CN107624332B

CN107624332B - Automatic ginger harvesting and bundling integrated machine

Info

Publication number: CN107624332B
Application number: CN201710918449.XA
Authority: CN
Inventors: 李天华; 常金明
Original assignee: Shandong Agricultural University
Current assignee: Shandong Agricultural University
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2023-01-17
Anticipated expiration: 2037-09-30
Also published as: CN107624332A

Abstract

The invention relates to an automatic ginger harvesting and bundling integrated machine which comprises a rack (1) provided with a driving device, wherein a vibrating frame (15) which is parallel to the bottom surface of the rack (1) and is driven by a rotatable cam mechanism is hinged below the rack (1), and a break shovel (14), a harvesting device and a bundling device are sequentially arranged at the front and the back below the vibrating frame (15). The ginger harvesting machine is reasonable in design, reduces the ginger block crushing rate in the mechanical ginger harvesting process, improves the mechanization degree of ginger harvesting, increases the ginger straw bundling function, and facilitates the ginger farmers to collect and process the straws; the labor intensity is reduced.

Description

Automatic ginger harvesting and bundling integrated machine

Technical Field

The invention relates to the technical field of mechanical automation, in particular to an automatic ginger harvesting and bundling integrated machine.

Background

The ginger has higher edible value and medicinal value and wider application. At present, the harvest mode of the gingers mainly depends on manual harvest and mechanical harvest, and although the manual harvest ensures the completeness of the gingers and reduces the breakage rate, the problems of high labor intensity, low harvest efficiency, time and labor waste and the like exist.

In the prior art, the ginger harvester generally passes through the bottom of the ginger through the scarification knife to loosen the soil, and then manually pulls the ginger out of the soil, so that the automation degree is low, and the whole mechanical development of ginger harvesting is not facilitated; a few harvesting machines are provided with automatic ginger pulling devices, but the ginger are directly pulled out from the bottom, so that the problems of ginger slice cracking, damage, old ginger falling and the like are easily caused, the quality of the ginger is influenced, and soil pollution is easily caused. In addition, the ginger harvester in the prior art harvests the ginger and the stalks together, the stalks still need to be further cut to obtain ginger blocks for harvesting the ginger blocks, the cut stalks are not easy to collect, manual operation is needed for tying the ginger blocks into bundles, the harvesting mode is quite inconvenient, and the harvesting efficiency of the ginger blocks is reduced.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the automatic ginger harvesting and bundling integrated machine which can realize mechanical operation, can automatically harvest ginger and separate ginger blocks from stalks, and the stalks are knotted into bundles through a bundling device, so that the collection is convenient, and the ginger harvesting efficiency is improved.

The invention is realized by the following technical scheme:

the utility model provides an automatic bundling all-in-one of results of ginger, including the frame of installing drive arrangement, frame below articulated parallel and by rotatable cam mechanism driven vibration frame with the frame bottom surface, vibration frame below set gradually break shovel and play and obtain the device around, play and obtain device rear installation bundling device, it includes the bundling frame fixed with the frame, the bundling frame at the fixed collection frame of device rear, the collection frame on connect mobilizable bundling mechanical arm, bundling frame in its one side horizontal direction rigid coupling and the frame direction of advance vertically tie a knot cover, it has the knot mechanical arm of protractile knot cover axle center to tie a knot upper side articulated, the bundling frame be equipped with respectively in one side relative with the knot cover axle center and can tie a knot the mechanical arm that ties a knot around the rotatory rotation arm of cover outer fringe and can follow the knot cover axle center direction and remove, the bundling frame draw the mechanical arm through the guide rail sliding connection in the horizontal direction of perpendicular to tying a knot, the frame in one side relative cutting blade of collecting the cutting of cutting knife frame fixed the mechanical arm of cutting edge, the installation of mechanical arm has two supplementary guide rail orientations between the frame.

