Intelligent light radish harvester

Abstract

The application provides a kind of intelligent light radish harvester, including harvesting mechanism, harvesting mechanism includes: double joint harvesting arm group, installation is in the front end operation site of rack, first transmission mechanism, it is arranged obliquely rearwards above the double joint harvesting arm group;Second transmission mechanism, it is arranged upwards and passes through the transmission path of first transmission mechanism;Third transmission mechanism, it is arranged obliquely rearwards above the first transmission mechanism and passes through the transmission path of second transmission mechanism;Radish leaf cutting mechanism, it is arranged above third transmission mechanism and is located at the end of second transmission mechanism, is located at radish leaf cutting station.The application can significantly reduce radish pulling broken root rate and damage rate, realize the accurate control of radish conveying posture and cutting angle, greatly improve the precision and operation stability of leaf cutting, adapt to hilly and mountainous area fragmentation small plot radish harvesting operation, effectively reduce labor cost.

Description

Technical Field

[0001] This invention mainly relates to the field of agricultural machinery technology, specifically an intelligent lightweight radish harvester. Background Technology

[0002] Radishes are a major vegetable crop in my country, widely cultivated and with high economic value. The national planting area remains stable at over 2 million mu (approximately 133,333 hectares) annually, with nearly 40% located in hilly and mountainous areas. It is one of the core economic crops for increasing farmers' income in many regions. Harvesting is the most labor-intensive and demanding stage in the entire radish cultivation process. Currently, radish harvesting in my country is still mainly done manually, requiring 6-8 man-hours per mu for manual pulling and removing the tops. With the continuous outflow of rural labor and the aging of the agricultural workforce, the difficulty and high cost of hiring labor for manual harvesting are becoming increasingly prominent, becoming a core bottleneck restricting the large-scale development of the radish industry.

[0003] Mechanized harvesting is the core solution to replace manual labor, but existing mechanized radish harvesting equipment still suffers from three major technological shortcomings, which are seriously out of touch with the actual needs of planting and production in my country, where small farmers are the main producers: 1. The lack of a pre-loosening and pre-pulling mechanism combined with stem and leaf gathering during the harvesting process results in high rates of root breakage and missed harvesting: Most mainstream pull-type radish harvesters currently on the market use a structure that directly clamps and forcibly pulls out the radish tops, without a pre-loosening and pre-pulling mechanism or a synchronous stem and leaf gathering mechanism. On the one hand, radish roots and stems are buried deep and tightly bound to the soil, especially in heavy clay soil conditions. Directly pulling them out can easily cause root and stem breakage and skin scratches. According to investigations, traditional pull-out devices without a loosening structure have an average radish harvesting damage rate of over 8.6%, and some models even have a damage rate of over 15% in high-moisture, heavy clay soil, which seriously reduces the commercial grade and shelf life of radishes. On the other hand, radish stems and leaves in the field often fall over, become scattered, and become entangled. Without a gathering structure, problems such as stem and leaf misalignment, missed clamping, and breakage can easily occur in the subsequent clamping and conveying process, further increasing the missed harvesting rate and aggravating operational losses.

[0004] 2. Radish harvesting is not highly automated. Machines capable of cutting the tops and collecting the radishes after harvest are large, complex, and prone to failure. They are poorly adapted to field conditions and planting patterns, failing to meet mainstream production needs and unsuitable for automated harvesting in small-scale farmland. In my country, radish cultivation is primarily done by smallholder farmers with plots of less than 50 mu (approximately 3.3 hectares). Over 60% of radish cultivation in hilly and mountainous areas consists of fragmented plots of less than 1 mu (approximately 0.067 hectares), with slopes ranging from 6° to 25°. Existing large-scale radish combine harvesters are only suitable for contiguous plains with slopes less than 8°, completely failing to meet the needs of fragmented small-scale operations in hilly and mountainous areas. Meanwhile, commercially available small, simple harvesting machines only perform basic soil-breaking functions, lacking the capabilities for pre-pulling, conveying, and precise cutting throughout the entire process, still requiring significant manual assistance. This is severely out of sync with the predominantly small-scale farming practices in my country.

[0005] 3. During radish harvesting, insufficient precision in removing the radish tops leads to significant damage and residue issues. Cutting too high results in radish top residue, requiring secondary manual cleaning and increasing labor costs; cutting too low damages the top of the radish root, directly lowering the radish's commercial grade. Summary of the Invention

[0006] To address the shortcomings of current technology, this invention combines existing technology and focuses on practical applications to provide an intelligent lightweight radish harvester that can pull out, cut the tops, and collect radishes, and is suitable for radish harvesting in small farmlands.

