Smashing and field returning device capable of accurately identifying stems and leaves of white radishes clamped and cut by double chains

Abstract

The utility model discloses a smashing and field returning device capable of accurately recognizing and clamping and cutting stems and leaves of white radishes through double chains, and belongs to the field of agricultural harvesting machinery. The smashing and field returning device comprises a rack, a cutting mechanism, a smashing mechanism, a first conveying mechanism, a soil turning mechanism and a walking mechanism; the camera shooting assembly is used for determining cutting points of white radish stems and leaves, the moving driving assembly is used for driving the cutting assembly to move up and down so that the cutting assembly can cut the white radish stems and leaves at the cutting points, the smashing mechanism is used for smashing the cut white radish stems and leaves, and the first conveying mechanism is used for conveying the cut white radish stems and leaves to the smashing mechanism. The soil turning mechanism is used for burying the smashed stems and leaves into soil, and the walking mechanism drives the machine frame to move. The white radish stem and leaf cutting device can achieve accurate cutting of white radish stems and leaves, the cut white radish stems and leaves are returned to the field, and economic benefits and ecological benefits of white radish planting are well improved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural harvesting machinery technology, and in particular to a device for accurately identifying and crushing white radish stems and leaves using a double-chain clamping mechanism. Background Technology

[0002] Patent application number 202211731779.5 discloses a radish combine harvester, including a chassis with a frame. The front end of the frame is equipped with a deep loosening mechanism and a leaf-gathering mechanism for gathering and collecting radish tops and leaves. Behind the leaf-gathering mechanism is a primary clamping and conveying mechanism for clamping, pulling up, and transporting the gathered radish tops and leaves. Below the primary clamping and conveying mechanism is a secondary clamping and conveying mechanism for clamping and conveying the radish fruits transported by the primary clamping and conveying mechanism and transporting them synchronously with the primary clamping and conveying mechanism. A cutting mechanism is also provided for cutting and separating the radish tops and leaves and the radish fruits. The deep loosening mechanism, leaf-gathering mechanism, and primary clamping and conveying mechanism are all mounted on the chassis with adjustable installation height. This white radish combine harvester is a multi-functional combine harvester that integrates deep loosening, leaf gathering, clamping and conveying, and cutting. However, after the harvester pulls out the white radish, it does not perform any subsequent processing on the cut white radish stems and leaves, ignoring the ecological benefits of the white radish stems and leaves. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a device for accurately identifying and cutting radish stems and leaves using a double-chain clamping mechanism, then crushing and returning the radish stems and leaves to the field. This device enables precise cutting of radish stems and leaves, crushing them, and returning them to the field. The radish stems and leaves are transported to a crushing mechanism for crushing, and then returned to the field via a soil-turning mechanism. This embodies the concept of green development, improves soil quality, and significantly enhances the economic and ecological benefits of radish cultivation.

[0004] A device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to an embodiment of the present invention includes:

[0005] frame;

[0006] A cutting mechanism includes a camera component, a motion drive component, and a cutting component. The camera component and the motion drive component are mounted on the frame. The motion drive component is connected to the cutting component. The camera component is used to determine the cutting point of the white radish stem and leaves. The motion drive component is used to drive the cutting component to move up and down so that the cutting component cuts the white radish stem and leaves at the cutting point.

[0007] A shredding mechanism, installed on the frame, is used to shred the cut white radish stems and leaves;

[0008] A first conveying mechanism is installed on the frame and is used to convey the cut white radish stems and leaves to the crushing mechanism.

[0009] A soil-turning mechanism, installed on the frame, is used to bury the chopped stems and leaves into the soil;

[0010] A traveling mechanism is mounted on the frame, and the traveling mechanism drives the frame to move.

