White radish combine harvester

Abstract

The present invention belongs to the field of agricultural automation devices, and disclosed is a white radish combine harvester, comprising: a frame, the frame having disposed thereon a traveling chassis, a deep-loosening apparatus, a leaf-gathering apparatus, and a variable-stiffness leaf-clamping and -pulling conveying apparatus. The traveling chassis is used to drive the whole machine to move; the deep-loosening apparatus is used for deep-loosening operations; the leaf-gathering apparatus is mounted at a front end of the frame, and comprises a centralizing device and a leaf-gathering grasper assembly disposed at a rear end of the centralizing device, the leaf-gathering grasper assembly comprising a belt leaf-gathering grasper rotating cyclically along a vertical plane, and a driving mechanism driving the belt leaf-gathering grasper to move. During operation, the centralizing device extends horizontally into the bottoms of leaves on both sides of a white radish to be harvested, and lifts the leaves on both sides of the white radish; at the same time, the belt leaf-gathering grasper rotates cyclically from bottom to top, and by means of the cooperative operation of the centralizing device and the leaf-gathering grasper assembly, white radish leaves are gathered into bundles and conveyed to the variable-stiffness leaf-clamping and pulling conveying device. The leaf-gathering effect of the white radish combine harvester is good, and clamping and pulling are less prone to errors.

Description

White radish combine harvester Technical Field

[0001] This invention belongs to the field of agricultural automation equipment, and in particular relates to a radish combine harvester. Background Technology

[0002] White radish is widely cultivated in my country. Although mechanized harvesting has been applied to a certain extent, white radish differs from other root crops in that it is large, with tubers of varying sizes, grows deep into the soil, and mature radishes often have some tubers exposed above ground. The stems and leaves are dense and intertwined, leading to severe lodging. Existing pull-type white radish harvesters with simple top-raising devices can only raise the tops on the parallel side of the forward direction, making it difficult to achieve a good top-gathering effect. Furthermore, during the pulling and transporting process, existing white radish harvesters sometimes cause radishes to fall due to their weight or excessively light or heavy gripping force, resulting in waste. Therefore, current white radish harvesters are not widely applicable to various white radish farms.

[0003] CN118120436A discloses an automated radish harvester, including a vehicle body, a clamping and conveying mechanism, a cutting mechanism, and a crushing mechanism. The vehicle body is equipped with a storage frame and a guide hopper. The clamping and conveying mechanism includes a support frame, a pair of pulley assemblies mounted on the support frame, and a pair of guide rods positioned at the front end of the support frame. The support frame is inclined to the side of the vehicle body with the guide rods facing the ground. The pair of pulley assemblies extend parallel and spaced apart along the length of the support frame. The pair of guide rods are respectively positioned on opposite sides of the support frame to guide the radish petioles to the pair of pulley assemblies. However, this radish harvester has problems with poor tassel-lifting effect and is prone to failure during the clamping process due to improper clamping force. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the background art above, and to provide a white radish combine harvester with good tassel gathering effect and less chance of clamping and pulling errors.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by the present invention is as follows: a white radish combine harvester, comprising: a frame, on which a walking chassis, a deep loosening device, a tassel gathering device, and a variable stiffness tassel clamping and conveying device are provided; the walking chassis is used to drive the whole machine to move, and the deep loosening device is used for deep loosening operations;

[0006] The tassel-gathering device is installed at the front end of the frame and includes a tassel support and a tassel-gathering claw assembly located at the rear end of the tassel support. The tassel-gathering claw assembly includes a belt-driven tassel-gathering claw that rotates cyclically along a vertical plane and a drive mechanism that drives the belt-driven tassel-gathering claw to move. During operation, the tassel support extends horizontally into the bottom of the tassels on both sides of the white radish to be harvested and lifts up the tassels on both sides of the white radish; at the same time, the belt-driven tassel-gathering claw rotates cyclically from bottom to top. The tassel support and the tassel-gathering claw assembly work together to gather the white radish tassels into a bundle and transport it to the variable stiffness tassel-clamping and pulling conveyor.

[0007] In one embodiment, the variable stiffness radish top picking and conveying device includes a clamping conveyor frame and two clamping belts mounted on the clamping conveyor frame for paired use. The two clamping belts move in opposite directions at the same speed and are inclined with the front lower than the rear, for clamping and conveying radish tops during transportation. Each clamping belt has a paired feeding wheel at its inlet end. The two clamping belts are equipped with paired variable stiffness tensioning wheel sets, which are fixed to the clamping conveyor frame. The variable stiffness tensioning wheel sets are connected to a variable stiffness elastic device for adjusting the tension between the variable stiffness tensioning wheel sets to achieve variable stiffness clamping of radish tops.

