Self-propelled lily harvesting device

Abstract

The application discloses a self-propelled lily harvesting device, which comprises a rack, a digging assembly installed at the front end of the rack, a soil separation assembly installed at the middle part of the rack, an input end of the soil separation assembly corresponding to an output end of the digging assembly, a collecting assembly installed at the rear end of the rack, an input end of the collecting assembly corresponding to an output end of the soil separation assembly, a traveling assembly assembled at the bottom of the rack, and a control assembly installed above the rack and connected with the digging assembly, the soil separation assembly and the traveling assembly.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, and in particular to a self-propelled lily harvesting device. Background Technology

[0002] In traditional Chinese culinary culture, lilies are widely consumed for their nourishing and medicinal value. my country has a long history of cultivating edible and medicinal lilies, with product research and development at an internationally leading level. The industry has seen steady growth year by year, forming a vast global lily consumer market. Mechanization of the lily harvesting process is gradually becoming a market necessity.

[0003] Lilies are a root crop, and their harvesting process involves key technologies similar to those for other root crops. However, current lily harvesting is still primarily manual, resulting in high labor intensity and low efficiency, severely hindering the modernization of the lily industry. Furthermore, lily bulbs are quite fragile; harvesting requires digging them out of the soil and then removing adhering soil through methods like beating, which easily damages or destroys the bulbs. Additionally, an excessively long harvesting period can cause lilies to miss their optimal harvest time, thus affecting their quality. Existing general-purpose harvesting machinery is ill-suited to the unique physical characteristics of lily bulbs, resulting in poor applicability in lily harvesting operations. Utility Model Content

[0004] The embodiments of this application provide a self-propelled lily harvesting device to solve the problems of low efficiency and high cost caused by relying on manual labor for lily harvesting, or high damage rate and poor soil adaptability of traditional mechanical harvesting.

[0005] To achieve the above objectives, embodiments of this application provide a self-propelled lily harvesting device, comprising: frame; The excavation assembly is mounted at the front of the rack; The soil separation component is installed in the middle of the frame, and the input end of the soil separation component corresponds to the output end of the digging component; The collection component is installed at the rear of the frame, and the input end of the collection component corresponds to the output end of the soil separation component; The traveling components are mounted on both sides of the bottom of the frame; The control unit is mounted on top of the frame and is connected to the excavation unit, soil separation unit, and travel unit.

[0006] In one embodiment, the rack includes: Two longitudinal beams are positioned opposite each other; the excavation assembly is installed at the front end of the longitudinal beams; the soil separation assembly is installed between the two longitudinal beams; and the collection assembly is installed at the rear end of the longitudinal beams. A crossbeam is positioned between two longitudinal beams and above the soil separation assembly, and the control assembly is mounted on the crossbeam.

[0007] In one embodiment, the mining component includes: A fixed frame is installed at the front end of the two longitudinal beams; The first conveying platform is connected between two fixed frames and corresponds to the input end of the soil separation component; The V-shaped shovel is positioned on the side of the first conveying platform furthest from the soil separation component; The digging shovel angle adjustment unit is connected to the V-shaped shovel and the control components respectively.

[0008] In one embodiment, the V-shaped shovel includes: The ground-breaking section has a wedge-shaped structure. The excavation section is connected at one end to the breaking ground section and at the other end to the first conveying platform.

[0009] In one embodiment, the soil separation component includes: Several separation plates, the separation plates having an L-shaped structure; A conveyor belt and separating plates are installed at equal intervals on the conveyor belt to form a ring-shaped second conveying platform; gaps are left between adjacent separating plates; the input end of the second conveying platform is connected to the output end of the first conveying platform; the second conveying platform is installed at an angle between two longitudinal beams. A vibration-driven double-link mechanism is connected to a conveyor belt. The motor is connected to the vibration-driven double linkage mechanism and the control components.

[0010] In one embodiment, the vibration-driven double-bar mechanism includes: a driving shaft, a driven shaft, a transmission link, and a rocker arm; Both the drive shaft and the driven shaft are connected to the conveyor belt; and both ends of the drive shaft and the driven shaft are respectively mounted on two longitudinal beams. One end of the rocker arm is hinged to the output shaft of the motor, and the other end of the rocker arm is hinged to one end of the transmission link; the other end of the transmission link is rigidly connected to the drive shaft.

