CN109819753B

CN109819753B - Intelligent combine harvester

Info

Publication number: CN109819753B
Application number: CN201910107438.2A
Authority: CN
Inventors: 王振
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-02-13
Filing date: 2019-02-13
Publication date: 2021-08-03
Anticipated expiration: 2039-02-13
Also published as: CN109819753A

Abstract

An intelligent combine harvester comprises an excavating device, a folding impurity removing device, an intelligent cutting device, a subsequent processing device and a power locomotive. The excavating device is arranged at the front end of the power machine and is provided with a slotted wheel disc; the folding impurity removing device is arranged on the power locomotive and is provided with a fan, and the crop stalks are oriented to be consistent through wind power and impurities such as soil and the like are removed; the intelligent cutting device is arranged above the ridge combining and impurity removing device and is provided with an image processing system and a cutting executing mechanism, so that multi-stem tuberous root crops can be accurately cut; the follow-up processing device is arranged on the power locomotive, and the front end of the follow-up processing device is arranged below the rear end of the intelligent cutting device; the power locomotive is an unmanned motor vehicle capable of being remotely and wirelessly controlled. The invention can simultaneously and integrally harvest crops with multiple stalks and massive roots, such as multiple ridges of ginger and the like, the stalks are cut accurately, the harvesting process is controlled remotely, and the labor intensity of people is greatly reduced.

Description

Intelligent combine harvester

Technical Field

The invention relates to the technical field of agricultural harvesting machinery, in particular to a multifunctional intelligent combine harvester.

Background

The shapes of the massive roots of crops such as ginger and the like are different, a plurality of stalks grow on the same massive root, especially the orientations of the stalks are not on the same plane, a plurality of cutting positions are needed during harvesting, and the mechanized operation is difficult. At present, though simple mechanical excavation and straw harvesting can be achieved in the Qingdao university patent CN104641781B, multiple stalks of one crop cannot be automatically and accurately cut, the intelligent level of the harvester is not high, accurate cutting is basically performed manually, the labor intensity is high, and the harvesting cost is high. Therefore, the invention provides an intelligent combine harvester which excavates, folds and removes impurities of crops in multiple ridges and then drives a cutting device to automatically and accurately cut by utilizing a computer vision technology.

Disclosure of Invention

The invention aims to solve the technical problems of the existing multi-stalk tuberous root crop harvesting machine and provide an intelligent combine harvester with complete functions.

In order to achieve the purpose, the invention adopts the following technical method:

an intelligent combine harvester comprising: the device comprises an excavating device, a ridge-combining impurity-removing device, an intelligent cutting device, a subsequent processing device and a power locomotive. The rear end of the digging device is arranged above the outer side of the front end of the ridge combining and impurity removing device; the ridge combining and impurity removing device is arranged on the power locomotive, the ridge combining and impurity removing device is provided with a fan, impurities are removed through wind power, and the directions of crop stalks of multiple ridges are consistent; the intelligent cutting device is arranged above the ridge combining and impurity removing device and is provided with an image processing system and a cutting executing mechanism, so that multi-stem tuberous root crops can be accurately cut; the follow-up processing device is arranged on the power locomotive, and the front end of the follow-up processing device is arranged below the rear end of the intelligent cutting device; the power locomotive is an unmanned motor vehicle, drives the harvester to move, provides direct power for the digging device, the ridge-closing impurity-removing device and the post-processing device, and provides electric energy and compressed air for the intelligent cutting device.

The excavating device comprises an excavating mounting plate, a line spacing adjusting shaft, an excavating driving device and one or more excavating units. The excavating mounting plate is mounted on a front end frame of the power machine; the line spacing adjusting shaft is fixedly arranged on the excavating mounting plate; the digging driving device is arranged on the digging mounting plate, is connected with the ridge combining and impurity removing device and obtains kinetic energy; the one or more digging units are arranged on the row spacing adjusting shaft and can move left and right.

The invention relates to an excavating device, wherein an excavating driving device of the excavating device consists of a bevel gear, an excavating transmission transverse shaft, a belt pulley, a triangular belt and an excavating driving shaft. The digging transmission cross shaft is arranged on the digging mounting plate, one end of the digging transmission cross shaft is connected with the ridge combining impurity removing device through a bevel gear, the transmission direction is changed, and the other end of the digging transmission cross shaft transmits kinetic energy to the digging driving shaft through a belt pulley and a triangular belt; the digging driving shaft is a spline shaft and is arranged on the digging mounting plate.

The invention relates to an excavating device, wherein an excavating unit of the excavating device consists of an excavating rack, a slotted wheel disc, an excavating shovel, a bottom supporting device, a clamping device and an excavating transmission device; the excavating machine frame is arranged on the row spacing adjusting shaft; the outer circle of the slotted wheel disc is in a sawtooth shape, is arranged on the left side and the right side of the front end of the excavating rack and is symmetrically distributed; the digging shovel is arranged at the bottom of the front end of the digging frame, the digging shovel is arranged between the slotted wheel discs, and the front end of the digging shovel is flush with the lowest excircle of the slotted wheel discs; the bottom supporting device is arranged behind the digging shovel at the front end of the digging frame, keeps a certain inclination with the ground level, and supports crops during digging; the clamping device is arranged on the upper side of the excavator frame, the front end of the clamping device is arranged above the bottom supporting device, and the rear end of the clamping device is arranged obliquely above the ridge combining and impurity removing device; the rear end of the excavating transmission device is connected with an excavating driving shaft to provide power for the slotted wheel disc, the bottom supporting device and the clamping device.

The invention relates to an excavating device, wherein an excavating rack of an excavating unit of the excavating device consists of an excavating fixing rack, an excavating main rack, a row spacing adjusting sleeve and an excavating driving shaft sleeve. The row spacing adjusting sleeve is arranged on the row spacing adjusting shaft and fixedly connected with the excavating fixing frame; the excavating driving sleeve is arranged on the excavating fixing rack, the middle of the excavating driving sleeve penetrates through an excavating driving shaft, the excavating driving shaft sleeve is fixedly connected with the excavating main rack, and the excavating main rack rotates around the excavating driving shaft sleeve.

