Electro-hydraulic control method of head vegetable harvester and harvester

Abstract

The invention discloses an electro-hydraulic control method of a head vegetable harvester. The electro-hydraulic control method comprises the following steps that a header lifting mechanism control unit is provided with a profiling mechanism, an adjusting mechanism connected with the profiling mechanism and a header mechanism connected with the adjusting mechanism; the header lifting mechanism control unit is further provided with a multi-way valve controller, a multi-way valve, a first hydraulic oil cylinder and a second hydraulic oil cylinder. The multi-way valve controller controls the first hydraulic oil cylinder and the second hydraulic oil cylinder through the multi-way valve. Wherein the first hydraulic oil cylinder adjusts the pulling position of the front end of the header mechanism and the position of the heading vegetables in a profiling mode, and the second hydraulic oil cylinder finely adjusts the matching position of a feeding opening of the header mechanism and the heading vegetables. Harvesting inlet errors caused by the fact that the ground of the crawler belt of the harvester is different from the ground of a feeding inlet of the header mechanism are reduced, the height difference between a pulling mechanism at the front end of the header mechanism and cabbages is avoided, one machine is universal, and the accuracy of pulling the cabbages is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural harvesting equipment, in particular to an electro-hydraulic control method of a head vegetable harvester and the harvester. BACKGROUND

[0002] As an important vegetable variety in China, the cultivation area of cabbage has been maintained at more than 900,000 hm2 all the year round, but the mechanization level of cabbage harvesting is not high, and the labor intensity of harvesting accounts for 40%. With the reduction of agricultural population, mechanized cabbage harvesting has become inevitable. There are few cabbage harvesting machines in China, and the planting patterns of cabbage in different regions differ greatly, which leads to great differences in adaptability and operation quality of existing models in different regions, and it is difficult to realize one-machine universal. During the pulling process of cabbage, due to the deviation of cabbage planting position, growth inclination, and size inconsistency, etc., the accuracy of pulling cabbage is poor, and the shape of the whole cabbage is spherical during the conveying process, so it is easy to roll during conveying, which will lead to inaccurate root cutting, and problems such as missed cutting and wrong cutting. Therefore, the present application adopts an electro-hydraulic control method based on human-computer interaction to ensure the quality of cabbage harvesting. SUMMARY

[0003] In view of the above problems, the present application provides an electro-hydraulic control method of a head vegetable harvester and the harvester, which has high accuracy when pulling head vegetables.

[0004] The present application adopts the following technical solutions:

[0005] The cutting table lifting mechanism control unit is configured to have a profiling mechanism, an adjusting mechanism connected to the profiling mechanism, and a cutting table mechanism connected to the adjusting mechanism;

[0006] The cutting table lifting mechanism control unit is further configured to have a multi-way valve controller, a multi-way valve, a first hydraulic cylinder, and a second hydraulic cylinder; the multi-way valve controller controls the first hydraulic cylinder and the second hydraulic cylinder through the multi-way valve respectively;

[0007] The first hydraulic cylinder profiles and adjusts the pulling position of the front end of the cutting table, and the second hydraulic cylinder finely adjusts the position of the feeding inlet of the cutting table mechanism and the ground.

[0008] Advantages

[0009] The present application adjusts the position of the clamping and conveying assembly and the pulling and cutting assembly on the cutting table mechanism to match the growth posture of the cabbage by controlling the flow of the hydraulic cylinder of the lifting mechanism assembly through the multi-way valve on the multifunction handle to drive the second support beam and the flow of the first hydraulic cylinder to drive the main support beam. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 It is an embodiment of the present application to provide an electrical and hydraulic control method for a head vegetable harvester;

[0011] Fig. 2(a) is a structural schematic diagram of an electrical and hydraulic control module for a head vegetable harvester according to an embodiment of the present application;

[0012] Fig. 2(b) is another structural schematic diagram of an electrical and hydraulic control module for a head vegetable harvester according to an embodiment of the present application;

[0013] Figure 3 Fig. 1 is a flowchart of an electrical and hydraulic control method for a head vegetable harvester according to an embodiment of the present application;

