Self-propelled lindera delavayi harvesting machine suitable for steep hilly and mountainous areas

Abstract

The application discloses a self-propelled ligustrum robustum harvesting machine suitable for steep hilly and mountainous areas, which comprises a walking device and a harvesting device; the walking device comprises front walking devices and rear walking devices, and the front walking frame of the front walking device and the walking frame of the rear walking device are connected through a waist-folding swing arm assembly; the waist-folding swing arm assembly enables the front walking frame to rotate by a certain amplitude, has self-adapting terrain capability, and greatly reduces the radius of turning in the field; when the equipment is working on a cross slope, the ground position of the equipment can be adjusted according to the ground features, the supporting area is increased, and the stability of the walking device in the walking process is improved; the height of each wheel part can be independently adjusted, the relatively complex terrain such as the cross slope harvesting can be adapted, and the ligustrum robustum of different heights can be ensured to be harvested; height-adjustable and independent steering are realized, the radius of turning in the field is reduced, the climbing performance and the harvesting range are improved, the operation efficiency and quality are improved, and the hilly area can be adapted.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, and to a harvesting equipment that allows for flexible adjustment of the harvesting height of *Prunus armeniaca* and is suitable for hilly and mountainous areas. Specifically, it is a self-propelled *Prunus armeniaca* harvester suitable for steep hilly and mountainous areas, aiming to improve the mechanization level and operational efficiency of crop harvesting in hilly areas. Background Technology

[0002] In agricultural production, crop harvesting is a crucial step. During the harvesting of *Acer palmatum* (a type of tea plant), due to significant differences in plant height, existing fixed-height harvesting equipment is ill-suited to the task, often resulting in missed harvesting of high branches and accidental damage to low-lying plants. Furthermore, the steep slopes and undulating terrain of hilly areas exacerbate the instability of harvesting equipment, further increasing the risk of incomplete harvesting and mechanical damage. This severely restricts the simultaneous improvement of harvesting efficiency and raw material quality. For example, existing patent CN 118947356 A, a tea garden harvesting robot device and autonomous harvesting method, includes a frame, a tracked walking mechanism, a cutter, a parallel robotic arm, and a negative pressure collection device. This device can only harvest tender leaves on flat terrain and cannot harvest entire tender branches, nor can it operate on steep terrain. Therefore, there is an urgent need for a high-efficiency agricultural equipment with adjustable harvesting height suitable for harvesting *Acer palmatum* in hilly areas, to meet the operational requirements of efficient, precise, and adaptable harvesting in complex terrain. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a self-propelled galangal harvester suitable for steep hilly and mountainous areas, which addresses the shortcomings of the prior art. This self-propelled galangal harvester solves the problem that the harvesting height of existing agricultural harvesting equipment cannot be flexibly adjusted and is difficult to adapt to hilly areas, and is especially suitable for operation in complex terrain.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0005] A self-propelled candle harvester suitable for steep hilly terrain includes: a walking device and a harvesting device; the harvesting device is installed at the front end of the walking device;

[0006] The walking device includes a front walking device and a rear walking device. The front walking device includes a front walking frame and wheel components disposed at the lower part of the front walking frame. The rear walking device includes a rear walking frame and wheel components disposed at the lower part of the rear walking frame. The front walking frame and the rear walking frame are connected by a folding arm assembly. The folding arm assembly is used to drive the front walking frame and the rear walking frame to swing left and right or pitch up and down.

[0007] The wheel assembly includes a tire, roller chain, swing arm bracket, gantry columns, telescopic leg assembly, cross plate, motor, shock absorber, electric actuator one, telescopic leg lower fixing plate, telescopic leg upper fixing plate, and electric actuator two; the telescopic leg upper fixing plate is fixedly connected to the lower part of the front or rear travel frame; the upper part of the telescopic leg assembly is rotatably connected to the telescopic leg upper fixing plate, and the lower part is rotatably connected to the telescopic leg lower fixing plate; the lower part of the telescopic leg lower fixing plate is rotatably connected to the cross plate; the upper ends of the two gantry columns are symmetrically fixedly connected to the lower part of the cross plate, and the lower part of each gantry column is rotatably connected to one swing arm bracket; the two tires are rotatably connected to both ends of the swing arm bracket and located between the two swing arm brackets; the wheel The axle end of the tire is connected to a tire sprocket; the motor is connected to the cross plate and the output end of the motor is equipped with a motor sprocket; the roller chain is set on the motor sprocket and the tire sprocket; one end of the electric push rod is rotatably connected to the tail of the cross plate and the other end is rotatably connected to the lower fixing plate of the telescopic leg. The electric push rod is used to drive the relative rotation between the lower fixing plate of the telescopic leg and the cross plate, thereby driving the steering of the wheel assembly; the shock absorbers are symmetrically arranged on both sides of the gantry column, one end is rotatably connected to the side of the gantry column and the other end is rotatably connected to the upper part of the swing arm bracket; one end of the electric push rod is rotatably connected to the front travel frame or the rear travel frame and the other end is rotatably connected to the telescopic leg assembly. The electric push rod is used to drive the telescopic leg assembly to extend and retract.

[0008] As a further improvement of the present invention, each wheel component includes four shock absorbers, two tires and a roller chain.

[0009] As a further improvement of the present invention, anti-skid chains are also installed on the outer surfaces of the two tires in the wheel component.

[0010] As a further improved technical solution of the present invention, the front walking frame includes a front top platform, a front reinforcing beam, a control box suspension frame, a control box, a battery box, a front side reinforcing frame, a front top baffle, and a front long gantry column.

[0011] The upper parts of the four front long mast columns are connected to the four corners of the front top platform, respectively. The two front long mast columns located on the left side of the front top platform are connected by a front side reinforcement frame, and the two front long mast columns located on the right side of the front top platform are connected by a front side reinforcement frame. The mounting holes on the front side reinforcement frame are connected to the battery box. The two front long mast columns located on the front side of the front top platform are connected by a front reinforcing beam, and the lower parts of the two front long mast columns are fixedly connected to the upper part of the telescopic leg fixing plate on the wheel assembly. The control box suspension frame is connected to the front reinforcing beam. The control box is connected to the control box suspension frame. The front top baffle is connected to the front top platform.

[0012] The rear traveling frame includes a rear top platform, a rear reinforcing beam, a generator suspension frame, a generator, a rear side reinforcing frame, a rear top baffle, a rear long gantry column, and a rear collection box.

[0013] The upper parts of the four rear long mast columns are fixedly connected to the four corners of the rear top platform, respectively. The two rear long mast columns located on the left side of the rear top platform are connected by a rear side reinforcement frame, and the two rear long mast columns located on the right side of the rear top platform are connected by a rear side reinforcement frame. The two rear long mast columns located on the rear side of the rear top platform are connected by a rear reinforcing beam, and the lower parts of these two rear long mast columns are respectively connected to the upper part of the telescopic leg fixing plate on the wheel assembly. The rear reinforcing beam is provided with multiple mounting holes for connecting the generator suspension frame. The generator suspension frame is connected to the mounting holes at the rear of the rear reinforcing beam. The generator is fixedly connected to the generator suspension frame. The rear top baffle is connected to the rear top platform. The rear collection box is located in the middle of the four rear long mast columns and is connected to the lower part of the rear top platform.

[0014] The control unit in the control box is connected to the motor and electric actuator in each wheel component, and the battery in the battery box is connected to the control unit, motor and electric actuator in the control box.

