Automatic ginger harvesting machine

Abstract

The utility model provides a kind of automatic ginger harvester, belong to agricultural machinery technical field.It include frame, ginger pulling device, soil cleaning device, cutting device, packing device, transport device, walking steering device;Ginger pulling device is set in the front end of frame, to excavate raw ginger from soil;Soil cleaning device is set below ginger pulling device, for cleaning the soil adhered on raw ginger;Cutting device is set between soil cleaning device and ginger pulling device, and cutting device is close to the end of ginger pulling device, for cutting and separating stem and ginger leaf from raw ginger tuber;Packing device is set on the upside of frame, and located the rear side of ginger pulling device, for packing the collection box with raw ginger tuber;Transport device is set below packing device;Walking steering device is set in the bottom of frame, to control the walking of raw ginger automatic harvester.Effectively improve the automation degree and operation efficiency of raw ginger harvesting, reduce labor cost, guarantee the quality of raw ginger harvesting.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, specifically to an automatic ginger harvester. Background Technology

[0002] Ginger is not only an important food seasoning but also has high medicinal value; it is now included in hundreds of drug formulations. Ginger cultivation has a long history in my country and is widely practiced. In recent years, with the continuous expansion of ginger cultivation, harvesting methods have faced new challenges. Currently, ginger harvesting in my country is generally done manually. Because ginger plants are typically located deep underground, deep digging is necessary to prevent the rhizomes from being broken or damaged. Therefore, manual ginger harvesting suffers from many problems, including high labor intensity, time-consuming processes, and low harvesting efficiency.

[0003] To address this, various ginger harvesting machines have emerged in the prior art to improve ginger harvesting efficiency. For example, Chinese invention application number 202210174596.1 discloses a self-propelled ginger combine harvester, specifically disclosing a tracked chassis, a frame mounted on the tracked chassis, a soil-breaking mechanism installed at the front end of the frame, a clamping and conveying mechanism mounted on the frame, a soil-cleaning device installed below the middle position of the clamping and conveying mechanism, a vine-cutting device installed below the rear end of the clamping and conveying mechanism, a vine-throwing mechanism installed at the rear end of the clamping and conveying mechanism, and a ginger-collecting area installed at the rear end of the frame. Although this harvester can achieve functions such as soil breaking, clamping and conveying, soil cleaning, vine-throwing, and transporting, manual picking and packing are still required after transporting the ginger pieces to the collecting area, consuming labor and exhibiting low automation and a lack of corresponding collection and packaging functions. Summary of the Invention

[0004] In view of this, the present invention provides an automatic ginger harvester to solve the technical problems of existing ginger harvesters, which still require manual picking and packing after harvesting ginger pieces, which is labor-intensive, has a low degree of automation, and lacks corresponding collection and packing functions.

[0005] The technical solution adopted by this utility model to solve its technical problem is: An automatic ginger harvester includes a frame, a ginger-pulling device, a soil-cleaning device, a cutting device, a packing device, a transport device, and a walking and steering device. The ginger-pulling device is located at the front end of the frame to dig ginger out of the soil. The soil-cleaning device is located below the ginger-pulling device to remove soil adhering to the ginger. The cutting device is located between the soil-cleaning device and the ginger-pulling device, and is close to the end of the ginger-pulling device, to cut and separate the stems and leaves from the ginger tubers. The packing device is located on the upper side of the frame and behind the ginger-pulling device to pack the collection box containing the ginger tubers. The transport device is located below the packing device. The walking and steering device is located at the bottom of the frame to control the movement of the automatic ginger harvester.

[0006] Preferably, the ginger harvesting device includes a clamping assembly, a support wheel, and a digging shovel; one end of the clamping assembly is connected to the upper part of the frame, the other end of the clamping assembly is connected to the support wheel, and the clamping assembly is set at an angle to the walking direction of the automatic ginger harvester on the horizontal plane; the digging shovel is located at the front end of the support wheel.

[0007] Preferably, the clamping assembly includes a clamping chain group, which includes two opposing clamping chains, a drive sprocket, a support frame, and a sprocket drive assembly. One end of the support frame is connected to the upper part of the frame, and the other end of the support frame is connected to the support wheel. The drive sprockets are respectively disposed at the front and rear ends of the support frame, and the clamping chains are sleeved on the drive sprockets. The sprocket drive assembly is connected to the drive sprockets to drive the drive sprockets to rotate, thereby driving the clamping chains to rotate. The distance between the two clamping chains is less than the diameter of the ginger stem to ensure that the clamping chains can clamp the stem tightly.

[0008] Preferably, the soil-cleaning device includes a roller and a roller drive assembly; both ends of the roller are fixed to the front end of the frame by connecting rods, and the roller drive assembly is connected to the rotating shaft of the roller; the roller is provided with a brush so that when the ginger-pulling device pulls the ginger over the roller, the roller drive assembly controls the rotation of the roller to drive the brush to clean the soil on the ginger.

[0009] Preferably, the cutting device includes a cutting assembly; the cutting assembly includes two saw blades arranged opposite each other, each saw blade having a cutting motor underneath to drive it; wherein the two saw blades rotate in different directions, so as to cut the ginger leaves during the relative rotation of the two saw blades.

