Flexible clamping carrot harvesting vehicle

Abstract

The utility model provides a flexible clamping carrot harvesting vehicle which comprises a vehicle body capable of moving in the field, a clamping conveying mechanism is arranged on the front portion of a chassis of the vehicle in the moving direction of the vehicle, the clamping conveying mechanism comprises a pair of conveying belts with the conveying path inclining upwards, and belts on the conveying faces of the two conveying belts make contact or are adjacent to each other. A clamping conveying path capable of being used for clamping a carrot leaf area on the ground and applying pulling force is formed, and supporting wheels used for supporting a belt are distributed on the two sides of the clamping conveying path in a staggered mode to form large clamping wheels. The pulling force of the clamping transmission path on the side part of the carrot leaf area is stable; according to the carrot harvester, by integrating advanced mechanical, electronic and automatic technologies, rapid, accurate and mild harvesting operation on carrots can be achieved, so that the overall production efficiency is improved, and loss is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to carrot harvesting technology field especially is flexible clamping carrot harvester. BACKGROUND

[0002] The existing high degree of automation harvester uses has higher operation threshold, is not favorable to the use of small farmers. In addition, the small harvester on the market does not have carrot special, this makes the small and medium scale carrot harvesting still relies on artificial picking, time -consuming and inefficient. CONTENT OF UTILITY MODEL

[0003] The utility model discloses flexible clamping carrot harvester, can realize the quick, accurate and gentle harvesting operation of carrot, thereby improving overall production efficiency, reduce the loss.

[0004] The utility model adopts the following technical scheme.

[0005] Flexible clamping carrot harvester, the harvester includes the vehicle body that can be in the field, in the direction of travel of vehicle, the chassis front of vehicle is provided with clamping conveying mechanism, clamping conveying mechanism includes a pair of conveyors that conveying path is inclined upwards, and the belt of two conveyor surfaces is in contact or immediately adjacent, forms the clamping transmission path that can be used for clamping ground carrot plume area and exerts the pulling force, and the support wheel for supporting the belt is staggered distribution and forms the large clamping wheel on both sides of clamping transmission path, when clamping transmission path clamps and conveys carrot plume, the pulling force of clamping transmission path to carrot plume area side portion is stable.

[0006] The upper end or lower end of the conveyor belt of the clamping conveying mechanism is provided with a drive wheel that drives the drive belt.

[0007] During the clamping and conveying process of carrot plume of clamping conveying mechanism, the large clamping wheel on both sides of clamping transmission path alternately supports the conveying surface of two belts, so that the gap range of two belts is restricted to 1-2mm, so that two belts form sufficient pulling force and clamping force after clamping carrot plume.

[0008] Two conveyors are respectively first conveyor and second conveyor, and the first conveyor is provided with a small clamping wheel at the front end;The large clamping wheel is divided into a plurality of first large clamping wheels (4) arranged at the first conveyor and a plurality of second large clamping wheels (3) arranged at the second conveyor.

[0009] The front end of clamping conveying mechanism forms an entrance with adjustable angle with driven wheel (1), small clamping wheel (2) and second large clamping wheel (3), which is used to gather the stems and leaves above the ground when harvesting carrots to improve the pulling force and avoid the separation of roots and stems in the ground before the carrots are pulled out.

[0010] The clamping conveying mechanism comprises an upper slide (6) and a lower slide (7) adjacent to the conveying belts, and a cutting device (5) is arranged at the end of the clamping conveying path, the cutting device comprises two staggered rotary blades for cutting the carrot top fringes, when the carrot top fringes are cut off at the clamping conveying path, the carrots fall to the lower slide and are sent to the storage basket through the lower slide; the carrot fringes continue to be conveyed for a distance along with the conveying belt of the clamping conveying path and then fall into the upper slide and are sent back to the field.

[0011] The distance between the first large clamping wheel and the second large clamping wheel is a and b respectively, the distance between the first large clamping wheel and the second large clamping wheel at the end of the clamping conveying path is shortened by adjusting a and b to stabilize the falling point of the cut carrot top fringes, the diameter d and the number of the second large clamping wheel are matched with the second conveying belt, and the distance a is twice the diameter d.

