Walking type celery harvester integrating flexible picking, root cutting and boxing

Abstract

The utility model discloses a walking type celery harvester integrating flexible picking and root cutting boxing. The celery harvester comprises a silkworm chrysalis type pulling mechanism, a replaceable ground breaking mechanism, a walking mechanism, a steering conveying mechanism, an integrated support, a damage removing mechanism, a removing and collecting conveying belt, a collecting basket and an adjustable root cutting mechanism. The silkworm chrysalis type pulling mechanism is provided with a silkworm chrysalis type pulling head; the replaceable soil breaking mechanism is provided with a soil breaking blade; the walking mechanism is located at the bottommost portion of the machine. The steering conveying mechanism is provided with a conveying belt; the integrated support comprises a handrail, a conveying belt supporting rod and a collecting plate. The damage removing mechanism is provided with a clamping jaw and an identification camera; the removing and collecting conveying belt comprises a first driver, a crawler belt, a second driver and a collecting baffle. The collecting basket is arranged on the collecting plate of the integrated bracket; the adjustable root cutting mechanism comprises a lead screw module, a second stepping motor, a motor supporting plate and a cutter. According to the harvester, celery can be conveniently centralized and guided into the conveying mechanism, and the damaged celery or the celery with poor growth vigor can be removed.

Description

TECHNICAL FIELD

[0001] The utility model relates to celery harvester, in fact is a hand -held type flexible picking and root cutting and packing integrated celery harvester. BACKGROUND

[0002] The harvest of celery planting generally has root harvesting or root cutting harvesting. Generally, mechanical harvesting often adopts root cutting harvesting. For example, the celery harvester disclosed in CN115413480A comprises a walking mechanism, a harvesting frame is arranged obliquely on the walking mechanism, a cutting mechanism for cutting the root of celery and a conveying mechanism for clamping and conveying celery are arranged on the harvesting frame, the conveying mechanism is arranged on the side of the harvester at the front end, and the conveying mechanism comprises a pair of conveying belts. When the cutting mechanism is used to cut the root of celery, the cut celery is clamped and conveyed by the conveying belts.

[0003] Problems exist in the prior art.

[0004] 1. When the celery is cut, no special component is arranged to right the celery, and the celery is only clamped by the conveying belts at the opening of the conveying belts. The clamping force of the conveying belts is not easy to adjust. If the distance between the two conveying belts is short and the opening is small, the clamping force is large, the celery is not easy to be introduced into the conveying belts, and the clamped celery is easy to be damaged. If the distance between the two conveying belts is long and the opening is large, the clamping force is small, and the celery is easy to fall off.

[0005] 2. The celery harvested by the machine is mixed with damaged or poor growth celery, and the damaged celery is not removed by a damage removing mechanism. CONTENT OF THE UTILITY MODEL

[0006] The utility model solves the technical problem of providing a hand -held type flexible picking and root cutting and packing integrated celery harvester. The harvester is convenient for righting and introducing the celery into the conveying mechanism for conveying during the harvesting of celery. In addition, a damage removing mechanism is arranged to remove the damaged or poor growth celery mixed in the harvesting.

[0007] To solve the above technical problems, the utility model adopts the following technical means:

[0008] A hand -held type flexible picking and root cutting and packing integrated celery harvester comprises a silkworm pupa type pulling mechanism, a replaceable soil breaking mechanism, a walking mechanism, a steering conveying mechanism, an integrated support, a damage removing mechanism, a removing and collecting conveying belt, a collecting basket and an adjustable root cutting mechanism.

[0009] The silkworm chrysalis type pulling mechanism is provided with two spaced silkworm chrysalis type pulling heads, the two silkworm chrysalis type pulling heads are the same in structure and arrangement, the silkworm chrysalis type pulling head is spindle-shaped, the surface of the silkworm chrysalis type pulling head is provided with an air bag, the air bag is adjusted by an air pump to slightly change the clamping interval between the two silkworm chrysalis type pulling heads, the silkworm chrysalis type pulling head is arranged obliquely above the replaceable soil breaking mechanism, the silkworm chrysalis type pulling head is driven to rotate by a first stepping motor, and the rotating directions of the two silkworm chrysalis type pulling heads are opposite.