Vibration of the vibration frame driven by the rotatable cam mechanism drives the break shovel to enter ginger soil, the ginger is pulled up by the pulling device, the pulled-up ginger falls into the collecting frame in a smooth manner, the tying rope is handed to the tying mechanical arm and surrounds the ginger for a circle by the traction mechanical arm, the tying rope is tied by the aid of the tying mechanical arm, the auxiliary mechanical arm and the rotary mechanical arm, and the tying rope of the tying mechanical arm is tied to realize tying of the ginger.

Furthermore, the harvesting device comprises two harvesting frames which are oppositely arranged, the harvesting frames are hinged with the rack through a fixing rod, a hydraulic rod which is obliquely arranged is hinged between the fixing rod and the rack, a ginger channel is arranged between the harvesting frames, the harvesting frames are respectively and rotatably connected with at least two rotating wheels at two sides of the length direction of the ginger channel, a closed rubber belt is arranged between the rotating wheels, cutters are oppositely arranged at two sides of the bottom surface of the harvesting frames at the tail end of the ginger channel, arc-shaped guide plates are respectively fixed at the rear parts of the harvesting frames, and the guide plates are arranged in parallel, and one ends of the guide plates, far away from the harvesting frames, face towards the same side of the rack.

The ginger clamp excavated by the break shovel can be pulled out of soil by moving the rubber belt on the harvesting frame, and the cutter on the bottom surface of the harvesting frame can cut off the stems and ginger blocks of the pulled ginger, so that the cut stems are led out from the guide plate along the ginger channel to be bundled.

Preferably, the moving speed of the rubber belt in the length direction of the ginger channel is equal to and opposite to the moving speed of the rack.

The moving speed of rubber tape is opposite with the moving speed equidirectional opposite of frame, is favorable to carrying out the centre gripping with the rubber tape to ginger and extracts the ginger from soil and derive from between the deflector along the ginger passageway.

Furthermore, one end of each of the knotting mechanical arm, the fastening mechanical arm, the rotating mechanical arm, the auxiliary mechanical arm and the bundling mechanical arm is provided with an automatic clamp capable of clamping a rope, and the automatic clamps are electrically connected with the controller through control circuits.

The mechanical arm clamps or loosens the bundling rope through the automatic clamp, and the controller controls the work of each automatic clamp through the control circuit, so that the ginger dug out by the digging shovel and the fire-starting device can be bundled.

Furthermore, the automatic clamp comprises a frame body, wherein one side of the frame body is hinged with two clamping arms, and the other side of the frame body is fixed with a motor; the clamping arms are hinged with telescopic pins through connecting plates which are respectively hinged, and the telescopic pins are driven by a motor through gears.

The motor controls the telescopic pin to move, and the connecting plate hinged with the clamping arm is driven to move to realize the clamping action of the clamping arm.

Furthermore, the rotary mechanical arm is vertically fixed with a rotary table in the bundling frame, the rotary table is rotatably connected in the rack through a rotary table limiting plate, and the rotary table is matched with the motor to rotate through a gear on the rotating shaft; the fastening mechanical arm is fixed at the center of the turntable and driven by a motor.

Preferably, the collecting frame is an arc-shaped collecting frame, the arc-shaped outer wall of the arc-shaped collecting frame is provided with a matched arc-shaped sliding rail, and the bundling mechanical arm is arranged on the arc-shaped sliding rail in a sliding manner.

The ginger after the convenient results of arc collection frame falls into wherein accomplishes to beat and beats, beats a bundle arm and cooperates with the arc slide rail, can twine the rope of beating the bundle and ginger, makes things convenient for follow-up work of knoing.

Preferably, the knotting sleeve is fixed on the rack through a connecting frame, the knotting sleeve is an arc-shaped sleeve with an upward opening, the knotting mechanical arm is hinged with the connecting frame through two pairs of parallel rods, and one of the parallel rods can rotate under the driving of a motor fixed on the connecting frame.

The opening of the arc knotting sleeve is upward, so that the knotting mechanical arm can conveniently pull the end part of the knotting rope to enter the axis of the knotting sleeve for knotting, and the knotting mechanical arm can pull the knotting rope from the upper part of the knotting sleeve to enter the knotting sleeve for knotting through the rotating action of the two pairs of parallel rods.