[0015] As a further improved technical solution of the present invention, the telescopic leg assembly includes a lower connecting rod, an upper connecting rod, short connecting rods, and a connecting plate; four lower connecting rods are provided, forming a spatial parallelogram structure, one end of which is rotatably connected to the lower fixed plate of the telescopic leg, and the other end is rotatably connected to the connecting plate; four upper connecting rods are provided, forming a spatial parallelogram structure, one end of which is rotatably connected to the connecting plate, and the other end is rotatably connected to the upper fixed plate of the telescopic leg; short connecting rods are rotatably connected to the lower part of the upper connecting rods and the lower connecting rods respectively; one end of the electric push rod is rotatably connected to the middle of the two lugs on the front long gantry column or the two lugs on the rear long gantry column, and the other end is rotatably connected to the ends of the two lower connecting rods. The electric push rod is used to drive the telescopic leg assembly to move in the vertical direction to achieve telescopic movement, thereby realizing independent height adjustment of the wheel component;

[0016] The second electric actuator is connected to the control unit in the control box and the battery in the battery box, respectively.

[0017] As a further improved technical solution of the present invention, the folding swing arm assembly includes an upper folding swing frame, a lower folding swing frame, a swing electric actuator, a pitch electric actuator, a torsion hanger, and a pitch hanger;

[0018] The torsion lug is fixedly connected to the front top platform of the front traveling frame; both the upper and lower folding swing frames are triangular structures, with a keyway-shaped notch in the middle of the upper folding swing frame and an L-shaped lug at the rear; the front end of the upper folding swing frame is rotatably connected to the upper surface of the torsion lug; the lower folding swing frame has a trapezoidal lug in the middle, and its front end is rotatably connected to the lower surface of the torsion lug; two swing electric actuators are symmetrically arranged on the left and right sides between the upper and lower folding swing frames, with one end of one actuator rotatably connected to the left end of the torsion lug and the other end connected to the rear left end of the upper and lower folding swing frames. One end of the swing arm is rotatably connected to the right end of the torsion lug, and the other end is rotatably connected to the rear right end of the upper and lower folding swing frames. The swing arm is used to control the left and right swing of the folding swing arm assembly. One end of the pitch arm passes through the keyway-shaped notch in the middle of the upper folding swing frame and is rotatably connected to the trapezoidal lug in the middle of the lower folding swing frame. The other end is rotatably connected to the upper part of the pitch lug. The middle part of the pitch lug is rotatably connected to the L-shaped lug at the rear of the upper folding swing frame. The lower part of the pitch lug is fixedly connected to the front part of the rear top platform of the rear traveling frame. The pitch arm is used to control the up and down pitch movement of the folding swing arm assembly.

[0019] The control unit in the control box is connected to the swing electric actuator and the pitch electric actuator respectively, and the battery in the battery box is connected to the swing electric actuator and the pitch electric actuator respectively.

[0020] As a further improved technical solution of the present invention, the harvesting device includes a reciprocating cutting mechanism, a blower, a reel, a front collection box, and collection box supports; the reciprocating cutting mechanism is a double-blade or single-blade mechanism, located at the front end of the front collection box; the front collection box has a box-shaped structure with openings at both the front and rear; the blower is located at the front end of the front collection box, and the blower is connected to multiple air outlet pipes through a main pipe, with the multiple air outlet pipes located above the reciprocating cutting mechanism and the air outlets of the air outlet pipes facing the front collection box; the blower is used to blow the branches cut by the reciprocating cutting mechanism into the front collection box; the reel is located above the reciprocating cutting mechanism and behind the air outlet pipes, and is located at the front end of the front collection box; the reel is used to push the crop into the front collection box; the four collection box supports have an L-shaped structure, with multiple sets of mounting holes on the sides; one end is symmetrically fixedly installed on the inner side of the front long gantry column, and the other end is fixedly connected to the mounting holes on the outer side of the front collection box, thereby enabling the front collection box to be supported and connected to the front long gantry column;

[0021] The reciprocating cutting mechanism and the blower are respectively connected to the control unit in the control box and the battery in the battery box.

[0022] As a further improvement of the present invention, the harvesting device also includes a reel drive motor, which is connected to the central shaft of the reel and connected to the front end of the collection box via a bracket; the reel drive motor is connected to the control unit in the control box and the battery in the battery box.

[0023] As a further improvement of the present invention, a binocular depth camera and a navigator are also provided on the control box suspension frame, and ultrasonic sensors are provided on the front and rear side reinforcement frames of the walking device; the binocular depth camera, navigator and ultrasonic sensors are all connected to the control unit in the control box, and the binocular depth camera, navigator and ultrasonic sensors are all connected to the battery in the battery box.

[0024] The beneficial effects of this invention are as follows:

[0025] (1) The harvesting device of the present invention has a collaborative design between the reel, the reciprocating cutting mechanism, the blower and the telescopic leg assembly. The telescopic leg assembly makes the height of the reel, the reciprocating cutting mechanism, the blower and the collection box adjustable, thereby making the length of the harvested tender branches adjustable. The harvesting objects and physical parameters of the present invention are different. Compared with tea harvesters and wheat harvesters, it integrates and reuses the airflow conveying function of the blower, the auxiliary reciprocating cutting function of the reel and the height adjustment function of the telescopic leg assembly, making it more suitable for the collection and conveying of tender branches of different lengths at the work site, up to about 30cm long.

[0026] (2) Each wheel component in this invention can be independently adjusted in height (80cm), which can adapt to more complex terrain such as cross slope harvesting, and at the same time ensure the harvesting of tamarisk at different heights.

[0027] (3) Compared with traditional tracked agricultural machinery, the structure of the present invention is lighter and more convenient. Compared with tracked machinery, the four telescopic leg components of the present invention can be independently adjusted in height with a large stroke. The present invention is in the form of a robot dog. The four telescopic leg components are independently controlled and adjustable in height. It also has a dual-purpose wheel and track walking wheel set (the tires can be used alone or anti-skid chains can be added to the tires, so it is dual-purpose wheel and track). It has high load-bearing capacity and is more suitable for agricultural operations on steep slopes and mountains. The height is adjustable, which is more suitable for harvesting tender branches of trees with different planting years and different heights.

[0028] (4) The electric actuator of the present invention is used to drive the telescopic leg assembly to move in the vertical direction, and can independently adjust the height of each wheel component to meet the harvesting requirements of different harvesting heights of the South China Sea and adapt to different slopes in hilly areas, thus meeting the operational requirements of the South China Sea harvesting process for high efficiency, precision and adaptability to complex terrain.

[0029] (5) The gantry chassis adopts an eight-wheel drive system. The two tires in each wheel component can pitch forward and backward to adapt to the terrain and have shock absorbers, so that the equipment can avoid the wheels from being suspended or slipping due to the tilt of the ground, thereby improving the passability of the equipment.

[0030] (6) Each wheel component can be turned independently, increasing the flexibility of walking in the field; anti-skid chains (similar to anti-skid chains on tracks, also called anti-skid tracks) can be installed between the front and rear tires of the wheel component to increase the ground contact area and further improve the climbing and walking performance in the field; the wheel-track dual-purpose type takes into account both the climbing performance on steep mountain slopes and the walking performance on gentle slopes and flat ground.