[0014] Figure 4 Fig. 3 is a structural schematic diagram of a cutting table lifting mechanism control unit according to an embodiment of the present application;

[0015] Figure 5 Fig. 4 is a flowchart of an electrical and hydraulic control method for a head vegetable harvester according to another embodiment of the present application;

[0016] Figure 6 Fig. 5 is a structural schematic diagram of a chassis adjustment control unit according to an embodiment of the present application;

[0017] Figure 7 Fig. 6 is a structural schematic diagram of a chassis lifting mechanism assembly according to an embodiment of the present application;

[0018] Figure 8 Fig. 7 is a structural schematic diagram of a lifting mechanism according to an embodiment of the present application;

[0019] Figure 9 Fig. 8 is a flowchart of an electrical and hydraulic control method for a head vegetable harvester according to another embodiment of the present application;

[0020] Figure 10 Fig. 9 is a structural schematic diagram of a pressing and conveying roller control unit according to an embodiment of the present application;

[0021] Figure 11is a flowchart of an electro-hydraulic control method of a head vegetable harvester provided in Embodiment 4 of the present application.

[0022] Figure 12 is a structural diagram of a pulling and cutting assembly provided in Embodiment 4 of the present application.

[0023] Figure 13 is a structural diagram of a cutting knife mechanism provided in Embodiment 4 of the present application.

[0024] Figure 14 is a flowchart of an electro-hydraulic control method of a head vegetable harvester provided in Embodiment 5 of the present application.

[0025] Figure 15 is a structural diagram of a pulling and cutting assembly, a clamping and conveying assembly and a harvesting platform connection relationship provided in Embodiment 5 of the present application.

[0026] Figure 16 is a driving structural diagram of a harvesting platform provided in Embodiment 5 of the present application.

[0027] Figure 17 is a flowchart of an electro-hydraulic control method of a head vegetable harvester provided in Embodiment 6 of the present application.

[0028] Figure 18 is a flowchart of an electro-hydraulic control method of a head vegetable harvester provided in Embodiment 7 of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0030] The head vegetable in the present application is cabbage, broccoli, cauliflower, cabbage, Chinese cabbage, ball-shaped lettuce, etc.

[0031] Referring to Figure 1 is an implementation working environment of an electro-hydraulic control method of a head vegetable harvester provided in each embodiment of the present application.

[0032] The head vegetable harvester comprises a main machine chassis 1, a power assembly 2, a cutting table mechanism 3, a harvesting platform 4, a sunshade 5, a control assembly 6, a hydraulic system and a profiling mechanism 8, power is provided by a diesel engine, and each working component is driven by a hydraulic motor. The complete working process of the harvester is as follows: the cabbage is pulled out by the pulling mechanism of the cutting table mechanism, the pulled-out cabbage is clamped and conveyed to the cutting knife of the root cutting mechanism by the clamping and conveying assembly 64 of the cutting table mechanism 3, the root cutting of the cabbage is completed, the cabbage is conveyed to the harvesting platform 14, the scattered leaves, weeds and other impurities are manually removed, and finally the cabbage is put into a frame for collection.

[0033] Referring to Figure 3 Embodiment 1 of the present application provides a flowchart of an electro-hydraulic control method of a head vegetable harvester, which comprises the following steps:

[0034] S11: configuring the cutting table lifting mechanism control unit to have a profiling mechanism, an adjusting mechanism connected to the profiling mechanism, and a cutting table mechanism connected to the adjusting mechanism.

[0035] In this step, the profiling mechanism is hinged to the harvester chassis assembly, and the profiling mechanism 8 comprises a main support beam 81, a rubber wheel 84, and a first hydraulic cylinder 57. The main chassis 1 is fixedly connected to a connecting plate, one end of the main support beam is hinged to the connecting plate, and the other end is connected to the rubber wheel, which contacts the planting ground. The first hydraulic cylinder 57 is arranged above the connecting plate, the piston rod of the first hydraulic cylinder 57 is connected to the middle part of the main support beam rod body, and the first hydraulic cylinder 57 drives the main support beam to move up and down. When the main machine is running, the rubber wheel floats up and down around the hinge point of the main support beam and the connecting plate with the ups and downs of the planting ground. In this step, the profiling structure is close to the feeding inlet of the cutting table mechanism, which reduces the harvesting inlet error caused by the difference between the ground at the harvester track and the ground at the feeding inlet of the cutting table mechanism, and avoids the height difference between the front end pulling mechanism of the cutting table mechanism and the cabbage, so that one machine is universal, and the accuracy of cabbage pulling is high.

