Self-propelled lindera strylofolia harvesting equipment

Abstract

The utility model discloses a self -propelled south candle harvesting equipment, including travelling device, harvesting device, travelling device is the door frame type chassis structure of independent steering and height adjustable, adopts eight wheel drive system, and two wheels in each wheel part can pitch forward and backward, and the terrain is self -adapted, and has shock absorber, so that equipment avoids the wheel suspension or skidding due to ground inclination, and each wheel part can independently adjust height, and the more complex terrain such as cross -slope harvesting is adapted, and simultaneously can guarantee the south candle of different height and carry out harvesting operation, harvesting device is installed in the front end and middle part area of travelling device, and harvesting device has the collaborative design between the sweep wheel, air blower and reciprocating cutting mechanism, can cut crops and will collect and handle after cutting crops, and the length of shearing and harvesting tender shoot can be adjusted, the device realizes height adjustable and independent steering, reduces the turning radius in field, improves its climbing performance and harvesting range, improves operation efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and to a harvesting equipment that can flexibly adjust the harvesting height of *Aristolochia debilis* and is suitable for hilly and mountainous areas. Specifically, it is a self-propelled *Aristolochia debilis* harvesting equipment, which aims to improve the mechanization level and operational efficiency of crop harvesting in hilly areas. Background Technology

[0002] In agricultural production, crop harvesting is a crucial step. During the harvesting of *Acer palmatum* (a type of tea plant), due to significant differences in plant height, existing fixed-height harvesting equipment is ill-suited to the task, often resulting in missed harvesting of high branches and accidental damage to low-lying plants. Furthermore, the steep slopes and undulating terrain of hilly areas exacerbate the instability of harvesting equipment, further increasing the risk of incomplete harvesting and mechanical damage. This severely restricts the simultaneous improvement of harvesting efficiency and raw material quality. For example, existing patent CN 118947356 A, a tea garden harvesting robot device and autonomous harvesting method, includes a frame, a tracked walking mechanism, a cutter, a parallel robotic arm, and a negative pressure collection device. This device can only harvest tender leaves on flat terrain and cannot harvest entire tender branches, nor can it operate on steep terrain. Therefore, there is an urgent need for a high-efficiency agricultural equipment with adjustable harvesting height suitable for harvesting *Acer palmatum* in hilly areas, to meet the operational requirements of efficient, precise, and adaptable harvesting in complex terrain. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a self-propelled acanthus harvesting equipment to address the shortcomings of the existing technology. This self-propelled acanthus harvesting equipment solves the problem that the harvesting height of existing agricultural harvesting equipment cannot be flexibly adjusted and is difficult to adapt to hilly areas.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0005] A self-propelled candle harvesting device includes: a walking device and a harvesting device; the harvesting device is installed at the front end of the walking device;

[0006] The walking device includes wheel components and a walking frame;

[0007] Multiple wheel components are mounted on the walking frame. These wheel components include a tire, roller chain, swing arm bracket, mast columns, crossbar, motor, shock absorber, electric actuator, telescopic leg assembly, lower telescopic leg fixing plate, and upper telescopic leg fixing plate. The upper telescopic leg fixing plate is fixedly connected to the lower part of the walking frame. The telescopic leg assembly is vertically adjustable, with its upper part rotatably connected to the upper telescopic leg fixing plate and its lower part rotatably connected to the lower telescopic leg fixing plate. The lower part of the lower telescopic leg fixing plate is rotatably connected to the crossbar. The upper ends of two mast columns are symmetrically fixedly connected to the lower part of the crossbar, and the lower parts of the two mast columns are rotatably connected to two swing arm brackets. One tire is rotatably connected between the inner sides of one end of each of the two swing arm brackets, and the other... The tire is rotatably connected between the inner sides of the other ends of the two swing arm brackets, and a tire sprocket is connected to the axle end of the tire; the motor is connected to the cross plate, and a motor sprocket is provided at the end of the motor output end; the roller chain is provided on the motor sprocket and the tire sprocket; one end of the electric push rod is rotatably connected to the tail of the cross plate, and the other end is rotatably connected to the inner side of the lower fixing plate of the telescopic leg. The electric push rod is used to drive the relative rotation between the lower fixing plate of the telescopic leg and the cross plate, thereby driving the steering of the wheel component; the shock absorbers are symmetrically arranged on both sides of the gantry column, one end is rotatably connected to the side of the gantry column, and the other end is rotatably connected to the upper part of the swing arm bracket; one end of the electric push rod is rotatably connected to the traveling frame, and the other end is rotatably connected to the telescopic leg assembly. The electric push rod is used to drive the telescopic leg assembly to extend and retract.

[0008] As a further improvement of the present invention, each wheel component includes four shock absorbers, two tires and a roller chain.

[0009] As a further improvement of this utility model, anti-skid chains are also installed on the outer surfaces of the two tires in the wheel component.

