Detachable harvesting and transplanting all-in-one machine

Abstract

A detachable harvesting and transplanting all-in-one machine mainly comprises a transplanting device, a harvesting device and a recycling device and can automatically transplant, plant and irrigate seedlings and cut and harvest roots and stems of leafy vegetables. The transplanting device adopts a pressing type seedling taking mode and is matched with a transplanting wheel disc for transplanting, so that the seedling transplanting survival rate is increased; the harvesting device adopts parallel harvesting, so that the harvesting efficiency is improved; the modular detachable design solves the problems of low utilization rate and high cost of a single agricultural machine.

Description

Technical Field

[0001] This patent relates to the field of agricultural machinery and equipment, in particular to the technical fields of seedling transplanting and leafy vegetable harvesting. Background Art

[0002] The "China Agricultural Outlook Report 2023-2032" released by the Ministry of Agriculture and Rural Affairs in April 2023 shows that the comprehensive mechanization rate of crop cultivation and harvesting in the country will reach 73% in 2022, including multiple links such as arable land, sowing, transplanting, spraying, and irrigation; in the Northeast, as well as the Central Plains and Xinjiang, which are large-scale staple food production areas characterized by plains, the level of agricultural mechanization is very high; however, in the southern region, developed provinces such as Guangdong and Zhejiang, the mechanization rate is only maintained at 50% to 60%, which is extremely inconsistent with their status as economically developed provinces. The southern hilly areas, which are mainly vegetable-growing, are facing the current situation of "no machine available" for the planting and harvesting of many types of vegetables. Although the degree of mechanization of agricultural harvesting in my country is increasing year by year, the overall mechanization level is still far behind that of developed countries, especially in transplanting and harvesting, which are still semi-automated and require manual collaboration to complete;

[0003] Based on the above problems, the present patent provides a detachable harvester and transplanter, which has the following beneficial effects: (1) The seedling removal method adopts a pressure-taking method, which will not damage the stems of the transplanted seedlings compared to most clamping methods on the market, and there is no problem of seedling leakage in the clamping method; (2) Compared with traditional transplanting agricultural machinery, the transplanting plant spacing and row spacing of the agricultural cart provided by the present patent can be adjusted; (3) Compared with the single-row harvesting of traditional harvesting devices, the present patent provides an agricultural cart for double-row harvesting, which improves the harvesting efficiency and the harvesting spacing can be adjusted, which is suitable for harvesting leafy vegetables with a variety of different row spacings; (4) The modular agricultural cart integrates harvesting, transplanting, and management, solving the problems of low utilization rate and high cost of single agricultural machinery. Summary of the invention

[0004] The technical problem solved by this patent is to provide a detachable harvester and transplanter; the detachable harvester and transplanter can automatically complete harvesting and transplanting without any supervision or operation.

[0005] This patent sets the vehicle body such that the forward direction of the vehicle body is the longitudinal direction, and the direction perpendicular to the forward direction is the transverse direction; the side where the harvesting device is installed longitudinally is set as the front side, and the side where the water spraying device is installed is set as the rear side;

[0006] The detachable harvester and transplanter comprises a vehicle body, a harvesting device, a transplanting device, a recycling device, a water spraying device, a pesticide spraying device, an electric control box, and a plurality of sensors; a harvesting device is provided on the front side of the vehicle body of the detachable harvester and transplanter, and a recycling device, a transplanting device, a water spraying device, a pesticide spraying device and an electric control box are installed on the upper side; the recycling device is located at the front end above the vehicle body, the transplanting device is installed behind the recycling device, the water spraying device, the pesticide spraying device and the electric control box are installed at the end of the vehicle body, a lithium battery is installed at the bottom of the rear side of the vehicle body, and an image recognition system and a plurality of sensors are installed on the vehicle body shell.

[0007] Preferably, the vehicle body shell is equipped with an image recognition system and various sensors for identifying and judging the farmland road conditions, for achieving obstacle avoidance, and for accurately planning the transplanting path.

[0008] Preferably, the water storage tank has a two-way waterway, which can replenish water to the transplanted seedlings in the seedling box and also can sprinkle water on the transplanted seedlings in the farmland.

[0009] The seedling storage box includes a plurality of seedling trays and a lifting platform; the lifting platform is composed of a frame, a plurality of trays, a lifting column and a stepper motor; the lifting column is composed of a screw rod and a guide column; the tray is installed on the lifting column; the seedling storage box lifting platform uses a stepper motor with high up and down movement accuracy, the stepper motor is installed at the bottom of the seedling storage box, and it is sealed and waterproof.

[0010] Preferably, the seedling tray, the seedling tray rack and the rectangular column bars are all made of flexible materials.

[0011] Preferably, a limit groove is formed on the working platform, and the rectangular column under the rack is clamped in the limit groove for limiting; the transmission device includes a transmission device limit groove, a motor, and a gear set.

[0012] Preferably, the transmission device motor adopts a servo motor, which has high precision and is convenient for controlling the seedling tray transmission.

[0013] Preferably, the limiting groove of the transmission device is made of a self-lubricating metal material.

[0014] The seedling pressing device comprises a cylinder and a seedling pressing head, wherein the seedling pressing head is composed of a spring, a fixing plate, an ejection column and a soil divider; the seedling pressing head is made of metal material; the spring is a hard spring, so that the ejection threshold of the ejection column is relatively high.

[0015] Preferably, an air compressor is installed on the side of the vehicle body to supply air to the cylinder.

[0016] Preferably, the electronic control device controls the eight cylinders in a unified manner to ensure the consistency of the downward pressure of the pressure head.

[0017] The seedling guide device comprises a seedling guide chain, a seedling guide sprocket, a seedling guide motor, a seedling guide tray, a seedling guide cup, and a seedling guide plate; the seedling guide motor is installed at the bottom of the seedling guide tray, and the seedling guide motor is a servo motor; the seedling guide trays are staggered up and down so that the transplanted seedlings can fall into two seedling trays at the same time; a seedling drop opening is symmetrically opened on both sides of the bottom of the seedling guide tray to ensure that the distance from each seedling drop opening to the seedling collector is consistent.

[0018] The planting device comprises a transplanting wheel, a transplanting shaft, a planting sprocket, a transplanting motor, a planting chain, a left seedling collector, a right seedling collector, and a soil covering and pressing wheel; there are two transplanting wheels on the transplanting shaft, and two rows can be transplanted at the same time; there are circular openings on the transplanting shaft, and the spacing between each opening is fixed. The sleeve corresponds to the position of the openings on the transplanting shaft, and the sleeve is fixedly connected to the transplanting shaft by a pin. The relative distance between the left and right sets of transplanting wheels is achieved by changing the position of the pin, thereby achieving adjustable transplanting row spacing.

[0019] Preferably, the seedling collector is installed on the fixed plate of the transplanting wheel, the upper opening covers the seedling dropping openings on both sides, and the lower opening is aligned with the seedling receiving opening. The left seedling collector and the right seedling collector are used to receive the transplanted seedlings dropped by the seedling guide device.

