CN109845598B

CN109845598B - Whole-process mechanized cultivation method for stem-leaf vegetables

Info

Publication number: CN109845598B
Application number: CN201910206637.9A
Authority: CN
Inventors: 肖宏儒; 金月; 曹光乔; 宋志禹; 杨光; 张健飞; 蒋清海; 夏先飞; 韩余
Original assignee: Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
Current assignee: Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
Priority date: 2019-03-19
Filing date: 2019-03-19
Publication date: 2021-05-25
Anticipated expiration: 2039-03-19
Also published as: CN109845598A

Abstract

The invention relates to a mechanized cultivation mode of crops by using 'four-degree' operation specifications of planting equipment (namely, soil fineness is more than or equal to 90%, bed flatness is less than or equal to 2cm, certain bed surface hardness and sowing depth are 0.5 cm) as indexes, in particular to a whole-process mechanized cultivation method of stem-leaf vegetables. The method comprises the steps of equipment configuration, ploughing and sowing, farming and fertilizing, pest control, intertillage weeding and mechanical harvesting, and provides a mechanized production and cultivation mode of stem and leaf vegetables from the aspects of integration of agricultural and mechanical agricultural specifications and replaceable configuration of production equipment, and the difficult problem of development of the vegetable industry can be thoroughly solved after the method is adopted.

Description

Whole-process mechanized cultivation method for stem-leaf vegetables

Technical Field

The invention relates to a mechanized cultivation mode of crops by using 'four-degree' operation specification of planting equipment, namely using soil breakage degree of more than or equal to 90%, bed flatness of less than or equal to 2cm, certain bed surface hardness and sowing depth of 0.5cm as indexes, in particular to a whole-process mechanized cultivation method of stem and leaf vegetables, and belongs to the technical field of agricultural mechanization.

Background

The stem and leaf vegetables are various in variety, such as pakchoi, spinach, artemisia selengensis, celery, amaranth, water spinach and the like. So far, the planting characteristics are small scale, extensive and complex agricultural technology and less than 20% of mechanized comprehensive level of production, so that the labor intensity, time consumption and cost of planting the stem and leaf vegetables are large for a long time, and the development of the vegetable industry is greatly restricted.

Researches show that the production of the stem and leaf vegetables is a system engineering, and the systematic research from tillage, planting and field management to the whole process of harvesting is lacked because the mechanization of the production of the stem and leaf vegetables is not paid enough attention in the past, so the research and development of production equipment technology are late, slow in development and immature, and particularly the harvesting is still mainly manual.

To the knowledge of the applicant, the laggard behind in the cultivation of the stem and leaf vegetables mainly appears as follows:

1) the agricultural machinery and the agricultural technology are not tightly combined, namely the planting is rough, such as uneven ground surface, different heights and widths of ridging (bed making) of various places, random planting row spacing, plant spacing and the like, and scientific specifications are lacked, so that the mechanical production adaptability is poor, and the quality of harvested vegetables is low;

2) equipment in each production link is not matched, for example, the ridge spacing of ridging of a stem and leaf vegetable soil preparation machine is not matched with the wheel space of a planting machine, the row spacing of planted plants is not matched with the row spacing adapted to a harvesting machine, and the like, so that the performance and efficiency of the machine in the next production link are improved, and the popularization and application of the production equipment are hindered;

3) the machine has single power and serious waste, is limited to the machine basically with walking power, is not only influenced by a walking power source, a transmission case and the like, and has high cost and high power reserve; moreover, the traction power is single, and mounting interfaces matched with machines in all links are lacked, so that the adaptability and the universality are poor;

4) production equipment in each link is disjoint and has poor reliability, in recent years, the technical level of cultivation and field management equipment is rapidly advanced, but the technical level is rarely combined with the actual production condition of stem leaf vegetables, and the production equipment in each link is mainly developed by reference and experience, so that the reliability is poor.

In a word, no whole-process mechanized production equipment technology for the stem and leaf vegetables capable of being integrally popularized exists up to now.

Disclosure of Invention

The invention aims to: aiming at the lagging condition of the prior art, from the perspective of the integration of agricultural and agricultural technology specifications, a whole-process mechanized cultivation method for stem and leaf vegetables is provided, wherein the traction power can not only integrate machines and tools with the help of a universal platform to be matched with the power, but also can be conveniently switched between oil and electricity according to needs, so that various operating machines and tools can be conveniently replaced according to needs, and the problem of vegetable industry development is properly solved.

