CN115316106A - Garlic picking machine and garlic picking method thereof - Google Patents

Abstract

The invention discloses a garlic picking machine and a garlic picking method thereof. The existing garlic picking equipment has the problems of uneven garlic sprout trimming and the like, still needs manual secondary trimming, and has large workload. The garlic picking machine comprises a picking mechanism, a soil loosening mechanism, a garlic sprout rough shearing mechanism, a garlic positioning and clamping mechanism, a garlic sprout fine shearing mechanism and a root trimming mechanism; the picking mechanism comprises two picking conveying mechanisms and two flexible supporting plates; the soil loosening mechanism comprises a soil loosening rake tooth soil loosening transmission crankshaft and a soil loosening connecting rod; the garlic sprout rough shearing mechanism comprises a shearing mechanism motor and a garlic sprout shearing wheel; the garlic positioning and clamping mechanism comprises a chain transmission wheel, a transmission chain, a guide rail and a clamping device; the garlic sprout fine shearing mechanism comprises an electric telescopic rod I and a shearing device; the root hair trimming mechanism comprises a rotary motor, a rotary movable plate, a flexible claw and a root hair trimming wheel. The garlic seedling pruning machine can realize full automation of garlic loosening, picking, garlic seedling pruning and root hair pruning, reduces the manual workload, and realizes uniform garlic seedling pruning.

Description

Garlic picking machine and garlic picking method thereof

Technical Field

The invention belongs to the field of agricultural machinery, and particularly relates to a garlic picking machine and a garlic picking method thereof.

Background

Garlic is a common crop, can be used as a seasoning and a spice, has high edible value, and can be used as a medicine. In recent years, the demand and planting scale of garlic is expanding, and the yield of garlic is increasing. Most of the existing garlic picking methods are machine soil loosening, manual picking and manual trimming of garlic sprouts at the top and root hairs at the bottom of garlic. Some automatic picking equipment has also appeared on the market, but the problem such as uneven pruning of garlic sprouts and mashed garlic root hair is not solved, still needs the manual work to carry out the secondary to the garlic and prunes, and work load is big, and work efficiency is low, and then makes garlic growers' picking efficiency, income impaired.

Disclosure of Invention

The invention aims to provide a garlic picking machine and a garlic picking method thereof aiming at the defects of the prior art, and solves the problems that the garlic needs manual intervention after being picked and the picking and trimming efficiency is low.

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

the invention relates to a garlic picking machine which comprises a picking mechanism, a soil loosening mechanism, a frame, wheels, a garlic sprout rough shearing mechanism, a garlic positioning and clamping mechanism, a garlic sprout fine shearing mechanism, a root trimming mechanism and a harvesting box, wherein the garlic positioning and clamping mechanism is arranged on the frame; the two mounting shafts I are arranged in the front and back and are fixed at the bottom of the frame, and two ends of each mounting shaft I are rotatably connected with one wheel; each wheel is driven by a driving motor I.

The garlic sprout rough shearing mechanism comprises a rough shearing mechanism frame, a shearing mechanism motor, a driving belt wheel, a driving belt, a driven belt wheel and a garlic sprout shearing wheel; the two rough shearing mechanism frames are fixed on the frame; each rough shearing mechanism frame, one first hinged shaft and one second hinged shaft form a revolute pair, a driving belt wheel is fixed on the first hinged shaft, a driven belt wheel is fixed on the second hinged shaft, and the driving belt wheel is connected with the driven belt wheel through a transmission belt; each driving belt wheel is driven by a motor of the trimming mechanism; garlic sprout trimming wheels are fixed on the two hinged shafts, and the gear teeth of the two garlic sprout trimming wheels are meshed; the two garlic sprout trimming wheels are positioned at the output end of the picking and conveying mechanism;

the garlic positioning and clamping mechanism comprises a clamping mechanism frame, a chain transmission wheel, a transmission chain, a guide rail, a transmission roller and a clamping device; the clamping mechanism frame is fixed on the frame; the two transmission rollers and the clamping mechanism frame form a revolute pair; a chain driving wheel which is vertically arranged is fixed at both ends of each driving roller; one of the driving rollers is fixed with an output shaft of a driving roller driving motor; every two chain transmission wheels aligned in the axial position are connected through one transmission chain; the input ends of the two transmission chains are respectively positioned below a garlic sprout trimming wheel of the garlic sprout rough trimming mechanism; an annular guide rail is fixed on the clamping mechanism frame at the inner side of the two transmission chains; the clamping device comprises a garlic clamp and a spring sliding seat; the spring sliding seat comprises a C-shaped sliding seat shell, a pulley groove, a movable pulley, a movable claw, a sliding block, a first supporting spring and a second supporting spring; two pulley grooves which are arranged at intervals are formed in two inner walls opposite to the C-shaped sliding seat shell, two of the pulley grooves which are aligned up and down and two ends of one sliding rod respectively form a sliding pair, and the other two pulley grooves which are aligned up and down and two ends of the other sliding rod respectively form a sliding pair; the sliding rod is connected with the pulley groove through a second supporting spring; each sliding rod is hinged with a plurality of movable pulleys; the C-shaped sliding seat shell is also provided with four positioning holes, and the axes of the positioning holes are parallel to the pulley grooves; each positioning hole and one end of one movable claw form a sliding pair and are connected through a first supporting spring; each movable claw is fixed with a slide block; more than five pairs of spring sliding seats are uniformly distributed along the annular direction of the transmission chain; the two spring sliding seats of each pair are aligned and arranged oppositely, and two movable claws at the same height on the two spring sliding seats of each pair are respectively fixed with two chain links aligned with the two transmission chains; in each pair of spring sliding seats, each sliding block of one spring sliding seat and one guide rail form a moving pair, and each sliding block of the other spring sliding seat and the other guide rail form a moving pair; in each pair of spring sliding seats, each movable pulley of one spring sliding seat and an end cam integrally formed on the inner side of one guide rail form a cam pair, and each movable pulley of the other spring sliding seat and an end cam integrally formed on the inner side of the other guide rail form a cam pair; the C-shaped sliding seat shell of each spring sliding seat and a garlic clamp form a sliding pair and are connected through a buffer spring II; a weight sensor is fixed on the inner wall of the garlic clamp; the two garlic clamps on each pair of spring sliding seats are arranged oppositely;

the garlic sprout fine shearing mechanism is positioned above the garlic positioning and clamping mechanism and comprises an electric telescopic rod I and a shearing device; the trimming device comprises a device top disc, a trimming rack rod, a trimming gear, a trimming connecting rod frame, a trimming blade, a device base, a flexible washer and a supporting spring III; the cylinder body of the first electric telescopic rod is fixed on the clamping mechanism rack, and the piston rod of the first electric telescopic rod penetrates through the clamping mechanism rack and is fixed with the device top disc; four trimming rack rods which are equidistantly arranged along the circumferential direction are fixed on the top disc of the device; the device base is arranged below each trimming rack rod; four connecting columns II which are circumferentially arranged at equal intervals are arranged on the device base; each trimming rack rod and one connecting column II form a sliding pair and are connected through a supporting spring III; each connecting column is hinged with a trimming gear; each trimming gear is respectively meshed with a rack part of one trimming rack rod; the eccentric position of each trimming gear and one end of one trimming connecting rod frame form a rotating pair; the other end of each pruning connecting rod frame is respectively hinged with one pruning blade; a supporting seat is fixed on each connecting column II; each support seat and one trimming blade form a sliding pair; the flexible gasket is fixed in a groove at the bottom of the base of the device;

the root hair trimming mechanism is positioned at the output end of the garlic positioning and clamping mechanism and comprises a root hair trimming mechanism support, a rotary motor, a rotary movable plate, an electric telescopic rod II, a flexible claw and a root hair trimming wheel; the root hair trimming mechanism bracket is fixed on the frame; the rotary motor is fixed on the root hair trimming mechanism support, and an output shaft of the rotary motor is fixed with the center of the rotary movable plate; three electric telescopic rods II which are uniformly distributed along the circumferential direction are fixed on the rotary movable plate; a piston rod of each electric telescopic rod II is fixed with a mounting plate of one flexible claw; two trimming wheel driving motors are fixed on the root hair trimming mechanism bracket, and an output shaft of each trimming wheel driving motor is fixed with a root hair trimming wheel; the two trimming wheel driving motors are opposite in rotation direction; the harvesting box is fixed on the side part of the root trimming mechanism bracket.