[0020] Preferably, the soil covering and pressing wheel is fixed on the fixed plate, and is used for straightening the plants and compacting the soil. The degree of soil compaction can be adjusted by adjusting the angle between the soil covering and pressing wheel and the ground.

[0021] More preferably, the transplanting speed is controlled by adjusting the rotation speed of the transplanting motor and the rotation speed of the transplanting wheel.

[0022] More preferably, the rotation direction of the transplanting wheel is opposite to the forward direction of the vehicle body. By controlling the rotation speed of the transplanting wheel and the forward speed of the vehicle body in sync, the duckbill planter can be moved straight up and down to achieve relatively static transplantation relative to the ground.

[0023] The transplanting wheel includes a concentric plate, an eccentric plate, a duckbill planter, a sleeve, a fixed plate, a parallel connecting rod, an incomplete bevel gear, and a concentric plate connecting rod; the incomplete bevel gear is fixed to the ends of the concentric plate connecting rod and the parallel connecting rod; the other end of the concentric plate connecting rod is fixed to the concentric plate, and a bearing is installed on the concentric plate connecting rod; the other end of the parallel connecting rod is fixed to the eccentric plate to keep it horizontal; the number of duckbill planters on the transplanting wheel can be changed, and the transplanting spacing and transplanting depth can be changed by changing the number of duckbill planters.

[0024] The duckbill planter comprises a movable duckbill, a fixed duckbill, a fixed connecting rod, a seedling receiving mouth, a rotating shaft and a bevel gear; the rotating shaft is installed at one end of the duckbill planter, the rotating shaft is connected to the concentric disk connecting rod through a bearing, the other end of the duckbill planter is installed with a fixed connecting rod, the fixed connecting rod is installed on the parallel connecting rod, so that the duckbill planter can always maintain vertical downward movement; the lower end of the duckbill planter is installed with a movable duckbill and a fixed duckbill, the movable duckbill is in the front and the fixed duckbill is in the back, and there are two duckbill connecting rods on the movable duckbill; the duckbill connecting rod is installed with a bevel gear, when the duckbill planter moves to the bottom of the concentric disk, the movable duckbill and the fixed duckbill are buried in the soil, the bevel gear is meshed with the incomplete bevel gears on the ends of the concentric disk connecting rod and the parallel connecting rod, the movable duckbill is opened, the planting is completed, the bevel gear is separated from the incomplete gear, and the duckbill is closed by the torsion spring.

[0025] The harvesting device mainly includes a baffle conveyor belt, a transverse shifting device, two channel carrier devices, two conveying channel devices, and a rubber roller device. The harvesting device fixing part at the front end of the vehicle body adopts an electric push rod; holes are opened on both sides of the front end of the vehicle body to install the electric push rod, and the electric push rod can move laterally in the fixed groove; the harvesting device connecting part can cooperate with the fixed groove at the front end of the vehicle body, and the four connecting holes just cooperate with the electric push rod; the motor of the baffle conveyor belt is arranged on both sides of its transmission shaft; the turning part of the baffle conveyor belt is provided with a steering wheel; the transverse shifting device is arranged at the end of the baffle conveyor belt, the channel carrier is connected to the transverse shifting device, the conveying channel is installed on the channel carrier, and the rubber roller is arranged at the front end of the conveying channel; two transverse shifting carriers and two motors are installed in the transverse shifting device, and two racks are installed at the bottom, the transverse shifting carrier is fixedly connected to the bottom of the channel carrier, and the two racks are meshed with the gears on the carrier, so that the transverse shifting carrier can move laterally in the transverse shifting device;

[0026] Preferably, the two gears are connected on the transverse carrier through a transplanting shaft, and a motor is installed at the end of the transverse carrier, and the motor is connected to the transplanting shaft on the carrier to control the rotation of the gears;

[0027] Preferably, the motor installed inside the transverse movement device is a servo motor, the rotation of which can be controlled by an electric control system, and the servo motor is sealed and waterproof;

[0028] Preferably, two motors and two transmissions are installed under each channel carrier; the two motors under the channel carrier rotate in opposite directions; a sprocket is provided inside the channel carrier, the gear of the front sprocket is connected to the toothed cutting blade, the gear of the rear sprocket is connected to the motor at the bottom and the transmission is connected to the transmission at the top, the transmission is connected to the transmission shaft of the clamping conveyor belt of the conveying channel, and the rotation of the toothed cutting blade and the clamping conveyor belt at different speeds is controlled by the motor;

[0029] Preferably, a clamping conveyor belt is provided inside the conveying channel; the two motors of one conveying channel rotate in different directions, so that the toothed cutting blade and the clamping conveyor belt both rotate inward to cut and transport the leafy vegetables;

[0030] Preferably, a lead screw spring is sleeved on the slide bar inside the fixed slideway of the rubber roller device; the rubber of the rubber roller of the rubber roller device is made of nitrile rubber, which has good wear resistance; small motors are installed on both sides of the slider of the rubber roller device to control the rubber roller to rotate inward;

[0031] Preferably, two plow points are installed at the front end of each channel carrier, which can cooperate with the vehicle body to scoop up the leafy vegetables, exposing the root system for easy cutting; the rear end of the plow point is a toothed cutting blade;

[0032] The recovery device comprises: a front lifting baffle, a rear lifting baffle, a conveyor belt fixing frame, a 90° steering conveyor belt, a transverse conveyor belt, a recovery basket and a motor; the transverse conveyor belt is provided with a front lifting baffle and a rear lifting baffle on both sides; baffles are installed on both sides of the 90° steering conveyor belt; the recovery basket is installed on the vehicle body through buckles, and the recovery basket is detachable; racks are provided on both sides of the front lifting baffle and the rear lifting baffle, and a gear is provided in the conveyor belt fixing frame of the transverse conveyor belt; the gears in the conveyor belt fixing frame are respectively meshed with the front lifting baffle and the rear lifting baffle; the gears are driven by a small servo motor to control the lifting and lowering of the front lifting baffle and the rear lifting baffle; BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of the transplanting operation structure in Example 1.1;

[0034] Figure 2 is a schematic diagram of the harvesting operation structure in Example 1.2;

[0035] Figure 3 It is the seedling storage box diagram in Example 1.1;

[0036] Figure 4 It is the seedling tray diagram of the seedling storage box in Example 1.1;

[0037] Figure 5 It is the seedling storage box tray diagram in Example 1.1;

[0038] Figure 6 It is a diagram of the seedling pressing device in Example 1.1 and Example 1.4;

[0039] Figure 7 This is a diagram of the seedling pressing device in Example 1.1 and Example 1.4;

[0040] Figure 8 is a top view of the seedling guide device in Example 1.1;

[0041] Fig. 9 This is a diagram of the seedling guiding device in Example 1.1;

[0042] Fig.10 This is a schematic diagram of the partial structure of the seedling pressing device, the seedling guiding device, and the planting device in Example 1.1;

[0043] Fig.11 is a diagram of the planting device in Example 1.1 and Example 1.5;