[0010] As a further improvement of this utility model, the walking frame includes a top platform, a front reinforcing beam, a rear reinforcing beam, a control box suspension frame, a control box, a generator suspension frame, a generator, a battery box, side reinforcing frames, a top baffle, and long gantry columns; the long gantry columns are square tube structures with two symmetrically arranged hanging ears on the rear side; the upper parts of the four long gantry columns are fixedly connected to the four corners of the top platform, and the lower parts are fixedly connected to the upper part of the upper fixing plate of the telescopic legs on the four wheel components; the side reinforcing frames are located on both sides of the walking device and are fixedly connected to the long gantry columns; the side... The front reinforcing frame has multiple mounting holes for connecting the battery box; the front reinforcing beam is located at the front of the traveling device and its two ends are connected to two long gantry columns respectively; the rear reinforcing beam is located at the rear of the traveling device and its two ends are connected to two other long gantry columns respectively; the rear reinforcing beam has multiple mounting holes for connecting the generator suspension bracket; the generator suspension bracket is connected to the mounting holes at the rear of the rear reinforcing beam; the generator is fixedly connected to the generator suspension bracket; the control box suspension bracket is fixedly connected to the front of the front reinforcing beam; the control box is fixedly connected to the control box suspension bracket; the top baffle is fixedly connected to the upper part of the top platform.

[0011] The control unit in the control box is connected to the motor and the electric actuator, respectively, and the battery in the battery box is connected to the control unit, the motor and the electric actuator, respectively.

[0012] As a further improvement of this utility model, the telescopic leg assembly includes a lower connecting rod, an upper connecting rod, short connecting rods, and a connecting plate; four lower connecting rods are provided, forming a spatial parallelogram structure, one end of which is rotatably connected to the lower fixed plate of the telescopic leg, and the other end is rotatably connected to the connecting plate; four upper connecting rods are provided, forming a spatial parallelogram structure, one end of which is rotatably connected to the connecting plate, and the other end is rotatably connected to the upper fixed plate of the telescopic leg; short connecting rods are rotatably connected to the lower part of the upper connecting rods and the lower connecting rods respectively; one end of the electric push rod is rotatably connected to the middle of two hanging ears on the long gantry column, and the lower end is rotatably connected to the ends of the two lower connecting rods. The electric push rod is used to drive the telescopic leg assembly to move in the vertical direction, which can realize independent height adjustment of the wheel components;

[0013] The second electric actuator is connected to the control unit in the control box and the battery in the battery box.

[0014] As a further improvement of this utility model, the harvesting device includes a reciprocating cutting mechanism, a blower, a reel, a collection box, and collection box supports. The reciprocating cutting mechanism is a double-blade or single-blade mechanism, located at the front end of the collection box. The collection box has a box-shaped structure with openings at the front and rear, and multiple sets of mounting holes on its outer side. The blower is located at the front end of the collection box, and is connected to multiple air outlet pipes via a main pipe. These air outlet pipes are located above the reciprocating cutting mechanism, with their outlets facing the collection box. The blower is used to blow the branches cut by the reciprocating cutting mechanism into the collection box. The reel is located above the reciprocating cutting mechanism and behind the air outlet pipes. The reel is located at the front end of the collection box and is used to push the crop into the collection box. The four collection box supports have an L-shaped structure with multiple sets of mounting holes on their sides. One end is symmetrically fixed to the inside of the long gantry column, and the other end is fixedly connected to the mounting holes on the outer side of the collection box, thus allowing the collection box to be supported and connected to the long gantry column.

[0015] The reciprocating cutting mechanism and the blower are respectively connected to the control unit in the control box and the battery in the battery box.

[0016] As a further improvement of the present invention, the harvesting device also includes a reel drive motor, which is connected to the central shaft of the reel and connected to the front end of the collection box via a bracket; the reel drive motor is connected to the control unit in the control box and the battery in the battery box.

[0017] As a further improvement of this utility model, a binocular depth camera and a navigator are also provided on the control box suspension frame, and an ultrasonic sensor is provided on the side reinforcement frame; the binocular depth camera, navigator and ultrasonic sensor are all connected to the control unit in the control box, and the binocular depth camera, navigator and ultrasonic sensor are all connected to the battery in the battery box.

[0018] The beneficial effects of this utility model are as follows:

[0019] (1) The harvesting device of this utility model has a collaborative design between the reel, the reciprocating cutting mechanism, the blower and the telescopic leg assembly. The telescopic leg assembly makes the height of the reel, the reciprocating cutting mechanism, the blower and the collection box adjustable, thereby making the length of the harvested tender branches adjustable. The harvesting objects and physical parameters of this utility model are different. Compared with tea harvesters and wheat harvesters, it integrates and reuses the airflow conveying function of the blower, the auxiliary reciprocating cutting function of the reel and the height adjustment function of the telescopic leg assembly, making it more suitable for the collection and conveying of tender branches of different lengths at the work site, with the longest reaching about 30cm.

[0020] (2) Each wheel component in this utility model can be independently adjusted in height (80cm), which can adapt to more complex terrain such as cross slope harvesting, and at the same time can ensure harvesting of tamarisk at different heights.

[0021] (3) Compared with traditional tracked agricultural machinery, the structure of this utility model is lighter and more convenient. Compared with tracked machinery, the four telescopic leg components of this utility model can be independently adjusted in height with a large stroke. This utility model is a robot dog-like model. The four telescopic leg components are independently controlled and adjustable in height. It also has a dual-purpose wheel and track walking wheel set (the tires can be used alone, or anti-skid chains can be added to the tires, so it is a dual-purpose wheel and track walking machine). It has a high load-bearing capacity and is more suitable for agricultural operations on steep slopes and mountains. The height is adjustable, which is more suitable for harvesting tender branches of trees with different planting years and different heights.