Preferably, the picking mechanism comprises two picking conveying mechanisms and two flexible supporting plates; the picking conveying mechanism comprises a picking conveying belt, a first driving roller, a first driven roller and a second driven roller; the driving roller, the first driven roller and the second driven roller are respectively fixed with three mounting shafts, and the mounting shafts and the frame form a revolute pair; the driving roller and the driven roller are connected through a picking conveyor belt, and the driven roller tensions the picking conveyor belt; the picking conveying belt is obliquely arranged, but the belt surface of the picking conveying belt is positioned in the vertical plane; the first driving rollers of the two picking and conveying mechanisms are respectively driven by two driving motors and rotate reversely; the picking conveying belts of the two picking conveying mechanisms are opposite to each other and arranged at intervals; two flexible supporting plates are obliquely fixed on the frame at intervals, and each flexible supporting plate is positioned below one picking conveying mechanism.

More preferably, the soil loosening mechanism is positioned below the two picking and conveying mechanisms and in front of the two flexible supporting plates and comprises soil loosening rake teeth, a soil loosening mechanism connecting plate, a vibration cam, a soil loosening mechanism base, a soil loosening transmission crankshaft, a soil loosening connecting rod and a first buffer spring; the two soil loosening mechanism connecting plates are fixed on the frame at intervals; two mounting posts I are fixed at two ends of the lower surface of each soil loosening mechanism connecting plate and are arranged at intervals; two connecting columns I which are arranged at intervals are fixed at two ends of the upper surface of the scarification mechanism base, each connecting column I and one mounting column I form a sliding pair and are connected through a buffer spring I; the main shaft sections at two ends of the soil loosening transmission crankshaft are supported on the soil loosening mechanism base through a bearing respectively, and the main shaft section at one end of the soil loosening transmission crankshaft is fixed with an output shaft of the driving motor III; the soil loosening transmission crankshaft is provided with a plurality of integrally formed crankshaft sections, and two adjacent crankshaft sections are arranged in a staggered mode along the circumferential direction; each crankshaft section is hinged with one end of a soil loosening connecting rod; the other end of each soil loosening connecting rod is hinged with the tail of one soil loosening rake tooth; each soil loosening rake tooth and a corresponding sliding chute fixed on the side part of the soil loosening mechanism base form a sliding pair; the scarification mechanism base is hinged with a plurality of vibration cams, and each vibration cam is driven by one driving motor.

More preferably, a first mounting hole is formed in the lower end of a mounting column in the soil loosening mechanism, and an integrally formed pin is arranged at the upper end of the first connecting column; and a pin column at the upper end of the first connecting column and a mounting hole I on the first mounting column form a sliding pair.

More preferably, the garlic clamps are provided with five pairs, when one pair of garlic clamps faces upwards and is positioned under the garlic sprout fine shearing mechanism, the other two pairs of garlic clamps are respectively positioned at the input end and the output end of the garlic sprout rough shearing mechanism, and are respectively positioned under the meshing part of the two garlic sprout trimming wheels of the garlic sprout rough shearing mechanism and under one flexible claw of the root hair trimming mechanism, and the remaining two pairs of garlic clamps face downwards; the other two flexible claws of the root hair trimming mechanism are respectively positioned right above the meshing part of the two root hair trimming wheels and right above the harvesting box.

Preferably, a second mounting post integrally formed on the C-shaped sliding seat shell and a second mounting hole formed in the garlic clamp form a moving pair and are connected through a second buffer spring.

More preferably, a first pressure sensor is arranged at the far rest section of the cam on the upper end face of the guide rail; the outer surface and the inner surface of the guide rail, which are positioned at the outer side of the end face cam, are provided with annular grooves, and the annular grooves and the sliding blocks form a sliding pair.

Preferably, a piston rod of the electric telescopic rod II penetrates through the hook claw slide rail, and the hook claw slide rail is fixed on the root hair trimming mechanism support.

More preferably, the flexible hook claw is provided with a plurality of flexible claw heads which are equidistantly arranged along the circumferential direction, and a plurality of telescopic probes which are equidistantly arranged along the circumferential direction are arranged inside all the flexible claw heads; the telescopic probe comprises a telescopic sleeve, a telescopic inner rod and a flexible probe; the telescopic sleeve is fixed at the bottom of the mounting plate, the top end of the telescopic inner rod and the telescopic sleeve form a sliding pair and are connected through a buffer spring III, and a flexible probe is fixed at the bottom end of the telescopic inner rod; a second pressure sensor is arranged on the flexible probe; the flexible claw heads of the flexible hook claws are controlled to open and close by a reversing valve, and the reversing valve is connected with an air pump.

The garlic picking method of the garlic picking machine comprises the following specific steps:

firstly, the controller drives each wheel and the frame to advance through each driving motor I; meanwhile, the controller controls the driving motor III to work, so that the soil loosening transmission crankshaft rotates, and then the soil loosening connecting rods drive the corresponding soil loosening rake teeth to move back and forth to loosen the soil in the horizontal direction; meanwhile, the controller controls the driving motor IV to work to drive each vibration cam to rotate, so that the whole soil loosening mechanism vibrates to loosen soil in the vertical direction; the picking conveyor belts of the two picking conveying mechanisms move to clamp garlic sprouts of the garlic and pull out the garlic from soil and convey the garlic backwards, and meanwhile, the soil loosening mechanism vibrates to enable the soil on the garlic to fall off; garlic sprouts of the garlic move along with the rotation of the two picking conveying belts, and the garlic is guided by the gap between the two flexible supporting plates and conveyed to the lower part of the garlic sprout rough shearing mechanism; two trimming mechanism motors of the garlic sprout rough trimming mechanism drive two driving belt wheels to rotate reversely, each driving belt wheel drives a corresponding driven belt wheel to rotate reversely through a driving belt, and then two garlic sprout trimming wheels are driven to rotate reversely through a hinging shaft II; garlic sprouts conveyed to the lower part of the garlic sprout rough shearing mechanism are rolled and cut by the two garlic sprout shearing wheels to finish the rough shearing work; the garlic sprouts on the picking and conveying mechanism are output and collected;