In order to achieve the aim, the basic technical scheme of the whole-process mechanized cultivation method of the stem and leaf vegetables comprises the following steps:

first step, device configuration

The double-power tractor is used as traction power, and various machines which can be matched and connected with the tractor and at least have the functions of rotary tillage, ridging and seeding, farming and fertilizing, intertillage weeding and vegetable harvesting;

second step, ploughing and sowing

The machine tool with the functions of rotary tillage, ridging and seeding is connected with a double-power tractor in a hanging mode to complete mechanized farming; then, mechanically ridging is completed on the land blocks after rotary tillage, and the width of the ridge top is controlled to be 1.2 +/-0.02 m, the width of the ridge bottom is controlled to be 1.3 +/-0.02 m, the height of the ridge is controlled to be 15 +/-1 cm, and the width of the furrow is controlled to be 30 +/-0.02 cm; then sowing, wherein the sowing width during sowing is matched with the furrow width and the furrow spacing, the sowing row spacing is controlled to be 10 +/-1 cm, and the sowing depth is controlled to be 0.5 +/-0.1 cm;

thirdly, farming and fertilizing

The machine tool with the functions of farming and fertilizing is connected with a double-power tractor in a hanging mode, and the mechanical application of the nitrogen-phosphorus-potassium compound fertilizer is completed;

fourthly, insect pest prevention and control

After the crops grow seedlings, the physical method is adopted to prevent and control insect pests;

fifthly, intertilling and weeding

In the middle stage of crop growth, a machine tool with intertillage weeding function is connected with a double-power tractor in a hanging mode to complete mechanized removal of weeds among planted crop rows, and the weed breaking rate is controlled to be less than or equal to 10% and the cropping missing rate is controlled to be less than or equal to 5%;

sixth step, mechanical harvesting

When crops are mature, the vegetable harvester is used for replacing a weeding returning machine and is connected with a tractor in a hanging mode to finish mechanical harvesting of stem and leaf vegetables, the harvesting height of stems and leaves is controlled to be 10-40cm, the loss rate is less than or equal to 5%, and the damage rate of the stems and leaves is less than or equal to 10%.

The invention provides a mechanical production and cultivation mode of stem and leaf vegetables from the aspects of integration of agricultural and agricultural specifications and replaceable configuration of production equipment, and can thoroughly solve the problem of development of the vegetable industry after the adoption.

The invention has the further perfection that: the dual-power tractor comprises a frame arranged on a crawler chassis, wherein a mechanical gearbox driven by an engine is arranged on the front side of the frame, and the output end of the mechanical gearbox is in transmission connection with front driving wheels on two sides of the crawler chassis through front clutch devices on two sides; a motor which is in transmission connection with rear driving wheels at two sides of the crawler chassis through rear clutch devices is arranged at the rear side of the frame; the control platform at the front end of the rack is respectively hinged with a main operating handle and two reversing operating handles which are separated from each other left and right; a pair of front rocker arms and a pair of rear rocker arms radially extend from a hinged shaft of the main operating handle respectively; the outer end of the front rocker arm is hinged with the upper end of a front driving connecting rod, and the lower end of the front driving connecting rod is hinged with a pull head at one end of a front soft cable; the other end of the front soft cable is hinged with one end of a front clutch swing rod, the other end of the front clutch swing rod is connected with a front shifting fork hinged on a front clutch support, and the front shifting fork is provided with two limit positions which enable the front clutch device to be in transmission connection with the front driving wheel and to be in transmission separation; the outer end of the rear rocker arm is hinged with the upper end of a rear drive connecting rod, and the lower end of the rear drive connecting rod is hinged with a pull head at one end of a rear flexible cable; the pull head at the other end of the rear soft cable is hinged with one end of a rear clutch swing rod, the other end of the rear clutch swing rod is connected with a rear shifting fork hinged on a rear clutch bracket, and the rear shifting fork is provided with two limit positions for driving the rear clutch device to be separated from and connected with a rear driving wheel in a transmission way; the hinged shaft of the reversing operating handle is hinged with the upper end of a vertical connecting rod through an extension arm, and the lower end of the vertical connecting rod is hinged with a forward and reverse switching piece of a transmission gear of the mechanical gearbox.