[0008] In one embodiment, the variable stiffness tensioning wheel assembly includes a fixed tensioning wheel and a movable tensioning wheel used in pairs. The variable stiffness elastic device includes a stiffness adjusting member fixed on the clamping conveyor frame, an elastic member connected to the stiffness adjusting member, and a variable stiffness support rod connected to the elastic member. The variable stiffness support rod is connected to the movable tensioning wheel. The tension force between the movable tensioning wheel and the fixed tensioning wheel is adjusted by adjusting the stiffness adjusting member.

[0009] In one embodiment, the elastic element is a tension spring, the variable stiffness support rod is a double-bar linkage mechanism, one end of the double-bar linkage mechanism is connected to the tension spring, and the other end is connected to the movable tension wheel. The adjusting element includes a matching adjusting nut and a tension spring stiffness adjusting bolt, and the tension spring stiffness adjusting bolt is connected to the tension spring.

[0010] In one embodiment, the variable stiffness tassel-picking and conveying device further includes an auxiliary feeding wheel. The auxiliary feeding wheel is made of flexible material, and its base circle diameter is the same as that of the feeding wheel. It is coaxially arranged with the feeding wheel and moves synchronously. The outer edge of the auxiliary feeding wheel is provided with arc-shaped tassel-picking teeth, which are used to assist in feeding the bundled tassels into the variable stiffness tassel-picking and conveying device.

[0011] In the formula, D f The total deformation includes the deformation of the tassel blade stalk and the deformation of the elastic element, in mm; k0 is the equivalent elastic coefficient of the dynamic tensioning wheel; D is the deformation of the tassel blade stalk; F is the force exerted on the variable stiffness tensioning wheel assembly by the tassel blade stalk, in N.

[0012] The material and dimensions of the elastic element are determined based on the equivalent elastic coefficient k0 of the moving tensioner.

[0013] In one embodiment, the device further includes a tassel-cutting device and a sorting device disposed at the rear end of the variable stiffness tassel-picking and conveying device.

[0014] In one embodiment, the tassel support device and the leaf-gathering claw assembly are in pairs and used together. The bottom of the tassel support device is set horizontally, and the top is set inclined towards the belt-driven leaf-gathering claw, so that the bottom and top form a sharp angle to insert into the bottom of the tassels on both sides of the radish. During operation, the tassel support device moves at the same horizontal forward speed as the chassis, which is 0.3-1.0 m / s. The rotation speed of the leaf-gathering claw assembly is 80-200 rpm. Under the interaction of the tassel support device and the leaf-gathering claw, the radish tassels that are "spreading out in all directions" are lifted up and the tassels are gathered into a bundle by the rotation of the belt-driven leaf-gathering claw.

[0015] In one embodiment, the deep tillage device includes a double-wing plow body deep tillage shovel, which is connected to the frame via a deep tillage shovel arm. The double-wing plow body deep tillage shovel is formed by connecting two single-wing plow body deep tillage shovels. The slope of the latter part of the guide curve formed at the connection of the two single-wing plow bodies is greater than the slope of the former part. The pushing angle of the shovel tip of the double-wing plow body deep tillage shovel is 40-60°.

[0016] In one embodiment, a support arm is provided on the side of the deep tillage shovel arm, and the deep tillage device also includes a deep tillage depth control device, one end of which is hinged to the frame and the other end is hinged between the deep tillage shovel arm and the support arm.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: during the radish harvesting process, the better the tassels are gathered, the more tassels are held during harvesting, the lower the harvest loss rate and damage rate, and the higher the head-cutting qualification rate. The radish combine harvester of this application controls the forward speed of the harvester's tassel-supporting device and coordinates it with the rotation speed of the leaf-gathering claw assembly. By utilizing the coordinated operation of the tassel-supporting device and the leaf-gathering claw assembly, the tassels in their natural state are gathered into a bundle from a "spreading out in all directions" state, which is beneficial for subsequent tassel-clamping, harvesting, and conveying operations. Furthermore, when the radish leaves and stems are subjected to excessive pressure from the clamping mechanism, they are easily damaged, causing juice to leak out and reducing the friction coefficient between the "leaves and clamping belt". If the friction coefficient is too small, it will be difficult to meet the pulling force required for harvesting radishes. Therefore, excessive or insufficient clamping force will directly or indirectly cause pulling failure, resulting in a high mechanical harvesting loss rate of radishes. After gathering the radish leaves, the radish combine harvester of this application uses a variable stiffness clamping and pulling conveying device for clamping and pulling, which can better control the clamping force of the leaves to maintain a moderate state and improve the success rate of radish pulling. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 is a schematic diagram of the overall structure of a white radish combine harvester according to one embodiment;