[0010] Preferably, the packaging device includes a front packaging assembly, a left packaging assembly, a right packaging assembly, and a rear baffle; the front packaging assembly is disposed at the upper end of the frame, and the rear baffle is disposed below the front packaging assembly; the left packaging assembly and the right packaging assembly are both disposed inside the frame, and the left packaging assembly and the right packaging assembly are located below the front packaging assembly; wherein, the left packaging assembly is connected to the left side of the frame, the right packaging assembly is connected to the right side of the frame, and the left packaging assembly and the right packaging assembly are disposed opposite to each other.

[0011] Preferably, the front packing assembly includes a front drive mechanism, a front transmission mechanism, and a striking mechanism; the front drive mechanism is connected to the front transmission mechanism, and the front transmission mechanism is rotatably connected to the striking mechanism, so that under the control of the front drive mechanism, the striking mechanism rotates downward to close the front flap of the collection box.

[0012] Preferably, the front drive mechanism includes a front drive motor, a drive gear, and a driven gear; the front drive motor is disposed on one side of the upper end of the frame, the drive gear is connected to the output shaft of the front drive motor, and the driven gear meshes with the drive gear; the front transmission mechanism includes a transmission wheel, a first transmission rod, a second transmission rod, a first connecting rod, and a second connecting rod; the first transmission rod passes through the shafts of the driven gear and the transmission wheel respectively and is fixed to the frame so that the transmission wheel and the driven gear rotate coaxially; the second transmission rod is connected to the area near the circumference of the transmission wheel, and the first connecting rod is fixedly connected to the second transmission rod; one end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the striking mechanism.

[0013] Preferably, the automatic ginger harvester further includes a fullness detection device, which is disposed between the cutting device and the packing device.

[0014] Preferably, the walking and steering device includes two front wheels, two rear wheels, a front wheel drive mechanism, and a rear wheel drive mechanism; a steering gear is provided on the front wheels, one end of the front wheel drive mechanism is connected to the bottom of the frame, and the other end is connected to the steering gear to control the direction of travel of the automatic ginger harvester; one end of the rear wheel drive mechanism is connected to the bottom of the frame, and the other end of the rear wheel drive mechanism is connected to the rear wheels to control the speed of travel of the automatic ginger harvester.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: When harvesting ginger using the automatic ginger harvester of this invention, the ginger is first dug out of the soil by a ginger-pulling device. As the ginger-pulling device carries the ginger past a soil-cleaning device, the soil is cleaned off the ginger. The ginger-pulling device then continues to move the ginger to a cutting device, where the ginger leaves are removed, and the ginger pieces fall into a collection box below. Once the collection box is full, a transport device first moves the collection box to a packing device, where it is packed. Finally, the transport device transports the packed collection box to a storage area, completing the integrated ginger harvesting process. Thus, the automatic ginger harvester of this application can complete the entire ginger harvesting process, effectively improving the automation level and operational efficiency of ginger harvesting, reducing labor costs, and ensuring the quality of the harvested ginger. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of the automatic ginger harvester of this utility model.

[0017] Figure 2 This is a three-dimensional structural diagram of the automatic ginger harvester of this utility model.

[0018] Figure 3 This is a three-dimensional structural diagram of the automatic ginger harvester of this utility model from another angle.

[0019] Figure 4 This is a schematic diagram of the packaging device of this utility model.

[0020] Figure 5 This is a schematic diagram of the structure of the transportation device and storage plate of this utility model.

[0021] In the diagram: Automatic ginger harvester 10, frame 100, storage plate 110, rear cover plate 120, side cover plate 130, ginger pulling device 200, clamping chain 211, transmission sprocket 212, support frame 213, sprocket drive assembly 214, support wheel 220, digging shovel 230, cylinder 240, soil cleaning device 300, drum 310, drum motor 321, first drum gear 322, second drum gear 323, cutting device 400, saw blade 410, cutting motor 420, baling device 500, front baling assembly 510, striking mechanism 511, front drive motor 512, driving gear 513, driven gear 514, transmission wheel 515, first transmission rod 5 16. Second transmission rod 517, first connecting rod 518, second connecting rod 519, left packaging assembly 520, right packaging assembly 530, rear side baffle 540, transport device 600, transport belt 610, transport wheel 620, transport drive mechanism 630, first transport transmission rod 640, second transport transmission rod 650, walking and steering device 700, front wheel 710, steering gear 711, rear wheel 720, front wheel drive mechanism 730, front wheel drive motor 731, front wheel drive gear 732, rear wheel drive mechanism 740, rear wheel drive motor 741, rear wheel drive driving gear 742, rear wheel drive driven gear 743, power transmission rod 744, and fullness inspection device 800. Detailed Implementation

[0022] The technical solutions and effects of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0023] Please refer to Figure 1 An automatic ginger harvester 10 includes a frame 100, a ginger-pulling device 200, a soil-cleaning device 300, a cutting device 400, a packing device 500, a transport device 600, and a walking and steering device 700. The ginger-pulling device 200 is located at the front end of the frame 100 to dig ginger out of the soil. The soil-cleaning device 300 is located below the ginger-pulling device 200 to clean the soil adhering to the ginger. The cutting device 400 is located between the soil-cleaning device 300 and the ginger-pulling device 200, and is close to the end of the ginger-pulling device 200, to cut and separate the stems and ginger leaves from the ginger tubers. The packing device 500 is located on the upper side of the frame 100 and behind the ginger-pulling device 200, to pack the collection box containing the ginger tubers. The transport device 600 is located below the packing device 500. The walking and steering device 700 is located at the bottom of the frame 100 to control the movement of the automatic ginger harvester 10.