[0011] A device for accurately identifying and crushing radish stems and leaves using a double-chain clamp according to an embodiment of the present invention has at least the following beneficial effects:

[0012] The walking mechanism drives the frame to move, the camera component identifies the cutting point of the radish stem and leaves, the moving drive component drives the cutting component to move up and down, and the cutting component cuts the radish stem and leaves at the cutting point to achieve precise cutting. The first conveying mechanism transfers the cut radish stem and leaves to the crushing mechanism for crushing, and then the soil turning mechanism returns them to the field. This implements the concept of green development, improves soil quality, and greatly improves the economic and ecological benefits of planting radishes.

[0013] According to some embodiments of the present invention, the cutting assembly includes a cutting drive motor and a cutting blade connected together. The cutting drive motor is connected to the moving drive assembly, and the cutting drive motor is used to drive the cutting blade to rotate in order to cut the stems and leaves of the white radish.

[0014] According to some embodiments of this utility model, the cutting mechanism further includes a leaf-gathering assembly, which is used to gather the fallen stems and leaves of the white radish. The leaf-gathering assembly includes a first leaf-gathering motor, a first leaf-gathering synchronous pulley, a first leaf-gathering synchronous belt, a second leaf-gathering motor, a second leaf-gathering synchronous pulley, and a second leaf-gathering synchronous belt. The first leaf-gathering motor and the second leaf-gathering motor are mounted on the frame. The first leaf-gathering motor drives the first leaf-gathering synchronous belt to rotate through the first leaf-gathering synchronous pulley, and the second leaf-gathering motor drives the second leaf-gathering synchronous belt to rotate through the second leaf-gathering synchronous pulley. The first leaf-gathering synchronous belt and the second leaf-gathering synchronous belt are arranged adjacent to each other, and the first leaf-gathering synchronous belt and the second leaf-gathering synchronous belt rotate synchronously in opposite directions.

[0015] According to some embodiments of the present invention, a first toothed protrusion is provided on the first leaf-gathering synchronous belt, and a second toothed protrusion is provided on the second leaf-gathering synchronous belt. The first toothed protrusion and the second toothed protrusion are used to gather the fallen white radish stems and leaves.

[0016] According to some embodiments of the present invention, the first conveying mechanism includes a first conveying motor, a first conveying synchronous pulley, a first conveying synchronous belt, a second conveying motor, a second conveying synchronous pulley, and a second conveying synchronous belt. The first conveying motor and the second conveying motor are mounted on the frame. The first conveying motor drives the first conveying synchronous belt to rotate through the first conveying synchronous pulley, and the second conveying motor drives the second conveying synchronous belt to rotate through the second conveying synchronous pulley. The first conveying synchronous belt and the second conveying synchronous belt are arranged adjacent to each other, and the first conveying synchronous belt and the second conveying synchronous belt rotate synchronously in opposite directions.

[0017] According to some embodiments of the present invention, the first conveying mechanism further includes a third conveying motor, a third conveying synchronous pulley, and a third conveying synchronous belt. The third conveying motor is mounted on the frame, and the third conveying motor drives the third conveying synchronous belt to rotate through the third conveying synchronous pulley. One end of the third conveying synchronous belt is located close to the first conveying synchronous belt and the second conveying synchronous belt, and the other end of the third conveying synchronous belt is located close to the feed end of the crushing mechanism. The third conveying synchronous belt is used to convey the white radish stems and leaves to the crushing mechanism.

[0018] According to some embodiments of this utility model, the crushing mechanism includes a collection box, a crushing drive motor, and a crushing blade. The collection box is mounted on the frame and has an open-top accommodating cavity inside. A discharge port is provided on the side wall of the collection box, and a funnel-shaped feed hopper is provided at the top of the collection box. The output end of the crushing drive motor extends into the collection box and is connected to the crushing blade. The crushing drive motor is used to drive the crushing blade to rotate in order to crush the stems and leaves of the white radish.

[0019] According to some embodiments of the present invention, the soil turning mechanism includes a soil turning drive assembly and a soil turning frame. The soil turning drive assembly is mounted on the frame. The soil turning frame includes a soil turning shaft and a plurality of soil turning shovels. The plurality of soil turning shovels are mounted on the soil turning shaft. The soil turning drive assembly is connected to the soil turning shaft for driving the soil turning shaft to rotate so that the soil turning shovels turn the soil.