[0022] (4) The electric push rod of this utility model is used to drive the telescopic leg assembly to move in the vertical direction. It can independently adjust the height of each wheel component to meet the harvesting requirements of different harvesting heights of the South China Sea and adapt to different slopes in hilly areas, thus meeting the operational requirements of the South China Sea harvesting process for high efficiency, precision and adaptability to complex terrain.

[0023] (5) The gantry chassis adopts an eight-wheel drive system. The two tires in each wheel component can pitch forward and backward to adapt to the terrain and have shock absorbers, so that the equipment can avoid the wheels from being suspended or slipping due to the tilt of the ground, thereby improving the passability of the equipment.

[0024] (6) Each wheel component can be turned independently, increasing the flexibility of walking in the field; anti-skid chains (similar to anti-skid chains on tracks, also called anti-skid tracks) can be installed between the front and rear tires of the wheel component to increase the ground contact area and further improve the climbing and walking performance in the field; the wheel-track dual-purpose type takes into account both the climbing performance on steep mountain slopes and the walking performance on gentle slopes and flat ground.

[0025] (7) The generator of this utility model is lighter and more environmentally friendly than existing gantry-type tea harvesters and management machines.

[0026] (8) This utility model is designed with a large-capacity collection box in the middle and a top platform and top baffle forming a truck bed, which can store more harvested tender branches of the Southern Candle without damaging the branches, allowing it to be sold fresh and sent to the factory for deep processing. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a self-propelled candle harvesting equipment.

[0028] Figure 2 This is a top view of a self-propelled candle harvesting equipment.

[0029] Figure 3This is a schematic diagram showing the overall height adjustment of a self-propelled candle harvesting equipment.

[0030] Figure 4 This is a schematic diagram of the walking mechanism of a self-propelled candle harvesting equipment.

[0031] Figure 5 This is another schematic diagram of the walking device for a self-propelled candle harvesting equipment.

[0032] Figure 6 This is a schematic diagram of the wheel components of a self-propelled candle harvesting equipment.

[0033] Figure 7 This is another structural schematic diagram of the wheel component of a self-propelled galaxy harvesting equipment.

[0034] Figure 8 This is a schematic diagram of the wheel component lifting structure of a self-propelled candle harvesting equipment.

[0035] Figure 9 This is a schematic diagram of the telescopic leg assembly of a self-propelled candle harvesting equipment.

[0036] Figure 10 This is a schematic diagram of another working state of the wheel component of a self-propelled candle harvesting equipment.

[0037] Figure 11 This is a schematic diagram of the harvesting device structure of a self-propelled candle harvesting equipment.

[0038] Figure 12 This is a front view of the harvesting device of a self-propelled candle harvesting equipment.

[0039] Figure 13 This is a schematic diagram of the end structure of the harvesting device of a self-propelled candle harvesting equipment.

[0040] In the diagram, 1 is the walking device, 2 is the harvesting device, 3 is the binocular depth camera, 4 is the navigator, 5 is the ultrasonic sensor, 1-1 is the wheel assembly, 1-02 is the top platform, 1-03 is the front reinforcing beam, 1-04 is the rear reinforcing beam, 1-05 is the control box suspension, 1-06 is the control box, 1-07 is the generator suspension, 1-08 is the generator, 1-09 is the battery box, 1-010 is the side reinforcing frame, 1-011 is the top baffle, 1-012 is the long gantry column, 1-013 is the anti-skid chain, 1-11 is the tire, 1-12 is the roller chain, 1-13 is the swing arm bracket, 1-14 is the gantry column, 1-15 is the telescopic leg assembly, and 1-16 is the horizontal... Plate 1-16, Motor bracket 1-17, Motor 1-18, Shock absorber 1-19, Electric push rod one 1-110, Lower fixing plate of telescopic leg 1-111, Upper fixing plate of telescopic leg 1-112, Electric push rod two 1-113, Small gear 1-114, Small gear connecting rod 1-115, Lower connecting rod 1-15-1, Upper connecting rod 1-15-2, Short connecting rod 1-15-3, Connecting plate 1-15-4, Reciprocating cutting mechanism 2-1, Blower 2-2, Main pipe 2-2-1, Reel 2-3, Collection box 2-4, Collection box bracket 2-5, Left support frame 2-6, Right support frame 2-7. Detailed Implementation

[0041] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings:

[0042] This utility model relates to a self-propelled acanthus harvesting equipment, such as... Figures 1 to 13 As shown, a self-propelled candle harvesting device includes a walking device 1 and a harvesting device 2.

[0043] like Figure 1-3 As shown, the harvesting device 2 is installed at the front and middle of the walking device 1, and has a harvesting function, which can harvest crops and collect and process the harvested crops. The walking device 1 is an independently steerable and height-adjustable gantry chassis structure, which serves as the load-bearing and movement foundation of the entire equipment. It has a stable and reliable structure, can adapt to field environments with different terrains, and realizes smooth movement and operation transfer of the equipment in the field.