The invention relates to an excavating device, wherein a bottom supporting device of an excavating unit of the excavating device consists of a gear, a bottom supporting driving shaft, a bottom supporting driven shaft and a conveying belt. The gears are arranged at two ends of the supporting bottom driving shaft and obtain kinetic energy from the excavating transmission device; the support driving shaft and the support driven shaft are respectively arranged at proper positions at the front end of the excavating main frame.

The invention relates to an excavating device, wherein a clamping device of an excavating unit of the excavating device consists of a gear mechanism, a belt pulley, a clamping belt and a tension wheel. The gear mechanism is arranged on the excavating main frame and is meshed with the excavating transmission device; the belt pulleys are arranged at the upper end of the main excavating rack, and the four belt pulleys are arranged on one plane; the clamping belt is arranged on the belt pulley and is kept in a clamping and tensioning state through the tensioning wheel; one end of the tension wheel is installed on the excavating main frame, and the other end of the tension wheel is matched with the clamping belt.

The invention relates to an excavating device, wherein an excavating transmission device of an excavating unit of the excavating device consists of a driving belt pulley, a driven belt pulley, a triangular belt, a gear and a transmission shaft. The driving belt pulley is arranged on the excavating driving sleeve, and an inner hole of the driving leather guide is in a spline groove shape and is matched with the excavating driving shaft; kinetic energy is provided for a slotted wheel disc, a bottom supporting device and a clamping device of the excavating unit through a triangular belt, a gear and a transmission shaft.

The distance between the digging units is adjusted through the row spacing adjusting sleeve in the digging device, so that the harvesting device can be suitable for harvesting crops with different row spacings; the damage to massive roots such as ginger can be reduced by utilizing a U-shaped working space formed by the slotted wheel disc, the digging shovel and the bottom supporting device together, and meanwhile, other interplanted crops are protected.

The ridge-combining impurity-removing device comprises: combine clear miscellaneous frame, fan, close ridge guide rail, close ridge trailer, close ridge hoisting device, close clear miscellaneous drive arrangement in ridge. The ridge combining and impurity removing rack is arranged on the power locomotive; the fan is arranged at a proper position in the middle of the ridge-combining impurity-removing rack, and the power input end of the fan is connected with the ridge-combining driving device; the ridge combining guide rail is fixedly arranged at the bottom of the ridge combining impurity removing rack and is distributed around the fan; the ridge combining trailers are arranged on the guide rails, and a plurality of ridge combining trailers are distributed on the guide rails in an end-to-end manner; the ridge combining lifting device is arranged on one side of the ridge combining impurity removing rack, the middle line of the ridge combining lifting device is aligned with the middle line of the ridge combining guide rail, the bottom end of the ridge combining lifting device is arranged at a proper position above the ridge combining trailer, and the upper end of the ridge combining lifting device is arranged at a proper position of the input end of the intelligent cutting device; combine clear miscellaneous drive arrangement of ridge and install on closing clear miscellaneous frame of ridge, close clear miscellaneous drive arrangement of ridge input and power locomotive and link in order to obtain kinetic energy, the output provides kinetic energy for fan, close ridge trailer, excavating gear.

The invention relates to a ridge-combining impurity-removing device, wherein a fan of the ridge-combining impurity-removing device consists of a fan main body and an air duct. The fan main body is provided with air outlets in different directions and blows air to the ridge-closing trailer through an air duct.

The invention relates to a ridge-combining impurity-removing device, wherein a ridge-combining guide rail of the ridge-combining impurity-removing device consists of an S-shaped guide rail, an I-shaped guide rail and a magnet. The S-shaped guide rail is arranged on the I-shaped guide rail, a counter bore is formed in the S-shaped guide rail, and the S-shaped guide rail is bent into different shapes according to the requirement of ridge combination and impurity removal; the I-shaped guide rail is arranged on the ridge-closing impurity-removing rack.

The invention relates to a ridge combining and impurity removing device.A ridge combining trailer comprises a trailer plate, an outer ridge combining fork, an inner ridge combining fork, an opening and closing rack, a pulley, a trailer rack, a magnet, a spring and a pin shaft. The trailer plate is convex at one end and concave at the other end, and can be mutually connected end to end; the externally-combined ridge fork is arranged on the outer side of the trailer plate through a pin shaft and can rotate around the pin shaft, the externally-combined ridge fork is of a hand-shaped structure, and a half gear is arranged at the root of the externally-combined ridge fork; the inner ridge closing fork is arranged on the inner side of the trailer plate through a pin shaft and can rotate around the pin shaft, the inner ridge closing fork is of a hand-shaped structure, and the root of the inner ridge closing fork is provided with a semi-tooth shape; the opening and closing rack is arranged at the bottoms of the inner side and the outer side of the trailer plate and is meshed with the inner ridge closing fork and the outer ridge closing fork root semi-gear, and one end of the opening and closing rack is matched with the side surface of the S-shaped guide rail of the ridge closing guide rail through a pulley; the trailer rack is arranged on the inner side of the trailer plate and is meshed with the ridge-closing impurity-removing driving device to drive the trailer plate to move; the pulley is arranged in an I-shaped guide rail of the ridge-combining guide rail below the trailer plate; the magnet is embedded in the middle of the bottom surface of the trailer plate, and the polarity of the magnet is opposite to that of the magnet on the ridge combining guide rail, so that the moving friction resistance of the ridge combining trailer is reduced; the spring is installed respectively and closes between ridge forked handle and the trailer board, interior ridge forked handle and the trailer board outward, ensures that outer ridge forked handle, interior ridge forked handle of closing open automatically.

The invention can lead the orientation of crop stems and stalks to be consistent by blowing air to the crop stems and leaves through the fan of the folding impurity removing device, the inward folding fork and the outward folding fork prevent the stems from being stacked together, thereby facilitating the subsequent fixation and intelligent cutting, reducing the friction of guide rails through the homopolar repulsion action of magnets on the track to adapt to the influence of impurities such as dust and the like in the environment for harvesting blocky root crops, prolonging the service life, reducing the resistance, facilitating the quick operation of the folding trailer so that at most one blocky root crop with multiple stems exists on each folding trailer, being more flexible than a transmission belt or a transmission chain by adopting the folding trailer, facilitating the orientation overturn of the crop stems and stalks and the cleaning of the impurities and soil, and improving the adaptability of the harvester.