[0031] (7) The present invention adds a hinged swing arm assembly, which allows the front part of the equipment to rotate to a certain extent, adapting to the terrain and significantly reducing the turning radius of the device in the field; when the equipment is working on a cross slope, the hinged swing arm assembly can adjust the grounding position of the equipment according to the ground characteristics, increasing the support area and improving the stability of the walking device during the walking process; if necessary, the electric push rod can increase the rigidity between the front and rear parts. The present invention is equipped with a front walking device and a rear walking device to increase the flexibility of the equipment when walking on steep slopes; when the two steps are not very high, the front and rear walking devices have a large contact area with the ground; the rear walking device has a rear collection box and a rear top baffle, further increasing the carrying capacity of the device.

[0032] (8) The generator of the present invention is more convenient and environmentally friendly than existing gantry-type tea harvesters and management machines.

[0033] (9) The present invention is designed with a large-capacity collection box in the middle and a top platform and top baffle forming a truck bed, which can store more harvested tender branches of the Southern Candle without damaging the branches, allowing it to be sold fresh and sent to the factory for deep processing. Attached Figure Description

[0034] Figure 1 A schematic diagram of the overall structure of a self-propelled candle harvester suitable for steep hilly terrain. Figure 1 .

[0035] Figure 2 This is a schematic diagram showing the height adjustment of the wheel components of a self-propelled Nanzhu harvester suitable for steep hilly terrain.

[0036] Figure 3 A schematic diagram of the overall structure of a self-propelled candle harvester suitable for steep hilly terrain. Figure 2 .

[0037] Figure 4 A schematic diagram of the overall structure of a self-propelled candle harvester suitable for steep hilly terrain. Figure 3 .

[0038] Figure 5A schematic diagram showing the structure behind the concealed front and rear collection boxes of a self-propelled candle harvester suitable for steep hilly terrain. Figure 1 .

[0039] Figure 6 A schematic diagram showing the structure behind the concealed front and rear collection boxes of a self-propelled candle harvester suitable for steep hilly terrain. Figure 2 .

[0040] Figure 7 A top view of the folding arm assembly of a self-propelled sagebrush harvester suitable for steep hilly terrain.

[0041] Figure 8 A bottom view of the folding arm assembly of a self-propelled scallop harvester suitable for steep hilly terrain.

[0042] Figure 9 A perspective view of the folding arm assembly of a self-propelled tungsten harvester suitable for steep hilly terrain.

[0043] Figure 10 Schematic diagram of the wheel components of a self-propelled sage harvester suitable for steep hilly terrain. Figure 1 .

[0044] Figure 11 Schematic diagram of the wheel components of a self-propelled sage harvester suitable for steep hilly terrain. Figure 2 .

[0045] Figure 12 This is a schematic diagram of the wheel component lifting structure of a self-propelled sage harvester suitable for steep hilly terrain.

[0046] Figure 13 This is a schematic diagram of the telescopic leg assembly of a self-propelled tung oil harvester suitable for steep hilly terrain.

[0047] Figure 14 This is a schematic diagram of another working state of the wheel components of a self-propelled sage harvester suitable for steep hilly terrain.

[0048] Figure 15 This is a schematic diagram of the harvesting device structure of a self-propelled sage harvester suitable for steep hilly terrain.

[0049] Figure 16 This is a front view of the harvesting device of a self-propelled candle harvester suitable for steep hilly terrain.

[0050] Figure 17 This is a schematic diagram of the end structure of the harvesting device of a self-propelled sage harvester suitable for steep hilly terrain.

[0051] In the diagram, the following components are included: walking device 1, wheel assembly 1-1, front top platform 1-02A, front reinforcing beam 1-03A, control box suspension 1-05A, control box 1-06A, battery box 1-09A, front side reinforcing frame 1-010A, front top baffle 1-011A, front long mast column 1-012A, rear top platform 1-02B, rear reinforcing beam 1-04B, generator suspension 1-07B, and generator 1-0 8B, Rear Side Reinforcement Frame 1-010B, Rear Top Baffle 1-011B, Rear Long Mast Column 1-012B, Rear Collection Box 1-014B, Anti-skid Chain 1-013, Tire 1-11, Roller Chain 1-12, Swing Arm Bracket 1-13, Mast Column 1-14, Telescopic Leg Assembly 1-15, Crossbar 1-16, Motor Bracket 1-17, Motor 1-18, Shock Absorber 1-19, Electric Push Rod 1-110 Telescopic leg lower fixing plate 1-111, telescopic leg upper fixing plate 1-112, electric actuator 2 1-113, pinion 1-114, pinion connecting rod 1-115, lower connecting rod 1-15-1, upper connecting rod 1-15-2, short connecting rod 1-15-3, connecting plate 1-15-4, folding swing arm assembly 1-2, upper folding swing frame 1-21, L-shaped hanging lug 1-211, keyway notch 1-212, lower folding swing frame 1- 22, Trapezoidal hanging ear 1-221, Swing electric actuator 1-23, Pitch electric actuator 1-24, Torsional hanging ear 1-25, Pitch hanging ear 1-26, Harvesting device 2, Reciprocating cutting mechanism 2-1, Blower 2-2, Main pipe 2-2-1, Reel 2-3, Collection box 2-4, Collection box bracket 2-5, Left support frame 2-6, Right support frame 2-7, Binocular depth camera 3, Navigator 4, Ultrasonic sensor 5. Detailed Implementation

[0052] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0053] A self-propelled candle harvester suitable for steep hilly terrain, such as Figure 1-17 As shown, it includes: a walking device 1 and a harvesting device 2; as Figure 1-2 As shown, the harvesting device 2 is installed at the front end of the walking device 1.

[0054] like Figure 1-6 As shown, the walking device 1 includes a front walking device and a rear walking device. The front walking device includes a front walking frame and wheel components 1-1 disposed at the lower part of the front walking frame. The rear walking device includes a rear walking frame and wheel components 1-1 disposed at the lower part of the rear walking frame. The front walking frame and the rear walking frame are connected by a folding swing arm assembly 1-2, with the front walking frame located in front of the rear walking frame. The folding swing arm assembly 1-2 is used to drive the front walking frame and the rear walking frame to swing left and right or pitch up and down.

[0055] like Figure 3-6 As shown, the front traveling frame includes a front top platform 1-02A, a front reinforcing beam 1-03A, a control box suspension frame 1-05A, a control box 1-06A, a battery box 1-09A, a front side reinforcing frame 1-010A, a front top baffle 1-011A, and a front long gantry column 1-012A.

[0056] The front long gantry columns 1-012A are square tube structures, with four columns in total. The upper parts of the four front long gantry columns 1-012A are fixedly connected to the bottom of the four corners of the front top platform 1-02A. The two front long gantry columns 1-012A located on the left side of the front top platform 1-02A are fixedly connected by front side reinforcement frames 1-010A, and the two front long gantry columns 1-012A located on the right side of the front top platform 1-02A are fixedly connected by front side reinforcement frames 1-010A. Multiple mounting holes are provided on the two front side reinforcement frames 1-010A, and battery boxes 1-09A are connected to them by bolts. The bolt connection method and the design of multiple mounting holes facilitate the adjustment and repositioning of the battery boxes 1-09A on the front side reinforcement frames 1-010A. There are two battery boxes 1-09A, one installed on the left side of the front side reinforcement frame. 1-010A and the right-side front reinforcing frame 1-010A are symmetrically arranged. The battery box 1-09A on one side contains the working battery, and the battery box 1-09A on the other side contains the spare battery. The two front long gantry columns 1-012A located in front of the front top platform 1-02A are fixedly connected by the front reinforcing beam 1-03A, and the lower parts of the two front long gantry columns 1-012A are fixedly connected to the upper part of the telescopic leg fixing plate 1-112 on the wheel component 1-1. The control box suspension frame 1-05A is connected to the front reinforcing beam 1-03A. The control box 1-06A is connected to the control box suspension frame 1-05A and is used to install the control unit of the equipment. The front top baffle 1-011A adopts a four-sided baffle structure with four sides, which is connected to the upper surface of the front top platform 1-02A and is used to store crops and other items.

