All-terrain self-adaptive precise root cutting device and root cutting method

Abstract

The invention provides an all-terrain self-adaptive precise root cutting device and method with transverse and longitudinal bidirectional collaborative profiling and multi-degree-of-freedom standing posture regulation. The all-terrain self-adaptive precise root cutting device comprises a rack; the driving mechanism is mounted on the rack; the transverse and longitudinal two-way profiling mechanism is installed on the rack, located at the foremost end of the transverse and longitudinal two-way three-degree-of-freedom precise root cutting device and used for two-way profiling in the ridge direction and the ridge transverse cutting direction; one end of the root cutting mechanism is connected with the transverse-longitudinal two-way profiling mechanism, and the other end of the root cutting mechanism is connected with the reciprocating mechanism and located behind the transverse-longitudinal two-way profiling mechanism; the left-right reciprocating mechanism is arranged in the rack, is driven by the motor to move, is respectively arranged at the motor and the cutting mechanism, and is used for performing left-right reciprocating root cutting motion; and the height adjusting mechanisms are respectively mounted at the profiling mechanism and the cutting mechanism. According to the scheme, the problems that crops are scattered and damaged due to excessive root cutting caused by uneven transverse and longitudinal ridge surfaces during root cutting of crops on soil, and labor intensity is increased due to the fact that manual secondary operation is still needed are solved, and accurate root cutting of the crops is achieved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an all-terrain adaptive precision root cutting device and method, specifically an all-terrain adaptive precision root cutting device and method with lateral and longitudinal bidirectional collaborative contouring and multi-degree-of-freedom posture control. Background Technology

[0002] The three-degree-of-freedom precision root cutting device refers to a device that adjusts the height and level of the cutter along the ridge direction and the surface flatness of the ridge cross section to ensure that the root height is 10-30mm. The cutter has three degrees of freedom: left and right reciprocating, rotation around the cutting axis, and forward movement with the tool. This technology is suitable for soil-grown root-cutting crops that are suitable for mechanized planting.

[0003] Harvesting underground root crops is characterized by "high labor intensity and low mechanization" due to the nature of the work, making it the most labor-intensive and time-consuming stage in the entire production process. Specifically, manual harvesting accounts for approximately 40% of underground root crop harvesting and accounts for over 50% of the total production cost. Although the proportion of fully mechanized harvesting has reached about 20%, technological limitations severely restrict the improvement of agricultural production efficiency and economic benefits.

[0004] Currently, the main harvesting method for underground root crops both domestically and internationally is stubble cutting. However, this technical approach has several significant problems: ① Unstable cutting depth: Under existing stubble cutting methods, the tilted cross-section of the ridge makes it difficult to precisely control the cutting depth, easily resulting in insufficient or excessive cutting, affecting root integrity. ② High stem and leaf residue and loss: Stubble cutting easily produces a large amount of stem and leaf residue, which not only increases the difficulty of subsequent processing but may also lead to excessive crop loss, and even infect subsequent crops through diseased plant debris, affecting crop growth. ③ Disorderly scattered petioles: During the cutting process, petioles are easily scattered and disorderly, failing to meet market demands for neat petioles that are easy to sell, especially unsuitable for the intensive and standardized sales model in China. ④ Existing leafy vegetable harvesting contour cutting mechanisms suffer from large contouring errors due to the relatively soft ridge surface, often resulting in high damage and missed cutting rates. This not only reduces the economic benefits of crops but also limits the promotion and application of mechanized harvesting. Summary of the Invention

[0005] To address the shortcomings of the existing technologies, this invention provides an all-terrain adaptive precision root-cutting device to achieve precise root cutting of crops on uneven ground, reduce crop damage rate and labor costs, increase crop yield and efficiency, and greatly improve the practicality of the equipment.

[0006] The all-terrain adaptive precision root cutting device provided by this invention includes:

[0007] frame;

[0008] The drive mechanism is mounted on the frame;

[0009] The transverse and longitudinal bidirectional contouring mechanism is installed on the frame and located at the front end of the entire root cutting device. It includes multiple sets of contouring devices, which are installed on the frame via a U-shaped shaft. These devices are used to simultaneously contour the surface unevenness of the ridge direction and the ridge cross-section.

[0010] The reciprocating mechanism is connected at one end to the drive mechanism and at the other end to the frame. It is located on the inner wall of the frame and is used to drive the cutter to reciprocate left and right.

