A multi-claw folding device with adjustable height and angle suitable for apocynum venetum cluster and an adaptive adjusting method

Abstract

The application provides a multi-claw folding device with adjustable height and angle for apocynum venetum cluster and a self-adaptive adjusting method, the folding device comprises a pre-cutting detection system, a power system, an output connecting rod, a lower layer horizontal folding device, a middle layer horizontal folding device, an upper layer horizontal folding device, a transmission connecting rod and a control system. The folding device is located above the harvesting device and in front of the cab. The application adjusts the angle of the movable gear teeth and the movable gear fingers of the middle layer horizontal folding device and the upper layer horizontal folding device to adapt to the width of the apocynum venetum cluster, and adjusts the distance between the folding devices of different layers to adapt to the height of the apocynum venetum cluster. The scheme can effectively complete the folding work of apocynum venetum clusters with different widths and heights, and plays an important role in the development of apocynum venetum high-efficiency harvesting and bundling machines.

Description

Technical Field

[0001] This invention belongs to the field of agricultural equipment technology, and relates to a multi-claw gathering device for harvesting equipment of Apocynum venetum, and in particular a multi-claw gathering device and adaptive adjustment method suitable for Apocynum venetum clumps with adjustable height and angle. Background Technology

[0002] A baler is a small crop harvesting device that integrates harvesting and baling functions, offering higher cost-effectiveness and greater flexibility. During operation, crop stalks are straightened by a stalk-lifting device and guided to the cutter for cutting. After cutting, the stalks are conveyed to the baling device for baling. However, because Apocynum venetum stalks grow in clusters, with the upper part of the plant spreading out and forming a tree-like structure, its morphological characteristics differ significantly from other plants. Existing traditional stalk-lifting devices cannot effectively straighten and convey Apocynum venetum clumps.

[0003] Currently, Chinese patent CN202011078980.9 discloses "a shrub-gathering and contour-following cutting device," which designs a shrub-gathering device at the front end of the cutting component. The device gathers the shrubs with grippers before cutting, and a four-bar linkage mechanism enables the gathering device to move vertically. However, the grippers of this device are of fixed size and the angle is constant and cannot be adjusted, resulting in poor adaptability in practical applications. Summary of the Invention

[0004] To address the technical shortcomings of the aforementioned crop gathering devices, this invention provides a multi-claw gathering device and adaptive adjustment method suitable for Apocynum venetum clumps, with adjustable height and angle. The aim is to adaptively adjust the height and angle of the gathering device before cutting and bundling Apocynum venetum clumps, thereby ensuring successful gathering and facilitating the operation of the cutting device.

[0005] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0006] A multi-claw gathering device with adjustable height and angle for Apocynum venetum clumps, characterized in that it includes a pre-cutting detection system, a power system, an output linkage, a lower horizontal gathering device, a middle horizontal gathering device, an upper horizontal gathering device, a transmission linkage mechanism, and a control system.

[0007] The pre-harvest detection system includes a cluster height sensor, a cluster width sensor, and a speed sensor, which are connected to the control system. They are used to detect the height and width of the Apocynum venetum clusters to be harvested, and to transmit the collected height, width, and forward speed of the harvester to the control system.

[0008] The lower, middle, and upper horizontal retracting devices are each in pairs, arranged symmetrically on the left and right. The lower horizontal retracting device includes a crossbar and several teeth fixed to the crossbar. The middle horizontal retracting device includes a middle connecting rod, movable teeth, a drive motor, a motor connecting rod, and a rear connecting rod. The drive motor is fixed to the middle connecting rod, and its output shaft is perpendicular to the plane of the middle connecting rod. The roots of several movable teeth are hinged to the middle connecting rod, and their ends are hinged to the rear connecting rod. The end of the rear connecting rod is hinged to the output end of the drive motor via the motor connecting rod. The upper horizontal retracting device includes an upper connecting rod, movable fingers, a stepper motor, and a lead screw. The roots of several movable fingers are hinged to the upper connecting rod, and their ends are threaded to the lead screw. The stepper motor is fixed to the upper connecting rod, and its output end is connected to the lead screw.