[0024] When harvesting ginger using the automatic ginger harvester 10 of this invention, the ginger is first dug out of the soil by the ginger-pulling device 200. As the ginger-pulling device 200 carries the ginger over the soil-cleaning device 300, the soil is cleaned off the ginger. Then, the ginger-pulling device 200 continues to move the ginger over the cutting device 400, where the ginger leaves are cut off, and the ginger pieces fall into a collection box below the cutting device 400. Once the collection box is full, the transport device 600 transports the collection box to the bottom of the packing device 500, where the packing device 500 packs the collection box. Finally, the transport device 600 transports the packed collection box to the storage area, completing the integrated ginger harvesting process. Thus, the automatic ginger harvester of this application can complete the entire ginger harvesting process, effectively improving the automation level and operational efficiency of ginger harvesting, reducing labor costs, and ensuring the quality of the harvested ginger.

[0025] Further, please see Figure 2 The ginger-harvesting device 200 includes a clamping assembly, a support wheel 220, and a digging shovel 230. One end of the clamping assembly is connected to the upper part of the frame 100, and the other end is connected to the support wheel 220. The clamping assembly is angled to the direction of travel of the automatic ginger harvester on the horizontal plane. The digging shovel 230 is located at the front end of the support wheel 220. Specifically, the digging shovel 230 is mainly used to dig the ginger out of the soil. Through its specific shape and angle design, the digging shovel 230 can penetrate deep into the ginger planting soil layer, loosening and lifting the ginger along with the surrounding soil, thus removing the ginger from its growing position in the soil and creating conditions for subsequent collection and processing. The clamping assembly is responsible for gripping and transporting the dug-out ginger. When the digging shovel 230 extends into the soil, the support wheel 220 contacts the ground first, thereby avoiding direct contact between the clamping assembly and the soil, which would affect the normal operation of the clamping assembly.

[0026] In some embodiments, the digging shovel 230 includes three blades with a certain gap between adjacent blades. The distance of this gap should be less than the width of the ginger piece and greater than the diameter of the ginger stem, so that the ginger stem can enter the gap between the two blades as the digging shovel 230 is inserted, and then enter the clamping assembly.

[0027] Furthermore, please also refer to Figures 1 to 3The clamping assembly includes a clamping chain group, which includes two clamping chains 211 arranged opposite each other, a transmission sprocket 212, a support frame 213, and a sprocket drive assembly 214. One end of the support frame 213 is connected to the upper part of the frame 100, and the other end of the support frame 213 is connected to the support wheel 220. The transmission sprockets 212 are respectively arranged at the front and rear ends of the support frame 213, and the clamping chains 211 are sleeved on the transmission sprockets 212. The sprocket drive assembly 214 is connected to the transmission sprockets 212 so as to drive the transmission sprockets 212 to rotate, thereby driving the clamping chains 211 to rotate. The distance between the two clamping chains 211 is smaller than the diameter of the ginger stem to ensure that the clamping chains 211 can clamp the stem. Specifically, two clamping chains 211 are respectively arranged on the left and right sides of the support frame 213, and sprocket drive assembly 214 and transmission sprocket 212 are arranged on both the left and right sides of the support frame 213. The left sprocket drive assembly 214 is connected to the transmission sprocket 212 at the rear end of the left support frame 213, so that the transmission sprocket 212 is rotated counterclockwise by the left sprocket drive assembly 214, thereby driving the left clamping chain 211 to rotate counterclockwise. The right sprocket drive assembly 214 is connected to the transmission sprocket 212 at the rear end of the right support frame 213, so that the transmission sprocket 212 is rotated clockwise by the right sprocket drive assembly 214, thereby driving the right clamping chain 211 to rotate clockwise. When the ginger stalk enters between the two clamping chains 211, the two clamping chains 211 clamp the ginger stalk and transport the ginger stalk to the end of the ginger-pulling device 200 by relative rotation, thereby gathering the dug-up ginger into a row.

[0028] In some implementations, such as Figure 3 As shown, the clamping assembly includes two sets of clamping chains, enabling simultaneous harvesting of two rows of ginger, thus improving harvesting efficiency. The gap between the two clamping chains 211 is aligned with the gap between the two blades of the digging shovel 230, ensuring that the ginger stem first enters between the two blades as the digging shovel 230 extends, and then between the two clamping chains 211. In some embodiments, the clamping chains 211 are made of flexible material, accommodating ginger stems of varying widths. During clamping, they firmly hold the ginger stems while preventing damage, reducing root breakage caused by mechanical clamping, minimizing ginger loss during harvesting, and improving product quality and commercial value.

[0029] In some implementations, please refer to Figure 3The ginger-pulling device also includes a cylinder 240. One end of the cylinder 240 is fixedly connected to the support frame 213, and the other end is fixedly connected to the front side of the frame 100. The air inlet of the cylinder 240 is connected to an air tank, so that the cylinder 240 can be controlled by the air tank to push the support frame 213 to adjust the angle between the support frame 213 and the front side of the frame 100, thereby controlling the depth of the digging shovel 230 in breaking the soil. Specifically, when the air tank is controlled to fill the cylinder 240 with air, the cylinder 240 pushes the support frame upward, which in turn moves the digging shovel 230 upward, thereby reducing the depth of the digging shovel 230 in the soil; while when the air in the cylinder 240 is reduced, the cylinder 240 pulls the support frame 213 downward, which in turn moves the digging shovel 230 downward, thereby increasing the depth of the digging shovel 230 in the soil. This allows the digging shovel to be adjusted according to different soil textures (such as sandy soil and clay) and the depth of ginger planting, ensuring that the digging work can be completed efficiently and stably under various conditions.