The invention relates to an intelligent cutting device, which comprises: the cutting machine comprises a cutting rack, a cutting supporting plate, a cutting executing device, a computer, an image collector, a cutting fixing device and a cable. The cutting machine frame is arranged on the ridge combining and impurity removing machine frame; the cutting supporting plate is arranged in the middle of the cutting rack and below the cutting executing device; the cutting executing device is arranged at the upper end of the cutting rack and at the middle position of the cutting fixing device; the computer is arranged on the cutting rack below the cutting supporting plate and can process images and drive the cutting executing device to cut; the image collector is arranged at the upper end of the cutting frame and at the middle position of the cutting fixing device; the cutting fixing device is arranged at the upper end of the cutting rack; the cable is connected with the computer, the image collector and the power locomotive as required, and provides electric energy and transmits signals through the cable.

The invention relates to an intelligent cutting device, wherein a cutting execution device of the intelligent cutting device consists of a cutting longitudinal optical axis, a cutting transverse optical axis, a cutting head, a motor and a toothed belt. The cutting longitudinal optical axes are arranged on a base of the cutting machine, and two cutting longitudinal optical axes are symmetrically distributed on two sides of the cutting machine frame; the cutting transverse optical axis is arranged on the cutting longitudinal optical axis and can move along the cutting longitudinal optical axis; the cutting head is mounted on a cutting transverse optical axis. The cutting head comprises a cutting sliding plate, a cylinder, an air valve, a cutting knife, an air pipe, a motor and a cable; the cutting sliding plate is arranged on a cutting transverse optical axis; the air cylinder is arranged on the cutting sliding plate; the cutting knife is arranged on the cylinder; the motor is installed on the cutting slide plate, and the cutting edge direction of the cutting knife can be adjusted according to needs.

The invention relates to an intelligent cutting device, wherein a cutting and fixing device of the intelligent cutting device comprises a lower conveying belt, an upper pressing belt, a lower rolling shaft, an upper rolling shaft, a pressing pulley, a motor, a belt pulley, a main gear, a driven gear, a triangular belt and a cable. The lower rolling shafts are arranged in the middle of the cutting frame, and are respectively arranged in the front and the back; the lower conveying belt is arranged on the lower rolling shaft, and the upper half part of the lower conveying belt is positioned on the cutting supporting plate; the upper rolling shafts are arranged at the upper end of the cutting frame, and are respectively arranged in the front and the back; the upper compression belt is arranged on the upper rolling shaft, and the left side and the right side of the upper compression belt are respectively arranged; one end of the pressing pulley is arranged at a proper position on the cutting rack, and the other end of the pressing pulley enables the upper pressing belt to cling to the lower conveying belt to keep synchronous conveying; the motor is arranged on the cutting machine; the belt pulleys are respectively arranged at one ends of the lower rolling shaft, the upper rolling shaft and the driven gear and are driven by the triangular belt; the main gear is arranged on the inner side of the belt pulley at one end of the lower rolling shaft; the driven gear is arranged on the cutting machine frame and meshed with the main gear to realize synchronous reverse rotation of the lower conveyor belt and the upper conveyor belt.

The invention relates to an intelligent cutting device, wherein an intelligent cutting method comprises the following steps: firstly, a cutting and fixing device relatively fixes the cut crops to ensure that the relative position of the cutting process is unchanged; the second part is that the image collector collects the images of the fixed crops and sends the collected information to the computer; thirdly, the computer processes the image through a certain algorithm, determines the number and the position of the image to be cut, and sends the information of the number and the position of the image to be cut to a cutting executing device; and fourthly, the cutting executing device completes the cutting task.

The invention identifies and processes the appearance of the multi-stem root crops by the image collector, the computer and the like in the intelligent cutting device to form information of cutting positions and cutting quantity, and the cutting execution device carries out accurate cutting, thereby realizing intelligent harvesting effect, reducing labor intensity and improving harvesting efficiency.

The subsequent treatment device comprises a fruit collecting device and a stem leaf crushing device. The fruit collecting device is arranged at the rear end of the ridge-closing impurity-removing rack; the stem leaf crushing device is installed at a proper position at the rear end of the ridge-combining impurity-removing rack. The fruit collecting device comprises a collecting groove and a fruit collecting conveyor belt, and the collecting groove is located below the rear end of the fruit collecting conveyor belt. The stem leaf reducing mechanism includes rubbing crusher and crushing conveyer belt constitution, and the rubbing crusher is located the rear end of smashing the conveyer belt.

The power locomotive is an unmanned motor vehicle and is remotely controlled by a wireless network communication technology.

The invention has the beneficial effects that:

in a word, the intelligent combine harvester can be used for integrally harvesting multiple ridges of crops, particularly multiple-stalk tuberous root crops, the stalks are cut accurately, the harvesting process is controlled remotely, and the labor intensity of people is greatly reduced.

Drawings

Fig. 1 is a general view of an intelligent combine harvester.

Fig. 2 is a front view of the excavating device.

FIG. 3 rear view of the excavating device

Fig. 4 is a top view of the excavation unit.

Fig. 5 is a lower view of the excavating unit.

Fig. 6 is a diagram of a folded impurity removing device.

Fig. 7 is a diagram of a ridge-combining guide rail.

Fig. 8 is a drawing of a ridge-combining trailer.

Fig. 9 is a side view of the smart cutting apparatus.

Fig. 10 is a top view of the intelligent cutting apparatus.

Fig. 11 is a view of a post-processing apparatus.