Furthermore, the traction mechanical arm comprises a rotating connecting plate and a base matched with the guide rail, the base is sequentially fixed with a motor capable of driving the base to slide along the guide rail and a motor capable of driving the rotating connecting plate to rotate in the vertical direction from bottom to top, and the end part of the rotating connecting plate is fixed with an automatic clamp parallel to the axis of the knotting sleeve.

Furthermore, the cam mechanism comprises a middle long rod and bulges at two ends, wherein the middle long rod is concentrically matched with the limiting hole in the rack through the bulges at the two ends for limiting and is driven by the driving device to rotate around the central shaft of the limiting hole.

Through cam mechanism's intermediate long pole when rotatory, the effort is applyed to the vibration frame in the arch at both ends is followed rotatoryly for the vibration frame produces the vibration and drives the break shovel work of loosening the soil.

The invention has the beneficial effects that: the ginger harvester has the advantages that the design is reasonable, the existing ginger harvesting equipment is upgraded, the ginger block crushing rate in the mechanical ginger harvesting process is reduced, and the mechanization degree of ginger harvesting is improved; the function of bundling the ginger straws is added, so that ginger farmers can conveniently collect and process the straws; the labor intensity is reduced, and the labor force is greatly liberated.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

FIG. 5 is a schematic structural view of the harvesting apparatus of FIG. 1;

FIG. 6 is a schematic view of the internal structure of the bundling frame of FIG. 1;

FIG. 7 is a schematic view of the auto-clamp of FIG. 6;

fig. 8 is a schematic structural view of the cam mechanism of fig. 1.

Shown in the figure:

1. the device comprises a frame, 2, a binding frame fixing rod, 3, a depth wheel fixing frame, 4, a binding rope placing frame, 5, a mounting rod, 6, a depth wheel, 7, a binding frame, 8, a collecting frame, 9, a binding mechanical arm, 10, a cutter, 11, a pulling frame, 12, a rubber belt, 13, a vibrating screen, 14, a ripper shovel, 15, a vibrating frame, 16, a suspension point, 17, a speed reducer, 18, a hydraulic rod, 19, a guide plate, 20, a rotating wheel, 21, a pulling frame fixing rod, 22, an auxiliary rotating wheel, 23, a ginger channel, 24, an auxiliary mechanical arm mounting plate, 25, a knotting mechanical arm, 26, a parallel rod, 27, a servo motor, 28, a connecting frame, 29, a binding sleeve, 30, a rotating mechanical arm, 31, a traction mechanical arm, 32, a rotating connecting plate, 33, a guide rail, 34, a rotating disc, 35, a fixing frame, 36, a fastening mechanical arm, 37, a rotating disc, a limiting plate 38, an automatic clamp, a cutting knife, 39, 40, an auxiliary mechanical arm, 41, 43, 42, a clamping arm, a clamping pin, a middle clamping arm, a middle clamping pin, a middle clamping arm, a telescopic long rod, 46 and a long rod.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.

An automatic harvesting and bundling integrated machine for gingers comprises a machine frame 1 provided with a driving device, wherein the machine frame 1 can be pulled by the driving device and can also be directly installed into the machine frame 1 with the driving device to drive the machine frame to move.

As a first embodiment, the drive unit is mounted on the frame 1, on both sides of which crawler-type drive wheels are mounted, which are connected to the power take-off of the drive unit. The driving device can be an agricultural tractor, provides power for the crawler-type driving wheel after being adjusted by a gearbox, and the gearbox is provided with a power output shaft. Of course, other types of road wheels can be installed to cooperate with the driving device to realize the movement of the frame, and the detailed description is omitted here.

As a second embodiment, the frame 1 is drawn and moved by a driving device, a suspension point 16 can be arranged at the front end of the frame 1 and is used for being connected with the driving device, depth wheels 6 are mounted on two sides of the frame 1 through a fixing frame 3 and a mounting rod 5 respectively and are used for matching with the movement of the frame 1, preferably, a plurality of mounting holes are formed in the mounting rod 5 and are connected with the frame 1 through bolts, the height between the depth wheels 6 and the ground can be conveniently adjusted, and the movement of the frame 1 is matched.