then, the roughly cut garlic just falls into a pair of separated garlic clamps under two garlic sprout trimming wheels, when a weight sensor on the pair of garlic clamps detects that the weight change reaches a preset value, a controller controls a driving roller driving motor to start working, the front and rear driving rollers drive four chain driving wheels to rotate simultaneously, then the two driving chains drive each spring sliding seat to move along two annular grooves on guide rails on two sides, when the pair of garlic clamps drive the garlic to move to an end cam pushing section of the guide rails along the corresponding two spring sliding seats, each sliding rod on the two spring sliding seats drives a movable pulley to move in a direction far away from the driving chains, a first supporting spring and a second supporting spring on the two spring sliding seats are both compressed, the second supporting spring drives a C-shaped sliding seat shell on the two spring sliding seats and the pair of garlic clamps to move in a direction far away from the driving chains, and the pair of garlic clamps are closed to clamp the garlic; at the moment, the buffer springs II on the two spring sliding seats are compressed, the pair of garlic clamps move to the position right below the garlic sprout fine shearing mechanism, and the pressure sensor detects pressure due to the restoring force of the supporting spring I, the controller controls the driving roller driving motor to stop working and controls the servo motor to start working, the whole shearing device is driven to move downwards through the electric telescopic rod I, when the flexible gasket contacts the upper surface of garlic, each shearing rack rod of the shearing device continues to move downwards, each supporting spring III is compressed, each shearing gear is meshed with the rack part of the corresponding shearing rack rod and rotates, each shearing blade is enabled to be folded towards the center along the corresponding supporting seat through each shearing connecting rod frame, redundant garlic sprouts are cut off, each shearing rack rod cannot continue to move downwards, the weight sensor in the garlic clamps detects that the gravity reaches the preset value II, the controller controls the servo motor to rotate in the reverse direction to enable the electric telescopic rod I to retract, each shearing rack rod moves upwards, each supporting spring III restores, each shearing gear rotates in the reverse direction, each shearing blade returns to the initial position along the corresponding shearing connecting rod frame, and fine shearing is completed;

then, when the weight sensor of the other pair of garlic clamps under the garlic sprout trimming wheel detects that the weight change reaches a preset value, the controller controls the driving roller to drive the motor to continue working, and the pair of garlic clamps filled with the finely-trimmed garlic sprouts are gradually separated when continuing moving to the end cam return segment of the guide rail along with the driving chain; when the pair of garlic clamps under the garlic sprout trimming wheel move to the position under the garlic sprout fine trimming mechanism, the garlic is clamped, and the pressure sensor on the guide rail detects the pressure again, the pair of garlic clamps with the garlic sprouts fine trimmed continuously move to the end cam near-rest section of the guide rail along with the transmission chain and are positioned under one flexible claw of the root hair trimming mechanism; at the moment, the controller controls the driving roller to drive the motor to stop working, controls the corresponding electric telescopic rod II to drive the flexible hook claw to move downwards, controls the telescopic inner rod and the flexible probe to contract towards the inside of the telescopic sleeve when the pressure sensor II on the flexible probe of the flexible hook claw contacts the surface of the garlic, controls the electric telescopic rod II to stop working when the pressure detected by the pressure sensor II reaches a preset value III, controls the corresponding reversing valve to reverse at the same time, enables all flexible claw heads of the flexible hook claw to move centripetally to clamp the garlic, and controls the electric telescopic rod II to shorten to an initial position; at the moment, the garlic sprout fine shearing mechanism finishes the garlic sprout fine shearing work of one garlic, and the garlic sprout rough shearing mechanism finishes the garlic sprout rough shearing work of one garlic;

then, the controller controls the rotary motor to work to drive the rotary movable plate and each flexible hook claw to rotate by a preset angle, at the moment, the flexible hook claw which just clamps the garlic rotates to a position right above the meshing position of the two root hair trimming wheels, and the two trimming wheel driving motors drive the two root hair trimming wheels to rotate reversely, so that the root of the garlic above the two root hair trimming wheels is trimmed, and the root hair trimming work is finished; meanwhile, the other flexible claw of the root hair trimming mechanism clamps the other finely cut garlic sprout transmitted by the garlic positioning and clamping mechanism, the finely cut garlic sprout mechanism completes the finely cut garlic sprout of one garlic, and the roughly cut garlic sprout mechanism completes the roughly cut garlic sprout of one garlic;

finally, the controller controls the rotary motor to drive the rotary movable plate and the flexible claws to rotate for a preset angle, the flexible claws clamping garlic which finishes root hair trimming rotate to the upper part of the harvesting box, and the controller controls the flexible claw heads of the flexible claws to open and release the garlic to enable the garlic to fall into the harvesting box; meanwhile, the other two flexible claws of the root hair trimming mechanism respectively complete the root hair trimming work of the garlic after the fine garlic sprout trimming operation at the two root hair trimming wheels and the clamping work of the garlic after the other fine garlic sprout trimming operation at the garlic positioning and clamping mechanism, the fine garlic sprout trimming mechanism further completes the fine garlic sprout trimming work of one garlic, and the coarse garlic sprout trimming mechanism further completes the coarse garlic sprout trimming work of one garlic transmitted by the picking mechanism.

The invention has the following beneficial effects:

the invention can realize the automation of the whole garlic picking process, namely soil loosening, garlic picking, garlic sprout trimming and root hair trimming. The soil loosening mechanism can loosen soil and make soil on the garlic fall off; the garlic sprout rough shearing mechanism and the garlic sprout fine shearing mechanism can respectively and automatically carry out primary pruning and secondary equal-length pruning on the garlic sprouts at the top of the garlic; the root hair trimming mechanism can automatically trim the root hair at the bottom of the garlic; the garlic is not required to be picked and trimmed manually, the garlic picking efficiency, the garlic sprout trimming efficiency and the garlic sprout trimming efficiency are improved, the garlic sprouts can be directly output to a packaging machine for packaging, and the garlic sprouts trimmed by the garlic trimming machine are uniform and consistent in length and good in quality.

Drawings

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

FIG. 2 is a perspective view of the picking mechanism and garlic clove cutting mechanism of the present invention;

FIG. 3 is another perspective view of the picking mechanism and garlic clove cutting mechanism of the present invention;

FIG. 4 is a perspective view of the ripping mechanism of the present invention;

FIG. 5 is a cross-sectional view of the ripping mechanism of the present invention;

FIG. 6 is a perspective view of the garlic positioning and clamping mechanism and the garlic sprout fine shearing mechanism of the present invention;

FIG. 7 is a perspective view of the garlic positioning and clamping mechanism of the present invention;

FIG. 8 is a perspective view of the slide rail of the present invention;

FIG. 9 is a perspective view of the spring carriage and drive chain of the present invention;

FIG. 10 is a cross-sectional view of the spring carriage of the present invention;

FIG. 11 is a perspective view of a fine garlic sprout shearing mechanism according to the present invention;

FIG. 12 is a cross-sectional view of a fine trimming mechanism for garlic sprouts according to the present invention;

FIG. 13 is a perspective view of the root hair trimming mechanism and harvesting tank of the present invention;

FIG. 14 is a front view of the flexible claw of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.

As shown in fig. 1, the garlic picking machine of the invention comprises a picking mechanism 1, a scarification mechanism 2, a frame 3, wheels 4, a garlic sprout rough cutting mechanism 5, a garlic positioning and clamping mechanism 6, a garlic sprout fine cutting mechanism 7, a root hair trimming mechanism 8 and a harvesting box 9; the two mounting shafts I are arranged in the front and back direction and are fixed at the bottom of the frame 3, and two ends of each mounting shaft I are rotatably connected with one wheel 4 respectively; each wheel 4 is driven by a drive motor i.

As shown in fig. 2, picking mechanism 1 comprises two picking transport mechanisms and two flexible support plates 15; the picking conveying mechanism comprises a picking conveying belt 11, a first driving roller 12, a first driven roller 13 and a second driven roller 14; the driving roller 12, the driven roller I13 and the driven roller II 14 are respectively fixed with three mounting shafts, and the mounting shafts II and the frame 3 form a revolute pair; the driving roller 12 is connected with the driven roller II 14 through the picking conveying belt 11, and the driven roller I13 tensions the picking conveying belt 11; the picking conveyor belt 11 is obliquely arranged, but the belt surface of the picking conveyor belt 11 is positioned in a vertical plane; the driving rollers I12 of the two picking and conveying mechanisms are respectively driven by two driving motors and rotate reversely; the picking conveying belts 11 of the two picking conveying mechanisms are opposite to each other and arranged at intervals; two flexible support plates 15 are fixed on the frame 3 in an inclined and spaced manner, each flexible support plate 15 being located below one picking conveyor.

