A self-propelled lotus root harvesting machine

Abstract

This utility model relates to the field of lotus root harvesting technology, specifically a self-propelled lotus root harvesting integrated machine, comprising a self-propelled operating machine and a bank-side water pump, connected by a high-pressure hose; the self-propelled operating machine consists of a hull and a walking module, a harvesting module, a washing and collecting module, and a control module mounted on the hull; the walking module adopts an amphibious drive module; the harvesting module consists of a fan-shaped cross-washing module and a water-spraying rake module, the fan-shaped cross-washing module being bolted to the hull, and the water-spraying rake module being connected to the hull through a hole-shaft fit; the washing and collecting module consists of a conveyor belt, a multi-nozzle washing pipe, and a quick-change storage module; the control module consists of a circuit board, a camera, a display screen, and a remote control handle; the beneficial effects are: this self-propelled lotus root harvesting integrated machine integrates "digging, collecting, washing, and storing," allowing harvesters to remotely operate it from the bank to carry out lotus root harvesting operations, suitable for harvesting lotus roots in water-covered lotus fields.

Description

Technical Field

[0001] This utility model relates to the field of lotus root harvesting technology, specifically a self-propelled lotus root harvesting machine. Background Technology

[0002] Currently, lotus root harvesting is still done manually, requiring significant time and labor costs. Professional lotus root harvesters can only harvest 600 jin (300 catties) of lotus roots in an 8-hour workday, resulting in low harvesting efficiency. Moreover, lotus root harvesting is a skilled job, requiring trained, physically fit young and strong laborers to enter the water for digging or collection, making manual harvesting costly. Utility Model Content

[0003] The purpose of this utility model is to provide a self-propelled lotus root harvesting machine to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a self-propelled lotus root harvesting integrated machine, comprising: a self-propelled operating machine and a shore-side water pump, connected by a high-pressure hose; the self-propelled operating machine consists of a hull and a walking module, a harvesting module, a washing and collecting module, and a control module installed on the hull; the walking module adopts an amphibious drive module; the harvesting module consists of a fan-shaped cross-washing module and a water-spraying rake module, the fan-shaped cross-washing module being bolted to the hull, and the water-spraying rake module being connected to the hull through a hole-shaft fit; the washing and collecting module consists of a conveyor belt, a multi-nozzle washing pipe, and a quick-change storage module; the control module consists of a circuit board, a camera, a display screen, and a remote control handle.

[0005] Preferably, the amphibious drive module consists of a shaped waterwheel wheel leg, a waterwheel mounting shaft, and a propeller. The shaped waterwheel wheel leg is inserted into the waterwheel mounting shaft via a tenon structure. The shaped waterwheel mudguard is connected to the hull via a right-angle bracket. The shaped waterwheel connecting shaft is connected to the waterwheel mounting shaft via a hole-shaft fit. Synchronous belt one fits synchronous pulley one and synchronous pulley two. Synchronous pulley one is connected to the shaped waterwheel connecting shaft via a hole-shaft fit. Synchronous pulley two is connected to the conveyor belt shaft via a hole-shaft fit. The propeller bracket connecting block is bolted to the hull. The rear propeller bracket is inserted into the propeller bracket connecting block via a tenon structure and fitted with a pin. The rear propeller bracket is bolted to the self-aligning bearing seat. The propeller bracket connecting block is fixedly connected to the hull via a fastener. The front propeller bracket is inserted into the propeller bracket connecting block via a tenon structure and fitted with a pin. A bearing is installed inside the front propeller bracket. The protruding end shaft of the propeller is fitted to the front propeller bracket and the self-aligning bearing seat via a hole-shaft fit. The protruding end shaft of the propeller is connected to the motor's three output shafts via a coupling.