[0010] The replaceable soil breaking mechanism comprises a soil breaking blade, a blade handle and a ratchet device, the soil breaking blade is bolted to the blade handle, and the blade handle is connected to the integrated support through the ratchet device.

[0011] The walking mechanism is located at the lowermost part of the machine and is connected to the integrated support, the walking mechanism moves to drive the whole machine to move.

[0012] The turning conveying mechanism comprises a left conveying belt and a right conveying belt, the left conveying belt rotates counterclockwise and the right conveying belt rotates clockwise during operation to realize the conveying work of the unearthed celery, and the left conveying belt and the right conveying belt are vertically arranged at the front ends and horizontally arranged at the tail ends.

[0013] The integrated support comprises a handrail, a conveying belt supporting rod and a collecting plate, the handrail and the collecting plate are arranged at the tail part of the integrated support, the collecting plate is arranged below the handrail, and the conveying belt supporting rod is connected to the damage removing mechanism and the removing and collecting conveying belt.

[0014] The damage removing mechanism is provided with a clamping jaw and an identification camera, the clamping jaw and the identification camera are electrically connected to the control system, the identification camera is controlled to work through the control system, the damaged or poorly growing celery is identified through image recognition, and the clamping jaw works to clamp and remove the damaged or poorly growing celery after the control system identifies the target through the identification camera.

[0015] The removing and collecting conveying belt comprises a driver one, a track, a driver two and a collecting baffle, the track is driven to rotate clockwise by the driver one and the driver two during operation, the feeding end of the track is arranged below the discharging end of the turning conveying mechanism to receive and convey the horizontally placed celery, and the collecting baffle is installed on the integrated support.

[0016] The collecting basket is arranged on the collecting plate of the integrated support.

[0017] The adjustable root cutting mechanism comprises a lead screw module, a second stepping motor, a motor support plate and a cutter, the lead screw module is installed on the inner side of the integrated support, the second stepping motor is arranged on the motor support plate, the motor support plate is installed on the side of the lead screw module, the up-down movement of the lead screw module can drive the up-down movement of the second stepping motor, the motor support plate and the cutter, and the second stepping motor drives the cutter to rotate.

[0018] During work, one of the pair of silkworm chrysalis type pulling heads rotates counterclockwise, and the other rotates clockwise to realize clamping of the celery. The air pressure adjustment by the air pump realizes flexible pulling and greatly reduces the damage rate of the celery. The problem that the celery is easily damaged by the turning conveying mechanism during the unearthing operation is effectively avoided, the harvesting quality is improved, and the damage rate is reduced. The surface of the silkworm chrysalis type pulling head is provided with an air bag, the air bag adjusts the clamping interval between the two silkworm chrysalis type pulling heads through pressure adjustment by the air pump, and the flexible pulling of the celery with different stem diameters is facilitated.

[0019] The replaceable soil breaking mechanism adjusts the different angles of the tool handle through the adjustment of the ratchet device to better realize the soil breaking work. Different soil breaking blades are replaced to realize the soil breaking work of celery with different soil or growth conditions.

[0020] The left conveying belt and the right conveying belt are arranged vertically at the front end and horizontally at the tail end, so that the conveying work is changed from vertical clamping to horizontal clamping, the conveying direction of the celery is changed, the turning conveying work of the unearthed celery is completed, and the subsequent damage removal and boxing work are more convenient.

[0021] The damage removal mechanism and the removal and collection conveying belt are arranged on the conveying belt support rod, the collection basket is arranged on the collection plate, and the integrated support is made of iron material and welded in one piece, so that the machine is more compact, the space is saved, and the structural strength of the whole machine is improved.

[0022] By arranging the damage removal mechanism, the damaged or poorly growing celery can be removed, and the harvesting quality is ensured.

[0023] The collection baffle limits the position of the transported celery to better collect the celery.

[0024] The collection basket realizes the collection work of the harvested celery.