[0011] The root-cutting mechanism is connected at one end to the horizontal and vertical bidirectional contouring mechanism and at the other end to the left and right reciprocating mechanism. It is located behind the horizontal and vertical bidirectional contouring mechanism and is used to cut the roots of crops.

[0012] In some embodiments, each set of the contouring devices includes:

[0013] The U-shaped shaft is fixed to the frame;

[0014] A fixed plate and a contour rod, wherein one end of the fixed plate is fixed to the U-shaped shaft and the other end is connected to the contour rod;

[0015] The contour wheel is fixedly connected to the contour rod.

[0016] A frame connecting plate is fixed to one end of the U-shaped shaft;

[0017] A height adjustment mechanism is connected to the fixed plate.

[0018] In some embodiments, the height adjustment mechanism includes:

[0019] A compression spring and a connecting rod, wherein one end of the compression spring is connected to a fixed plate, and the other end is connected to the connecting rod through a connecting plate;

[0020] An equal curvature handle, one end of which is connected to the compression spring, and the other end of which is connected to the connecting rod, is located at the top.

[0021] The distance-assisted control system includes a distance detection sensor, a ridge contour height calculation model, and a controller. The distance detection sensor obtains the distance detection value between the center point of the cutter and the ridge surface.

[0022] In some embodiments, the curvature of the constant curvature handle is the same as the radius of rotation of the contour rod around the fixed plate, so as to counteract the tendency of the cutting tool to move back and forth due to the forward and backward movement of the contour axis, and ensure that the cutting tool only moves up and down with it. The calculation formula is as follows:

[0023] Equation (1)

[0024] Equation (2)

[0025] Where H1, H2, and H3 are the vertical displacements when the circular motion turns into linear motion, in mm; L1, L2, and L3 are the horizontal displacements when the circular motion turns into linear motion, in mm; and R is the radius of rotation of the contour rod around the fixed plate, in mm.

[0026] In some embodiments, the distance detection value between the center point of the cutter and the ridge surface is compared with the preset height between the cutter and the contour wheel; the angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the equal curvature handle needs to be rotated clockwise / counterclockwise;

[0027] The height difference controls the rotation of the constant curvature handle clockwise or counterclockwise at the current moment;

[0028] The calculation model for the height of the cutting platform is as follows:

[0029] h = H2 - H1 (3)

[0030] Equation (4)

[0031] Where h is the mechanical adjustment height of the constant curvature handle mechanism, in mm; This is the preset height value between the cutter and the contour wheel, in mm; Let be the angle change after the i-th adjustment, in degrees; n is the number of times the constant curvature handle is adjusted; Let be the angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge protrusion, and also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °;

[0032] Equation (5)

[0033] in, The angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge surface depression is also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °.

[0034] In some embodiments, the left-right reciprocating mechanism includes:

[0035] The reciprocating crossbar is connected to the U-shaped handles on both sides by bolts; and

[0036] The reciprocating vertical rod is fixedly connected at one end to the reciprocating horizontal rod, and movably connected at the other end to the reciprocating connecting shaft;

[0037] The U-shaped handle is connected at one end to the drive mechanism and at the other end to the reciprocating horizontal shaft.

[0038] In some embodiments, the root-cutting mechanism includes:

[0039] A cutter shaft and a cutter, wherein the cutter shaft is fixed to a connecting rod; and

[0040] The sleeve shaft has one end movably connected to the cutter shaft and the other end fixedly connected to the cutter.

[0041] The moving cutting shaft is fixedly connected to the reciprocating connecting shaft at one end and movably connected to the reciprocating connecting shaft at the other end, and has three degrees of freedom: rotational motion and left and right translation.

[0042] In some embodiments, the two ends of the reciprocating connecting shaft are connected to the reciprocating vertical rod, and the middle is movably connected to the moving cutting shaft.

[0043] In some embodiments, the drive mechanism includes a motor and a short-handled rocker arm.

[0044] The present invention also provides an all-terrain adaptive precise root cutting method, which employs the all-terrain adaptive precise root cutting device described above, and the method includes the following steps:

[0045] Step 1: The motor rotates, driving the rocker arm to rotate. Since the rocker arm is short, its vertical displacement is negligible. The U-shaped handle moves back and forth left and right under the action of the rocker arm.