[0011] In one embodiment, the collection component includes: The collection box is fixedly connected to two longitudinal beams; the top of the collection box is open; the side of the collection box away from the soil separation component is the unloading gate, which is connected to the two side walls of the collection box through a double-link unloading mechanism; The buffer feeding platform is mounted at an angle above the collection box. The input end of the buffer feeding platform is located below the output end of the separator plate, and the output end of the buffer feeding platform extends to the top of the collection box.

[0012] In one embodiment, the traveling component includes: The traveling support structure is installed at the bottom of the longitudinal beam; The traveling wheels rotate with the bushings of the traveling support structure via bearings. The power transmission shaft is connected to the drive wheels and control components, respectively.

[0013] In one embodiment, the control component includes: Operation panel; Pressure sensor, installed on the excavation section; Humidity sensor, mounted on a fixed frame; A vision sensor is mounted on the side of the crossbeam facing the excavation assembly; The actuator driver module is connected to the excavation component and the travel component driver, respectively; The main control module is installed on the crossbeam and is connected to the operation panel, pressure sensor, humidity sensor, vision sensor, and actuator drive module.

[0014] In one embodiment, the self-propelled lily harvesting device further includes a power module mounted on the longitudinal beam and connected to the control components.

[0015] This application has the following advantages over the prior art: This solution replaces manual multi-stage operations with an integrated workflow, reducing labor costs and minimizing connection losses; the angle of the digging shovel is adjustable, making it suitable for lilies planted at different depths and expanding its applicability.

[0016] The design of the V-shaped shovel, L-shaped separation plate, and buffer feeding platform reduces the hard contact between the bulbs and mechanical parts throughout the entire process from digging to soil separation, thus ensuring the quality of the lilies. The control components use multi-sensor fusion to dynamically adjust the travel speed, digging depth, V-shaped shovel angle, and vibration frequency, thereby improving operational adaptability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an isometric view of the front of the self-propelled lily harvesting device according to an embodiment of this application; Figure 2 This is an isometric view of the rear of the self-propelled lily harvesting device according to an embodiment of this application; Figure 3This is a front view schematic diagram of the self-propelled lily harvesting device according to an embodiment of this application; Figure 4 This is a top view of the self-propelled lily harvesting device according to an embodiment of this application; Figure 5 This is a schematic diagram of the excavation component in the self-propelled lily harvesting device according to an embodiment of this application; Figure 6 This is a schematic diagram of the soil separation component in the self-propelled lily harvesting device according to an embodiment of this application; Figure 7 This is a schematic diagram of the collection component in the self-propelled lily harvesting device according to an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connection, detachable connection, or integral connection; for those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0022] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0023] like Figure 1-4A schematic diagram of the structure of the self-propelled lily harvesting device provided in this application is shown. This self-propelled lily harvesting device can be applied to low-damage lily bulb harvesting, can reduce bulb damage during digging, conveying and soil separation, and can adapt to the operational needs of different soil conditions.

[0024] Reference Figures 1-4 An embodiment of this application provides a self-propelled lily harvesting device, comprising: Rack 1; Excavation component 2 is installed at the front end of frame 1; Soil separation component 4 is installed in the middle of frame 1, and the input end of soil separation component 4 corresponds to the output end of excavation component 2; The collection component 6 is installed at the rear end of the frame 1, and the input end of the collection component 6 corresponds to the output end of the soil separation component 4; The traveling assembly 5 is mounted on both sides of the bottom of the frame 1; Control component 3 is installed on top of frame 1 and is connected to excavation component 2, soil separation component 4, and travel component 5.

[0025] Specifically, frame 1 serves as the support for the entire self-propelled lily harvesting device, employing a stable frame structure adapted for field operations. The digging component 2, soil separating component 4, and collecting component 6 are arranged sequentially from the front to the rear end along the length of frame 1. Frame 1 must ensure the overall structural stability after assembly of all components, meeting the load-bearing requirements for bumpy field operations.

[0026] The digging component 2 is used to excavate the lily bulbs from the soil and transport them to the soil separation component 4. The soil separation component 4 is used to separate the soil from the lily bulbs. The collecting component 6 is used to collect the lily bulbs. The traveling component 5 is used to move the entire harvesting device in the field. The control component 3 is used to control the digging angle and depth of the digging component 2, the vibration frequency of the soil separation component 4 when separating the bulbs from the soil, and the traveling speed of the traveling component 5.