[0030] In some embodiments, a camera is also installed on the front of the frame 100 to identify the environment in which the automatic ginger harvester is located. Specifically, the camera can capture images in front of the automatic ginger harvester in real time. The machine recognizes the images, and when it identifies that the automatic ginger harvester 10 has reached the designated area, it can control the walking and steering device 700 of the automatic ginger harvester 10 to align the body of the automatic ginger harvester 10 with the ginger, and then control the automatic ginger harvester 10 to move forward and dig soil with the digging shovel. Utilizing advanced image recognition, sensor and other technologies, the planting location and growth status of the ginger in the field can be accurately determined. Based on this information, the digging shovel 230 can precisely control the digging depth and range, reducing damage to the ginger, while avoiding excessive digging that would waste soil and consume energy.

[0031] Further, please see Figure 2The soil-cleaning device 300 includes a roller 310 and a roller drive assembly. Both ends of the roller 310 are fixed to the front end of the frame 100 via connecting rods. The roller drive assembly is connected to the rotating shaft of the roller 310. The roller 310 is equipped with brushes. When the ginger-pulling device 200 pulls the ginger over the roller 310, the roller drive assembly controls the rotation of the roller 310, driving the brushes to clean the soil off the ginger. The main body of the roller 310 is made of high-strength material, and its surface is covered with closely spaced brushes made of food-grade wear-resistant material to ensure that the ginger is not contaminated during the brushing process. The roller drive assembly can precisely control the rotation speed and direction of the roller 310 to meet different brushing needs and facilitate subsequent processing. When the clamping chain 211 holds the ginger and transports it above the soil-cleaning device 300, the roller 310 rotates. The bristles on the roller 310 make full contact with the surface of the ginger. Through the mechanical friction of the bristles and the relative motion generated by the rotation of the roller 310, 80%-85% of the dirt adhering to the surface of the ginger can be quickly and effectively removed, preparing for subsequent processing and storage. Unlike traditional cleaning methods, the brushes of the soil-cleaning device in this application are made of relatively soft material and are arranged in a reasonable manner. During the brushing process, it can effectively remove dirt while minimizing damage to the ginger skin, ensuring the integrity of the ginger's appearance and avoiding affecting the quality and shelf life of the ginger due to skin damage. The device can adapt to ginger of different sizes, shapes, and surface dirt conditions by adjusting parameters such as the roller speed and the density of the brushes, achieving soil-cleaning treatment for ginger of various specifications and improving the versatility of the equipment.

[0032] Further, please see Figure 2 The roller drive assembly includes a roller motor 321, a first roller gear 322, and a second roller gear 323. The roller motor 321 is fixedly connected to the frame 100. The first roller gear 322 is connected to the output shaft of the roller motor 321. The second roller gear 323 meshes with the first roller gear 322, and the axis of the second roller gear 323 is fixedly connected to the rotation shaft of the roller 310. When the roller motor 321 is started, it controls the rotation of the first roller gear 322, which drives the second roller gear 323 to rotate, and the second roller gear 323 drives the roller 310 to rotate. The rotation speed of the roller 310 can be adjusted by controlling the rotation speed of the roller motor 321.

[0033] Further, please see Figure 2The cutting device 400 includes a cutting assembly; the cutting assembly includes two saw blades 410 arranged opposite each other, each saw blade having a cutting motor 420 for driving it; wherein the two saw blades 410 rotate in different directions, so that the stems and ginger leaves are cut during the relative rotation of the two saw blades 410. When the clamping chain 211 clamps the ginger and transports it to the end of the ginger-pulling device 200, the ginger continues to move backward due to inertia and enters between the two saw blades 410. The two saw blades 410 rotate relative to each other, cutting the stems and ginger leaves off the ginger rhizomes. At this time, the ginger rhizomes fall downward and fall into the collection box provided below the cutting device 400, while the stems and ginger leaves rest on the crossbar of the frame 100 connected to the cutting device 400 or the ginger-pulling device 200, thereby preventing the stems and ginger leaves from falling into the collection box as well. After ginger harvest, the stems and leaves are precisely separated from the ginger rhizomes, facilitating subsequent storage, transportation, and processing. This also reduces the impact of ginger leaves on rhizome preservation, preventing spoilage due to leaf rot. Furthermore, manually separating ginger leaves is time-consuming and labor-intensive; the mechanized cutting device significantly improves harvesting efficiency, saving considerable manpower and time, making it particularly suitable for large-scale ginger cultivation. It ensures even and stable leaf cutting, avoiding damage to the rhizome's surface and reducing rhizome breakage and rot caused by improper cutting, thus improving the quality and commercial value of the ginger product.

[0034] Furthermore, please also refer to Figure 2 and Figure 4The baling device 500 includes a front baling assembly 510, a left baling assembly 520, a right baling assembly 530, and a rear baffle 540. The front baling assembly 510 is located at the upper end of the frame 100, and the rear baffle 540 is located below the front baling assembly 510. The left baling assembly 520 and the right baling assembly 530 are both located inside the frame 100, and are located below the front baling assembly 510. The left baling assembly 520 is connected to the left side of the frame 100, and the right baling assembly 530 is connected to the right side of the frame 100. The left baling assembly 520 and the right baling assembly 530 are arranged opposite to each other. When the automatic ginger harvester 10 starts working, the collection box is first placed on the crossbar of the frame 100 below the cutting device 400, so that part of the collection box is on the crossbar of the frame 100 and the other part is on the transport device 600. The collection boxes are made of ordinary cardboard, similar to those used in express delivery. When initially packing, the four flaps of the box are vertically aligned with the bottom. During packing, the four flaps are folded along the creases and placed on top of the box, which is then sealed with tape. The inside of the collection box uses soft lining material or a cushioning structure to effectively reduce the impact force between ginger pieces and between the ginger and the box walls. This reduces the occurrence of skin damage and rot, maximizing the protection of the ginger's quality and enhancing its commercial value.