[0046] Step 2: The U-shaped handle drives the reciprocating horizontal bar to move left and right, the reciprocating horizontal bar drives the reciprocating vertical bar to move, and in turn drives the reciprocating connecting shaft to move;

[0047] Step 3: The reciprocating connecting shaft drives the moving cutting shaft to move, and the moving cutting shaft drives the cutting blade to reciprocate through the sleeve shaft;

[0048] Step 4: As the machine moves forward, the contour wheel contacts the ground surface in the direction of the ridge and the cross-section of the ridge, and drives the contour rod to move up and down according to the degree of depression / protrusion of the ground surface;

[0049] Step 5: The up-and-down movement of the contour rod drives the up-and-down movement of the constant curvature handle;

[0050] Step 6: When the curvature handle moves upward, the compression spring is in a compressed state. Due to the support of the ground surface on the contour wheel, the compression spring continues to compress. When the ground surface sinks, the contour wheel moves downward. At this time, the compression spring drives the curvature handle to move downward under its own elastic force.

[0051] Step 7: The constant curvature handle drives the connecting rod to move up and down, and the connecting rod drives the cutter shaft to move up and down;

[0052] Step 8: Each contouring group's contouring wheel, compression spring, constant curvature handle, connecting rod, fixing plate, U-shaped shaft, and contouring rod act independently, and the contouring-related components of each contouring group move independently to complete the bidirectional mechanical adjustment of the ridge direction and ridge cross-section;

[0053] Step 9: Obtain the distance detection value between the center point of the cutter and the ridge surface using a distance detection sensor; compare the distance detection value between the center point of the cutter and the ridge surface with the preset height between the cutter and the contour wheel; the angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the constant curvature handle needs to rotate clockwise / counterclockwise; control the constant curvature handle to rotate clockwise / counterclockwise at the current moment based on the height difference;

[0054] The calculation model for the height of the cutting platform is as follows:

[0055] h = H2 - H1 (3)

[0056] Equation (4)

[0057] Where h is the mechanical adjustment height of the constant curvature handle mechanism, in mm; This is the preset height value between the cutter and the contour wheel, in mm; Let be the angle change after the i-th adjustment, in degrees; n is the number of times the constant curvature handle is adjusted; Let be the angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge protrusion, and also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °;

[0058] Equation (5)

[0059] in, The angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge surface depression is also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °.

[0060] Compared with the prior art, the present invention has the following advantages:

[0061] This invention provides an all-terrain adaptive precision root cutting device, specifically an all-terrain adaptive precision root cutting device with horizontal and vertical bidirectional collaborative contouring and multi-degree-of-freedom posture control. It is a horizontal and vertical bidirectional three-degree-of-freedom precision root cutting device with a reasonable layout, which can fundamentally solve the problems of high crop scattering and damage rate caused by excessive root cutting and the need for secondary manual processing, which increases labor costs, and achieves precise and stable crop cutting.

[0062] The all-terrain adaptive precision root cutting device provided by this invention adopts a combination of horizontal and vertical bidirectional precision contouring and three-degree-of-freedom cutter root cutting, solving problems such as uneven ridge cross-sections caused by field management leading to inconsistent root cutting heights on the same cross-section, and inaccurate root cutting by traditional ridge-direction contouring mechanisms. It achieves bidirectional contouring along the ridge direction and ridge cross-section, reducing root cutting errors and ensuring root cutting stability and accuracy. The use of a horizontal and vertical bidirectional contouring mechanism solves the problem of traditional ridge-direction contouring only, improving contouring accuracy. The use of a distance-assisted control system solves the problem of low contouring accuracy, further improving contouring precision. The use of a three-degree-of-freedom root cutting mechanism solves the problem of high crop damage rate caused by tilted root cutting of single plants, achieving precise and stable crop root cutting. The use of a reciprocating mechanism solves the problems of incomplete root cutting and over-cutting, reducing the missed cutting rate. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the overall structure of the all-terrain adaptive precision root cutting device shown in an embodiment of the present invention;

[0064] Figure 2 This is a schematic diagram of the contouring device of the transverse and longitudinal bidirectional contouring mechanism shown in an embodiment of the present invention;

[0065] Figure 3 This is a schematic diagram of the height adjustment mechanism structure shown in an embodiment of the present invention;

[0066] Figure 4 This is a schematic diagram of the left-right reciprocating mechanism structure shown in an embodiment of the present invention;

[0067] Figure 5 This is a schematic diagram of the root cutting mechanism structure shown in an embodiment of the present invention;