[0044] In this example, as Figure 4-10As shown, the walking device 1 includes wheel components 1-1, a top platform 1-02, a front reinforcing beam 1-03, a rear reinforcing beam 1-04, a control box suspension frame 1-05, a control box 1-06, a generator suspension frame 1-07, a generator 1-08, a battery box 1-09, a side reinforcing frame 1-010, a top baffle 1-011, and a long gantry column 1-012; the long gantry column 1-012 is a square tube structure with four columns, and two symmetrically arranged hanging ears on the rear side. The upper part connects with the four hanging ears of the top platform 1-02. The corner is fixedly connected, and the lower part is fixedly connected to the upper part of the wheel component 1-1; there are two side reinforcement frames 1-010, which are installed on the left and right sides of the walking device 1 and fixedly connected to the long gantry column 1-012; each of the two side reinforcement frames 1-010 is provided with multiple mounting holes for mounting the battery box 1-09 with bolts and for easy adjustment of the position of the battery box 1-09. There are two battery boxes 1-09, which are installed on the left side reinforcement frame 1-010 and the right side reinforcement frame 1-010 respectively, and are symmetrical. The battery box 1-09 on one side houses the working battery, while the battery box 1-09 on the other side houses the backup battery. The front reinforcing beam 1-03 and rear reinforcing beam 1-04 are installed at the front and rear of the walking device 1, respectively, and are fixedly connected to the long gantry column 1-012. The rear reinforcing beam 1-04 has multiple mounting holes for mounting the generator suspension bracket 1-07 with bolts and for easy adjustment of its position. The generator suspension bracket 1-07 is fixedly installed at the rear of the rear reinforcing beam 1-04. The generator 1-08 is fixedly installed on the generator suspension bracket to provide power to the working and backup batteries in the battery box 1-09. The control box suspension bracket 1-05 is fixedly connected to the front of the front reinforcing beam 1-03. The control box 1-06 is fixedly installed on the upper surface of the control box suspension bracket 1-05 for mounting the equipment's control unit. The top baffle 1-011, consisting of four sides forming a four-sided baffle structure, is fixedly installed on the top platform 1-02 for storing crops and other items.

[0045] In this example, as Figure 6-7As shown, four wheel components 1-1 are installed on the walking device 1, all located below the long gantry column 1-012. Each wheel component 1-1 includes a tire 1-11, a roller chain 1-12, a swing arm bracket 1-13, a gantry column 1-14, a crossbar 1-16, a motor support plate 1-17, a motor 1-18, a shock absorber 1-19, an electric push rod 1-110, a telescopic leg assembly 1-15, a lower telescopic leg fixing plate 1-111, and an upper telescopic leg fixing plate 1-1. 12. Electric actuator 2 1-113; The upper fixing plate 1-112 of the telescopic leg is fixedly connected to the lower part of the long gantry column 1-012 and is provided with multiple mounting holes; The telescopic leg assembly 1-15 can be adjusted vertically, with its upper part rotatably connected to the mounting holes of the upper fixing plate 1-112 and its lower part rotatably connected to the lower fixing plate 1-111 of the telescopic leg; A circular protrusion is provided at the lower part of the lower fixing plate 1-111 of the telescopic leg, and this circular protrusion is connected to the horizontal through a bearing. The annular protrusion at the front end of plate 1-16 is rotatably connected; the rear end of the horizontal plate 1-16 is provided with an L-shaped baffle, which is fixedly connected to the motor support plate 1-17 on the side; there are two gantry columns 1-14, which are located on the left and right sides of tires 1-11 respectively. The upper end of the gantry columns 1-14 is symmetrically fixedly installed on the lower part of the horizontal plate 1-16, and the lower part is rotatably connected to the two swing arm brackets 1-13; there are two tires 1-11, which are rotatably installed on the inner sides of both ends of the swing arm brackets 1-13 respectively. A tire sprocket is fixedly installed at the end of the axle of tire 1-11; the end of the motor 1-18 passes through the through groove in the middle of the motor support plate 1-17 and is connected to the motor sprocket; the roller chain 1-12 is installed on the motor sprocket and the two tire sprockets. After the motor 1-18 rotates, it will drive the tire sprockets to rotate through the motor sprocket and the roller chain 1-12, thereby driving the two tires 1-11 to rotate relative to the swing arm brackets 1-13. The motor 1-18 provides power to the two tires 1-11. In addition, one end of a pinion connecting rod 1-115 is rotatably connected to one of the gantry columns 1-14. The middle part of the pinion connecting rod 1-115 is connected to the gantry column 1-14 via a spring. The other end of the pinion connecting rod 1-115 is rotatably connected to the pinion 1-114 via a shaft. The roller chain 1-12 is also connected to the pinion 1-114.

[0046] In this example, as Figure 7 As shown, one end of the electric push rod 1-110 is rotatably connected to the L-shaped baffle at the tail of the horizontal plate 1-16, and the other end is rotatably connected to the inner side of the telescopic leg fixing plate 1-111. The extension and retraction of the electric push rod 1-110 enables the independent steering of the wheel component 1-1, increasing the flexibility of field walking and shortening the turning radius of field equipment.