Therefore, the interlocking switching of the power sources between the fuel engine and the power source can be realized conveniently by controlling the main operating handle according to needs, so that the multifunctional mechanical operation can be realized by matching with various operation link machines, and the tracks on two sides can respectively run in the forward direction and the reverse direction by switching the forward rotation and the reverse rotation of the transmission gear by means of the two mutually separated reversing operating handles, so that the zero-radius turning is completed, and the multifunctional mechanical operation has very ideal maneuvering performance.

The invention has the further perfection that: the declined front end of the vegetable harvester support frame is provided with a separator and a reciprocating cutter, and the upper part of the reciprocating cutter is connected with and provided with the input end of a twisting conveying device; a declination conveying belt is arranged below the output end of the twisting conveying device, and an ordered collecting box is arranged below the output end of the declination conveying belt; the ordered collecting box is provided with a sliding plate, one end of the sliding plate is connected with the lower inclined conveying belt, the other end of the sliding plate extends to the bottom of the box in an inclined manner, and a vegetable poking manipulator is arranged above the sliding plate; the vegetable poking manipulator comprises an upper transmission shaft and a lower transmission shaft which are horizontally supported between two mounting side plates of the collecting box and a poking claw consisting of a poking handle and a downward poking finger, wherein the upper transmission shaft and the lower transmission shaft respectively extend out of a transmission crank and a driving crank in the radial direction, the outer end of the transmission crank is hinged with the rear end of the poking handle, the outer end of the driving crank is hinged with one end of a connecting rod, and the other end of the connecting rod and the middle part of the poking handle form a lockable moving pair.

When the vegetables are harvested, the stem leaf vegetables are divided into a plurality of rows under the action of the separator, cut off by the reciprocating cutter, rotated and stirred in by the flexible claw vegetable stirring disc, sequentially vertically and orderly fed into the clamping conveying belt, gradually toppled into a prone position from a vertical position along with the clamping torsion, and output to orderly fall on the descending conveying belt to be conveyed to the orderly collecting box; ordered leaf vegetables orderly arranged by the front device are continuously output to the sliding plate from the ordered output end, and the pusher dogs in the manipulator double-crank link mechanism perform reciprocating vegetable shifting motion to ensure that the ordered leaf vegetables are kept orderly and are gradually and orderly put into a box. The sliding plate manipulator structure of the invention not only completely avoids the fall when the leaf vegetables are put into the box in the prior art, but also avoids the leaf vegetables from being accumulated on the sliding plate, and keeps the leaf vegetables distributed to be orderly arranged in the box, thereby effectively ensuring the final harvesting quality of the leaf vegetables.

Drawings

In order to more clearly describe the present invention, embodiments will be briefly described below with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of the implementation steps of one embodiment of the present invention.

FIG. 2 is a schematic perspective view of the dual-power tractor used in the embodiment of FIG. 1.

Fig. 3 is a perspective view of the transmission control system of fig. 2.

FIG. 4 is a schematic illustration of the drive relationship of the drive control system of FIG. 3 to the tracks.

Fig. 5 is a perspective view of the clutch device of fig. 3 in a power-off state.

FIG. 6 is a schematic diagram of a flexible cable connection of the transmission control system of FIG. 3.

Fig. 7 is a schematic perspective view of a machine with a vegetable harvesting function selected from the embodiment of fig. 1.

Fig. 8 is a partially enlarged perspective view of the ordered collection box of fig. 7.

In the figure: 1. a frame; 2. a crawler chassis; 3. a front drive wheel; 4. a high-low gear gearbox; 5. a rear drive wheel; 6. a three-point hitch system; 7. a lithium battery; 8. a seat; 10. a mechanical gearbox; 11. a main operating handle; 12. the motor advances, turns to the hand grip; 13. a motor; 14. a reversing operation handle; 15' front clutch means; 15. a rear clutch device;

a front rocker arm 11-1'; a front drive link 11-2'; a rear rocker arm 11-1; a rear drive connecting rod 11-2;

extension arm 14-1; a vertical connecting rod 14-2; a forward and reverse rotation switching part 14-3 of the transmission gear;

front clutch support 15-1'; the front clutch fixed disc 15-2'; front clutch swing rod 15-3'; 15-4' of front soft rope; front clutch support 15-5'; front clutch moving plate 15-8';

a rear clutch bracket 15-1; a rear clutch fixed disc 15-2; a rear clutch swing rod 15-3; 15-4 parts of rear soft cables; a rear clutch support 15-5; 15-6 of a pressure spring; 15-7 of a rear shifting fork; rear clutch shift disk 15-8.