[0012] The clamping conveying mechanism comprises a field ridge matching mechanism for adjusting the inclination and height of the clamping conveying path, the field ridge matching mechanism comprises a rear T-shaped pull rod (16) and a front T-shaped pull rod (17) for step adjustment, the front T-shaped pull rod is connected to the front end of the two conveying belts through a sliding block, and the rear T-shaped pull rod is connected to the rear end of the two conveying belts through a sliding block.

[0013] When the front T-shaped pull rod and the rear T-shaped pull rod move upwards or downwards by the same distance at the same time, the clamping conveying path is matched with the field ridge height through height adjustment.

[0014] When the height of the rear T-shaped pull rod remains unchanged and the front T-shaped pull rod moves downwards, the horizontal angle of the conveying belt is increased through the auxiliary movement of the two sliding blocks to match the field ridge; when the height of the front T-shaped pull rod remains unchanged and the rear T-shaped pull rod moves downwards, the horizontal angle of the conveying belt is decreased through the auxiliary movement of the two sliding blocks to match the field ridge.

[0015] The vehicle comprises a transmission system for front wheel driving, the front wheels comprise a differential for compensating the speed difference between the left and right wheels when turning, the rims (10) of the two front wheels are connected to half shafts (9) respectively, the power output end of the driving motor is connected to the half shafts through the cooperation of the ball cage (8) and the three-ball pin.

[0016] The suspension system of the vehicle chassis comprises a McPherson suspension system equipped with an adjustable shock absorber (11) and a spring assembly.

[0017] The vehicle chassis uses rear wheel steering to facilitate turning the vehicle head to change ridges, the steering device is based on the Ackerman steering model, and further comprises a servo motor provided with a gear (12) and a rack (13) at the output end, the torque of the servo motor is transmitted to the connecting rod (14) through the cooperation of the gear (12) and the rack (13) to form a pushing force, the connecting rod pushes the rear wheel through a vertical column to deflect the rear wheel to adjust the direction of the vehicle.

[0018] This utility model has the following advantages:

[0019] 1. Semi-automatic operation: After powering on, the carrot harvester can be controlled via buttons to perform functions such as movement, steering, conveying, and harvesting.

[0020] 2. High reliability: The chassis of the carrot harvester is strong enough to withstand a certain degree of impact without failure, ensuring continuous and stable operation.

[0021] 3. Excellent adaptability: Through its variable height and angle structure, it can adapt to various planting conditions.

[0022] 4. Improve harvesting efficiency: Flexible clamping for continuous operation reduces carrot harvesting time.

[0023] 5. Reduced labor intensity: Semi-automatic harvesting avoids farmers bending over excessively during harvesting, reducing the risk of lumbar muscle strain.

[0024] 6. This utility model can be mainly used for small and medium-sized carrot harvesting, helping farmers to harvest carrots automatically, simplifying the conventional picking process, and improving harvesting efficiency. Attached Figure Description

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0026] Appendix Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Appendix Figure 2 This is a front view of the overall structure of this utility model;

[0028] Appendix Figure 3 This is a left view of the overall structure of this utility model;

[0029] Appendix Figure 4 This is a top view of the overall structure of this utility model;

[0030] Appendix Figure 5 This is a schematic diagram of the flexible clamping structure of this utility model;

[0031] Appendix Figure 6 This is a schematic diagram of the transmission structure of this utility model;

[0032] Appendix Figure 7 This is a schematic diagram of the suspension structure of this utility model;

[0033] Appendix Figure 8 This is a schematic diagram of the steering structure of this utility model;

[0034] Appendix Figure 9A schematic view of a variable height and angle adapting mechanism for a field ridge. DETAILED DESCRIPTION

[0035] The flexible clamping carrot harvesting vehicle includes a vehicle body capable of moving in the field, and a clamping conveying mechanism is arranged at the front of the chassis of the vehicle in the direction of travel of the vehicle. The clamping conveying mechanism includes a pair of conveying belts with the conveying path inclined upward, and the conveying surfaces of the two conveying belts are in contact or in close proximity, forming a clamping conveying path capable of clamping the ground carrot tassel area and applying a pulling force. Support wheels for supporting the belts are staggered on both sides of the clamping conveying path to form large clamping wheels, so that the clamping conveying path has a stable pulling force on the side of the carrot tassel area when clamping and conveying the carrot tassel upward.