[0057] like Figure 3-6 As shown, the rear traveling frame includes a rear top platform 1-02B, a rear reinforcing beam 1-04B, a generator suspension frame 1-07B, a generator 1-08B, a rear side reinforcing frame 1-010B, a rear top baffle 1-011B, a rear long gantry column 1-012B, and a rear collection box 1-014B.

[0058] The rear long gantry columns 1-012B are square tube structures, with four columns in total. The upper parts of the four rear long gantry columns 1-012B are fixedly connected to the four corners of the rear top platform 1-02B. The two rear long gantry columns 1-012B located on the left side of the rear top platform 1-02B are fixedly connected by a rear side reinforcement frame 1-010B. The two rear long gantry columns 1-012B located on the right side of the rear top platform 1-02B are fixedly connected by a rear side reinforcement frame 1-010B. The two rear long gantry columns 1-012B located on the rear side of the rear top platform 1-02B are fixedly connected by a rear reinforcing beam 1-04B, and the lower parts of these two rear long gantry columns 1-012B are fixedly connected to the upper part of the telescopic leg fixing plate 1-112 on the wheel component 1-1. The rear reinforcing beam 1-04B has multiple mounting holes for bolting the generator suspension bracket 1-07B, which facilitates adjustment and change of the generator suspension bracket. The mounting bracket 1-07B is positioned on the rear reinforcing beam 1-04B; the generator suspension bracket 1-07B is detachably connected to the mounting hole at the rear of the rear reinforcing beam 1-04B; the generator 1-08B is fixedly connected to the generator suspension bracket 1-07B; the rear top baffle 1-011B adopts a four-sided baffle structure formed by four sides, connected to the upper surface of the rear top platform 1-02B, and is used to store crops and other items; the rear collection box 1-014B is set in the middle of the four rear long gantry columns 1-012B and is connected to the lower part of the rear top platform 1-02B. The rear collection box 1-014B is used to store crops and other items. The rear side of the rear collection box 1-014B has an opening for easy insertion and removal of crops. When the work area is reached, the generator suspension bracket 1-07B is removed. The opening of the rear collection box 1-014B is provided with a sliding door. After pushing and pulling the sliding door to open the opening, tender branches in the front collection box 2-4 can be inserted or removed from the opening on the rear side.

[0059] like Figure 10-14As shown, four wheel components 1-1 are installed on the walking device 1, including a tire 1-11, a roller chain 1-12, a swing arm bracket 1-13, a mast column 1-14, a telescopic leg assembly 1-15, a cross plate 1-16, a motor 1-18, a shock absorber 1-19, an electric push rod one 1-110, a lower fixing plate for the telescopic leg 1-111, an upper fixing plate for the telescopic leg 1-112, and an electric push rod two 1-113. The upper fixing plate 1-112 of the telescopic leg is fixedly connected to the lower part of the front or rear traveling frame and is provided with multiple mounting holes; the telescopic leg assembly 1-15 can be adjusted vertically, with its upper part rotatably connected to the upper fixing plate 1-112 and its lower part rotatably connected to the lower fixing plate 1-111; the lower fixing plate 1-111 has a circular protrusion at its lower part, which is rotatably connected to the horizontal plate 1-16 via a bearing; the rear of the horizontal plate 1-16 is provided with an L-shaped baffle, which is fixedly connected to the motor support plate 1-17 on its side; the upper ends of the two gantry columns 1-14 are symmetrically fixedly connected to the lower part of the horizontal plate 1-16, and the lower part of each gantry column 1-14 is respectively connected to a... The middle of the swing arm bracket 1-13 is rotatably connected; two tires 1-11 are rotatably connected to the two ends of the swing arm bracket 1-13 and located between the two swing arm brackets 1-13; the axle end of the tire 1-11 is connected to a tire sprocket; the motor 1-18 is connected to the cross plate 1-16 and the output end of the motor 1-18 passes through the reserved hole on the motor support plate 1-17 and is connected to the motor sprocket; the roller chain 1-12 is set on the motor sprocket and the tire sprocket. After the motor 1-18 rotates, it will drive the tire sprocket to rotate through the motor sprocket and the roller chain 1-12, thereby driving the two tires 1-11 to rotate relative to the swing arm bracket 1-13, and the motor 1-18 provides power to the two tires 1-11. Additionally, one end of a pinion connecting rod 1-115 is rotatably connected to one of the gantry columns 1-14. The middle of the pinion connecting rod 1-115 is connected to the gantry column 1-14 via a spring, and the other end of the pinion connecting rod 1-115 is rotatably connected to the pinion 1-114 via a shaft. The roller chain 1-12 is also connected to the pinion 1-114. One end of an electric actuator 1-110 is rotatably connected to the L-shaped baffle at the tail of the horizontal plate 1-16, and the other end is rotatably connected to the inner side of the telescopic leg lower fixing plate 1-111. The electric actuator 1-110 is used to drive the relative rotation between the telescopic leg lower fixing plate 1-111 and the horizontal plate 1-16, thereby driving the steering of the wheel component 1-1. The extension and retraction of the electric actuator 1-110 enables the independent steering of the wheel component 1-1, increasing the flexibility of field movement and shortening the turning radius of the field equipment.There are four shock absorbers 1-19 (the shock absorbers 1-19 adopt the existing common structure). Two shock absorbers 1-19 are symmetrically arranged on both sides of the gantry column 1-14. One end is hinged to the two sides of the gantry column 1-14, and the other end is hinged to the upper part of the swing arm bracket 1-13. This can effectively increase the contact between the tire and the ground, so that the equipment can avoid the wheels from being suspended or slipping due to the inclination of the ground, thereby significantly improving the climbing performance of the equipment and enabling it to better adapt to the requirements of farmland operations in different terrains. One end of the electric push rod 1-113 is rotatably connected to the front or rear walking frame, and the other end is rotatably connected to the telescopic leg assembly 1-15. The electric push rod 1-113 is used to drive the telescopic leg assembly 1-15 to extend and retract.

