Integrated harvesting device for root crops

Abstract

The embodiment of the utility model provides an integrated harvesting device for root crops, which comprises a frame, and an advancing module is mounted at the bottom of the frame; the cutting module swings outwards to cut stems and leaves and swings inwards to reset; the digging module can dig the root crops from the soil and lift the root crops, and reset the root crops after completing digging and lifting actions; the transfer module can receive the root crops lifted by the digging module and lift the root crops again, and reset the root crops after completing the lifting action again; the shifting fork module can receive the rhizome crops lifted again by the transfer module and continuously transport the rhizome crops backwards; and an inlet of the storage box is communicated with the transportation terminal point of the shifting fork module. According to the integrated harvesting device for the rhizome crops, through mutual cooperation and circulating reciprocating motion of all the mechanical structures, stem and leaf cutting, digging, mud removing, collecting and transporting work is integrated, mechanical operation of the whole harvesting process of the rhizome crops is achieved, and the integrated harvesting device is suitable for the technical field of agricultural equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural equipment, in particular to a root and stem crop integrated harvesting device. BACKGROUND

[0002] Root and stem crops have high yield, rich nutrition and strong adaptability to the environment, and have become one of the most important food crops in the world, playing a vital role in the field of agriculture. The product organs of root and stem crops are tubers and tubers. When collecting, the main product tubers are deeply buried in the soil of the field ridge, which needs to be dug out and then processed. Therefore, the use of manual harvesting method is difficult and inefficient.

[0003] At present, the traditional root and stem crop harvesting usually uses a plow-type harvester, which needs to be towed by a tractor and is not suitable for hilly land and small family planting land. Moreover, the function is relatively single, and only part of the operation in the harvesting process can be completed. A large amount of manpower, material resources and financial resources are still needed to complete the work of cutting stems and leaves and transportation in the later period. CONTENT OF THE INVENTION

[0004] In order to solve one of the above technical defects, an integrated root and stem crop harvesting device is provided in the embodiments of the present application, which comprises:

[0005] A vehicle frame;

[0006] A traveling module is arranged at the bottom of the vehicle frame;

[0007] A mounting frame is vertically arranged at the middle of the vehicle frame chassis, and the mounting frame comprises a first horizontal rod, a second horizontal rod and a third horizontal rod arranged in sequence and spaced apart from bottom to top;

[0008] A cutting module is arranged on one side of the head of the vehicle frame chassis. When working, the cutting module swings outward to cut stems and leaves, and swings inward to reset;

[0009] A digging module is arranged on the first horizontal rod, which is used to dig and lift the root and stem crops from the soil and reset after completing the digging and lifting action;

[0010] A transfer module is arranged on the second horizontal rod, which is used to receive the root and stem crops lifted by the digging module and align them for lifting again, and reset after completing the lifting action again;

[0011] A fork module is arranged on the third horizontal rod, which is used to receive the root and stem crops lifted again by the transfer module and transport them backward;

[0012] A storage box is arranged on one side of the mounting frame, and the inlet of the storage box is in communication with the transport terminal of the fork module.

[0013] Further, the cutting module comprises:

[0014] a bottom plate connected to the frame chassis;

[0015] a top plate arranged directly above the bottom plate, the top plate being connected to the frame via a connecting piece, a first through hole being formed in the top plate near a side of the excavating module;

[0016] a first motor arranged above the top plate, the first motor being mounted on the frame via a motor support, an output shaft of the first motor passing downward through the top plate from the first through hole;

[0017] a first crank arranged between the top plate and the bottom plate, one end of the first crank being connected to the output shaft of the first motor;

[0018] a rotating shaft vertically arranged on a side of the bottom plate away from the output shaft of the first motor, both ends of the rotating shaft being connected to the top plate and the bottom plate respectively;

[0019] a first rocker, one end of the first rocker being hingedly connected to the rotating shaft, a second through hole being formed in a middle segment of the first rocker, the other end of the first rocker being provided with a second motor, an output shaft of the second motor passing downward through the first rocker and being connected to a cutting blade;

[0020] a first connecting rod, one end of the first connecting rod being hingedly connected to the other end of the first crank, the other end of the first connecting rod being hingedly connected to the second through hole of the first rocker.

[0021] Further, the excavating module comprises:

[0022] a third motor mounted on the first horizontal rod via a support, the first horizontal rod being arranged higher than the frame chassis, the third motor being a double-output-shaft motor, one set of crank-rocker mechanism being arranged on each side of the third motor, the two sets of crank-rocker mechanisms being symmetrically arranged about the mounting frame;

[0023] the crank-rocker mechanism comprises:

[0024] a second crank, an output shaft of the third motor passing through the support and being connected to one end of the second crank;

[0025] a second rocker, one end of the second rocker being hingedly connected to the frame chassis via a first bearing seat, the first bearing seat being located between the mounting frame and the cutting module;

[0026] a second connecting rod, one end of the second connecting rod being hingedly connected to the other end of the second crank, the other end of the second connecting rod being hingedly connected to the other end of the second rocker;

[0027] a connecting rod extension rod, one end of the connecting rod extension rod being connected to the other end of the second connecting rod;

[0028] the excavating module further comprises an excavating shovel, the excavating shovel being arranged between the two sets of crank-rocker mechanisms, the excavating shovel being connected to the other ends of the connecting rod extension rods on both sides respectively.