[0020] According to some embodiments of this utility model, a second conveying mechanism is also included. The second conveying mechanism includes a fourth conveying motor, a fourth conveying synchronous pulley, and a fourth conveying synchronous belt. The fourth conveying motor is mounted on the frame. The fourth conveying motor drives the fourth conveying synchronous belt to rotate through the fourth conveying synchronous pulley. One end of the fourth conveying synchronous belt is close to the discharge end of the crushing mechanism. The fourth conveying synchronous belt is used to convey the crushed white radish stems and leaves to the rear of the turning mechanism.

[0021] According to some embodiments of the present invention, the second conveying mechanism further includes a controller, and a pressure sensor is provided on the fourth conveying synchronous belt. The controller is electrically connected to the fourth conveying motor and the pressure sensor, and the controller is used to control the operation of the fourth conveying motor based on the pressure data of the pressure sensor.

[0022] Additional aspects and advantages of this invention will be set forth in part in the description which follows. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0024] Figure 1 This is a schematic diagram of the structure of the device for accurately identifying and crushing white radish stems and leaves and returning them to the field according to an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the camera component, the moving drive component, and the cutting component of the precise identification, double-chain clamping, cutting, crushing, and returning white radish stems and leaves device according to an embodiment of the present utility model.

[0026] Figure 3 This is a schematic diagram of the leaf-gathering component of the precise identification double-chain clamping and cutting device for crushing and returning white radish stems and leaves to the field according to an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the structure of the device for accurately identifying and crushing white radish stems and leaves and returning them to the field according to an embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the first conveying mechanism of the precise identification and double-chain clamping device for crushing and returning white radish stems and leaves to the field, according to an embodiment of the present invention.

[0029] Figure 6 This is a schematic diagram of the crushing mechanism of the precise identification and crushing and returning device for cutting white radish stems and leaves according to an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram of the soil-turning mechanism of the precise identification, double-chain clamping, cutting, crushing, and returning white radish stems and leaves device according to an embodiment of the present utility model.

[0031] Figure 8 This is a schematic diagram of the second conveying mechanism of the precise identification, double-chain clamping, cutting, crushing, and returning white radish stems and leaves device according to an embodiment of the present invention.

[0032] Figure 9 This is a flowchart illustrating the process of determining the cutting point in the camera component of the device for accurately identifying the cutting point of white radish stems and leaves using a double-chain clamping mechanism, according to an embodiment of this utility model.

[0033] Icon labels:

[0034] 100. Rack;

[0035] 200. Cutting mechanism; 210. Camera assembly; 220. Motion drive assembly; 221. Motion drive motor; 222. Motion drive lead screw; 223. Guide rail; 224. Slider; 230. Cutting assembly; 231. Cutting drive motor; 232. Cutting blade; 240. Leaf gathering assembly; 241. First leaf gathering motor; 242. First leaf gathering synchronous pulley; 243. First leaf gathering synchronous belt; 2431. First toothed protrusion; 244. Second leaf gathering motor; 245. Second leaf gathering synchronous pulley; 246. Second leaf gathering synchronous belt; 2461. Second toothed protrusion;

[0036] 300. Crushing mechanism; 310. Collection box; 311. Feed hopper; 312. Discharge port; 313. First guide plate; 320. Crushing drive motor; 330. Crushing blade;

[0037] 400. First conveying mechanism; 410. First conveying motor; 420. First conveying synchronous pulley; 430. First conveying synchronous belt; 440. Second conveying motor; 450. Second conveying synchronous pulley; 460. Second conveying synchronous belt; 470. Third conveying motor; 480. Third conveying synchronous pulley; 490. Third conveying synchronous belt; 491. Third toothed protrusion;