[0009] The lower horizontal retracting device is located above the power system and is connected to the output shaft of the power system via an output linkage. The lower horizontal retracting device, the middle horizontal retracting device, and the upper horizontal retracting device are arranged sequentially from bottom to top, and a vertical thrust motor is installed between each pair of adjacent devices. The lower horizontal retracting device, the middle horizontal retracting device, and the upper horizontal retracting device are connected to each other and to the frame via a transmission linkage mechanism, so as to achieve synchronous movement under the drive of the power system.

[0010] The power system, thrust motor, drive motor, and stepper motor are all connected to the control system, which controls their operation based on the height and width of the tufts of Apocynum venetum to be gathered.

[0011] Furthermore, the lower horizontal gathering device and the middle horizontal gathering device are fixed by a first thrust motor support frame, and the first thrust motor is fixed inside the first thrust motor support frame; the middle horizontal gathering device and the upper horizontal gathering device are fixed by a second thrust motor support frame, and the second thrust motor is fixed inside the second thrust motor support frame.

[0012] Furthermore, the transmission linkage mechanism includes a left linkage mechanism and a right linkage mechanism. The left linkage mechanism includes a first link hinged to the left frame, a second link hinged to the first link, and a third link with one end fixed to the second link and the other end fixedly connected to the upper second thrust motor support frame. The other end of the second link is fixedly connected to the middle layer horizontal retracting device.

[0013] The right-side linkage mechanism includes a fourth link hinged to the right-side frame, a fifth link hinged to the fourth link, and a sixth link with one end fixed to the fifth link and the other end fixedly connected to the lower horizontal retracting device. The other end of the fifth link is fixedly connected to the second thrust motor support frame.

[0014] Furthermore, the teeth of the lower horizontal gathering device are oriented towards the forward direction of the harvester and the front-rear axial direction of the harvester, and are in an arc shape.

[0015] Furthermore, the movable tooth root of the middle-layer horizontal retracting device is straight and parallel to the motor connecting rod.

[0016] Furthermore, the middle connecting rod, movable teeth, motor connecting rod and rear connecting rod on the middle horizontal gathering device form a four-bar linkage mechanism. The drive motor drives the motor connecting rod to rotate, and then through the rear connecting rod, several movable teeth can complete a rotation of 30°-150° in the horizontal plane.

[0017] Furthermore, the lead screw of the upper horizontal retracting device is located in the horizontal plane and is parallel to the line connecting several movable fingers; the stepper motor drives the movable fingers to rotate around the upper connecting rod in the horizontal plane by rotating the lead screw, completing a rotation of 30°-150°.

[0018] Furthermore, the power system is located behind the cutting device and at the bottom of the lower horizontal gathering device; the power system drives the output connecting rod to rotate in a circle in the horizontal plane with one end of the output connecting rod as the axis; the rotation direction of the output connecting rod is consistent with the gathering direction of the Apocynum venetum.

[0019] The adaptive adjustment method of the multi-claw retracting device is characterized by mainly employing the following steps:

[0020] (1) When harvesting and bundling Apocynum venetum, the height and width of the Apocynum venetum clumps to be collected are detected in real time by the pre-harvest detection system.

[0021] The control system drives the first thrust motor and the thrust motor to change the hugging height of the hugging-type gathering device according to the height of the Apocynum venetum clumps to be gathered. By adjusting the hugging height, the success rate of the gathering device in grasping the Apocynum venetum clumps is improved. The system also adjusts the output speed of the power system and the running speed of the drive motor and stepper motor according to the width of the Apocynum venetum clumps to be gathered and the harvesting speed, so as to control the gathering speed of the lower horizontal gathering device, the middle horizontal gathering device, the upper horizontal gathering device, and the gathering speed of the movable teeth and movable fingers.

[0022] Furthermore, the control of the retraction speed of the movable teeth and movable fingers is based on:

[0023] The width of the Apocynum venetum clump to be gathered was detected by the clump width sensor of the pre-cutting detection system as L. Initially, the movable teeth and movable fingers of the middle layer horizontal gathering device and the upper layer horizontal gathering device were all in the maximum opening angle position. Let the angle between the movable teeth and the middle layer connecting rod be θ0.