[0007] The technical solution of the present invention is as follows: A smart, lightweight radish harvester includes a vehicle body, with a harvesting mechanism installed at the front end of the vehicle body's frame. The harvesting mechanism includes: The double-jointed harvesting arm assembly is installed at the front working position of the frame. It is used to loosen the soil around the radish and complete the pre-pulling operation of the radish while the vehicle is moving forward, and at the same time realize the gathering and straightening of the radish stems and leaves. The primary transmission mechanism is arranged at an angle to the rear above the double-jointed harvesting arm assembly. It adopts a chain-type clamping structure to clamp the radish tops of the pre-pulled radish, pull out the radish, and complete the rearward transport. The secondary transmission mechanism is arranged upwards and passes through the transmission path of the primary transmission mechanism. It adopts a chain clamping structure and connects with the primary transmission mechanism to clamp the pulled-out radish tops and complete the upward transport. The third-level transmission mechanism is inclined and rearwardly arranged above the first-level transmission mechanism and passes through the transmission path of the second-level transmission mechanism. It adopts a belt clamping structure to clamp the radish body of the radish transported by the second-level transmission mechanism and complete the rearward conveying. The second-level transmission mechanism and the third-level transmission mechanism work together to provide a stable conveying posture and cutting angle for the radish tops so that they are conveyed to the radish top cutting station. The radish top cutting mechanism is located above the tertiary transmission mechanism and at the end of the secondary transmission mechanism. It is situated at the radish top cutting station and, in cooperation with the secondary and tertiary transmission mechanisms, cuts off the radish tops of the transported radishes.

[0008] Furthermore, the dual-joint harvesting arm assembly includes two symmetrically arranged clamping drill bits, each of which is connected to a dual-joint connecting rod. The dual-joint connecting rod is connected to a spacing adjustment component, an angle adjustment component, and a drill bit rotation drive component. The drill bit rotation drive component is used to drive the clamping drill bits to rotate and drill. The spacing adjustment component is used to adjust the spacing between the two clamping drill bits, and the angle adjustment component is used to adjust the angle between the two clamping drill bits.

[0009] Furthermore, the pitch adjustment assembly includes a lead screw, on which two first joint bearing seats with opposite thread directions are provided; The angle adjustment assembly includes an angle adjustment gear and two angle adjustment racks. The two angle adjustment racks are located on both sides of the angle adjustment gear and are meshed with the angle adjustment gear. Each of the two angle adjustment racks is provided with a second joint bearing seat. The two connecting rods pass through the corresponding second joint bearing housing and the first joint bearing housing, respectively. The lead screw is connected to the spacing adjustment drive, and the angle adjustment gear is connected to the angle adjustment drive. The spacing adjustment drive and the angle adjustment drive move synchronously to adjust the spacing of the drill bit clamping. The spacing adjustment drive and the angle adjustment drive move independently to adjust the angle of the drill bit clamping.

[0010] Furthermore, the clamping drill bit has an overall conical structure that is narrower at the front and wider at the back, and raised textures are provided on the outer surface of the clamping drill bit. The clamping drill bit is inclined towards the ground.

[0011] Furthermore, the primary transmission mechanism includes two primary annular clamping and conveying chain groups arranged symmetrically on the left and right. The front end of each primary annular clamping and conveying chain group is positioned above the clamping drill bit of the double-jointed harvesting arm group, and the rear end extends to the rear of the secondary transmission mechanism. Both primary annular clamping and conveying chain groups include a primary annular transmission chain driven by a sprocket. The two primary annular transmission chains are driven by the same main shaft to achieve synchronous movement. The two primary annular transmission chains are in an inclined state with the front end lower and the rear end higher, with an inclination angle of 15°-30°.

[0012] Furthermore, the secondary transmission mechanism includes two secondary annular clamping conveyor chain groups arranged symmetrically on the left and right. The lower end of each secondary annular clamping conveyor chain group passes through the primary transmission mechanism and extends below it, while the upper end passes through the radish top cutting mechanism and extends above it. Both secondary annular clamping conveyor chain groups include secondary annular transmission chains driven by sprockets. The two secondary annular transmission chains are driven by the same main shaft to achieve synchronous movement.

[0013] Furthermore, polyurethane flexible clamping blocks are provided on the outer links of both the primary and secondary annular transmission chains. At the junction of the primary and secondary conveying mechanisms, the clamping force of the secondary conveying mechanism on the radish greens is greater than that of the primary conveying mechanism.