[0036] The upper end or the lower end of the conveying belt of the clamping conveying mechanism is provided with a driving wheel for driving the transmission belt.

[0037] During the clamping and conveying process of the carrot tassel by the clamping conveying mechanism, the large clamping wheels on both sides of the clamping conveying path alternately support the conveying surfaces of the two belts, so that the gap range of the two belts is restricted to about 1-2 mm, so that the two belts can form sufficient pulling force and clamping force after clamping the carrot tassel.

[0038] The two conveying belts are respectively a first conveying belt and a second conveying belt, and the first conveying belt is provided with a small clamping wheel at the front end. The large clamping wheels are divided into a plurality of first large clamping wheels 4 arranged at the first conveying belt and a plurality of second large clamping wheels 3 arranged at the second conveying belt.

[0039] The front end of the clamping conveying mechanism forms an entrance with adjustable angle by the driven wheel 1, the small clamping wheel 2 and the second large clamping wheel 3, which is used to gather the stems and leaves above the carrot when harvesting the carrot to improve the pulling force and avoid the separation of the root and stem of the carrot in the ground before the carrot is pulled out.

[0040] The clamping conveying mechanism includes an upper slide 6 and a lower slide 7 adjacent to the conveying belt. The clamping conveying path is provided with a cutting device 5 at the end, and the cutting device includes two staggered rotary blades for cutting the top tassel of the carrot. When the top tassel of the carrot at the clamping conveying path is cut, the carrot falls into the lower slide and is sent into the storage basket through the lower slide. The tassel of the carrot falls into the upper slide and is sent back to the field after being conveyed by the transmission belt of the clamping conveying path for a distance.

[0041] The distance between the first large clamping wheels is a, and the distance between the second large clamping wheels is b. By adjusting a and b, the distance between the first large clamping wheels and the second large clamping wheels at the end of the clamping conveying path is shortened to stabilize the falling point of the cut top tassel of the carrot. The diameter d and the number of the second large clamping wheels are matched with the second conveying belt, and the distance a is twice the diameter d.

[0042] The clamping conveying mechanism comprises a field adaptation mechanism for adjusting the inclination and height of the clamping transmission path, and the field adaptation mechanism comprises a rear linear pull rod 16 and a front linear pull rod 17 for step adjustment; the front linear pull rod is connected to the front ends of the two conveying belts through a sliding block, and the rear linear pull rod is connected to the rear ends of the two conveying belts through a sliding block;

[0043] When the front linear pull rod and the rear linear pull rod move the same distance upward or downward at the same time, the clamping transmission path is adapted to the field height through height adjustment.

[0044] When the height of the rear linear pull rod remains unchanged and the front linear pull rod moves downward, the horizontal angle of the conveying belt is increased through the auxiliary movement of the two sliding blocks to adapt to the field; when the height of the front linear pull rod remains unchanged and the rear linear pull rod moves downward, the horizontal angle of the conveying belt is decreased through the auxiliary movement of the two sliding blocks to adapt to the field.

[0045] The vehicle comprises a transmission system for front wheel drive, and the front wheels comprise a differential for compensating for the speed difference between the left and right wheels when turning; the rims 10 of the two front wheels are respectively connected to half shafts 9, and the power output end of the driving motor is connected to the half shafts through the cooperation of the ball cage 8 and the three-ball pin.

[0046] The suspension system of the vehicle chassis comprises a McPherson suspension system equipped with an adjustable shock absorber 11 and a spring assembly thereof.