[0020] Figure 2 is a schematic diagram of the structure of the tassel-gathering device of a white radish combine harvester according to one embodiment;

[0021] Figure 3 is a schematic diagram of the structure of a variable stiffness tassel-pulling and conveying device for a white radish combine harvester according to one embodiment.

[0022] Figure 4 is a schematic diagram of the deep tillage device of a white radish combine harvester according to one embodiment;

[0023] Figure 5 is a schematic diagram of the double-wing plow body deep tillage shovel structure of the deep tillage device of a white radish combine harvester according to one embodiment.

[0024] Figure 6 is a top view of the force analysis of the variable stiffness clamping process in one embodiment;

[0025] Figure 7 is a side view of the force analysis of the variable stiffness clamping process in one embodiment. Detailed Implementation

[0026] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0027] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0028] Unless otherwise specified, all raw materials, reagents, instruments and equipment used in this invention can be purchased from the market or prepared by existing methods.

[0029] Please refer to Figures 1-7. One embodiment of the white radish combine harvester mainly consists of a tassel gathering device 1, a variable stiffness tassel-clamping and conveying device 2, a deep loosening device 3, and a walking chassis 6. In one embodiment, a tassel-cutting device 4 and a sorting device 5 are also connected to the rear end.

[0030] Specifically, the tassel-gathering device 1 is fixed to the front end of the frame and includes a tassel support 1-4 and a tassel-gathering claw assembly 1-2 located at the rear end of the tassel support 1-4. The tassel-gathering claw assembly 1-2 includes a tassel-gathering claw belt 1-3 that rotates vertically and a drive mechanism that drives the belt to rotate the tassel-gathering claw. During operation, the tassel support 1-4 extends horizontally into the bottom of the tassels on both sides of the radish to be harvested, lifting the tassels on the horizontal side in the forward direction; simultaneously, the tassel-gathering claw belt 1-3 rotates vertically from bottom to top. The tassel support 1-4 and the tassel-gathering claw assembly 1-2 work together to gather the radish tassels into a bundle and transport it to the variable stiffness tassel-clamping and conveying device 2. Preferably, the tassel-gathering device 1 is connected to the frame of the radish harvester at an angle of 45-90°. More preferably, the angle of inclination is greater than 60° and less than 90°, allowing the tassel-gathering device to better complete the radish tassel gathering and conveying operations.

[0031] During the harvesting of white radishes, the better the tassels are gathered, the more tassels are held during harvesting, resulting in lower harvest loss and damage rates, and higher head-cutting qualification rates. The white radish combine harvester of this application controls the forward speed of the tassel-gathering device 1's tassel-supporting device 1, in conjunction with the rotational speed of the tassel-gathering claw assembly 1-2. By utilizing the coordinated operation of the tassel-supporting device 1-4 and the tassel-gathering claw assembly 1-2, the naturally dispersed tassels are gathered into bundles, facilitating subsequent tassel-gripping and conveying operations. Furthermore, excessive pressure on the radish tassel stems from the clamping mechanism can easily cause breakage and juice leakage, reducing the friction coefficient between the tassels and the clamping belt. Insufficient pressure makes it difficult to meet the required harvesting force for white radishes. Therefore, both excessive and insufficient clamping force can directly or indirectly cause harvesting failure, leading to a high mechanical harvesting loss rate for white radishes. To address this issue, in this application, after the radish leaves are gathered using the tassel-gathering device 1, they are then combined with the variable stiffness tassel-clamping and conveying device 2 for clamping and conveying. This allows for better control of the clamping force on the tassel leaves, maintaining them at a moderate level and improving the success rate of radish extraction.