[0036] S12: configuring the cutting table lifting mechanism control unit to further have a multi-way valve controller, a multi-way valve, a first hydraulic cylinder 57, and a second hydraulic cylinder 56; the multi-way valve controller controls the first hydraulic cylinder 57 and the second hydraulic cylinder 56 through the multi-way valve, wherein the first hydraulic cylinder 57 adjusts the position of the front end pulling mechanism of the cutting table mechanism and the position of the head vegetable, and the second hydraulic cylinder 56 finely adjusts the matching position of the feeding inlet of the cutting table mechanism and the head vegetable.

[0037] In this step, the adjusting mechanism comprises a first support beam, a second support beam, and a second hydraulic cylinder 56, which are sequentially hinged to the lifting frame arranged on the cutting table mechanism. The first support beam is hinged to the main support beam at the other end, and the piston rod of the second hydraulic cylinder 56 is hinged to the rod body of the second support beam 83. The extension and retraction of the piston rod of the second hydraulic cylinder 56 drives the second support beam to rotate around the hinge point, so that the lifting frame 31 pulls the cutting table mechanism 3 to rotate around the hinge point of the cutting table mechanism and the harvester main machine. The front end pulling mechanism of the cutting table mechanism and the cabbage are finely adjusted.

[0038] When working, the buttons on the multifunctional handle 28 control the multi-way valve 46 to adjust the flow of the hydraulic cylinder 56 of the lifting mechanism assembly 60 to drive the second support beam, and the flow of the first hydraulic cylinder 57 to drive the main support beam, so that the clamping and conveying assembly 64 and the pulling and cutting assembly 66 arranged on the cutting table mechanism 3 are adjusted to the positions matched with the growth posture of the cabbage.

[0039] Referring to Figure 5 , is a flowchart of an electro-hydraulic control method of a head vegetable harvester according to an embodiment of the present application. Based on the embodiment 1, the method comprises the following steps:

[0040] S21: The whole machine chassis adjustment control unit is configured to have a chassis assembly 39, a chassis lifting mechanism assembly 34, and an upper frame welding 72, which are sequentially connected from bottom to top.

[0041] In this step, the upper frame welding is used to bear the power assembly 2, the header mechanism 3, the harvesting platform 4, the sunshade 5, the control assembly 6, and the hydraulic system.

[0042] S22: The whole machine chassis adjustment control unit is further configured to have a multi-way controller, a multi-way valve, and two bidirectional oil cylinders 30 and 74; the multi-way valve is controlled by the multi-way controller to drive the bidirectional oil cylinders to rotate the chassis lifting mechanism assembly 34, thereby achieving the left-right inclination and lifting of the upper frame welding 72.

[0043] Specifically, the chassis lifting mechanism assembly 34 includes two groups of lifting mechanisms, and two bidirectional oil cylinders are arranged to drive the two groups of lifting mechanisms, respectively.

[0044] The lifting mechanism includes a first lifting arm 35, a second lifting arm 38, and a long pull rod welding 36, the two ends of the long pull rod welding 36 are connected to the first lifting arm 35 and the second lifting arm 38, respectively; the other end of each of the two lifting arms is hinged to the chassis assembly 39 relative to the connecting end of the long pull rod welding; one end of the bidirectional oil cylinder 30 is hinged to the long pull rod welding 36, and the other end is connected to the upper frame welding 72. The bidirectional oil cylinder 30 is located in the recess 37 on the arm of the long pull rod welding 36.