[0047] The vehicle chassis uses rear wheel steering to facilitate turning the head to change the row for harvesting, and the steering device is based on the Ackerman steering model and further comprises a servo motor provided with a gear 12 and a rack 13 at the output end; the torque of the servo motor is transmitted to the connecting rod 14 through the cooperation of the gear 12 and the rack 13 to generate a pushing force on the connecting rod, so that the connecting rod pushes the rear wheel through a vertical column to deflect the rear wheel to adjust the direction of the vehicle.

[0048] Embodiment 1:

[0049] This example proposes a miniaturized design of a carrot harvesting vehicle, and the main design scheme comprises an independent suspension structure, a rear wheel steering system, a flexible clamping mechanism, a row height adaptation structure, and a hardware control module.

[0050] Independent suspension structure: the front wheels adopt independent suspension, and the height of the chassis is adjusted through step adjustment of the length of the connecting rod.

[0051] Rear wheel steering system: the rear wheel independent steering system uses gear and rack transmission, which reduces the turning radius and improves the flexibility and accessibility of the harvesting vehicle.

[0052] Flexible clamping mechanism: flexible belt transmission is used to reduce mechanical damage during carrot picking and facilitate continuous operation.

[0053] Variable height structure: the overall rise and fall of the flexible clamping picking structure is realized through a straight pull rod to adapt to different harvesting conditions of different ridge heights.

[0054] Variable angle structure: the adjustment of the inclination angle of the flexible clamping mechanism is realized through a connecting rod slider structure to ensure that the clamping structure has a suitable cutting point.

[0055] Hardware control module: taking an STM32F104 single-chip microcomputer as the control core, the module coordinates various motor drive modules and realizes speed control, steering, picking, cutting, and collection into the warehouse.

[0056] Specifically includes the following parts:

[0057] I. Flexible clamping mechanism

[0058] The front end of the flexible clamping device is provided with an entrance angle through the driven wheel 1, the small clamping wheel 2, and the clamping wheel 3 to gather the stems and leaves of the carrots to provide greater pulling force and reduce the separation of the roots and stems of the carrots in the ground. Among them, the clamping wheel 2 is a small clamping wheel, which accelerates the entry of the carrots into the pulling stage, as shown in Figure 5 .

[0059] In addition, in the pulling stage, the clamping wheels are arranged in an interlaced manner to provide continuous and stable clamping force, as shown in Figure 5 , in which the clamping wheels 3 and 4 are arranged in an interlaced manner.

[0060] If the clamping wheels are arranged in a direct manner, the clamping force on the carrot strands will increase when they are conveyed to the clamping wheel position due to the rigidity of the clamping wheels, and the clamping force will decrease when they are in a position clamped by only two belts due to the elasticity of the belts.

[0061] In this example, the flexible clamping structure adopts an interlaced arrangement of clamping wheels, and the gap between the two belts is reduced to 1-2 mm to ensure that the carrot strands can be clamped and sufficient pulling and clamping forces can be provided.

[0062] Due to the limitation of the length of the transmission belt, the last two clamping wheels of the interlaced arrangement are adjusted to be as close as possible by adjusting the spacing a and the spacing b to ensure the landing point of the carrot strands after cutting under the limitation of the length of the transmission belt. Among them, the spacing b is equal to twice the diameter d of the clamping wheel 3, and the diameter and number of the clamping wheel 3 are configured according to the length of the transmission belt.

[0063] After being pulled out, the carrots are conveyed by the belt, cut in the middle, and finally enter the storage basket along the lower slide.

[0064] II. Cutting device

[0065] The cutting device 5 cuts the carrot tops with two staggered rotating blades, which then fall onto the lower chute 7 and into the storage basket. The carrot tops continue to travel a certain distance on the conveyor belt and then fall onto the upper chute 6 back to the field, as shown in Figure 2

[0066] Three, Frame

[0067] The frame part is built with square aluminum tubes. The main frame is built through hinge holes and bolts, and the key stress points are reinforced with inclined supports through welding process, providing a stable main frame for the entire harvester.