[0027] The self-propelled lily harvesting device provided in this embodiment completes the fully automatic harvesting of lilies through the cooperation of the digging component 2, soil sorting component, collecting component 6, traveling component 5 and control component 3, thereby improving harvesting efficiency.

[0028] In one embodiment, reference continues to be made to Figure 1 Rack 1 includes: Two longitudinal beams 101 are set opposite each other. The excavation component 2 is installed at the front end of the longitudinal beam 101; the soil separation component 4 is installed between the two longitudinal beams 101; and the collection component 6 is installed at the rear end of the longitudinal beam 101. A crossbeam 102 is positioned between two longitudinal beams 101 and above the soil separation assembly 4, and a control assembly 3 is mounted on the crossbeam 102.

[0029] Specifically, a bearing for mounting the traveling component 5 is provided at the bottom of the two longitudinal beams 101, and bolt holes for connecting to the excavation component 2 are provided at the front ends of the two longitudinal beams 101. A crossbeam 102 is provided at the rear ends of the two longitudinal beams 101 to support the soil separation component 4 and the collection component 6.

[0030] A bracket is provided on the crossbeam 102 for mounting the control component 3.

[0031] In one embodiment, such as Figure 1 , Figure 5 As shown, the mining component 2 includes: The fixed frame 201 is installed at the front end of the two longitudinal beams 101; The first conveying platform 202 is connected between two fixed frames 201 and corresponds to the input end of the soil separation component 4; V-shaped shovel 203 is disposed on the side of the first conveying platform 202 away from the soil separation component 4; wherein, the V-shaped shovel 203 includes: a breaking section 2031 and a digging section 2032, the breaking section 2031 having a wedge-shaped structure; one end of the digging section 2032 is connected to the breaking section 2031, and the other end of the digging section 2032 is connected to the first conveying platform 202; The digging shovel angle adjustment unit 204 is connected to the V-shaped shovel 203 and the control component 3 respectively.

[0032] Specifically, the fixed frame 201 can be made of steel and is fixed to the pre-set bolt holes at the front end of the longitudinal beam 101 of the frame 1 by multiple high-strength bolts, providing stable support for the entire excavation assembly 2.

[0033] The breaking section 2031 and the digging section 2032 constitute a V-shaped shovel 203, which is connected to the fixed frame 201 through the digging shovel angle adjustment unit 204. The digging shovel angle adjustment unit 204 adopts a hydraulic system, which can adjust the soil entry angle of the V-shaped shovel 203 according to the instructions of the control component 3. The adjustment range is 15°-45°, and the working pressure of the hydraulic system is 10-16MPa to adapt to different lily planting depths and soil conditions.

[0034] The breaking section 2031 of the V-shaped shovel 203 has a wedge-shaped structure, which is used to insert into the soil and loosen the soil around the lily bulb, reducing the shear force between the bulb and the soil and reducing digging resistance; the digging section 2032 is used to dig the lily bulb; the inner wall of the first conveying platform 202 is smoothed to receive and convey the lily bulb, avoiding hard friction between the shovel body and the bulb, and ensuring that the bulb can be smoothly conveyed to the soil separation component 4.

[0035] In one embodiment, such as Figure 1 , Figure 6 As shown, the soil separation component 4 includes: Several separation plates 401, each having an L-shaped structure; Conveyor belt 402 and separation plates 401 are installed at equal intervals on conveyor belt 402 to form a ring-shaped second conveying platform; gaps are left between adjacent separation plates 401; the input end of the second conveying platform is connected to the output end of the first conveying platform 202; the second conveying platform is installed at an angle between two longitudinal beams 101. Vibration-driven double-link mechanism 403 is connected to conveyor belt 402; Motor 404 is connected to vibration-driven double linkage mechanism 403 and control component 3 respectively.

[0036] The vibration-driven double-link mechanism 403 includes: a drive shaft 4031, a driven shaft 4032, a transmission link 4033, and a rocker arm 4034. Both the drive shaft 4031 and the driven shaft 4032 are connected to the conveyor belt 402; and both ends of the drive shaft 4031 and the driven shaft 4032 are respectively mounted on two longitudinal beams 101. One end of the rocker arm 4034 is hinged to the output shaft of the motor 404, and the other end of the rocker arm 4034 is hinged to one end of the driven connecting rod 4033; the other end of the driving connecting rod 4033 is rigidly connected to the drive shaft 4031.