[0060] Specifically, such as Figure 13 As shown, the telescopic leg assembly 1-15 includes a lower connecting rod 1-15-1, an upper connecting rod 1-15-2, short connecting rods 1-15-3, and a connecting plate 1-15-4. Four lower connecting rods 1-15-1 are arranged to form a spatial parallelogram structure, with one end rotatably connected to the lower fixing plate 1-111 of the telescopic leg and the other end rotatably connected to the connecting plate 1-15-4. Four upper connecting rods 1-15-2 are arranged to form a spatial parallelogram structure, with one end rotatably connected to the connecting plate 1-15-4 and the other end rotatably connected to the upper fixing plate 1-112 of the telescopic leg. The short connecting rods 1-15-3 are respectively connected to the upper connecting rods 1-15-1, 1-15-1, 1-15-2, 1-15-3, and 1-15-4. -15-2 is rotatably connected to the lower part and the lower connecting rod 1-15-1; one end of the electric push rod 1-113 is rotatably connected to the two lugs on the front long gantry column 1-012A or the middle of the two lugs on the rear long gantry column 1-012B, and the other end is rotatably connected to the ends of the two lower connecting rods 1-15-1. The electric push rod 1-113 is used to drive the lower connecting rod 1-15-1 to move in the vertical direction, so as to realize the overall extension and retraction of the telescopic leg assembly 1-15, thereby realizing the independent height adjustment of the wheel component 1-1, meeting the harvesting requirements of different harvesting heights of the South Candle and adapting to different slopes in hilly areas;

[0061] like Figure 14 As shown, the two tires 1-11 in the wheel component 1-1 also have a design structure for adding anti-skid chains 1-013 (similar to anti-skid chains on tracks). Adding anti-skid chains 1-013 further increases the contact area with the ground, enhances the grip of the equipment chassis, and thus more effectively improves the equipment's climbing performance in complex road conditions. Alternatively, the surface of the tires 1-11 can be treaded (not shown in the figure), allowing the tires 1-11 to be replaced with tires of different tread patterns according to the needs of different terrains, providing stronger traction and passability.

[0062] like Figure 7-9As shown, the folding swing arm assembly 1-2 includes an upper folding swing frame 1-21, a lower folding swing frame 1-22, a swing electric actuator 1-23, a pitch electric actuator 1-24, a torsion lug 1-25, and a pitch lug 1-26.

[0063] The torsion lug 1-25 is fixedly connected to the front top platform 1-02A of the front traveling frame; both the upper folding swing frame 1-21 and the lower folding swing frame 1-22 are triangular structures with hinge holes at all three vertices. The upper folding swing frame 1-21 has a keyway-shaped notch 1-212 in the middle and an L-shaped lug 1-211 fixedly connected to the rear; the hinge hole at the front vertex of the upper folding swing frame 1-21 is rotatably connected to the upper surface of the middle part of the torsion lug 1-25; the lower folding swing frame 1-22 has a trapezoidal lug 1-221 in the middle. The hinge hole at the apex of the front end of the lower folding swing frame 1-22 is rotatably connected to the lower surface of the middle part of the torsion lug 1-25; two swing electric actuators 1-23 are symmetrically arranged on the left and right sides between the upper folding swing frame 1-21 and the lower folding swing frame 1-22. One end of one swing electric actuator 1-23 is rotatably connected to the left end of the torsion lug 1-25, and the other end is rotatably connected to the hinge hole at the apex of the rear left end of the upper folding swing frame 1-21 and the hinge hole at the apex of the rear left end of the lower folding swing frame 1-22. The other swing electric actuator 1-23... One end is rotatably connected to the right end of the torsion lug 1-25, and the other end is rotatably connected to the hinge hole at the right end apex of the upper folding swing frame 1-21 and the hinge hole at the right end apex of the lower folding swing frame 1-22. The swing electric actuator 1-23 is used to control the left and right swing of the folding swing arm assembly 1-2, thereby controlling the left and right swing between the front and rear walking devices, which greatly reduces the turning radius in mountainous terrain when the walking device 1 turns; one end of the pitch electric actuator 1-24 passes through the keyway-shaped notch 1- in the middle of the upper folding swing frame 1-21. The trapezoidal lug 1-221 at the middle of the lower folding swing frame 1-22 is rotatably connected to the other end of the pitch lug 1-26. The middle part of the pitch lug 1-26 is rotatably connected to the L-shaped lug 1-211 at the rear of the upper folding swing frame 1-21. The lower end of the pitch lug 1-26 is fixedly connected to the front of the rear top platform 1-02B of the rear walking frame. The pitch electric actuator 1-24 is used to control the up and down pitch movement of the folding swing arm assembly 1-2, thereby controlling the relative pitch movement between the front walking device and the rear walking device.

[0064] This embodiment adds a hinged swing arm assembly 1-2: allowing the front part of the equipment to rotate to a certain extent, adapting to terrain, and significantly reducing the turning radius of the device in the field; when the equipment is working on a cross slope, the hinged swing arm assembly 1-2 can adjust the grounding position of the equipment according to the ground characteristics, increasing the support area and improving the stability of the walking device 1 during the walking process; if necessary, the electric push rod can increase the rigidity between the front and rear parts.

[0065] The purpose of setting up front and rear walking devices is to increase the equipment's flexibility in walking on steep slopes; when the two steps are not very high, the front and rear walking devices have a large contact area with the ground; the rear walking device has a rear collection box 1-014B and a rear top baffle 1-011B, which further increases the equipment's carrying capacity.

[0066] like Figure 15-17 As shown, the harvesting device 2 includes a reciprocating cutting mechanism 2-1, a blower 2-2, a reel 2-3, a front collection box 2-4, and a collection box support 2-5. The reciprocating cutting mechanism 2-1 is a double-blade or single-blade mechanism and is located at the front end of the front collection box 2-4. The specific structural composition adopts existing technology. The double-blade or single-blade mechanism can be driven by a cutting motor to achieve reciprocating linear motion. The cutting motor is fixedly installed at the front end of the collection box 2-4 through the right support frame 2-7. The front collection box 2-4 is an L-shaped box structure with a front (front side) and a rear (rear side). All have openings. The front opening faces the reel 2-3 and the reciprocating cutting mechanism 2-1. The rear (rear side) opening has a sliding door. After opening the sliding door, the tender branches in the front collection box 2-4 can be taken out through the rear opening and placed on the front top platform 1-02A, the rear top platform 1-02B, or the rear collection box 1-014B. The collection box 2-4 has multiple sets of mounting holes on both sides. The blower 2-2 is fixedly installed at the front end of the front collection box 2-4 through the left support frame 2-6. The air outlet of the blower 2-2 is connected to the thick main pipe 2-2-1. Multiple air outlet ducts are connected and located above the reciprocating cutting mechanism 2-1, with the air outlets facing the front collection box 2-4. The blower 2-2 blows the branches cut by the reciprocating cutting mechanism 2-1 into the front collection box 2-4. The reel 2-3 is located above the reciprocating cutting mechanism 2-1 and behind the air outlet ducts. The reel 2-3 is positioned at the front end of the front collection box 2-4 and is used to pull the crop into the front collection box 2-4. It also helps the reciprocating cutting mechanism 2-1 cut the crop. -3 is driven to rotate by a reel drive motor, which is mounted on the right support frame 2-7. The reel drive motor is connected to the central shaft of the reel 2-3 and is connected to the front end of the front collection box 2-4 via a bracket. The four collection box brackets 2-5 are L-shaped with multiple sets of mounting holes on the side. One end is symmetrically fixed to the inside of the front long gantry column 1-012A, and the other end is fixedly connected to the mounting holes on the outer side of the front collection box 2-4, thereby enabling the front collection box 2-4 to be supported and connected to the front long gantry column 1-012A.

[0067] The height of the harvesting device 2 can be adjusted along the mounting holes of the collection box bracket 2-5.