[0068] Four, Transmission System

[0069] The transmission part selects a driving mode of one motor driving two half shafts, and a differential is purchased to compensate for the speed difference between the left and right wheels when turning. The power is transmitted to the half shaft 9 through the ball cage 8 and the three ball pin, and the power is transmitted to the rim 10, as shown in Figure 6

[0070] Five, Suspension System

[0071] In the design and implementation of the flexible carrot harvester, a key component is the suspension system of the vehicle. The main task of this system is to ensure the stability of the machine when running on various terrains. At the same time, it protects the machine body and the harvesting device from excessive vibration, thereby ensuring the quality and efficiency of carrot harvesting.

[0072] The design of the suspension system combines the stability and elastic response characteristics of the MacPherson suspension system. This system can automatically adjust according to the changes in terrain, maintaining constant contact between the harvesting device and the ground, reducing the severe vibration caused by uneven ground.

[0073] In addition, the suspension system takes into account the adaptability to the variability of the working environment. It is equipped with adjustable shock absorbers 11 and their spring assemblies, which can adjust the stiffness of the harvester's running stability to an appropriate state, so that the harvester can maintain stable working performance when dealing with differences in soil hardness, slope changes and other complex farmland conditions that may affect harvesting efficiency, as shown in Figure 7

[0074] In terms of material selection, we use wear-resistant and corrosion-resistant materials to construct the suspension components to resist wear and tear during long-term operation and the effects of harsh weather conditions. All suspension components are designed for easy maintenance and replacement to facilitate daily maintenance and reduce long-term operating costs.

[0075] Six, Steering Device

[0076] ​​​Because the harvesting vehicle travels at a relatively slow speed and needs to turn around to change the row for harvesting, the rear wheels are steered to reduce the turning radius of the harvesting vehicle, improve the maneuverability of the harvesting vehicle, and make the steering more flexible. The rear wheel steering is built according to the Ackerman steering model.

[0077] The servo motor converts the torque into a thrust force through the cooperation of the gear 12 and the rack 13. The thrust force is transmitted to the column 15 through the connecting rod 14, and finally makes the rear wheel deflect to realize direction adjustment, as shown in Figure 8 and Figure 2 The steering system is sensitive in response, so that it can be flexibly steered on narrow field roads.

[0078] Seven, height and angle changing device

[0079] The height and angle changing structure is shown in Figure 9 The main parts are the rear and front one-letter pull rods 16 and 17, which can be adjusted in length, and the pull rod adjustment is step adjustment.

[0080] When the front and rear one-letter pull rods move up or down by the same distance at the same time, the height adjustment is realized.

[0081] When the height of the rear one-letter pull rod 16 remains unchanged and the front one-letter pull rod 17 moves down by a distance, the horizontal angle of the conveyor belt is increased through the auxiliary motion of the two sliding blocks. Similarly, when the height of the front one-letter pull rod 17 remains unchanged and the rear one-letter pull rod 16 moves down by a distance, the horizontal angle of the conveyor belt is decreased through the auxiliary motion of the two sliding blocks.

[0082] Example 2:

[0083] As shown in the figure, this example is based on example 1, a flexible clamping carrot harvesting method, which uses a flexible clamping carrot harvesting vehicle with a flexible clamping mechanism. The flexible clamping mechanism includes a clamping conveying mechanism. When harvesting carrots, the clamping conveying mechanism clamps the elastic belt of the inclined conveyor belt on both sides of the carrot tuft area on the ground of the field ridge, and in the process of clamping and conveying the carrot tufts upward, the clamping force of the conveying surface formed by the alternately arranged clamping wheels makes the elastic belt pull out the underground carrot stems with stable pulling force.

[0084] The conveyor belt first gathers the carrot tufts with the eight-shaped input end of the clamping conveying mechanism conveyor belt to improve the pulling force.