[0024] To ensure the complete gathering of the unharvested Apocynum venetum by the multi-claw gathering device, the following conditions must be met:

[0025] l0-2R+2l1cosα-2l2cos(180°-θ0-θ1-α)>L

[0026] In the formula, l1 is the horizontal distance from the first movable tooth to the last movable tooth, θ1 is the angle that the movable tooth and movable finger need to rotate, l0 is the distance between the output shafts of the two power systems, R is the length of the output connecting rod, l2 is the length of the movable tooth, α is the maximum angle between the middle connecting rod and the front plane of the cutting table; θ1 is the angle that the movable tooth and movable finger need to rotate.

[0027] Therefore, when At this time, it can ensure that the multi-claw gathering device completely gathers the Apocynum venetum to be harvested, thereby determining the value of θ1.

[0028] The beneficial effects of this invention are as follows:

[0029] This invention improves upon the traditional baling device used in balers by designing a multi-claw gathering device tailored to the morphological characteristics of Apocynum venetum clumps. Through a four-bar linkage, the device gathers and supports the diverging Apocynum venetum branches, thereby improving the efficiency of the cutting device.

[0030] The multi-claw gathering device described in this invention consists of three layers, with adjustable distances between each layer. The angle of the teeth in the upper and middle layers is adjustable in the horizontal direction. By adjusting the height between layers and the angle of the teeth, the gathering device can be applied to different varieties of Apocynum venetum and other tall crops, effectively improving the harvesting success rate of harvesting equipment.

[0031] The multi-claw gathering device described in this invention can employ various transmission methods for its height and angle adjustment. The aforementioned screw drive and thrust motor are merely illustrative of the working principle; the specific transmission method should be selected based on the working conditions.

[0032] The adaptive adjustment method of the multi-claw gathering device described in this invention detects the morphological characteristics of the Apocynum venetum clumps to be harvested in advance through a pre-harvest detection system and makes adaptive adjustments accordingly, which greatly improves the harvesting efficiency and automation. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the multi-claw retracting device with adjustable height and angle described in this invention.

[0034] Figure 2 This is a front view of the structure of the multi-claw gathering device with adjustable height and angle described in this invention.

[0035] Figure 3This is a schematic diagram of the lower-level horizontal gathering device.

[0036] Figure 4 This is a schematic diagram of the middle-layer horizontal gathering device.

[0037] Figure 5 This is a top view of the middle-layer horizontal gathering device.

[0038] Figure 6 This is a schematic diagram of the upper horizontal gathering device.

[0039] Figure 7 This is a top view of the upper horizontal retracting device.

[0040] Figure 8 This is a schematic diagram of the transmission linkage mechanism of the height- and angle-adjustable multi-claw retracting device described in this invention. Figure 1 .

[0041] Figure 9 This is a schematic diagram of the transmission linkage mechanism of the height- and angle-adjustable multi-claw retracting device described in this invention. Figure 2 .

[0042] Figure 10 This is a schematic diagram of the control system adjusting the width of the retracting device.

[0043] In the diagram, 1. Pre-cutting detection system, 2. Power system, 3. Output linkage, 4. Lower horizontal gathering device, 401. Crossbar, 402. Pulley, 5. Middle horizontal gathering device, 501. First thrust motor, 502. Thrust motor support frame, 503. Middle connecting rod, 504. Movable pulley, 505. Drive motor, 506. Motor linkage, 507. Rear linkage, 6. Upper horizontal gathering device, 601. Second thrust motor, 602. Thrust motor support frame, 603. Upper connecting rod, 604. Movable pulley, 605. Stepper motor, 606. Lead screw, 8. Transmission linkage, 801. First linkage, 802. Second linkage, 803. Third linkage, 804. Fourth linkage, 805. Sixth linkage, 806. Fifth linkage, 7. Control system, 91. Left side frame, 92. Right side support. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0045] like Figure 1 , Figure 2As shown, the multi-claw gathering device and adaptive adjustment system for adjustable height and angle of Apocynum venetum clumps according to the present invention includes a pre-cutting detection system 1, a power system 2, an output linkage 3, a lower horizontal gathering device 4, a middle horizontal gathering device 5, an upper horizontal gathering device 6, a transmission linkage mechanism 8, and a control system 7.

[0046] The pre-harvest detection system is located in front of the harvester and includes a clump height sensor 103, a clump width sensor 104, and a speed sensor, which are connected to the control system 7. These sensors detect the height and width of the Apocynum venetum clumps to be harvested, and transmit the collected height, width, and the harvester's forward speed to the control system 7. The control system is installed in the control room of the Apocynum venetum baler and issues control commands based on the height and width of the clumps and the harvesting speed.