[0029] Further, the transfer module comprises:

[0030] A fourth motor is installed on the second cross bar through a motor support, the fourth motor is a double-output shaft motor, and one set of double-rocker mechanisms is arranged on the two sides of the fourth motor, and the two sets of double-rocker mechanisms are symmetrically arranged about the mounting support;

[0031] The double-rocker mechanism comprises:

[0032] A third rocker, one end of which is connected to the output shaft of the fourth motor;

[0033] A fourth rocker, one end of which is hingedly connected to one side of the mounting support on the frame through a second bearing seat, the second bearing seat is higher than the fourth motor, and the second bearing seat is located between the mounting support and the cutting module;

[0034] A third connecting rod, one end of which is hingedly connected to the other end of the third rocker, and the other end of the third connecting rod is hingedly connected to the other end of the fourth rocker;

[0035] A rocker extension rod, one end of which is connected to the other end of the fourth rocker;

[0036] The transfer module further comprises a collection claw, which is arranged between the two sets of double-rocker mechanisms, and the other end of each rocker extension rod on the two sides is connected to the collection claw.

[0037] Further, the shifting fork module comprises:

[0038] A wave-shaped main transport groove is installed on the third cross bar, and one set of parallelogram mechanisms is arranged on the two sides of the wave-shaped main transport groove, and the two sets of parallelogram mechanisms are symmetrically arranged about the mounting support;

[0039] The parallelogram mechanism comprises:

[0040] Fourth and fifth connecting rods arranged in parallel, one end of each of the fourth and fifth connecting rods is hingedly connected to the side wall of the wave-shaped main transport groove;

[0041] The shifting fork module further comprises:

[0042] A power mechanism arranged on the mounting support, the output end of the power mechanism is connected to the input end of each of the fourth and fifth connecting rods;

[0043] Two horizontally arranged wave-shaped auxiliary transport grooves are symmetrically arranged about the wave-shaped main transport groove, and the other end of each of the fourth and fifth connecting rods is hingedly connected to the side wall of the wave-shaped auxiliary transport groove.

[0044] Further, the power mechanism is a fourth motor, the output shaft of the fourth motor is the output end of the power mechanism, the input end of each of the fourth and fifth connecting rods is connected to the output shaft of the fourth motor through two sets of gear sets, and the two sets of gear sets are symmetrically arranged about the mounting support, and the gear set comprises:

[0045] The first gear is connected with the output shaft of the fourth motor, and the output shaft of the fourth motor is connected with one end of the third rocker through the first gear;

[0046] The second gear is installed on one side of the third cross bar through a gear support between the fourth motor and the third cross bar, and the second gear is engaged with the first gear;

[0047] The third gear is arranged on the side wall of the wave-shaped main transport groove, and the third gear is located between the fourth connecting rod and the fifth connecting rod, and the third gear is engaged with the second gear;

[0048] Two fourth gears are arranged on both sides of the third gear on the side wall of the wave-shaped main transport groove, one end of the fourth connecting rod and the fifth connecting rod is connected with the two fourth gears and rotates coaxially, and the two fourth gears are engaged with the third gear respectively.

[0049] Further, the rear end of the digging shovel is connected with an elongated plate in the form of a sparse tooth, and the tooth gap at the front end of the collecting claw and the tooth gap of the elongated plate are staggered and do not interfere with each other during work.

[0050] Further, the number of teeth of the first gear and the two fourth gears is the same.

[0051] Further, the top of the wave-shaped main transport groove is in the form of a wave, the tail of the wave-shaped main transport groove is a downward slope, the end point of the slope is the transport end point of the fork module, and the wave-shaped main transport groove comprises:

[0052] Two wave-shaped middle plates are arranged on the third cross bar in a spaced manner, and the two wave-shaped middle plates are symmetrically arranged about the mounting bracket, and the side wall of the wave-shaped middle plate is the side wall of the wave-shaped main transport groove.

[0053] Two wave-shaped strip plates are symmetrically arranged about the mounting bracket, and the two wave-shaped strip plates are arranged outside the two wave-shaped middle plates, and the two wave-shaped strip plates are connected with the top of the respective one side wave-shaped middle plate.

[0054] Further, a solar panel is installed on the side of the top of the frame away from the storage box.

[0055] The root crop integrated harvesting device provided in the embodiment of the application is used to cut the stems and leaves of the root crops by using the cutting module, when the stems and leaves of the root crops are cut, the digging module is inserted into the soil for preparation of digging, the digging module is deeply inserted into the soil to dig up the root crops and send them to the upper transfer module, the transfer module continues to lift after receiving the root crops to send the root crops to the upper fork module, and the fork module transports the root crops to the storage box. Through the mutual cooperation and reciprocating movement of the above modules, the integrated operation of stem and leaf cutting, digging, collecting and transporting of the root crops can be continuously realized, and the whole process of root crop harvesting is realized.

[0056] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0057] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0058] Figure 1 A perspective view of the root crop integrated harvesting device provided in the embodiment of the present application;

[0059] Figure 2 A front view of the root crop integrated harvesting device provided in the embodiment of the present application;

[0060] Figure 3 A top view of the root crop integrated harvesting device provided in the embodiment of the present application;

[0061] Figure 4 A sectional view of the root crop integrated harvesting device provided in the embodiment of the present application;

[0062] Figure 5 A perspective view of the cutting module provided in the embodiment of the present application, Figure 1 An enlarged view of the position X in the cutting module;

[0063] Figure 6 A structural view of the cutting module provided in the embodiment of the present application;

[0064] Figure 7 A schematic view of the digging action of the digging module provided in the embodiment of the present application;

[0065] Figure 8A schematic view of the lifting action of the excavating module provided for the embodiment of the present application;

[0066] Figure 9 A structural schematic view of the excavating shovel provided for the embodiment of the present application;

[0067] Figure 10 A structural schematic view of the transfer module provided for the embodiment of the present application;

[0068] Figure 11 A structural schematic view of the collection claw provided for the embodiment of the present application;

[0069] Figure 12 A schematic view of the cooperation between the excavating module and the transfer module provided for the embodiment of the present application;

[0070] Figure 13 A structural schematic view of the shifting fork module provided for the embodiment of the present application;

[0071] Figure 14 A structural schematic view of the cooperation between the shifting fork module and the gear set module provided for the embodiment of the present application;

[0072] Figure 15 A schematic view of the cooperation between the transfer module and the shifting fork module provided for the embodiment of the present application;