[0025] The adjustable root cutting mechanism realizes the up-down movement of the height to complete the root cutting work of the celery with different heights, greatly improves the adaptability, reduces the damage caused by the different heights of the unearthed celery, and reduces the labor cost after unearthing.

[0026] The utility model discloses the above technical scheme, compared with the prior art, its outstanding features are:

[0027] The harvester is provided with the silkworm chrysalis type pulling head, which is spindle-shaped, the openings of the two silkworm chrysalis type pulling heads are large, the celery can be guided and transported into the conveying mechanism during celery harvesting, and the damage removal mechanism is further arranged to remove the damaged or poorly growing celery mixed in the harvesting.

[0028] Further preferred technical solutions are as follows:

[0029] The silkworm chrysalis type pulling mechanism further comprises bevel gear two, bevel gear one, rotating shaft, rotating shaft support, fixed support, bevel gear four, bevel gear three, air pipe and air pump; the silkworm chrysalis type pulling head is fixed on the shaft sleeve of the rotating shaft through the fixed support, the bottom end of the rotating shaft is provided with the bevel gear three, one end of the silkworm chrysalis type pulling head is provided with the bevel gear four, the bevel gear three and the bevel gear four are engaged, so that the power is transmitted to the silkworm chrysalis type pulling head; the first stepping motor drives the rotating shaft through the mutually engaged bevel gear one and bevel gear two, and the first stepping motor is connected to the integrated support.

[0030] The bevel gear set is arranged, power transmission is realized by the bevel gear set, and the silkworm chrysalis type pulling head is driven to rotate.

[0031] The walking mechanism comprises two splayed wheels and a universal single wheel; the two splayed wheels are arranged on the left and right sides of the integrated support, and the position of the whole machine is moved; and the universal single wheel is arranged at the bottom of the rear of the integrated support, and the machine is moved in the steering mode.

[0032] The splayed wheels and the universal single wheel are arranged, so that the direction of the machine is adjusted simply and conveniently.

[0033] The clamping jaw comprises a left clamping jaw and a right clamping jaw, and the damage removing mechanism further comprises a small arm, a large arm, a left connecting rod, a rotating rod, a right connecting rod, a driving motor and a connecting disc; the left clamping jaw, the left connecting rod, the rotating rod, the right connecting rod, the right clamping jaw and the driving motor are arranged on the connecting disc; when the driving motor rotates clockwise, the rotating rod rotates clockwise, the left clamping jaw is driven to move to the right through the left connecting rod, the right clamping jaw is driven to move to the left through the right connecting rod, so that the damaged or poor growth celery is clamped; when the driving motor rotates counterclockwise, the rotating rod rotates counterclockwise, the left clamping jaw is driven to move to the left through the left connecting rod, and the right clamping jaw is driven to move to the right through the right connecting rod, so that the clamping jaw is released.

[0034] The position of the small arm and the large arm is controlled, the damaged or poor growth celery is removed, and the labor cost is reduced. The two clamping jaws are arranged, and the removal efficiency is improved.

[0035] The working process of the utility model is as follows:

[0036] 1. The machine is adjusted to be aligned with the celery to be harvested, and the machine is moved forward to start the harvesting work.

[0037] 2、The first step motor works, drives two silkworm chrysalis type pulling heads to rotate, when the harvester advances, the silkworm chrysalis type pulling head is more conducive to guiding the celery to be harvested into the two silkworm chrysalis type pulling heads between, and better righting and pulling up the celery; the surface of the silkworm chrysalis type pulling head is provided with an air bag, the air bag adjusts the pressure through an air pump, slightly changes the clamping interval pressure between the two silkworm chrysalis type pulling heads, conveniently pulls the celery of different diameters and different planting widths, reduces the damage rate during harvesting, and guarantees the harvesting rate.

[0038] 3. The celery pulled by the silkworm chrysalis type pulling head is pushed to the turning conveying mechanism obliquely upwards and is clamped and conveyed by the turning conveying mechanism.

[0039] 4、The adjustable root cutting mechanism adjusts the height position of the cutter through the lead screw module, the second step motor drives the cutter to rotate, and the root cutting work of the celery is completed, so that the manual labor cost after the celery is unearthed is reduced.