[0035] In this application, after the ginger is cut by the cutting device 400, the ginger rhizomes fall into the collection box. When the collection box is full, the transport device 600 starts operating, moving the collection box backward to directly below the packaging device 500. The transport device 600 then stops, and the packaging device 500 begins packaging. Specifically, during operation, the packaging device 500 first folds the left flap of the collection box to the right along the crease and places it on the box body using the left packaging component 520, and simultaneously folds the right flap of the collection box to the left along the crease and places it on the box body using the right packaging component 530. Then, the front packaging component 510 folds the front flap of the collection box backward along the crease and places it on the box body. Finally, the transport device 600 continues to move the collection box backward. During this movement, the rear flap of the collection box contacts the rear baffle 540. The rear baffle 540 is fixed, so as the collection box continues to move backward, the rear flap of the collection box will be blocked by the rear baffle 540 and fold forward along the crease to cover the box body, thereby realizing the automatic packaging of ginger. The collected ginger is then packaged by the packaging device 500, which facilitates subsequent transportation, storage and sales. Moreover, the packaging process is fast and efficient, and can be closely coordinated with the digging and conveying work of the harvester to form a smooth operation process, which greatly improves the overall efficiency of ginger harvesting and processing.

[0036] Furthermore, the front packing assembly 510 includes a front drive mechanism, a front transmission mechanism, and a striking mechanism 511. The front drive mechanism is connected to the front transmission mechanism, and the front transmission mechanism is rotatably connected to the striking mechanism 511, so that under the control of the front drive mechanism, the striking mechanism 511 rotates downward to close the front flap of the collection box. When the collection box is transported by the transport device 600 to below the packing device 500, the front flap of the collection box is located behind the striking mechanism 511. When the front drive mechanism is activated, the front drive mechanism controls the striking mechanism 511 to rotate downward through the front transmission mechanism. During the downward rotation, the striking mechanism 511 contacts the front flap of the collection box and applies a rearward force to the front flap, causing the front flap to fold backward along the crease and cover the box.

[0037] Further, please see Figure 4 The front drive mechanism includes a front drive motor 512, a drive gear 513, and a driven gear 514. The front drive motor 512 is located on one side of the upper end of the frame 100. The drive gear 513 is connected to the output shaft of the front drive motor 512, and the driven gear 514 meshes with the drive gear 513. The front transmission mechanism includes a transmission wheel 515, a first transmission rod 516, a second transmission rod 517, a first connecting rod 518, and a second connecting rod 519. The first transmission rod 516 passes through the shafts of the driven gear 514 and the transmission wheel 515 and is fixed to the frame so that the transmission wheel 515 and the driven gear 514 rotate coaxially. The second transmission rod 517 is connected to the area near the circumference of the transmission wheel 515, and the first connecting rod 518 is fixedly connected to the second transmission rod 517. One end of the second connecting rod 519 is rotatably connected to the first connecting rod 518, and the other end of the second connecting rod 519 is rotatably connected to the striking mechanism 511. Specifically, when packing the front flap of the collection box, the front drive motor 512 is first started. The output shaft of the front drive motor 512 rotates, driving the drive gear 513 to rotate. The drive gear 513 drives the driven gear 514 to rotate. The driven gear 514 drives the transmission wheel 515 to rotate through the first transmission rod 516. When the transmission wheel 515 rotates, it drives the first connecting rod 518 to rotate through the second transmission rod 517. The first connecting rod 518 drives the second connecting rod 519 to rotate. The second connecting rod 519 drives the striking mechanism 511 to rotate downward. When the striking mechanism 511 rotates downward, it folds the front flap of the collection box backward along the crease to cover the box body. Thus, the front packing is completed through a simple mechanical structure, saving manpower and energy.

[0038] In some embodiments, the left packaging assembly 520 includes a left telescopic rod and a left drive assembly, and the right packaging assembly 530 includes a right telescopic rod and a right drive assembly. When the collection box is transported by the transport device to the bottom of the packaging device, the left and right flaps of the collection box are positioned between the left packaging assembly 520 and the right packaging assembly 530, with the left telescopic rod located at the center of the left flap and the right telescopic rod located at the center of the right flap. At this time, the left drive assembly is activated, controlling the extension of the left telescopic rod. When the left telescopic rod extends, it applies a rightward force to the left flap of the collection box, causing the left flap to fold to the right along the crease and cover the box body. Simultaneously, the right drive assembly is activated, controlling the extension of the right telescopic rod. When the right telescopic rod extends, it applies a leftward force to the right flap of the collection box, causing the right flap to fold to the left along the crease and cover the box body. In some embodiments, the left packaging assembly 520 and the right packaging assembly 530 can also use a combination of slide rail and slider for packaging on both sides. For example, the slider is controlled to move left or right along the slide rail to apply corresponding force to the left and right flaps, so that the left and right flaps are folded over and placed on the box.