[0068] The motors 1-18, electric actuators 1-110 and 1-113, the oscillating electric actuator 1-23, the pitching electric actuator 1-24, the cutting motor in the reciprocating cutting mechanism 2-1, the blower 2-2, and the reel drive motor are all connected to the control unit in the control box 1-06. The control unit uniformly controls the operation of each component. The motors 1-18, electric actuators 1-110 and 1-113, the oscillating electric actuator 1-23, the pitching electric actuator 1-24, the cutting motor in the reciprocating cutting mechanism 2-1, the blower 2-2, the reel drive motor, and the control unit in the control box 1-06A are all connected to the working battery in the battery box 1-09A on one side via power switch one. The working battery supplies power to each component through power switch one. The battery box 1-09A on the other side contains a spare battery. The spare battery can also be connected to each component in the device via power switch two to supply power to that component. When the working battery has sufficient power, power switch one can be turned on to power the various components within the device. If the working battery is low on power, power switch one should be turned off, and power switch two should be turned on, allowing the backup battery in battery box 1-09A on the other side to power the components. At this time, the working battery needs to be removed from battery box 1-09A on one side and connected to generator 1-08B on the ground near the work area. Generator 1-08B will then charge the working battery. When the backup battery is low on power, power switch two should be turned off, and the fully charged working battery should be installed in battery box 1-09A. Simultaneously, the backup battery in battery box 1-09A on the other side should be removed. Power switch one should then be turned on, allowing the working battery to power the device again, while the backup battery is charged by generator 1-08B, thus improving the overall efficiency of the harvesting device.

[0069] Once the harvesting unit reaches the work area, before harvesting, the generator suspension frame 1-07B is removed from the rear reinforcing beam 1-04B and placed on the ground near the work area for later use. The harvesting unit then proceeds with the harvesting operation. The harvesting unit carries the generator suspension frame 1-07B and the generator 1-08B to the work area, facilitating the charging of the backup or working batteries near the work area.

[0070] This example can be equipped with a remote control device. The remote control device wirelessly connects to the control unit inside the control box 1-06A. The remote control device is manually operated to send operation commands to the control unit inside the control box 1-06A. The control unit inside the control box 1-06A then controls the motor 1-18, electric actuator 1-110, electric actuator 2-113, swing electric actuator 1-23, pitch electric actuator 1-24, the cutting motor in the reciprocating cutting mechanism 2-1, the blower 2-2, the reel drive motor, and other components to work according to the received operation commands. Among them, motor 1-18 is used to drive tire 1-11 to walk, electric push rod one 1-110 is used to drive tire 1-11 to turn, electric push rod two 1-113 is used to drive telescopic leg assembly 1-15 to extend or shorten as a whole, swing electric push rod 1-23 is used to control the left and right swing of waist swing arm assembly 1-2, thereby controlling the left and right swing between the front walking device and the rear walking device, pitch electric push rod 1-24 is used to control the up and down pitch movement of waist swing arm assembly 1-2, thereby controlling the relative up and down pitch movement between the front walking device and the rear walking device, reciprocating cutting mechanism 2-1 is used to cut and harvest aralia, blower 2-2 is used to blow the cut and harvested tender branches into the front collection box 2-4, and reel drive motor is used to drive reel 2-3 to push the tender branches into the front collection box 2-4.

[0071] In this embodiment, during operation, the worker needs to turn on the power switch one between the working battery and each component, or the power switch two between the backup power supply and each component, so that the working battery or backup power supply provides power to the equipment. Then, the cutting motor of the reciprocating cutting mechanism 2-1, the reel drive motor of the reel 2-3, and the blower 2-2 are started. According to the required harvesting height of the sage, the overall height of the telescopic leg assembly 1-15 is adjusted via the electric actuator 1-113. This, in turn, adjusts the height of the reciprocating cutting mechanism 2-1 in the harvesting device 2 through the telescopic leg assembly 1-15, positioning the reciprocating cutting mechanism 2-1 at a suitable harvesting position (harvesting height). The harvested crop is then blown by the blower 2-2 and the reel 2-3. The equipment continuously harvests crops in the front collection box 2-4 due to the continuous movement of the eight-wheel chassis (eight tires 1-11). Since the four wheel components 1-1 of this device can independently adjust their height according to the actual ground conditions, it can also meet the adaptability requirements of hilly and mountainous areas. Simultaneously, the equipment can also harvest *Aristolochia debilis* planted on transverse slopes, greatly expanding its applicability. Furthermore, the independent drive of the eight wheels (eight tires 1-11) and the independent steering of the wheel components 1-1 significantly reduce the turning radius. If the slope of the crop being harvested is steep, anti-skid chains 1-013 can be added to the wheel components 1-1 to further increase the contact area with the ground, enhance the equipment's climbing performance, and allow the device to adapt to different slopes.

[0072] In addition, a binocular depth camera 3 and a navigator 4 are also installed on the control box suspension frame 1-05A. Two ultrasonic sensors 5 are installed on each of the two front side reinforcement frames 1-010A in the walking device 1 (the two ultrasonic sensors 5 are respectively close to the two wheel components 1-1 on the front walking device), and one ultrasonic sensor 5 is installed on each of the two rear side reinforcement frames 1-010B (the two ultrasonic sensors 5 are respectively close to the two wheel components 1-1 on the rear walking device). There are a total of 6 ultrasonic sensors 5. The binocular depth camera 3, the navigator 4 and the ultrasonic sensors 5 are all connected to the control unit in the control box 1-06A. The binocular depth camera 3, the navigator 4 and the ultrasonic sensors 5 are all connected to the working battery in the battery box 1-09A on one side through power switch one and to the spare battery in the battery box 1-09 on the other side through power switch two.

[0073] The binocular depth camera 3, navigator 4, and ultrasonic sensor 5 enable adaptive harvesting of this harvesting device, as follows: In front of the device, there is a binocular depth camera 3 tilted forward and downward at a certain angle. The binocular depth camera 3 continuously scans and generates point cloud data of the terrain in front and sends it to the control unit. The control unit can identify protruding objects (i.e., the *Vigna arvense* plant) through point cloud processing and calculate the outline of the plant and the terrain in front. The two ultrasonic sensors 5 located on the left and right sides in front of the battery box 1-09A on the front walking device measure their distance from the ground vertically downwards and then send this data to the control unit. The control unit combines the current ground clearance of the two ultrasonic sensors 5 (the installation height of the ultrasonic sensors 5 is consistent with the top height of the telescopic leg assembly 1-15 on the front walking device, so the current ground clearance of the ultrasonic sensors 5 is the height of the top of the telescopic leg assembly 1-15 from the ground) with the preset optimal harvesting height to calculate the target height that each of the telescopic leg assemblies 1-15 in the two front wheel assemblies 1-1 needs to be adjusted to (that is, when the telescopic leg assembly 1-15 reaches the target height, the harvesting height of the harvesting device 2 also reaches the preset optimal harvesting height). At the same time, the ultrasonic sensors 5 located on both sides behind the battery box 1-09A on the front walking device measure their distance from the ground vertically downwards and then send this data to the control unit. The control unit compares the actual distance measured by the two ultrasonic sensors 2 with the preset optimal harvesting height and then drives the bending arm assembly 1 based on the comparison result. The pitch actuator 1-24 of the -2 mechanism keeps the harvesting plane on the front walking device (where the harvesting plane, the cutting plane of the reciprocating cutting mechanism 2-1, the plane where the rotation axis of the reel 2-3 is located, and the plane where the bottom of the front collection box 2-4 is located are all parallel) parallel to the ground. The ultrasonic sensors 5 located on both sides of the rear walking device (the installation height of the ultrasonic sensors 5 is the same as the top height of the telescopic leg assembly 1-15 on the rear walking device, so the current height of the ultrasonic sensors 5 above the ground is the height of the top of the telescopic leg assembly 1-15 from the ground) measure the distance from the ground vertically downwards and then send this data to the control unit. The control unit combines the actual distance measured by the ultrasonic sensors 5 with the preset optimal harvesting height to calculate the target height that each telescopic leg assembly 1-15 in each rear wheel assembly 1-1 needs to be adjusted to. Then, the control unit sends corresponding commands to the actuator 1-113 in each wheel assembly 1-1 to drive the multiple telescopic leg assemblies 1-15 to rise and fall respectively, thereby adjusting the height of the harvesting device 2 so that the harvesting device 2 reaches the required harvesting height.Simultaneously, the ultrasonic sensor 5 provides real-time feedback on the actual changes in the leg length of the telescopic leg components 1-15, forming a closed-loop control to ensure that the harvesting device 2 can quickly and stably maintain the ideal working distance automatically (in rugged mountainous terrain, the four telescopic legs may not be at the same height, as long as they maintain the harvesting height). Subsequently, the navigator 4 provides the control unit with the absolute position and speed information of the walking device 1. The control unit combines the absolute position and speed information of the walking device 1 with the information obtained by processing the point cloud data of the terrain ahead collected by the binocular depth camera 3 (locating the outline of the plant and the terrain ahead), and combines it with the pre-stored map information to achieve path planning. This allows the equipment to adaptively complete harvesting even on uneven ground. The processing of the information collected by the binocular depth camera 3 and the path planning process adopt existing technologies. In addition, when the walking device needs to turn, the control unit can control the swing electric push rods 1-23 to perform corresponding actions, which can greatly reduce the turning radius in mountainous terrain.