[0032] Specifically, in one embodiment, the tassel support 1-4 and the leaf-gathering claw assembly 1-2 are in two pairs, respectively used to gather the tassels on both sides of the radish into a bundle. The bottom of the tassel support 1-4 is horizontally set, and the top is inclined towards the leaf-gathering claw belt 1-3, so that the bottom and top form a sharp angle to insert into the bottom of the tassels on both sides of the radish. Preferably, the side of the tassel support 1-4 is similar to a triangle, using forward momentum to lift the tassels and combine with the belt leaf-gathering claw to gather the tassels into a bundle. Among them, the leaf-gathering claw belt 1-3 consists of a base belt and leaf-gathering fingers. The working principle and structure of the base belt are the same as those of an ordinary belt. The leaf-gathering fingers are made of rubber and are evenly distributed at a certain interval on the outer edge of the base belt. Due to the high elasticity of the rubber material, it can produce a flexible leaf-gathering effect on the tassels.

[0033] Preferably, the horizontal forward speed V of the tassel-supporting devices 1-4 mThe rotational speed V of the blade claw belt 1-3 is 0.3-1.0 m / s. t The speed range is 80-200 rpm. The forward propulsion lifts the tassels, and the belt-driven tassel-gathering claws combine to gather the tassels into a bundle. This speed range is controlled, as is the distance between the tassel lifter 1-4 and the tassel-gathering claw belt 1-3. The two are kept as close as possible so that after the tassel lifter 1-4 lifts the tassels, the tassel-gathering claw belt 1-3 can roll up all the tassels. Working together, they gather the naturally scattered tassels into a bundle, facilitating subsequent tassel-clamping, pulling, and conveying operations.

[0034] Specifically, in one embodiment, the variable stiffness tassel-pulling and conveying device 2 includes a clamping conveyor frame 2-3 and two clamping belts 2-9 mounted on the clamping conveyor frame. The two clamping belts 2-9 are inclined and move in opposite directions at the same speed. The inclined arrangement, with the front lower than the rear, provides a backward and upward force to the radish during clamping and conveying, enabling the radish to be pulled out while being transported. Each clamping belt 2-9 has a feeding wheel 2-8 at its end, and the two feeding wheels 2-8 are symmetrically arranged. Preferably, in one embodiment, it also includes an auxiliary feeding wheel 2-10, which is mounted on the upper and lower surfaces of the feeding wheel 2-8 via flanges, bolts, and nuts. The auxiliary feeding wheel is made of flexible material, and its base circle diameter is the same as that of the feeding wheel. It is coaxially arranged and moves synchronously with the feeding wheel. The outer edge of the auxiliary feeding wheel 2-10 is provided with arc-shaped tassel-pulling teeth to assist in feeding the bundled tassels into the variable stiffness tassel-pulling and conveying device 2. Specifically, the auxiliary feeding tassel-picking wheel 2-10 is made of rubber, and the arc-shaped tassel-picking teeth are evenly arranged on the outer edge. During operation, the feeding wheel 2-8 and the auxiliary feeding wheel 2-10 feed the gathered tassel bundle into the variable stiffness tassel-picking and conveying device 2.

[0035] Two clamping belts 2-9 are equipped with paired variable stiffness tensioning wheel sets, which are fixed to the clamping conveyor frame 2-3. These sets provide clamping force to the two belts 2-9, and the tension is adjusted by a variable stiffness elastic device on the clamping conveyor frame 2-3. This tension is evenly distributed across the two belts 2-9, providing a suitable clamping force to hold the radish tops. During operation, the two identical clamping belts 2-9 move in opposite directions at the same speed. The radish tops are gathered into a bundle by the top-gathering device from a "spreading outwards" state. Simultaneously, under the forward speed of the radish combine harvester, they enter the top-pulling conveyor 2 from the feeding wheel 2-8. The variable stiffness top-pulling conveyor 2 then provides appropriate tension to the tops, while the clamping belts 2-9 are conveyed obliquely backward at a certain angle, pulling the radish fleshy root from the soil and completing the harvest.