[0044] Fig.12 It is a partial enlarged view of the planting device in Example 1.1 and Example 1.5;

[0045] Fig.13 It is a diagram of the duckbill planter of the planting device in Example 1.1 and Example 1.5;

[0046] Fig.14 is a diagram showing the meshing condition of the incomplete gear and the bevel gear before the duckbill planter of the planting device in Example 1.1 and Example 1.5 is placed in the soil;

[0047] Fig.15 is a diagram showing the meshing condition of the incomplete gear and the bevel gear when the duckbill planter of the planting device in Example 1.1 and Example 1.5 is buried in the soil;

[0048] Fig.16 This is a view of the harvesting device in Example 1.2;

[0049] Fig.17 It is a partial enlarged view of the connection between the agricultural vehicle and the harvesting device in Example 1.2;

[0050] Fig.18 is a diagram of the connection parts of the harvesting device in Example 1.2;

[0051] Fig.19 is a diagram of the lateral movement device in Example 1.2;

[0052] Fig. 20 is a diagram of a transverse moving carrier in the transverse moving device in Example 1.2;

[0053] Fig.21 is a partial view of the harvesting device in Example 1.2;

[0054] Fig. 22 is a diagram of the rubber roller device in Example 1.2;

[0055] Fig.23 is a partial enlarged view of the rubber roller device in Example 1.2;

[0056] Fig.24 This is a view of the internal structure of the transport channel and the channel carrier in Example 1.2;

[0057] Fig.25 is a top view of the recovery device in Example 1.3;

[0058] Fig.26 It is a diagram of the recovery baffle in Example 1.3;

[0059] Figures 1 to 26 The numbers in the figure represent:

[0060] 1-body; 2-harvesting device; 3-transplanting device; 4-recovery device; 5-water spraying device; 6-pesticide spraying device; 7-electric control box; 21-baffle conveyor belt; 22-transverse device; 23-channel carrier device; 24-transmission channel device; 25-rubber roller device; seedling storage box; 32-seedling tray; 33-working platform; 34-seedling pressing device; 35-seedling guiding device; 36-planting device; 37-transmission device; transverse conveyor belt; 42-90° steering conveyor belt; 43-recovery basket;

[0061] 211-harvesting device connecting piece; 212-harvesting device fixing piece; 213-fixing groove; 214-connecting hole; 215-baffle plate; 216-cover plate; 221-transverse rack; 222-ratchet gear; 223-transverse carrier; 224-transverse motor; 225-transverse frame; 226-transverse rotating shaft; 231-channel carrier; 232-sprocket wheel; 233-toothed cutting blade; 234-transmission; 241-harvesting channel; 242-clamping conveyor belt; 251-rubber roller; 252-sliding block; 253-sliding block rod; 254-fixing rod; 255-fixing slide; 256-screw spring; 257-fixing piece; 258-slide fixing plate; 259-connecting plate; 311-tray; 312-guide column; 313-lifting column; 314-screw; 321-seedling plate rack; 322-column limit strip; 341-cylinder; 342-seedling pressure head; 351-chain; 352-seedling guide sprocket; 353-seedling guide plate; 354-seedling guide cup; 355-seedling guide plate connecting rod; 356-seedling guide motor; 357-seedling drop port; 358-sprocket fixed shaft ;359-seeding cup fixing ring;361-transplanting wheel;362-transplanting shaft;363-planting sprocket;364-left seedling collector;365-right seedling collector;366-spline;367-bearing seat;368-planting chain;369-transplanting motor;3610-soil covering and pressing wheel;3611-concentric disk;3612-eccentric disk;3613-duckbill planter;3614-sleeve;3615-fixed disk;3616-parallel connecting rod;3617-incomplete bevel gear;3618-concentric disk connecting rod;3619- Bearing; 371-limiting gear; 372-limiting groove; 3421-spring; 3422-fixing plate; 3423-ejector column; 3424-soil divider; 411-front lifting baffle; 412-rear lifting baffle; 413-fixing frame; 414-gear; 415-gear fixing piece; 416-baffle rack; 1002-latch pin; 2001-movable duckbill; 2002-fixed duckbill; 2003-fixed connecting rod; 2004-seedling receiving mouth; 2005-rotating shaft; 2006-bevel gear; 2007-duckbill connecting rod; DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of this patent to clearly and completely describe the technical solutions in the embodiments of this patent. Obviously, the described embodiments are only part of the embodiments of this patent, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0063] Example 1.1: Combination Figure 1 , Figures 3 to 15To illustrate this embodiment, a transplanting device of a detachable harvester and transplanter can automatically complete the following tasks: accepting task instructions, completing the installation of a transplanting wheel (361), completing the transportation and moisturizing of transplanted seedlings, automatic transplanting of transplanted seedlings, adjusting the row spacing and plant spacing of transplanted seedlings, watering and fertilizing after planting of transplanted seedlings, etc. A detachable harvester and transplanter comprises a vehicle body (1), a harvester (2), a transplanter (3), a recovery device (4), a water sprayer (5), a pesticide sprayer (6), an electric control box (7), and a plurality of sensors; the harvester (2) is arranged on the front side of the vehicle body (1), and the recovery device (4), the transplanter (3), the water sprayer (5), the pesticide sprayer (6) and the electric control box (7) are installed on the upper side; the recovery device (4) is located at the front end above the vehicle body (1), the transplanter (3) is installed behind the recovery device (4), and the water sprayer (5), the pesticide sprayer (6) and the electric control box (7) are installed at the end of the vehicle body (1);

[0064] In this embodiment, when the transplanting wheel disc (361) is installed, the transplanting wheel disc (361) is fixed to the frame of the vehicle body (1), splines (366) are inserted into both sides of the transplanting wheel disc, and the splines (366) are rotated to complete the fixation of the transplanting wheel disc (361).

[0065] In this embodiment, the seedling storage box (31) includes a plurality of seedling trays (32) and a lifting platform; the working platform (33) is fixed above the center of the vehicle body (1); the seedling storage box (31) is installed at the rear side of the working platform (33); a multi-layer tray (311) is installed inside the seedling storage box (31); a seedling tray (32) is placed on each layer of the tray (311); the seedling tray (32) is used to load transplanted seedlings; seedling tray racks (321) are installed on both sides of the seedling tray (32); and a columnar limit strip (322) is provided below the seedling tray rack (321). ); a lifting device is installed in the seedling storage box (31); the lifting column (313) is composed of a screw rod (314) and a guide column (312); the lifting column (313) is connected to the tray (311); the guide column (312) plays a limiting role, and is used to realize that each layer of seedling tray (32) is transported to the working platform (33) in sequence; when the agricultural vehicle receives the transplanting reservation instruction, the agricultural vehicle will align the seedling storage box (31) with the conveyor belt for conveying the seedling tray (32) in the seedling room during idle time; after the agricultural vehicle receives the alignment signal , the electric control system will control the lifting platform to align the uppermost tray (311) with the conveyor belt; when the uppermost tray is aligned, the conveyor belt starts, and the columnar limit strips (322) below the seedling tray racks (321) on both sides of the seedling tray (32) are stuck in the limit grooves (372), and the seedling tray (32) is transferred to the tray (311) under the action of the conveyor belt; when the seedling tray (32) is transferred to the uppermost tray, the uppermost tray (311) rises to the specified position, and the following trays (311) are aligned with the conveyor belt in turn, The transfer is completed; when all the trays (311) are loaded with the seedling trays (32), the agricultural vehicle will sprinkle water on the seedling box to ensure the survival rate of the transplanted seedlings; when the transplanting operation begins, the seedling trays (32) in the seedling storage box (31) are transported to the bottom surface flush with the working platform (33) through the lifting platform, and the tray guide groove (931) is aligned with the limit groove (372) of the transmission device (37); when all the seedling trays (32) are separated from the lifting platform, the trays (311) will continue to move downward to the bottom of the seedling storage box (31) for storage.