[0006] Preferably, the fan-shaped cross-flushing module consists of a screw-slider mechanism, a double rocker mechanism, and a specially designed high-pressure water gun. The screw-slider mechanism is connected to the connecting plate by screws, the connecting plate is connected to the servo motor multi-functional bracket by screws, the servo motor multi-functional bracket is connected to servo motor one by screws, servo motor one is connected to the servo motor rocker by screws, the servo motor rocker is connected to the nozzle connecting pipe by screw one and bolt one, the nozzle connecting pipe is connected to the shock-absorbing pipe by threaded engagement, the shock-absorbing pipe is connected to retaining ring one by threaded engagement, the pressure boosting pipe is connected to retaining ring two by threaded engagement, retaining ring two is connected to the nozzle by threaded engagement, and retaining ring one and retaining ring two are connected by springs. The screw-slider mechanism controls the specially designed high-pressure water gun to move up and down in the Z-axis direction, and the double rocker mechanism realizes fan-shaped cross-flushing. The spring on the specially designed water gun adaptively approaches the sludge surface.

[0007] Preferably, in the water spray rake module: the output shaft of motor two is connected to rod one through a hole shaft fit, rod one is connected to rod two through a pin, rod three is connected to rod two through a pin, rod three is connected to the curved nozzle through a hole shaft fit, and rod three is connected to bearing one with a seat through bolts.

[0008] Preferably, the cleaning and collection module comprises: a motor output shaft connected to a synchronous pulley 1 via a key; synchronous pulley 1 and synchronous pulley 2 mate with synchronous belt 2; synchronous pulley 2 is connected to the conveyor belt shaft via a hole shaft; the conveyor belt shaft mates with the conveyor belt; the conveyor belt shaft mates with the belt bearing 2 via a hole shaft; the belt bearing 2 is bolted to the hull; the slide is connected to the slide bracket; the slide bracket is bolted to the hull; the rudder bracket is bolted to the hull; the rudder bracket is screwed to the rudder 2; the roller guide plate bracket is pinned to the rudder 2; the roller guide plate bracket mates with the roller shaft via a hole shaft; the roller mates with the roller shaft via a hole shaft; the roller guide plate bracket is connected to the horizontal bearing; the horizontal bearing is bolted to the roller guide plate base; the roller guide plate base is bolted to the hull; the external bracket is bolted to the hull; the float is glued to the external bracket; and the multi-nozzle flushing pipe is bolted to the hull.

[0009] Preferably, the quick-change storage module is as follows: the collection box body is bolted to the propeller, the collection box body is bolted to the locking pin slide rail, the locking pin slide rail is bolted to the one-way baffle, and the collection box fixing block is bolted to the hull.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] This self-propelled lotus root harvesting machine integrates "digging, collecting, washing, and storing." Harvesting workers can remotely operate it from the shore to carry out the harvesting operation. It is suitable for harvesting lotus roots in water-filled fields and can move in water and on silt. During harvesting, a customized high-pressure water gun continuously washes away the silt around the lotus roots. A camera transmits the washing effect in real time. The machine's speed can be adjusted to ensure the lotus roots float to the surface and enter the conveyor belt. Multiple nozzles remove mud and sand from the lotus roots. Finally, the clean lotus roots enter the adaptive detachment collection box. When the collection box reaches the set weight, it automatically detaches from the hull and returns to shore under its own power. Attached Figure Description

[0012] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a front view of the overall structure of this utility model;

[0014] Figure 3 This is a side view of the overall structure of this utility model;

[0015] Figure 4 This is a top view of the overall structure of this utility model;

[0016] Figure 5 This is a schematic diagram of the water spray rake claw module structure of this utility model;

[0017] Figure 6 This is a schematic diagram of the fan-shaped cross-spray water module structure of this utility model;

[0018] Figure 7 This is a schematic diagram of the cleaning and collection module structure of this utility model;

[0019] Figure 8 This is a schematic diagram of the amphibious drive module structure of this utility model;

[0020] Figure 9 This is a schematic diagram of the structure of the fast-swap storage module of this utility model.