Detailed Description

The stem and leaf vegetable full-process mechanized cultivation mode of the embodiment is guided by technical requirements of harvesting link equipment, technical requirements of reverse push cultivation pipe link equipment, standardized cultivation agriculture of stem and leaf vegetables is provided by adopting wide and short furrows and drill planting, and then the cultivation mode is used as guidance to select proper mechanized equipment for corresponding mechanized operation, and the specific steps are shown in figure 1:

the method comprises the following steps of firstly, configuring equipment, namely, configuring a crawler self-propelled dual-power universal platform serving as traction power of a dual-power tractor, and a hanging type multifunctional celery planting all-in-one machine (see the Chinese patent No. 201587869. X for details) which can be connected with the tractor by virtue of a modular mounting interface and has the functions of rotary tillage, ridging and seeding, a farming and fertilizing all-in-one machine (see the implement part of the Chinese patent No. 20152015201595153. X for details), a vertical rotary tillage weeding machine (see the implement part of the Chinese patent No. 201020259972.X for details) with the functions of farming and fertilizing, and a stem-leaf vegetable harvester with the function of harvesting vegetables.

Second step, ploughing and sowing

The hanging multifunctional celery planting all-in-one machine is hung on a crawler self-propelled dual-power universal platform to complete mechanized farming; then, mechanically ridging is completed on the land blocks after rotary tillage, and the width of the ridge top is controlled to be 1.2 +/-0.02 m, the width of the ridge bottom is controlled to be 1.3 +/-0.02 m, the height of the ridge is controlled to be 15 +/-1 cm, and the width of the furrow is controlled to be 30 +/-0.02 cm; and then sowing, wherein the sowing width during sowing is matched with the furrow width and the furrow spacing, the sowing row spacing is controlled to be 10 +/-1 cm, and the sowing depth is controlled to be 0.5 +/-0.1 cm. The stem and leaf vegetables are planted all the year round and can be sowed all the year round, so the time of the step is determined as appropriate, high-quality stem and leaf vegetables suitable for local climatic environment and soil conditions are preferably selected for planting, the purity of seeds is ensured, the operating speed of the rotary tillage cutter shaft is selected according to the soil conditions (such as different viscosities), machines and tools keep constant-speed linear driving operation so as to reduce the instability of tillage depth, obvious phenomena of missing tillage, hilling and grass accumulation in the field after soil preparation are avoided, and the consistency of the flat and straight furrow and the furrow distance is required to be ensured during furrow making operation.

Thirdly, farming and fertilizing

The farming and fertilizing integrated machine is connected with a crawler self-propelled dual-power universal platform in a hanging mode, and the mechanical application of the nitrogen-phosphorus-potassium compound fertilizer is completed, so that the requirements of deep application, strip application and broadcast application operation necessary for vegetable production are met.

Fourthly, insect pest prevention and control

After the crops grow seedlings, the seedlings are hung in the field for 500cm at the density of 25-30 pieces/mu²Yellow pest sticking plates, and frequency vibration type trap lamps with trap wavelength of 380-.

Or a pest suction machine (see ZL201520893574.6 for details) and a compound pest catching machine (ZL 201711145111.1) are adopted to catch and compound and trap pests under negative pressure.

Therefore, the effect of photoelectric and electrochromatic physical prevention and control in pest and disease prevention and control can be exerted, the use of chemical pesticides is avoided, and the safety of vegetable products is ensured.

Fifthly, intertilling and weeding

In the middle stage of crop growth, the vertical rotary tillage weeder is connected with a crawler self-propelled dual-power universal platform in a hanging mode, mechanized weed removal between planted crop rows is completed, the grass breaking rate is controlled to be less than or equal to 10%, and the cropping missing rate is controlled to be less than or equal to 5%; according to the thickness of the residual plants and weeds, a crushing and returning machine can be hung as appropriate, the crushing times can be adjusted, and the mechanized crushing and returning to the field can be completed.