[0073] Wherein, 10 is the frame, 11 is the mounting bracket, 111 is the first crossbar, 112 is the second crossbar, 113 is the third crossbar, 20 is the advancing module, 201 is the wheel, 202 is the fifth motor, 30 is the cutting module, 301 is the top plate, 302 is the bottom plate, 303 is the first through hole, 304 is the first motor, 305 is the first crank, 306 is the rotating shaft, 307 is the first rocker, 308 is the second through hole, 309 is the second motor, 310 is the cutting blade, 311 is the first connecting rod, 40 is the excavating module, 401 is the third motor, 402 is the support, 403 is the second crank, 404 is the second rocker, 405 is the first bearing seat, 406 is the second connecting rod, 407 is the connecting rod extension rod, 408 is the excavating shovel, 409 is the lengthening plate, 50 is the transfer module, 501 is the fourth motor, 502 is the third rocker, 503 is the fourth rocker, 504 is the second bearing seat, 505 is the third connecting rod, 506 is the rocker extension rod, 507 is the collection claw, 60 is the shifting fork module, 601 is the wave-shaped main transport groove, 602 is the fourth connecting rod, 603 is the fifth connecting rod, 604 is the wave-shaped auxiliary transport groove, 605 is the wave-shaped middle plate, 606 is the wave-shaped strip plate, 608 is the mud removal baffle, 70 is the storage box, 701 is the transport plate, 80 is the gear set module, 801 is the first gear, 802 is the second gear, 803 is the gear support, 804 is the third gear, 805 is the fourth gear, 90 is the solar panel. DETAILED DESCRIPTION

[0074] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the following will combine the accompanying drawings to further describe the embodiments of the present application. Figures 1-15 Further detailed description will be given to the exemplary embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0075] In the process of implementing the present application, the inventors found that root crops have high yield, rich nutrition, strong adaptability to the environment, and have become one of the most important food crops in the world, occupying a pivotal position in the field of agriculture. The product organs of root crops are tubers and tubers. When collecting, the main product tubers are deeply buried in the soil of the field ridge, which needs to be dug out and then processed. Therefore, the artificial harvesting method is difficult and inefficient.

[0076] Currently, the traditional root crop harvesting usually uses a plow-type harvester, which needs to be towed by a tractor and is not suitable for hilly land and small family-planting land. Moreover, the function is relatively single, and only part of the operation in the harvesting process can be completed. In the later stage, a large amount of manpower, material resources and financial resources are still needed to complete the work of cutting stems and leaves and transportation.

[0077] In view of the above problems, as shown in the accompanying drawings, Figures 1-4 The present application provides a root crop integrated harvesting device (hereinafter referred to as harvesting device) in the embodiments, which comprises:

[0078] The vehicle frame 10 is composed of multiple aluminum plates, which constitutes the basic frame of the whole vehicle and supports all mechanical structures. The bottom of the vehicle frame 10 is provided with a traveling module 20. The middle part of the chassis of the vehicle frame 10 is vertically provided with a mounting bracket 11. The mounting bracket 11 comprises a first horizontal rod 111, a second horizontal rod 112 and a third horizontal rod 113 which are sequentially and spacedly arranged from bottom to top.

[0079] The cutting module 30 is arranged on one side of the head of the chassis of the vehicle frame 10. The cutting module 30 swings outward to cut stems and leaves and swings inward to reset.

[0080] The digging module 40 is arranged on the first horizontal rod 111 and is used for digging and lifting the root crops from the soil and resetting after completing the digging and lifting action.

[0081] The transfer module 50 is arranged on the second horizontal rod 112 and is used for receiving the root crops lifted by the digging module 40 and lifting them again, and resetting after completing the lifting action again.

[0082] The fork module 60 is arranged on the third horizontal rod 113 and is used for receiving the root crops lifted again by the transfer module 50 and continuously transporting them backward.

[0083] A storage box 70 is arranged on one side of the mounting frame 11, and the top of the storage box 70 is connected with the transport terminal of the prong module 60.

[0084] In the embodiment, taking the harvesting of taro as an example, the harvesting device drives to the field through the traveling module 20, adjusts the position of the vehicle head to align the mounting frame 11 with the field ridge where the taros are located, starts the cutting module 30, swings outward to cut the stems and leaves above the taros, after the stems and leaves of the taros are cut, the digging module 40 is inserted into the soil to prepare for digging, digs up the taros by penetrating into the soil, lifts the taros to a preset height, and then sends the taros to the transport module 50 above, the transport module 50 continues to lift after receiving the taros, sends the taros to the prong module 60 above, the prong module 60 transports the taros to the storage box 70, and after the storage box 70 is full or the harvesting task of a region is completed, the harvesting device transports the harvested taros to the designated place through the traveling module 20. Through the mutual cooperation and reciprocating motion of the above-mentioned modules, the integrated operation of stem and leaf cutting, digging, collecting and transporting of root and stem crops can be continuously realized.

[0085] As a preferred scheme, as shown in Figure 5 , Figure 6 The cutting module 30 comprises:

[0086] The top plate 301 and the bottom plate 302 are arranged in an upper and lower interval, the bottom plate 302 is connected with the chassis of the vehicle frame 10, the top plate 301 is connected with the vehicle frame 10 through a connecting piece, and the first through hole 303 is formed in the side of the top plate 301 close to the digging module 40;

[0087] The first motor 304 is arranged above the top plate 301, the first motor 304 is installed on the vehicle frame 10 through a motor support, and the output shaft of the first motor 304 passes through the top plate 301 downward from the first through hole 303;

[0088] The first crank 305 is arranged between the top plate 301 and the bottom plate 302, one end of the first crank 305 is connected with the output shaft of the first motor 304;

[0089] The rotating shaft 306 is vertically arranged on the side of the bottom plate 302 away from the output shaft of the first motor 304, and both ends of the rotating shaft 306 are connected with the top plate 301 and the bottom plate 302 respectively;

[0090] One end of the first rocker 307 is hinged to the rotating shaft 306, the second through hole 308 is formed in the middle segment of the first rocker 307, the second motor 309 is installed on the other end of the first rocker 307, and the output shaft of the second motor 309 passes through the first rocker 307 downward and is connected with the cutting blade 310;

[0091] The first connecting rod 311 has one end hinged to the other end of the first crank 305, and the other end of the first connecting rod 311 is hinged to the second through hole 308 of the first rocker 307.

