The soil-crushing device 3 includes a swing rod 45, a swing rod fixing frame 44, a cylindrical cam 52, and a motor 51 that drives the cylindrical cam 52. The swing rod 45 is covered with rubber, and one end of the swing rod 45 is provided with a groove for connecting the cylindrical cam 52 with a deep groove ball bearing. The swing rod 45 is rotatably connected to the swing rod fixing frame 44. The swing rod fixing frame 44 and the motor 51 are fixed on the frame 1. The soil-crushing device 3 also includes a through-beam laser sensor module 43. The through-beam laser sensor module 43 is installed on the outside of the frame 1 and located above and behind the digging device 2. The through-beam laser sensor is used to detect the thickness of the harvested potato-soil mixture in real time.

[0034] When the laser sensor starts working, it emits a beam of light to the laser receiver. If the light path is unobstructed, the receiver will generate a high-level signal (1); otherwise, it will generate a low-level signal (0). Assume there are N pairs of sensors on the sensor module, numbered 1 to N from bottom to top. The first laser sensor is positioned at the end of the excavator 40, flush with the highest point of the excavator 40's end. Therefore, the lowest detection point of the sensor can be determined. Each sensor is spaced 10mm apart, which also allows us to obtain the highest point detected by the sensor. The value is 10*(N-1) mm. At a certain moment, the laser sensor module signal is [0 0 0 0 1 1…1], the m-th sensor signal is 0, and the (m+1)-th sensor signal is 1. Therefore, the height of the real-time potato-soil mixture can be calculated. Approximately 10*(m-1)mm, then set the height. The height error between the height of the potato-soil mixture and the desired height can be calculated using the following formula. .

[0035]

[0036] Sensor detects height error in real time and the rate of change of error Height error and the rate of change of error As the input to the fuzzy controller, the fuzzy controller will use the height error. and error change rate After fuzzification, the target rotational speed is calculated using the following formula. Adjustments are made, among which , , These are proportional units, integral units, and differential units, respectively.

[0037]

[0038] To facilitate PID control, it is discretized, and the controller sampling period is set to [value]. , No. The error corresponding to the next sampling time is Sampling height is but:

[0039] No. The target speed of the periodic output to motor 51 is The following formula can be used for calculation:

[0040] The motor speed of 51 was previously issued; , These are the sampling errors from the previous one and the previous two, respectively.

[0041] When the height of the potato-soil mixture is high, the motor 51 rotates rapidly; when the height of the potato-soil mixture is low, the motor 51 rotates at a low speed. The rotation of the motor 51 drives the cylindrical cam 52 to rotate. As the cylindrical cam 52 rotates, its push stroke drives the swing rod to rise. When the cylindrical cam 52 returns to the return stroke, the potato-soil mixture causes the swing rod to fall due to gravity. When the cylindrical cam 52 rotates again to its push stroke, it drives the swing rod to rise. This process repeats, and the cylindrical cam 52 continuously drives the swing rod 45 to swing up and down, thereby achieving periodic swinging motion.

[0042] Reference Figure 4 The outer side of the frame 1 is also equipped with a chain speed adjustment device 6. The chain speed adjustment device 6 includes an input sprocket 62, an output sprocket set, a chain speed adjuster, and a chain. The input sprocket is connected to the gearbox output shaft 35. The output sprocket set includes a large sprocket 53, a medium sprocket 54, and a small sprocket 55 arranged sequentially from the frame outward. Each sprocket in the output sprocket set is coaxial with the first-stage drive shaft 33. The chain speed adjuster includes an upper pivot 66, a lower pivot 67, a return spring 68, an upper pivot side plate 69, and an upper pivot side plate 75. The upper pivot 66 is mounted on the frame 1. The upper pivot side plate 69 and the upper pivot side plate 75 are movably connected at both ends to the upper pivot 66 and the lower pivot 67, forming a parallelogram structure. The return spring 68 connects the upper pivot 66 and the lower pivot 67. The lower pivot 67 is provided with a pulley guide plate 72 for guiding the chain and a pulley guide plate 75 for... A return spring 71 for adjusting chain tension is connected to a lower pivot 67 and a pulley guide plate 72. A guide wheel 74 and a tension wheel 73 are mounted on the pulley guide plate 72. An adjusting motor 65 for controlling the movement of the pulley guide plate 72 is also provided on the frame 1. A steel cable 64 is wound around the adjusting motor 65, and the other end of the steel cable 64 is fixed to an upper pivot side plate 69. The chain is wrapped around one of the sprockets in the input sprocket 62, tension wheel 73, guide wheel 74 and output sprocket group. The rotation of the adjusting motor 65 drives the steel cable 64 to move, and the steel cable 64 drives the chain speed adjuster to move, thereby driving the chain to switch on the output sprocket group. In use, the gearbox output shaft 35 rotates, driving the input sprocket 62 to rotate. The chain speed adjuster selects a suitable output sprocket group to change the speed of the first-stage drive shaft 33, thereby adjusting the chain speed of the first-stage release chain. The principle can be referred to as a bicycle speed controller.