[0068] Figure 6 This is a schematic diagram illustrating the working principle of the height adjustment mechanism shown in an embodiment of the present invention;

[0069] Figure 7 This is a flowchart illustrating the distance-assisted control process in an embodiment of the present invention;

[0070] In the attached figures, the following labels are used:

[0071] 1-Rack;

[0072] 2-Drive mechanism;

[0073] 21-Electric motor;

[0074] 22-Short-handle joystick;

[0075] 3-Horizontal and vertical bidirectional contouring mechanism;

[0076] 31-Following device;

[0077] 311-U-shaped shaft;

[0078] 312-Fixing Plate;

[0079] 313-Following rod;

[0080] 314 - Contouring wheel;

[0081] 315 - Height adjustment mechanism;

[0082] 3151 - Compression Spring;

[0083] 3152 - Connecting rod;

[0084] 3153 - Connecting plate;

[0085] 3154 - Equal curvature handle;

[0086] 3155 - Distance-assisted control system;

[0087] 4- Reciprocating mechanism;

[0088] 41-Reciprocating crossbar;

[0089] 42-U-shaped handle;

[0090] 43-Reciprocating vertical rod;

[0091] 44 - Reciprocating connecting shaft;

[0092] 5-Root cutting mechanism;

[0093] 51-Cutter shaft;

[0094] 52-Cutting blade;

[0095] 53-sleeve shaft;

[0096] 54-Moving cutting shaft. Detailed Implementation

[0097] In summary, to address the current challenges in harvesting underground root-cut crops, such as high crop damage and missed cutting rates, significant losses, and excessive labor costs, and to improve the stability, applicability, and accuracy of root-cutting operations while reducing crop damage, it is urgently necessary to explore and develop a device capable of precise and stable root cutting. Therefore, achieving precise and stable root cutting of underground root-cut crops is a crucial research direction that urgently needs to be addressed, and its success will significantly improve the level of agricultural mechanization and economic benefits.

[0098] For this purpose, please refer to Figure 1-7 One embodiment of the present invention provides an all-terrain adaptive precision root cutting device, see [link to relevant documentation]. Figure 1The device includes: a frame 1; a drive mechanism 2, mounted on the frame 1, the drive mechanism 2 including two sets: a motor 21 and a short-handled rocker arm 22; and a bidirectional contouring mechanism 3, mounted on the frame 1 and located at the front end of the entire root cutting device, used for bidirectional contouring in the ridge direction and ridge cross-section, including multiple contouring devices 31, which are mounted on the frame 1 via U-shaped shafts, used to simultaneously contour the surface unevenness in the ridge direction and ridge cross-section, break up soil clods, ensure that the crop after root cutting meets the root cutting requirements, avoid crop scattering and secondary manual operations, and prevent affecting the quality and yield of the crop. The left-right reciprocating mechanism 4 is connected at one end to the drive mechanism 2 and at the other end to the frame 1. It is located on the inner wall of the frame 1 and is driven by the motor 21. It is installed at the motor and the cutting mechanism respectively and is used to drive the cutter to reciprocate left and right. The root cutting mechanism 5 is connected at one end to the horizontal and vertical bidirectional contouring mechanism 3 and at the other end to the left-right reciprocating mechanism 4. It is located behind the horizontal and vertical bidirectional contouring mechanism 3 and is used to cut the roots of the crop.

[0099] The all-terrain adaptive precision root cutting device provided in this embodiment fundamentally solves the problems of crop scattering and damage caused by excessive root cutting due to unevenness of the ridge surface in both the horizontal and vertical directions, and the need for secondary manual operation that increases labor intensity when cutting roots of crops on soil, thus achieving precise root cutting of crops.

[0100] join Figure 2 In this embodiment, each group of contouring devices 31 includes: a U-shaped shaft 311 fixed to the frame 1; a fixing plate 312 and a contouring rod 313, one end of the fixing plate 312 being fixed to the U-shaped shaft 311 and the other end being connected to the contouring rod 313; a contouring wheel 314 fixedly connected to the contouring rod 313; a frame connecting plate 314 fixed to one end of the U-shaped shaft 311; and a height adjustment mechanism 315 connected to the fixing plate 312. In this embodiment, the contouring devices 31 can, for example, be four groups, with each contouring wheel 314 acting independently based on the principle that two points determine a straight line.