[0038] 500. Soil-turning mechanism; 510. Soil-turning drive assembly; 520. Soil-turning frame; 521. Soil-turning shaft; 522. Soil-turning shovel; 530. Soil-retaining plate;

[0039] 600. Walking mechanism; 610. Walking drive assembly; 620. Walking wheels;

[0040] 700, Second conveying mechanism; 710, Fourth conveying motor; 720, Fourth conveying synchronous pulley; 730, Fourth conveying synchronous belt; 731, Fourth toothed protrusion; 740, Second guide plate. Detailed Implementation

[0041] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0042] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0043] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0044] The structure of this application only has one function: removing stems and leaves and returning the radishes to the field. It does not have the function of pulling up the radishes. The entire radish harvesting process is divided into three stages, assisted by two different robots. The first stage uses the robot structure of this application to remove stems and leaves and transport and crush them. The second stage uses another robot to pull up the radishes with the assistance of the aforementioned robot. Finally, the stems and leaves are returned to the field and covered with soil using the robot of this application.

[0045] Please see Figure 1 , Figure 2 and Figure 3This utility model discloses a device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism, comprising a frame 100, a cutting mechanism 200, a crushing mechanism 300, a first conveying mechanism 400, a soil-turning mechanism 500, and a traveling mechanism 600. The cutting mechanism 200 includes a camera component 210, a movement drive component 220, and a cutting component 230. The camera component 210 and the movement drive component 220 are mounted on the frame 100. The movement drive component 220 is connected to the cutting component 230. The camera component 210 is used to determine the cutting point of the radish stems and leaves, and the movement drive component 220 is used to drive the cutting component 230 to move up and down so that the cutting component 230 cuts the radish stems and leaves at the cutting point. The crushing mechanism 300 is mounted on the frame 100 and is used to crush the cut radish stems and leaves. A first conveying mechanism 400 is mounted on the frame 100 and is used to convey the cut radish stems and leaves to the crushing mechanism 300. A soil-turning mechanism 500 is mounted on the frame 100 and is used to bury the crushed stems and leaves in the soil. A traveling mechanism 600 is mounted on the frame 100 and drives the frame 100 to move.

[0046] The walking mechanism 600 drives the frame 100 to move, the camera component 210 identifies the cutting point of the white radish stem and leaves, the moving drive component 220 drives the cutting component 230 to move up and down, the cutting component 230 cuts the white radish stem and leaves at the cutting point to achieve precise cutting, the first conveying mechanism 400 transmits the cut white radish stem and leaves to the crushing mechanism 300 for crushing, and then the soil turning mechanism 500 returns them to the field for operation. This implements the concept of green development, improves soil quality, and greatly improves the economic and ecological benefits of planting white radishes.

[0047] In some embodiments, see Figure 1 The walking mechanism 600 includes a walking drive component 610 and a walking wheel 620. The walking drive component 610 is connected to the walking wheel 620 in a transmission manner. The walking drive component 610 drives the walking wheel 620 to rotate, thereby driving the frame 100 to move forward or backward, so as to realize the walking of the equipment.

[0048] In some embodiments, see Figure 1 , Figure 2 and Figure 3 The cutting assembly 230 includes a cutting drive motor 231 and a cutting blade 232. The cutting blade 232 is connected to the output shaft of the cutting drive motor 231, and the axis of the cutting drive motor 231 is vertical. The cutting drive motor 231 is connected to the motion drive assembly 220, and is used to drive the cutting blade 232 to rotate in order to cut the stems and leaves of the white radish. The cutting drive motor 231 drives the cutting blade 232 to rotate, thereby cutting the stems and leaves of the white radish, resulting in high cutting efficiency.