As shown in fig. 4 and 5, the soil loosening mechanism 2 is located below the two picking conveying mechanisms and in front of the two flexible supporting plates 15, and comprises a soil loosening rake tooth 21, a soil loosening mechanism connecting plate 22, a vibration cam 23, a soil loosening mechanism base 24, a soil loosening transmission crankshaft 25, a soil loosening connecting rod 26 and a first buffer spring 27. Two scarification mechanism connecting plates 22 are fixed on the frame 3 at intervals; two mounting columns I which are arranged at intervals are fixed at two ends of the lower surface of each soil loosening mechanism connecting plate 22; two connecting columns I which are arranged at intervals are fixed at two ends of the upper surface of the scarification mechanism base 24, each connecting column I and one mounting column I form a sliding pair and are connected through a buffer spring I27; the main shaft sections at two ends of the soil loosening transmission crankshaft 25 are supported on the soil loosening mechanism base 24 through a bearing respectively, and the main shaft section at one end of the soil loosening transmission crankshaft is fixed with an output shaft of the driving motor III; the soil loosening transmission crankshaft 25 is provided with a plurality of integrally formed crankshaft sections, and two adjacent crankshaft sections are arranged along the circumferential direction in a staggered manner; each crankshaft section is hinged with one end of a scarification connecting rod 26; the other end of each soil loosening connecting rod 26 is hinged with the tail of one soil loosening rake tooth 21; each soil loosening rake tooth 21 and a corresponding sliding chute fixed on the side part of the soil loosening mechanism base 24 form a sliding pair; the scarification mechanism base 24 is hinged with a plurality of vibration cams 23, and each vibration cam 23 is driven by one driving motor four.

As shown in fig. 2 and 3, the garlic sprout rough cutting mechanism 5 comprises a rough cutting mechanism frame 51, a cutting mechanism motor 52, a driving pulley 53, a transmission belt 54, a driven pulley 55 and a garlic sprout cutting wheel 56; the two rough shearing mechanism frames 51 are both fixed on the frame 3; each rough shearing mechanism frame 51 and a first hinged shaft and a second hinged shaft form a revolute pair, a driving belt wheel 53 is fixed on the first hinged shaft, a driven belt wheel 55 is fixed on the second hinged shaft, and the driving belt wheel 53 is connected with the driven belt wheel 55 through a transmission belt 54; each drive pulley 53 is driven by a trimming mechanism motor 52; garlic sprout trimming wheels 56 are fixed on the second hinged shafts, and the teeth of the two garlic sprout trimming wheels 56 are meshed; the two garlic sprout trimming wheels 56 are respectively positioned under the driven roller two 14 of the picking and conveying mechanism and are respectively positioned above one flexible supporting plate 15 of the picking mechanism 1.

As shown in fig. 6, 7 and 8, the garlic positioning and clamping mechanism 6 comprises a clamping mechanism frame 61, a chain driving wheel 622, a driving chain 623, a guide rail 624, a driving roller 625 and a clamping device 62; the clamping mechanism frame 61 is fixed on the frame 3; the two driving rollers 625 and the clamping mechanism frame 61 form a rotating pair; a vertically arranged chain drive wheel 622 is fixed at both ends of each drive roller 625; one of the driving rollers 625 is fixed with an output shaft of a driving roller driving motor; every two axially aligned chain drives 622 are connected by a drive chain 623; the input ends of the two transmission chains 623 are respectively positioned below one garlic sprout trimming wheel 56 of the garlic sprout rough trimming mechanism 5; an annular guide rail 624 is fixed to the clamping mechanism frame 61 at a position inside each of the two drive chains 623. As shown in fig. 7, 9 and 10, the clamping device 62 includes a garlic clamp 621 and a spring slide 63; the spring slide 63 includes a C-shaped slide housing 631, a pulley groove 632, a movable pulley 633, a movable jaw 634, a slider 635, a first support spring 636, and a second support spring 637; two inner walls opposite to the C-shaped sliding seat shell 631 are provided with two pulley grooves 632 which are arranged at intervals, two of the pulley grooves 632 which are aligned up and down and two ends of one sliding rod respectively form a sliding pair, and the other two pulley grooves 632 which are aligned up and down and two ends of the other sliding rod respectively form a sliding pair; the sliding rod is connected with the pulley groove 632 through a second support spring 637; each sliding rod is hinged with a plurality of movable pulleys 633; the C-shaped sliding seat shell 631 is further provided with four positioning holes, and the axes of the positioning holes are parallel to the pulley grooves 632; each positioning hole and one end of one movable claw 634 form a sliding pair and are connected through a support spring I636; a slider 635 is fixed on each movable jaw 634; five pairs of the spring slide bases 63 are uniformly distributed along the annular direction of the transmission chain 623; the two spring sliding seats 63 of each pair are aligned and arranged oppositely, and two movable claws 634 at the same height on the two spring sliding seats 63 of each pair are fixed with two chain links of the two transmission chains 623 respectively; in each pair of spring slide bases 63, each slide block 635 of one spring slide base 63 forms a moving pair with one guide rail 624, and each slide block 635 of the other spring slide base 63 forms a moving pair with the other guide rail 624; in each pair of spring slide bases 63, each movable pulley 633 of one spring slide base 63 and an end cam integrally formed on the inner side of one guide rail 624 form a cam pair, and each movable pulley 633 of the other spring slide base 63 and an end cam integrally formed on the inner side of the other guide rail 624 form a cam pair; the C-shaped slide seat shell 631 of each spring slide seat 63 and a garlic clamp 621 form a sliding pair and are connected through a buffer spring II; a weight sensor is fixed on the inner wall of the garlic clamp 621; the two garlic clamps 621 on each pair of spring slides 63 are positioned opposite to each other.

As shown in fig. 6, fig. 11 and fig. 12, the garlic sprout fine shearing mechanism 7 is located above the garlic positioning and clamping mechanism 6, and comprises an electric telescopic rod 721 and a shearing device 72. Trimming device 72 includes a device top disk 722, a trimming rack bar 723, a trimming gear 724, a trimming link frame 725, a trimming blade 726, a device base, a flexible washer 728, and a support spring triplet 729. The cylinder body of the first electric telescopic rod 721 is fixed on the clamping mechanism frame 61, and the piston rod of the first electric telescopic rod 721 penetrates through the clamping mechanism frame 61 to be fixed with the device top disc 722; wherein, the electric telescopic rod one 721 is driven by the servo motor one 71; four trimming rack rods 723 which are arranged at equal intervals along the circumferential direction are fixed on the device top plate 722; the device base is placed below each trimming rack bar 723; four connecting column two 727 which are circumferentially and equidistantly arranged are arranged on the device base; each trimming rack rod 723 and a connecting column II 727 form a sliding pair and are connected through a supporting spring III 729; each connecting post two 727 is hinged with a trimming gear 724 respectively; each trimming gear 724 is engaged with a rack portion of one trimming rack rod 723; the eccentric position of each trimming gear 724 and one end of a trimming connecting rod frame 725 form a revolute pair respectively; the other end of each trimming link frame 725 is hinged with a trimming blade 726; each connecting column II 727 is fixedly provided with a supporting seat, and the distance between the top surface of each supporting seat and the bottom surface of the base of the device is 6cm; each support seat and a trimming blade 726 form a sliding pair; a flexible gasket 728 is secured within a recess in the bottom of the device base.