Sixth step, mechanical harvesting

When crops are mature, the stem and leaf vegetable harvester is connected with the crawler self-propelled dual-power universal platform in a front-mounted mode to finish mechanical harvesting of stem and leaf vegetables, the harvesting height of the stems and leaves is controlled to be 10-40cm, the loss rate is less than or equal to 5%, and the damage rate of the stems and leaves is less than or equal to 10%. For example, vegetables such as grass heads, pea seedlings and the like can be harvested out of order, and vegetables such as Chinese little greens, artemisia selengensis and the like can be harvested in order.

As shown in fig. 2, a mechanical transmission 10 driven by an engine through a high-speed and low-speed transmission case 4 and positioned below a seat 8 is installed at the front side of a frame 1 arranged on a crawler chassis 2, and an output end of the mechanical transmission 10 is in transmission connection with front driving wheels 3 at two sides of the crawler chassis 2 through front clutch devices 15' at two sides. The rear side of the frame 1 is provided with a motor 13 which is respectively connected with the rear driving wheels 5 at the two sides of the crawler chassis 2 through a rear clutch device 15 in a transmission way and is powered by lithium batteries 7. The control platform at the front end of the frame 1 is hinged with a main operating handle 11, two reversing operating handles 14 which are separated from each other left and right, and a motor advancing and steering handle 12. The middle part of the rear end of the frame 1 is provided with a conventional three-point hitch system 6 which is connected with various machines.

As shown in fig. 3 and 4, the hinge shaft of the main operating handle 11 radially extends a pair of front swing arms 11-1' and a pair of rear swing arms 11-1, respectively. The outer end of the front rocker arm 11-1 'is hinged with the upper end of the front drive connecting rod 11-2', and the lower end of the front drive connecting rod 11-2 'is hinged with a puller at one end of the front soft cable 15-4'; the pull head at the other end of the front soft cable 15-4 ' is hinged with one end of a front clutch swing rod 15-3 ', the other end of the front clutch swing rod 15-3 ' is connected with a front shifting fork hinged on a front clutch bracket 15-1 ', and the front shifting fork has two limit positions of driving connection and driving separation of the front clutch device 15 ' and the front driving wheel 3.

The outer end of the rear rocker arm 11-1 is hinged with the upper end of a rear drive connecting rod 11-2, and the lower end of the rear drive connecting rod 11-2 is hinged with a puller at one end of a rear soft cable 15-4; the pull head at the other end of the rear soft cable 15-4 is hinged with one end of a rear clutch swing rod 15-3, the other end of the rear clutch swing rod 15-3 is connected with a rear shifting fork 15-7 hinged on a rear clutch bracket 15-1, and the rear shifting fork 15-7 has two limit positions for driving and separating and driving the rear clutch device 15 and the rear driving wheel 5.

The specific structure of the rear clutch device 15 is shown in fig. 5 and 6, and comprises a rear clutch fixed disk 15-2 fixed on a clutch shaft and a rear clutch movable disk 15-8 movably sleeved on the clutch shaft, wherein the inner end of the rear clutch movable disk 15-8 abuts against a pressure spring 15-6, so that the rear clutch movable disk tends to be engaged with the clutch fixed disk 15-2, the outer circle of the rear clutch movable disk 15-8 is provided with a sliding groove embedded with a rear shifting fork 15-7, so that the rear clutch movable disk can slide along the clutch shaft under the action of the rear shifting fork 15-7, and the transmission is switched between two limit positions of transmission separation shown in fig. 5 and transmission connection shown in fig. 3. The specific structure of the front clutch device 15' is the same, and the description is not repeated.

The hinged shaft of the reversing operating handle 14 is hinged with the upper end of the vertical connecting rod 14-2 through the extension arm 14-1, and the lower end of the vertical connecting rod 14-2 is hinged with the forward and reverse rotation switching part 14-3 of the transmission gear of the mechanical gearbox. Therefore, the forward and reverse rotation of the output transmission gear in the driving system can be controlled by respectively controlling the reversing operation handle 14, and further the turning radius is changed by controlling the forward and reverse walking of the left and right crawler belts, so that the zero-radius steering is realized. The left and right push motors to advance and the steering handle 12 can control the output shaft of the motor on one side to rotate forwards and the output shaft of the motor on one side to rotate backwards, and zero-radius steering is also realized.