[0047] There are two lower-layer horizontal gathering devices 4, two middle-layer horizontal gathering devices 5, and two upper-layer horizontal gathering devices 6, arranged symmetrically on the left and right. These devices are arranged sequentially from bottom to top, above the cutting device. The lower-layer horizontal gathering device 4 is located above the power system 2 and is connected to the output shaft of the power system 2 via an output connecting rod 3, providing power for the movement of the three-layer horizontal gathering devices. The lower-layer horizontal gathering devices 4, 5, and 6, located on the same side, are connected to each other and to the frame via a transmission connecting rod mechanism 8, enabling the three-layer horizontal gathering devices to reciprocate synchronously. The power system 2 is located behind the cutting device and at the bottom of the lower-layer horizontal gathering device 4; the power system 2 drives the output connecting rod 3 to rotate in a circular motion in the horizontal plane around one end of the output connecting rod 3 as its axis; the rotation direction of the output connecting rod 3 is consistent with the gathering direction of the Apocynum venetum.

[0048] Figure 3 The diagram shows two symmetrical lower-level horizontal gathering devices 4, each including a crossbar 401 and teeth 402. Several teeth 402 are fixedly mounted on the crossbar 401. The crossbar 401 is connected to the output shaft of the power system 2 via an output connecting rod 3, and can reciprocate in the horizontal plane under the drive of the power system 2. The number of teeth 402 in the left and right parts of the lower-level horizontal gathering devices is equal and symmetrically arranged; the specific number needs to be determined according to actual operational requirements. The teeth 402 of the lower-level horizontal gathering devices 4 face the forward direction of the harvester and the front-rear axial direction of the harvester, and are arc-shaped. The movable teeth 504 of the middle-level horizontal gathering device 5 have straight roots and are parallel to the motor connecting rod 506.

[0049] Figure 4 , Figure 5The diagram shows two symmetrically arranged middle-layer horizontal gathering devices 5. A thrust motor support frame 502 and a first thrust motor 501 are installed between the middle-layer horizontal gathering device 5 and the lower-layer horizontal gathering device 4. The first thrust motor 501 is fixed to the thrust motor support frame 502, and the vertical distance between the middle-layer horizontal gathering device 5 and the lower-layer horizontal gathering device 4 is adjusted by the first thrust motor 501. The middle-layer horizontal gathering device 5 includes a middle-layer connecting rod 503, movable teeth 504, a drive motor 505, a motor connecting rod 506, and a rear connecting rod 507. The middle layer of the extension of the middle-layer connecting rod 503 is hollow and has several equally spaced through holes, the number of which is the same as the number of movable teeth 504. The rear connecting rod 507 has two layers, and the number and spacing of the through holes on it are the same as those on the middle-layer connecting rod 503. The rear connecting rod 507 is parallel to the middle-layer connecting rod 503. The movable teeth 504 have two round holes. The front hole is connected to the through hole of the middle connecting rod 503 by a pin, forming a hinge point. The rear hole is connected to the through hole of the rear connecting rod 507 by a pin, forming a hinge point. The number of movable teeth 504 needs to be determined according to the actual operation requirements and should be consistent with the number of holes on the middle connecting rod 503. The drive motor 505 is fixed on the middle connecting rod 503, and its output shaft is perpendicular to the plane of the middle connecting rod 503. The output shaft of the drive motor 505 is fixedly connected to one end of the motor connecting rod 506, and the other end of the motor connecting rod 506 is hinged to the rear connecting rod 507. The distance between the two holes on the motor connecting rod 506 is equal to the distance between the two holes on the movable teeth 504, and is parallel to the movable teeth 504. Each movable tooth 504 forms a parallel four-bar linkage with the middle connecting rod 503, the motor connecting rod 506, and the rear connecting rod 507. During operation, the drive motor 505 drives the motor connecting rod 506 to rotate in the horizontal plane, thereby rotating the movable tooth 504 and achieving angle control of the movable tooth 504. The drive motor 505 enables several movable teeth 504 to rotate from 30° to 150° in the horizontal plane.