[0066] In the present embodiment, the transmission device (37) mainly comprises a transmission device limiting groove (372), a motor and a limiting gear (371); the transmission device limiting groove (372) is installed on the working platform (33); the limiting gear (371) is installed on the working platform (33) and meshes with the seedling tray racks (321) on both sides of the seedling tray (32); when the front ends of the seedling tray racks (321) on both sides of the seedling tray (32) mesh with the upper limiting gears (371) of the working platform (33), the limiting gear (371) rotates, the seedling tray (32) separates from the lifting platform, and moves in a uniform linear motion along the limiting groove (372) of the transmission device (37); when the first row of seedling grids of the seedling tray (32) is aligned with the seedling pressing device (34), the limiting gear (371) stops rotating; when the seedling pressing is completed, the limiting gear (371) continues to rotate to align the next row of seedling grids with the seedling pressing device (34).

[0067] In this embodiment, the seedling pressing device (34) includes a cylinder (341) and a seedling pressing head (342); four cylinders (341) form a group, and there are two groups in total; the seedling pressing head is composed of a spring (3421), a fixing plate (3422), an ejector column (3423) and a soil divider (3424); the ejector column (3423) is a stepped shaft; the spring (3421) is sleeved on the ejector column (3423); the fixing plate (3422) is fixedly connected to the ejector column (3423); the fixing plate (3422) has four corners with holes; the four legs of the soil divider (3424) are respectively matched with the four corners of the fixing plate (3422). , installed just above the seedling guide device (35), the seedling pressing head (342) is installed at the end of the piston rod of the cylinder (341); when the seedling grid is aligned with the seedling pressing device (34), the eight cylinders (341) are started at the same time, the piston rod moves downward, and the seedling pressing head is pushed downward by the cylinder (341), and the fixed plate (3422) and the soil divider (3424) compress the spring (3421) to move towards each other, separate the plant from the seedling tray (32), and perform free fall downward, and then the piston rod moves upward, the seedling pressing head (342) rises, and the next row of seedling grids is aligned with the seedling pressing device (34), and the above steps are repeated.

[0068] In this embodiment, the seedling guiding device (35) is installed below the seedling pressing device (34), and the seedling guiding device (35) is composed of a chain (351), a seedling guiding sprocket (352), a seedling guiding plate (353), a seedling guiding cup (354), a seedling guiding plate connecting rod (355), a sprocket fixing shaft (358), a seedling guiding cup fixing ring (359) and a seedling guiding motor (356); the seedling guiding plate (353) has two groups, the two groups are fixed by the seedling guiding plate connecting rod (355), and are connected to the vehicle body (1); the seedling guiding cup (354) is fixed on the chain (351) at an equal distance by the seedling guiding cup fixing ring (359); the bottom of the seedling guiding cup (354) is hollow, and the lower end is in contact with the seedling guiding plate (353); the two groups of seedling guiding plates (353) are staggered up and down, and the sprocket fixing shaft is connected to the seedling guiding plate (353). (358) sprockets are installed, and the seedling guide sprocket (352) drives the chain (351) with the rotation of the motor. Under the seedling pressing device (34), each seedling guide plate (353) has exactly four empty seedling guide cups (354) aligned with the seedling pressing head (342) each time, and the empty seedling guide cups (354) are aligned with the seedling pressing head (342); when the transplanted seedlings are separated from the seedling plate (32) through the seedling pressing device (34), the transplanted seedlings enter the empty seedling guide cups (354) through the seedling guide plate (13), and the motors on the two seedling guide plates (353) rotate in opposite directions, so that the seedling guide cups (354) containing the transplanted seedlings move along the longest path to a circular seedling drop opening (357) on the seedling guide plate (353), and when the seedling guide cups (354) containing the transplanted seedlings pass through the seedling drop opening (357), the transplanted seedlings will fall downward and enter the seedling collector.

[0069] In this embodiment, the planting device (36) is installed below the seedling guide device (35), and the planting device (36) is composed of two sets of transplanting wheel discs (361), a transplanting shaft (362), a planting sprocket (363), a planting chain (368), a left seedling collector (364), a right seedling collector (365), a bearing seat (367), a spline (366), a transplanting shaft (362), a latch (1002) and a transplanting motor (369). ), the seedling collector is installed on the fixed plate (3615) of the transplanting wheel (361), the upper opening covers the seedling drop openings (357) on both sides, and the lower opening is aligned with the seedling receiving opening (2004), the left seedling collector (364) and the right seedling collector (365) are used to receive the transplanted seedlings dropped by the seedling guide device (35); the transplanting wheel (361) is fixed on the transplanting shaft (362), and the transplanting shaft (362) is connected to the bearing seat (367) ) is connected to the vehicle frame, a planting sprocket (363) is mounted on the transplanting shaft (362), a transplanting motor (369) is mounted below the vehicle body (1), the transplanting motor (369) drives the planting sprocket (363) to drive the planting chain (368) and then drives the transplanting wheel (361) to move in a circular motion; when the transplanted seedlings fall into the seedling collector, they fall into the duckbill planter (3613) just passing under the seedling collector, and the duckbill planter (3613) 613) is always vertically downward in the transplanting wheel (361). As the motor rotates, the duckbill planter (3613) gradually approaches the soil layer below. When the duckbill planter (3613) reaches a predetermined height, the duckbill mouth of the duckbill planter (3613) opens to complete the transplanting. The soil covering and pressing wheel (3610) located behind the transplanting wheel (361) moves with the vehicle body (1) to compact the surrounding soil and straighten the transplanted seedlings.

[0070] Example 1.2: Combination Figure 2 , Figure 16 to Figure 24 This embodiment is described as follows. A detachable agricultural trolley harvesting device for a harvester and transplanter can automatically complete the following tasks in a farmland: receiving instructions, completing the installation of a harvesting device (2), harvesting mature leafy vegetables, adjusting the harvesting spacing, and transporting leafy vegetables. The detachable agricultural trolley harvesting device for a harvester and transplanter comprises: a baffle-type conveyor belt (21), a transverse movement device (22), two channel carrier devices (23), two transport channel devices (24), a rubber roller device (25), an image recognition system, and a plurality of sensors.