[0092] In the embodiment, taking the harvesting of taro as an example, when the harvester is working, the cutting module 30 starts to be located at the initial position (in the dashed line position in Figure 6 , the first rocker 307 is placed horizontally, and the cutting blade 310 is located in front of the digging shovel 408, which is ready for cutting the stems and leaves of taro. After the vehicle drives to the appropriate position, the first crank 305 starts to rotate (in the counterclockwise direction in Figure 6 ) under the drive of the first motor 304, which drives the first rocker 307 to swing, and at the same time, the second motor 309 starts to work, which drives the cutting blade 310 to rotate at high speed. At this time, the cutting blade 310 rotating at high speed will be pushed to the stems and leaves of taro above the soil, and in the process of swinging of the first rocker 307, the stems and leaves are cut, and the cutting module 30 continues to move to a position where the cutting module 30 will not interfere with the digging shovel 408 (in the solid line position in Figure 6 , the first motor 304 and the second motor 309 stop working.

[0093] Specifically, as shown in Figure 6 , the right dashed line represents the initial position of the cutting module 30, and the left solid line represents the termination position of the cutting module 30 in one working process. When the cutting module 30 is working, the slow stroke of the crank rocker mechanism is used as the working stroke, the cutting blade 310 in rotation is slowly pushed out by the first rocker 307, which reduces the impact on the mechanism when the blade cuts the stems and leaves; the fast stroke of the crank rocker mechanism is used as the return stroke, and the mechanism is quickly reset, so that the cutting module 30 can timely cut the stems and leaves again, which reduces the preparation time and improves the cutting efficiency. The cutting module 30 stops moving at the termination position of one working process, and at this time, the digging module 40 will dig the taro. After the digging of the taro is completed, the cutting module 30 moves again to quickly reset, the vehicle advances, and the cutting of the stems and leaves of the next taro is started. The design of the cutting module 30 using the crank rocker mechanism can reduce the time required for cutting the stems and leaves without interfering with other mechanisms, and can realize the continuous cutting of the stems and leaves of the taro in cooperation with the digging module 40 and the vehicle driving module, thereby improving the cutting efficiency.

[0094] As a supplement to the above cutting module scheme, further, the cutting module 30 can be designed in a modular manner, so that the height of the cutting module can be adjusted to adapt to different cutting scenes and avoid damage to the stems and roots of crops caused by cutting errors. Specifically, the relative height of the cutting module 30 on the rotating shaft 306 can be adjusted between the top plate 301 and the bottom plate 302.

[0095] As a preferred scheme, as shown in Figure 7 , Figure 8As shown, the digging module 40 comprises:

[0096] The third motor 401 is installed on the first cross bar 111 through the support 402, and the first cross bar 111 is arranged above the chassis 10. The third motor 401 is a double-output-shaft motor, and one set of crank-rocker mechanism is arranged on each side of the third motor 401, and the two sets of crank-rocker mechanisms are symmetrically arranged about the mounting frame 11.

[0097] The crank-rocker mechanism comprises:

[0098] The second crank 403 is connected with one end of the second crank 403 after the output shaft of the third motor 401 passes through the support 402.

[0099] The second rocker 404 is hingedly connected to the chassis 10 through the first bearing seat 405 on one end, and the first bearing seat 405 is located between the mounting frame 11 and the cutting module 30.

[0100] The second connecting rod 406 is hingedly connected with the other end of the second crank 403 on one end, and the other end of the second connecting rod 406 is hingedly connected with the other end of the second rocker 404.

[0101] The connecting rod extension rod 407 is connected with the other end of the second connecting rod 406 on one end, and the included angle between the connecting rod extension rod 407 and the second connecting rod 406 is an obtuse angle.

[0102] The digging module 40 further comprises a digging shovel 408, which is arranged between the two sets of crank-rocker mechanisms, and the digging shovel 408 is connected with the other end of the connecting rod extension rod 407 on each side.

[0103] In specific implementation, taking the harvesting of taro as an example, after the taro stems and leaves are cut by the leaf cutting module 30, the digging shovel 408 starts to move from the set initial position, the third motor 401 drives the second crank 403 to rotate, and the power is transmitted to the digging shovel 408 through the second connecting rod 406, the digging shovel 408 is guided by the second rocker 404 to penetrate into the soil, and is driven by the second connecting rod 406 to move forward and upward to dig up the taro, and then the taro is sent to the upper transfer module 50, and there is no interference between the digging module 40 and the upper transfer module 50 during the whole digging process, and then the second connecting rod 406 continues to drive the digging shovel 408 to move back to the initial position. The slow stroke of the crank-rocker mechanism serves as the working stroke to reduce the impact generated when the digging shovel 408 contacts the soil, and the fast stroke serves as the return stroke to enable the mechanism to reach the preparation state at a faster speed. In the digging module 40 of the present harvesting device, the second rocker 404 is arranged, and the included angle between the connecting rod extension rod 407 and the second connecting rod 406 is set as an obtuse angle, both of which are to form a labor-saving lever structure to reduce the driving force and use a small motor to drive a larger load.