[0101] See Figure 3 The height adjustment mechanism 315 includes: a compression spring 3151 and a connecting rod 3152. One end of the compression spring 3151 is connected to the fixed plate 312, and the other end is connected to the connecting rod 3152 through the connecting plate 3153. When the connecting rod 3152 moves backward, the compression spring 3151 is in a compressed state, and when the connecting rod 3152 moves forward, the compression spring 3151 is in a relaxed state. A constant curvature handle 3154 is connected to the compression spring 3151 at one end and to the connecting rod 3152 at the other end, and is located at the top. A distance auxiliary control system 3155 includes a distance detection sensor, a ridge surface contour height calculation model, and a controller. The distance detection sensor obtains the distance detection value between the center point of the cutter and the ridge surface.

[0102] The curvature of the constant curvature handle 3154 is the same as the radius of rotation of the contour rod 313 around the fixed plate 312, so as to counteract the tendency of the cutting tool to move back and forth due to the forward and backward movement of the contour axis, and ensure that the cutting tool only moves up and down with it. The calculation formula and schematic diagram are shown in equation (1) and respectively. Figure 6 As shown:

[0103] Equation (1)

[0104] Equation (2)

[0105] Where H1, H2, and H3 are the vertical displacements when the circular motion turns into linear motion, in mm; L1, L2, and L3 are the horizontal displacements when the circular motion turns into linear motion, in mm; and R is the radius of rotation of the contour rod around the fixed plate, in mm.

[0106] Compare the distance between the center point of the cutter and the ridge surface with the preset height between the cutter and the contour wheel; the angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the equal curvature handle needs to be rotated clockwise or counterclockwise;

[0107] The height difference controls the rotation of the constant curvature handle clockwise or counterclockwise at the current moment;

[0108] The calculation model for the height of the cutting platform is as follows:

[0109] h = H2 - H1 (3)

[0110] Equation (4)

[0111] Where h is the mechanical adjustment height of the constant curvature handle mechanism, in mm; This is the preset height value between the cutter and the contour wheel, in mm; Let be the angle change after the i-th adjustment, in degrees; n is the number of times the constant curvature handle is adjusted; Let be the angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge protrusion, and also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °;

[0112] Equation (5)

[0113] in, The angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge surface depression is also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °.

[0114] See Figure 4 The left-right reciprocating mechanism 4 described in this embodiment includes:

[0115] The reciprocating crossbar 41 is bolted to the U-shaped handles 42 on both sides. As the motor 21 rotates, it drives the U-shaped handles 42 to move left and right, thereby causing the reciprocating crossbar 41 to reciprocate left and right.

[0116] The reciprocating vertical rod 43 is fixedly connected at one end to the reciprocating horizontal rod 41 and movably connected at the other end to the reciprocating connecting shaft 44. It moves left and right reciprocating with the reciprocating horizontal rod 41.

[0117] The U-shaped handle 42 is connected at one end to the motor 21 of the drive mechanism 2 and at the other end to the reciprocating horizontal shaft.

[0118] See Figure 5 The root-cutting mechanism 5 described in this embodiment includes:

[0119] Cutting shaft 51 and cutting blade 52, wherein the cutting shaft 51 is fixed on connecting rod 3152; and

[0120] The sleeve shaft 53 is movably connected at one end to the cutter shaft 51 and fixedly connected at the other end to the cutter 52. It is also fixedly connected to the left and right reciprocating mechanism 4 through the moving cutting shaft 54, so as to ensure that the cutter 52 moves left and right reciprocating with the left and right reciprocating mechanism 4 and moves up and down with the connecting rod 3152.

[0121] The moving cutting shaft 54 ​​is fixedly connected at one end to the reciprocating connecting shaft 44 and movably connected at the other end to the reciprocating connecting shaft 44, and has three degrees of freedom: rotational motion and left and right translation.

[0122] The two ends of the reciprocating connecting shaft 44 are connected to the reciprocating vertical rod 43, and the middle is movably connected to the moving cutting shaft 54. It can drive the sleeve shaft 53 to move back and forth, and can also move up and down with the cutter 52.

[0123] Another embodiment of the present invention provides an all-terrain adaptive precise root cutting method, which employs the all-terrain adaptive precise root cutting device described above. The method includes the following steps:

[0124] Step 1: The motor 21 rotates, driving the rocker arm to rotate. Since the rocker arm is short, its vertical displacement is negligible. The U-shaped handle 42 moves back and forth left and right under the action of the rocker arm.