[0040] 5. The celery after the root cutting is conveyed to the rejection and collection conveying belt, the damaged celery is rejected by the damaged rejection mechanism through the image recognition of the camera and the control of the system, the signal is transmitted to the mechanical arm by the control system, the position of the small arm and the large arm is moved, the damaged celery is rejected, and the manual labor cost is reduced.

[0041] 6、The celery after the rejection work is conveyed to the collection baffle and falls into the collection basket along the collection baffle, and the harvesting work of the celery is completed. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is the structure schematic view of each mechanism of the utility model;

[0043] Figure 2 It is the silkworm chrysalis type pulling mechanism schematic view of the utility model; Figure 1 ;

[0044] Figure 3 It is the silkworm chrysalis type pulling mechanism schematic view of the utility model; Figure 2 ;

[0045] Figure 4 It is the adjustable breaking soil mechanism schematic view of the utility model;

[0046] Figure 5 It is the walking mechanism schematic view of the utility model;

[0047] Figure 6 It is the turning conveying mechanism schematic view of the utility model;

[0048] Figure 7 It is the integral support schematic view of the utility model;

[0049] Figure 8 This is a schematic diagram of the damage removal mechanism of this utility model. Figure 1 ;

[0050] Figure 9 This is a schematic diagram of the damage removal mechanism of this utility model. Figure 2 ;

[0051] Figure 10 This is a schematic diagram of the rejection and collection conveyor belt of this utility model;

[0052] Figure 11 This is a schematic diagram of the adjustable root cutting mechanism of this utility model.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1-Silkworm-like extraction mechanism; 101-First stepper motor; 102-Helical gear two; 103-Helical gear one; 104-Rotating shaft; 105-Rotating shaft bracket; 106-Fixed bracket; 107-Silkworm-like extraction head; 108-Helical gear four; 109-Helical gear three; 110-Air pipe; 111-Air pump; 112-Air pump support;

[0055] 2-Replaceable soil breaking mechanism; 201-Soil breaking blade; 202-Blade holder; 203-Ratchet mechanism;

[0056] 3-Traveling mechanism; 301-Figure-eight wheel; 302-Universal single wheel;

[0057] 4-Swimming conveyor mechanism; 401-Left conveyor belt; 402-Right conveyor belt;

[0058] 5-Integrated support frame; 501-Handrail; 502-Conveyor belt support rod; 503-Collection plate;

[0059] 6-Damage removal mechanism; 601-Forearm; 602-Upper arm; 603-Identification camera; 604-Left gripper; 605-Left connecting rod; 606-Rotating rod; 607-Right connecting rod; 608-Right gripper; 609-Drive motor; 610-Connecting plate;

[0060] 7-Removal collection conveyor belt; 701-Driver 1; 702-Track; 703-Driver 2; 704-Collection baffle;

[0061] 8-Collection basket;

[0062] 9-Adjustable root cutting mechanism; 901-Lead screw module; 902-Second stepper motor; 903-Motor support plate; 904-Cutting tool. Detailed Implementation

[0063] The present invention will be further described below with reference to the embodiments.

[0064] Referring to Figures 1-11 It can be known that the celery harvester with hand-held type flexible picking and root cutting and boxing integration is composed of silkworm chrysalis type pulling mechanism 1, replaceable type soil breaking mechanism 2, walking mechanism 3, steering conveying mechanism 4, integrated support 5, damage removing mechanism 6, removing and collecting conveying belt 7, collecting basket 8 and adjustable type root cutting mechanism 9.

[0065] The silkworm chrysalis type pulling mechanism 1 is provided with two spaced silkworm chrysalis type pulling heads 107, the two silkworm chrysalis type pulling heads 107 are the same in structure and arrangement, the silkworm chrysalis type pulling head 107 is spindle-shaped, the surface of the silkworm chrysalis type pulling head 107 is provided with an air bag, the air bag is adjusted in pressure by the air pump 111 to slightly change the clamping interval between the two silkworm chrysalis type pulling heads 107, the silkworm chrysalis type pulling head 107 is arranged obliquely above the replaceable type soil breaking mechanism 2, the silkworm chrysalis type pulling head 107 is driven to rotate by the first stepping motor 101, and the rotating directions of the two silkworm chrysalis type pulling heads 107 are opposite.