[0104] The module adopts a labor-saving lever to amplify the applied force, so that a smaller force is needed to complete the same work, which makes the operation more comfortable and reduces the power required by the third motor 401. Secondly, the excavating module designed by the labor-saving lever structure can greatly shorten the working time and improve the working efficiency under the condition of completing the same work. In terms of stability, the mechanical structure of the crank rocker mechanism is relatively stable and is not prone to failure, has a long service life and reliability, and the crank rocker mechanism is also relatively reliable in safety, so that even if the mechanism fails during operation, it will not cause harm to the operator, thereby improving the safety of the excavating operation.

[0105] As a supplement to the above-mentioned excavating module scheme, in the process of implementing the present application, the inventor found that the root crops planted by the same farmer have approximately the same growth depth, and the excavating depth does not need to be adjusted, but the root crops planted by different farmers need to be adjusted in excavating depth due to different planting varieties and growth environments. Further, the third motor 401 in the present harvesting device can adjust the installation position of the support 402 on the first cross rod 111, so as to adjust the excavating depth of the excavating shovel, so as to adapt to different excavating scenes.

[0106] As a preferred scheme, as shown in Figure 10 The transport module 50 comprises:

[0107] The fourth motor 501 is installed on the second cross rod 112 through a motor support, and the fourth motor 501 is a double-output shaft motor. One set of double rocker mechanisms is arranged on each side of the fourth motor 501, and the two sets of double rocker mechanisms are symmetrically arranged about the mounting bracket 11.

[0108] The double rocker mechanism comprises:

[0109] The third rocker 502 is connected to the output shaft of the fourth motor 501 at one end.

[0110] The fourth rocker 503 is hingedly connected to one side of the mounting bracket 11 of the vehicle frame 10 through a second bearing seat 504, and the second bearing seat 504 is higher than the fourth motor 501 and is located between the mounting bracket 11 and the cutting module 30.

[0111] The third connecting rod 505 is hingedly connected to the other end of the third rocker 502 at one end, and is hingedly connected to the other end of the fourth rocker 503 at the other end.

[0112] The rocker extension rod 506 is connected to the other end of the fourth rocker 503 at one end, and the included angle between the rocker extension rod 506 and the fourth rocker 503 is an acute angle.

[0113] The transport module 50 further comprises a collecting claw 507, which is arranged between the two sets of double rocker mechanisms and connected to the other end of the rocker extension rods 506 on both sides.

[0114] In a specific implementation, taking the harvesting of taro as an example, when the transport module 50 is in the initial position (as shown in Figure 10 ), the collecting claw 507 naturally droops and is in an L shape. After the digging module 40 completes a digging operation, the taros are lifted upward by the digging shovel 408 to the initial position of the transport module 50 (as shown in Figure 12 ), and the circles in the figure represent rhizome crops, and the arrows represent the movement trend. Since the digging module 40 will continue to move back to its initial position, the digging shovel 408 will be in an upwardly inclined posture during the return journey. At this time, the taros in the digging shovel 408 will naturally slide from the tail of the shovel body to the collecting claw 507 below. After the collecting claw 507 receives the taros, the fourth motor 501 starts to work to drive the third rocker 503 to rotate. The power is transmitted to the fourth rocker 503 through the third connecting rod 505. The fourth rocker 504, together with the rocker extension rod 506 and the collecting claw 508, rotates upward around the second bearing seat 504 to lift the taros upward to the prong module 60. During the entire transport process, the transport module 50 does not interfere with the prong module 60 above. Subsequently, the collecting claw 507 continues to move back to the initial position under the drive of the fourth motor, waiting for the arrival of the next digging shovel 408.

[0115] As a supplement to the above-mentioned digging module and transport module, as shown in Figure 9 , Figure 11 , the rear end of the digging shovel 408 is connected with an elongated plate 409 in a dentate shape. Since the collecting claw 507 is on the movement track of the digging shovel 408, when the digging shovel 408 converges with the collecting claw 507, the tooth gaps at the front end of the collecting claw 507 and the tooth gaps of the elongated plate 409 can interpenetrate each other without interference. In this way, the collecting claw 507 can receive the rhizome crops without interfering with the subsequent return movement of the digging shovel 408. Moreover, the collecting device is designed in a claw shape, which not only reduces the weight of the mechanism and avoids interference with the digging mechanism, but also helps to screen out part of the sand carried by the digging shovel 408. As the first part of the sand removal work, it facilitates subsequent transportation and sand removal work.

[0116] As a preferred solution, as shown in Figure 13 , 14 , the prong module 60 comprises:

[0117] a wavy-shaped transport main groove 601 mounted on the third cross rod 113, and a set of parallelogram mechanisms arranged on both sides of the wavy-shaped transport main groove 601, the two sets of parallelogram mechanisms being symmetrically arranged about the mounting frame 11;

[0118] The parallelogram mechanism comprises:

[0119] A fourth connecting rod 602 and a fifth connecting rod 603 arranged in parallel, one end of the fourth connecting rod 602 and the fifth connecting rod 603 are respectively hinged to the side wall of the wave-shaped main transport groove 601;

[0120] The shifting fork module 60 further comprises:

[0121] A power mechanism arranged on the mounting frame 11, the output end of the power mechanism is connected to the input end of the fourth connecting rod 602 and the fifth connecting rod 603 respectively;

[0122] Two horizontally arranged wave-shaped auxiliary transport grooves 604, the two wave-shaped auxiliary transport grooves 604 are symmetrically arranged about the wave-shaped main transport groove 601, the other end of the fourth connecting rod 602 and the fifth connecting rod 603 are respectively hinged to the side wall of the wave-shaped auxiliary transport groove 604;

[0123] The wave-shaped recesses on the wave-shaped main transport groove 601 and the wave-shaped auxiliary transport groove 604 are matched with the shape of the rhizome crops when they are laid horizontally, so that the transport groove can fit the contour of the rhizome crops and avoid damaging the rhizome crops during transportation.