[0125] Step 2: The U-shaped handle 42 drives the reciprocating horizontal bar 41 to move left and right, the reciprocating horizontal bar 41 drives the reciprocating vertical bar 43 to move, and then drives the reciprocating connecting shaft 44 to move.

[0126] Step 3: The reciprocating connecting shaft 44 drives the moving cutting shaft 54 ​​to move, and the moving cutting shaft 54 ​​drives the cutting blade 52 to reciprocate through the sleeve shaft 53;

[0127] Step 4: As the machine moves forward, the contour wheel contacts the ground surface in the direction of the ridge and the cross-section of the ridge, and drives the contour rod to move up and down according to the degree of depression / protrusion of the ground surface;

[0128] Step 5: The up-and-down movement of the contour rod 313 drives the up-and-down movement of the constant curvature handle 3154;

[0129] Step 6: When the constant curvature handle 3154 moves upward, the compression spring 3151 is in a compressed state. Due to the support of the ground surface on the contour wheel 314, the compression spring 3151 continues to compress. When the ground surface sinks, the contour wheel 314 moves downward. At this time, the compression spring 3151 drives the constant curvature handle 3154 to move downward under its own elastic force.

[0130] Step 7: The constant curvature handle 3154 drives the connecting rod 3152 to move up and down, and the connecting rod 3152 drives the cutting shaft 51 to move up and down;

[0131] Step 8: The contouring wheel 314, compression spring 3151, constant curvature handle 3154, connecting rod 3152, fixing plate 312, U-shaped shaft 311, and contouring rod 313 of each contouring group act independently, and the contouring-related components of each contouring group move independently to complete the bidirectional mechanical adjustment of the ridge direction and ridge cross-section.

[0132] Step 9: Obtain the distance detection value between the center point of the cutter and the ridge surface using a distance detection sensor; compare the distance detection value between the center point of the cutter and the ridge surface with the preset height between the cutter and the contour wheel; the angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the constant curvature handle needs to rotate clockwise / counterclockwise; control the constant curvature handle to rotate clockwise / counterclockwise at the current moment based on the height difference;

[0133] The calculation model for the height of the cutting platform is as follows:

[0134] h = H2 - H1 (3)

[0135] Equation (4)

[0136] Where h is the mechanical adjustment height of the constant curvature handle mechanism, in mm; This is the preset height value between the cutter and the contour wheel, in mm; Let be the angle change after the i-th adjustment, in degrees; n is the number of times the constant curvature handle is adjusted; Let be the angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge protrusion, and also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °;

[0137] Equation (5)

[0138] in, The angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge surface depression is also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °.

[0139] During operation, the motor first rotates, driving the rocker arm to rotate. Since the rocker arm is short, its vertical displacement is negligible. The U-shaped handle reciprocates left and right under the rocker arm's action. The U-shaped handle drives the reciprocating horizontal bar to move left and right, which in turn drives the reciprocating vertical bar, which in turn drives the reciprocating connecting shaft. The reciprocating connecting shaft drives the moving cutting shaft, which in turn drives the cutter to reciprocate via the sleeve shaft. As the machine advances, the contour wheel contacts the ground surface in the ridge direction and ridge cross-section direction, moving the contour rod up and down according to the degree of surface depression / protrusion. The up and down movement of the contour rod drives the constant curvature handle up and down. When the constant curvature handle moves upward, the compression spring is compressed. Due to the support of the ground surface on the contour wheel, the compression spring continues to compress. When the ground surface depressions, the contour wheel moves downward, and the compression spring, under its own elastic force, drives the constant curvature handle downward. The process involves the following steps: The constant curvature handle drives the connecting rod up and down, which in turn drives the cutter shaft up and down. Each contouring group's contouring wheel, compression spring, constant curvature handle, connecting rod, fixing plate, U-shaped shaft, and contouring rod function independently, with each contouring-related component moving independently to achieve bidirectional mechanical adjustment of the ridge direction and ridge cross-section. A distance sensor detects the distance between the center point of the cutter and the contouring wheel. This distance is compared to a preset height between the cutter and the contouring wheel. The angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the constant curvature handle needs to rotate clockwise or counterclockwise. This height difference controls the clockwise / counterclockwise rotation of the constant curvature handle at the current moment, providing a secondary, precise auxiliary adjustment based on the mechanical contouring height adjustment. This reduces contouring errors and improves the accuracy of contouring root cutting. This completes one cycle of the horizontal and vertical bidirectional three-degree-of-freedom root cutting mechanism, which then repeats the cycle.