Wherein: 1, an excavating device, 2 a ridge combining and impurity removing device, 3 an intelligent cutting device, 4 a subsequent processing device and 5 a power locomotive; 1-1 excavating mounting plate, 1-2 line spacing adjusting shafts, 1-3 excavating driving devices, 1-4 one or more excavating units, 1-31 bevel gears, 1-32 excavating transmission transverse shafts, 1-33 belt pulleys, 1-34 triangular belts, 1-35 excavating driving shafts, 1-41 excavating racks, 1-42 slotted wheel discs, 1-43 excavating shovels, 1-44 bottom supporting devices, 1-45 clamping devices, 1-46 excavating transmission devices, 1-411 excavating fixed racks, 1-412 excavating main racks, 1-413 line spacing adjusting sleeves, 1-414 excavating driving shaft sleeves, 1-441 gears, 1-442 bottom supporting driving shafts, 1-443 bottom supporting driven shafts, 1-444 transmission belts, 1-451 gear mechanisms, 1-452 belt pulleys, 1-453 clamping belt, 1-454 tensioning wheel, 1-461 driving pulley, 1-462 driven pulley, 1-463 triangular belt, 1-464 gear and 1-465 transmission shaft; 2-1 ridge-combining impurity-removing machine frame, 2-2 fan, 2-3 ridge-combining guide rail, 2-4 ridge-combining trailer, 2-5 ridge-combining lifting device, 2-6 ridge-combining impurity-removing driving device, 2-21 fan main body and 2-22 air duct, 2-31S-shaped guide rail, 2-32I-shaped guide rail, 2-33 magnet, 2-41 trailer plate, 2-42 outer ridge-combining fork hand, 2-43 inner ridge-combining fork hand, 2-44 opening and closing rack, 2-45 pulley, 2-46 trailer rack, 2-47 magnet, 2-48 spring and 2-49 pin shaft; 3-1 cutting machine frame, 3-2 cutting supporting plate, 3-3 cutting executing device, 3-4 computer, 3-5 image collector, 3-6 cutting fixing device, 3-7 cable, 3-31 cutting longitudinal optical axis, 3-32 cutting transverse optical axis, 3-33 cutting head, 3-34 motor, 3-35 toothed belt, 3-331 cutting sliding plate, 3-332 cylinder, 3-333 air valve, 3-334 cutting knife, 3-335 air pipe, 3-336 motor, 3-337 cable, 3-61 lower conveying belt, 3-62 upper pressing belt, 3-63 lower rolling shaft, 3-64 upper rolling shaft, 3-65 pressing pulley, 3-66 motor, 3-67 belt pulley, 3-68 main gear, 3-69 slave gears, 3-610 triangle belts, 3-611 cables; 4-1 fruit collecting device, 4-2 stem leaf crushing device, 4-11 collecting tank, 4-12 fruit collecting conveyor belt, 4-21 crusher and 4-22 crushing conveyor belt.

Detailed Description

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

As shown in fig. 1, an intelligent combine harvester includes: 1 digging device, 2 ridge-combining impurity-removing device, 3 intelligent cutting device, 4 subsequent processing device and 5 power locomotive. The 1 digging device is arranged at the front end of the 5-power locomotive, and the rear end of the 1 digging device is arranged above the outer side of the front end of the 2-ridge-combining impurity-removing device; the 2-ridge-combining impurity-removing device is arranged on a 5-power locomotive, and is provided with a 2-2 fan, so that crop stalks are oriented to be consistent through wind power, and impurities are removed; the intelligent cutting device 3 is arranged above the ridge combining and impurity removing device 2; the 4 subsequent processing device is arranged on the 5 power locomotive, and the front end of the 4 subsequent processing device is arranged below the rear end of the 3 intelligent cutting device; the 5-power locomotive is a remotely and wirelessly controlled unmanned motor vehicle, drives the harvester to move, provides direct power for the 1 digging device, the 2 ridge-closing impurity-removing device and the 4 post-processing device, and the 5-power locomotive provides electric energy and compressed air for the 3 intelligent cutting devices.

As shown in fig. 2 to 5, the excavating device 1 of the present invention includes a 1-1 excavating mounting plate, a 1-2 line spacing adjusting shaft, a 1-3 excavating driving device, and 1-4 one or more excavating units. The 1-1 excavating mounting plate is arranged on a front end frame of the 5-power locomotive; the 1-2 line spacing adjusting shaft is fixedly arranged on the 1-1 excavating mounting plate; the 1-3 excavating driving device is arranged on the 1-1 excavating mounting plate and is connected with the 2-ridge combining impurity removing device to obtain kinetic energy; and one or more than 1-4 digging units are arranged on the line distance adjusting shaft 1-2 and can move left and right.

The invention relates to a 1-3 excavating device, wherein a 1-3 excavating driving device of the 1-1 excavating device consists of a 1-31 bevel gear, a 1-32 excavating transmission transverse shaft, a 1-33 belt pulley, a 1-34 triangular belt and a 1-35 excavating driving shaft. The 1-32 excavating transmission transverse shaft is arranged on the 1-1 excavating mounting plate, one end of the 1-32 excavating transmission transverse shaft is connected with the 2-ridge impurity removing device through a 1-31 bevel gear to change the transmission direction, and the other end of the 1-3-2 excavating transmission transverse shaft transmits kinetic energy to the 1-35 excavating driving shaft through a 1-33 belt pulley and a 1-34 triangular belt; the 1-3-5 digging driving shaft is a spline shaft and is arranged on the 1-1 digging installation plate.

The invention relates to an excavating device 1.4 excavating units of the excavating device 1 comprise an excavating rack 1-41, a slotted wheel disc 1-42, an excavating shovel 1-43, a bottom supporting device 1-44, a clamping device 1-45 and an excavating transmission device 1-46. The 1-41 excavating machine frame is arranged on a 1-2 row spacing adjusting shaft; the excircle of the 1-42 slotted wheel disc is zigzag, is arranged on the left side and the right side of the front end of the 1-41 excavating rack and is symmetrically distributed; the 1-43 digging shovel is arranged at the bottom of the front end of the 1-41 digging frame, the 1-43 digging shovel is arranged between the 1-42 slotted wheel discs, and the front end of the 1-43 digging shovel is flush with the lowest excircle of the 1-42 slotted wheel discs; the 1-44 bottom supporting device is arranged behind the 1-43 digging shovel at the front end of the 1-41 digging frame, the 1-44 bottom supporting device keeps a certain inclination with the ground level, and supports crops during digging; the 1-45 clamping device is arranged on the upper side of the 1-41 excavator frame, the front end of the 1-45 clamping device is arranged above the 1-44 bottom supporting device, and the rear end of the 1-45 clamping device is arranged obliquely above the 2-ridge combining impurity removing device; the rear end of the 1-46 excavating transmission device is connected with a 1-35 excavating driving shaft and provides power for a 1-42 slotted wheel disc, a 1-44 bottom supporting device and a 1-45 clamping device.