[0085] The clamping conveying mechanism conveyor belt adjusts its inclination angle with the ground of the field or the height position of the flexible clamping carrot harvesting vehicle to adapt to the specifications and shapes of the field ridge, so as to optimize the gathering ability of the carrot tufts.

[0086] The rear area of the clamping conveying mechanism is provided with a carrot storage container, when the carrot ribbon part conveyed by the conveying belt reaches above the carrot storage container, the underground part of the carrot is completely pulled out and sent to above the carrot storage container by the conveying belt;

[0087] The clamping conveying mechanism comprises an upper slide and a lower slide; a cutting device 5 is arranged below the upper slide for cutting off the carrot ribbon, after the cutting device cuts off the carrot ribbon from the top of the carrot stem, the upper slide sends the cut-off stem and leaf part back to the field, and the lower slide sends the cut-off carrot stem to the storage container.

[0088] In the harvesting method, the flexible clamping carrot harvester imitates the driving mode of a forklift, adopts front-wheel driving and rear-wheel steering, and the front wheels are provided with a differential to cope with the situation that the turning radii of the two wheels are different, and the harvesting method comprises the following steps.

[0089] Step one, system starting and setting: starting the power supply, pressing the starting button on the carrot harvester, and starting the initialization process of the harvester.

[0090] Step two, manually operating the harvester to the end of the field ridge: specifically,

[0091] Step A1. Fast forward to the end of the ridge: press the corresponding steering key to steer, after determining the direction, the rear wheel is adjusted, press the forward key, and quickly move to one end of the ridge.

[0092] Step A2. Adjust the angle: press the steering key to adjust the head of the harvester to be parallel to the ridge.

[0093] Step three, adjusting the height and angle of the clamping conveying mechanism to adapt to the ridge height: by observing the height of the lowest point of the clamping mechanism and the height of the root stem connection of the carrot, adjusting the height position of the two front and rear distribution of the I-shaped pull rod, adjusting the height and angle of the clamping conveying mechanism, and making the clamping conveying mechanism in the appropriate position.

[0094] Step four, mechanical harvesting operation.

[0095] Step B1. Flexible clamping mechanism starting: when the harvester reaches the end of the ridge, start the flexible clamping mechanism.

[0096] Step B2. Cutting device starting: start the cutting device to separate the carrot root stem conveyed by the flexible clamping mechanism.

[0097] Step B3. Harvester forward: after the flexible clamping mechanism and the cutting device are started, press the forward key to start harvesting the carrot.

[0098] Step five, collection and storage

[0099] Step C1. Slide design: The harvester is designed with two slides, the upper slide is used to send the cutted leaf and stem part back to the field, and the lower slide is used to send the cutted edible carrot root to the storage basket of the carrot storage container.

[0100] Step C2. Full basket processing: When the storage basket for collecting carrots is full, the stop button can be pressed, and the collected carrots are first put into a sack, and then the empty basket is put back.

[0101] Step six, turn the car head, continue to harvest: turn the car head to the other end of the ridge, continue to harvest: when the carrots of a ridge are all harvested, the harvester is manually controlled to turn the car head to harvest the next ridge.

Claims

1. A flexible clamp carrot harvesting vehicle, characterised in that: The harvesting vehicle comprises a vehicle body capable of moving in the field, a clamping conveying mechanism is arranged at the front part of the chassis of the vehicle in the moving direction of the vehicle, the clamping conveying mechanism comprises a pair of conveying belts with the conveying path inclined upward, the conveying surfaces of the two conveying belts are in contact or in close proximity to form a clamping conveying path capable of clamping the ground carrot whisker area and applying pulling force, the support wheels for supporting the belts are staggered on both sides of the clamping conveying path to form large clamping wheels, so that the pulling force applied to the side of the carrot whisker area by the clamping conveying path is stable when the carrot whisker area is clamped and conveyed upward.

2. The flexible carrot harvesting vehicle of claim 1, wherein: The upper end or the lower end of the conveying belt of the clamping conveying mechanism is provided with a driving wheel for driving the conveying belt.