[0071] In this embodiment, when the harvesting device (2) is installed, the harvesting device fixing parts (212) on both sides of the vehicle body (1) are moved toward both sides of the vehicle body (1) respectively, the fixing grooves (213) are released from self-locking, and the four connecting holes (214) of the harvesting device connecting part (211) are matched with the harvesting device fixing parts (212). After the matching, the harvesting device fixing parts (212) on both sides of the vehicle body (1) are moved toward the inside of the vehicle body (1) respectively, and the fixing grooves (213) are self-locking, thereby completing the installation of the harvesting device (2);

[0072] In this embodiment, the transverse movement device (22) includes two transverse movement racks (221), four ratchet gears (222), two transverse movement carriers (223), two transverse movement motors (224), a transverse movement frame (225), and two transverse movement rotation shafts (226). A transverse movement rotation shaft (226) is arranged in the middle of each transverse movement carrier (223). Two ratchet gears (222) are respectively installed at both ends of the transverse movement rotation shaft (226). The ratchet gears (222) are meshed with the two transverse movement racks (221). The ratchet gears (222) are fixed on the transverse movement frame (225). A transverse movement motor (224) is installed on one side of the transverse movement rotation shaft (226) and behind the transverse movement carrier (223). The shifting motor (224) controls the rotation of the ratchet gear (222) to make the lateral shifting carrier (223) move laterally, and the two lateral shifting carriers (223) are respectively fixedly connected to the bottom of the two channel carriers (231) to realize the lateral movement of the two conveying channel devices (24); when the agricultural vehicle receives a harvesting instruction and reaches a designated harvesting position, the visual system of the agricultural vehicle will identify the planting spacing of the leafy vegetables, and after processing the spacing signal, directly control the lateral shifting motor (224) of the lateral shifting device (22) to rotate through the instruction, so that the lateral shifting carrier (223) moves laterally, driving the channel carrier (231) to move, and adjusting the spacing of the conveying channel device (24) to keep it consistent with the spacing of the leafy vegetables;

[0073] In this embodiment, the channel carrier device (23) comprises: two channel carriers (231), four sprocket wheels (232), four toothed cutting blades (233), four transmissions (234), four plow points (235) and a motor. Each channel carrier (231) is provided with a sprocket wheel (232) inside. The two ends of the sprocket wheel (232) are respectively connected to the toothed cutting blade (233) and the transmission (234). The transmission (234) is connected to the clamping conveyor belt (242). A motor is installed below the rear end of the sprocket wheel (232) for driving the sprocket wheel (232) to drive the toothed cutting blade (233) and the clamping conveyor belt (242) to rotate through the transmission (234), so that one motor drives the toothed cutting blade (233) and the clamping conveyor belt (242) to rotate. Moreover, the two motors in one channel rotate in opposite directions, so that the toothed cutting blade (233) and the clamping conveyor belt (242) can rotate. The rotation of the sprocket (242) is inwardly rotating, and the leafy vegetables are harvested and transported. The front end of each channel carrier (231) is provided with two plow points (235), which are used to cooperate with the vehicle body (1) to move forward to scoop up the leafy vegetables and expose the root system for easy cutting. After the agricultural vehicle receives the harvesting instruction and reaches the designated harvesting position, the electric control box (7) on the agricultural vehicle controls the motor below the rear end of the sprocket (232) to rotate, and the motor drives the sprocket (232) to rotate. The front end of the sprocket (232) directly drives the toothed cutting blade (233) to rotate. The sprocket (232) drives the clamping conveyor belt (242) in the conveying channel device (24) to rotate through the transmission (234). The two motors below a channel carrier (23) rotate in opposite directions. The plow points (235) cooperate with the vehicle body (1) to move forward to scoop up the root system of the leafy vegetables from the soil. The vehicle body (1) continues to cooperate to move forward to cut the root system of the leafy vegetables.

[0074] In this embodiment, the rubber roller device (25) comprises: two rubber rollers (251), four sliders (252), four slide bars (253), two fixed bars (254), four fixed slideways (255), four screw springs (256), eight fixing members (257), four slideway fixing plates (258), and two connecting plates (259). The two fixed slideways (255) are connected by the fixed bars (254) and the connecting plates (259). A slide bar (253) is provided inside the fixed slideway (255), and a screw spring (256) is sleeved on the slide bar (253). The slider (252) cooperates with the slide bar (253) to ensure that the slider (252) can slide along the slideway (2551) inside the fixed slideway (255). The rubber roller is connected between the two sliders (252). The rubber roller (251) can rotate between the two sliders (252). A small motor is installed inside the slider (252) to drive the rubber roller (251) to complete the inward rotation, so as to realize the use of the rubber roller device (25) to cooperate with the toothed cutting blade (233) to harvest the leafy vegetables and roll them into the conveying channel device (24); after the agricultural vehicle receives the harvesting instruction and reaches the designated harvesting position, the electric control box (7) controls the small motors on both sides of the slider (252) to rotate, driving the rubber roller (251) to rotate inward, and after the toothed cutting blade cuts the root of the leafy vegetables, as the vehicle body moves forward, the inward rotation of the two toothed cutting blades (233) and the inward rotation of the rubber roller (251) cooperate to roll the cut leafy vegetables into the conveying channel device (24) at the rear;

[0075] In this embodiment, the conveying channel device (24) includes: clamping conveyor belts (242) are arranged on both sides of the conveying channel device (24); after the agricultural vehicle receives a harvesting instruction and reaches a designated harvesting position, the toothed cutting blade (233) and the rubber roller device (25) cooperate to roll the leafy vegetables into the conveying channel, and the two conveyor belts clamp the rolled leafy vegetables by friction, and the motor drives the two conveyor belts to rotate synchronously in opposite directions, so as to realize the conveyance of the leafy vegetables from the toothed cutting blade (233) to the baffle conveyor belt (21);

[0076] In this embodiment, the baffle conveyor belt (21) is connected to the harvesting device connecting member (211), and covers (216) are arranged on both sides of the baffle conveyor belt (21), and baffles (215) are arranged at equal intervals on the baffle conveyor belt (21); when the agricultural vehicle receives a harvesting instruction and reaches a designated harvesting position, the electric control box (7) controls the motors on both sides of the baffle conveyor belt (21) to rotate, driving the baffle conveyor belt (21) to rotate, and using the baffles (215) on the baffle conveyor belt (21) to transport the leafy vegetables transported by the conveying channel device (24) to the recovery device (4);