[0037] Specifically, the soil separation component 4 is located in the middle of the frame 1 and corresponds to the output end of the digging component 2. The soil separation component 4 is used to separate the soil from the lily bulbs.

[0038] The second conveying platform consists of several separating plates 401 and a conveyor belt 402. The separating plates 401 can be fixed to the surface of the conveyor belt 402 with screws. The separating plates 401 are evenly spaced on the conveyor belt for intermittent conveying of lily bulbs, reducing frictional damage between bulbs. A gap is provided between adjacent separating plates 401. This gap cannot be larger than the size of the lily bulb to prevent the lily bulbs after soil separation from falling through the gap, but it cannot be too small either, so that the separated soil cannot fall through. The separating plate 401 has an L-shaped structure, including a conveying plate 4011 and a bulb baffle 4012, and is installed on the conveyor belt 402. The conveying plate 4011 has a smooth surface (surface roughness Ra≤1.6μm) for supporting the bulbs. The bulb baffle 4012 is vertically arranged on one side of the conveying plate 4011 to restrict the position of the bulbs, realize intermittent conveying, and reduce frictional damage between bulbs.

[0039] The input end of the second conveying platform is connected to the output end of the first conveying platform 202, which is inclined to the excavation component 2, and is used to receive the mixture of bulbs and soil from the excavation component 2, and to achieve the initial separation of loose soil through the inclined structure.

[0040] The vibration-driven double-link mechanism 403 consists of a drive shaft 4031, a driven shaft 4032, a transmission link 4033, and a rocker arm 4034. The drive shaft 4031 is fixedly connected to the output shaft of the motor 404 via a coupling. The motor 404 is fixed on the crossbeam 102 of the frame 1 via a bracket and is electrically connected to the control component 3. One end of the transmission link 4033 is hinged to the drive shaft 4031, and the other end is hinged to one end of the rocker arm 4034. The other end of the rocker arm 4034 is hinged to the output shaft of the motor 404. The drive shaft 4031 transmits power to the driven shaft 4032 via a conveyor belt 402. During operation, motor 404 drives the output shaft to rotate under the control of control component 3. This rotation, via transmission link 4033, drives rocker arm 4034 to oscillate reciprocally, causing separation plate 401 to vibrate smoothly. This vibratory screening method ensures thorough soil separation while preventing bulb collision damage from violent vibrations. The motor 404 drives separation plate 401 to vibrate reciprocally with an amplitude of 5-10mm and a frequency of 10-20Hz, ensuring thorough soil separation and preventing bulb collision damage from violent vibrations. Control component 3 adjusts the speed of motor 404 according to the soil's adhesion, thereby changing the vibration frequency of separation plate 401. For dry soil (e.g., soil moisture < 20%), the frequency is increased to 15-20Hz, while for wetter soil (e.g., soil moisture > 40%), it is decreased to 10-15Hz to optimize the separation effect.

[0041] In one embodiment, such as Figure 1 , Figure 7 As shown, collection component 6 includes: The collection box 601 is fixedly connected to two longitudinal beams 101; the collection box 601 has an opening at the top; the side of the collection box 601 away from the soil separation component 4 is the unloading gate 6011, and the unloading gate 6011 is connected to the two side walls of the collection box 601 through the unloading double linkage mechanism 603. The buffer feeding platform 602 is inclinedly mounted above the collection box 601. The input end of the buffer feeding platform 602 is located below the output end of the separator plate 401, and the output end of the buffer feeding platform 602 extends to the top of the collection box 601.

[0042] Specifically, the collection box 601 has a rectangular box structure with an opening at the top. It is fixed to the bracket at the rear end of the frame 1 by bolts. The side wall of the collection box 601 has two symmetrical hinge seats for installing the unloading double linkage mechanism 603.

[0043] The unloading double-link mechanism 603 consists of two links of the same length. One end of each link is hinged to a hinge seat on the side wall of the collection box 601, and the other end is hinged to both sides of the unloading gate 6011 of the collection box 601. The unloading gate 6011 is opened and closed by the coordinated rotation of the two links. The hinge of the unloading double-link mechanism 603 is equipped with a locking structure. When the unloading gate 6011 is closed, the locking structure can stably fix it to prevent accidental opening during operation. When unloading is required, the locking structure can be released to push the unloading gate 6011 open, making it easy to transfer the collected bulbs to the storage container or transport vehicle.