As shown in fig. 1, the lower part of the frame 1 is hinged with a vibration frame 15 which is parallel to the bottom surface of the frame 1 and is driven by a rotatable cam mechanism, the vibration frame 15 is a rectangular frame, four corners of the upper part are respectively provided with a hinged support which is hinged with four positions on the frame 1 through a hinged shaft, the cam mechanism comprises a middle long rod 45 and bulges 46 at two ends, the middle long rod 45 is concentrically matched with limiting holes on the frame 1 for limiting through the bulges 46 at two ends respectively and is driven by a driving device to rotate around the central shaft of the limiting hole.

The cam mechanism can provide power through a power output shaft of a gearbox of an agricultural tractor of the driving device and make circular motion to enable the break shovel 14 to vibrate, and the cam mechanism limits the position through a limiting hole in the rack.

Vibration frame 15 below set gradually break shovel 14 and play and obtain the device around, specific connected mode does, vibration frame 15 below through with vibration frame 15 fixed play a frame dead lever 21 articulated have break shovel 14, break shovel 14 rear articulate through the dead lever fixed with vibration frame 15 has shale shaker 13, the rear end of break shovel 14 be fixed with the fin that upwards slopes and extend to shale shaker 13 top, the fin on set up a plurality of soil filtration holes for filter earth.

In order to adapt to the use in various places, the height and the depth of the break shovel 14 and the vibrating screen 13 are conveniently adjusted, a first adjusting rod with an adjusting hole is arranged between the vibrating frame 15 and the fixed rod of the harvesting frame through bolt connection, a second adjusting rod with an adjusting hole is arranged between the vibrating frame 15 and the fixed rod through bolt connection, and a telescopic connecting rod is fixed between the same side of the frame 1 on the first adjusting rod and the second adjusting rod.

The depth of the break shovel 14 and the vibrating screen 13 is adjusted by utilizing the bolt fixing of the fixed rod 21 of the harvesting frame and the first adjusting rod as well as the bolt fixing of the fixed rod and the second adjusting rod in the adjusting holes at different positions. And a hydraulic rod which is obliquely arranged is fixed between each second adjusting rod and the vibrating frame 15, and the scarifier 14 and the vibrating screen 13 are driven by the hydraulic rod to enter soil and move to a proper depth step by step.

The harvesting device comprises two harvesting frames which are oppositely arranged, wherein the harvesting frame 11 is hinged with the rack 1 through a fixing rod 21, a hydraulic rod 18 which is obliquely arranged is hinged between the fixing rod 21 and the rack 1, a ginger channel 23 is arranged between the harvesting frames 11, in order to conveniently pack all the shoveled gingers, an opening at the front end of the ginger channel 23 is funnel-shaped, the harvesting frames 11 are respectively connected with three rotating wheels 20 through supports in the two sides of the ginger channel 23 in the length direction, the opening of the ginger channel 23 is respectively provided with an oblique rotating wheel 20 to form a funnel shape with three wheels, the rotating wheels 20 are connected with the rubber belt 12, and in order to ensure the clamping effect of the rubber belt 12, the outer sides of the three rotating wheels 20 are respectively provided with an auxiliary rotating wheel 22 used for tensioning the rubber belt 12. Wherein the rotating wheel 20 is connected with a power output shaft of the agricultural tractor of the driving device, the driving rubber belt 12 is used for pulling the gingers, the cutters 10 are respectively fixed on two sides of the tail end of the ginger channel 23 on the bottom surface of the harvesting frame 11 and used for carrying out stalk separation on the pulled gingers, the harvesting frame 11 is respectively fixed with an arc-shaped guide plate 19 at the rear part of the harvesting frame 11, and the guide plates 19 are arranged in parallel and one ends of the guide plates, which are far away from the harvesting frame 11, face to the same side of the frame 1.

The moving speed of the rubber belt 12 in the length direction of the ginger channel 23 is equal to the moving speed of the rack 1 and opposite to the moving speed.