The invention relates to a 1-41 excavating machine frame of a 1-4 excavating unit of an excavating device, which consists of a 1-411 excavating fixing machine frame, a 1-412 excavating main machine frame, a 1-413 row spacing adjusting sleeve and a 1-414 excavating driving shaft sleeve. The 1-413 row spacing adjusting sleeve is arranged on the 1-2 row spacing adjusting shaft and is fixedly connected with the 1-411 excavating fixing frame; the 1-414 excavating driving sleeve is arranged on the 1-411 excavating fixing frame, the 1-414 excavating driving sleeve penetrates through the 1-35 excavating driving shaft, and the 1-414 excavating driving shaft sleeve is fixedly connected with the 1-412 excavating main frame so that the 1-412 excavating main frame can rotate around the 1-414 excavating driving shaft sleeve.

The 1-44-support device of the 1-4 excavating unit of the 1-1 excavating device consists of a 1-441 gear, a 1-442-support driving shaft, a 1-443-support driven shaft and a 1-444 transmission belt. The 1-441 gears are arranged at two ends of a 1-442-bracket driving shaft and obtain kinetic energy from a 1-46 digging transmission device; the 1-442 support driving shaft 1-443 support driven shaft is respectively arranged at the proper position of the front end of the 1-412 excavating main frame.

The invention relates to a 1-45 clamping device of a 1-4 digging unit of the 1-1 digging device, which consists of a 1-451 gear mechanism, a 1-452 belt pulley, a 1-453 clamping belt and a 1-454 tension wheel. The 1-451 gear mechanism is arranged on the 1-412 excavating main frame and is meshed with the 1-46 excavating transmission device; the 1-452 pulley is arranged at the upper end of the 1-412 excavating main frame, and four 1-452 pulleys are arranged on one plane; the 1-453 clamping belt is arranged on the 1-452 belt pulley and is kept in a clamping and tensioning state through the 1-454 tensioning wheel; one end of the 1-454 tensioning wheel is arranged on the 1-412 excavating main frame, and the other end of the tensioning wheel is matched with the 1-453 clamping belt.

The invention relates to a 1-46 excavating transmission device of a 1-4 excavating unit of the 1-1 excavating device, which consists of a 1-461 driving pulley, a 1-462 driven pulley, a 1-463 triangular belt, a 1-464 gear and a 1-465 transmission shaft. The 1-461 driving belt pulley is arranged on the 1-414 excavating driving sleeve, and an inner hole of the 1-461 driving belt pulley is in a spline groove shape and is matched with the 1-35 excavating driving shaft; the 1-42 slotted wheel disc, the 1-44 bottom supporting device and the 1-45 clamping device of the 1-4 digging unit are provided with kinetic energy through a 1-463 triangular belt, a 1-464 gear and a 1-465 transmission shaft.

As shown in fig. 6, the 2-ridge combining and impurity removing device of the invention comprises: 2-1 ridge-combining impurity-removing machine frame, 2-2 blower, 2-3 ridge-combining guide rail, 2-4 ridge-combining trailer, 2-5 ridge-combining lifting device and 2-6 ridge-combining impurity-removing driving device. The 2-1 ridge-combining impurity-removing rack is arranged on a 5-power locomotive; the 2-2 fan is arranged at a proper position in the middle of the 2-1 ridge-combining impurity-removing rack, and the power input end of the 2-2 fan is connected with the 2-6 ridge-combining impurity-removing driving device; the 2-3 ridge combining guide rails are fixedly arranged at the bottom of the 2-1 ridge combining impurity removing rack and are distributed around the 2-2 fans; the 2-4 ridge-combining trailers are arranged on the 2-3 ridge-combining guide rails, and a plurality of 2-4 ridge-combining trailers are distributed on the 2-3 ridge-combining guide rails in an end-to-end manner; the 2-5 ridge combining lifting device is installed on one side of the 2-1 ridge combining impurity removing rack, the middle line of the 2-5 ridge combining lifting device is aligned with the middle line of the 2-3 ridge combining guide rail, the bottom end of the 2-5 ridge combining lifting device is installed at a proper position above the 2-4 ridge combining trailer, and the upper end of the 2-5 ridge combining lifting device is installed at a proper position at the input end of the 3 intelligent cutting device; the 2-6 ridge-combining impurity-removing driving device is installed on the 2-1 ridge-combining impurity-removing rack, the input end of the 2-6 ridge-combining impurity-removing driving device is connected with the 5 power locomotive to obtain kinetic energy, and the output end of the 2-6 ridge-combining impurity-removing driving device provides kinetic energy for the 2-2 fan, the 2-4 ridge-combining trailer and the 1 digging device.

The invention relates to a 2-ridge-combining impurity-removing device, wherein a 2-2 fan of the 2-ridge-combining impurity-removing device consists of a 2-21 fan main body and a 2-22 air duct. The 2-21 fan main body is provided with air outlets in different directions and blows air to the 2-4 ridge-closing trailer through 2-22 air ducts.

The invention relates to a 2-ridge-combining impurity-removing device, wherein a 2-3 ridge-combining guide rail comprises a 2-31S-shaped guide rail, a 2-32I-shaped guide rail and a 2-33 magnet. The 2-31S-shaped guide rail is arranged on the 2-32I-shaped guide rail, counter bores are formed in the 2-31S-shaped guide rail, and the 2-31S-shaped guide rail is bent into different shapes according to the requirement of ridge combination impurity removal; the 2-32H-shaped guide rail is arranged on the 2-1 ridge-combining impurity-removing machine frame.

The invention relates to a 2-ridge-combining impurity-removing device, wherein a 2-4 ridge-combining trailer comprises 2-41 trailer plates, 2-42 outer ridge-combining fork arms, 2-43 inner ridge-combining fork arms, 2-44 opening and closing racks, 2-45 pulleys, 2-46 trailer racks, 2-47 magnets, 2-48 springs and 2-49 pin shafts. The 2-41 trailer plates are convex at one end and concave at the other end, and can be mutually connected end to end; the 2-42 externally-combined ridge fork is arranged on the outer side of the 2-41 trailer plate through a 2-49 pin shaft and can rotate around the 2-49 pin shaft, the 2-42 externally-combined ridge fork is of a hand-shaped structure, and the root of the 2-42 externally-combined ridge fork is provided with a half gear; the 2-43 inner ridge closing fork is arranged on the inner side of the 2-41 trailer plate through a 2-49 pin shaft and can rotate around the 2-49 pin shaft, the 2-43 inner ridge closing fork is of a hand-shaped structure, and the root of the 2-43 inner ridge closing fork is provided with a semi-tooth shape; the 2-44 opening and closing rack is arranged at the bottom of the inner side and the outer side of the 2-41 trailer plate and is meshed with the 2-43 inner ridge closing fork and the 2-42 outer ridge closing fork root half gear, and one end of the 2-44 opening and closing rack is matched with the side surface of the 2-31 'S' -shaped guide rail of the ridge closing guide rail through a 2-45 pulley; the 2-46 trailer rack is arranged on the inner side of the 2-41 trailer plate, is meshed with the 2-6 ridge-closing impurity-removing driving device and drives the 2-41 trailer plate to move; the 2-47 magnets are embedded in the middle of the bottom surface of the 2-41 trailer plate, and the polarity of the 2-47 magnets is opposite to that of the magnets on the 2-3 ridge-combining guide rail, so that the moving friction resistance of the 2-41 ridge-combining trailer is reduced; the 2-48 springs are respectively arranged between the 2-42 outer ridge closing fork and the 2-41 trailer plate, and between the 2-43 inner ridge closing fork and the 2-41 trailer plate, so that the 2-42 outer ridge closing fork and the 2-43 inner ridge closing fork are ensured to be automatically opened.