[0044] The buffer feeding platform 602 has a smooth panel structure and is mounted at an angle above the collection box 601 via a bracket. The input end of the buffer feeding platform 602 is located below the output end of the separation plate 401, while the output end of the buffer feeding platform 602 extends above the opening of the collection box 601. The buffer feeding platform 602 adopts an inclined platform, for example, with an inclination angle of 20°±3°. The inclined structure can reduce the falling speed of the bulbs and reduce the impact damage when the bulbs fall into the collection box 601.

[0045] In one embodiment, reference continues to be made to Figure 1 The marching component 5 includes: The traveling support structure 501 is installed at the bottom of the longitudinal beam 101; The traveling wheel 502 is rotatably engaged with the bushing of the traveling support structure 501 via a bearing; The power transmission shaft is connected to the travel wheel 502 and the control component 3 respectively.

[0046] Specifically, the travel support structure 501 is rigidly fixed to the bearing at the bottom of the longitudinal beam 101 of the frame 1 via bolts. The travel wheel 502 rotates with the bushing of the travel support structure 501 via bearings, ensuring the stability of the device during field operations. One end of the power transmission shaft is fixedly connected to the axle of the travel wheel 502 via a coupling, and the other end is connected to the output end of the actuator drive module of the control component 3. According to the control commands output by the control component 3, the rotational speed of the travel wheel 502 can be dynamically adjusted to change the device's travel speed, adapting to the digging rhythm under different soil conditions. For example, the power transmission shaft can be the output shaft of a stepper motor driver.

[0047] During operation, the actuator drive module adjusts the rotation speed of the travel wheel 502 in real time through the power transmission shaft according to the control command issued by the control component 3. When the soil moisture sensor 303 detects heavy soil (e.g., soil moisture > 40%), the rotation speed will be reduced to 0.3-0.6 m / s to reduce digging resistance. When the soil is relatively dry (e.g., soil moisture < 20%), the rotation speed will be appropriately increased to 0.8-1.2 m / s to ensure work efficiency, thereby achieving dynamic adaptation between travel speed and soil conditions.

[0048] In one embodiment, reference continues to be made to Figure 1 , Figure 5 Control component 3 includes: Operation panel 301; Pressure sensor 302 is installed on the excavation section 2031; Humidity sensor 303 is mounted on fixed frame 201; A vision sensor 304 is mounted on the side of the crossbeam 102 facing the excavation assembly 2; The actuator drive module is connected to the excavation component 2 and the travel component drive, respectively; The main control module 305 is installed on the crossbeam 102. The main control module 305 is connected to the operation panel 301, pressure sensor 302, humidity sensor 303, vision sensor 304, and actuator drive module.

[0049] Specifically, the pressure sensor 302 adopts a patch structure and is fixed to the rear of the excavation section 2031 with screws to collect soil resistance data in real time during the excavation process; the soil moisture sensor 303 is installed on the side of the fixed frame 201 with a bracket to collect soil moisture data in the working area. The data collected by both sensors are transmitted to the main control module 305 through cables to provide real-time data for intelligent control.

[0050] A vision sensor 304 is installed on the side of the crossbeam 102 facing the digging component 2. Its field of view completely covers the conveying path from the digging component 2 to the soil separation component 4. Specifically, it is used to identify the growth position of the lily bulbs and the real-time posture of the V-shaped shovel 203, and converts the identification results into digital signals that are transmitted to the main control module 305. Combining the data from the vision sensor 304, the digging depth can be adjusted to improve control accuracy.

[0051] The output of the actuator drive module is connected to the digging shovel angle adjustment unit 204 of the digging assembly 2 and the power transmission shaft of the traveling assembly 5. The actuator drive module includes a stepper motor driver 404 and a hydraulic driver. The stepper driver is connected to the traveling wheel drive (i.e., the power transmission shaft) of the frame 1 and is used to adjust the traveling speed. The hydraulic driver is connected to the digging shovel angle adjustment unit 204 and is used to adjust the soil entry angle and digging depth of the V-shaped shovel 203. When the pressure sensor 302 detects data >300N, the hydraulic driver drives the digging shovel angle to increase by 5°-10°.