[0043] Based on the height error e(t) of the potato-soil mixture measured by the through-beam sensor module, a threshold is set. When the height error e(t) reaches the threshold When the error is ±10mm, the chain is at the middle sprocket. If the height error e(t) of the potato-soil mixture is greater than the threshold... When the thickness is increased by 10mm, the adjusting motor 65 rotates counterclockwise. °, causing the steel cable 64 to move by a fixed increment, pulling the chain speed adjustment device 6, the return spring 68 pulls the upper pivot side plate 69, thereby driving the pulley guide plate 72 to move to the left, thereby driving the guide wheel 74 to move to the left. The guide wheel 74 guides the chain into the smaller sprocket, and the return spring 71 pulls the tension wheel 73 to adjust the chain tension in real time. At this time, the transmission ratio increases. When the height error e(t) of the potato-soil mixture measured by the through-beam sensor module is less than the threshold... When the temperature drops to -10mm, adjust the motor to rotate 65 degrees clockwise. °, causing the steel cable 64 to move by a fixed increment, pulling the chain speed adjustment device 6 in the opposite direction, and the guide wheel 74 guides the chain into the larger sprocket.

[0044] Reference Figure 5 The working principle of this invention is as follows: A shovel digs out a mixture of potatoes and soil. A through-beam sensor module 42 detects the height of the mixture. A motor 51 drives a swing arm 45 to initially break up large clods of soil. Then, a chain speed adjustment device adjusts the speed of the primary separation chain based on the signal from the through-beam sensor module 42. Small clods fall to the ground through the gaps between the screen bars. The remaining potato-soil mixture enters the secondary separation chain. The flexible separation chain makes conformal contact with and gently clamps the top of the potatoes. A vibrating wheel 15 maintains high-frequency, low-amplitude vibration to enhance the soil-breaking effect. The potatoes then enter a double-roller grading device 9 through a collection hopper 8. They are graded by size using different pitches in the inner and outer layers. Finally, a collection device collects potatoes of different grades.

[0045] This invention integrates digging, potato-soil separation, and grading, which reduces the potato skin breakage rate and ensures accurate potato grading.

[0046] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or variations made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A potato chain speed adjustable flexible contour soil removal and grading integrated harvester, comprising a frame (1), wherein a traction device (4) for providing power is provided on the frame (1), characterized in that: The frame (1) is provided with a digging device (2), a soil breaking device (3), a potato soil conveying and separating device, a grading device (9), and a collecting device (11) in sequence along the potato soil conveying path. The potato soil conveying and separating device is arranged with the front lower and the back higher. The potato soil conveying and separating device includes a primary potato soil conveying and separating device (5) and a secondary potato soil conveying and separating device (7). The secondary potato soil conveying and separating device (7) includes a secondary separating chain. The frame (1) is also provided with a shaking wheel (15) for shaking the secondary separating chain. A flexible conveyor chain for clamping potatoes is installed parallel above the secondary separating chain. The secondary separating chain and the flexible conveyor chain have the same rotation speed and there is a gap for potatoes to pass through. The flexible conveyor chain is provided with several floating clamping mechanisms. The frame (1) is also provided with a first driving component for driving the secondary potato soil conveying and separating device (7).