The universal platform of the embodiment is driven by oil-electricity dual power, wherein the oil transmission part transmits power to a high-low gear mechanical gearbox (adjusting the high and low rotating speeds of a power output shaft of the gearbox) by a fuel engine through a transmission belt, the high-low gear mechanical gearbox transmits the power to the mechanical gearbox through the transmission belt, and the mechanical gearbox is connected with a driving wheel at the front end of a crawler belt through a mechanical clutch; the electric transmission part is connected with a driving wheel at the rear end of the crawler belt through a mechanical clutch by a motor, and a lithium battery provides power for the motor; when the engine works, the lithium battery can be charged. The main operating handle controls the on-off of the clutch on the front and rear driving wheels through a soft cable pull wire, cuts off or engages power, and a connecting rod hinged with the operating handle adopts a linkage design to ensure that only one end of the front and rear driving wheels is engaged with the power all the time; the front or back push motor advances and turns to the handle, control the left and right caterpillar band to drive the motor output shaft to rotate forward or backward synchronously, realize the caterpillar band advances and retreats and walks. The mechanical clutch may be replaced by an electromagnetic clutch.

The front end of the crawler self-propelled dual-power universal platform is provided with a connector for connecting a vegetable harvester, and the rear end of the crawler self-propelled dual-power universal platform is provided with a three-point hitching system, so that the crawler self-propelled dual-power universal platform can be matched with various functional machines and tools, and has ideal universality. Compared with the prior art, the universal platform of the embodiment integrates oil-electricity dual power by adopting a front driving mode and a rear driving mode on the same crawler traveling system, realizes the clutch of the output power of the driving wheel by controlling the flexible cable stay to stretch through the operating handle, has the advantages of simple structure of a transmission system, convenient dual power switching, continuously adjustable operation speed, in-situ steering and the like, and meets the requirements of open field and facility operation.

The stem leaf vegetable harvester adopted by the embodiment is perfect on the basis of the application of the Chinese patent No. 201810143834.6, can be pushed, and can be conveniently connected with the front end of a crawler self-propelled dual-power universal platform. Referring to fig. 7 and 8, a row separator S1 for separating a cutting area from an uncut area and a reciprocating cutter S2 are installed at the declined front end of the support frame S4, and the input end of a twisting conveyer S11 is installed above the reciprocating cutter S2 in an engaged manner; a declination conveying belt S9 is arranged below the output end of the twisting conveying device, and an ordered collecting device comprising an ordered collecting box S6 is arranged below the output end of the declination conveying belt.

The twisting and conveying device comprises driven rollers which are arranged above the reciprocating cutter and distributed at intervals; the roll shafts of the driven rollers are vertical to the inclined supporting frames, are distributed on two sides of the rear end of each parallel divider in pairs, and the upper ends of the parallel dividers are fixed with flexible claw vegetable-shifting discs; a group of paired horizontal shaft main transmission lower rollers and main transmission upper rollers which respectively correspond to the paired auxiliary transmission rollers are supported in the middle of the supporting frame, and paired conveying belts are wound between the two paired auxiliary transmission rollers and the corresponding paired main transmission lower rollers and main transmission upper rollers respectively; the paired conveying belts are gradually lifted and twisted from the initial left-right adjacent clamping to be clamped up and down.

The ordered collection box S6 of the ordered collection device is provided with a sliding plate J4, one end of the sliding plate is connected below the ordered output end, the other end of the sliding plate is obliquely extended to the box bottom J1, the box bottom J1 is divided into six isolation cavities by a partition plate J2 which can be drawn and inserted, and a vegetable poking manipulator S3 corresponding to each isolation cavity is arranged above the sliding plate J4.

The vegetable poking manipulator S3 comprises an upper transmission shaft S3-2 and a lower transmission shaft S3-4 which are horizontally supported between two mounting side plates S3-3 of the collecting box, and a poking claw S3-9 which is composed of a poking handle S3-8 and a drooping forked poking finger S3-10. The outer sleeve of the finger-poking S3-10. The lower driving shaft S3-4 is in transmission connection with a driving motor S3-1 and then is in transmission connection with an upper driving shaft S3-2 through a chain wheel chain in a chain transmission box S3-11, so that the synchronous rotation can be realized.