[0036] More specifically, the variable stiffness tensioning wheel assembly includes paired fixed tensioning wheels 2-7 and movable tensioning wheels 2-6, with multiple sets of fixed tensioning wheels 2-7 and movable tensioning wheels 2-6. A pair of movable tensioning wheels 2-6, arranged symmetrically with the fixed tensioning wheels 2-7 behind the feed wheel 2-8 (clamping section), provides a large clamping force to the clamping belt 2-9, used to clamp the radish tops and pull out the radish. After the radish is pulled out, it enters the conveying section. Multiple pairs of movable tensioning wheels 2-6 and fixed tensioning wheels 2-7 are staggered in the conveying section, as it is only necessary to prevent the radish from falling off the clamping belt 2-9. The variable stiffness clamping and pulling conveying device 2 mainly relies on the two wheel sets, movable tensioning wheels 2-6 and fixed tensioning wheels 2-7, to provide tension to the clamping belt 2-9. The section where the clamping belt 2-9 contacts the tops evenly transmits the tension to the radish top stem at this point. The variable stiffness elastic device includes a stiffness adjusting component fixed on the clamping conveyor frame, an elastic component connected to the stiffness adjusting component, and a variable stiffness support rod connected to the elastic component. The variable stiffness support rod is connected to a movable tensioning wheel. The tension force between the movable tensioning wheel 2-6 and the fixed tensioning wheel 2-7 is adjusted by adjusting the stiffness adjusting component. Preferably, the variable stiffness elastic device specifically includes a variable stiffness support rod 2-1, a tension spring 2-2, a tension spring stiffness adjusting bolt 2-4, and an adjusting nut 2-5. Preferably, the variable stiffness support rod 2-1 is a double-link mechanism, with one end connected to the tension spring 2-2 and the other end connected to the movable tensioning wheel 2-6. When it is necessary to adjust the tension force, the adjusting nut 2-5 is adjusted. Its interaction with the tension spring stiffness adjusting bolt 2-4 adjusts the tension of the tension spring 2-2, thereby adjusting the tension angle of the variable stiffness support rod 2-1, and finally achieving effective adjustment of the tension force between the movable tensioning wheel 2-6 and the fixed tensioning wheel 2-7.

[0037] By establishing a Burgers rheological model for radish tops, and obtaining the creep parameters of the tops through creep tests, the constitutive equations of the tops and the top-pulling device were derived. The amount of plastic deformation of the tops during clamping was analyzed, and the relationship between the amount of deformation of the tops during the top-pulling process was constructed. The stress conditions during the variable stiffness top-pulling process were analyzed. Combined with the results of field top-pulling force tests, the required torque provided by the elastic element (e.g., tension spring 2-2) of the variable stiffness top-pulling conveying device 2 was determined. In summary, the specific parameters of the tension spring 2-2 in the variable stiffness top-pulling conveying device 2, such as material selection, spring mean diameter, material diameter, and effective number of coils, can be derived.

[0038] Specifically, please refer to Figures 6 and 7. In one embodiment, the relevant parameters of the variable stiffness tassel-pulling and conveying device 2 during the variable stiffness clamping process are as follows: R is the initial diameter of the tassel stalk, mm; l is the tassel conveying distance during the feeding process, mm; δ is the thickness of the tassel stalk after compression, mm; D0 is the floating amount of the moving tension wheel, mm; r is the radius of the moving tension wheel, mm; L is the length of the variable stiffness support rod (the straight-line distance between the two ends), mm; L1 is the projected distance between the axes of the two ends of the variable stiffness support rod in the direction of the frame, mm. θ is the angle between the variable stiffness support rod and the frame, in mm; θ is the floating angle, in °; F N The clamping force is N; F is the force exerted on the variable stiffness tensioner assembly by the tassel petiole, N; F N F represents action and reaction forces. s The resistance to pulling out the white radish is N; F f The force required to pull out the white radish is N.

[0039] The variable stiffness clamping tassel extraction and conveying device 2 satisfies the following relationship during operation:

[0040] The changes in the deformation amount D of the tassel petiole and the floating amount D0 of the dynamic tensioning wheel can be expressed as D=D0=2R-δ (2)

[0041] During operation, the ratio of the squeezing speed v1 of the tassel blade stalk by the variable stiffness tassel-pulling and conveying device 2 to the tassel conveying speed v2 during feeding is expressed as follows:

[0042] During the variable stiffness clamping process, the deformation of the tassel petiole satisfies the following relationship:

[0043] In the formula, D f The total deformation includes the deformation of the tassel blade and the spring, in mm; k0 is the equivalent elastic coefficient of the moving tension wheel, in N / mm.

[0044] The tensile torque M generated by the tension spring 2-2 in the variable stiffness clamping tassel picking and conveying device 2 n for

[0045] In the formula, G is the shear modulus of the tension spring material, which is 79 GPa for common spring materials; d is the diameter of the tension spring, mm; D is the mean diameter of the spring, mm; x is the amount of tension, mm; and n is the effective number of coils of the tension spring.