[0066] The replaceable type soil breaking mechanism 2 comprises a soil breaking blade 201, a blade handle 202 and a ratchet device 203, the soil breaking blade 201 is bolted to the blade handle 202, and the blade handle 202 is connected to the integrated support 5 through the ratchet device 203.

[0067] The walking mechanism 3 is located at the lowermost part of the machine and is connected to the integrated support 5, the walking mechanism 3 moves to drive the whole machine to move.

[0068] The steering conveying mechanism 4 comprises left conveying belts 401 and right conveying belts 402, the left conveying belts 401 rotate counterclockwise and the right conveying belts 402 rotate clockwise during work to realize conveying work of the unearthed celery, and the left conveying belts 401 and the right conveying belts 402 are arranged vertically at front ends and horizontally at tail ends.

[0069] The integrated support 5 comprises a handrail 501, a conveying belt supporting rod 502 and a collecting plate 503, the handrail 501 and the collecting plate 503 are arranged at the tail part of the integrated support 5, the collecting plate 503 is arranged below the handrail 501, and the conveying belt supporting rod 502 is connected to the damage removing mechanism 6 and the removing and collecting conveying belt 7.

[0070] The damage removing mechanism 6 is provided with clamping jaws and an identification camera 603, the clamping jaws and the identification camera 603 are electrically connected to a control system, the identification camera 603 is controlled to work through the control system, damaged or poorly growing celery is identified through image identification, and the clamping jaws work to clamp and remove the damaged or poorly growing celery after the identification camera 603 of the control system identifies the target.

[0071] The removal and collection conveyor belt 7 includes a driver 701, a track 702, a driver 703, and a collection baffle 704. When the driver 701 and driver 703 are working, they drive the track 702 to rotate clockwise. The feed end of the track 702 is located below the discharge end of the steering conveyor mechanism 4, receiving and conveying the celery placed horizontally. The collection baffle 704 is installed on the integrated bracket 5.

[0072] The collection basket 8 is placed on the collection plate 503 of the integrated bracket 5.

[0073] The adjustable root cutting mechanism 9 includes a lead screw module 901, a second stepper motor 902, a motor support plate 903, and a cutting tool 904. The lead screw module 901 is installed inside the integrated bracket 5, and the second stepper motor 902 is placed on the motor support plate 903. The motor support plate 903 is installed to the side of the lead screw module 901. The up and down movement of the lead screw module 901 can drive the second stepper motor 902, the motor support plate 903, and the cutting tool 904 to move up and down. The second stepper motor 902 drives the cutting tool 904 to rotate.

[0074] During operation, one of the paired cocoon-shaped pulling heads 107 rotates counterclockwise while the other rotates clockwise, clamping the celery stalks. Air pressure regulation by the air pump 111 enables gentle pulling, significantly reducing celery damage. This effectively avoids the problem of damaging the celery stalks when using the steering conveyor mechanism 4 to pull the celery out of the ground, improving harvest quality and reducing damage. The surface of the cocoon-shaped pulling head 107 is equipped with an air bladder. The air bladder's pressure is adjusted by the air pump 111 to subtly change the clamping interval between the two cocoon-shaped pulling heads 107, facilitating gentle pulling of celery stalks of different diameters.

[0075] The interchangeable soil-breaking mechanism 2 adjusts the angle of the blade handle 202 by adjusting the ratchet device 203 to better achieve soil-breaking work. Different soil-breaking blades 201 can be replaced to achieve soil-breaking work for celery of different soil types or growth stages.

[0076] The left conveyor belt 401 and the right conveyor belt 402 are arranged vertically at the front end and horizontally at the rear end, so that the conveying work changes from vertical clamping to horizontal clamping, which changes the direction of celery conveying and completes the turning and conveying of the unearthed celery, making the subsequent damage removal and packing work more convenient.