[0140] The all-terrain adaptive precision root-cutting device provided by this invention has a reasonable layout, which can fundamentally solve the problems of high crop scattering damage rate and missed cutting rate caused by excessive root cutting, and the need for secondary manual processing, which increases labor costs, and achieves precise and stable crop cutting. Specifically, it adopts a combination of horizontal and vertical bidirectional contouring and three-degree-of-freedom cutting, solving problems such as uneven ridge cross-sections caused by field management leading to inconsistent root cutting heights on the same cross-section, and the inaccuracy of traditional ridge-direction contouring mechanisms. It achieves bidirectional contouring along the ridge direction and ridge cross-section, reducing root cutting errors and ensuring the stability and accuracy of root cutting. The horizontal and vertical bidirectional contouring mechanism solves the problem of traditional ridge-direction contouring only, improving contouring accuracy. The distance-assisted control system solves the problem of low current contouring accuracy, further improving contouring precision. The three-degree-of-freedom root cutting mechanism solves the problem of high crop damage rate caused by tilted single-plant root cutting, achieving precise and stable crop root cutting. The reciprocating mechanism solves the problems of incomplete root cutting and over-cutting, reducing the missed cutting rate.

[0141] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only.

[0142] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A terrain-adaptive precision root cutting device, characterized in that: include: frame; The drive mechanism is mounted on the frame; The transverse and longitudinal bidirectional contouring mechanism is installed on the frame and located at the front end of the entire root cutting device. It includes multiple sets of contouring devices, which are installed on the frame via a U-shaped shaft. These devices are used to simultaneously contour the surface unevenness of the ridge direction and the ridge cross-section. The reciprocating mechanism is connected at one end to the drive mechanism and at the other end to the frame. It is located on the inner wall of the frame and is used to drive the cutter to reciprocate left and right. The root-cutting mechanism is connected at one end to the horizontal and vertical bidirectional contouring mechanism and at the other end to the left and right reciprocating mechanism. It is located behind the horizontal and vertical bidirectional contouring mechanism and is used to cut the roots of crops.

2. The all-terrain adaptive precision root cutting device according to claim 1, characterized in that: Each set of the contouring devices includes: The U-shaped shaft is fixed to the frame; A fixed plate and a contour rod, wherein one end of the fixed plate is fixed to the U-shaped shaft and the other end is connected to the contour rod; The contour wheel is fixedly connected to the contour rod. A frame connecting plate is fixed to one end of the U-shaped shaft; A height adjustment mechanism is connected to the fixed plate.

3. The all-terrain adaptive precision root cutting device according to claim 2, characterized in that: The height adjustment mechanism includes: A compression spring and a connecting rod, wherein one end of the compression spring is connected to a fixed plate, and the other end is connected to the connecting rod through a connecting plate; An equal curvature handle, one end of which is connected to the compression spring, and the other end of which is connected to the connecting rod, is located at the top. The distance-assisted control system includes a distance detection sensor, a ridge contour height calculation model, and a controller. The distance detection sensor obtains the distance detection value between the center point of the cutter and the ridge surface.

4. The all-terrain adaptive precision root cutting device according to claim 3, characterized in that: The curvature of the constant curvature handle is the same as the radius of rotation of the contour rod around the fixed plate, so as to counteract the tendency of the cutting tool to move back and forth due to the forward and backward movement of the contour axis, and ensure that the cutting tool only moves up and down with it. The calculation formula is as follows: Equation (1) Equation (2) Where H1, H2, and H3 are the vertical displacements when the circular motion turns into linear motion, in mm; L1, L2, and L3 are the horizontal displacements when the circular motion turns into linear motion, in mm; and R is the radius of rotation of the contour rod around the fixed plate, in mm.

5. The all-terrain adaptive precision root cutting device according to claim 4, characterized in that: Compare the distance between the center point of the cutter and the ridge surface with the preset height between the cutter and the contour wheel; the angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the equal curvature handle needs to be rotated clockwise or counterclockwise; The height difference controls the rotation of the constant curvature handle clockwise or counterclockwise at the current moment; The calculation model for the height of the cutting platform is as follows: h = H2 - H1 (3) Equation (4) Where h is the mechanical adjustment height of the constant curvature handle mechanism, in mm; This is the preset height value between the cutter and the contour wheel, in mm; Let be the angle change after the i-th adjustment, in degrees; n is the number of times the constant curvature handle is adjusted; Let be the angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge protrusion, and also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °; Equation (5) in, The angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge surface depression is also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °.