[0074] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art fall within the scope of protection of this invention.

Claims

1. A self-propelled candle harvester suitable for steep hilly and mountainous terrain, characterized in that, include: A walking device (1) and a harvesting device (2); the harvesting device (2) is installed at the front end of the walking device (1); The walking device (1) includes a front walking device and a rear walking device. The front walking device includes a front walking frame and a wheel component (1-1) disposed at the lower part of the front walking frame. The rear walking device includes a rear walking frame and a wheel component (1-1) disposed at the lower part of the rear walking frame. The front walking frame and the rear walking frame are connected by a folding arm assembly (1-2). The folding arm assembly (1-2) is used to drive the front walking frame and the rear walking frame to swing left and right or pitch up and down. The wheel assembly (1-1) includes a tire (1-11), a roller chain (1-12), a swing arm bracket (1-13), a mast column (1-14), a telescopic leg assembly (1-15), a crossbar (1-16), a motor (1-18), a shock absorber (1-19), an electric actuator one (1-110), a lower telescopic leg fixing plate (1-111), an upper telescopic leg fixing plate (1-112), and an electric actuator two (1-113); the upper telescopic leg fixing plate (1-112) is fixedly connected to the lower part of the front or rear travel frame; The upper part of the retractable leg assembly (1-15) is rotatably connected to the upper fixing plate (1-112) of the telescopic leg, and the lower part is rotatably connected to the lower fixing plate (1-111) of the telescopic leg; the lower part of the lower fixing plate (1-111) of the telescopic leg is rotatably connected to the horizontal plate (1-16); the upper ends of the two gantry columns (1-14) are symmetrically fixed to the lower part of the horizontal plate (1-16), and the lower part of each gantry column (1-14) is rotatably connected to a swing arm bracket (1-13); the two tires (1-11) are rotatably connected to both ends of the swing arm bracket (1-13). It is located between two swing arm supports (1-13); the axle end of the tire (1-11) is connected to a tire sprocket; the motor (1-18) is connected to the cross plate (1-16) and the output end of the motor (1-18) is provided with a motor sprocket; the roller chain (1-12) is set on the motor sprocket and the tire sprocket; one end of the electric push rod (1-110) is rotatably connected to the tail of the cross plate (1-16) and the other end is rotatably connected to the lower fixing plate (1-111) of the telescopic leg. The electric push rod (1-110) is used to drive the lower fixing plate (1-11) of the telescopic leg. 1) The relative rotation between the horizontal plate (1-16) and the wheel assembly (1-1) drives the steering of the wheel assembly (1-1); the shock absorber (1-19) is symmetrically arranged on both sides of the gantry column (1-14), one end is rotatably connected to the side of the gantry column (1-14), and the other end is rotatably connected to the upper part of the swing arm bracket (1-13); one end of the electric push rod (1-113) is rotatably connected to the front travel frame or the rear travel frame, and the other end is rotatably connected to the telescopic leg assembly (1-15), and the electric push rod (1-113) is used to drive the telescopic leg assembly (1-15) to extend and retract; The front traveling frame includes a front top platform (1-02A), a front reinforcing beam (1-03A), a control box suspension frame (1-05A), a control box (1-06A), a battery box (1-09A), a front side reinforcing frame (1-010A), a front top baffle (1-011A), and a front long gantry column (1-012A). The telescopic leg assembly (1-15) includes a lower connecting rod (1-15-1), an upper connecting rod (1-15-2), a short connecting rod (1-15-3), and a connecting plate (1-15-4). Four lower connecting rods (1-15-1) are arranged to form a spatial parallelogram structure, with one end rotatably connected to the lower fixing plate (1-15-1) of the telescopic leg and the other end rotatably connected to the connecting plate (1-15-4). Four upper connecting rods (1-15-2) are arranged to form a spatial parallelogram structure, with one end rotatably connected to the connecting plate (1-15-4) and the other end rotatably connected to the upper fixing plate (1-15-4) of the telescopic leg. 112); The short connecting rod (1-15-3) is rotatably connected to the lower part of the upper connecting rod (1-15-2) and the lower connecting rod (1-15-1); One end of the electric push rod (1-113) is rotatably connected to the two lugs on the front long gantry column (1-012A) or the middle of the two lugs on the rear long gantry column (1-012B), and the other end is rotatably connected to the ends of the two lower connecting rods (1-15-1). The electric push rod (1-113) is used to drive the telescopic leg assembly (1-15) to move in the vertical direction to achieve telescopic movement, thereby realizing independent height adjustment of the wheel assembly (1-1); Electric actuator 2 (1-113) is connected to the control unit in the control box (1-06A) and the battery in the battery box (1-09A) respectively.

2. The self-propelled candle harvester suitable for steep hilly terrain according to claim 1, characterized in that, Each of the wheel components (1-1) includes four shock absorbers (1-19), two tires (1-11), and a roller chain (1-12).

3. The self-propelled candle harvester suitable for steep hilly terrain according to claim 2, characterized in that, Anti-skid chains (1-013) are also installed on the outer surfaces of the two tires (1-11) in the wheel component (1-1).