[0045] When adjusting the posture of the harvester, the chassis adjustment handle 27 controls the multi-way valve 46 to adjust the in-out oil of the bidirectional oil cylinders 30 and 74 through the multi-way valve controller 58, the piston rod of one end of the bidirectional oil cylinder 30 is extended to push the first lifting arm 35 to rotate, the piston rod of the other end of the bidirectional oil cylinder 30 is retracted to pull the second lifting arm 38 to rotate, thereby realizing the rotation of the lifting mechanism around the hinge with the chassis assembly to stand, and realizing the lifting of the whole machine posture of the harvester; the piston rods of both ends of the bidirectional oil cylinder 30 are reversed, the first lifting arm 35 and the second lifting arm 38 are turned to lie flat, and the lowering of the whole machine posture of the harvester is realized.

[0046] When the first lifting arm 35 and the second lifting arm 38 are in the same position, the two bidirectional oil cylinders 30 and 74 (not shown in the figure) located in the recess 37 on the arm of the long pull rod welding 36 are controlled to be in different extension states, and the two oil cylinders are connected to one end of the upper frame welding 72, thereby realizing the left-right inclination posture of the whole machine of the harvester.

[0047] The embodiment can further adjust the appropriate matching distance between the cabbage and the harvesting period pulling mechanism on different planting surfaces.

[0048] Referring to Figure 9 Embodiment 3 of the present application provides an electro-hydraulic control method for a head vegetable harvester, based on embodiment 1, the method comprises the following steps:

[0049] S31: configuring the pressure roller control unit with a speed reducer motor 63 driving a sprocket 68, a sprocket 67 axially connected to the pressure roller 62, and a chain 69 winding the sprockets.

[0050] In this step, the speed reducer motor driving the sprocket, the pressure roller axially connected sprocket, and the chain connecting the sprockets form the pressure roller mechanism of the cutting platform mechanism 3, which is located above the feeding inlet of the clamping conveying assembly 64.

[0051] S32: configuring the pressure roller control unit further comprising a combined solenoid valve 43, a clutch handle and a first control switch connected to the combined solenoid valve respectively.

[0052] S33: in the working state of the clutch handle, the first control switch controls the third valve of the combined solenoid valve to close and power on, controls the rotation of the speed reducer motor, and further controls the rotation of the pressure roller. Two sets of feeding conveyors are arranged below the pressure roller. The two sets of feeding conveyors with opposite rotation directions clamp the root part of the head vegetables, the pressure roller contacts the head part of the head vegetables, and the relative rotation speed of the lower conveyor and the pressure roller is controlled to adjust the pose of the head vegetables.

[0053] Specifically, the operation clutch handle 29 is turned to the "working state", at this time the operation clutch handle 29 presses the self-resetting switch 23, so that the valve 5 and the valve 6 of the combined solenoid valve 43 are powered on and attracted, and the valve 5 and the valve 6 are in the working state. Then turn the forward and reverse control switch 26 to the forward direction, so that the third valve 3 of the combined solenoid valve 43 is powered on and attracted, and the third valve 3 enters the working state. The speed reducer motor 63 of the pressure roller 62 is powered on for operation. The speed reducer motor 63 is connected with the sprocket 68, the sprocket 68 drives the sprocket 67 to rotate through the chain 69, and the pressure roller 62 is connected with the sprocket 67 through a key, so as to realize the control of the pressure roller.

[0054] Because the cutting platform mechanism is inclined, the two sets of feeding conveyors 661 of the pulling and cutting assembly 66 clamp and fix the root part of the head vegetables, the head part of the cabbage is inclined or tilted to the forward direction of the harvester due to gravity, and the pressure roller rotates to the rear of the cutting platform mechanism. When the transmission speed of the feeding conveyor 661 is less than the rotation speed of the pressure roller, the posture of the head part of the cabbage is adjusted vertically and positively by the pressure roller.

[0055] Referring to Figure 11Embodiment 4 of the present application provides an electro-hydraulic control method for a head vegetable harvester, based on embodiment 1, the method comprises the following steps:

[0056] S41: the cutting knife adjustment switch of the cutting knife cutting position control unit is configured to control the electric push rod to move up or down through the circuit controller, push the position of the cutting knife relative to the feeding conveyor, thereby adjusting the position of the cutting knife cutting the root system of the head vegetable.