As shown in fig. 13, the root hair trimming mechanism 8 is located at the output end of the garlic positioning and clamping mechanism 6, and includes a root hair trimming mechanism bracket 81, a rotary motor 82, a rotary movable plate 84, a second electric telescopic rod 871, a flexible hook 87 and a root hair trimming wheel 88. The root hair trimming mechanism support 81 is fixed on the frame 3; the rotary motor 82 is fixed on the root hair trimming mechanism support 81, and an output shaft of the rotary motor 82 is fixed with the center of the rotary movable plate 84; three electric telescopic rods two 871 which are uniformly distributed along the circumferential direction are fixed on the rotary movable plate 84; the electric telescopic rod II 871 is driven by a servo motor II 85; the piston rod of each electric telescopic rod II 871 is fixed with the mounting plate 872 of one flexible claw 87; two trimming wheel driving motors are fixed on the root hair trimming mechanism bracket 81, and an output shaft of each trimming wheel driving motor is fixed with a root hair trimming wheel 88; the two trimmer driving motors are opposite in rotation direction; the gear teeth on the two root hair trimming wheels 88 are meshed, and the pitch circle of the root hair trimming wheels 88 is tangent to the circumference of the central shaft of each electric telescopic rod; the harvesting box is fixed to the side of the root hair trimming mechanism bracket 81.

As a preferred embodiment, as shown in fig. 5, a first mounting hole is formed at a lower end of a mounting column in the ripping mechanism 2, and an integrally formed pin is arranged at an upper end of the mounting column; the pin column at the upper end of the first connecting column and the first mounting hole on the first mounting column form a sliding pair.

As a preferred embodiment, as shown in fig. 1, the garlic clamps 621 are provided with five pairs, when one pair of garlic clamps faces upwards and is positioned under the fine garlic sprout shearing mechanism 7, the other two pairs of garlic clamps are respectively positioned at the input end and the output end of the coarse garlic sprout shearing mechanism 5 and are respectively positioned under the meshing part of the two garlic sprout trimming wheels 56 of the coarse garlic sprout shearing mechanism 5 and under one flexible claw 87 of the root hair trimming mechanism 8, and the remaining two pairs of garlic clamps face downwards; the other two flexible claws 87 of the hair trimmer 8 are located directly above the engagement of the two hair trimming wheels 88 and directly above the harvesting tank 9.

As a preferred embodiment, the mounting post II integrally formed on the C-shaped sliding base shell 631 and the mounting hole II formed on the garlic clamp 621 form a moving pair and are connected through a buffer spring II.

As a preferred embodiment, as shown in FIG. 8, the distal resting segment of the facing cam of the guide track 624 is provided with a first pressure sensor 6241; the outer surface and the inner surface of the guide rail 624, which are positioned at the outer side of the end face cam, are provided with annular grooves 6242, and the annular grooves 6242 and the sliding block 635 form a sliding pair.

As a preferred embodiment, the mounting hole three formed on the connecting post two and the mounting post three integrally formed at a position of the trimming rack bar 723 near the rack portion constitute a moving pair, and are connected by a supporting spring three 729.

As a preferred embodiment, the piston rod of the electric telescopic rod two 871 passes through the hook slide rail 86, and the hook slide rail 86 is fixed on the root hair trimming mechanism bracket 81.

As a preferred embodiment, as shown in fig. 14, the flexible claw 87 is provided with a plurality of flexible claw heads 873 arranged equidistantly in the circumferential direction, and a plurality of retractable probes 874 arranged equidistantly in the circumferential direction are provided inside all the flexible claw heads 873; the retractable probe 874 comprises a retractable sleeve, a retractable inner rod, and a flexible probe; the telescopic sleeve is fixed at the bottom of the mounting plate 872, the top end of the telescopic inner rod and the telescopic sleeve form a sliding pair and are connected through a buffer spring III, and the bottom end of the telescopic inner rod is fixed with a flexible probe; and a second pressure sensor is arranged on the flexible probe. The opening and closing of each flexible claw head 873 of the flexible hook claw 87 are controlled by a reversing valve, and the reversing valve is connected with the air pump 83.

The first driving motor, the second driving motor, the third driving motor, the fourth driving motor, the driving roller driving motor, the rotary motor 82, the trimming wheel driving motor, the trimming mechanism motor 52, the first servo motor 71, the second servo motor 85 and the reversing valve are all controlled by a controller, and signal output ends of the weight sensor, the first pressure sensor 6241 and the second pressure sensor are connected with the controller.

The garlic picking method of the garlic picking machine comprises the following specific steps:

firstly, the controller drives each wheel 4 and the frame 3 to advance through each driving motor I; meanwhile, the controller controls the third driving motor to work, so that the soil loosening transmission crankshaft 25 rotates, and the soil loosening connecting rods 26 drive the corresponding soil loosening rake teeth 21 to move back and forth to loosen soil in the horizontal direction; meanwhile, the controller controls the driving motor IV to work to drive each vibration cam 23 to rotate, so that the whole soil loosening mechanism vibrates to loosen soil in the vertical direction; the picking conveyor belts 11 of the two picking conveying mechanisms move to clamp garlic sprouts of the garlic and pull out the garlic from soil to convey the garlic backwards, and meanwhile, the soil loosening mechanism 1 vibrates to enable the soil on the garlic to fall off; garlic sprouts of the garlic move along with the rotation of the two picking conveyor belts 11, and the garlic is guided to be conveyed below the garlic sprout rough shearing mechanism 5 through the gap between the two flexible support plates 15; two trimming mechanism motors 52 of the garlic sprout rough trimming mechanism 5 drive two driving belt wheels 53 to rotate in opposite directions, each driving belt wheel 53 drives a corresponding driven belt wheel 55 to rotate in opposite directions through a driving belt 54, and then two garlic sprout trimming wheels 56 are driven to rotate in opposite directions through a second hinged shaft. Garlic sprouts conveyed to the lower part of the garlic sprout rough shearing mechanism 5 are rolled and cut by the two garlic sprout trimming wheels 56, and the rough shearing work is finished; the garlic sprouts on the picking and conveying mechanism are output and collected;

then, the roughly cut garlic falls into a pair of separated garlic clamps 621 right below two garlic sprout trimming wheels 56, when the weight sensor on the pair of garlic clamps 621 detects that the weight change reaches a preset value, the controller controls the driving roller driving motor to work, the driving roller driving motor drives the four chain driving wheels 622 to rotate simultaneously through the front and rear driving rollers 625, and then the driving chain 623 drives each spring sliding seat 63 to move along two annular grooves 6242 on the two side guide rails 624, when the garlic clamps drive the garlic to move to the end cam pushing section of the guide rail 624 along with the corresponding two spring sliding seats 63, each sliding rod on the two spring sliding seats 63 drives the movable pulley 633 to move in the direction far away from the driving chain 623, the first support springs 636 and the second support springs 637 on the two spring sliding seats 63 are both compressed, the second support springs 637 drive the C-shaped sliding seat housings 631 on the two spring sliding seats 63 and the pair of garlic clamps 621 also move in the direction far away from the driving chain 623, and the pair of garlic clamps clamp the garlic; at this time, the second buffer springs on the two spring sliding seats 63 are compressed, the pair of garlic clamps move to the position right below the garlic sprout fine shearing mechanism 7, and because the first support spring 636 has restoring force, when the first pressure sensor 6241 detects pressure, the controller controls the driving roller driving motor to stop working, controls the first servo motor 71 to start working, and drives the whole shearing device 72 to move downwards through the first electric telescopic rod 721, when the flexible gasket 728 contacts the upper surface of garlic, each shearing rack 723 of the shearing device 72 continues to move downwards, each support spring third 729 is compressed, each shearing gear 724 is engaged with the rack portion of the corresponding shearing rack rod and rotates, and further each shearing blade 726 is folded towards the center along the corresponding support seat through each connecting rod frame 725, so that the cut off redundant garlic sprouts are cut off, and each shearing rack rod 723 cannot continue to move downwards, the weight sensor in the set of garlic clamps 621 detects that the gravity reaches the second weight, the controller controls the first servo motor 71 to rotate reversely, so that each electric telescopic rod 721 contracts, each shearing rack rod 723 moves upwards, each supporting spring 729 recovers, each shearing rack rod 725 returns to the corresponding fine shearing rack rod supporting seat 724 and each supporting seat rotates along with the initial position;