[0014] Furthermore, the three-stage transmission mechanism includes two three-stage annular clamping conveyor belt groups arranged symmetrically on the left and right. Each three-stage annular clamping conveyor belt group includes a three-stage annular transmission belt driven by pulleys. The two three-stage annular transmission belts are driven by the same main shaft to achieve synchronous movement. The three-stage annular clamping conveyor belt groups are inclined upwards and backwards. At the radish top cutting station, the three-stage transmission mechanism clamps the radish body, and the two-stage transmission mechanism clamps the radish top, so that the radish is conveyed upwards and backwards and passes through the radish top cutting mechanism.

[0015] Furthermore, the radish green removal mechanism includes a rotary cutting blade, which is connected to a blade rotation drive for driving its rotation. The radish green is removed by rotating the rotary cutting blade. The rotary cutting blade adopts a double-edged symmetrical flat cutting structure with a blade inclination angle of 12° and the blade rotation trajectory is perpendicular to the radish conveying direction.

[0016] Furthermore, three harvesting mechanisms are arranged side by side at the front end of the frame of the vehicle body, and a support plate, conveying track, cleaning components and harvesting frame are arranged behind the three-stage transmission mechanism; The radish with the radish tops removed is transported to the support plate by a three-stage transmission mechanism, and the radish on the support plate is transported upward by the conveying track and falls to the cleaning component. The cleaning component is tilted and includes multiple sets of rotating brushes. The brushes clean the radishes, and the cleaned radishes fall into the harvesting box at the end of the frame.

[0017] The beneficial effects of this invention are: 1. This invention achieves pre-pulling of radishes through a double-jointed harvesting arm assembly. The primary transmission mechanism pulls out and conveys the radishes backward. The secondary transmission mechanism, connected to the primary mechanism, conveys the radishes upward. When passing the tertiary transmission mechanism, the secondary mechanism clamps the radish tops, and the tertiary mechanism clamps the radish body, allowing the radish to move in a stable posture and at an optimal cutting angle perpendicular to the blade rotation. The rotation of the blade cuts off the radish tops. Simultaneously, the radish body continues to be conveyed backward into the cleaning process. After being cleaned of dirt by a brush, it is sent to the harvesting frame. The entire process automatically pulls out, cuts off the tops, and conveys the radishes, improving the harvesting efficiency and avoiding the problem of radish damage that is common with traditional large harvesters.

[0018] 2. The overall structural design of this invention is novel, compact, and smooth in operation. It achieves modular and lightweight integrated design and can be directly adapted to small and lightweight radish harvesters without the need for high-horsepower agricultural machinery.

[0019] 3. This invention features multiple sets of uniquely structured, biomimetic cage-like clamping drill bits with a narrow front and wide rear. This allows for integrated operations of loosening the soil around the radish, pre-pulling, and gathering and straightening the stems and leaves, eliminating the need for additional straightening guide plates and simplifying the equipment structure. The dual structural design—pre-loosening the soil to reduce pulling resistance and flexible closed-loop clamping to reduce squeezing damage—theoretically reduces the damage rate during radish extraction to below 3%. The conical structure of the drill bit simultaneously gathers and centers the fallen and scattered radish stems and leaves, preventing problems such as missed clamping, misalignment, and breakage during subsequent clamping and conveying, significantly reducing the rate of missed harvesting and ensuring the integrity and marketability of the harvested radish.

[0020] 4. The unique double-joint arm design, combined with angle and spacing adjustment, enables flexible adjustment of the angle and spacing of the clamping drill bit, improving the versatility of the harvester. It can be used for fragmented small field operations with a single area of ​​less than 1 acre, breaking the scene adaptation barriers of traditional large-scale harvesting equipment. It perfectly matches the radish planting pattern in my country, which is dominated by small farmers, effectively filling the market gap for small radish harvesting equipment in hilly and mountainous areas, and improving the applicability and overall cost-effectiveness of the equipment.

[0021] 5. In this invention, the various levels of the conveying devices are rationally coordinated, structurally solving the problem that traditional conveying structures easily lead to radish posture deviation and cutting angle deviation; at the same time, the multi-stage conveying structure independently clamps and positions the radish tops and the radish body, ensuring stable conveying and further improving the accuracy and stability of subsequent cutting operations, avoiding cutting damage and residue problems caused by posture deviation; the polyurethane flexible clamping blocks used on the chain have both anti-slip and flexible protection effects, which can effectively prevent the radish tops from being pinched and broken during the clamping and conveying process, ensuring the continuity of conveying and cutting operations. Attached Figure Description

[0022] Appendix Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 .