[0046] The torque generated by the tension spring on the moving tension wheel is M' n =FL1 (6)

[0047] From the above formula, the elastic equivalent coefficient k0 of the movable tensioner can be obtained as:

[0048] Therefore, it can be seen that the elastic equivalent coefficient k0 of the moving tension wheel is closely related to the structural parameters of the tension spring.

[0049] Therefore, the material and size parameters of the tension spring can be determined based on the elastic equivalent coefficient k0 of the moving tension wheel.

[0050] The required clamping force for successfully removing the white radish from its leaves must meet certain conditions.

[0051] In the formula, γ is the safety factor, which is the ratio of the frictional force provided by the tassel clamping mechanism to the resistance of the radish being pulled out; μ is the friction coefficient between the tassel petiole and the clamping belt, which is taken as μ = 1.29 through measurement.

[0052] The resistance F when pulling out the white radish s The pulling resistance is related to factors such as the radish's own weight, soil friction, adhesion between the soil and the fleshy root, adhesion between the root system and the soil, and the pulling angle. Significant differences in pulling resistance exist under different soil types. This study selected radishes grown in sandy soil as the research object and measured the pulling force F in the field. s The range is 52.1–86.5 N. To ensure successful tassel removal, γ > 1 is required; the larger the γ value, the greater the clamping force, which can easily cause squeezing damage to the tassel petiole and is not conducive to stable and continuous operation. Considering all factors, γ = 3 is selected.

[0053] In summary, the practical significance of the variable stiffness tassel-clamping and conveying device in production is that by using variable stiffness tassel clamping, it avoids a series of adverse consequences caused by the decrease in the friction coefficient between the tassel petiole and the clamping belt during continuous tassel-clamping and conveying operations in the radish combine harvester. In one embodiment, based on the force analysis of the tassel during the clamping process, the equivalent elastic coefficient of the moving tension wheel is determined to be 7.6 N / mm to 21.2 N / mm, and the torque provided by the elastic element to the moving tension wheel is 8 to 25 N·m.

[0054] Specifically, in one embodiment, the subsoil device 3 includes a subsoil shovel arm 30 and a double-wing plow body subsoil shovel 31. The double-wing plow body subsoil shovel 31 is connected to the frame via the subsoil shovel arm 30. Specifically, the subsoil shovel arm 30 is connected to the frame via a hinge seat 310. Preferably, the double-wing plow-body deep loosening shovel 31 comprises two seamlessly connected single-wing plow-body deep loosening shovels 311. The width of the two seamlessly connected single-wing plow-body deep loosening shovels is 150-250mm. The double-wing plow-body deep loosening shovel 31 is formed by connecting the two single-wing plow-body deep loosening shovels. The slope of the latter section of the guide curve formed at the connection of the two single-wing plow bodies is greater than the slope of the former section. The soil entry angle of the wedge-shaped plowshare combination deep loosening shovel tip is 40-60°, which is smaller than that of a conventional plowshare plow (the soil pushing angle of the conventional single-wing plowshare plow tip is 35°-40°). The double-wing plow-body deep loosening shovel 31 of this application can provide the white radish with an upward movement along the soil clod while breaking the soil below it. The use of the double-wing plow-body deep loosening shovel 31 improves the soil disturbance of the deep loosening device, reduces the adhesion between the soil and the fleshy roots of the white radish, thereby reducing the pulling force of the white radish, improving the overall operation quality, and reducing the loss (missed pull) rate.

[0055] The design of the double-wing plow-body deep loosening shovel 31 in this application is based on the design reference of the plowshare-type deep loosening shovel in the "Agricultural Machinery Design Manual" and combined with the actual operation of radish harvesting. Its purpose is to reduce the resistance when pulling out radishes to achieve smooth radish extraction. Specifically, in one embodiment, during the radish extraction process, factors such as soil removal and ditching effect do not need to be considered. To reduce deep loosening resistance, the pushing angle of the double-wing plow-body deep loosening shovel 31 tip (i.e., the initial circumference angle) is set to 40-60° (the pushing angle of the single-wing plow-body deep loosening shovel tip is 20-30°); the difference in circumference angle is 7-15°. Under static conditions, the bottom surface of the deep loosening shovel is horizontal with the track contact surface, and the installation angle is 0°. During deep tillage operations, the deep tillage shovel can achieve deep tillage 0-250mm below the ridge surface, with an installation angle variation range of 0-35°. During field / road transport, to ensure the overall machine's passability, it can achieve a wide range of adjustment from 0-550mm above ground. The guide curve and the two clamping belts of the variable stiffness tassel-pulling conveyor are in a spatially coplanar relationship. The guide curve is a smooth curve with a small slope at the beginning and a large slope at the end, which facilitates the deep tillage device to provide an upward thrust to the fleshy root of the radish during harvesting operations, and is conducive to continuous pulling operations.