[0052] The main control module 305 integrates and processes all data from the pressure sensor 302, soil moisture sensor 303, and vision sensor 304, calculates the optimal operating parameters using a built-in adaptive algorithm, and then sends control commands to the actuator drive module to adjust the soil entry angle, digging depth, and travel speed of the V-shovel 203 and the travel wheel 502. Understandably, the adaptive algorithm built into the main control module 305 for calculating the optimal operating parameters can be implemented with reference to existing technologies. For example, the main control module 305 adjusts the soil entry angle, digging depth, and travel speed based on real-time data, including: Data Acquisition: Real-time data from pressure sensor 302, soil moisture sensor 303, and vision sensor 304 are acquired synchronously; Filtering: The raw sensor data is denoised using a moving average filtering algorithm to improve data reliability; Parameter Calculation: Optimal operating parameters are calculated based on the processed data: when the pressure sensor 302 detects data > 300N, the digging shovel angle is increased by 5°-10°; when soil moisture > 40%, the travel speed is reduced by 0.3-0.6 m / s; when soil moisture < 20%, the travel speed is increased by 0.8-1.2 m / s; The digging depth is adjusted in conjunction with the data from vision sensor 304 to improve control accuracy; Actuator Control: Commands are sent to the hydraulic system and stepper motor driver to dynamically adjust the V-shovel 203 angle, digging depth, and travel speed.

[0053] The main control module 305 is mounted on the crossbeam 102 by a bracket and is located below the operation panel 301. The operation panel 301 is fixed in the middle of the crossbeam 102 by a bracket at a height that is convenient for the operator to observe and operate. The operation panel 301 is equipped with a display screen for displaying operating parameters such as soil moisture, travel speed, and digging depth, as well as function buttons for setting operating parameters.

[0054] In one embodiment, the self-propelled lily harvesting device further includes a power module mounted on the longitudinal beam 101 and connected to the control component 3. The power module is not shown in the figures.

[0055] Specifically, the power module is bolted to the longitudinal beam 101 on the side of the frame 1, providing a stable power supply to all electrical components of the entire device and ensuring continuous operation of the device.

[0056] The self-propelled lily harvesting device provided in this application uses a frame as the core support carrier, integrating a traveling component, a digging component, a control component, a soil separation component, and a collection component. The entire process of digging, low-damage processing, and centralized collection of lily bulbs can be completed without manual disassembly, effectively solving the problems of low efficiency, high cost, high damage rate, and poor soil adaptability associated with existing lily harvesting methods that rely on manual labor. Its digging component adopts a V-shaped shovel structure, including a breaking section and a digging section, and is equipped with pressure and soil moisture sensors, which reduces soil penetration resistance and provides real-time feedback of soil parameters to avoid bulb damage. The control component integrates data from vision sensors, pressure sensors, and soil moisture sensors through a main control module to drive the actuator drive module to dynamically adjust the traveling speed, digging depth, and shovel angle, accurately adapting to different soil conditions. The soil separation component utilizes an L-shaped separation plate and a vibration-driven double-link mechanism to drive gentle vibrations, efficiently separating soil while reducing friction damage between bulbs. The collection component's buffered feeding platform and locking double-link unloading gate further achieve low-damage bulb collection and convenient transfer. Furthermore, the V-shaped shovel has an adjustable angle and a wide range of applications, effectively protecting the edible and medicinal value of lily bulbs and promoting the mechanization and intelligent upgrading of the lily industry.

[0057] The self-propelled lily harvesting device provided in this application is particularly suitable for low-damage lily bulb harvesting. It can reduce bulb damage during digging, conveying and soil separation, while adapting to the operational needs of different soil conditions.

[0058] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A self-propelled lily harvesting device, characterized in that, include: Rack (1); The excavation component (2) is installed at the front end of the frame (1); A soil separation component (4) is installed in the middle of the frame (1), and the input end of the soil separation component (4) corresponds to the output end of the excavation component (2); A collection component (6) is installed at the rear end of the frame (1), and the input end of the collection component (6) corresponds to the output end of the soil separation component (4); The traveling assembly (5) is mounted on both sides of the bottom of the frame (1); The control component (3) is installed above the frame (1) and is connected to the excavation component (2), the soil separation component (4), and the travel component (5).