[0021] In the diagram: 1. Screw-slider mechanism; 2. Nozzle connecting pipe; 3. Shock absorber pipe; 4. Retaining ring one; 5. Spring; 6. Pressure boosting pipe; 7. Retaining ring two; 8. Nozzle; 9. Steering rocker arm; 10. Screw one; 11. Bolt one; 12. Connecting plate; 13. Steering gear one; 14. Steering gear multi-functional bracket; 15. Irregularly shaped waterwheel wheel leg; 16. Waterwheel wheel mounting shaft; 17. Irregularly shaped waterwheel wheel mudguard; 18. Hull; 19. Synchronous belt one; 20. Fixing component; 21. Motor three; 22. Propeller wheel bracket connecting block; 23. Self-aligning bearing seat; 24. Propeller wheel rear bracket; 25. Irregularly shaped waterwheel wheel connecting shaft; 26. Propeller wheel; 27. Propeller wheel front bracket; 28. Rod one; 29. ​​Motor two; 30. Rod two; 31. Pin; 32. Bearing with seat one; 33. Rod three; 34. 35. Bent nozzle; 36. Float; 37. External bracket; 38. Roller guide plate bracket; 39. Roller; 40. Servo motor II; 41. Servo motor bracket; 42. Synchronous pulley I; 43. Synchronous belt II; 44. Synchronous pulley II; 45. Slide; 46. Slide bracket; 47. Conveyor belt; 48. Bearing II with seat; 49. Conveyor belt shaft; 50. Roller guide plate base; 51. Motor I; 52. Multi-nozzle flushing pipe; 53. One-way baffle; 54. Locking pin slide rail; 55. Collection box fixing block; 56. Collection box body; 57. Spiral propeller; 58. Fan-shaped cross flushing module; 59. Amphibious drive module; 60. Water spray rake claw module; 61. Cleaning and collection module; 62. Quick-change storage module; 63. Control module; 64. Camera. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1 to 9 This utility model provides a technical solution:

[0024] Example 1: A self-propelled lotus root harvesting machine comprises two main parts: a self-propelled operating machine and a shore-side water pump unit, connected by a high-pressure hose. The self-propelled operating machine is the main body, consisting of a hull 18 and five parts mounted on the hull: a walking module, a harvesting module, a cleaning and collection module 61, and a control module 63. The walking module uses an amphibious drive module 59. The harvesting module consists of a fan-shaped cross-washing module 58 and a water-spraying rake module 60. The fan-shaped cross-washing module 58 is bolted to the hull 18, and the water-spraying rake module 60 is connected to the hull 18 via a hole-shaft connection. The cleaning and collection module 61 consists of a conveyor belt 47, a multi-nozzle washing pipe 52, and a quick-change storage module 62. The control module 63 consists of a circuit board, a camera 64, a display screen, and a remote control handle.

[0025] The amphibious drive module 59 consists of a shaped waterwheel wheel leg 15, a waterwheel mounting shaft 16, and a propeller 26. The shaped waterwheel wheel leg 15 is inserted into the waterwheel mounting shaft 16 via a falcon-like structure. The shaped waterwheel mudguard 17 is connected to the hull 18 via a right-angle bracket, bolts, and nuts. The shaped waterwheel connecting shaft 25 is connected to the waterwheel mounting shaft 16 via a key and hole shaft fit. The first synchronous belt 19 fits with the first synchronous belt pulley 42 and the second synchronous belt pulley 44. The first synchronous belt pulley 42 is connected to the shaped waterwheel connecting shaft 25 via a key and hole shaft fit. The second synchronous belt pulley 44 is connected to the conveyor belt shaft 49 via a pin and hole shaft fit. The propeller bracket connecting block 22 is connected to the hull 18 via bolts and nuts. The rear propeller bracket 24 is inserted into the propeller bracket connecting block 22 via a falcon-like structure and is connected with a pin. The rear propeller bracket 24 is connected to the self-aligning bearing seat 23 via bolts and nuts. The propeller bracket connecting block 22 is connected to the hull 18 via a fastener 20 and a screw. The machine is fixedly connected by bolts and nuts. The front bracket 27 of the spiral wheel is inserted into the connecting block 22 of the spiral wheel bracket through a tenon structure and is connected with a pin. The bearing is installed inside the front bracket 27 of the spiral wheel. The extended end shaft of the spiral wheel 26 is connected to the front bracket 27 of the spiral wheel and the self-aligning bearing seat 23 through a hole shaft. The extended end shaft of the spiral wheel 26 is connected to the output shaft of the motor 21 through a coupling. The special-shaped water wheel leg 15 and the water wheel mounting shaft 16 are the main motion devices of this machine and are the main power for forward and backward movement. The spiral wheel 26 provides the main buoyancy of the machine and realizes the steering function, assisting the special-shaped water wheel leg 15 and the water wheel mounting shaft 16 in forward and backward movement. When the machine turns, it can be achieved by adjusting the speed of the two spiral wheels 26. When one spiral wheel 26 decelerates or stops rotating, and the other spiral wheel 26 continues to rotate, the lotus root harvester will generate lateral thrust, thereby realizing left and right turning. If the lotus root harvester is entangled in aquatic plants, it can move laterally to the left and right to get out of trouble.