The positions of the upper driving shaft S3-2 and the lower driving shaft S3-4 corresponding to the isolation cavities respectively extend out of a driving crank S3-6 and a driving crank S3-5 with equal length in the radial direction to form a crank shape. The outer end of a transmission crank S3-6 is hinged with the rear end of a shifting handle S3-8 through a bearing, the outer end of a driving crank S3-5 is hinged with one end of a connecting rod S3-7 through a bearing, the other end of the connecting rod S3-7 forms a lockable moving pair with the middle of the shifting handle S3-8 through a sliding sleeve, the inclined angle of a shifting claw S3-9 can be adjusted as required and then is locked through a fastener, and the connecting rod S3-7 is fixedly connected with the shifting claw S3-9, so that the parallel double-crank four-bar mechanism is formed.

When the stem leaf vegetable harvester moves forwards, the stem leaf vegetables in front are continuously conveyed backwards, are conveyed to the sliding plate through the twisting conveying belt and the flat lying belt and then are placed in a box, the manipulator actively dials the stem leaf vegetables conveyed to the sliding plate backwards, and in the synchronous double-crank rotating motion process, the shifting claw completes the circular bionic dialing planar motion from an entering state, a dialing state and a shifting claw disengaging state, so that the harvested stem leaf vegetables are orderly placed in the box. Experiments show that compared with the prior art, the automatic leaf vegetable sorting machine has the remarkable beneficial effects of completely avoiding the fall of leaf vegetables when the leaf vegetables are put into the box, preventing the leaf vegetables from being accumulated on the sliding plate, keeping the leaf vegetables sorted to be orderly arranged in the box, and also has the following advantages: 1) the partition plate in the collecting box is used for separating the collected stem leaf vegetables, so that the collected stem leaf vegetables are further ensured to be orderly, when the collecting box is full, the partition plate can be quickly pulled out, an empty box is replaced, and the box replacing time is saved; 2) the manipulator formed by the parallel double-crank four-bar mechanism with the adjustable connecting rods is convenient to adjust, good in adaptability and good in bionic effect; 3) the crankshaft-shaped lower driving shaft directly driven by the motor and the upper driving shaft driven by the chain transmission not only properly solve the problem of motion interference of each manipulator, but also synchronously output double-crank power, so that each manipulator can stably and reliably move, and the problems of blockage and vegetable damage caused by accumulation of stem and leaf vegetables on the sliding plate are thoroughly avoided.

In a word, the whole-process mechanized cultivation method for the stem leaf vegetables in the embodiment starts from the perspective of integration of agricultural and agricultural technology specifications and replaceable configuration of production equipment, and not only provides the four-degree operation specification of the stem leaf vegetables in tillage and soil preparation and planting equipment, namely, the soil fineness is more than or equal to 90%, the bedding flatness is less than or equal to 2cm, and certain bedding surface hardness and seeding depth are 0.5cm as indexes, so that the completeness of the bedding shape is required to be ensured, the return soil and the floating soil of the furrow are less, the soil on the upper layer of the bedding surface is finely crushed and compact, the control of the seeding depth and the emergence rate is facilitated, the growth vigor is consistent, the soil on the lower layer is coarse and; and the traction power and the matched harvester are respectively innovated and improved, so that the mechanized production and cultivation mode and the four-degree operation standard can be used for guiding the vegetable to be ploughed, prepared, planted and harvested efficiently, and the problem of the development of the vegetable industry is effectively solved.

Claims

1. A whole-process mechanized cultivation method of stem-leaf vegetables is characterized by comprising the following steps:

first step, device configuration

second step, ploughing and sowing

thirdly, farming and fertilizing

fourthly, insect pest prevention and control

fifthly, intertilling and weeding

sixth step, mechanical harvesting

When crops are mature, the vegetable harvester is used for replacing a weeding returning machine and is connected with a tractor in a hanging mode to finish mechanical harvesting of stem and leaf vegetables, the harvesting height of stems and leaves is controlled to be 10-40cm, the loss rate is less than or equal to 5%, and the damage rate of the stems and leaves is less than or equal to 10%;