As shown in fig. 9, the 3 intelligent cutting device of the invention comprises: 3-1 cutting machine frame, 3-2 cutting supporting plate, 3-3 cutting executing device, 3-4 computer, 3-5 image collector, 3-6 cutting fixing device and 3-7 cable. The 3-1 cutting machine frame is arranged on the 2-1 ridge-combining impurity-removing machine frame; the 3-2 cutting supporting plate is arranged in the middle of the 3-1 cutting rack and below the 3-3 cutting executing device; the 3-3 cutting executing device is arranged at the upper end of the 3-1 cutting rack, and the middle position of the 3-6 cutting fixing device; the 3-4 computer is arranged on a 3-1 cutting rack below the 3-2 cutting supporting plate and can perform image processing and drive the cutting executing device to perform cutting by 3-3; the 3-5 image collector is arranged at the upper end of the 3-1 cutting frame, and the middle position of the 3-6 cutting fixing device; the 3-6 cutting and fixing device is arranged at the upper end of the 3-1 cutting rack; the 3-7 cable is connected with a 3-4 computer, a 3-5 image collector and a 5 power locomotive as required, and provides electric energy through the 3-7 cable to transmit signals.

The 3-3 cutting executing device of the 3-3 intelligent cutting device consists of a 3-31 cutting longitudinal optical axis, a 3-32 cutting transverse optical axis, a 3-33 cutting head, a 3-34 motor and a 3-35 toothed belt. The 3-31 cutting longitudinal optical axes are arranged on a base of the 3-1 cutting machine frame, and two 3-31 cutting longitudinal optical axes are symmetrically distributed on two sides of the 3-1 cutting machine frame; the 3-32 cutting transverse optical axis is arranged on the 3-31 cutting longitudinal optical axis and can move along the 3-31 cutting longitudinal optical axis; the 3-33 cutting head is mounted on a 3-32 cutting transverse optical axis. The 3-33 cutting head comprises a 3-331 cutting sliding plate, a 3-332 air cylinder, a 3-333 air valve, a 3-334 cutting knife, a 3-335 air pipe, a 3-336 motor and a 3-337 cable; the 3-331 cutting sliding plate is arranged on a 3-32 cutting transverse optical axis; the 3-332 air cylinder is arranged on the 3-331 cutting sliding plate; the 3-334 cutting knife is arranged on the 3-332 air cylinder; the 3-336 motor is arranged on the 3-331 cutting sliding plate, and the blade direction of the 3-334 cutting blade can be adjusted according to the requirement; the 3-335 air pipe is connected with a 3-332 air cylinder, a 3-333 air valve and a compressed air output end of the 5 power locomotive; the 3-337 cable links the appropriate locations of the 3-3 cut performing devices as needed.

The 3-6 cutting and fixing device of the 3-intelligent cutting device comprises a 3-61 lower conveying belt, a 3-62 upper pressing belt, a 3-63 lower rolling shaft, a 3-64 upper rolling shaft, a 3-65 pressing pulley, a 3-66 motor, a 3-67 belt pulley, a 3-68 main gear, a 3-69 driven gear, a 3-610 triangular belt and a 3-611 cable. The 3-63 lower rolling shafts are arranged in the middle of the 3-1 cutting frame, and are respectively arranged in the front and the back; the 3-61 lower conveyor belt is arranged on a 3-63 lower rolling shaft, and the upper half part of the 3-61 lower conveyor belt is positioned on the 3-2 cutting supporting plate; the 3-64 upper rolling shafts are arranged at the upper end of the 3-1 cutting machine frame, and are respectively arranged in the front and the back; the 3-62 upper pressing belts are arranged on the 3-64 upper rolling shafts, and the left side and the right side of each upper pressing belt are respectively arranged; one end of the 3-65 pressing pulley is arranged at a proper position on the 3-1 cutting machine frame, and the other end of the 3-65 pressing pulley enables the upper 3-62 pressing belt to be tightly attached to the lower 3-61 conveying belt to keep synchronous conveying; the 3-66 motor is arranged on the 3-1 cutting machine; the 3-67 belt pulleys are respectively arranged at one ends of the 3-63 lower rolling shaft, the 3-64 upper rolling shaft and the 3-69 slave gear and are driven by the 3-610 triangular belt; the 3-68 main gear is arranged on the inner side of a 3-67 belt pulley at one end of a 3-63 lower rolling shaft; the 3-69 secondary gear is arranged on the 3-1 cutter frame and meshed with the 3-68 main gear to realize synchronous reverse rotation of the 3-61 lower conveyor belt and the 3-62 upper pressing belt.

The 4 subsequent treatment devices comprise a 4-1 fruit collecting device and a 4-2 stem leaf crushing device. The 4-1 fruit collecting device is arranged at the rear end of the 2-1 ridge-combining impurity-removing rack; the 4-2 stem leaf crushing device is arranged at a proper position at the rear end of the 2-1 ridge-combining impurity-removing rack. The 4-1 fruit collecting device comprises a 4-11 collecting tank and a 4-12 fruit collecting conveyor belt, wherein the 4-11 collecting tank is positioned below the rear end of the 4-12 fruit collecting conveyor belt. The 4-2 stem leaf crushing device comprises a 4-21 crusher and a 4-22 crushing conveyor belt, wherein the 4-21 crusher is positioned at the rear end of the 4-22 crushing conveyor belt.