[0023] Appendix Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 .

[0024] Appendix Figure 3 This is a schematic diagram of the structure after removing part of the shell of the present invention. Figure 1 .

[0025] Appendix Figure 4 This is a schematic diagram of the structure after removing part of the shell of the present invention. Figure 2 .

[0026] Appendix Figure 5 This is a schematic diagram of the drill bit clamping and adjusting structure of the present invention.

[0027] Appendix Figure 6 This is a schematic diagram of the drill bit clamping structure of the present invention.

[0028] Appendix Figure 7 This is a schematic diagram related to the cleaning structure of the present invention.

[0029] Appendix Figure 8 This is a schematic diagram of the conveyor track of the present invention.

[0030] The labels shown in the attached diagram: 1. Vehicle body; 2. Frame; 3. Double-jointed harvesting arm assembly; 4. Primary transmission mechanism; 5. Secondary transmission mechanism; 6. Tertiary transmission mechanism; 7. Radish top cutting mechanism; 8. Cleaning components; 9. Harvesting frame; 10. Support plate; 11. Conveying track; 32. Drill bit clamping; 33. Connecting rod; 34. Lead screw; 35. First joint bearing seat; 36. Second joint bearing seat; 37. Angle adjusting rack; 38. Angle adjusting gear; 39. Raised texture; 51. Primary annular drive chain; 61. Secondary annular drive chain; 72. Tertiary annular drive belt; 83. Rotary cutting blade. Detailed Implementation

[0031] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.

[0032] refer to Figures 1-6 The diagram shown is a schematic diagram of the relevant structure of an intelligent lightweight radish harvester provided in this embodiment.

[0033] The radish harvester in this embodiment mainly includes a vehicle body 1, with a harvesting mechanism located at the front end of the frame 2 of the vehicle body 1. The harvesting mechanism mainly includes: a double-jointed harvesting arm assembly 3, a primary transmission mechanism 4, a secondary transmission mechanism 5, a tertiary transmission mechanism 6, and a radish top cutting mechanism 7. In this embodiment, three sets of the above mechanisms are arranged side-by-side along the width of the frame 2, thus enabling the harvesting of three rows of radishes in one operation as the vehicle moves.

[0034] In this embodiment, the dual-joint harvesting arm assembly 3 is installed at the front working position of the frame 2. Each dual-joint harvesting arm assembly 3 includes two downwardly inclined clamping drill bits 31. When moving forward with the vehicle body 1, the two clamping drill bits 31 loosen the soil around the radish and complete the pre-pulling operation of the radish, while simultaneously gathering and straightening the radish stems and leaves. Specifically, the clamping drill bits 31 have a tapered structure that is narrow at the front and wide at the back. The outer surface of the clamping drill bits 31 is provided with raised textures 311, which can simultaneously gather the fallen and scattered radish stems and leaves during the rotary drilling process, providing a centered and guiding foundation for subsequent clamping and conveying.

[0035] In a preferred embodiment, the dual-joint harvesting arm assembly 3 is equipped with an adjustment component for adjusting the angle and spacing of the clamping drill bit 31, so that the position of the clamping drill bit 31 can be adjusted adaptively according to different planting spacings and usage scenarios. The adjustment component mainly consists of a spacing adjustment component and an angle adjustment component. To ensure structural compactness, the innovative adjustment structure design in this embodiment is as follows: The assembly includes a lead screw 33 spanning the frame 2, connected to an independent pitch adjustment drive (i.e., a motor). Two first joint bearing seats 34 with opposite thread directions are mounted on the lead screw 33, each containing a fisheye bearing. The angle adjustment assembly includes an angle adjustment gear 37 and two angle adjustment racks 36, located on either side of the angle adjustment gear 37 and meshing with it. The angle adjustment gear 37 is also connected to an independent drive (i.e., a motor). Each of the two angle adjustment racks 36 has a second joint bearing seat 35, also containing a fisheye bearing. A pair of clamping drill bits 31 are each connected to a connecting rod 32, the end of which is connected to a rotating motor. The two connecting rods 32 are arranged side-by-side, passing through their respective second joint bearing seats 35 and first joint bearing seats 34.