The bundling device is arranged behind the pulling device and comprises a bundling frame 7 fixed with the rack 1, a collecting frame 8 is fixed behind the pulling device on the bundling frame 7, a movable bundling mechanical arm 9 is slidably connected on the collecting frame 8, a knotting sleeve 29 vertical to the advancing direction of the rack 1 is fixedly connected in one side of the bundling frame 7 in the horizontal direction, a knotting mechanical arm 25 capable of extending into the axis of the knotting sleeve 29 is hinged above the knotting sleeve 29, a rotary mechanical arm 30 capable of rotating around the outer edge of the knotting sleeve 29 by taking the axis of the knotting sleeve 29 as the center of a circle and a tying mechanical arm 36 capable of moving along the axial lead direction of the knotting sleeve 29 are respectively arranged on one side of the bundling frame 7 opposite to the knotting sleeve 29, the bundling frame 7 is slidably connected with the traction mechanical arm 31 through a guide rail 33 in the horizontal direction perpendicular to the tying mechanical arm 36, a cutting knife 39 of the bundling frame 7, which is fixedly arranged between the knotting mechanical arm 39 and the auxiliary mechanical arm 33, faces the knotting mechanical arm 40.

One end of the knotting mechanical arm 25, the tying mechanical arm 36, the rotating mechanical arm 30, the auxiliary mechanical arm 40 and one end of the bundling mechanical arm 9 are all provided with automatic clamps 38 capable of clamping ropes, and the automatic clamps 38 are all electrically connected with a controller through a control circuit.

The automatic clamp 38 comprises a frame body 41, wherein one side of the frame body 41 is hinged with two clamping arms 42, and the other side of the frame body 41 is fixed with a motor; the clamping arms 42 are hinged with telescopic pins 44 through connecting plates 43 which are respectively hinged, and the telescopic pins 44 are driven by a motor through gears.

The rotary mechanical arm 30 is vertically fixed with a rotary table 34 in the bundling frame 7, the rotary table 34 is rotatably connected in the bundling frame 7 through a rotary table limiting plate 37, and the rotary table 19 is matched with a motor to rotate through a gear on a rotating shaft; the tie-down robot 36 holds the center of the turntable 34 and is moved by a motor driven robot gripper 38 to perform the tie-down function.

The collecting frame 8 is an arc-shaped collecting frame, the arc-shaped outer wall of the arc-shaped collecting frame is provided with a matched arc-shaped sliding rail, and the bundling mechanical arm 9 is arranged on the arc-shaped sliding rail in a sliding mode.

The knotting sleeve 29 is fixed on the rack through a connecting frame 28, the knotting sleeve 29 is an arc-shaped sleeve with an upward opening, the knotting mechanical arm 25 is hinged with the connecting frame 28 through two pairs of parallel rods 26, and one parallel rod 26 can rotate under the driving of a motor fixed on the connecting frame 28.

The traction mechanical arm 31 comprises a rotary connecting plate 32 and a base matched with the guide rail, wherein a motor capable of driving the base to slide along the guide rail 33 and a motor capable of driving the rotary connecting plate 32 to rotate in the vertical direction are sequentially fixed on the base from bottom to top, and an automatic clamp 38 parallel to the axial lead of the knotting sleeve 29 is fixed at the end part of the rotary connecting plate 32.

The frame of the pull-type ginger automatic harvesting and bundling integrated machine does not obstruct the movement part and is provided with a protective shell, and the protective shell is not drawn because of showing the internal structure.

The specific implementation process of the invention is described in conjunction with the attached drawings. The method comprises the following steps: loosening the soil in the step 1, harvesting in the step 2, collecting in the step 3, and bundling in the step 4.

First step, the during operation passes through drive arrangement drive frame 1 and moves forward, and drive arrangement carries power to the speed reducer 17 in simultaneously, is the circular motion around spacing hole in the frame by speed reducer 17 output suitable power drive cam mechanism, and the arch 46 of cam mechanism is rotatory to the application of force to vibration frame 15 for vibration frame 15 vibrates and transmits the power for ripping shovel 14 and shale shaker 13 of vibration frame below through the dead lever, and the scarification of automatic results of ginger is realized to ripping shovel 14 and shale shaker 13 under the effect.