[0050] A second thrust motor 601 and a second thrust motor support frame 602 are provided between the upper horizontal gathering device 6 and the middle horizontal gathering device 5. The second thrust motor 601 is used to adjust the vertical distance between the middle horizontal gathering device 5 and the upper horizontal gathering device 6. Figure 6 , Figure 7The diagram shows two symmetrical upper-level horizontal retracting devices 6. Each upper-level horizontal retracting device 6 includes an upper connecting rod 603, movable shift fingers 604, a stepper motor 605, and a lead screw 606. Several movable shift fingers 604 are hinged at their roots to the upper connecting rod 603, and their ends are threaded to the lead screw 606. The stepper motor 605 is fixed to the upper connecting rod 603, and its output end is connected to the lead screw 606. The stepper motor 605 drives the lead screw 606 to rotate, causing the movable shift fingers 604 to rotate along the through holes in the upper connecting rod 603, thereby changing the angle of the movable shift fingers 604 in the horizontal plane. The lead screw 606 of the upper horizontal gathering device 6 is located in the horizontal plane and is parallel to the line connecting the several movable fingers 604; the stepper motor 605 drives the movable fingers 604 to rotate around the upper connecting rod 603 in the horizontal plane by rotating the lead screw 606 to complete a rotation of 30°-150°.

[0051] Specifically, the structure of the transmission linkage mechanism 8 is as follows: Figure 8 , Figure 9 As shown, the system includes a left-side linkage mechanism and a right-side linkage mechanism. The left-side linkage mechanism includes a first link 801 hinged to the left-side frame 91, a second link 802 hinged to the first link 801, and a third link 803 with one end fixed to the second link 802 and the other end fixedly connected to the upper second thrust motor support frame 602. The other end of the second link 802 is fixedly connected to the middle-layer horizontal retracting device 5. The right-side linkage mechanism includes a fourth link 804 hinged to the right-side frame 92, a fifth link 806 hinged to the fourth link 804, and a sixth link 805 with one end fixed to the fifth link 805 and the other end fixedly connected to the lower-layer horizontal retracting device 4. The other end of the fifth link 806 is fixedly connected to the second thrust motor support frame 602. The structural differences between the left-side and right-side linkage mechanisms are mainly to prevent interference between the retracting devices on the left and right sides during operation.

[0052] The multi-claw gathering device described in this invention is located above the cutting device, and the pre-cutting detection system is located behind the multi-claw gathering device. When the Apocynum venetum burrier is working, the pre-cutting detection system first detects the height and width of the Apocynum venetum clump to be cut and feeds it back to the control system. Based on this data, the control system first adjusts the distance between the lower horizontal gathering device 4, the middle horizontal gathering device 5, and the upper horizontal gathering device 6 to complete the adaptive adjustment of different heights of the Apocynum venetum clump; then it adjusts the angles of the movable teeth 504 of the middle horizontal gathering device 5 and the movable fingers 604 of the upper horizontal gathering device 6 to complete the adaptive adjustment of different widths of the Apocynum venetum clump; after the adjustment is completed, the gathering device and the transmission linkage form a four-bar linkage mechanism, which simultaneously gathers and supports the Apocynum venetum clump, and then the cutting device completes the cutting.

[0053] The control method for the multi-claw retracting device and adaptive adjustment system is characterized by the following steps in the process of adjusting the height of the retracting device:

[0054] During the harvesting of Apocynum venetum, the height and width of the Apocynum venetum clumps to be gathered are detected in real time by the pre-harvest detection system 1.

[0055] The control system drives the first thrust motor 501 and the thrust motor 601 according to the height of the Apocynum venetum clumps to be gathered, thereby changing the hugging height of the hugging gathering device. By adjusting the hugging height, the success rate of the gathering device in grasping the Apocynum venetum clumps is improved. The system also adjusts the output speed of the power system 2 and the running speed of the drive motor 505 and the stepper motor 605 according to the width of the Apocynum venetum clumps to be gathered and the harvesting speed, so as to control the gathering speed of the lower horizontal gathering device 4, the middle horizontal gathering device 5, the upper horizontal gathering device 6, and the gathering speed of the movable teeth 504 and the movable fingers 604.