then, when the weight sensor of the other pair of garlic clamps 621 under the garlic sprout trimming wheel 56 detects that the weight change reaches a preset value, the controller controls the driving roller driving motor to continue working, and the pair of garlic clamps 621 loaded with finely-trimmed garlic sprouts are gradually separated when continuing moving to the end cam return segment of the guide rail 624 along with the driving chain 623; when the pair of garlic clamps under the garlic sprout trimming wheel 56 move to under the garlic sprout fine shearing mechanism 7, the garlic is clamped, and the pressure sensor on the guide rail 624 detects the pressure again, the pair of garlic clamps 621 with the garlic sprouts finely sheared continuously move along with the transmission chain 623 to the end cam near-rest section of the guide rail 624 and are positioned under a flexible claw 87 of the root hair trimming mechanism 8; at the moment, the controller controls the driving roller driving motor to stop working, and controls the corresponding electric telescopic rod II 871 to drive the flexible hook claw 87 to move downwards, when the pressure sensor II on the flexible probe of the flexible hook claw 87 contacts the surface of the garlic, the telescopic inner rod and the flexible probe are contracted towards the inside of the telescopic sleeve until the pressure detected by the pressure sensor II reaches a preset value III, the controller controls the electric telescopic rod II 871 to stop working, and simultaneously controls the corresponding reversing valve to reverse, so that each flexible claw head 873 of the flexible hook claw 87 moves centripetally to clamp the garlic, and the controller controls the electric telescopic rod II 871 to be contracted to an initial position; at this time, the fine garlic sprout shearing mechanism 7 finishes a fine garlic sprout shearing work of garlic again, and the coarse garlic sprout shearing mechanism 5 finishes a coarse garlic sprout shearing work of garlic again;

then, the controller controls the rotary motor 82 to work to drive the rotary movable plate 84 and each flexible hook claw 87 to rotate by a preset angle, at the moment, the flexible hook claw 87 which just clamps the garlic rotates to be right above the meshing part of the two root hair trimming wheels 88, and the two trimming wheel driving motors drive the two root hair trimming wheels 88 to rotate reversely, so that the root of the garlic above the two root hair trimming wheels 88 is trimmed, and the root hair trimming work is finished; meanwhile, the other flexible claw 87 of the root hair trimming mechanism 8 clamps the other finely cut garlic sprout from the garlic positioning and clamping mechanism 6, the fine garlic sprout shearing mechanism 7 completes the fine garlic sprout shearing of one garlic, and the coarse garlic sprout shearing mechanism 5 completes the coarse garlic sprout shearing of one garlic;

finally, the controller controls the rotary motor 82 to drive the rotary movable plate 84 and the flexible claws 87 to rotate for a preset angle, the flexible claws 87 clamping the garlic after the garlic is trimmed are rotated above the harvesting box 9, and the controller controls the flexible claw heads 873 of the flexible claws 87 to open and release the garlic to enable the garlic to fall into the harvesting box 9; meanwhile, the other two flexible claws 87 of the root hair trimming mechanism 8 respectively complete the root hair trimming work of the garlic after the fine garlic sprout trimming operation to the two root hair trimming wheels 88 and the clamping work of the garlic after the other fine garlic sprout trimming operation to the garlic positioning and clamping mechanism 6, the fine garlic sprout trimming mechanism 7 completes the fine garlic sprout trimming work of one garlic, and the coarse garlic sprout trimming mechanism 5 completes the coarse garlic sprout trimming work of one garlic from the picking mechanism 1.

By continuously repeating the steps, the whole process automation that the picking mechanism 1 extracts garlic from the soil, the extracted garlic is conveyed to the garlic sprout rough shearing mechanism 5 for garlic sprout rough shearing, the garlic after the garlic sprout rough shearing is conveyed to the garlic sprout fine shearing mechanism 7 for garlic sprout length fine shearing, the garlic after the garlic sprout fine shearing is conveyed to the root hair shearing mechanism 8 for root hair shearing, and the garlic after the root hair shearing is conveyed to the harvesting box 9 for collection is continuously realized.

Claims (10)

1. A garlic picking machine comprises a picking mechanism, a scarification mechanism, a frame, wheels and a harvesting box; the two first mounting shafts are arranged in a front-back mode and are fixed at the bottom of the frame, and two ends of each first mounting shaft are rotatably connected with a wheel; each wheel is driven by a driving motor I; the method is characterized in that: the garlic sprout trimming device also comprises a garlic sprout rough trimming mechanism, a garlic positioning and clamping mechanism, a garlic sprout fine trimming mechanism and a root hair trimming mechanism;

the garlic sprout rough shearing mechanism comprises a rough shearing mechanism frame, a shearing mechanism motor, a driving belt wheel, a driving belt, a driven belt wheel and a garlic sprout shearing wheel; the two rough shearing mechanism frames are fixed on the frame; each rough shearing mechanism frame, one first hinged shaft and one second hinged shaft form a revolute pair, a driving belt wheel is fixed on the first hinged shaft, a driven belt wheel is fixed on the second hinged shaft, and the driving belt wheel is connected with the driven belt wheel through a transmission belt; each driving belt wheel is driven by a motor of the trimming mechanism; garlic sprout trimming wheels are fixed on the second hinged shafts, and the teeth of the two garlic sprout trimming wheels are meshed; the two garlic sprout trimming wheels are positioned at the output end of the picking and conveying mechanism;