[0039] Further, please see Figure 2 The automatic ginger harvester also includes a fullness detection device 800, which is positioned between the cutting device 400 and the packing device 500. Specifically, the fullness detection device 800 used in this invention is an ultrasonic fullness detection device, utilizing the principle of ultrasonic wave reflection to detect whether the collection box is full of ginger. Specifically, the ultrasonic fullness detection device is located behind the cutting device and above the collection box. The ultrasonic fullness detection device sends ultrasonic waves into the collection box in real time and obtains the reflection time of the ultrasonic waves. As the reflection time gradually shortens, it indicates that ginger is gradually falling into the collection box; when the reflection time reaches a preset value, it indicates that the collection box is full of ginger, and the transport device 600 can be started to transport the collection box to the bottom of the packing device 500 for packing.

[0040] Furthermore, please also refer to Figure 1 and Figure 2The walking and steering device 700 includes two front wheels 710, two rear wheels 720, a front wheel drive mechanism 730, and a rear wheel drive mechanism 740. A steering gear 711 is mounted on each front wheel 710. One end of the front wheel drive mechanism 730 is connected to the bottom of the frame 100, and the other end is connected to the steering gear 711 to control the direction of travel of the automatic ginger harvester 10. One end of the rear wheel drive mechanism 740 is connected to the bottom of the frame 100, and the other end is connected to the rear wheel 720 to control the speed of travel of the automatic ginger harvester 10. The two ends of the steering gear 711 are connected to the sides of the front wheels 710. When the steering gear 711 rotates, it drives the front wheels 710 to rotate left or right. Through the coordinated operation of the drive mechanism, steering gear, and wheel structure, power can be converted into forward and backward movements, allowing the equipment to move on different terrains and meet the needs of transferring between different work scenarios such as ginger planting and harvesting, thereby improving the equipment's mobility and operating range. Whether turning in narrow fields or adjusting the route between different planting areas, the walking and steering device can flexibly control the direction of the equipment, ensuring that the equipment can accurately reach the designated work position and improve the accuracy and efficiency of the operation.

[0041] In some implementations, please refer to Figure 2 The front-wheel drive mechanism 730 includes a front-wheel drive motor 731. A front-wheel drive gear 732 is mounted on the output shaft of the front-wheel drive motor 731, and the front-wheel drive gear 732 meshes with a steering gear 711. After the front-wheel drive motor 731 is started, its output shaft rotates, driving the front-wheel drive gear 732 to rotate. The front-wheel drive gear 732 then drives the steering gear 711 to rotate, causing the front wheel 710 to turn left or right, thereby driving the automatic ginger harvester 10 to turn left or right. Specifically, when the front-wheel drive motor 731 rotates forward, the front wheel 710 turns right; when the front-wheel drive motor 731 rotates in reverse, the front wheel 710 turns left. The rotational speed of the front wheel 710 can be adjusted by changing the speed of the front-wheel drive motor 731. The left and right front wheels are each connected to a front-wheel drive mechanism 730. Specifically, the left front-wheel drive motor 731 is fixed to the left front side of the bottom of the frame. The left front-wheel drive motor 731 has a left front-wheel drive gear 732, which meshes with the steering gear 711 of the left front wheel, driving the left front wheel to rotate left and right via the left front-wheel drive motor 731. The connection and control method between the right front wheel and the right front-wheel drive mechanism is the same as that between the left front wheel and the left front-wheel drive mechanism, and will not be described again here. The flexible design of the front-wheel drive mechanism allows the automatic ginger harvester to turn smoothly in special terrains such as narrow field ridges, avoiding collisions.

[0042] In some implementations, please refer to Figure 2 The rear-wheel drive mechanism 740 includes a rear-wheel drive motor 741, a rear-wheel drive driving gear 742, a rear-wheel drive driven gear 743, and a power transmission rod 744. The rear-wheel drive driving gear 742 is mounted on the output shaft of the rear-wheel drive motor 741, and meshes with the rear-wheel drive driven gear 743. The rear-wheel drive driven gear 743 is fixedly connected to the axle of the rear wheel 720 via the power transmission rod 744. When the rear-wheel drive motor 741 is started, its output shaft rotates, causing the rear-wheel drive driving gear 742 to rotate. The rear-wheel drive driving gear 742 then drives the rear-wheel drive driven gear 743 to rotate, which in turn drives the rear wheel 720 to rotate back and forth via the power transmission rod 744, thus moving the automatic ginger harvester 10 back and forth. The left and right rear wheels are each connected to a separate rear-wheel drive mechanism to control their respective rotational speeds, thereby controlling the movement speed of the automatic ginger harvester. The gear transmission structure of the rear-wheel drive mechanism enables efficient power transmission, reduces power loss, and ensures stable power and controllable speed during the operation of the automatic ginger harvester.