6. The all-terrain adaptive precision root cutting device according to claim 5, characterized in that: The left and right reciprocating mechanism includes: The reciprocating crossbar is connected to the U-shaped handles on both sides by bolts; and The reciprocating vertical rod is fixedly connected at one end to the reciprocating horizontal rod, and movably connected at the other end to the reciprocating connecting shaft; The U-shaped handle is connected at one end to the drive mechanism and at the other end to the reciprocating horizontal shaft.

7. The all-terrain adaptive precision root cutting device according to claim 6, characterized in that: The root-cutting mechanism includes: A cutter shaft and a cutter, wherein the cutter shaft is fixed to a connecting rod; and The sleeve shaft has one end movably connected to the cutter shaft and the other end fixedly connected to the cutter. The moving cutting shaft is fixedly connected to the reciprocating connecting shaft at one end and movably connected to the reciprocating connecting shaft at the other end, and has three degrees of freedom: rotational motion and left and right translation.

8. The all-terrain adaptive precision root cutting device according to claim 7, characterized in that: The two ends of the reciprocating connecting shaft are connected to the reciprocating vertical rod, and the middle is movably connected to the moving cutting shaft.

9. The all-terrain adaptive precision root cutting device according to claim 1, characterized in that: The drive mechanism includes a motor and a short-handled rocker arm.

10. A method for accurate root cutting that adapts to all terrains, characterized in that: The method using the all-terrain adaptive precision root cutting device as described in any one of claims 1-9 includes the following steps: Step 1: The motor rotates, driving the rocker arm to rotate. Since the rocker arm is short, its vertical displacement is negligible. The U-shaped handle moves back and forth left and right under the action of the rocker arm. Step 2: The U-shaped handle drives the reciprocating horizontal bar to move left and right, the reciprocating horizontal bar drives the reciprocating vertical bar to move, and in turn drives the reciprocating connecting shaft to move; Step 3: The reciprocating connecting shaft drives the moving cutting shaft to move, and the moving cutting shaft drives the cutting blade to reciprocate through the sleeve shaft; Step 4: As the machine moves forward, the contour wheel contacts the ground surface in the direction of the ridge and the cross-section of the ridge, and drives the contour rod to move up and down according to the degree of depression / protrusion of the ground surface; Step 5: The up-and-down movement of the contour rod drives the up-and-down movement of the constant curvature handle; Step 6: When the curvature handle moves upward, the compression spring is in a compressed state. Due to the support of the ground surface on the contour wheel, the compression spring continues to compress. When the ground surface sinks, the contour wheel moves downward. At this time, the compression spring drives the curvature handle to move downward under its own elastic force. Step 7: The constant curvature handle drives the connecting rod to move up and down, and the connecting rod drives the cutter shaft to move up and down; Step 8: Each contouring group's contouring wheel, compression spring, constant curvature handle, connecting rod, fixing plate, U-shaped shaft, and contouring rod act independently, and the contouring-related components of each contouring group move independently to complete the bidirectional mechanical adjustment of the ridge direction and ridge cross-section; Step 9: Obtain the distance detection value between the center point of the cutter and the ridge surface using a distance detection sensor; compare the distance detection value between the center point of the cutter and the ridge surface with the preset height between the cutter and the contour wheel; the angle corresponding to the height difference between the preset height and the distance detection value is the angle by which the constant curvature handle needs to rotate clockwise / counterclockwise; control the constant curvature handle to rotate clockwise / counterclockwise at the current moment based on the height difference; The calculation model for the cutter height is as follows: h = H2 - H1 (3) Equation (4) Where h is the mechanical adjustment height of the constant curvature handle mechanism, in mm; This is the preset height value between the cutter and the contour wheel, in mm; Let be the angle change after the i-th adjustment, in degrees; n is the number of times the constant curvature handle is adjusted; Let be the angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge protrusion, and also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °; Equation (5) in, The angle of the constant curvature handle corresponding to the mechanical adjustment height value when encountering a ridge surface depression is also the angle of the (i+1)th adjustment of the constant curvature handle distance auxiliary control system, in °.

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