[0036] In the above structure, the relative rotation of the clamping drill bits 31 is controlled by a rotary motor connected to the connecting rod 32. When the distance between the two clamping drill bits 31 needs to be adjusted, the drive mechanism of the lead screw 33 is activated, causing the lead screw 33 to rotate. Because the threads of the two first joint bearing seats 34 rotate in opposite directions, the distance is adjusted accordingly. At the same time, the drive mechanism corresponding to the angle adjusting gear 37 is activated. When the angle adjusting gear 37 rotates, the two angle adjusting racks 36 also move in opposite directions, thereby achieving synchronous adjustment of the positions of the two joints. Through the above adjustment method, the distance between the two connecting rods 32 changes, but the angle remains unchanged, thus achieving the adjustment of the distance between the clamping drill bits 31. When the angle of the two clamping drill bits 31 needs to be adjusted, either the lead screw 33 or the angle adjusting gear 37 can be rotated individually. At this time, the distance between the connecting rods 32 at one joint changes, while the distance between the corresponding connecting rods 32 at the other joint remains unchanged, but the angle can be adaptively adjusted through the fisheye bearing, thereby changing the angle of the two connecting rods 32 and achieving the adjustment of the angle of the two clamping drill bits 31.

[0037] During operation, multiple sets of clamping drill bits 31 are arranged at an inward tilt, with the drilling depth matching the burial depth of the radish root. These bits are used to loosen the soil on both sides and at the bottom of the radish, coordinating with the harvester's forward movement to pre-pull the radish upward. The pre-pull height is 1 / 3 to 1 / 2 of the total length of the radish root. Simultaneously, the raised texture 311 on the two clamping drill bits 31 has a height of 0.15mm, replicating the microscopic raised texture of fern leaf veins, increasing the clamping effect. While clamping the radish root, it gradually gathers and straightens the fallen and scattered radish stems and leaves in the field, providing a foundation for subsequent transport and cutting processes.

[0038] In this embodiment, the primary transmission mechanism 4 is arranged tilted rearward above the double-jointed harvesting arm assembly 3, and adopts a chain-type clamping structure. Its main function is to clamp the radish tops of the pre-harvested radish, pull out the radish, and complete the rearward transport.

[0039] Specifically, the primary transmission mechanism 4 mainly includes two primary annular clamping conveyor chains arranged symmetrically on the left and right. The front end of the primary annular clamping conveyor chain group is positioned above the clamping drill bit 31 of the double-jointed harvesting arm group 3, and the rear end extends to the rear of the secondary transmission mechanism 5. Both primary annular clamping conveyor chains include a primary annular transmission chain 41 driven by a sprocket. The two primary annular transmission chains 41 are driven by the same main shaft to achieve synchronous movement. The two primary annular transmission chains 41 are in an inclined state with the front end lower and the rear end higher, with an inclination angle of 15°-30°. As the vehicle moves forward, the pre-pulling of radishes is first completed by the double-jointed harvesting arm group 3. When the two rotating primary annular transmission chains 41 pass the radish position, the gap between them clamps the radish tops. Because the primary annular transmission chains 41 are inclined, the pre-pulled radishes are gradually pulled out through the radish tops as the vehicle moves, and the radishes are continuously conveyed backward.

[0040] The secondary transmission mechanism 5 is arranged upward and backward at an angle and passes through the transmission path of the primary transmission mechanism 4. The secondary transmission mechanism 5 also adopts a chain-type clamping structure and connects with the primary transmission mechanism 4. Referring to the figure, the secondary transmission mechanism 5 also includes two symmetrically paired secondary annular clamping conveyor chains arranged on the left and right. The lower end of each secondary annular clamping conveyor chain extends below the primary transmission mechanism 4, and the upper end extends above the radish top cutting mechanism 7. Both secondary annular clamping conveyor chains include a secondary annular transmission chain 51 driven by a sprocket. The two secondary annular transmission chains 51 are driven by the same main shaft to achieve synchronous movement. Simultaneously, the distance between the two primary annular transmission chains 41 gradually increases near the secondary annular transmission chain 51, thus gradually reducing the clamping force on the radish tops. When passing through the secondary annular transmission chain 51, the radish tops are clamped by the stronger secondary annular transmission chain 51 and conveyed upward through the secondary annular transmission chain 51. Furthermore, polyurethane flexible clamping blocks can be installed on the outer links of both the primary annular transmission chain 41 and the secondary annular transmission chain 51 to flexibly wrap and clamp the radish tops, stably engage and clamp the radish tops, and have both anti-slip effect and flexible buffering performance, so as to avoid slippage and breakage of radish tops during transportation.