the garlic positioning and clamping mechanism comprises a clamping mechanism rack, a chain transmission wheel, a transmission chain, a guide rail, a transmission roller and a clamping device; the clamping mechanism frame is fixed on the frame; the two transmission rollers and the clamping mechanism frame form a revolute pair; a chain driving wheel which is vertically arranged is fixed at both ends of each driving roller; one of the driving rollers is fixed with an output shaft of a driving roller driving motor; every two chain transmission wheels aligned in the axial position are connected through one transmission chain; the input ends of the two transmission chains are respectively positioned below a garlic sprout trimming wheel of the garlic sprout rough trimming mechanism; an annular guide rail is fixed on the clamping mechanism frame at the inner side of the two transmission chains; the clamping device comprises a garlic clamp and a spring sliding seat; the spring sliding seat comprises a C-shaped sliding seat shell, a pulley groove, a movable pulley, a movable claw, a sliding block, a first supporting spring and a second supporting spring; two pulley grooves which are arranged at intervals are formed in two inner walls opposite to the C-shaped sliding seat shell, two of the pulley grooves which are aligned up and down and two ends of one sliding rod respectively form a sliding pair, and the other two pulley grooves which are aligned up and down and two ends of the other sliding rod respectively form a sliding pair; the sliding rod is connected with the pulley groove through a second supporting spring; each sliding rod is hinged with a plurality of movable pulleys; the C-shaped sliding seat shell is also provided with four positioning holes, and the axes of the positioning holes are parallel to the pulley grooves; each positioning hole and one end of one movable claw form a sliding pair and are connected through a first supporting spring; each movable claw is fixed with a slide block; more than five pairs of spring sliding seats are uniformly distributed along the annular direction of the transmission chain; the two spring sliding seats of each pair are aligned and arranged oppositely, and two movable claws at the same height on the two spring sliding seats of each pair are respectively fixed with two chain links aligned with the two transmission chains; in each pair of spring sliding seats, each sliding block of one spring sliding seat and one guide rail form a moving pair, and each sliding block of the other spring sliding seat and the other guide rail form a moving pair; in each pair of spring sliding seats, each movable pulley of one spring sliding seat and an end cam integrally formed on the inner side of one guide rail form a cam pair, and each movable pulley of the other spring sliding seat and an end cam integrally formed on the inner side of the other guide rail form a cam pair; the C-shaped sliding seat shell of each spring sliding seat and a garlic clamp form a sliding pair and are connected through a buffer spring II; a weight sensor is fixed on the inner wall of the garlic clamp; the two garlic clamps on each pair of spring sliding seats are arranged oppositely;

the garlic sprout fine shearing mechanism is positioned above the garlic positioning and clamping mechanism and comprises an electric telescopic rod I and a shearing device; the trimming device comprises a device top disc, a trimming rack rod, a trimming gear, a trimming connecting rod frame, a trimming blade, a device base, a flexible washer and a supporting spring III; the cylinder body of the first electric telescopic rod is fixed on the clamping mechanism rack, and the piston rod of the first electric telescopic rod penetrates through the clamping mechanism rack and is fixed with the device top disc; four trimming rack rods which are equidistantly arranged along the circumferential direction are fixed on the top disc of the device; the device base is arranged below each trimming rack rod; four connecting columns II which are circumferentially arranged at equal intervals are arranged on the device base; each trimming rack rod and one connecting column II form a sliding pair and are connected through a supporting spring III; each connecting column is hinged with a trimming gear; each trimming gear is respectively meshed with a rack part of one trimming rack rod; the eccentric position of each trimming gear and one end of one trimming connecting rod frame form a revolute pair; the other end of each pruning connecting rod frame is respectively hinged with one pruning blade; a supporting seat is fixed on each connecting column II; each support seat and one trimming blade form a sliding pair; the flexible gasket is fixed in a groove at the bottom of the base of the device;

the root hair trimming mechanism is positioned at the output end of the garlic positioning and clamping mechanism and comprises a root hair trimming mechanism support, a rotary motor, a rotary movable plate, an electric telescopic rod II, a flexible claw and a root hair trimming wheel; the root hair trimming mechanism bracket is fixed on the frame; the rotary motor is fixed on the root hair trimming mechanism support, and an output shaft of the rotary motor is fixed with the center of the rotary movable plate; three electric telescopic rods II which are uniformly distributed along the circumferential direction are fixed on the rotary movable plate; a piston rod of each electric telescopic rod II is fixed with a mounting plate of one flexible hook claw; two trimming wheel driving motors are fixed on the root hair trimming mechanism bracket, and an output shaft of each trimming wheel driving motor is fixed with a root hair trimming wheel; the two trimming wheel driving motors are opposite in rotation direction; the harvesting box is fixed on the side part of the root hair trimming mechanism bracket.

2. A garlic picking machine according to claim 1, wherein: the picking mechanism comprises two picking and conveying mechanisms and two flexible supporting plates; the picking conveying mechanism comprises a picking conveying belt, a first driving roller, a first driven roller and a second driven roller; the driving roller, the first driven roller and the second driven roller are respectively fixed with three mounting shafts, and the mounting shafts and the frame form a revolute pair; the driving roller and the driven roller are connected through a picking conveyor belt, and the driven roller tensions the picking conveyor belt; the picking conveying belt is obliquely arranged, but the belt surface of the picking conveying belt is positioned in the vertical plane; the first driving rollers of the two picking and conveying mechanisms are respectively driven by the two driving motors and rotate reversely; the picking conveying belts of the two picking conveying mechanisms are opposite to each other and arranged at intervals; the two flexible supporting plates are inclined and fixed on the frame at intervals, and each flexible supporting plate is positioned below one picking conveying mechanism.

3. A garlic picking machine as claimed in claim 2, wherein: the soil loosening mechanism is positioned below the two picking and conveying mechanisms and in front of the two flexible supporting plates and comprises soil loosening rake teeth, a soil loosening mechanism connecting plate, a vibration cam, a soil loosening mechanism base, a soil loosening transmission crankshaft, a soil loosening connecting rod and a first buffer spring; the two soil loosening mechanism connecting plates are fixed on the frame at intervals; two mounting posts I are fixed at two ends of the lower surface of each soil loosening mechanism connecting plate and are arranged at intervals; two connecting columns I which are arranged at intervals are fixed at two ends of the upper surface of the scarification mechanism base, each connecting column I and one mounting column I form a sliding pair and are connected through a buffer spring I; the main shaft sections at two ends of the soil loosening transmission crankshaft are supported on the soil loosening mechanism base through a bearing respectively, and the main shaft section at one end of the soil loosening transmission crankshaft is fixed with an output shaft of the driving motor III; the soil loosening transmission crankshaft is provided with a plurality of integrally formed crankshaft sections, and two adjacent crankshaft sections are arranged in a staggered mode along the circumferential direction; each crankshaft section is hinged with one end of one soil loosening connecting rod; the other end of each soil loosening connecting rod is hinged with the tail of one soil loosening rake tooth; each soil loosening rake tooth and a corresponding sliding chute fixed on the side part of the soil loosening mechanism base form a sliding pair; the scarification mechanism base is hinged with a plurality of vibration cams, and each vibration cam is driven by one driving motor.

4. A garlic picking machine according to claim 3, wherein: a first mounting hole is formed in the lower end of a mounting column in the soil loosening mechanism, and an integrally formed pin column is arranged at the upper end of the first connecting column; the pin column at the upper end of the first connecting column and the first mounting hole on the first mounting column form a sliding pair.

5. A garlic picking machine according to claim 4, wherein: when one pair of garlic clamps is upward and is positioned under the garlic sprout fine shearing mechanism, the other two pairs of garlic clamps are respectively positioned at the input end and the output end of the garlic sprout rough shearing mechanism and are respectively positioned under the meshing part of two garlic sprout shearing wheels of the garlic sprout rough shearing mechanism and under one flexible claw of the root hair shearing mechanism, and the rest two pairs of garlic clamps are downward arranged; the other two flexible claws of the root hair trimming mechanism are respectively positioned right above the meshing part of the two root hair trimming wheels and right above the harvesting box.

6. A garlic picking machine according to claim 1, wherein: and a second mounting column integrally formed on the C-shaped sliding seat shell and a second mounting hole formed in the garlic clamp form a sliding pair and are connected through a second buffer spring.

7. A garlic picking machine as claimed in claim 5, wherein: a first pressure sensor is arranged at a far rest section of the cam on the upper end face of the guide rail; the outer surface and the inner surface of the guide rail, which are positioned at the outer side of the end face cam, are provided with annular grooves, and the annular grooves and the sliding blocks form a sliding pair.