And step two, after scarification and excavation, the ginger enters a vibrating screen 13 for soil separation, the rubber belt 12 on the lower rotating wheel moves under the driving of the driving device, and the stems of the ginger enter the ginger channel 23 and are clamped by the rubber belt 12 and lifted above the ground.

Thirdly, the ginger straws move to the cutter 10 along with the rubber belt 12 and are cut by the cutter 10 to realize the separation of ginger blocks and straws, the ginger blocks fall into the bottom surface to be conveniently collected, the cut ginger straws fall into the straw collecting frame 8, the bundling mechanical arm 9 automatically clamps the bundling rope from the traction mechanical arm and pulls the bundling rope to the preset position of the collecting frame 8, and the straws to be cut fall into the bundling rope in the straw collecting frame 8 under the action of the guide plate 19.

Fourthly, after a certain amount of straws are collected in the straw collecting frame 8, the bundling mechanical arm 9 pulls the bundling rope into the bundling frame 7, the bundling mechanical arm 9 drives the automatic clamp 38 to deliver the bundling rope to the pulling mechanical arm 31, the automatic clamp 38 of the pulling mechanical arm 31 clamps the bundling rope to move to the auxiliary mechanical arm 40 on the other side of the guide rail 33, the automatic clamp 38 of the auxiliary mechanical arm 40 clamps the bundling rope to complete the limiting work, the automatic clamp 38 is driven by the rotating connecting plate 32 on the pulling mechanical arm 31 to rotate, the bundling rope pulled out by the bundling rope placing frame 32 is cut off from the cutting knife 39 and is ready to enter the next cycle; the automatic clamp 38 of the rotary mechanical arm 30 moves the two ropes clamped between the two auxiliary mechanical arms 40 clockwise around the knotting sleeve 29 by 450 degrees to the upper part of the knotting sleeve 29; the automatic clamp 38 of the knotting mechanical arm 25 clamps the two ropes above the knotting sleeve 29 and drives the parallel rod 26 to move to the axial position of the knotting sleeve 29; the automatic clamp 38 of the tying mechanical arm 36 clamps the ropes fed by the tying mechanical arm 25 to the axis of the knotting sleeve 29, clamps the two ropes away from the knotting sleeve 29 by the axis of the knotting sleeve 29 to tie the ropes to finish tying, and manually takes out the tied straws.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.

Claims

1. The utility model provides an automatic bale all-in-one of beating of results of ginger, is including installing drive arrangement's frame (1), its characterized in that: frame (1) below articulated parallel and by rotatable cam mechanism driven vibration frame (15) with frame (1) bottom surface, vibration frame (15) below set gradually break shovel (14), draw and obtain device and binding apparatus around, binding apparatus includes the bundle frame (7) fixed with frame (1), bundle frame (7) fixed collection frame (8) in draw and obtain device rear, collection frame (8) on slip joint mobilizable bundling mechanical arm (9), bundle frame (7) in its one side horizontal direction rigid coupling and frame (1) direction of advance vertically knot cover (29), knot cover (29) top articulates there is knot tying mechanical arm (25) that can stretch into knot cover axle center, bundle frame (7) be equipped with respectively in one side relative with knot cover (29) and tie off the cover axle center and can wind rotatory mechanical arm (30) of knot cover outer fringe and can follow cutting knife cover axle direction removal of knot mechanical arm (36) of knot cover, the guide rail of bundling is equipped with knot and is connected in two perpendicular cutting mechanical arm (33) fixed mechanical arm (33) of knot cover (7) and the installation mechanical arm (33) and the relative horizontal direction of knot cover (33) of mechanical arm (33) and the collection frame (7) and the installation mechanical arm (33) have two perpendicular mechanical arm (33) to tie off and connect the mechanical arm (33) and install in the mechanical arm (9) and draw the horizontal direction of tying off the mechanical arm (29) and connect the mechanical arm (33) of one side relative to connect the mechanical arm (29) of tying off the installation in the mechanical arm (7) and connect the installation in the mechanical arm (9) of the mechanical arm (7) of tying off the installation An arm (40).