[0124] In specific implementation, taking the harvesting of taro as an example, the collection claws 507 lift the taro upward, after reaching the highest point (as shown in Figure 15 , the circles in the figure represent rhizome crops, and the arrows represent the movement trend), the collection claws 507 will continue to move back to their initial position, and the collection claws 507 will move upward and backward during the return journey, at this time, the taro in the collection claws 507 will naturally slide from the tail of the collection claws 507 to the wave-shaped transport groove of the shifting fork module 60 below, the power mechanism drives the fourth connecting rod 602 and the fifth connecting rod 603 to rotate synchronously, due to the arrangement of the parallelogram mechanism, the wave-shaped auxiliary transport groove 604 continuously reciprocates within a certain range and always maintains a horizontal state, the taro is continuously lifted upward from the last groove of the wave-shaped main transport groove 601 by the wave-shaped auxiliary transport groove 604 and falls downward to the next groove of the wave-shaped main transport groove 601, each time the taro is lifted, the taro falling in the wave-shaped main transport groove 601 will move a certain displacement to the rear, until the taro reaches the transport end of the wave-shaped main transport groove 601 and falls into the storage box 70.

[0125] The forking module mainly utilizes its mechanical characteristics of reciprocating motion to improve the efficiency of transportation. After the root crops are harvested into the forking module, the efficient transportation process can be carried out without separate transportation. In addition, this mechanism has high fault tolerance, which eliminates the waste of work such as empty load that may occur during individual transportation. The uninterrupted transmission mechanism can ensure that each root crop can be transported when it comes. Moreover, the operation complexity of this mechanism is low, and the possibility of mistakes is greatly reduced without too many complex mechanical movements.

[0126] As a supplement to the above preferred embodiments, as shown in Figure 13 、 14 , the top of the wave-shaped transportation main groove 601 is wave-shaped, the tail of the wave-shaped transportation main groove 601 is a downward slope, and the end of the slope is the transportation end of the forking module 60. A transportation plate 701 is arranged at the end of the slope, the transportation plate 701 is connected with the vehicle frame, a storage box 70 is arranged on one side of the transportation plate 701, and the top inlet of the storage box 70 is in communication with the transportation plate 701. The wave-shaped transportation main groove 601 comprises:

[0127] Two wave-shaped middle plates 605 are arranged on the third cross rod 113 in a spaced manner, and the two wave-shaped middle plates 605 are symmetrically arranged about the mounting frame 11. The side wall of the wave-shaped middle plate 605 is the side wall of the wave-shaped transportation main groove 601.

[0128] Two wave-shaped strip plates 606 are symmetrically arranged about the mounting frame 11, and the two wave-shaped strip plates 606 are arranged on the outer sides of the two wave-shaped middle plates 605, respectively. The two wave-shaped strip plates 606 are connected with the top of the respective one side wave-shaped middle plate 605.

[0129] The wave-shaped transportation main groove 601 is designed as a whole screen shape. In the process of being continuously lifted and dropped, the root crops can be rubbed to remove some soil adhered to the roots of the root crops.

[0130] More specifically, mud scraping plates 608 are arranged on both sides above the forking module 60, and the mud scraping plates 608 are connected with the vehicle frame 10. The mud scraping plates 608 on both sides are arranged with the opening downward, and a plurality of mud removing brushes are arranged on the mud scraping plates 608. In cooperation with the forking module 60, the friction between the root crops and the mud removing brushes during the transportation process can remove most of the soil adhered to the roots of the root crops. When the root crops reach the storage box 70, the root crops are in a relatively clean state, which facilitates subsequent transportation and other processing of the root crops, and maximizes the saving of labor costs.

[0131] In the process of realizing this application, the inventors discovered that the transfer module 50 and the fork mechanism 60 need to jointly undertake the transportation of root and tuber crops, and they need to cooperate with each other to complete the receiving of root and tuber crops. However, since the fork mechanism 60 is constantly in reciprocating motion, errors and omissions are inevitable in the process of receiving root and tuber crops from the transfer module 50.

[0132] To address the above problems, this application provides a preferred solution, such as... Figure 14 As shown, the power mechanism is the fourth motor 501, whose output shaft is the output end of the power mechanism. The input ends of the fourth link 602 and the fifth link 603 are connected to the output shaft of the fourth motor 501 through two sets of gear modules 80. The two sets of gear modules 80 are symmetrically arranged about the mounting bracket 11. The gear module 80 includes:

[0133] The first gear 801 is connected to the output shaft of the fourth motor 501. The output shaft of the fourth motor 501 passes through the first gear 801 and is connected to one end of the third rocker 502.

[0134] The second gear 802 is mounted on one side of the third crossbar 113 via a gear bracket 803. The gear bracket 803 is located between the fourth motor 501 and the third crossbar 113. The second gear 802 meshes with the first gear 801.

[0135] The third gear 804 is disposed on the side wall of the wave-shaped main transport trough 601. The third gear 804 is located between the fourth link 602 and the fifth link 603, and the third gear 804 meshes with the second gear 802.

[0136] Two fourth gears 805 are respectively set on both sides of the third gear 804 on the side wall of the wave-shaped transport main trough 601. One end of the fourth connecting rod 602 and the fifth connecting rod 603 are respectively connected to the two fourth gears 805 and rotate coaxially. The two fourth gears 805 mesh with the third gear 804 respectively.

[0137] As a preferred embodiment, the first gear 801 has the same number of teeth as the two fourth gears 805.