[0056] Furthermore, the control of the retraction speed of the movable paddle 504 and the movable paddle finger 604 is based on:

[0057] The width of the Apocynum venetum clump to be harvested is detected as L by the clump width sensor of the pre-harvest detection system 1. Initially, the movable teeth 504 and movable fingers 604 of the middle-layer horizontal harvesting device 5 and the upper-layer horizontal harvesting device 6 are all at their maximum opening angle. Let the angle between the movable teeth 504 and the middle-layer connecting rod 503 be θ0. To ensure that the multi-claw harvesting device completely gathers the Apocynum venetum to be harvested, the following should be satisfied:

[0058] l0-2R+2l1cosα-2l2cos(180°-θ0-θ1-α)>L

[0059] In the formula, l1 is the horizontal distance from the first movable tooth 504 to the last movable tooth 504, θ1 is the angle that the movable tooth 504 and the movable finger 604 need to rotate, l0 is the distance between the output shafts of the two power systems 2, R is the length of the output connecting rod 3, l2 is the length of the movable tooth 504, α is the maximum angle between the middle connecting rod 503 and the front plane of the cutting table; θ1 is the angle that the movable tooth 504 and the movable finger 604 need to rotate.

[0060] Therefore, when At this time, it can ensure that the multi-claw gathering device completely gathers the Apocynum venetum to be harvested, thereby determining the value of θ1.

[0061] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A multi-claw gathering device with adjustable height and angle suitable for Apocynum venetum clumps, characterized in that: It includes a pre-cutting detection system (1), a power system (2), an output linkage (3), a lower horizontal gathering device (4), a middle horizontal gathering device (5), an upper horizontal gathering device (6), a transmission linkage mechanism (8), and a control system (7); The pre-harvest detection system (1) includes a cluster height sensor, a cluster width sensor and a speed sensor, and is connected to the control system (7). It is used to detect the height and width of the Apocynum venetum clusters to be harvested, and to transmit the collected height, width and forward speed of the harvester to the control system (7). The lower horizontal gathering device (4), the middle horizontal gathering device (5), and the upper horizontal gathering device (6) are all in pairs and are arranged symmetrically on the left and right. The lower horizontal gathering device (4) includes a crossbar (401) and several teeth (402) fixed on the crossbar (401). The middle horizontal gathering device (5) includes a middle connecting rod (503), movable teeth (504), a drive motor (505), a motor connecting rod (506), and a rear connecting rod (507). The drive motor (505) is fixed on the middle connecting rod (503) and its output shaft is perpendicular to the plane of the middle connecting rod (503). The roots of the several movable teeth (504) are... The upper layer horizontal retracting device (6) is hinged to the middle connecting rod (503), and its root end is hinged to the rear connecting rod (507). The end of the rear connecting rod (507) is hinged to the output end of the drive motor (505) through the motor connecting rod (506). The upper layer horizontal retracting device (6) includes an upper connecting rod (603), movable fingers (604), a stepper motor (605), and a lead screw (606). The roots of several movable fingers (604) are hinged to the upper connecting rod (603), and the ends of their roots are threaded to the lead screw (606). The stepper motor (605) is fixed to the upper connecting rod (603), and its output end is connected to the lead screw (606). The lower horizontal retracting device (4) is located above the power system (2) and is connected to the output shaft of the power system (2) through the output link (3). The lower horizontal retracting device (4), the middle horizontal retracting device (5), and the upper horizontal retracting device (6) are arranged sequentially from bottom to top, and vertical thrust motors (501, 601) are arranged between adjacent pairs. The lower horizontal retracting device (4), the middle horizontal retracting device (5), and the upper horizontal retracting device (6) are connected to each other and to the frame (91, 92) through the transmission link mechanism (8) to achieve synchronous movement under the drive of the power system (2). The power system (2), thrust motor (501, 601), drive motor (505), and stepper motor (605) are all connected to the control system (7), and the control system (7) controls its operation according to the height and width of the hemp clumps to be gathered and the harvesting speed.

2. The multi-claw gathering device according to claim 1, characterized in that, The lower horizontal gathering device (4) and the middle horizontal gathering device (5) are fixed by a first thrust motor support frame (502), and the first thrust motor (501) is fixed on the first thrust motor support frame (502); the middle horizontal gathering device (5) and the upper horizontal gathering device (6) are fixed by a second thrust motor support frame (602), and the second thrust motor (601) is fixed on the second thrust motor support frame (602).