3. The flexible carrot harvesting vehicle of claim 1, wherein: During the clamping and conveying process of the carrot whisker area by the clamping conveying mechanism, the large clamping wheels on both sides of the clamping conveying path alternately support the conveying surfaces of the two belts, so that the gap range of the two belts is limited to 1-2 mm.

4. The flexible carrot harvesting vehicle of claim 3, wherein: The two conveying belts are a first conveying belt and a second conveying belt, and the first conveying belt is provided with small clamping wheels at the front end; the large clamping wheels are divided into a plurality of first large clamping wheels (4) arranged at the first conveying belt and a plurality of second large clamping wheels (3) arranged at the second conveying belt.

5. The flexible carrot harvesting vehicle of claim 4, wherein: The front end of the clamping conveying mechanism is formed with an entrance with an adjustable angle by the driven wheel (1), the small clamping wheels (2) and the second large clamping wheels (3), which is used to gather the stems and leaves above the carrot when harvesting the carrot to improve the pulling force and avoid the separation of the root and stem of the carrot in the field before the carrot is pulled out.

6. The flexible carrot harvesting vehicle of claim 1, wherein: The clamping conveying mechanism comprises an upper slide (6) and a lower slide (7) adjacent to the conveying belts, and a cutting device (5) is arranged at the end of the clamping conveying path, the cutting device comprises two staggered rotary blades for cutting the carrot top whisker, when the carrot top whisker at the clamping conveying path is cut, the carrot falls into the lower slide and is sent into the storage basket through the lower slide; the whisker of the carrot falls into the upper slide and is sent back to the field after being conveyed for a distance by the conveying belt of the clamping conveying path.

7. The flexible carrot harvesting vehicle of claim 6, wherein: The distance between the first large clamping wheels is a, the distance between the second large clamping wheels is b, the diameter d and the number of the second large clamping wheels are matched with the second conveying belt, and the distance a is twice the diameter d.

8. The flexible carrot harvesting vehicle of claim 1, wherein: The clamping conveying mechanism comprises a field ridge matching mechanism for adjusting the inclination angle and the height of the clamping conveying path, the field ridge matching mechanism comprises a rear horizontal pull rod (16) and a front horizontal pull rod (17) for step adjustment; the front horizontal pull rod is connected to the front end of the two conveying belts through a sliding block, and the rear horizontal pull rod is connected to the rear end of the two conveying belts through a sliding block. When the front horizontal pull rod and the rear horizontal pull rod move upward or downward by the same distance at the same time, the clamping conveying path is matched with the field ridge height through height adjustment. When the height of the rear horizontal pull rod remains unchanged and the front horizontal pull rod moves downward, the horizontal angle of the conveying belt is increased through the auxiliary movement of the two sliding blocks to match the field ridge; when the height of the front horizontal pull rod remains unchanged and the rear horizontal pull rod moves downward, the horizontal angle of the conveying belt is decreased through the auxiliary movement of the two sliding blocks to match the field ridge.

9. The flexible carrot harvesting vehicle of claim 1, wherein: The vehicle includes a transmission system for front wheel drive, the front wheels include a differential for compensating the speed difference between the left and right wheels when turning, the rims (10) of the two front wheels are connected with half shafts (9) respectively, the power output end of the driving motor is connected with the three-ball pin through the ball cage (8) to output power to the half shafts; The suspension system of the vehicle chassis includes a McPherson suspension system equipped with an adjustable shock absorber (11) and its spring assembly.

10. The flexible carrot harvesting vehicle of claim 1, wherein: The rear wheel steering is used for the vehicle chassis to facilitate the head turning and row changing during harvesting, the steering device further includes a servo motor provided with a gear (12) and a rack (13) at the output end, the torque of the servo motor is transmitted to the connecting rod (14) as a pushing force through the cooperation of the gear (12) and the rack (13), the connecting rod pushes the rear wheel through the upright column to deflect the rear wheel to adjust the direction of the vehicle.

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