The 5-power locomotive is an unmanned motor vehicle, can be remotely controlled through wireless communication, and can provide electric energy and compressed air for the intelligent cutting device.

The above examples are intended only to illustrate the claimed invention, but not to limit the claimed scope of the invention. The position of each component in the above examples can be changed by those skilled in the art, and all the changes are within the scope of the present invention; modifications and alterations within the scope of the invention, such as the replacement of a folding trailer with a conveyor belt or chain, are within the scope of the invention. The intelligent combine harvester can be used for harvesting various crops such as ginger, garlic, Chinese yam and the like.

Claims

1. The utility model provides an intelligent combine harvester, includes excavating gear, folds clear miscellaneous device, intelligent cutting device, follow-up processing apparatus, power locomotive, its characterized in that:

the excavating device consists of a plurality of excavating units with adjustable intervals, the excavating units are arranged at the front end of the power machine, the rear end of the excavating device is arranged above the outer side of the front end of the folding impurity removing device, and the front end of each excavating unit is provided with a slotted wheel disc;

the folding impurity removing device is arranged on the power locomotive and comprises a folding impurity removing rack, a fan, a folding guide rail, a folding trailer, a folding lifting device and a folding impurity removing driving device; the folding impurity removing rack is mounted on a power locomotive, the fan is mounted in a proper position in the middle of the folding impurity removing rack, the power input end of the fan is connected with the folding driving device, the folding guide rail is fixedly mounted at the bottom of the folding impurity removing rack and distributed around the fan, the folding trailer is mounted on the guide rail, a plurality of folding trailers are arranged on the guide rail in an end-to-end manner and distributed on the guide rail, the folding lifting device is mounted on one side of the folding impurity removing rack, the middle line of the folding lifting device is aligned with the middle line of the folding guide rail, the bottom end of the folding lifting device is mounted in a proper position above the folding trailer, the upper end of the folding lifting device is mounted in a proper position at the input end of the intelligent cutting device, the folding impurity removing driving device is mounted on the folding impurity removing rack, the input end of the folding impurity removing driving device is connected with the power locomotive to obtain kinetic energy, and the output end of the fan, The folding trailer and the excavating device provide kinetic energy, the fan of the folding impurity removing device consists of a fan main body and an air channel, the fan main body is provided with air outlets in different directions, air is blown to the folding trailer through the air channel, crop stalks are enabled to face the same direction through wind power, and impurities such as soil and the like are removed;

the intelligent cutting device is arranged above the ridge combining and impurity removing device and is provided with an image processing system and a cutting executing device, so that multi-stem tuberous root crops can be accurately cut;

the follow-up processing device is arranged on the power locomotive, and the front end of the follow-up processing device is arranged below the rear end of the intelligent cutting device;

the power locomotive is an unmanned motor vehicle capable of being remotely and wirelessly controlled, drives the harvester to move, provides direct power for the digging device, the ridge-closing impurity-removing device and the post-processing device, and provides electric energy and compressed air for the intelligent cutting device.

2. An intelligent combine harvester according to claim 1, wherein the digging implement: the excavating device comprises an excavating mounting plate, a line spacing adjusting shaft, an excavating driving device and one or more excavating units, wherein the excavating mounting plate is mounted on a front end frame of the power machine; the line spacing adjusting shaft is fixedly arranged on the excavating mounting plate; the excavating driving device is arranged on the excavating mounting plate, is connected with the folding impurity removing device and obtains kinetic energy; the one or more digging units are arranged on the row spacing adjusting shaft and can move left and right.

3. An intelligent combine harvester according to claim 2, wherein the excavation drive is: the excavating and conveying device is characterized by comprising bevel gears, an excavating and conveying cross shaft, belt pulleys, a triangular belt and an excavating and conveying driving shaft, wherein the excavating and conveying cross shaft is arranged on an excavating and conveying mounting plate, one end of the excavating and conveying cross shaft is connected with a folding impurity removing device through the bevel gears to change the conveying direction, and the other end of the excavating and conveying cross shaft transmits kinetic energy to the excavating and conveying shaft through the belt pulleys and the triangular belt; the digging driving shaft is a spline shaft and is arranged on the digging mounting plate.

4. An intelligent combine harvester according to claim 1 or 2, wherein the digging unit: the excavating device comprises an excavating rack, a slotted wheel disc, an excavating shovel, a bottom supporting device, a clamping device and an excavating transmission device, wherein the excavating rack is arranged on a line spacing adjusting shaft; the outer circle of the slotted wheel disc is in a sawtooth shape, is arranged on the left side and the right side of the front end of the excavating rack and is symmetrically distributed; the digging shovel is arranged at the bottom of the front end of the digging frame, the digging shovel is arranged between the slotted wheel discs, and the front end of the digging shovel is flush with the lowest excircle of the slotted wheel discs; the bottom supporting device is arranged behind the digging shovel at the front end of the digging frame, keeps a certain inclination with the ground level, and supports crops during digging; the clamping device is arranged on the upper side of the excavating machine frame, the front end of the clamping device is arranged above the bottom supporting device, and the rear end of the clamping device is arranged obliquely above the folding impurity removing device; the rear end of the excavating transmission device is connected with an excavating driving shaft and provides power for the slotted wheel disc, the bottom supporting device and the clamping device;

the excavating device is characterized in that an excavating rack of an excavating unit of the excavating device consists of an excavating fixed rack, an excavating main rack, a row spacing adjusting sleeve and an excavating driving shaft sleeve; the row spacing adjusting sleeve is arranged on the row spacing adjusting shaft and fixedly connected with the excavating fixing frame; the excavating driving sleeve is arranged on the excavating fixing rack, the middle of the excavating driving sleeve penetrates through an excavating driving shaft, the excavating driving shaft sleeve is fixedly connected with the excavating main rack, and the excavating main rack can move around the excavating driving shaft sleeve;

the bottom supporting device of the excavating unit of the excavating device consists of gears, a bottom supporting driving shaft, a bottom supporting driven shaft and a conveying belt, wherein the gears are arranged at two ends of the bottom supporting driving shaft and obtain kinetic energy from the excavating transmission device; the support driving shaft and the support driven shaft are respectively arranged at proper positions at the front end of the main excavating rack;