the dual-power tractor comprises a frame arranged on a crawler chassis, wherein a mechanical gearbox driven by an engine is arranged on the front side of the frame, and the output end of the mechanical gearbox is in transmission connection with front driving wheels on two sides of the crawler chassis through front clutch devices on two sides; a motor which is in transmission connection with rear driving wheels at two sides of the crawler chassis through rear clutch devices is arranged at the rear side of the frame; the control platform at the front end of the rack is respectively hinged with a main operating handle and two reversing operating handles which are separated from each other left and right; a pair of front rocker arms and a pair of rear rocker arms radially extend from a hinged shaft of the main operating handle respectively; the outer end of the front rocker arm is hinged with the upper end of a front driving connecting rod, and the lower end of the front driving connecting rod is hinged with a pull head at one end of a front soft cable; the other end of the front soft cable is hinged with one end of a front clutch swing rod, the other end of the front clutch swing rod is connected with a front shifting fork hinged on a front clutch support, and the front shifting fork is provided with two limit positions which enable the front clutch device to be in transmission connection with the front driving wheel and to be in transmission separation; the outer end of the rear rocker arm is hinged with the upper end of a rear drive connecting rod, and the lower end of the rear drive connecting rod is hinged with a pull head at one end of a rear flexible cable; the pull head at the other end of the rear soft cable is hinged with one end of a rear clutch swing rod, the other end of the rear clutch swing rod is connected with a rear shifting fork hinged on a rear clutch bracket, and the rear shifting fork is provided with two limit positions for driving the rear clutch device to be separated from and connected with a rear driving wheel in a transmission way; the hinged shaft of the reversing operating handle is hinged with the upper end of a vertical connecting rod through an extension arm, and the lower end of the vertical connecting rod is hinged with a forward and reverse rotation switching piece of a transmission gear of the mechanical gearbox;

the declined front end of the vegetable harvester support frame is provided with a separator and a reciprocating cutter, and the upper part of the reciprocating cutter is connected with and provided with the input end of a twisting conveying device; a declination conveying belt is arranged below the output end of the twisting conveying device, and an ordered collecting box is arranged below the output end of the declination conveying belt; the ordered collecting box is provided with a sliding plate, one end of the sliding plate is connected with the lower inclined conveying belt, the other end of the sliding plate extends to the bottom of the box in an inclined manner, and a vegetable poking manipulator is arranged above the sliding plate; the vegetable poking manipulator comprises an upper transmission shaft and a lower transmission shaft which are horizontally supported between two mounting side plates of the collecting box and a poking claw consisting of a poking handle and a downward poking finger, wherein the upper transmission shaft and the lower transmission shaft respectively extend out of a transmission crank and a driving crank in the radial direction, the outer end of the transmission crank is hinged with the rear end of the poking handle, the outer end of the driving crank is hinged with one end of a connecting rod, and the other end of the connecting rod and the middle part of the poking handle form a lockable moving pair.

2. The whole-process mechanized cultivation method of stem leaf vegetables according to claim 1, characterized in that: and fourthly, suspending the seeds for 500cm in the field at the density of 25-30 pieces/mu²Yellow pest sticking plates, and frequency vibration type trap lamps with trap wavelength of 380-.

3. The whole-process mechanized cultivation method of stem leaf vegetables according to claim 2, characterized in that: the front clutch device comprises a front clutch fixed disc fixed on the corresponding clutch shaft and a front clutch movable disc movably sleeved on the corresponding clutch shaft, and the inner end of the front clutch movable disc is abutted against the corresponding pressure spring; the excircle of preceding separation and reunion movable plate has the spout of shift fork before the embedding.

4. The whole-process mechanized cultivation method of stem leaf vegetables according to claim 3, characterized in that: the rear clutch device comprises a rear clutch fixed disc fixed on the corresponding clutch shaft and a rear clutch movable disc movably sleeved on the corresponding clutch shaft, and the inner end of the rear clutch movable disc is abutted against the corresponding pressure spring; the excircle of back separation and reunion shifting disk has the spout of embedding back shift fork.

5. The whole-process mechanized cultivation method of stem leaf vegetables according to claim 4, characterized in that: the box bottom is divided into a plurality of isolation cavities by the drawable partition plate; the positions of the upper transmission shaft and the lower transmission shaft corresponding to the isolation cavities respectively radially extend out of transmission cranks and driving cranks with equal lengths to form a crankshaft shape.

6. The whole-process mechanized cultivation method of stem leaf vegetables according to claim 5, characterized in that: the other end of the connecting rod and the middle part of the shifting handle form a lockable moving pair through a sliding sleeve to form a parallel double-crank four-bar mechanism.