[0138] In the gear set module 80, the first gear 801 is the driving element, driven by the fourth motor 501, and the third rocker 502 of the transfer module is connected coaxially with the first gear 801 to rotate; the power is transmitted by the intermediate second gear 802 and the third gear 804, and the fourth connecting rod 602 and the fifth connecting rod 603 of the fork module are connected coaxially with the fourth gear 805 to rotate. Since the first gear 801 and the fourth gear 805 have the same number of teeth, when the transfer module 50 moves one cycle, the fork module 60 also moves one cycle. By adjusting the initial positions of the transfer module 50 and the fork module 60, the wavy transport groove of the fork module 60 can receive the root crops rolled off from the collection claws 507 of the transfer module 50. In this way, the two groups of mechanisms can periodically move together to complete the receiving and transporting of the root crops. Therefore, the working process of the combined mechanism is as follows: the collection claws 507 in the transfer module 50 receive the root crops dug up by the digging shovel 408, and the collection claws 507 are lifted upward under the drive of the fourth rocker 503; due to the power transmission of the gear set module 80, the fork module 60 moves simultaneously, and when the collection claws 507 reach the highest position, the root crops will roll onto the wavy transport groove moving below, and the transport groove will gradually transport the root crops to the storage box 70 behind, and in this process, the transfer module 50 resets to complete one cycle of movement and prepare for the next transfer. The relative positions of the transfer module 50 and the fork module 60 when receiving are shown in Figure 15

[0139] The combined mechanism of the transfer module and the fork module through the gear set module transmits power under the drive of one motor to realize the receiving, lifting, mud removing, and transporting four actions, improve the mechanical efficiency, greatly reduce the number of driving motors required to complete the corresponding functions, reduce the driving elements in the mechanism, facilitate the use and maintenance of the harvester, and are more stable and reliable than the mechanical cooperation of the two groups of modules through the circuit control.

[0140] As a preferred scheme, the energy storage system is arranged on the side of the vehicle frame 10 away from the storage box 70, and the solar panel 90 is arranged on the top. The energy storage system supplies power to each mechanism by using a 12v large-capacity model airplane lithium battery, and the solar panel arranged on the top can assist the battery in charging and power supply.

[0141] It should be noted that the above-mentioned harvesting of taro in the embodiments is only one embodiment of the present harvesting device, and the integrated root crop harvesting device provided by the present application is not limited to the harvesting of taro. Other root crops / potatoes similar to taro are also applicable, and the automatic harvesting of stem and leaf cutting, digging, mud removing, collecting, and transporting can also be realized during harvesting.

[0142] ​The rhizome crop integrated harvesting device provided by the application mainly comprises a traveling module, a cutting module, a digging module, a transfer module and a fork module, and the whole process of rhizome crop harvesting is completed by mutual cooperation between the modules. The cutting module uses the slow stroke of the crank rocker mechanism as the working stroke to reduce the impact of the blade when contacting the stems and leaves of the rhizome crop, and the fast stroke is the return stroke, so that the mechanism can reach the preparation state at a faster speed; the digging module uses the labor-saving lever structure of the crank rocker mechanism to reduce the torque required by the prime mover when digging the rhizome crop, thereby improving the mechanical efficiency, wherein the crank serves as the prime mover, the slow stroke of the crank rocker is used as the working stroke to reduce the impact generated when the digging shovel contacts the soil, and the fast stroke is the return stroke, so that the mechanism can reach the preparation state at a faster speed; the transfer module is driven by a double rocker mechanism, and the power is transmitted to the fork module through a gear set module, so that the four actions of receiving, lifting, transporting and mud removing are completed by one driving motor. The project can realize continuous operation of rhizome crop harvesting, greatly improve the rhizome crop harvesting efficiency, improve the agricultural mechanization level of rhizome crops, and has strong practicability.

[0143] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0144] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0145] In this application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixed", and the like, should be construed in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0146] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application.

[0147] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. An integrated harvesting device for root and tuber crops, characterized in that, include: Frame (10); The travel module (20) is located at the bottom of the frame (10); Mounting bracket (11) is vertically erected in the middle of the chassis of vehicle frame (10). The mounting bracket (11) includes a first crossbar (111), a second crossbar (112) and a third crossbar (113) arranged sequentially from bottom to top. The cutting module (30) is located on one side of the chassis head of the vehicle frame (10). When working, the cutting module (30) swings outward to cut the stems and leaves and swings inward to reset. The excavation module (40) is set on the first crossbar (111) and is used to excavate and lift root crops from the soil and reset them after the excavation and lifting action is completed. The transfer module (50) is set on the second crossbar (112) to receive the root crops lifted by the digging module (40), align them and lift them again, and reset them after the lifting action is completed. The fork module (60) is set on the third crossbar (113) to receive the root crops that are lifted again by the transfer module (50) and transport them backward; A storage box (70) is located on one side of the mounting frame (11), and the entrance of the storage box (70) is connected to the transport endpoint of the shift fork module (60).

2. The integrated harvesting device for root and tuber crops according to claim 1, characterized in that, The cutting module (30) includes: The base plate (302) is connected to the chassis of the frame (10); The top plate (301) is located directly above the bottom plate (302). The top plate (301) is connected to the frame (10) via a connector. A first through hole (303) is provided on the side of the top plate (301) near the excavation module (40). The first motor (304) is located above the top plate (301). The first motor (304) is mounted on the frame (10) via a motor bracket. The output axis of the first motor (304) passes through the top plate (301) downward through the first through hole (303). The first crank (305) is disposed between the top plate (301) and the bottom plate (302), and one end of the first crank (305) is connected to the output shaft of the first motor (304); A rotating shaft (306) is vertically mounted on the base plate (302) on the side away from the output shaft of the first motor (304). The two ends of the rotating shaft (306) are connected to the top plate (301) and the base plate (302) respectively. The first rocker arm (307) has one end hinged to the rotating shaft (306), and a second through hole (308) is provided in the middle section of the first rocker arm (307). A second motor (309) is installed at the other end of the first rocker arm (307). The output shaft of the second motor (309) passes downward through the first rocker arm (307) and is connected to a cutting blade (310). The first connecting rod (311) has one end hinged to the other end of the first crank (305), and the other end of the first connecting rod (311) is hinged to the second through hole (308) of the first rocker arm (307).