[0047] In this example, as Figure 6-7As shown, there are four shock absorbers 1-19 (shock absorbers 1-19 adopt the existing common structure), with two symmetrically arranged on both sides of the gantry column 1-14. One end is hinged to the two sides of the gantry column 1-14, and the other end is hinged to the upper part of the swing arm bracket 1-13. This can effectively increase the contact between the tire and the ground, so that the equipment can avoid the wheels from being suspended or slipping due to the inclination of the ground, thereby significantly improving the climbing performance of the equipment and enabling it to better adapt to the requirements of farmland operations in different terrains.

[0048] In this example, as Figure 8-9 As shown, the telescopic leg assembly 1-15 includes a lower connecting rod 1-15-1, an upper connecting rod 1-15-2, a short connecting rod 1-15-3, and a connecting plate 1-15-4. Four lower connecting rods 1-15-1 are arranged to form a spatial parallelogram structure, with one end rotatably connected to the lower fixing plate 1-111 of the telescopic leg and the other end rotatably connected to the connecting plate 1-15-4. Four upper connecting rods 1-15-2 are arranged to form a spatial parallelogram structure, with one end rotatably connected to the connecting plate 1-15-4 and the other end rotatably connected to the upper fixing plate 1-15-4 of the telescopic leg. Fixed plate 1-112; the short connecting rod 1-15-3 is rotatably connected to the lower part of the upper connecting rod 1-15-2 and the upper part of the lower connecting rod 1-15-1 respectively; one end of the electric push rod 1-113 is rotatably connected to the middle of the two lugs on the rear side of the long gantry column 1-012, and the lower end is rotatably connected to the ends of the two lower connecting rods 1-15-1, which is used to drive the lower connecting rods 1-15-1 to move in the vertical direction, and can realize independent height adjustment of the wheel component 1-1 to meet the harvesting requirements of different harvesting heights of the South China Sea and adaptability to different slopes in hilly areas;

[0049] In this example, as Figure 10 As shown, the two tires 1-11 in the wheel component 1-1 also have a design structure for adding anti-skid chains 1-013 (similar to anti-skid chains on tracks). Adding anti-skid chains 1-013 further increases the contact area with the ground, enhances the grip of the equipment chassis, and thus more effectively improves the equipment's climbing performance in complex road conditions. Alternatively, the surface of the tires 1-11 can be treaded (not shown in the figure), allowing the tires 1-11 to be replaced with tires of different tread patterns according to the needs of different terrains, providing stronger traction and passability.

[0050] In this example, as Figure 11-13As shown, the harvesting device 2 includes a reciprocating cutting mechanism 2-1, a blower 2-2, a reel 2-3, a collection box 2-4, and a collection box support 2-5; the reciprocating cutting mechanism 2-1 is a double-blade or single-blade mechanism, and its specific structural composition adopts existing technology. The double-blade or single-blade mechanism can be driven by a cutting motor to achieve reciprocating linear motion. The cutting motor is fixedly installed at the front end of the collection box 2-4 through the right support frame 2-7; the collection box 2-4 is an L-shaped box structure, with the front ( Both the front and rear sides of the collection box 2-4 have openings. The front opening faces the reel 2-3 and the reciprocating cutting mechanism 2-1. The rear opening has a sliding door. After opening the sliding door, the tender branches in the collection box 2-4 can be taken out from the rear opening and placed on the top platform 1-02. The left and right sides of the collection box 2-4 have multiple sets of mounting holes. The blower 2-2 is fixedly installed at the front end of the collection box 2-4 by the left support frame 2-6. The air outlet of the blower 2-2 is... A thick main pipe 2-2-1 is connected to several thinner air outlet pipes. The air outlets of these pipes face inwards, towards the collection box 2-4. These outlet pipes are located above the reciprocating cutting mechanism 2-1 and are used to blow the cut branches into the collection box 2-4. The reel 2-3 is installed between the reciprocating cutting mechanism 2-1 and the air outlet pipes, located behind the outlet pipes and above the reciprocating cutting mechanism 2-1. It is used to push the cut tender branches into the collection box 2-4. It also helps the reciprocating cutting mechanism 2-1 to cut the crop. The reel 2-3 is driven to rotate by the reel drive motor, which is installed on the right support frame 2-7. The four collection box brackets 2-5 are L-shaped structures with multiple sets of mounting holes on the side. One end is symmetrically fixed to the inside of the long gantry column 1-012, and the other end is fixedly connected to the mounting hole on the outside of the collection box 2-4, so that the collection box 2-4 is supported and connected to the long gantry column 1-012.

[0051] In this example, the harvesting device 2 can be adjusted in height along the mounting holes of the collection box bracket 2-5.