2. The self-propelled lily harvesting device according to claim 1, characterized in that, The rack (1) includes: Two longitudinal beams (101) are arranged opposite each other. The excavation component (2) is installed at the front end of the longitudinal beam (101); the soil separation component (4) is installed between the two longitudinal beams (101); and the collection component (6) is installed at the rear end of the longitudinal beam (101). A crossbeam (102) is disposed between the two longitudinal beams (101) and above the soil separation assembly (4), and the control assembly (3) is mounted on the crossbeam (102).

3. The self-propelled lily harvesting device according to claim 2, characterized in that, The mining component (2) includes: A fixed frame (201) is installed at the front end of the two longitudinal beams (101); The first conveying platform (202) is connected between the two fixed frames (201) and corresponds to the input end of the soil separation component (4); A V-shaped shovel (203) is disposed on the side of the first conveying platform (202) away from the soil separation component (4); The digging shovel angle adjustment unit (204) is connected to the V-shaped shovel (203) and the control component (3), respectively.

4. The self-propelled lily harvesting device according to claim 3, characterized in that, The V-shaped shovel (203) includes: Breakthrough section (2031), wherein the breakthrough section (2031) is a wedge-shaped structure; The excavation section (2032) is connected at one end to the breaking section (2031) and at the other end to the first conveying platform (202).

5. The self-propelled lily harvesting device according to claim 3, characterized in that, The soil separation component (4) includes: A plurality of separation plates (401), wherein the separation plates (401) are L-shaped; A conveyor belt (402) is provided, and the separation plates (401) are installed at equal intervals on the conveyor belt (402) to form a ring-shaped second conveying platform; a gap is left between adjacent separation plates (401); the input end of the second conveying platform is connected to the output end of the first conveying platform (202); the second conveying platform is installed at an angle between two longitudinal beams (101); A vibration-driven double-link mechanism (403) is connected to the conveyor belt (402); The motor (404) is connected to the vibration-driven double linkage mechanism (403) and the control component (3) respectively.

6. The self-propelled lily harvesting device according to claim 5, characterized in that, The vibration-driven double-bar linkage (403) includes: a drive shaft (4031), a driven shaft (4032), a transmission link (4033), and a rocker arm (4034). Both the drive shaft (4031) and the driven shaft (4032) are connected to the conveyor belt (402); and both ends of the drive shaft (4031) and the driven shaft (4032) are respectively mounted on the two longitudinal beams (101); One end of the rocker arm (4034) is hinged to the output shaft of the motor (404), and the other end of the rocker arm (4034) is hinged to one end of the transmission link (4033); the other end of the transmission link (4033) is rigidly connected to the drive shaft (4031).

7. The self-propelled lily harvesting device according to claim 5, characterized in that, The collection component (6) includes: A collection box (601) is fixedly connected to two longitudinal beams (101); the collection box (601) has an opening at the top; the side of the collection box (601) away from the soil separation component (4) is a discharge gate (6011), and the discharge gate (6011) is connected to the two side walls of the collection box (601) through a discharge double linkage mechanism (603); A buffer feeding platform (602) is obliquely mounted above the collection box (601). The input end of the buffer feeding platform (602) is located below the output end of the separation plate (401), and the output end of the buffer feeding platform (602) extends above the collection box (601).

8. The self-propelled lily harvesting device according to claim 2, characterized in that, The traveling component (5) includes: A traveling support structure (501) is installed at the bottom of the longitudinal beam (101); The traveling wheel (502) is rotatably engaged with the bushing of the traveling support structure (501) via a bearing; The power transmission shaft is connected to the travel wheel (502) and the control component (3) respectively.

9. The self-propelled lily harvesting device according to claim 4, characterized in that, The control component (3) includes: Operation panel (301); A pressure sensor (302) is installed on the breaking section (2031); A humidity sensor (303) is mounted on the fixed frame (201); A vision sensor (304) is mounted on the side of the crossbeam (102) facing the excavation assembly (2); The actuator drive module is connected to the excavation component (2) and the travel component drive respectively; The main control module (305) is installed on the crossbeam (102) and is connected to the operation panel (301), the pressure sensor (302), the humidity sensor (303), the vision sensor (304), and the actuator drive module.

10. The self-propelled lily harvesting device according to claim 2, characterized in that, Also includes: The power module is installed on the longitudinal beam (101) and connected to the control component (3).

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