3. The integrated harvesting device for root and tuber crops according to claim 1, characterized in that, The mining module (40) includes: The third motor (401) is mounted on the first crossbar (111) via a support member (402), and the first crossbar (111) is set higher than the chassis of the vehicle frame (10). The third motor (401) is a dual-output shaft motor, and a set of crank rocker mechanism is set on each side of it. The two sets of crank rocker mechanisms are symmetrically arranged about the mounting frame (11). The crank-rocker mechanism includes: The output shaft of the third motor (401) passes through the support (402) and is connected to one end of the second crank (403); The second rocker arm (404) is hinged at one end to the chassis of the frame (10) via the first bearing seat (405), and the first bearing seat (405) is located between the mounting bracket (11) and the cutting module (30); The second connecting rod (406) has one end hinged to the other end of the second crank (403), and the other end of the second connecting rod (406) is hinged to the other end of the second rocker (404); Linkage extension rod (407), one end of which is connected to the other end of the second link (406); The excavation module (40) also includes an excavation shovel (408), which is located between two sets of crank rocker mechanisms. The excavation shovel (408) is connected to the other end of the connecting rod extension rods (407) on both sides.

4. The integrated harvesting device for root and tuber crops according to claim 3, characterized in that, The transfer module (50) includes: The fourth motor (501) is mounted on the second crossbar (112) via a motor bracket. The fourth motor (501) is a dual-output shaft motor, and a set of dual rocker mechanisms is provided on each side of it. The two sets of dual rocker mechanisms are symmetrically arranged about the mounting frame (11). The dual rocker mechanism includes: The third rocker arm (502) is connected at one end to the output shaft of the fourth motor (501); The fourth rocker arm (503) is hinged at one end to one side of the mounting bracket (11) on the frame (10) via the second bearing seat (504). The second bearing seat (504) is set higher than the fourth motor (501) and is located between the mounting bracket (11) and the cutting module (30). The third link (505) has one end hinged to the other end of the third rocker (502), and the other end of the third link (505) is hinged to the other end of the fourth rocker (503); A rocker extension rod (506) is connected at one end to the other end of a fourth rocker (503); The transfer module (50) also includes a collecting claw (507), which is located between two sets of double rocker mechanisms. The collecting claw (507) is connected to the other end of the rocker extension rods (506) on both sides.

5. The integrated harvesting device for root and tuber crops according to claim 4, characterized in that, The shift fork module (60) includes: A wave-shaped transport main trough (601) is installed on the third crossbar (113). A set of parallelogram mechanisms is provided on both sides of the wave-shaped transport main trough (601). The two sets of parallelogram mechanisms are symmetrically arranged about the mounting frame (11). The parallelogram mechanism includes: A fourth link (602) and a fifth link (603) are arranged in parallel to each other, and one end of the fourth link (602) and the fifth link (603) are respectively hinged to the side wall of the wave-shaped transport main channel (601); The shift fork module (60) also includes: The power mechanism is mounted on the mounting bracket (11), and the output end of the power mechanism is connected to the input ends of the fourth link (602) and the fifth link (603), respectively. Two horizontally arranged wave-shaped transport sub-troughs (604) are symmetrically arranged about the wave-shaped transport main trough (601). The other ends of the fourth link (602) and the fifth link (603) are respectively hinged to the side wall of the wave-shaped transport sub-troughs (604).

6. The integrated harvesting device for root and tuber crops according to claim 5, characterized in that, The power mechanism is the fourth motor (501), whose output shaft is the output end of the power mechanism. The input ends of the fourth link (602) and the fifth link (603) are connected to the output shaft of the fourth motor (501) through two sets of gear modules (80). The two sets of gear modules (80) are symmetrically arranged about the mounting frame (11). The gear module (80) includes: The first gear (801) is connected to the output shaft of the fourth motor (501), and the output shaft of the fourth motor (501) passes through the first gear (801) and is connected to one end of the third rocker (502); The second gear (802) is mounted on one side of the third crossbar (113) via a gear bracket (803). The gear bracket (803) is located between the fourth motor (501) and the third crossbar (113). The second gear (802) meshes with the first gear (801). The third gear (804) is disposed on the side wall of the wave-shaped transport main channel (601). The third gear (804) is located between the fourth link (602) and the fifth link (603). The third gear (804) meshes with the second gear (802). Two fourth gears (805) are respectively set on both sides of the third gear (804) on the side wall of the wave-shaped transport main trough (601). One end of the fourth connecting rod (602) and the fifth connecting rod (603) are respectively connected to the two fourth gears (805) and rotate coaxially. The two fourth gears (805) mesh with the third gear (804) respectively.

7. The integrated harvesting device for root and tuber crops according to claim 4, characterized in that: The rear end of the digging shovel (408) is connected to an extension plate (409) with sparse teeth. During operation, the teeth at the front end of the collecting claw (507) and the teeth of the extension plate (409) intersect each other without interfering with each other.

8. The integrated harvesting device for root and tuber crops according to claim 6, characterized in that: The first gear (801) has the same number of teeth as the two fourth gears (805).

9. The integrated harvesting device for root and tuber crops according to claim 5, characterized in that: The top of the wavy transport main trough (601) is wavy, and the tail of the wavy transport main trough (601) is a downward slope. The end of the slope is the transport end point of the shift fork module (60). The wavy transport main trough (601) includes: Two corrugated middle plates (605) are spaced apart on the third crossbar (113). The two corrugated middle plates (605) are symmetrically arranged about the mounting frame (11). The sidewall of the corrugated middle plate (605) is the sidewall of the corrugated transport main trough (601). Two corrugated strips (606) are symmetrically arranged about the mounting frame (11). The two corrugated strips (606) are respectively arranged on the outside of the two corrugated middle plates (605). The two corrugated strips (606) are respectively connected to the top of the corrugated middle plate (605) on their respective sides.

10. The integrated harvesting device for root and tuber crops according to claim 1, characterized in that, A solar panel (90) is mounted on the top of the frame (10) on the side away from the storage box (70).

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