[0049] In some embodiments, see Figure 1 , Figure 2 and Figure 3 The moving drive assembly 220 includes a moving drive motor 221, a moving drive screw 222, a moving drive nut, a guide rail 223, and a slider 224. The moving drive motor 221 is connected to the moving drive screw 222, and the moving drive nut is threadedly connected to the moving drive screw 222. The guide rail 223 is mounted on the frame 100, and both the guide rail 223 and the axial direction of the moving drive screw 222 are vertical. The slider 224 is slidably connected to the guide rail 223 and is connected to the moving drive nut and the cutting drive motor 231. The moving drive motor 221 drives the moving drive screw 222 to rotate, which drives the slider 224 to move on the guide rail 223, thereby driving the cutting drive motor 231 to move vertically.

[0050] In some embodiments, see Figure 1 and Figure 9 The camera assembly 210 includes a camera. When the camera detects the stems and leaves of a white radish, under certain lighting conditions, when the radish harvester (a device that works in conjunction with this equipment) stops harvesting the radish, the camera at the grasping part acquires an image. First, it performs Gaussian filtering to denoise the image, preprocessing it to remove noise. Experiments have verified that selecting a Gaussian kernel as the optimal kernel is... Next, color space selection is performed, and seed points are selected based on color information (green and white). These are the initial pixels selected during image segmentation. These points serve as the starting point for region growing. The algorithm starts from these seed points and gradually incorporates neighboring pixels according to preset similarity criteria (such as color similarity). This achieves the use of a region growing segmentation algorithm. By analyzing the color features of the target based on color similarity, pixels with similar colors to the target are selected as seed points. Growing stops when the number of pixels in the region reaches a threshold. Finally, post-processing is performed to obtain the recognition result image, and the coordinates of the target point are sent to the processing core. The recognition process is then complete.

[0051] The recognition flowchart is as follows: acquire image, Gaussian filter, select seed point, region growth segmentation image, identify the area 5cm above the stem and leaves, and send the coordinates.

[0052] By using visual recognition, the rotating blade is moved to 5cm from the stem and leaves of the white radish for cutting. This improves the accuracy of cutting the stem and leaves of the white radish while reducing labor costs. It solves the problems of high labor costs and low efficiency, as well as the problem of manual secondary cutting required when the length of manual cutting is not up to standard.

[0053] In some embodiments, see Figure 1 , Figure 2 and Figure 4The cutting mechanism 200 also includes a leaf-gathering assembly 240, which is used to gather the fallen stems and leaves of the radish. The leaf-gathering assembly 240 includes a first leaf-gathering motor 241, a first leaf-gathering synchronous pulley 242, a first leaf-gathering synchronous belt 243, a second leaf-gathering motor 244, a second leaf-gathering synchronous pulley 245, and a second leaf-gathering synchronous belt 246. The first leaf-gathering motor 241 and the second leaf-gathering motor 244 are mounted on the frame 100. The first leaf-gathering motor 241 drives the first leaf-gathering synchronous belt 243 to rotate through the first leaf-gathering synchronous pulley 242, and the second leaf-gathering motor 244 drives the second leaf-gathering synchronous belt 246 to rotate through the second leaf-gathering synchronous pulley 245. The first leaf-gathering synchronous belt 243 and the second leaf-gathering synchronous belt 246 are arranged adjacent to each other and rotate synchronously in opposite directions. The first leaf-gathering motor 241 and the second leaf-gathering motor 244 work simultaneously, driving the first leaf-gathering synchronous belt 243 and the second leaf-gathering synchronous belt 246 to rotate synchronously in opposite directions, thereby gathering the white radish stems and leaves located between the first leaf-gathering synchronous belt 243 and the second leaf-gathering synchronous belt 246, gathering the fallen white radish stems and leaves, making it easier for the cutting component 230 to cut the white radish stems and leaves.

[0054] In some embodiments, see Figure 1 , Figure 2 and Figure 4 The first leaf-gathering synchronous belt 243 is provided with a first toothed protrusion 2431, and the second leaf-gathering synchronous belt 246 is provided with a second toothed protrusion 2461. The first toothed protrusion 2431 and the second toothed protrusion 2461 are used to gather the fallen radish stems and leaves. When the first leaf-gathering synchronous belt 243 and the second leaf-gathering synchronous belt 246 rotate, the first toothed protrusion 2431 and the second toothed protrusion 2461 can support the fallen radish stems and leaves.