[0057] Specifically, two cutting knives 662 are arranged at the rear end of the two sets of feeding conveyors 661 of the pulling and cutting assembly 66, and the two cutting knives rotate in opposite directions to cut the cabbage root system clamped by the two sets of feeding conveyors 661. The cutting knife center shaft 11 is sleeved with the first shaft sleeve 110 and the second shaft sleeve 120, the second shaft sleeve is fixed on the cutting table mechanism, the first shaft sleeve is limited in the limiting rail connected with the second shaft sleeve in the axial direction and can only move in the circumferential direction, the teeth on the inner wall of the first shaft sleeve are connected with and rotate synchronously around the cutting knife center shaft, and the cutting knife center shaft can move axially relative to the first shaft sleeve. The outer periphery of the first shaft sleeve is matched with the feeding conveyor 661 to drive the feeding conveyor to rotate.

[0058] The lower end of the center shaft 11 of the two cutting knives is connected with the conveyor belt through a gear and a hydraulic motor 2.

[0059] The knob speed adjustment switch 22 controls the second valve current of the combined electromagnetic valve 43 through the power controller 59, thereby controlling the hydraulic motor 2, adjusting the rotating speed of the cutting knife 662 and the rotating speed of the feeding conveyor 661.

[0060] The on-off of the cutting knife adjustment switch 21 controls the electric push rod 10 to move up or down through the circuit controller 59, the electric push rod 10 pushes the connecting key of the two cutting knife center shafts to move up and down axially relative to the first shaft sleeve, thereby adjusting the distance between the cutting knife and the feeding conveyor for clamping the cabbage root system, and adjusting the position of the cutting knife cutting the root system of the head vegetable.

[0061] Referring to Figure 14 Embodiment 5 of the present application provides a flowchart of an electro-hydraulic control method for a head vegetable harvester, based on embodiment 1, the method comprises the following steps:

[0062] S51: the clamping and conveying assembly control unit is configured to have the clamping and conveying assembly 64, and the two sets of clamping and conveying belts of the clamping and conveying assembly 64 are used to clamp and convey the head vegetable.

[0063] S52: the harvesting platform is arranged at the rear of the clamping and conveying assembly, and the input port of the harvesting platform is located below the output port of the clamping and conveying assembly.

[0064] S53: configure the first valve 1 of the combined electromagnetic valve and the circuit controller, control the circuit controller to change the current size of the first valve of the combined electromagnetic valve through the knob speed adjustment switch, change the oil flow in the spool oil way of the first valve 1, and change the size of the rotating speed of the clamping conveying assembly 64 and the rotating speed of the conveying belt 14 of the harvesting platform 4.

[0065] In this embodiment, when the operating personnel of the harvesting platform 4 and the personnel adjusting the speed at the driving position do not match the speed, the operating personnel can change the output of the circuit controller 59 to the current size of the first valve 1 of the combined electromagnetic valve 43 through the knob speed adjustment switch 22, the current of the first valve controls the two parallel hydraulic motors 17 and 13; the current size of the first valve 1 changes the oil flow in the spool oil way of the first valve 1, changes the rotating speed of the hydraulic motor 17, and further adjusts the rotating speed of the clamping conveying belt 641 of the clamping conveying assembly 64 driven by the hydraulic motor 17; the current size of the first valve 1 changes the oil flow in the spool oil way of the first valve 1, changes the rotating speed of the hydraulic motor 13, and further adjusts the rotating speed of the conveying belt 14 of the harvesting platform 4 driven by the hydraulic motor 13; so as to adjust the rotating speed of the clamping conveying belt 641 of the clamping conveying assembly 64 and the rotating speed of the conveying belt 14 of the harvesting platform to achieve the best operating efficiency.