8. A garlic picking machine according to claim 1, wherein: and a piston rod of the electric telescopic rod II penetrates through the claw slide rail, and the claw slide rail is fixed on the root hair trimming mechanism support.

9. A garlic picking machine as claimed in claim 7, wherein: the flexible hook claw is provided with a plurality of flexible claw heads which are equidistantly arranged along the circumferential direction, and a plurality of telescopic probes which are equidistantly arranged along the circumferential direction are arranged inside all the flexible claw heads; the telescopic probe comprises a telescopic sleeve, a telescopic inner rod and a flexible probe; the telescopic sleeve is fixed at the bottom of the mounting plate, the top end of the telescopic inner rod and the telescopic sleeve form a sliding pair and are connected through a buffer spring III, and a flexible probe is fixed at the bottom end of the telescopic inner rod; a second pressure sensor is arranged on the flexible probe; the flexible claw heads of the flexible hook claws are controlled to open and close by a reversing valve, and the reversing valve is connected with an air pump.

10. The garlic picking method of a garlic picking machine according to claim 9, wherein: the method comprises the following steps:

firstly, the controller drives each wheel and the frame to advance through each driving motor I; meanwhile, the controller controls the driving motor III to work, so that the soil loosening transmission crankshaft rotates, and the soil loosening connecting rods drive the corresponding soil loosening rake teeth to move back and forth to loosen soil in the horizontal direction; meanwhile, the controller controls the driving motor IV to work to drive each vibration cam to rotate, so that the whole soil loosening mechanism vibrates to loosen soil in the vertical direction; the picking conveyor belts of the two picking conveying mechanisms move to clamp garlic sprouts of the garlic and pull out the garlic from soil and convey the garlic backwards, and meanwhile, the soil loosening mechanism vibrates to enable the soil on the garlic to fall off; garlic sprouts of the garlic move along with the rotation of the two picking conveying belts, and the garlic is guided by the gap between the two flexible supporting plates and conveyed to the lower part of the garlic sprout rough shearing mechanism; two trimming mechanism motors of the garlic sprout rough trimming mechanism drive two driving belt wheels to rotate reversely, each driving belt wheel drives a corresponding driven belt wheel to rotate reversely through a driving belt, and then two garlic sprout trimming wheels are driven to rotate reversely through a hinging shaft II; garlic sprouts conveyed to the lower part of the garlic sprout rough shearing mechanism are rolled and cut by the two garlic sprout shearing wheels to finish the rough shearing work; the garlic sprouts on the picking and conveying mechanism are output and collected;

then, the roughly cut garlic just falls into a pair of separated garlic clamps under two garlic sprout trimming wheels, when a weight sensor on the pair of garlic clamps detects that the weight change reaches a preset value, a controller controls a driving roller driving motor to start working, the front and rear driving rollers drive four chain driving wheels to rotate simultaneously, then the two driving chains drive each spring sliding seat to move along two annular grooves on guide rails on two sides, when the pair of garlic clamps drive the garlic to move to an end cam pushing section of the guide rails along the corresponding two spring sliding seats, each sliding rod on the two spring sliding seats drives a movable pulley to move in a direction far away from the driving chains, a first supporting spring and a second supporting spring on the two spring sliding seats are both compressed, the second supporting spring drives a C-shaped sliding seat shell on the two spring sliding seats and the pair of garlic clamps to move in a direction far away from the driving chains, and the pair of garlic clamps are closed to clamp the garlic; at the moment, the buffer springs II on the two spring sliding seats are compressed, the pair of garlic clamps move to the position right below the garlic sprout fine shearing mechanism, and the pressure sensor detects pressure due to the restoring force of the supporting spring I, the controller controls the driving roller driving motor to stop working and controls the servo motor to start working, the whole shearing device is driven to move downwards through the electric telescopic rod I, when the flexible gasket contacts the upper surface of garlic, each shearing rack rod of the shearing device continues to move downwards, each supporting spring III is compressed, each shearing gear is meshed with the rack part of the corresponding shearing rack rod and rotates, each shearing blade is enabled to be folded towards the center along the corresponding supporting seat through each shearing connecting rod frame, redundant garlic sprouts are cut off, each shearing rack rod cannot continue to move downwards, the weight sensor in the garlic clamps detects that the gravity reaches the preset value II, the controller controls the servo motor to rotate in the reverse direction to enable the electric telescopic rod I to retract, each shearing rack rod moves upwards, each supporting spring III restores, each shearing gear rotates in the reverse direction, each shearing blade returns to the initial position along the corresponding shearing connecting rod frame, and fine shearing is completed;

then, when the weight sensor of the other pair of garlic clamps under the garlic sprout trimming wheel detects that the weight change reaches a preset value, the controller controls the driving roller to drive the motor to continue working, and the pair of garlic clamps filled with the finely-trimmed garlic sprouts are gradually separated when continuing moving to the end cam return segment of the guide rail along with the driving chain; when the pair of garlic clamps under the garlic sprout trimming wheel move to the position under the garlic sprout fine trimming mechanism, the garlic is clamped, and the pressure sensor on the guide rail detects the pressure again, the pair of garlic clamps with the garlic sprouts fine trimmed continuously move to the end cam near-rest section of the guide rail along with the transmission chain and are positioned under one flexible claw of the root hair trimming mechanism; at the moment, the controller controls the driving roller driving motor to stop working and controls the corresponding second electric telescopic rod to drive the flexible hook claw to move downwards, when a second pressure sensor on a flexible probe of the flexible hook claw contacts the surface of garlic, the telescopic inner rod and the flexible probe contract towards the inside of the telescopic sleeve, until the pressure detected by the second pressure sensor reaches a third preset value, the controller controls the second electric telescopic rod to stop working and controls the corresponding reversing valve to reverse at the same time, so that the flexible claws of the flexible hook claw move centripetally to clamp the garlic, and the controller controls the second electric telescopic rod to shorten to an initial position; at the moment, the garlic sprout fine shearing mechanism finishes the garlic sprout fine shearing work of one garlic, and the garlic sprout rough shearing mechanism finishes the garlic sprout rough shearing work of one garlic;

then, the controller controls the rotary motor to work to drive the rotary movable plate and each flexible claw to rotate for a preset angle, at the moment, the flexible claw which just clamps the garlic rotates to a position right above the meshing position of the two root hair trimming wheels, and the two trimming wheel driving motors drive the two root hair trimming wheels to rotate reversely, so that the root of the garlic above the two root hair trimming wheels is trimmed, and the root hair trimming work is finished; meanwhile, the other flexible claw of the root hair trimming mechanism clamps the other finely cut garlic sprouts transmitted by the garlic positioning and clamping mechanism, the fine garlic sprout shearing mechanism completes the fine garlic sprout shearing work of one garlic, and the coarse garlic sprout shearing mechanism completes the coarse garlic sprout shearing work of one garlic;

finally, the controller controls the rotary motor to drive the rotary movable plate and the flexible claws to rotate for a preset angle, the flexible claws clamping garlic which finishes root hair trimming rotate to the upper part of the harvesting box, and the controller controls the flexible claw heads of the flexible claws to open and release the garlic to enable the garlic to fall into the harvesting box; meanwhile, the other two flexible claws of the root hair trimming mechanism respectively complete the root hair trimming work of the garlic after the fine garlic sprout trimming operation at the two root hair trimming wheels and the clamping work of the garlic after the other fine garlic sprout trimming operation at the garlic positioning and clamping mechanism, the fine garlic sprout trimming mechanism further completes the fine garlic sprout trimming work of one garlic, and the coarse garlic sprout trimming mechanism further completes the coarse garlic sprout trimming work of one garlic transmitted by the picking mechanism.

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