[0043] In some implementations, please refer to Figure 5The transport device 600 includes a transport belt 610, transport wheels 620, a transport drive mechanism 630, a first transport transmission rod 640, and a second transport transmission rod 650. Specifically, the transport belt 610 includes two transport belts 610 arranged side by side to increase the contact area between the collection box and the transport belt 610 and improve the stability of the collection box moving on the transport belt 610. The moving direction of each transport belt 610 is consistent with the traveling direction of the automatic ginger harvester 10, and each transport belt 610 is fitted onto two transport wheels 620. One end of the transport drive mechanism 630 is fixed to the frame 100, and the other end is connected to one end of the first transport transmission rod 640. The other end of the first transport transmission rod 640 passes through the axle of the transport wheels 620 on the front side of the two transport belts 610 and is fixed to the frame 100. One end of the second transport transmission rod 650 is fixedly connected to the left end of the frame 100, and the other end passes through the axle of the transport wheels 620 on the rear side of the two transport belts 610 and is fixedly connected to the right end of the frame 100. When the ginger in the collection box is full, the transport drive mechanism 630 is activated. The transport drive mechanism 630 controls the first transport transmission rod 640 to rotate clockwise. The first transport transmission rod 640 drives the transport wheels 620 on the front side of the transport belts 610 to rotate backward. The transport wheels 620 drive the two transport belts 610 to rotate backward. The transport belts 610 move the collection box backward to below the packaging device 500. The transport device 600 can continuously and stably convey ginger, avoiding damage during transport and ensuring its integrity for subsequent storage and sales. Simultaneously, the transport device 600 can cooperate with other functional modules of the harvester, such as digging and cleaning, to form a smooth harvesting operation process, improving overall harvesting efficiency. The transport surface of the transport device 600 is relatively smooth, and its design takes into account the characteristics of ginger, reducing collisions and friction during transport, effectively minimizing damage to the ginger's skin and preserving its commercial value.

[0044] In some embodiments, a storage plate 110 is provided at the rear of the transport device 600, and the collection box is transported to the storage plate 110 by the transport device 600. Further, a rear cover plate 120 is provided at the rear end of the frame 100. The upper part of the rear cover plate 120 is hinged to the frame 100, allowing the rear cover plate 120 to rotate up and down about the frame 100. When the collection box is transported to the storage plate 110, the rear cover plate 120 is rotated upwards to open the rear cover plate 120 and remove the collection box. In some embodiments, side cover plates 130 are provided on both sides of the frame 100. The upper part of the side cover plates 130 is hinged to the frame 100, allowing the side cover plates 130 to rotate up and down about the frame. Once a collection box is full and packed, it is transported to the storage plate 110 via the transport device 600, and finally removed from the rear cover 120. At this point, the side cover 130 can be opened, and the empty collection box can be placed inside the automatic ginger harvester, positioned below the cutting device 400 to collect ginger rhizomes falling from the cutting device 400. During continuous operation of the automatic ginger harvester 10, the collection box can hold a certain amount of ginger, reducing the impact of frequent ginger unloading on operational continuity. This allows the harvester to work continuously in the field for extended periods, saving time and labor costs and increasing the harvest yield per unit time. Furthermore, the collection box also provides some protection for the ginger, preventing it from being directly exposed to the external environment after harvest and suffering from dust, rain, and other contamination and damage. The inside of the collection box uses a soft lining material to cushion collisions between ginger rhizomes and between the ginger and the box body, further protecting the quality of the ginger.

[0045] In some embodiments, the automatic ginger harvester also includes a microcontroller, which is electrically connected to the ginger pulling device 200, the soil clearing device 300, the cutting device 400, the packing device 500, the transport device 600, the walking and steering device 700, and the fullness inspection device 800. Operators only need to perform simple parameter settings and monitoring on the microcontroller to realize the automated operation of each device of the automatic ginger harvester, reducing the difficulty of operation and labor intensity.

[0046] Specifically, a camera on the front of the frame can capture images of the area in front of the automatic ginger harvester in real time. The camera sends the captured images to a microcontroller, which then performs image recognition. When the microcontroller detects that the automatic ginger harvester has reached the designated area, i.e., the ginger planting site, it controls the driving time and speed of the front wheel drive mechanism 730 of the walking steering device 700 to control the harvester's direction of travel, aligning the harvester's body with the ginger. Once the harvester's body is aligned with the ginger, the microcontroller controls the rear wheel drive mechanism 740 of the walking steering device 700 to move the automatic ginger harvester 10 forward. Simultaneously, the digging shovel 230 at the front of the harvester frame begins to loosen the soil. As the soil loosening progresses, the microcontroller controls the clamping chain 211 to grip the ginger stems. After the clamping chain 211 clamps the ginger stem and transports it above the soil-cleaning device 300, the microcontroller controls the rotation of the roller 310 of the soil-cleaning device 300 to clean the soil off the ginger using brushes on the roller 310. Then, the clamping chain 211 continues to clamp the ginger stem and transport it to the end of the ginger-pulling device 200, where the cutting device 400 cuts the stem and ginger leaves off the ginger rhizome. At this point, the ginger rhizome falls into the collection box below.

[0047] During the cutting process of the cutting device 400, the ultrasonic fullness detection device emits ultrasonic waves to the collection box in real time, obtains the reflection time of the ultrasonic waves, and sends the reflection time to the microcontroller. The microcontroller compares the reflection time sent by the ultrasonic fullness detection device with a pre-stored predetermined time. When the sent reflection time matches the predetermined time, it indicates that the collection box is full of ginger. At this time, the microcontroller controls the transport device 600 to start running, so that the transport device 600 moves the collection box to below the packaging device 500. When the collection box moves below the packing device 500, the microcontroller controls the transport device 600 to stop. First, it controls the left and right packing components 520 and 530 of the packing device 500 to fold up the left and right flaps of the collection box along the creases and cover the box. Then, it controls the front packing component 510 to fold the front flap of the collection box backwards to cover the box. Next, the microcontroller controls the transport device 600 to continue operating. As the transport device 600 moves the collection box backwards, the rear flap of the collection box is blocked by the rear baffle 540 of the packing device 500, thus covering the box. Finally, the collection box moves to the storage plate 110 under the transport device 600, where workers can remove the packed collection box. This process is repeated until all the ginger is harvested. This utility model of an automatic ginger harvester integrates multiple key aspects of the ginger harvesting process, including functions such as identifying the location of ginger rows, shoveling soil, gathering and clamping, transportation, soil cleaning, cutting, ultrasonic detection, and packaging. It greatly improves the automation level and production efficiency of ginger harvesting, reduces labor costs, and ensures the quality of the harvested ginger.