[0077] Example 1.3: Combination Figure 25 to Figure 26 The present embodiment is described as follows: a detachable agricultural trolley recovery device for a harvester and transplanter; the agricultural trolley can automatically complete the following tasks in the farmland: receiving instructions, completing the two switching modes of transplanting mode or harvesting mode, and recovering transplanting seedling trays or recovering mature leafy vegetables; the detachable agricultural trolley recovery device for a harvester and transplanter comprises: a front lifting baffle (411), a rear lifting baffle (412), a conveyor belt fixing frame (413), a 90° steering conveyor belt (4 2), a transverse conveyor belt (41), a recovery basket (43) and a motor; the transverse conveyor belt (41) is installed at the front end of the working platform (33) and the rear end of the baffle conveyor belt (21); a front lifting baffle (411) and a rear lifting baffle (412) are installed on the front and rear sides of the transverse conveyor belt (41), and baffle racks (416) are provided on both sides of the front lifting baffle (411) and the rear lifting baffle (412); the baffle racks (416) and the conveyor belt fixing frame (413) are connected to each other. The gear (414) is meshed with the gear (414) in the horizontal conveyor belt (41), the gear (414) is installed on the gear fixing member (415), and the motor is installed at the lower end of the horizontal conveyor belt (41) to drive the gear (414) to rotate, so that the front lifting baffle (411) and the rear lifting baffle (412) are controlled by the motor to lift and lower. When transplanting, the front lifting baffle (411) is raised and the rear lifting baffle (412) is lowered, so that the recovery device (4) can lift the seedling tray (32). Recycling: during harvesting, the front lifting baffle (411) is lowered and the rear lifting baffle (412) is raised, so that the recycling device (4) can recycle the harvested leafy vegetables; a 90° steering conveyor belt (42) is installed at the end of the transverse conveyor belt (41) to realize the steering transportation of the seedling tray (32) and the leafy vegetables; a recycling basket (43) is installed on the right side of the vehicle body (1) below the 90° steering conveyor belt (42) to realize the recycling of the seedling tray (32) and the leafy vegetables;

[0078] In this example, the transverse conveyor belt (41) includes: a front lifting baffle (411), a rear lifting baffle (412), a conveyor belt fixing frame (413) and an electric motor; when the agricultural vehicle receives a harvesting instruction and reaches a designated harvesting position, the electric control box (7) controls the motor under the transverse conveyor belt (41) to rotate, driving the 90° steering conveyor belt (42) and the transverse conveyor belt (41) to rotate, and the electric control box (7) controls the servo motor connected to the gear (414) under the transverse conveyor belt (41) to rotate, so that the front lifting baffle (411) is lowered and the rear lifting baffle (412) is raised, and the leaf vegetable recovery work starts, and the 90° steering conveyor belt (42) and the transverse conveyor belt (41) move the baffle conveyor belt (21) The leafy vegetables transported on the vehicle body are recovered into the recovery basket (43); when the agricultural vehicle receives the transplanting instruction and reaches the designated transplanting position, the electric control box (7) controls the motor under the transverse conveyor belt (41) to rotate, driving the 90° steering conveyor belt (42) and the transverse conveyor belt (41) to rotate, and the electric control box (7) controls the servo motor connected to the gear (414) under the transverse conveyor belt (41) to rotate, so that the front lifting baffle (411) is raised and the rear lifting baffle (412) is lowered, and the seedling tray (32) recovery work is started, and the 90° steering conveyor belt (42) and the transverse conveyor belt (41) recover the seedling tray (32) transported from the working platform (33) through the transmission device (37) into the recovery basket (43);

[0079] Example 1.4: Combination Figure 6 , Figure 7 To illustrate this embodiment, the seedling pressing head (342) is composed of a spring (3421), a fixed plate (3422), an ejector column (3423) and a soil divider (3424); the ejector column (3423) is a stepped shaft, and the small diameter end is fixedly mounted on the fixed plate (3422); the spring (3421) is sleeved on the ejector column (3423). When the seedling pressing encounters a part of a hard soil block and is stuck, the fixed plate (3422) continues to press down under the action of the piston rod of the cylinder (341), compressing the spring (3421), the soil divider (3424) is stationary relative to the soil block, the fixed plate (3422) moves downward relative to the soil divider (3424), and the ejector column (3423) moves downward to eject the soil block, thereby realizing the separation of the soil block and the seedling tray (32) and ejecting the plant.

[0080] Example 1.5: Combination Figure 11 to Figure 15The present embodiment is described. The transplanting shaft (362) is provided with circular openings, each of which has a fixed spacing. The sleeve (3614) corresponds to the position of the openings on the transplanting shaft (362). The sleeve (3614) is fixedly connected to the transplanting shaft (362) by a latch (1002). The relative distance between the left and right transplanting wheels (361) is achieved by changing the position of the latch (1002). The transplanting wheel (361) can be moved laterally along the X-axis along the cross bar, thereby achieving adjustable transplanting row spacing. A seedling collector is connected to the fixed plate (3615) of the transplanting wheel (361). The seedling collector is funnel-shaped, which can ensure that the transplanting wheel (361) can receive transplanted seedlings dropped from the seedling guide plate (353) at different row spacings.

[0081] The transplanting wheel (361) comprises: a concentric disk (3611), an eccentric disk (3612), a duckbill implanter (3613), a sleeve (3614), a fixed disk (3615), a parallel connecting rod (3616), an incomplete bevel gear (3617), and a concentric disk connecting rod (3618); the incomplete bevel gear (3617) is fixed to the ends of the concentric disk connecting rod (3618) and the parallel connecting rod (3616); A bearing is installed on the center disk connecting rod (3618); the other end of the parallel connecting rod (3616) is fixed on the eccentric disk (3612) to maintain horizontality; the other end of the concentric disk connecting rod (3618) is fixed on the concentric disk (3611); a planting sprocket (363) is installed on the transplanting shaft (362) of the transplanting wheel disc (361); the planting sprocket (363) is driven by a motor to rotate, thereby driving the transplanting wheel disc (361) to work. When the duckbill planter (3613) moves to the seedling collector opening, the transplanted seedlings are guided by the seedling collector from the seedling guide system and fall into the seedling receiving opening (2004) for transplanting. The transplanting wheel (361) continues to rotate, and the duckbill planter (3613), the concentric disk connecting rod (3618), the transplanting beam and the parallel connecting rod (3616) form a parallel four-bar structure, so that the duckbill planter (3613) can always maintain vertical downward movement. When the duckbill planter (3613) moves vertically to the bottom of the concentric disk (3611), the duckbill is buried in the soil, and the bevel gears (2006) on both sides of the movable duckbill (2001) mesh with the incomplete bevel gear (3617) on the concentric disk (3611), causing the bevel gears (2006) on both sides of the duckbill to rotate, thereby driving the central axis of the duckbill to rotate to open the duckbill to complete planting. After the bevel gear (2006) is separated from the incomplete gear, the duckbill is closed by the torsion spring.

[0082] If this patent discloses or involves components or structural parts that are fixedly connected to each other, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connected by bolts or screws), or as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by one-piece molding using a casting process) (except where it is obviously impossible to use an one-piece molding process).