3. The multi-claw gathering device according to claim 1, characterized in that, The transmission linkage mechanism (8) includes a left linkage mechanism and a right linkage mechanism. The left linkage mechanism includes a first link (801) hinged to the left frame (91), a second link (802) hinged to the first link (801), and a third link (803) with one end fixed to the second link (802) and the other end fixedly connected to the upper second thrust motor support frame (602). The other end of the second link (802) is fixedly connected to the middle layer horizontal gathering device (5). The right-side linkage mechanism includes a fourth link (804) hinged to the right-side frame (92), a fifth link (806) hinged to the fourth link (804), and a sixth link (805) with one end fixed to the fifth link (806) and the other end fixedly connected to the lower horizontal retracting device (4). The other end of the fifth link (806) is fixedly connected to the second thrust motor support frame (602).

4. The multi-claw gathering device according to claim 1, characterized in that, The teeth (402) of the lower horizontal gathering device (4) are oriented towards the forward direction of the harvester and the front and rear axial direction of the harvester, and are arc-shaped.

5. The multi-claw gathering device according to claim 1, characterized in that, The movable teeth (504) of the middle-layer horizontal gathering device (5) have a straight root and are parallel to the motor connecting rod (506).

6. The multi-claw gathering device according to claim 1, characterized in that, The drive motor (505) drives the motor connecting rod (506) to rotate, and then through the rear connecting rod (507) enables several movable teeth (504) to complete a rotation of 30°-150° in the horizontal plane.

7. The multi-claw gathering device according to claim 1, characterized in that, The lead screw (606) of the upper horizontal gathering device (6) is located in the horizontal plane and is parallel to the line connecting several movable fingers (604); the stepper motor (605) drives the movable fingers (604) to rotate 30°-150° in the horizontal plane around the hinge point between the lead screw (606) and the upper connecting rod (603).

8. The multi-claw gathering device according to claim 1, characterized in that, The power system (2) is located behind the cutting device and at the bottom of the lower horizontal gathering device (4); the power system (2) drives the output connecting rod (3) to rotate in a circle in the horizontal plane with one end of the output connecting rod (3) as the axis; the rotation direction of the output connecting rod (3) is consistent with the gathering direction of the Apocynum venetum.

9. The adaptive adjustment method of the multi-claw retracting device according to any one of claims 1-8, characterized in that, The main steps are as follows: 1) When harvesting and bundling Apocynum venetum, the height and width of the Apocynum venetum clumps to be gathered are detected in real time by the pre-harvest detection system (1); 2) The control system drives the first thrust motor (501) and the thrust motor (601) according to the height of the Apocynum venetum clump to be gathered, so as to change the hugging height of the hugging gathering device. By adjusting the hugging height, the success rate of the gathering device in grabbing the Apocynum venetum clump is improved. The output speed of the power system (2) and the running speed of the drive motor (505) and the stepper motor (605) are adjusted according to the width of the Apocynum venetum clump to be gathered and the harvesting speed, so as to control the gathering speed of the lower horizontal gathering device (4), the middle horizontal gathering device (5), the upper horizontal gathering device (6) and the gathering speed of the movable teeth (504) and the movable fingers (604).

10. The adaptive adjustment method according to claim 9, characterized in that, The control basis for the retraction speed of the movable teeth (504) and the movable fingers (604) is as follows: The width of the Apocynum venetum clump to be gathered is detected by the clump width sensor of the pre-cutting detection system (1). Initially, the movable teeth (504) and movable fingers (604) of the middle layer horizontal gathering device (5) and the upper layer horizontal gathering device (6) are all in the maximum opening angle position. Let the angle between the movable teeth (504) and the middle layer connecting rod (503) be θ0. To ensure the complete gathering of the unharvested Apocynum venetum by the multi-claw gathering device, the following conditions must be met: l0-2R+2l1cosα-2l2cos(180°-θ0-θ1-α)>L In the formula, l1 is the horizontal distance from the first movable tooth (504) to the last movable tooth (504), θ1 is the angle that the movable tooth (504) and the movable finger (604) need to rotate, l0 is the distance between the output shafts of the two power systems (2), R is the length of the output connecting rod (3), l2 is the length of the movable tooth (504), α is the maximum angle between the middle connecting rod (503) and the front plane of the cutting table; θ1 is the angle that the movable tooth (504) and the movable finger (604) need to rotate. Therefore, when At this time, it can ensure that the multi-claw gathering device completely gathers the Apocynum venetum to be harvested, thereby determining the value of θ1.

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