[0048] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the utility model.

Claims

1. An automatic ginger harvester, characterized in that, The machine includes a frame, a ginger-pulling device, a soil-cleaning device, a cutting device, a packing device, a transport device, and a walking and steering device. The ginger-pulling device is located at the front end of the frame to dig ginger out of the soil. The soil-cleaning device is located below the ginger-pulling device to remove soil adhering to the ginger. The cutting device is located between the soil-cleaning device and the ginger-pulling device, near the end of the ginger-pulling device, to cut and separate the stems and leaves from the ginger tubers. The packing device is located on the upper side of the frame and behind the ginger-pulling device to pack the collection boxes containing the ginger tubers. The transport device is located below the packing device. The walking and steering device is located at the bottom of the frame to control the movement of the automatic ginger harvester.

2. The automatic ginger harvester according to claim 1, characterized in that, The ginger harvesting device includes a clamping assembly, a support wheel, and a digging shovel; one end of the clamping assembly is connected to the upper part of the frame, the other end of the clamping assembly is connected to the support wheel, and the clamping assembly is set at an angle to the walking direction of the automatic ginger harvester on the horizontal plane; the digging shovel is set at the front end of the support wheel.

3. The automatic ginger harvester according to claim 2, characterized in that, The clamping assembly includes a clamping chain group, which comprises two opposing clamping chains, a drive sprocket, a support frame, and a sprocket drive assembly. One end of the support frame is connected to the upper part of the frame, and the other end is connected to the support wheel. The drive sprockets are respectively disposed at the front and rear ends of the support frame, and the clamping chains are sleeved on the drive sprockets. The sprocket drive assembly is connected to the drive sprockets to drive the drive sprockets to rotate, thereby driving the clamping chains to rotate. The distance between the two clamping chains is less than the diameter of the ginger stem to ensure that the clamping chains can clamp the stem tightly.

4. The automatic ginger harvester according to claim 1, characterized in that, The soil-cleaning device includes a roller and a roller drive assembly; both ends of the roller are fixed to the front end of the frame by connecting rods, and the roller drive assembly is connected to the rotating shaft of the roller; the roller is equipped with a brush so that when the ginger-pulling device pulls the ginger over the roller, the roller drive assembly controls the roller to rotate, thereby driving the brush to clean the soil on the ginger.

5. The automatic ginger harvester according to claim 1, characterized in that, The cutting device includes a cutting assembly; the cutting assembly includes two saw blades arranged opposite each other, each saw blade having a cutting motor underneath to drive it; wherein the two saw blades rotate in different directions, so as to cut the ginger leaves during the relative rotation of the two saw blades.

6. The automatic ginger harvester according to claim 1, characterized in that, The packaging device includes a front packaging assembly, a left packaging assembly, a right packaging assembly, and a rear baffle. The front packaging assembly is disposed at the upper end of the frame, and the rear baffle is disposed below the front packaging assembly. The left packaging assembly and the right packaging assembly are both disposed inside the frame, and the left packaging assembly and the right packaging assembly are located below the front packaging assembly. The left packaging assembly is connected to the left side of the frame, and the right packaging assembly is connected to the right side of the frame. The left packaging assembly and the right packaging assembly are disposed opposite to each other.

7. The automatic ginger harvester according to claim 6, characterized in that, The front packing assembly includes a front drive mechanism, a front transmission mechanism, and a striking mechanism; the front drive mechanism is connected to the front transmission mechanism, and the front transmission mechanism is rotatably connected to the striking mechanism, so that under the control of the front drive mechanism, the striking mechanism rotates downward to close the front flap of the collection box.

8. The automatic ginger harvester according to claim 7, characterized in that, The front drive mechanism includes a front drive motor, a drive gear, and a driven gear. The front drive motor is located on one side of the upper end of the frame. The drive gear is connected to the output shaft of the front drive motor, and the driven gear meshes with the drive gear. The front transmission mechanism includes a transmission wheel, a first transmission rod, a second transmission rod, a first connecting rod, and a second connecting rod. The first transmission rod passes through the shafts of the driven gear and the transmission wheel and is fixed to the frame so that the transmission wheel and the driven gear rotate coaxially. The second transmission rod is connected to the area near the circumference of the transmission wheel, and the first connecting rod is fixedly connected to the second transmission rod. One end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is rotatably connected to the striking mechanism.

9. The automatic ginger harvester according to claim 1, characterized in that, The automatic ginger harvester also includes a fullness detection device, which is located between the cutting device and the packing device.

10. The automatic ginger harvester according to claim 1, characterized in that, The walking and steering device includes two front wheels, two rear wheels, a front wheel drive mechanism, and a rear wheel drive mechanism. A steering gear is provided on the front wheels. One end of the front wheel drive mechanism is connected to the bottom of the frame, and the other end is connected to the steering gear to control the direction of travel of the automatic ginger harvester. One end of the rear wheel drive mechanism is connected to the bottom of the frame, and the other end is connected to the rear wheels to control the speed of travel of the automatic ginger harvester.

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