[0056] In one embodiment, to avoid insufficient structural strength of the deep tillage shovel boom 30 due to the need for direction correction during field operations of the radish combine harvester, a support arm 32 is provided on the side of the deep tillage shovel boom 31.

[0057] The subsoil device 3 also includes a subsoil depth control device 34. One end of the subsoil depth control device 34 is hinged to the frame, and the other end is hinged between the subsoil shovel boom 31 and the support arm 32. The subsoil depth is adjusted by adjusting the subsoil depth control device 34. Specifically, the subsoil depth control device 34 is a hydraulic cylinder, which can achieve efficient and low-resistance subsoil operation from 0 to 25 cm below the ridge.

[0058] During the harvesting of white radishes, the better the tassels are gathered, the more tassels are held during harvesting, resulting in lower harvest loss and damage rates, and higher head-cutting qualification rates. The white radish combine harvester of this application controls the forward speed of the harvester's tassel-supporting device 1-4, in conjunction with the rotational speed of the leaf-gathering claw assembly 1-2. By utilizing the coordinated operation of the tassel-supporting device 1-4 and the leaf-gathering claw assembly 1-2, the naturally spreading tassels are gathered into bundles, facilitating subsequent tassel-gripping and conveying operations. Furthermore, excessive pressure on the radish tassel stems from the clamping mechanism can easily cause breakage and juice leakage, reducing the friction coefficient between the tassels and the clamping belt. Insufficient clamping force will fail to meet the required harvesting force for white radishes. Therefore, both excessive and insufficient clamping force will directly or indirectly cause harvesting failure, leading to a high mechanical harvesting loss rate for white radishes. In this application, after the radish leaves are gathered, they are clamped and conveyed using a variable stiffness radish-clamping and conveying device 2. In this device 2, adjusting the adjusting nut 2-5, in conjunction with the tension spring stiffness adjusting bolt 2-4, adjusts the tension of the tension spring 2-2, thereby adjusting the angle of the variable stiffness support rod 2-1. Finally, this adjusts the tension between the moving tension wheel 2-6 and the fixed tension wheel 2-7. In practical work, adjusting the tension between the moving tension wheel 2-6 and the fixed tension wheel 2-7, based on the specific condition of the radish leaves, can better control the clamping force of the radish leaves, keeping it at a moderate level and improving the success rate of radish harvesting.