2. The ginger automatic harvesting bundling all-in-one of claim 1, characterized in that: the harvesting device comprises two harvesting frames (11) which are oppositely arranged, wherein the harvesting frames (11) are hinged to a rack (1) through fixing rods (2), hydraulic rods (18) which are obliquely arranged are hinged between the fixing rods (2) and the rack (1), ginger channels (23) are arranged between the harvesting frames (11), the harvesting frames (11) are respectively connected with at least two rotating wheels (20) in a rotating mode on two sides of the ginger channels (23) in the length direction, closed rubber belts (12) are arranged among the rotating wheels (20), cutters (10) are oppositely arranged on two sides of the bottom surface of each harvesting frame (11) at the tail end of each ginger channel (23), arc-shaped guide plates (19) are respectively fixed on two sides of the rear portion of each harvesting frame (11), and the guide plates (19) are arranged in parallel, and one ends of the guide plates (19) far away from the harvesting frames all face the same side of the rack.

3. The ginger automatic harvesting bundling all-in-one machine according to claim 2, characterized in that: the moving speed of the rubber belt (12) in the length direction of the ginger channel (23) is equal to the moving speed of the rack (1) and opposite to the moving speed.

4. The ginger automatic harvesting bundling all-in-one of claim 1, characterized in that: one end of each of the knotting mechanical arm (25), the tying mechanical arm (36), the rotating mechanical arm (30), the auxiliary mechanical arm (40) and the bundling mechanical arm (9) is provided with an automatic clamp (38) capable of clamping a rope, and the automatic clamps (38) are electrically connected with the controller through control circuits.

5. The ginger automatic harvesting bundling all-in-one machine according to claim 4, characterized in that: the automatic clamp (38) comprises a frame body (41), wherein one side of the frame body (41) is hinged with two clamping arms (42), and the other side of the frame body (41) is fixed with a motor (27); the clamping arms (42) are hinged with telescopic pins (44) through connecting plates (43) which are respectively hinged, and the telescopic pins (44) are driven by a motor (27) through gears.

6. The ginger automatic harvesting bundling all-in-one machine according to claim 1, characterized in that: the rotary mechanical arm (30) is vertically fixed with a rotary table in the bundling frame (7), the rotary table (34) is rotatably connected in the bundling frame (7) through a rotary table limiting plate (37), and the rotary table (34) is matched with the first motor to rotate through a gear on a rotating shaft; the tie-down robot arm (36) passes through the center of the turntable (34) and is driven by a second motor.

7. The ginger automatic harvesting bundling all-in-one of claim 1, characterized in that: the collecting frame (8) is an arc-shaped collecting frame, the arc-shaped outer wall of the arc-shaped collecting frame is provided with matched arc-shaped sliding rails, and the bundling mechanical arm (9) is arranged on the arc-shaped sliding rails in a sliding mode.

8. The ginger automatic harvesting bundling all-in-one machine according to claim 1, characterized in that: the knotting sleeve (29) is fixed on the rack (1) through a connecting frame (28), the knotting sleeve (29) is an arc-shaped sleeve with an upward opening, the knotting mechanical arm (25) is hinged with the connecting frame (28) through two pairs of parallel rods (26), and one parallel rod (26) can rotate under the driving of a motor (27) fixed on the connecting frame (28).

9. The ginger automatic harvesting bundling all-in-one machine according to claim 1, characterized in that: the traction mechanical arm (31) comprises a rotary connecting plate (32) and a base matched with a guide rail (33), the base is sequentially fixed with a motor (27) capable of driving the base to slide along the guide rail (33) and a motor (27) capable of driving the rotary connecting plate (32) to rotate in the vertical direction from bottom to top, and the end part of the rotary connecting plate (32) is fixed with an automatic clamp (38) parallel to the axial lead of a knotting sleeve (29).

10. The ginger automatic harvesting bundling all-in-one of claim 1, characterized in that: the cam mechanism comprises a middle long rod (45) and bulges (46) at two ends, wherein the middle long rod (45) is concentrically matched with the limiting hole in the rack through the bulges (46) at the two ends for limiting and is driven by the driving device to rotate around the central shaft of the limiting hole.