[0052] In this example, the motor 1-18, electric actuator 1-110, electric actuator 2-113, the cutting motor in the reciprocating cutting mechanism 2-1, the blower 2-2, the reel drive motor, and other components are all connected to the control unit in the control box 1-06. The control unit uniformly controls the operation of each component. The motor 1-18, electric actuator 1-110, electric actuator 2-113, the cutting motor in the reciprocating cutting mechanism 2-1, the blower 2-2, the reel drive motor, and the control unit in the control box 1-06 are all connected to the working battery in the battery box 1-09 on one side via power switch 1. The working battery supplies power to each component through power switch 1. The battery box 1-09 on the other side contains a spare battery. The spare battery 1 can also be connected to each component in the device via power switch 2 to supply power to that component. When the working battery has sufficient power, power switch 1 can be turned on to allow the working battery to supply power to the components in the device. If the working battery is low on power, turn off power switch one and turn on power switch two. The backup battery in battery box 1-09 on the other side will then power the various components in the device. At this time, the working battery needs to be removed from battery box 1-09 on one side. On the ground near the work area, connect the working battery to generator 1-08 on generator suspension 1-07, and then generator 1-08 will charge the working battery. When the backup battery is low on power, turn off power switch two, install the fully charged working battery in battery box 1-09, and simultaneously remove the backup battery from battery box 1-09 on the other side. Turn on power switch one, and the working battery will again power the device. The backup battery will then be charged by generator 1-08, improving the overall efficiency of the harvesting device.

[0053] Once the harvesting device has reached the work area, before harvesting, the generator suspension frame 1-07 is removed from the rear reinforcing beam 1-04 and placed on the ground near the work area for later use. The harvesting device then proceeds with the harvesting operation. The harvesting device carries the generator suspension frame 1-07 and the generator 1-08 to the work area, facilitating the charging of the backup or working batteries near the work area.

[0054] This example can be equipped with a remote control device. The remote control device wirelessly connects to the control unit inside the control box 1-06. The remote control device is manually operated to send operation commands to the control unit inside the control box 1-06. The control unit inside the control box 1-06 then controls the operation of the motor 1-18, electric push rod one 1-110, electric push rod two 1-113, the cutting motor in the reciprocating cutting mechanism 2-1, the blower 2-2, and the reel drive motor, etc., according to the received operation commands. Among them, motor 1-18 is used to drive the tire 1-11 to move, electric push rod one 1-110 is used to drive the tire 1-11 to turn, electric push rod two 1-113 is used to drive the telescopic leg assembly 1-15 to extend or retract as a whole, the reciprocating cutting mechanism 2-1 is used to cut and harvest the twigs, the blower 2-2 is used to blow the cut and harvested twigs into the collection box 2-4, and the reel drive motor is used to drive the reel 2-3 to push the twigs into the collection box 2-4.

[0055] See Figures 1 to 13 In this embodiment, during operation, the worker needs to turn on the power switch one between the working battery and each component, or the power switch two between the backup power supply and each component, so that the working battery or backup power supply provides power to the equipment. Then, the cutting motor of the reciprocating cutting mechanism 2-1, the reel drive motor of the reel 2-3, and the blower 2-2 are started. According to the required harvesting height of the *Aristolochia debilis*, the overall height of the telescopic leg assembly 1-15 is adjusted via the electric actuator 1-113. This, in turn, adjusts the height of the reciprocating cutting mechanism 2-1 in the harvesting device 2 via the telescopic leg assembly 1-15, positioning the reciprocating cutting mechanism 2-1 at a suitable harvesting position (harvesting height). The blower 2-... 2 and the reel 2-3 blow the harvested crop into the collection box 2-4. The continuous movement of the eight-wheel chassis (eight tires 1-11) enables continuous harvesting. Since the four wheel components 1-1 can be independently adjusted in height according to actual ground conditions, it can also adapt to hilly and mountainous areas. Simultaneously, the equipment can also harvest *Aristolochia debilis* planted on transverse slopes, greatly expanding its applicability. Furthermore, the independent drive of the eight wheels (eight tires 1-11) and the independent steering of the wheel components 1-1 significantly reduce the turning radius. If the slope of the harvested crop is steep, anti-skid chains 1-013 can be added to the wheel components 1-1. Figure 10 As shown, the contact area with the ground is further increased to enhance the equipment's climbing performance and enable the device to adapt to different slopes.

[0056] In addition, such as Figure 1The control box suspension bracket 1-05 is also equipped with a binocular depth camera 3 and a navigator 4, and each side reinforcement bracket 1-010 is equipped with two ultrasonic sensors 5. The binocular depth camera 3, the navigator 4, and the four ultrasonic sensors 5 are all connected to the control unit inside the control box 1-06, and are connected to the working battery in the battery box 1-09 on one side via power switch one, and to the spare battery in the battery box 1-09 on the other side via power switch two.