[0026] The fan-shaped cross-flushing module 58 consists of a screw-slider mechanism 1, a double rocker mechanism, and a special high-pressure water gun. The screw-slider mechanism 1 is connected to the connecting plate 12 by screws and nuts. The connecting plate 12 is connected to the servo motor multi-functional bracket 14 by screws and nuts. The servo motor multi-functional bracket 14 is connected to the servo motor 13 by screws and nuts. The servo motor 13 is connected to the servo motor rocker 9 by screws and nuts. The servo motor rocker 9 is connected to the nozzle connecting pipe 2 by screw 10 and bolt 11. The nozzle connecting pipe 2 is connected to the shock-absorbing pipe 3 by threaded engagement. The shock-absorbing pipe 3 is connected to the retaining ring 14 by threaded engagement. The pressure boosting pipe 6 is connected to the retaining ring 27 by threaded engagement. The retaining ring 27 is connected to the nozzle 8 by threaded engagement. The retaining ring 14 and retaining ring 27 are connected by spring 5. The screw-slider mechanism 1 controls the special high-pressure water gun to move up and down in the Z-axis direction, adjusting the distance between the nozzle and the sludge surface. The double rocker mechanism achieves fan-shaped cross-flushing. The spring 5 on the special water gun adaptively approaches the sludge surface to reduce pressure attenuation.

[0027] The water-spraying rake module 60: The output shaft of motor 29 is connected to rod 1 28 through a hole shaft fit. Rod 1 28 is connected to rod 2 30 through pin 31. Rod 3 33 is connected to rod 2 30 through pin 31. Rod 3 33 is connected to the curved nozzle 34 through a hole shaft fit. Rod 3 33 is connected to bearing 1 32 with a seat through bolts. This module is driven by a crank rocker mechanism to make the water-spraying rake move up and down in a circular motion, imitating a human hand pulling a lotus root. The curved nozzle 34 below uses a contact method to flush the silt under the lotus root and pushes the lotus root upward, breaking the roots of the lotus root, so that the lotus root can float normally. The water-spraying rake module 60 washes away and breaks the residual silt and roots. After multiple flushing and digging by the fan-shaped cross flushing module 58 and the water-spraying rake module 60, the lotus root floats to the surface of the water.