[0077] The damage removal mechanism 6 and the removal collection conveyor belt 7 are placed on the conveyor belt support rod 502; the collection basket 8 is placed on the collection plate 503; the integrated bracket 5 is made of iron material and welded together, making the machine more compact, saving space and improving the structural strength of the whole machine.

[0078] By setting up a damage removal mechanism 6, damaged or poorly growing celery can be easily removed, ensuring the quality of the harvest.

[0079] The collecting baffle 704 limits the position of the celery transported to better collect the celery.

[0080] The collecting basket 8 realizes the collection of the harvested celery.

[0081] The adjustable root cutting mechanism 9 realizes the up and down movement of the height to complete the root cutting work of celery at different heights, greatly improves the adaptability, reduces the damage caused by the different heights of the unearthed celery, and reduces the labor cost after the unearthed.

[0082] The harvester is convenient for righting and guiding the celery into the conveying mechanism for conveying during the celery harvesting, and further provides a damage removing mechanism for removing the damaged or poorly growing celery mixed in the harvesting.

[0083] Referring to Figures 1-3 It can be known that the silkworm chrysalis type pulling mechanism 1 further comprises a bevel gear two 102, a bevel gear one 103, a rotating shaft 104, a rotating shaft support 105, a fixed support 106, a bevel gear four 108, a bevel gear three 109, an air pipe 110, an air pump 111, and an air pump support 112; the silkworm chrysalis type pulling head 107 is fixed on the shaft sleeve of the rotating shaft 104 through the fixed support 106, the bottom end of the rotating shaft 104 is provided with the bevel gear three 109, one end of the silkworm chrysalis type pulling head 107 is provided with the bevel gear four 108, the bevel gear three 109 and the bevel gear four 108 are engaged to transmit power to the silkworm chrysalis type pulling head 107; the first stepping motor 101 drives the rotating shaft 104 through the mutually engaged bevel gear one 103 and bevel gear two 102, and the first stepping motor 101 is connected to the integrated support 5. The rotating shaft support 105 is connected to the rotating shaft 104 through a bearing, the air pipe 110 is connected to the air pump 111 and the air bag, and the air pump support 112 is connected to the air pump 111.

[0084] The bevel gear set is arranged to transmit power and drive the silkworm chrysalis type pulling head 107 to rotate.

[0085] Referring to Figure 1 , Figure 5 It can be known that the walking mechanism comprises two splayed wheels 301 and a universal single wheel 302; the two splayed wheels 301 are connected to the left and right sides of the integrated support 5 to realize the position movement of the whole machine; and the universal single wheel 302 is arranged at the bottom of the rear of the integrated support 5 to realize the steering movement of the machine.

[0086] The splayed wheels 301 and the universal single wheel 302 are arranged to make the adjustment of the direction of the machine simple and convenient.

[0087] Referring to Figure 8 , Figure 9It can be known that the gripper comprises a left gripper 604 and a right gripper 608, the damage removing mechanism 6 further comprises a small arm 601, a large arm 602, a left connecting rod 605, a rotating rod 606, a right connecting rod 607, a driving motor 609 and a connecting disc 610; the left gripper 604, the left connecting rod 605, the rotating rod 606, the right connecting rod 607, the right gripper 608 and the driving motor 609 are arranged on the connecting disc 610; when the driving motor 609 rotates clockwise, the rotating rod 606 rotates clockwise, thereby the left gripper 604 is driven to move rightwards through the left connecting rod 605, and the right gripper 608 is driven to move leftwards through the right connecting rod 607, so as to realize the clamping work of the damaged or poor growth celery; when the driving motor 609 rotates counterclockwise, the rotating rod 606 rotates counterclockwise, thereby the left gripper 604 is driven to move leftwards through the left connecting rod 605, and the right gripper 608 is driven to move rightwards through the right connecting rod 607, so as to realize the releasing action of the gripper.

[0088] By controlling the position movement of the small arm 601 and the large arm 602, the removing work of the damaged or poor growth celery is realized, so as to reduce the labor cost.