[0066] Referring to Figure 17 It is a flowchart of an electro-hydraulic control method of a head vegetable harvester provided in embodiment 6 of the present application, based on embodiment 1, the method comprises the following steps:

[0067] S61: configure the pulling and cutting assembly 66 to have two sets of feeding conveyors 661, a pulling mechanism arranged at the front end of the feeding conveyor and a cutter mechanism arranged at the rear end of the feeding conveyor, and the feeding conveyor drives the pulling mechanism and the cutter mechanism to rotate.

[0068] In this step, the pulling mechanism is a plum blossom disc, the two sets of feeding conveyors correspond to two plum blossom discs, the root system of the clamping cabbage is transmitted to the clamping root system of the two feeding conveyors in the rotating process, and the two feeding conveyors rotate reversely to give a pulling force upward to pull the cabbage in the inclined state of the cutter mechanism.

[0069] S62: configure the combined electromagnetic valve 43 to have a fourth valve 4, the fourth valve is energized to attract, the cutter reverses, the clamping conveying assembly 64 reverses, and the speed reducer motor 63 of the pressure roller control unit stops rotating, so that the blocked material exits the machine.

[0070] In this step, the two clamping conveyors 641 of the clamping conveying assembly 64 are used to clamp the leaf ball part of the cabbage, and the pressure roller is used to cooperate with the two sets of feeding conveyors of the pulling and cutting assembly to adjust the posture of the leaf ball part of the cabbage.

[0071] In this embodiment, if the work speed is not matched, the cutting assembly 66 is blocked, the forward and reverse control switch 26 is turned to reverse, the fourth valve 4 of the combined electromagnetic valve 43 is energized and attracted, the fourth valve 4 is in working state, the cutter 662 is reversed, the clamping conveying assembly 64 is reversed, the speed reducing motor 63 is de-energized and not rotated, and the blocked material is removed from the machine.

[0072] Referring to Figure 18 It is an embodiment 7 of the present application to provide a kind of electric-hydraulic control method flow chart of head vegetable harvester, based on embodiment 1, the method comprises the following steps:

[0073] S71: configure combined electromagnetic valve 43 with mechanical valve, independently control the rotating speed of harvesting platform 14 conveying belt.

[0074] In this embodiment, when the rotating speed of harvesting platform conveying belt 14 and the picking speed of the operator do not match, the operator can adjust the flow of hydraulic motor 13 through mechanical valve 18 in combined electromagnetic valve 43, and independently control the rotating speed of harvesting platform conveying belt 14. Compared with the embodiment 5, the rotating speed of clamping conveying assembly 68 and the rotating speed of harvesting platform conveying belt 14 are changed simultaneously, and the independent flexibility of controlling the harvesting platform is increased in this embodiment.

[0075] Embodiment 8 of the present application provides a kind of head vegetable harvester, including the components of any one of the embodiments 1-8, and executes the method of corresponding embodiment. For specific working process, refer to the above method embodiment, which will not be repeated here.

[0076] The above is the preferred embodiment of the present application, it should be pointed out, for ordinary skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements are also considered to be within the scope of the present application.

Claims

1. An electro-hydraulic control method of a head vegetable harvester, characterized in that, a cutting header lifting mechanism control unit is configured to have a profiling mechanism, an adjusting mechanism connected to the profiling mechanism, and a cutting header mechanism connected to the adjusting mechanism; the cutting header lifting mechanism control unit is further configured to have a multi-way valve controller, a multi-way valve, a first hydraulic cylinder (57), and a second hydraulic cylinder (56); the multi-way valve controller controls the first hydraulic cylinder (57) and the second hydraulic cylinder (56) through the multi-way valve respectively; wherein the first hydraulic cylinder (57) adjusts the position of the cutting header mechanism front end to the position of the head vegetable, and the second hydraulic cylinder (56) finely adjusts the matching position of the cutting header mechanism feeding inlet to the head vegetable.

2. The electro-hydraulic control method of the head vegetable harvester according to claim 1, characterized in that, a whole machine chassis adjusting control unit is configured to have a chassis assembly (39), a chassis lifting mechanism assembly (34), and an upper frame weldment (72) connected in sequence from bottom to top; the whole machine chassis adjusting control unit is further configured to have a multi-way controller, a multi-way valve, and at least two bidirectional cylinders; the multi-way controller controls the multi-way valve to drive the bidirectional cylinders to rotate the chassis lifting mechanism assembly (34), thereby achieving the left-right inclination and lifting of the upper frame weldment (72).