[0057] The binocular depth camera 3, navigator 4, and ultrasonic sensor 5 enable adaptive harvesting of this harvesting device, as follows: At the front of the device, a binocular depth camera 3 tilts downwards at a certain angle. The binocular depth camera 3 continuously scans and generates point cloud data of the terrain ahead, sending it to the control unit. The control unit processes the point cloud data to identify protruding objects (i.e., *Vigna oleifera* plants) and calculates the plant's outline and the terrain ahead. The ultrasonic sensors 5, located on both sides of the walking device, measure the distance from the ground vertically downwards and then send this data to the control unit. The control unit combines the current ground clearance of the ultrasonic sensors 5 (the installation height of the ultrasonic sensors 5 is consistent with the top height of the telescopic leg assembly 1-15, therefore the current ground clearance of the ultrasonic sensors 5 is the height of the top of the telescopic leg assembly 1-15 from the ground) with the preset optimal harvesting height to calculate the target height that the telescopic leg assembly 1-15 within each wheel assembly 1-1 needs to be adjusted to (i.e., when the telescopic leg assembly 1-15 reaches the target height, the harvesting height of the harvesting device 2 also reaches the preset optimal harvesting height). Subsequently, the control unit sends a command to the electric actuator 1-113 to drive the telescopic leg assembly 1-15 to rise and fall, thereby adjusting the height of the vehicle platform and the harvesting device 2. Simultaneously, the ultrasonic sensor 5 provides real-time feedback on the actual changes in the length of the telescopic leg assembly 1-15, forming a closed-loop control system to ensure that the harvesting device 2 can quickly and stably maintain the ideal working distance automatically. Then, the navigator 4 provides the control unit with the vehicle's absolute position and speed information. The control unit combines the absolute position and speed information of the walking device 1 with the information obtained from processing the point cloud data of the terrain ahead collected by the binocular depth camera 3 (locating the outline of the plant and the terrain ahead), and combines this with pre-stored map information to achieve path planning. This allows the equipment to adaptively complete harvesting even on uneven ground. The processing of information collected by the binocular depth camera 3 and the path planning process utilize existing technologies.

[0058] The scope of protection of this utility model includes, but is not limited to, the above embodiments. The scope of protection of this utility model is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art shall fall within the scope of protection of this utility model.

Claims

1. A self-propelled candle harvesting equipment, characterized in that, include: A walking device (1) and a harvesting device (2); the harvesting device (2) is installed at the front end of the walking device (1); The walking device (1) includes wheel components (1-1) and a walking frame; Multiple wheel components (1-1) are mounted on the walking frame. Each wheel component (1-1) includes a tire (1-11), a roller chain (1-12), a swing arm bracket (1-13), a mast column (1-14), a crossbar (1-16), a motor (1-18), a shock absorber (1-19), an electric actuator (1-110), a telescopic leg assembly (1-15), a lower telescopic leg fixing plate (1-111), an upper telescopic leg fixing plate (1-112), and a second electric actuator (1-113). The upper telescopic leg fixing plate (1-112) is fixedly connected to the lower part of the walking frame. The telescopic leg assembly... Component (1-15) can be vertically adjusted in height. The upper part of the telescopic leg assembly (1-15) is rotatably connected to the upper fixing plate (1-112) of the telescopic leg, and the lower part of the telescopic leg assembly (1-15) is rotatably connected to the lower fixing plate (1-111) of the telescopic leg. The lower part of the lower fixing plate (1-111) of the telescopic leg is rotatably connected to the horizontal plate (1-16). The upper ends of the two gantry columns (1-14) are symmetrically fixed to the lower part of the horizontal plate (1-16), and the lower parts of the two gantry columns (1-14) are rotatably connected to the two swing arm brackets (1-13). A tire (1-11) is rotatably connected to... Between the inner sides of one end of two swing arm brackets (1-13), another tire (1-11) is rotatably connected between the inner sides of the other end of the two swing arm brackets (1-13), and a tire sprocket is connected to the axle end of the tire (1-11); a motor (1-18) is connected to the cross plate (1-16), and a motor sprocket is provided at the output end of the motor (1-18); the roller chain (1-12) is provided on the motor sprocket and the tire sprocket; one end of an electric push rod (1-110) is rotatably connected to the tail of the cross plate (1-16), and the other end is rotatably connected to the lower fixing plate (1-111) of the telescopic leg; the electric push rod One (1-110) is used to drive the relative rotation between the lower fixing plate (1-111) and the cross plate (1-16) of the telescopic leg, thereby driving the steering of the wheel component (1-1); the shock absorber (1-19) is symmetrically arranged on both sides of the gantry column (1-14), one end is rotatably connected to the side of the gantry column (1-14), and the other end is rotatably connected to the upper part of the swing arm bracket (1-13); one end of the electric push rod (1-113) is rotatably connected to the walking frame, and the other end is rotatably connected to the telescopic leg assembly (1-15), and the electric push rod (1-113) is used to drive the telescopic leg assembly (1-15) to extend and retract.

2. The self-propelled candle harvesting equipment according to claim 1, characterized in that, Each of the wheel components (1-1) includes four shock absorbers (1-19), two tires (1-11), and a roller chain (1-12).

3. The self-propelled candle harvesting equipment according to claim 1, characterized in that, Anti-skid chains (1-013) are also installed on the outer surfaces of the two tires (1-11) in the wheel component (1-1).