[0055] In some embodiments, see Figure 1 , Figure 2 and Figure 5 The first conveying mechanism 400 includes a first conveying motor 410, a first conveying synchronous pulley 420, a first conveying synchronous belt 430, a second conveying motor 440, a second conveying synchronous pulley 450, and a second conveying synchronous belt 460. The first conveying motor 410 and the second conveying motor 440 are mounted on the frame 100. The first conveying motor 410 drives the first conveying synchronous belt 430 to rotate through the first conveying synchronous pulley 420, and the second conveying motor 440 drives the second conveying synchronous belt 460 to rotate through the second conveying synchronous pulley 450. The first conveying synchronous belt 430 and the second conveying synchronous belt 460 are arranged adjacent to each other and rotate synchronously in opposite directions.

[0056] The first conveyor motor 410 and the second conveyor motor 440 work simultaneously, driving the first conveyor synchronous belt 430 and the second conveyor synchronous belt 460 to rotate synchronously in opposite directions, thereby clamping and conveying the white radish stems and leaves located between the first conveyor synchronous belt 430 and the second conveyor synchronous belt 460, and conveying the cut white radish stems and leaves to the subsequent process.

[0057] In some embodiments, see Figure 1 , Figure 2 and Figure 5 The first conveying mechanism 400 also includes a third conveying motor 470, a third conveying synchronous pulley 480, and a third conveying synchronous belt 490. The third conveying motor 470 is mounted on the frame 100, and drives the third conveying synchronous belt 490 to rotate via the third conveying synchronous pulley 480. One end of the third conveying synchronous belt 490 is located near the first conveying synchronous belt 430 and the second conveying synchronous belt 460, and the other end is located near the feed end of the crushing mechanism 300. The third conveying synchronous belt 490 is used to convey the radish stems and leaves to the crushing mechanism 300. The third conveying synchronous belt 490 is provided with a third toothed protrusion 491. The third conveying motor 470 drives the third conveying synchronous belt 490 to rotate, transferring the radish stems and leaves conveyed by the first conveying synchronous belt 430 and the second conveying synchronous belt 460 to the crushing mechanism 300.

[0058] In some embodiments, see Figure 1 , Figure 2 and Figure 6 The crushing mechanism 300 includes a collection box 310, a crushing drive motor 320, and a crushing blade 330. The collection box 310 is mounted on the frame 100. The collection box 310 has an open-top receiving cavity, a discharge port 312 on its side wall, and a funnel-shaped inlet hopper 311 at its upper end. The output end of the crushing drive motor 320 extends into the collection box 310 and connects to the crushing blade 330. The crushing drive motor 320 drives the crushing blade 330 to rotate, thereby crushing the radish stems and leaves. The crushed radish stems and leaves are conveyed to the inlet hopper 311 via the first conveying mechanism 400, falling from the inlet hopper 311 into the collection box 310. The crushing drive motor 320 drives the crushing blade 330 to rotate, crushing the radish stems and leaves, which are then discharged from the discharge port 312.

[0059] In some embodiments, see Figure 1 , Figure 2 and Figure 7The soil-turning mechanism 500 includes a soil-turning drive assembly 510 and a soil-turning frame 520. The soil-turning drive assembly 510 is mounted on the frame 100. The soil-turning frame 520 includes a soil-turning shaft 521 and multiple soil-turning shovels 522. The multiple soil-turning shovels 522 are mounted on the soil-turning shaft 521. The soil-turning drive assembly 510 is connected to the soil-turning shaft 521 for transmission. The soil-turning drive assembly 510 drives the soil-turning shaft 521 to rotate, thereby causing the soil-turning shovels 522 to turn the soil. The soil-turning drive assembly 510 can be a motor. The output end of the soil-turning drive assembly 510 is connected to the soil-turning shaft 521 through a worm gear structure. The soil-turning drive assembly 510 drives the soil-turning shaft 521 to rotate, thereby driving the soil-turning shovels 522 to rotate. The soil-turning mechanism 500 also includes a soil-blocking plate 530. The soil-blocking plate 530 is arc-shaped and located on one side of the soil-turning shovels 522, which can reduce soil splashing during the soil-turning process.