[0028] Cleaning and collecting module 61: The output shaft of motor 51 is connected to synchronous pulley 42 via a key. Synchronous pulley 42 and synchronous pulley 44 are fitted with synchronous belt 43. Synchronous pulley 44 is connected to conveyor belt shaft 49 via a hole and pin. Conveyor belt shaft 49 is fitted to conveyor belt 47. Conveyor belt shaft 49 is connected to bearing 48 via a hole and pin. Bearing 48 is connected to hull 18 via bolts and nuts. Slide 45 is connected to slide bracket 46. Slide bracket 46 is connected to hull 18 via bolts and nuts. Steering gear bracket 41 is connected to hull 18 via bolts and nuts. Steering gear bracket 45 is connected to hull 18 via bolts and nuts. 1. The roller guide plate bracket 37 is connected to the servo motor 40 via screws and nuts. The roller guide plate bracket 37 is connected to the servo motor 40 via pins. The roller guide plate bracket 37 is connected to the roller shaft 39 via a hole-shaft fit. The roller 38 is connected to the roller shaft 39 via a hole-shaft fit. The roller guide plate bracket 37 is connected to the horizontal bearing. The horizontal bearing is connected to the roller guide plate base 50 via bolts and nuts. The roller guide plate base 50 is connected to the hull 18 via bolts and nuts. The external bracket 36 is connected to the hull 18 via bolts and nuts. The float 35 is glued to the external bracket 36. The multi-nozzle flushing pipe 52 is connected to the hull 18 via bolts and nuts.

[0029] Quick-change storage module 62: The collection box body 56 is connected to the propeller 57 by bolts and nuts, the collection box body 56 is connected to the locking pin slide rail 54 by bolts and nuts, the locking pin slide rail 54 is connected to the one-way baffle 53 by a pin, and the collection box fixing block 55 is connected to the hull 18 by bolts and nuts.

[0030] This machine is designed for small and medium-sized individual lotus root growers in Hubei Province, my country, to harvest lotus roots. Hubei Province, with its unique geographical environment and water resources, is one of China's important lotus root growing areas. In many areas of the province, such as Jingzhou, Xiangyang, and Huanggang, lotus roots are planted at a depth of 20-40 cm, and harvesting is mainly done manually in harsh environments with high labor intensity.

[0031] To solve the problem of lotus root harvesting, our team designed an intelligent, efficient, and low-damage self-propelled lotus root harvesting machine. We designed and selected the overall structure, working principle, and key mechanisms of the harvester, and conducted experiments to verify its design. This self-propelled lotus root harvester consists of two main parts: a self-propelled working machine and a shore-side water pump unit, connected by a high-pressure hose. The self-propelled working machine is the main body, composed of five parts: the hull, power supply, walking device, harvesting device, cleaning and collection device, and control system. The walking device consists of a waterproof motor, water wheel, and auger; the harvesting device consists of a custom-designed high-pressure water gun, steering gear, shock absorber, and screw-slider mechanism; the custom-designed high-pressure water gun can adaptively approach the silt layer; the cleaning and collection device consists of a water pump, conveyor belt, multi-nozzle flushing pipe, and an adaptive detachment collection box (with shore-reaching power); the control system consists of a circuit board, control software, camera, display screen, and remote control handle. It has good stability and flexible steering performance, and can adapt to complex lotus field operation environment; the jet flushing mode is oscillating jet, which is driven by servo motor, shock absorber and screw slider mechanism to drive the nozzle array to rise, fall and oscillate left and right respectively; it can carry out field operation with slope of 0° to 40°, and the working width is 2.3 m, which can quickly and effectively flush the silt on the surface and above of lotus root.

[0032] After conducting experiments in water, calculations were performed based on the results. It is estimated that the machine can adapt to lotus fields with varying water depths up to 100 cm. The harvesting rate is greater than or equal to 95%, the damage rate is less than or equal to 5%, the operating speed is 3 m / min, and the harvesting efficiency is 4 to 5 times that of manual harvesting. The harvester exhibits stable performance, effectively removing surface mud from lotus roots without damaging them, thus meeting the requirements for lotus root harvesting.

[0033] The self-propelled lotus root harvesting machine integrates digging, harvesting, washing, and storage, and can move in water and on silt. During operation, harvesters do not need to go into the water; they can operate the machine remotely from the bank. Compared to the current main method of lotus root harvesting—handheld water gun digging combined with manual assistance—it offers a better working environment, lower labor intensity, and higher efficiency. It solves the practical dilemma of young people being unwilling to do the work and the elderly being unable to. Currently, there are no similar products on the market, indicating a broad market prospect.