4. The self-propelled candle harvester suitable for steep hilly terrain according to claim 1, characterized in that, The upper parts of the four front long gantry columns (1-012A) are connected to the four corners of the front top platform (1-02A). The two front long gantry columns (1-012A) on the left side of the front top platform (1-02A) are connected by a front side reinforcement frame (1-010A), and the two front long gantry columns (1-012A) on the right side of the front top platform (1-02A) are connected by a front side reinforcement frame (1-010A). The mounting holes on the front side reinforcement frame (1-010A) are connected to the battery box (1-09A). The two front long mast columns (1-012A) on the front side of the platform (1-02A) are connected by a front reinforcing beam (1-03A), and the lower parts of the two front long mast columns (1-012A) are fixedly connected to the upper part of the telescopic leg fixing plate (1-112) on the wheel component (1-1); the control box suspension bracket (1-05A) is connected to the front reinforcing beam (1-03A); the control box (1-06A) is connected to the control box suspension bracket (1-05A); the front top baffle (1-011A) is connected to the front top platform (1-02A); The rear walking frame includes a rear top platform (1-02B), a rear reinforcing beam (1-04B), a generator suspension frame (1-07B), a generator (1-08B), a rear side reinforcing frame (1-010B), a rear top baffle (1-011B), a rear long gantry column (1-012B), and a rear collection box (1-014B). The upper parts of the four rear long gantry columns (1-012B) are fixedly connected to the four corners of the rear top platform (1-02B). The two rear long gantry columns (1-012B) located on the left side of the rear top platform (1-02B) are connected by a rear side reinforcement frame (1-010B). The two rear long gantry columns (1-012B) located on the right side of the rear top platform (1-02B) are connected by a rear side reinforcement frame (1-010B). The two rear long gantry columns (1-012B) located on the rear side of the rear top platform (1-02B) are connected by a rear reinforcement beam (1-04B). The lower part of these two rear long gantry columns (1-012B) is... The components are respectively connected to the upper part of the telescopic leg fixing plate (1-112) on the wheel component (1-1); the rear reinforcing beam (1-04B) is provided with multiple mounting holes for connecting the generator suspension bracket (1-07B); the generator suspension bracket (1-07B) is connected to the mounting holes at the rear of the rear reinforcing beam (1-04B); the generator (1-08B) is fixedly connected to the generator suspension bracket (1-07B); the rear top baffle (1-011B) is connected to the rear top platform (1-02B); the rear collection box (1-014B) is located in the middle of the four rear long mast columns (1-012B) and is connected to the lower part of the rear top platform (1-02B); The control unit in the control box (1-06A) is connected to the motor (1-18) and electric push rod (1-110) in each wheel component (1-1), and the battery in the battery box (1-09A) is connected to the control unit, motor (1-18) and electric push rod (1-110) in the control box (1-06A).

5. The self-propelled candle harvester suitable for steep hilly terrain according to claim 1, characterized in that, The folding swing arm assembly (1-2) includes an upper folding swing frame (1-21), a lower folding swing frame (1-22), a swing electric actuator (1-23), a pitch electric actuator (1-24), a torsion lug (1-25), and a pitch lug (1-26). The torsion lug (1-25) is fixedly connected to the front top platform (1-02A) of the front traveling frame; the upper folding swing frame (1-21) and the lower folding swing frame (1-22) are both triangular structures. The upper folding swing frame (1-21) has a keyway-shaped notch (1-212) in the middle and an L-shaped lug (1-211) at the rear; the front end of the upper folding swing frame (1-21) is rotatably connected to the upper surface of the middle part of the torsion lug (1-25); the lower folding swing frame (1-22) has a keyway-shaped notch (1-212) in the middle. A trapezoidal hanging lug (1-221) is provided, and the front end of the lower folding swing frame (1-22) is rotatably connected to the lower surface of the middle part of the torsion hanging lug (1-25); two swing electric actuators (1-23) are symmetrically arranged on the left and right sides between the upper folding swing frame (1-21) and the lower folding swing frame (1-22). One end of one swing electric actuator (1-23) is rotatably connected to the left end of the torsion hanging lug (1-25), and the other end is connected to the rear left end of the upper folding swing frame (1-21) and the lower folding swing frame (1-22). The rear left end is rotatably connected, and one end of another swing electric actuator (1-23) is rotatably connected to the right end of the torsion lug (1-25), and the other end is rotatably connected to the rear right end of the upper folding swing frame (1-21) and the rear right end of the lower folding swing frame (1-22). The swing electric actuator (1-23) is used to control the left and right swing of the folding swing arm assembly (1-2); one end of the pitch electric actuator (1-24) passes through the keyway-shaped notch (1-212) in the middle of the upper folding swing frame (1-21) and then connects to the lower folding swing arm assembly (1-22). The trapezoidal lug (1-221) in the middle of the waist swing frame (1-22) is rotatably connected, and the other end is rotatably connected to the upper part of the pitch lug (1-26). The middle part of the pitch lug (1-26) is rotatably connected to the L-shaped lug (1-211) at the rear of the upper waist swing frame (1-21). The lower part of the pitch lug (1-26) is fixedly connected to the front part of the rear top platform (1-02B) of the rear walking frame. The pitch electric actuator (1-24) is used to control the up and down pitch movement of the waist swing arm assembly (1-2). The control unit in the control box (1-06A) is connected to the swing electric actuator (1-23) and the pitch electric actuator (1-24) respectively, and the battery in the battery box (1-09A) is connected to the swing electric actuator (1-23) and the pitch electric actuator (1-24) respectively.

6. The self-propelled candle harvester suitable for steep hilly terrain according to claim 1, characterized in that, The harvesting device (2) includes a reciprocating cutting mechanism (2-1), a blower (2-2), a reel (2-3), a front collection box (2-4), and a collection box support (2-5). The reciprocating cutting mechanism (2-1) is a double-blade or single-blade mechanism, located at the front end of the front collection box (2-4). The front collection box (2-4) is a box-shaped structure with openings at both the front and rear. The blower (2-2) is located at the front end of the front collection box (2-4). The blower (2-2) is connected to multiple air outlet pipes via a main pipe, and these multiple air outlet pipes are located above the reciprocating cutting mechanism (2-1). The air outlets of the air outlet pipes face the front collection box (2-4). The blower (2-2) is used to heat the reciprocating cutter. The branches cut by the mechanism (2-1) are blown into the front collection box (2-4); the reel (2-3) is located above the reciprocating cutting mechanism (2-1) and behind the air outlet pipe. The reel (2-3) is set at the front end of the front collection box (2-4) and is used to push the crop into the front collection box (2-4); the four collection box supports (2-5) are L-shaped structures with multiple sets of mounting holes on the side. One end is symmetrically fixed to the inside of the front long gantry column (1-012A), and the other end is fixedly connected to the mounting hole on the outer side of the front collection box (2-4), so that the front collection box (2-4) is supported and connected to the front long gantry column (1-012A); The reciprocating cutting mechanism (2-1) and the blower (2-2) are respectively connected to the control unit in the control box (1-06A) and the battery in the battery box (1-09A).

7. The self-propelled candle harvester suitable for steep hilly terrain according to claim 6, characterized in that, The harvesting device (2) also includes a reel drive motor, which is connected to the central shaft of the reel (2-3). The reel drive motor is connected to the front end of the collection box (2-4) via a bracket. The reel drive motor is connected to the control unit in the control box (1-06A) and the battery in the battery box (1-09A).

8. The self-propelled candle harvester suitable for steep hilly terrain according to claim 4, characterized in that, The control box suspension frame (1-05A) is also equipped with a binocular depth camera (3) and a navigator (4). The front side reinforcement frame (1-010A) and the rear side reinforcement frame (1-010B) of the walking device (1) are both equipped with ultrasonic sensors (5). The binocular depth camera (3), the navigator (4) and the ultrasonic sensor (5) are all connected to the control unit in the control box (1-06A). The binocular depth camera (3), the navigator (4) and the ultrasonic sensor (5) are all connected to the battery in the battery box (1-09A).

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