[0041] The third-stage transmission mechanism 6 is arranged at an angle to the rear, above the first-stage transmission mechanism 4 and passing through the transmission path of the second-stage transmission mechanism 5. The third stage employs a belt-type clamping structure, primarily used to clamp the radish body transported by the second-stage transmission mechanism 5 and complete its rearward conveying. The cooperation between the second-stage and third-stage transmission mechanisms 5 and 6 provides a stable conveying posture and cutting angle for the radish tops, allowing them to be transported to the radish top cutting station. Specifically, the third-stage transmission mechanism 6 includes two symmetrically paired third-stage annular clamping conveyor belt groups, one on the left and one on the right. Each third-stage annular clamping conveyor belt group includes a third-stage annular transmission belt 61 driven by pulleys. The two third-stage annular transmission belts 61 are driven synchronously by the same main shaft, and the three-stage annular clamping conveyor belt groups 61 are arranged at an angle to the rear and upward. At the junction of the secondary transmission mechanism 5 and the tertiary transmission mechanism 6, the secondary annular transmission chain 51 clamps the radish tops and moves them upward and backward at an angle, while the tertiary annular transmission belt 61 clamps the radish body and moves it backward and upward at an angle. By reasonably adjusting the tilt angle of the conveyor belt, the conveying direction of the radish in this posture is perpendicular to the rotation direction of the rotary cutting blade 71. As the radish is conveyed, when it passes through the rotary cutting blade 71, the working surface of the blade is aligned with the boundary between the radish root and tops, cutting off the radish tops. The remaining radish body continues to be conveyed backward by the tertiary annular transmission belt 61.

[0042] The radish top cutting mechanism 7 is positioned above the tertiary conveying mechanism 6 and at the end of the secondary conveying mechanism 5, located at the radish top cutting station. Working in conjunction with the tertiary conveying mechanism 6, it cuts off the radish tops from the conveyed radishes. The radish top cutting mechanism 7 includes a rotating cutting blade 71, driven by a blade rotation drive. The rotation of the rotating cutting blade 71 cuts off the radish tops. The rotating cutting blade 71 employs a double-edged symmetrical flat-cutting structure with a blade inclination angle of 12°. The blade's rotation trajectory is perpendicular to the radish conveying direction, forming an optimal cutting angle with the conveying structure to ensure a smooth cut surface and avoid damage to the top of the radish root or residual tops caused by oblique cutting.

[0043] After the radish tops are removed, the radish body is conveyed to the cleaning structure via a three-stage transmission mechanism 6. Specifically, a support plate 10, a conveying track 11, a cleaning component 8, and a harvesting frame 9 are installed behind the three-stage transmission mechanism 6. The radish is cleaned and collected through the above structure.

[0044] The radish, after its tops have been removed, is transported to the support plate 10 via a three-stage transmission mechanism 6. There are gaps between the multiple support plates 10. The conveying track 11 has multiple struts that can run along the track. The struts pass through the gaps in the support plates 10 to lift the radish body and move it upward along the track. When it reaches the cleaning component 8, the conveying track 11 is bent. The radish automatically falls onto the cleaning component 8 at the end of the conveying track 11. The cleaning component 8 has multiple rotating brushes that can clean the dirt off the radish body. The cleaning component 8 is tilted, and the cleaned radish body automatically falls into the harvesting box 9 at the rear, completing the cleaning and collection of the radish.

[0045] The radish harvester structure and layout provided in this embodiment are also easy to achieve intelligent and automated control. For example, a multi-source sensor matrix can be set up, including a panoramic vision monitoring component and a positioning sensor component. The panoramic vision monitoring component can be equipped with 5 industrial-grade panoramic cameras, two of which are symmetrically installed on the top left and right sides of the harvester main unit for monitoring the overall machine operating environment and row alignment, and the other 3 are installed above the rotating cutting blades, corresponding to the cutting stations one by one. The positioning sensor component can be set up with 3 sets of infrared ranging sensors, which are installed in conjunction with the panoramic cameras above the blades to detect the position data of the top of the radish root in real time. All cameras and sensors are connected to the main controller via shielded cables. The drive circuits of all drive components are electrically connected to the power supply system of the main controller and the harvester main unit. The main controller can use an industrial-grade STM32 microcontroller with an operating temperature range of -20℃ to 70℃, which can stably adapt to the complex and humid working environment in the field. The main controller can receive real-time data collected by each sensor and generate corresponding adjustment commands and cutting trigger commands through built-in basic control logic to drive each actuator to complete the adaptive dynamic adjustment of the operating parameters, realizing closed-loop collaborative control of the entire operation process of loosening soil pre-extraction, dual-stage clamping and conveying, visual recognition, and precise cutting. Meanwhile, a force sensor can be installed at the drill bit clamping point 31 to collect clamping force data in real time and adjust the clamping force.