[0060] In some embodiments, see Figure 1 , Figure 2 and Figure 8 The device for accurately identifying and crushing radish stems and leaves using a double-chain clamp also includes a second conveying mechanism 700. The second conveying mechanism 700 includes a fourth conveying motor 710, a fourth conveying synchronous pulley 720, and a fourth conveying synchronous belt 730. The fourth conveying motor 710 is mounted on the frame 100. The fourth conveying motor 710 drives the fourth conveying synchronous belt 730 to rotate via the fourth conveying synchronous pulley 720. One end of the fourth conveying synchronous belt 730 is close to the discharge end of the crushing mechanism 300. The fourth conveying synchronous belt 730 is used to transport the crushed radish stems and leaves to the rear of the tilling mechanism 500. The fourth conveying synchronous belt 730 is provided with a fourth toothed protrusion 731. The fourth conveying motor 710 drives the fourth conveying synchronous belt 730 to rotate, thereby transporting the crushed radish stems and leaves to the rear of the tilling mechanism 500. A first guide plate 313 is provided at the discharge port 312 of the collection box 310. The first guide plate 313 is used to guide the crushed white radish stems and leaves onto the fourth conveyor synchronous belt 730. A second guide plate 740 is provided at the end of the fourth conveyor synchronous belt 730 away from the first guide plate 313. The second guide plate 740 conveys the white radish stems and leaves from the fourth conveyor synchronous belt 730 to the rear of the soil turning mechanism 500. Both the first guide plate 313 and the second guide plate 740 are inclined.

[0061] In some embodiments, see Figure 1 , Figure 2 and Figure 8The second conveying mechanism 700 also includes a controller. A pressure sensor is installed on the fourth conveying synchronous belt 730. The controller is electrically connected to the fourth conveying motor 710 and the pressure sensor. The controller is used to control the operation of the fourth conveying motor 710 based on the pressure data from the pressure sensor. The installation of a pressure sensor on the fourth conveying synchronous belt 730 ensures energy conservation and solves the energy waste problem previously caused by the fourth conveying synchronous belt 730 continuing to operate when no objects were needed, thus improving the machine's economy and environmental friendliness.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism, characterized in that, include: frame; A cutting mechanism includes a camera component, a motion drive component, and a cutting component. The camera component and the motion drive component are mounted on the frame. The motion drive component is connected to the cutting component. The camera component is used to determine the cutting point of the white radish stem and leaves. The motion drive component is used to drive the cutting component to move up and down so that the cutting component cuts the white radish stem and leaves at the cutting point. A shredding mechanism, installed on the frame, is used to shred the cut white radish stems and leaves; A first conveying mechanism is installed on the frame and is used to convey the cut white radish stems and leaves to the crushing mechanism. A soil-turning mechanism, installed on the frame, is used to bury the chopped stems and leaves into the soil; A traveling mechanism is mounted on the frame, and the traveling mechanism drives the frame to move.

2. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism as described in claim 1, characterized in that, The cutting assembly includes a cutting drive motor and a cutting blade connected together. The cutting drive motor is connected to the moving drive assembly and is used to drive the cutting blade to rotate in order to cut the stems and leaves of the white radish.

3. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to claim 1, characterized in that, The cutting mechanism also includes a leaf-gathering assembly, which is used to gather the fallen stems and leaves of the white radish. The leaf-gathering assembly includes a first leaf-gathering motor, a first leaf-gathering synchronous pulley, a first leaf-gathering synchronous belt, a second leaf-gathering motor, a second leaf-gathering synchronous pulley, and a second leaf-gathering synchronous belt. The first leaf-gathering motor and the second leaf-gathering motor are mounted on the frame. The first leaf-gathering motor drives the first leaf-gathering synchronous belt to rotate through the first leaf-gathering synchronous pulley, and the second leaf-gathering motor drives the second leaf-gathering synchronous belt to rotate through the second leaf-gathering synchronous pulley. The first leaf-gathering synchronous belt and the second leaf-gathering synchronous belt are arranged adjacent to each other and rotate synchronously in opposite directions.

4. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism as described in claim 3, characterized in that... The first leaf-gathering synchronous belt is provided with a first tooth-shaped protrusion, and the second leaf-gathering synchronous belt is provided with a second tooth-shaped protrusion. The first tooth-shaped protrusion and the second tooth-shaped protrusion are used to gather the fallen white radish stems and leaves.

5. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to claim 1, characterized in that, The first conveying mechanism includes a first conveying motor, a first conveying synchronous pulley, a first conveying synchronous belt, a second conveying motor, a second conveying synchronous pulley, and a second conveying synchronous belt. The first conveying motor and the second conveying motor are mounted on the frame. The first conveying motor drives the first conveying synchronous belt to rotate through the first conveying synchronous pulley, and the second conveying motor drives the second conveying synchronous belt to rotate through the second conveying synchronous pulley. The first conveying synchronous belt and the second conveying synchronous belt are arranged adjacent to each other, and the first conveying synchronous belt and the second conveying synchronous belt rotate synchronously in opposite directions.

6. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism as described in claim 5, characterized in that... The first conveying mechanism further includes a third conveying motor, a third conveying synchronous pulley, and a third conveying synchronous belt. The third conveying motor is mounted on the frame and drives the third conveying synchronous belt to rotate through the third conveying synchronous pulley. One end of the third conveying synchronous belt is located close to the first and second conveying synchronous belts, and the other end of the third conveying synchronous belt is located close to the feed end of the crushing mechanism. The third conveying synchronous belt is used to convey the white radish stems and leaves to the crushing mechanism.

7. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to claim 1, characterized in that, The crushing mechanism includes a collection box, a crushing drive motor, and crushing blades. The collection box is mounted on the frame and has an open-top accommodating cavity. A discharge port is provided on the side wall of the collection box, and a funnel-shaped feed hopper is provided at the top of the collection box. The output end of the crushing drive motor extends into the collection box and is connected to the crushing blades. The crushing drive motor is used to drive the crushing blades to rotate and crush the stems and leaves of the white radish.

8. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to claim 1, characterized in that, The soil turning mechanism includes a soil turning drive assembly and a soil turning frame. The soil turning drive assembly is mounted on the frame. The soil turning frame includes a soil turning shaft and multiple soil turning shovels. The multiple soil turning shovels are mounted on the soil turning shaft. The soil turning drive assembly is connected to the soil turning shaft for driving the soil turning shaft to rotate so that the soil turning shovels turn the soil.

9. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to claim 1, characterized in that, It also includes a second conveying mechanism, which includes a fourth conveying motor, a fourth conveying synchronous pulley, and a fourth conveying synchronous belt. The fourth conveying motor is mounted on the frame and drives the fourth conveying synchronous belt to rotate through the fourth conveying synchronous pulley. One end of the fourth conveying synchronous belt is close to the discharge end of the crushing mechanism. The fourth conveying synchronous belt is used to transport the crushed white radish stems and leaves to the rear of the turning mechanism.

10. The device for accurately identifying and crushing radish stems and leaves using a double-chain clamping mechanism according to claim 9, characterized in that, The second conveying mechanism also includes a controller. A pressure sensor is provided on the fourth conveying synchronous belt. The controller is electrically connected to the fourth conveying motor and the pressure sensor. The controller is used to control the operation of the fourth conveying motor based on the pressure data from the pressure sensor.

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