2. The harvester according to claim 1, characterized in that: The floating clamping mechanism includes a support sleeve (76), which is fixed to a flexible conveyor chain. The support sleeve (76) is provided with a telescopic rod (78) and a spring. The spring connects the support sleeve (76) and the telescopic rod (78). The flexible plate (79) is installed at the end of the telescopic rod (78).

3. The harvester according to claim 1 or 2, characterized in that: The soil breaking device (3) includes a swing rod (45), a swing rod fixing frame (44), a cylindrical cam (52), and a motor (51) that drives the cylindrical cam (52). The swing rod (45) is wrapped with rubber. One end of the swing rod (45) is connected to the groove of the cylindrical cam (52). The swing rod fixing frame (44) and the motor (51) are fixed on the frame (1). The swing rod (45) is rotatably connected to the swing rod fixing frame (44).

4. The harvester according to claim 3, characterized in that: The soil breaking device (3) also includes a through-beam laser sensor module (43) for detecting the height of the potato soil mixture. The sensor module is installed on the outside of the frame (1) and positioned above and behind the excavating device (2).

5. The harvester according to claim 4, characterized in that: The frame (1) is also provided with a chain speed adjustment device (6) on the outside. The chain speed adjustment device (6) includes an input sprocket (62) for connecting to the power source, an output sprocket group for connecting to the primary soil conveying and separating device (5), a chain speed adjuster and a chain. The output sprocket group includes sprockets of different sizes arranged coaxially. The chain speed adjuster includes an upper pivot (66), a lower pivot (67), a return spring (68), an upper pivot side plate (69) and an upper pivot side plate (75). The upper pivot (66) is mounted on the frame (1). The upper pivot side plate (69) and the upper pivot side plate (75) are movably connected at both ends to the upper pivot (66) and the lower pivot (67) and form a parallelogram structure. The return spring (68) connects the upper pivot (66) and the lower pivot (67). The body (67) is provided with a pulley guide plate (72) for guiding the chain and a return spring two (71) for adjusting the chain tension. The return spring two (71) connects the lower pivot body (67) and the pulley guide plate (72). The pulley guide plate (72) is equipped with a guide wheel (74) and a tension wheel (73). The frame (1) is also provided with an adjusting motor (65) for controlling the movement of the pulley guide plate (72). A steel cable (64) is wound around the adjusting motor (65). The other end of the steel cable (64) is fixed to the upper pivot side plate one (69). The chain is wrapped around one of the sprockets in the input sprocket (62), tension wheel (73), guide wheel (74) and output sprocket group. The adjusting motor (65) rotates and drives the steel cable (64) to move. The steel cable (64) drives the chain speed adjuster to move, thereby driving the chain to switch on the output sprocket group.

6. The harvester according to claim 1 or 5, characterized in that: The grading device (9) is a double-roller grading device, which includes an outer roller (22) that is movably connected to the frame (1). An inner roller (21) is coaxially arranged inside the outer roller (22). The outer roller (22) and the inner roller (21) are in a spiral structure. The pitch of the inner roller is greater than the diameter of the medium-sized potato but less than the diameter of the large potato. The pitch of the outer roller is greater than the diameter of the small potato but less than the diameter of the medium potato. The surfaces of the inner and outer rollers are covered with rubber. The double-roller grading device also includes a second drive component that drives the double-roller grading device to rotate.

7. The harvester according to claim 6, characterized in that: The collection device (11) includes a small potato collection box (82), a medium potato collection box (83) and a large potato collection box (84). The collection device (11) is arranged on the frame (1) in sequence to collect various types of potatoes after grading by the grading device (9). The height difference between the collection device (11) and the grading device (9) is less than the critical height of potato damage.

8. The harvester according to claim 1, characterized in that: The excavation device (2) includes an excavation shovel fixing plate (41) fixed at the front end of the frame (1), and several excavation shovels (40) are fixed on the excavation shovel fixing plate (41).

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