Claims

1. A detachable harvester and transplanter, characterized in that: The agricultural vehicle mainly comprises a vehicle body (1), a harvesting device (2), a transplanting device (3), a recycling device (4), a water spraying device (5), a pesticide spraying device (6), an electric control box (7), and a plurality of sensors; the harvesting device (2) is arranged on the front side of the vehicle body (1), and the recycling device (4), the transplanting device (3), the water spraying device (5), the pesticide spraying device (6) and the electric control box (7) are installed on the upper side; the recycling device (4) is located at the front end above the vehicle body (1), the transplanting device (3) is installed behind the recycling device (4), and the water spraying device (5), the pesticide spraying device (6) and the electric control box (7) are installed at the end of the vehicle body (1).

2. The detachable harvester and transplanter as claimed in claim 1, characterized in that: The transplanting device (3) comprises a seedling storage box (31), a seedling tray (32), a working platform (33), a seedling pressing device (34), a seedling guiding device (35), a planting device (36), a transmission device (37), an electric control device, an image recognition system and a plurality of sensors; The working platform (33) is fixed above the center of the vehicle body (1), and a seedling storage box (31) is installed at the rear side of the working platform (33). A multi-layer tray (311) is installed inside the seedling storage box (31), and a seedling tray (32) is placed on each layer of the tray (311). The seedling tray (32) is used to load transplanted seedlings. Seedling tray racks (321) are installed on both sides of the seedling tray (32), and a columnar limiting strip (322) is provided below the seedling tray rack (321); a lifting device is installed in the seedling storage box (31); the lifting column (313) is composed of a screw rod (314) and a guide column (312), the lifting column (313) is connected to the tray (311), and the guide column (312) plays a limiting role, and is used to realize that each layer of the seedling tray (32) is transported to the working platform (33) in sequence; The working platform (33) is equipped with a transmission device (37), which is composed of a plurality of pairs of limit gears (371). The limit gears (371) are installed on both sides of the working platform (33). The limit gears (371) are meshed with the seedling tray racks (321) on both sides of the seedling tray (32). The limit gears (371) are rotated by controlling the motor. Limit grooves (372) are installed on both sides above the working platform (33). The limit grooves (372) cooperate with the columnar limit strips (322) on the seedling tray (32) to guide the seedling tray (32) so as to accurately feed the seedling tray (32) on the working platform (33). A plurality of seedling pressing devices (34) are installed above the working platform (33), and a total of eight seedling pressing devices (34) are provided, four devices forming one group, and two groups of seedling pressing devices (34) are distributed left and right and front and back, and the seedling pressing device (34) comprises a cylinder (341) and a seedling pressing head (342), so as to press out the transplanted seedlings in the seedling tray (32); The seedling pressing head (342) is composed of a spring (3421), a fixing plate (3422), an ejection column (3423) and a soil divider (3424); the ejection column (3423) is a stepped shaft; the spring (3421) is sleeved on the ejection column (3423); the fixing plate (3422) is fixedly connected to the ejection column (3423); the fixing plate (3422) has four corner openings; the four legs of the soil divider (3424) respectively cooperate with the four corner openings of the fixing plate (3422); the seedling pressing head (342) is pushed downward by the cylinder (341); the fixing plate (3422) and the soil divider (3424) move toward each other through the compression spring (3421), and the plant is separated from the seedling tray (32); The seedling guiding device (35) is installed below the seedling pressing device (34), and the seedling guiding device (35) is composed of a chain (351), a seedling guiding sprocket (352), a seedling guiding plate (353), a seedling guiding cup (354), a seedling guiding plate connecting rod (355), a sprocket fixing shaft (358), a seedling guiding cup fixing ring (359) and a seedling guiding motor (356); the seedling guiding plate (353) is provided with two groups, which are distributed in left and right and front and back, and are fixed on the vehicle body (1) through the seedling guiding plate connecting rod (355), and the seedling guiding plate (353) is installed through the sprocket fixing shaft (358) The sprocket wheel, the seedling guide cup (354) is fixed on the chain (351) at equal distances through the seedling guide cup fixing ring (359), the bottom of the seedling guide cup (354) is hollowed out, and the lower end is fitted with the seedling guide plate (353), the two groups of seedling guide plates (353) are staggered and distributed up and down, and the seedling guide plate (353) is provided with a seedling drop port (357), and the seedling guide motor (356) is arranged below the seedling guide plate (353) and is used to control the rotation of the chain (351) to realize the transplanted seedlings in the seedling guide cup (354) are sequentially sent to the seedling drop port (357) and dropped into the planting device (36); The planting device (36) is installed below the seedling guide device (35). The planting device (36) is composed of two sets of transplanting wheel discs (361), a transplanting shaft (362), a planting sprocket (363), a planting chain (368), a left seedling collector (364), a right seedling collector (365), a bearing seat (367), a spline (366), a latch (1002) and a transplanting motor (369). The left seedling collector (364) and the right seedling collector (365) are fixed on the transplanting wheel disc (361). The upper openings cover the seedling drop openings (357) on both sides. The lower openings are aligned with the seedling receiving openings (2004). The left seedling collector (364) and the right seedling collector (365) are used to receive the transplanted seedlings dropped by the seedling guide device (35). The transplanting wheel disc (361) is fixed on the transplanting shaft (362). The transplanting shaft (362) ) is connected to the vehicle body (1) through a bearing seat (367) using a spline (366); a transplanting shaft (362) is provided with a planting sprocket (363); a transplanting motor (369) is arranged on the vehicle body (1); the transplanting motor (369) drives the planting chain (368) to drive the transplanting shaft (362) and the transplanting wheel disc (361) to rotate, thereby realizing the circular motion of the entire transplanting wheel disc (361); the transplanting shaft (362) is provided with circular openings, each of which has a fixed spacing; the sleeve (3614) corresponds to the position of the openings on the transplanting shaft; the sleeve (3614) is fixedly connected to the transplanting shaft (362) through a latch (1002); the relative distance between the left and right transplanting wheel discs (361) is adjusted by changing the position of the latch (1002), thereby realizing adjustable transplanting row spacing; The transplanting wheel (361) comprises: a concentric disk (3611), an eccentric disk (3612), a duckbill planter (3613), a sleeve (3614), a fixed disk (3615), a parallel connecting rod (3616), an incomplete bevel gear (3617), a concentric disk connecting rod (3618) and a bearing (3619); the incomplete bevel gear (3617) is fixed to the ends of the concentric disk connecting rod (3618) and the parallel connecting rod (3616). end; a bearing (3619) is installed on the concentric disk connecting rod (3618); the other end of the parallel connecting rod (3616) is fixed on the eccentric disk (3612) to keep it horizontal; the other end of the concentric disk connecting rod (3618) is fixed on the concentric disk (3611); the soil covering and pressing wheel (3610) is arranged behind the transplanting wheel disc (361) and is connected to the fixed disk (3615) through the connecting rod, and is used for straightening the plants and compacting the soil; The duckbill planter (3613) comprises: a movable duckbill opening (2001), a fixed duckbill opening (2002), a fixed connecting rod (2003), a seedling receiving opening (2004), a rotating shaft (2005), a bevel gear (2006) and a duckbill opening connecting rod (2007); a rotating shaft (2005) is installed at one end of the duckbill planter (3613), the rotating shaft (2005) is connected to a concentric disk connecting rod (3618) via a bearing (3619), a fixed connecting rod (2003) is installed at the other end of the duckbill planter (3613), and the fixed connecting rod (2003) is installed on a parallel connecting rod (3616), so that the duckbill planter (3613) can always maintain vertical downward movement; A movable duckbill (2001) and a fixed duckbill (2002) are installed at the lower end of the duckbill planter (3613), with the movable duckbill (2001) in front and the fixed duckbill (2002) in the back. The movable duckbill (2001) is provided with two duckbill connecting rods (2007); the duckbill connecting rods (2007) are provided with bevel gears (2006). When the duckbill planter (3613) moves to the bottom of the concentric disk (3611), the movable duckbill (2001) and the fixed duckbill (2002) are buried in the soil, the bevel gear (2006) is meshed with the incomplete bevel gear (3617) on the concentric disk (3611), and the movable duckbill (2001) is opened to complete the planting.