[0034] Working principle:

[0035] (2) Amphibious walking function: It consists of a special-shaped hydrowheel, a propeller, etc., to enable walking in water and on silt; when in water, the propeller mainly provides buoyancy and steering force, while the special-shaped hydrowheel provides forward power.

[0036] (3) Fan-shaped cross flushing function: It consists of a special high-pressure water gun, a screw slider mechanism and a double rocker mechanism, which realizes the high-pressure nozzle adaptively close to the silt layer and reduces the attenuation of the spray pressure;

[0037] (4) Water spraying and rake function: It consists of a crank rocker mechanism, a bend spray pipe, etc., and imitates hand pulling and digging. It performs secondary digging of lotus root, washing away the silt under the lotus root while rakes the lotus root out of the mud.

[0038] (5) Conveying and cleaning function: It consists of a conveyor belt, multi-nozzle flushing pipes, water pump, etc. Water is patted inward by the roller guide plate to gather the lotus roots under the conveyor belt. The conveyor belt has scooping claws to scoop the lotus roots onto the conveyor belt. The multi-nozzle flushing pipes above the conveyor belt spray water to wash away the remaining silt on the lotus roots.

[0039] (6) Quick-change storage function: It consists of a locking pin, a chute, a propeller, etc. The collection box has a chute and a buckle on both sides. As the weight of the collection box increases, it will sink along the given chute. After reaching the preset sinking depth, the hull moves forward and separates from the collection box, achieving automatic detachment. The collection box has its own power unit and is transported to the shore by remote control by the user. Then, the new collection box is remotely controlled to the lotus root digging machine. When docking, the replacement is completed by the one-way buckle in the chute.

[0040] (7) Remote control function: With the advent of the 5G era and the increasing development of Internet of Things technology, this device can be remotely controlled via a mobile APP.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-propelled lotus root harvesting machine, characterized in that: It consists of a self-propelled work machine and a shore-side water pump, connected by a high-pressure hose; The self-propelled machine consists of a hull (18) and a walking module, a mining module, a cleaning and collection module (61), and a control module (63) installed on the hull (18); The walking module adopts an amphibious drive module (59); The mining module consists of a fan-shaped cross flushing module (58) and a water-spraying rake claw module (60). The fan-shaped cross flushing module (58) is connected to the hull (18) by bolts, and the water-spraying rake claw module (60) is connected to the hull (18) by a hole-shaft fit. The cleaning and collection module (61) consists of a conveyor belt (47), a multi-nozzle flushing pipe (52), and a quick-change storage module (62); The control module (63) consists of a circuit board, a camera (64), a display screen, and a remote control handle.

2. The self-propelled lotus root harvesting machine according to claim 1, characterized in that: The amphibious drive module (59) consists of a shaped waterwheel wheel leg (15), a waterwheel mounting shaft (16), and a propeller (26); The shaped waterwheel wheel leg (15) is inserted into the waterwheel mounting shaft (16) through the falcon structure. The shaped waterwheel mudguard (17) is connected to the hull (18) through a right-angle bracket. The shaped waterwheel connecting shaft (25) is connected to the waterwheel mounting shaft (16) through a hole-shaft fit. The first synchronous belt (19) is fitted with the first synchronous pulley (42) and the second synchronous pulley (44). The first synchronous pulley (42) is connected to the shaped waterwheel connecting shaft (25) through a hole-shaft fit. The second synchronous pulley (44) is connected to the conveyor belt shaft (49) through a hole-shaft fit. The spiral wheel bracket connecting block (22) is connected to the hull (18) through bolts. The spiral wheel rear bracket (2) 4) The screw wheel bracket connecting block (22) is inserted through the falcon structure and connected with a pin. The rear screw wheel bracket (24) is connected to the self-aligning bearing seat (23) by bolts. The screw wheel bracket connecting block (22) is fixedly connected to the hull (18) by a fastener (20). The front screw wheel bracket (27) is inserted through the falcon structure and connected with a pin. The bearing is installed inside the front screw wheel bracket (27). The shaft of the protruding end of the screw wheel (26) is connected to the front screw wheel bracket (27) and the self-aligning bearing seat (23) through a hole shaft. The shaft of the protruding end of the screw wheel (26) is connected to the output shaft of the motor (21) through a coupling.