[0046] The main operating process of the radish harvester provided in the embodiment is as follows: 1. Pre-operation parameter preset: Before operation, the user adjusts the basic operating angle, clamping opening and closing angle and spacing of the double-joint harvesting arm according to the target crop type. During operation, the above parameters are kept running by default. After adjustment, the user starts the equipment, and the agricultural machinery drives the harvesting mechanism to move forward at a constant speed of 1 km / h along the radish rows, entering the harvesting operation state.

[0047] 2. Continuous harvesting operation process: During the operation of the equipment, the double-jointed harvesting arm assembly maintains the preset basic operating angle and basic clamping opening and closing angle, and completes continuous harvesting operation synchronously with the advance of the agricultural machinery, without the need to repeatedly trigger the opening and closing action for a single crop.

[0048] As the agricultural machinery moves forward, the field crops enter the double-jointed harvesting arm assembly of the corresponding channel. The bionic cage-type clamping drill bit simultaneously straightens and centers the fallen and scattered radish tops in the field. The double-jointed linkage arm and the bionic cage-type clamping drill bit, which maintain a preset opening and closing angle, form a wrapping clamp on the radish roots and stems. In conjunction with the forward movement of the agricultural machinery, the radish is pre-pulled out of the soil. As the agricultural machinery moves forward, the primary transmission mechanism completely pulls out the radish and pushes it backward to the secondary transmission mechanism. The secondary transmission mechanism clamps the top part of the radish, keeping the radish upright, and conveys it upward and backward at a uniform speed of 0.5m / s. When it is conveyed to the work station of the tertiary transmission mechanism, the chain continues to convey upward while the tertiary transmission mechanism clamps the main body of the radish backward through the belt structure, providing the optimal cutting angle for the cutting mechanism at the end of the chain.

[0049] The radish is precisely delivered to the back-end work station, so that the boundary between the radish root and the top leaves is exactly aligned with the working surface of the radish top removal mechanism. The rotating cutting blade rotates at high speed to complete the synchronous and precise top removal cutting, resulting in a flat cut surface with no damage or top leaf residue. After cutting, the radish roots and stems enter the subsequent cleaning structure through a three-stage transmission mechanism. The cleaned radishes are then sent to the harvesting box 9 at the end for collection.

Claims

1. A smart lightweight radish harvester, comprising a vehicle body, wherein a harvesting mechanism is disposed at the front end of the frame of the vehicle body, characterized in that, The harvesting mechanism includes: The double-jointed harvesting arm assembly is installed at the front working position of the frame. It is used to loosen the soil around the radish and complete the pre-pulling operation of the radish while the vehicle is moving forward, and at the same time realize the gathering and straightening of the radish stems and leaves. The primary transmission mechanism is arranged at an angle to the rear above the double-jointed harvesting arm assembly. It adopts a chain-type clamping structure to clamp the radish tops of the pre-pulled radish, pull out the radish, and complete the rearward transport. The secondary transmission mechanism is arranged upwards and passes through the transmission path of the primary transmission mechanism. It adopts a chain clamping structure and connects with the primary transmission mechanism to clamp the pulled-out radish tops and complete the upward transport. The third-level transmission mechanism is inclined and rearwardly arranged above the first-level transmission mechanism and passes through the transmission path of the second-level transmission mechanism. It adopts a belt clamping structure to clamp the radish body of the radish transported by the second-level transmission mechanism and complete the rearward conveying. The second-level transmission mechanism and the third-level transmission mechanism work together to provide a stable conveying posture and cutting angle for the radish tops so that they are conveyed to the radish top cutting station. The radish top cutting mechanism is located above the tertiary transmission mechanism and at the end of the secondary transmission mechanism. It is situated at the radish top cutting station and, in cooperation with the secondary and tertiary transmission mechanisms, cuts off the radish tops of the transported radishes.

2. The intelligent lightweight radish harvester according to claim 1, characterized in that, The dual-joint harvesting arm assembly includes two symmetrically arranged clamping drill bits, each connected to a dual-joint connecting rod. The dual-joint connecting rod is connected to a spacing adjustment component, an angle adjustment component, and a drill bit rotation drive component. The drill bit rotation drive component is used to drive the clamping drill bits to rotate and drill. The spacing adjustment component is used to adjust the spacing between the two clamping drill bits, and the angle adjustment component is used to adjust the angle between the two clamping drill bits.