4. The self-propelled candle harvesting equipment according to claim 1, characterized in that, The walking frame includes a top platform (1-02), a front reinforcing beam (1-03), a rear reinforcing beam (1-04), a control box suspension frame (1-05), a control box (1-06), a generator suspension frame (1-07), a generator (1-08), a battery box (1-09), a side reinforcing frame (1-010), a top baffle (1-011), and long gantry columns (1-012). The long gantry columns (1-012) are square tube structures with two symmetrically arranged lugs on the rear side. The upper parts of the four long gantry columns (1-012) are fixedly connected to the four corners of the top platform (1-02), and the lower parts are fixedly connected to the upper parts of the telescopic leg fixing plates (1-112) on the four wheel components (1-1). The side reinforcing frames (1-010) are located on the left and right sides of the walking device (1) and are fixedly connected to the long gantry columns (1-012). 0) Multiple mounting holes are provided for connecting the battery box (1-09); the front reinforcing beam (1-03) is located at the front of the walking device (1) and its two ends are respectively connected to two long gantry columns (1-012); the rear reinforcing beam (1-04) is located at the rear of the walking device (1) and its two ends are respectively connected to two other long gantry columns (1-012); multiple mounting holes are provided on the rear reinforcing beam (1-04) for connecting the generator suspension bracket (1-07); the generator suspension bracket (1-07) is connected to the mounting holes at the rear of the rear reinforcing beam (1-04); the generator (1-08) is fixedly connected to the generator suspension bracket (1-07); the control box suspension bracket (1-05) is fixedly connected to the front of the front reinforcing beam (1-03); the control box (1-06) is fixedly connected to the control box suspension bracket (1-05); the top baffle (1-011) is fixedly connected to the upper part of the top platform (1-02); The control unit in the control box (1-06) is connected to the motor (1-18) and the electric push rod (1-110) respectively. The battery in the battery box (1-09) is connected to the control unit, the motor (1-18) and the electric push rod (1-110) in the control box (1-06) respectively.

5. The self-propelled candle harvesting equipment according to claim 4, characterized in that, The telescopic leg assembly (1-15) includes a lower connecting rod (1-15-1), an upper connecting rod (1-15-2), a short connecting rod (1-15-3), and a connecting plate (1-15-4). Four lower connecting rods (1-15-1) are arranged to form a spatial parallelogram structure, with one end rotatably connected to the lower fixing plate (1-111) of the telescopic leg and the other end rotatably connected to the connecting plate (1-15-4). Four upper connecting rods (1-15-2) are arranged to form a spatial parallelogram structure, with one end rotatably connected to the connecting plate (1-15-4) and the other end rotatably connected to the connecting plate (1-15-4). The telescopic leg is fixed to the upper plate (1-112); the short connecting rod (1-15-3) is rotatably connected to the lower part of the upper connecting rod (1-15-2) and the lower connecting rod (1-15-1); one end of the electric push rod (1-113) is rotatably connected to the middle of the two lugs on the long gantry column (1-012), and the lower end is rotatably connected to the ends of the two lower connecting rods (1-15-1). The electric push rod (1-113) is used to drive the telescopic leg assembly (1-15) to move in the vertical direction to achieve telescopic movement, thereby realizing independent height adjustment of the wheel assembly (1-1); Electric actuator 2 (1-113) is connected to the control unit in the control box (1-06) and the battery in the battery box (1-09) respectively.

6. The self-propelled candle harvesting equipment according to claim 1, characterized in that, The harvesting device (2) includes a reciprocating cutting mechanism (2-1), a blower (2-2), a reel (2-3), a collection box (2-4), and a collection box support (2-5); the reciprocating cutting mechanism (2-1) is a double-blade or single-blade mechanism, located at the front end of the collection box (2-4); the collection box (2-4) is a box-shaped structure with openings at the front and rear, and multiple sets of mounting holes on its outer side; the blower (2-2) is located at the front end of the collection box (2-4), and the blower (2-2) is connected to multiple air outlet pipes through a main pipe, with the multiple air outlet pipes located above the reciprocating cutting mechanism (2-1), and the air outlets of the air outlet pipes facing the collection box (2-4). -2) Used to blow the branches cut by the reciprocating cutting mechanism (2-1) into the collection box (2-4); the reel (2-3) is located above the reciprocating cutting mechanism (2-1) and behind the air outlet pipe. The reel (2-3) is set at the front end of the collection box (2-4) and is used to push the crop into the collection box (2-4); the four collection box supports (2-5) are L-shaped structures with multiple sets of mounting holes on the side. One end is symmetrically fixed to the inside of the long gantry column (1-012), and the other end is fixedly connected to the mounting hole on the outer side of the collection box (2-4), so that the collection box (2-4) is supported and connected to the long gantry column (1-012); The reciprocating cutting mechanism (2-1) and the blower (2-2) are respectively connected to the control unit in the control box (1-06) and the battery in the battery box (1-09).

7. The self-propelled candle harvesting equipment according to claim 6, characterized in that, The harvesting device (2) also includes a reel drive motor, which is connected to the central shaft of the reel (2-3). The reel drive motor is connected to the front end of the collection box (2-4) via a bracket. The reel drive motor is connected to the control unit in the control box (1-06) and the battery in the battery box (1-09).

8. The self-propelled candle harvesting equipment according to claim 4, characterized in that, The control box suspension bracket (1-05) is also equipped with a binocular depth camera (3) and a navigator (4), and the side reinforcement bracket (1-010) is equipped with an ultrasonic sensor (5); the binocular depth camera (3), the navigator (4) and the ultrasonic sensor (5) are all connected to the control unit in the control box (1-06), and the binocular depth camera (3), the navigator (4) and the ultrasonic sensor (5) are all connected to the battery in the battery box (1-09).

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