[0089] The working process of the utility model is as follows:

[0090] 1. Adjust the machine to be aligned with the celery to be harvested, and make the machine move forward to start the harvesting work. The soil breaking blade 201 penetrates into the soil, and the soil breaking work is carried out along with the forward movement of the machine. The angle and depth of the soil breaking blade 201 are adjusted through the adjustment of the ratchet device 203, so as to better adapt to the work requirement of the harvested celery root.

[0091] 2. The first step motor 101 works, and drives the two silkworm pupa type pulling heads 107 to rotate. When the harvester moves forward, the silkworm pupa type pulling head is more conducive to guiding the celery to be harvested between the two silkworm pupa type pulling heads 107, and better supports and pulls the celery upward. The surface of the silkworm pupa type pulling head 107 is provided with an air bag. The air bag adjusts the clamping interval pressure between the two silkworm pupa type pulling heads 107 through the air pump 111, so as to conveniently pull the celery with different diameters and different planting widths, reduce the damage rate during harvesting, and ensure the harvesting rate.

[0092] 3. The celery pulled out by the silkworm pupa type pulling head 107 is pushed to the inclined upward turning conveying mechanism 4, and is clamped and conveyed by the turning conveying mechanism 4.

[0093] 4. The adjustable root cutting mechanism 9 adjusts the height position of the cutter 904 through the screw module 901, the second step motor 902 drives the cutter 904 to rotate, and the root cutting work of the celery is completed, so as to reduce the labor cost after the celery is pulled out.

[0094] 5. The cut root celery is transported to the culling collection conveyor belt 7, and the damaged celery is removed by the damaged celery removal mechanism 6, and the damaged or poor growth celery is identified by the control system through the image of the identification camera 603, and the control system transmits a signal to the mechanical arm, and the damaged or poor growth celery is removed by moving the position of the control arm 601 and the control arm 602, so as to reduce the labor cost;

[0095] 6. The celery after the culling work is transported to the collection baffle 704, and falls into the collection basket 8 along the collection baffle 704, and the celery harvesting work is completed.

[0096] The above only describes the preferred and feasible embodiments of the present application, and does not limit the scope of the present application, and any equivalent structural changes made by applying the content of the present application and the drawings are included in the scope of the present application.

Claims

1. A hand-held flexible picking and cutting root integrated celery harvester, comprising a chrysalis type pulling mechanism (1), a replaceable soil breaking mechanism (2), a walking mechanism (3), a steering conveying mechanism (4), an integrated support (5), a damage removing mechanism (6), a removing and collecting conveyor belt (7), a collecting basket (8), and an adjustable root cutting mechanism (9), characterized in that: the chrysalis type pulling mechanism (1) is provided with two spaced apart chrysalis type pulling heads (107), the two chrysalis type pulling heads (107) are the same in structure and arrangement, the chrysalis type pulling head (107) is spindle-shaped, the surface of the chrysalis type pulling head (107) is provided with an air bag, the air bag is adjusted in pressure by an air pump (111) to slightly change the clamping interval between the two chrysalis type pulling heads (107), the chrysalis type pulling head (107) is arranged obliquely above the replaceable soil breaking mechanism (2), the chrysalis type pulling head (107) is driven to rotate by a first stepper motor (101), and the rotation directions of the two chrysalis type pulling heads (107) are opposite; the replaceable soil breaking mechanism (2) comprises a soil breaking blade (201), a blade handle (202), and a ratchet device (203), the soil breaking blade (201) is bolted to the blade handle (202), and the blade handle (202) is connected to the integrated support (5) through the ratchet device (203); the walking mechanism (3) is located at the lowermost part of the machine and is connected to the integrated support (5), the walking mechanism (3) moves to drive the whole machine to move; the steering conveying mechanism (4) comprises a left conveying belt (401) and a right conveying belt (402), the left conveying belt (401) rotates counterclockwise and the right conveying belt (402) rotates clockwise during work to realize conveying of the unearthed celery, and the left conveying belt (401) and the right conveying belt (402) are arranged vertically at the front ends and horizontally at the tail ends; the integrated support (5) comprises a handrail (501), a conveyor belt support rod (502), and a collecting plate (503), the handrail (501) and the collecting plate (503) are arranged at the tail of the integrated support (5), the collecting plate (503) is arranged below the handrail (501), and the conveyor belt support rod (502) is connected to the damage removing mechanism (6) and the removing and collecting conveyor belt (7); the damage removing mechanism (6) is provided with a clamping jaw and an identification camera (603), the clamping jaw and the identification camera (603) are electrically connected to a control system, the identification camera (603) is controlled to work through the control system, damaged or poorly growing celery is identified through image recognition, and the clamping jaw works to clamp and remove the damaged or poorly growing celery after the identification camera (603) of the control system identifies the target; the removing and collecting conveyor belt (7) comprises a driver one (701), a track (702), a driver two (703), and a collecting baffle (704), the track (702) is driven to rotate clockwise by the driver one (701) and the driver two (703) during work, the feeding end of the track (702) is arranged below the discharging end of the steering conveying mechanism (4) to receive and convey the horizontally placed celery. ​ The collecting baffle (704) is installed on the integral support (5); The collecting basket (8) is placed on the collecting plate (503) of the integral support (5); The adjustable root cutting mechanism (9) comprises a lead screw module (901), a second stepper motor (902), a motor support plate (903) and a cutter (904); the lead screw module (901) is installed inside the integral support (5), the second stepper motor (902) is placed on the motor support plate (903), the motor support plate (903) is installed on the side of the lead screw module (901), the up-and-down movement of the lead screw module (901) can drive the up-and-down movement of the second stepper motor (902), the motor support plate (903) and the cutter (904); the second stepper motor (902) drives the cutter (904) to rotate.