3. The intelligent lightweight radish harvester according to claim 2, characterized in that, The pitch adjustment assembly includes a lead screw, on which two first joint bearing seats with opposite thread directions are provided; The angle adjustment assembly includes an angle adjustment gear and two angle adjustment racks. The two angle adjustment racks are located on both sides of the angle adjustment gear and are meshed with the angle adjustment gear. Each of the two angle adjustment racks is provided with a second joint bearing seat. The two connecting rods pass through the corresponding second joint bearing housing and the first joint bearing housing, respectively; The lead screw is connected to the spacing adjustment drive, and the angle adjustment gear is connected to the angle adjustment drive. The spacing adjustment drive and the angle adjustment drive move synchronously to adjust the spacing of the drill bit clamping. The spacing adjustment drive and the angle adjustment drive move independently to adjust the angle of the drill bit clamping.

4. The intelligent lightweight radish harvester according to claim 2, characterized in that, The clamping drill bit has an overall conical structure that is narrower at the front and wider at the back. Raised textures are provided on the outer surface of the clamping drill bit, and the clamping drill bit is inclined towards the ground.

5. The intelligent lightweight radish harvester according to claim 1, characterized in that, The primary transmission mechanism includes two primary annular clamping and conveying chain groups arranged symmetrically on the left and right. The front end of each primary annular clamping and conveying chain group is positioned above the clamping drill bit of the double-jointed harvesting arm group, and the rear end extends to the rear of the secondary transmission mechanism. Both primary annular clamping and conveying chain groups include a primary annular transmission chain driven by a sprocket. The two primary annular transmission chains are driven by the same main shaft to achieve synchronous movement. The two primary annular transmission chains are in an inclined state with the front end lower and the rear end higher, with an inclination angle of 15°-30°.

6. The intelligent lightweight radish harvester according to claim 5, characterized in that, The secondary transmission mechanism includes two secondary annular clamping and conveying chain groups arranged symmetrically on the left and right. The lower end of each secondary annular clamping and conveying chain group passes through the primary transmission mechanism and extends below it, while the upper end passes through the radish top cutting mechanism and extends above it. Both secondary annular clamping and conveying chain groups include secondary annular transmission chains driven by sprockets. The two secondary annular transmission chains are driven by the same main shaft to achieve synchronous movement.

7. The intelligent lightweight radish harvester according to claim 6, characterized in that, Polyurethane flexible clamping blocks are provided on the outer links of both the primary and secondary annular transmission chains. At the junction of the primary and secondary conveying mechanisms, the clamping force of the secondary conveying mechanism on the radish greens is greater than that of the primary conveying mechanism.

8. The intelligent lightweight radish harvester according to claim 1, characterized in that, The three-stage transmission mechanism includes two three-stage annular clamping conveyor belt groups arranged symmetrically on the left and right. Each three-stage annular clamping conveyor belt group includes a three-stage annular transmission belt driven by pulleys. The two three-stage annular transmission belts are driven by the same main shaft to achieve synchronous movement. The three-stage annular clamping conveyor belt groups are inclined upwards and backwards. At the radish top cutting station, the three-stage transmission mechanism clamps the radish body, and the two-stage transmission mechanism clamps the radish top, so that the radish is conveyed upwards and backwards and passes through the radish top cutting mechanism.

9. The intelligent lightweight radish harvester according to claim 1, characterized in that, The radish green removal mechanism includes a rotary cutting blade, which is connected to a blade rotation drive for driving its rotation. The radish green is removed by rotating the rotary cutting blade. The rotary cutting blade adopts a double-edged symmetrical flat cutting structure with a blade inclination angle of 12° and the blade rotation trajectory is perpendicular to the radish conveying direction.

10. The intelligent lightweight radish harvester according to claim 1, characterized in that, Three harvesting mechanisms are arranged side by side at the front end of the frame of the vehicle body, and a support plate, conveying track, cleaning components and harvesting frame are arranged behind the three-stage transmission mechanism; The radish with the radish tops removed is transported to the support plate by a three-stage transmission mechanism, and the radish on the support plate is transported upward by the conveying track and falls to the cleaning component. The cleaning component is tilted and includes multiple sets of rotating brushes. The brushes clean the radishes, and the cleaned radishes fall into the harvesting box at the end of the frame.

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