Claims

1. A radish combine harvester, characterized in that, include: The machine frame is equipped with a traveling chassis, a deep loosening device, a tassel gathering device, and a variable stiffness tassel clamping and conveying device; the traveling chassis is used to drive the movement of the whole machine, and the deep loosening device is used for deep loosening operations. The tassel gathering device is installed at the front end of the frame and includes a tassel support and a tassel gathering claw assembly located at the rear end of the tassel support. The tassel gathering claw assembly includes a belt-driven tassel gathering claw that rotates cyclically along a vertical plane and a drive mechanism that drives the belt-driven tassel gathering claw to move. During operation, the tassel support extends horizontally into the bottom of the tassels on both sides of the white radish to be harvested and lifts up the tassels on both sides of the white radish; at the same time, the belt-driven tassel gathering claw rotates cyclically from bottom to top. The tassel support and the tassel gathering claw assembly work together to gather the white radish tassels into a bundle and transport it to the variable stiffness tassel clamping and pulling conveyor device. The variable stiffness radish top picking and conveying device includes a clamping conveyor frame and two clamping belts mounted on the clamping conveyor frame for paired use. The two clamping belts move in opposite directions at the same speed and are inclined with the front lower than the rear, for clamping and conveying radish tops during transportation. Each clamping belt has a paired feeding wheel at its inlet end. The two clamping belts are equipped with paired variable stiffness tensioning wheel sets, which are fixed on the clamping conveyor frame. The variable stiffness tensioning wheel sets are connected to a variable stiffness elastic device for adjusting the tension between the variable stiffness tensioning wheel sets to achieve variable stiffness clamping of radish tops. The variable stiffness tensioning wheel assembly includes a fixed tensioning wheel and a movable tensioning wheel used in pairs. The variable stiffness elastic device includes a stiffness adjusting component fixed on the clamping conveyor frame, an elastic component connected to the stiffness adjusting component, and a variable stiffness support rod connected to the elastic component. The variable stiffness support rod is connected to the movable tensioning wheel. The tension force between the movable tensioning wheel and the fixed tensioning wheel can be adjusted by adjusting the stiffness adjusting component. The elastic element is a tension spring, and the variable stiffness support rod is a double-bar linkage mechanism. One end of the double-bar linkage mechanism is connected to the tension spring, and the other end is connected to a movable tension wheel. The adjusting component includes a paired adjusting nut and a tension spring stiffness adjusting bolt, which is connected to the tension spring. During the variable stiffness clamping process, the deformation of the tassel blade stalk and the deformation of the elastic element satisfy the following relationship: In the formula, D f The total deformation includes the deformation of the tassel blade stalk and the deformation of the elastic element, in mm; k0 is the equivalent elastic coefficient of the dynamic tensioning wheel; D is the deformation of the tassel blade stalk; F is the force exerted on the variable stiffness tensioning wheel assembly by the tassel blade stalk, in N. The tensile torque M generated by the tension spring in the variable stiffness clamping conveyor device n for In the formula, G is the shear modulus of the tension spring material, which is taken as 79 GPa; d is the diameter of the tension spring, in mm; R o is the mean diameter of the tension spring, mm; x is the extension amount, mm; n is the effective number of coils of the tension spring; The torque generated by the tension spring on the moving tension wheel is M′ n =FL1 In the formula, L1 is the projected distance between the two ends of the support rod's axis in the direction of the frame; The elastic equivalent coefficient k0 of the movable tensioner can be obtained as follows: D0 is the floating amount of the movable tensioner, in mm; The material and dimensions of the elastic element are determined based on the equivalent elastic coefficient k0 of the moving tensioner.

2. The radish combine harvester according to claim 1, characterized in that, The variable stiffness tassel-picking and conveying device also includes an auxiliary feeding wheel. The auxiliary feeding wheel is made of flexible material. The base circle diameter of the auxiliary feeding wheel is the same as that of the feeding wheel, and it is coaxially arranged and moves synchronously with the feeding wheel. The outer edge of the auxiliary feeding wheel is provided with arc-shaped tassel-picking teeth, which are used to assist in feeding the bundled tassels into the variable stiffness tassel-picking and conveying device.

3. The radish combine harvester according to claim 1, characterized in that, It also includes a tassel-cutting device and a sorting device located at the rear end of the variable stiffness tassel-picking and conveying device.

4. The radish combine harvester according to claim 1, characterized in that, The tassel support and leaf-gathering claw assembly are in pairs and used together. The bottom of the tassel support is set horizontally, and the top is set inclined towards the belt-driven leaf-gathering claw, so that the bottom and top form a sharp angle to insert into the bottom of the tassels on both sides of the radish. During operation, the tassel support and the walking chassis move forward at the same speed of 0.3-1.0 m / s, and the leaf-gathering claw assembly rotates at 80-200 rpm. Under the interaction of the tassel support and the leaf-gathering claw, the radish tassels that are "spreading out in all directions" are lifted up and the tassels are gathered into a bundle by the rotation of the belt-driven leaf-gathering claw.

5. The radish combine harvester according to claim 1, characterized in that, The deep tillage device includes a double-wing plow body deep tillage shovel, which is connected to the frame via a deep tillage shovel arm. The double-wing plow body deep tillage shovel is formed by connecting two single-wing plow body deep tillage shovels. The slope of the latter part of the guide curve formed at the connection of the two single-wing plow bodies is greater than the slope of the former part. The pushing angle of the shovel tip of the double-wing plow body deep tillage shovel is 40-60°.

6. The radish combine harvester according to claim 5, characterized in that, The deep tillage shovel has a support arm on its side. The deep tillage device also includes a deep tillage depth control device. One end of the deep tillage depth control device is hinged to the frame, and the other end is hinged between the deep tillage shovel and the support arm.

Images