2. The hand-held flexible picking and root-cutting integrated celery harvester according to claim 1, characterized in that: The silkworm chrysalis type pulling mechanism (1) further comprises bevel gear two (102), bevel gear one (103), rotating shaft (104), rotating shaft support (105), fixed support (106), bevel gear four (108), bevel gear three (109), air pipe (110), air pump (111), air pump support (112); the silkworm chrysalis type pulling head (107) is fixed on the shaft sleeve of the rotating shaft (104) through the fixed support (106), the bottom end of the rotating shaft (104) is provided with the bevel gear three (109), one end of the silkworm chrysalis type pulling head (107) is provided with the bevel gear four (108), the bevel gear three (109) and the bevel gear four (108) are engaged to transmit power to the silkworm chrysalis type pulling head (107); the first stepper motor (101) drives the rotating shaft (104) through the mutually engaged bevel gear one (103) and bevel gear two (102), and the first stepper motor (101) is connected to the integral support (5).

3. The hand-held flexible picking and root-cutting integrated celery harvester according to claim 1, characterized in that: The walking mechanism comprises two splayed wheels (301) and a universal single wheel (302); the two splayed wheels (301) are connected to the left and right sides of the integral support (5) to realize the position movement of the whole machine; the universal single wheel (302) is placed at the bottom of the rear of the integral support (5) to realize the steering movement of the machine.

4. The hand-held flexible picking and beheading integrated celery harvester according to claim 1, characterized in that: The left clamping jaw (604), the right clamping jaw (608), the small arm (601), the large arm (602), the left connecting rod (605), the rotating rod (606), the right connecting rod (607), the driving motor (609) and the connecting disc (610) are arranged on the connecting disc (610); when the driving motor (609) rotates clockwise, the rotating rod (606) rotates clockwise, thereby driving the left clamping jaw (604) to move rightwards through the left connecting rod (605), and driving the right clamping jaw (608) to move leftwards through the right connecting rod (607), so as to realize the clamping work on the damaged or poor growth celery; when the driving motor (609) rotates counterclockwise, the rotating rod (606) rotates counterclockwise, thereby driving the left clamping jaw (604) to move leftwards through the left connecting rod (605), and driving the right clamping jaw (608) to move rightwards through the right connecting rod (607), so as to realize the releasing action of the clamping jaw.

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