the clamping device of the excavating unit of the excavating device consists of a gear mechanism, a belt pulley, a clamping belt and a tension wheel; the gear mechanism is arranged on the excavating main frame and is meshed with the excavating transmission device; the belt pulleys are arranged at the upper end of the main excavating rack, and the four belt pulleys are arranged on one plane; the clamping belt is arranged on the belt pulley and is kept in a clamping and tensioning state through the tensioning wheel; one end of the tension wheel is arranged on the excavating main frame, and the other end of the tension wheel is matched with the clamping belt;

the excavating transmission device of the excavating unit of the excavating device consists of a driving belt pulley, a driven belt pulley, a triangular belt, a gear and a transmission shaft; the driving belt pulley is arranged on the excavating driving sleeve, and an inner hole of the driving leather guide is in a spline groove shape and is matched with the excavating driving shaft; kinetic energy is provided for a slotted wheel disc, a bottom supporting device and a clamping device of the excavating unit through a triangular belt, a gear and a transmission shaft.

5. An intelligent combine harvester according to claim 1, wherein the folding guide rail: the magnetic guide rail is composed of an S-shaped guide rail, an I-shaped guide rail and a magnet; the S-shaped guide rail is arranged on the I-shaped guide rail, a counter bore is formed in the S-shaped guide rail, and the S-shaped guide rail is bent into different shapes according to the folding impurity removing requirement; the I-shaped guide rail is arranged on the folding impurity removing machine frame.

6. An intelligent combine harvester according to claim 1, wherein the folding trailer: the trailer consists of a trailer plate, an outer folding fork, an inner folding fork, an opening and closing rack, a pulley, a trailer rack, a magnet, a spring and a pin shaft; the trailer plate is convex at one end and concave at the other end, and can be mutually connected end to end; the outer folding fork is arranged on the outer side of the trailer plate through a pin shaft and can rotate around the pin shaft, the outer folding fork is of a hand-shaped structure, and a half gear is arranged at the root of the outer folding fork; the inner folding fork is arranged on the inner side of the trailer plate through a pin shaft and can rotate around the pin shaft, the inner folding fork is of a hand-shaped structure, and the root of the inner folding fork is provided with a semi-tooth shape; the opening and closing rack is arranged at the bottom of the inner side and the outer side of the trailer plate and is meshed with the inner folding fork hand and the outer folding fork hand root semi-gear, and one end of the opening and closing rack is matched with the side surface of the S-shaped guide rail of the folding guide rail through a pulley; the trailer rack is arranged on the inner side of the trailer plate and is meshed with the folding impurity removing driving device to drive the trailer plate to move; the pulley is arranged in an I-shaped guide rail of a folding guide rail below the trailer plate; the magnets are embedded in the middle of the bottom surface of the trailer plate, and the polarity of the magnets is opposite to that of the magnets on the folding guide rail, so that the friction resistance of the folded trailer in moving is reduced; the springs are respectively arranged between the outer folding fork and the trailer plate and between the inner folding fork and the trailer plate, so that the outer folding fork and the inner folding fork are ensured to be automatically opened.

7. An intelligent combine harvester according to claim 1, wherein the intelligent cutting device: the cutting machine comprises a cutting rack, a cutting supporting plate, a cutting executing device, a computer, an image collector, a cutting fixing device and a cable; the cutting machine frame is arranged on the folding impurity removing machine frame; the cutting supporting plate is arranged in the middle of the cutting rack and below the cutting executing device; the cutting executing device is arranged at the upper end of the cutting rack and at the middle position of the cutting fixing device; the computer is arranged on the cutting rack below the cutting supporting plate and can process images and drive the cutting executing device to cut; the image collector is arranged at the upper end of the cutting frame and at the middle position of the cutting fixing device; the cutting fixing device is arranged at the upper end of the cutting rack; the cable is connected with the computer, the image collector and the power locomotive as required, and provides electric energy and transmits signals through the cable.

8. An intelligent combine harvester according to claim 7, wherein the cutting implement: the device consists of a cutting longitudinal optical axis, a cutting transverse optical axis, a cutting head, a motor and a toothed belt; the cutting longitudinal optical axes are arranged on a base of the cutting machine, and two cutting longitudinal optical axes are symmetrically distributed on two sides of the cutting machine frame; the cutting transverse optical axis is arranged on the cutting longitudinal optical axis and can move along the cutting longitudinal optical axis; the cutting head is arranged on a cutting transverse optical axis; the cutting head comprises a cutting sliding plate, a cylinder, an air valve, a cutting knife, an air pipe, a motor and a cable; the cutting sliding plate is arranged on a cutting transverse optical axis; the air cylinder is arranged on the cutting sliding plate; the cutting knife is arranged on the cylinder; the motor is installed on the cutting slide plate, and the cutting edge direction of the cutting knife can be adjusted according to needs.

9. An intelligent combine harvester according to claim 7, wherein the cutting fixture: the device comprises a lower conveying belt, an upper pressing belt, a lower rolling shaft, an upper rolling shaft, a pressing pulley, a motor, a belt pulley, a main gear, a driven gear, a triangular belt and a cable; the lower rolling shafts are arranged in the middle of the cutting frame, and are respectively arranged in the front and the back; the lower conveying belt is arranged on the lower rolling shaft, and the upper half part of the lower conveying belt is positioned on the cutting supporting plate; the upper rolling shafts are arranged at the upper end of the cutting frame, and are respectively arranged in the front and the back; the upper compression belt is arranged on the upper rolling shaft, and the left side and the right side of the upper compression belt are respectively arranged; one end of the pressing pulley is arranged at a proper position on the cutting rack, and the other end of the pressing pulley enables the upper pressing belt to cling to the lower conveying belt to keep synchronous conveying; the motor is arranged on the cutting machine frame; the belt pulleys are respectively arranged at one ends of the lower rolling shaft, the upper rolling shaft and the driven gear and are driven by the triangular belt; the main gear is arranged on the inner side of the belt pulley at one end of the lower rolling shaft; the driven gear is arranged on the cutting machine frame and meshed with the main gear to realize synchronous reverse rotation of the lower conveyor belt and the upper conveyor belt.

10. An intelligent combine harvester according to claim 1, characterised in that:

the follow-up treatment device also comprises a fruit collecting device and a stem leaf crushing device.