3. The self-propelled lotus root harvesting machine according to claim 2, characterized in that: The fan-shaped cross-flushing module (58) consists of a screw-slider mechanism (1), a double rocker mechanism, and a specially designed high-pressure water gun; The lead screw slider mechanism (1) is connected to the connecting plate (12) by screws. The connecting plate (12) is connected to the servo multi-function bracket (14) by screws. The servo multi-function bracket (14) is connected to the servo motor one (13) by screws. The servo motor one (13) is connected to the servo rocker (9) by screws. The servo rocker (9) is connected to the nozzle connecting pipe (2) by screw one (10) and bolt one (11). The nozzle connecting pipe (2) is connected to the shock absorber pipe (3) by threaded connection. The shock absorber pipe (3) is connected to the retaining ring one (4) by threaded connection. The booster pipe (6) is connected to the retaining ring two (7) by threaded connection. The retaining ring two (7) is connected to the nozzle (8) by threaded connection. The retaining ring one (4) and retaining ring two (7) are connected by spring (5). The special high-pressure water gun is controlled to move up and down in the Z-axis direction by the screw and slider mechanism (1), and the fan-shaped cross flushing is achieved by the double rocker mechanism. The spring (5) on the special water gun adapts to the mud surface.

4. The self-propelled lotus root harvesting machine according to claim 3, characterized in that: Water spray rake module (60): The output shaft of motor 2 (29) is connected to rod 1 (28) through a hole shaft fit. Rod 1 (28) is connected to rod 2 (30) through a pin (31). Rod 3 (33) is connected to rod 2 (30) through a pin (31). Rod 3 (33) is connected to the curved nozzle (34) through a hole shaft fit. Rod 3 (33) is connected to bearing 1 (32) with a seat through bolts.

5. The self-propelled lotus root harvesting machine according to claim 4, characterized in that: Cleaning and collection module (61): The output shaft of motor 1 (51) is connected to synchronous pulley 1 (42) by a key. Synchronous pulley 1 (42), synchronous pulley 2 (44) and synchronous belt 2 (43) are fitted together. Synchronous pulley 2 (44) and conveyor belt shaft (49) are connected by a hole shaft. Conveyor belt shaft (49) and conveyor belt (47) are fitted together. Conveyor belt shaft (49) and belt bearing 2 (48) are fitted by a hole shaft. Belt bearing 2 (48) and hull (18) are connected by bolts. Slide (45) is connected to slide bracket (46). Slide bracket (46) and hull (18) are connected by bolts. Steering gear bracket (41) and hull (18) are connected by bolts. Steering gear bracket (41) The roller guide plate bracket (37) is connected to the rudder motor (40) by screws, the roller guide plate bracket (37) is connected to the rudder motor (40) by pins, the roller guide plate bracket (37) is connected to the roller shaft (39) by a hole shaft, the roller (38) is connected to the roller shaft (39) by a hole shaft, the roller guide plate bracket (37) is connected to the horizontal bearing, the horizontal bearing is connected to the roller guide plate base (50) by bolts, the roller guide plate base (50) is connected to the hull (18) by bolts; the external bracket (36) is connected to the hull (18) by bolts, the float (35) is glued to the external bracket (36), and the multi-nozzle flushing pipe (52) is connected to the hull (18) by bolts.

6. The self-propelled lotus root harvesting machine according to claim 5, characterized in that: Quick-swap storage module (62): The collection box body (56) is bolted to the propeller (57), the collection box body (56) is bolted to the locking slide rail (54), the locking slide rail (54) is bolted to the one-way baffle (53), and the collection box fixing block (55) is bolted to the hull (18).

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