3. The electro-hydraulic control method of the head vegetable harvester as claimed in claim 2, characterized in that, The chassis lifting mechanism assembly (34) includes two groups of lifting mechanisms, and the two bidirectional cylinders are arranged to drive the two groups of lifting mechanisms respectively. The lifting mechanism includes a first lifting arm (35), a second lifting arm (38), and a long pull rod weldment (36), the two ends of the long pull rod weldment (36) are connected to the first lifting arm (35) and the second lifting arm (38) respectively; the other end of each of the two lifting arms is hinged to the chassis assembly (39) relative to the connection end of the long pull rod weldment; one end of the bidirectional cylinder is hinged to the long pull rod weldment (36), and the other end is connected to the upper frame weldment (72).

4. The electro-hydraulic control method of the head vegetable harvester according to claim 1, characterized in that, a pressure roller control unit is configured to have a speed reduction motor driving sprocket, a pressure roller shaft connected sprocket, and a chain connected to the sprocket; the pressure roller control unit is further configured to have a combined solenoid valve (43), a clutch handle, and a first control switch connected to the combined solenoid valve respectively; in the starting operation state of the clutch handle, the first control switch controls the third valve of the combined solenoid valve to close and power on, controls the rotation of the speed reduction motor, and then controls the rotation of the pressure roller; two sets of feeding conveyors are arranged below the pressure roller, the two sets of feeding conveyors rotate in opposite directions to clamp the root part of the head vegetable, the pressure roller contacts the head part of the head vegetable, and the relative rotation speed of the lower conveyor and the pressure roller is controlled to adjust the position of the head vegetable.

5. The electro-hydraulic control method of the head vegetable harvester according to claim 1, characterized in that, a cutting knife cutting position control unit is configured to have a cutting knife adjusting switch that controls the upward or downward movement of an electric push rod through a circuit controller, pushes the position of the cutting knife relative to the lower conveyor, and thereby adjusts the position of the cutting knife cutting the root of the head vegetable.

6. The electro-hydraulic control method of the head vegetable harvester according to claim 1, characterized in that, The clamping conveying assembly control unit is provided with a clamping conveying assembly (64), and a clamping conveying belt is arranged between two sets of clamping conveying belts of the clamping conveying assembly (64) to clamp and convey the ball-shaped vegetables; A harvesting platform is arranged behind the clamping conveying assembly, and an input port of the harvesting platform is arranged below an output port of the clamping conveying assembly; The circuit controller and the first valve of the combined electromagnetic valve are arranged, the circuit controller is controlled by means of a knob speed adjusting switch to change the current of the first valve of the combined electromagnetic valve, the oil flow in the valve core oil way of the first valve (1) is changed, and the rotating speed of the clamping conveying assembly (64) and the rotating speed of the conveying belt (14) of the harvesting platform are changed.

7. The electro-hydraulic control method of the ball-shaped vegetable harvester according to claim 1, wherein, The pulling and cutting assembly is provided with two sets of feeding conveying belts, a pulling mechanism arranged at the front end of the feeding conveying belt and a cutter mechanism arranged at the rear end of the feeding conveying belt, and the pulling mechanism and the cutter mechanism are driven to rotate by the feeding conveying belt; The combined electromagnetic valve (43) is provided with a fourth valve (4), the fourth valve is attracted by electricity, the cutter is reversed, the clamping conveying assembly (64) is reversed, the speed reduction motor of the pressing roller control unit is stopped, and the blocked material is discharged from the machine.

8. The electro-hydraulic control method of the ball-shaped vegetable harvester according to claim 1, wherein, The combined electromagnetic valve (43) is provided with a mechanical valve, and the rotating speed of the conveying belt (14) of the harvesting platform is independently controlled.

9. A head vegetable harvester, characterized by The electro-hydraulic control method of the ball-shaped vegetable harvester according to any one of claims 1-8 is executed.

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