3. The detachable harvester and transplanter as claimed in claim 1, characterized in that: The harvesting device (2) mainly comprises a baffle-type conveyor belt (21), a transverse movement device (22), two channel carrier devices (23), two conveying channel devices (24), and a rubber roller device (25); A fixing groove (213) is provided at the front end of the vehicle body (1), and harvesting device fixing members (212) are installed on both sides. The harvesting device fixing members (212) can move laterally in the fixing groove (213), and the harvesting device connecting member (211) is provided with four connecting holes (214) for matching with the harvesting device fixing members (212) on the vehicle body (1), so as to fix the harvesting device (2) on the vehicle body (1) through the harvesting device connecting member (211), and make the harvesting device (2) detachable. The baffle conveyor belt (21) is connected to the harvesting device connecting member (211), and covers (216) are arranged on both sides of the baffle conveyor belt (21). Baffles (215) arranged at equal intervals on the baffle conveyor belt (21) can be used to transport the harvested leafy vegetables to the recovery device (4); A transverse shifting device (22) is installed at the lower end of the baffle type conveyor belt (21), and the transverse shifting device (22) mainly comprises: two transverse shifting racks (221), four ratchet gears (222), two transverse shifting carriers (223), two transverse shifting motors (224), a transverse shifting frame (225), and two transverse shifting rotating shafts (226). A transverse shifting rotating shaft (226) is arranged in the middle of each transverse shifting carrier (223), and two ratchet gears (222) are respectively installed at both ends of the transverse shifting rotating shaft (226). 2) meshing with two transverse racks (221), the ratchet gear (222) is fixed on the transverse frame (225), and a transverse motor (224) is installed on one side of the transverse rotation shaft (226) and behind the transverse carrier (223). The transverse motor (224) controls the rotation of the ratchet gear (222) to make the transverse carrier (223) move laterally. The two transverse carriers (223) are respectively fixedly connected to the bottom of the two channel carriers (231) to realize the transverse movement of the two conveying channel devices (24); Two channel carrier devices (23) are installed above the transverse moving device (22), mainly including: two channel carriers (231), four sprocket wheels (232), four toothed cutting blades (233), four transmissions (234), and four plow points (235). Each channel carrier (231) is provided with a sprocket wheel (232) inside, and the two ends of the sprocket wheel (232) are respectively connected to the toothed cutting blade (233) and the transmission (234). The transmission (234) is connected to the clamping conveyor belt (242). A motor is installed below the rear end of the sprocket wheel (232) for driving the sprocket wheel (232). 2) driving the toothed cutting blade (233) and the clamping conveyor belt (242) to rotate through the transmission (234), so that one motor drives the toothed cutting blade (233) and the clamping conveyor belt (242) to rotate, and the two motors in one channel rotate in opposite directions, so that the toothed cutting blade (233) and the clamping conveyor belt (242) rotate inwardly, and the leafy vegetables are harvested and transported. The front end of each channel carrier (231) is provided with two plow points (235), which are used to cooperate with the vehicle body (1) to move forward, so as to shovel up the leafy vegetables and expose the root system for easy cutting; Two conveying channel devices (24) are respectively installed above the channel carrier (231), and clamping conveyor belts (242) are arranged on both sides of the two harvesting channels (241). The two conveyor belts clamp the leafy vegetables by friction and rotate synchronously in opposite directions to convey the leafy vegetables to the baffle conveyor belt (21); A rubber roller device (25) is installed on the front side of the conveying channel device (24) and above the toothed cutting blade (233), and mainly comprises: two rubber rollers (251), four sliders (252), four slide bars (253), two fixed bars (254), four fixed slideways (255), four screw springs (256), eight fixing members (257), four slideway fixing plates (258), and two connecting plates (259). The two fixed slideways (255) are connected by the fixing bars (254) and the connecting plates (259), and the slide bars (253) are arranged inside the fixed slideways (255). A screw spring (256) is sleeved on the slide bar (253), and the slider (252) cooperates with the slide bar (253) to ensure that the slider (252) can slide along the slideway (2551) inside the fixed slideway (255). A rubber roller (251) is connected between the two sliders (252), and the rubber roller (251) can rotate between the two sliders (252). A small motor is installed inside the slider (252) to drive the rubber roller (251) to complete the inner rotation, so that the leafy vegetables are harvested by the rubber roller device (25) in cooperation with the toothed cutting blade (233) and rolled into the conveying channel device (24).

4. The detachable harvester and transplanter as claimed in claim 1, characterized in that: The recovery device (4) mainly comprises: a front lifting baffle (411), a rear lifting baffle (412), a conveyor belt fixing frame (413), a 90° turning conveyor belt (42), a transverse conveyor belt (41), a recovery basket (43) and a motor; the transverse conveyor belt (41) is installed at the front end of the working platform (33) and the rear end of the baffle type conveyor belt (21); the front lifting baffle (411) and the rear lifting baffle (412) are installed at the front and rear sides of the transverse conveyor belt (41), and baffle racks (416) are provided on both sides of the front lifting baffle (411) and the rear lifting baffle (412); the baffle racks (416) are meshed with the gears (414) in the conveyor belt fixing frame (413); the gears (414) are installed on the gear fixing member (415); the motor is installed at the transverse conveyor belt (41) and the rear lifting baffle (412) is installed at the rear end of the baffle type conveyor belt (21); The lower end of the belt (41) is used to drive the gear (414) to rotate, and the lifting and lowering of the front lifting baffle (411) and the rear lifting baffle (412) are controlled by the motor; when transplanting, the front lifting baffle (411) is raised, the rear lifting baffle (412) is lowered, and the recovery device (4) is used to recover the seedling tray (32); when harvesting, the front lifting baffle (411) is lowered, the rear lifting baffle (412) is raised, and the recovery device (4) is used to transport the harvested leafy vegetables; a 90° steering conveyor belt (42) is installed at the end of the transverse conveyor belt (41) to realize the steering transportation of the seedling tray (32) and the leafy vegetables; on the right side of the vehicle body (1), below the 90° steering conveyor belt (42), a recovery basket (43) is installed to store the seedling tray (32) and the leafy vegetables.

Images