CN207754085U - A kind of autonomous type Chinese yam plant harvest machine - Google Patents

Abstract

A kind of autonomous type Chinese yam plant harvest machine, including car body, detection device and excavating gear are fixedly installed on the downside of car body, the detection device includes probe and the detectable marker of probe of the pre-plugged in Chinese yam root, probe is electrically connected with the controller by the sender unit being fixedly connected, excavating gear includes the vertical driving mechanism that delver and driving delver move up and down, delver is vertically arranged and positioned at the rear side of probe, the utility model is easy to use in a word, it is simple in structure, the position of Chinese yam can be detected automatically, it is autonomous to excavate Chinese yam, automatically remove soil, with production efficiency height, the low advantage low with production cost of Chinese yam damage rate.

Description

A kind of autonomous type Chinese yam plant harvest machine

Technical field

The utility model belongs to farm equipment field more particularly to a kind of autonomous type Chinese yam plant harvest machine.

Background technology

Chinese yam is a kind of tuberous plant at present, and stem tuber is buried in underground, is critically important edible and medicinal crop, economic valence Value is very big, at home and abroad has extensive plantation, especially more has a large amount of plantations in Henan JIAOZUO AREA, is Chinese four-Huai medicine production Base, but current Chinese yam, especially iron rod yam plantation and harvest all the time all be use manual work, efficiency is low, production Measure it is low, it is costly, cause market supply notch big, much can not meet the consumption demand that people produce Chinese yam, while Chinese yam Isometric root crop is in harvest, since crop is located at the growth of soil higher depth, in order to avoid damaging crop in mining process, Big to mostly use artificial slowly progress operation, this working method, not only labor intensity is big, and working efficiency is low time-consuming and laborious, and And be easy to lose in recovery process, income is influenced, plantation and the cost harvested are higher, and China is existing at present can help Chinese yam Some Chinese yam harvesters of harvesting, mostly use greatly trench digging mode, the degree of automation is low, it is still necessary to pay it is more artificial, not can from Shape adjusts the position excavated, it is easy to dig the Chinese yam fruit that breaks, and the Chinese yam after excavation still needs manually to be purged soil work Industry, working efficiency and mining effect are all relatively low.

Utility model content

The utility model provides a kind of autonomous type Chinese yam plant harvest machine, and technical problem to be solved is：Chinese yam is being received The technical issues of manual operation efficiency is low when obtaining, and harvesting is of high cost, while Chinese yam is easily damaged when excavating.

In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution：One kind described in the utility model Autonomous type Chinese yam plant harvest machine, including car body, car body include headstock and compartment, and compartment is located at the rear of headstock and has with headstock Spacing, detection device and excavating gear are fixedly installed on the downside of headstock, and the detection device includes that probe and pre-plugged exist The detectable marker of probe of Chinese yam root, probe are electrically connected with the controller, and excavating gear includes delver and driving delver The vertical driving mechanism to move up and down, delver is vertically arranged and positioned at the rear side of probe, delver is upper and lower opening Cylinder-like structure, a seam for vertically running through delver side wall is offered on the side wall of delver.Described is vertical Driving mechanism further includes holder and pedestal, is vertically equipped with vertical guide on holder, pedestal is slidably connected with vertical guide, on pedestal Delver is connected, the vertical guide left slide is connected with transverse moving mechanism, and transverse moving mechanism includes along car body The cross slide way and horizontal drive apparatus of left and right directions setting, cross slide way are connect with bracket slide, horizontal drive apparatus and branch Frame connects, and cross slide way includes horizontally disposed horizontal stand bar and two fixations for being set in transverse moving mechanism left and right ends Frame, fixed frame are fixedly connected with the chassis below headstock, and horizontal stand bar is slidably connected with two fixed frames, horizontal drive apparatus Positioned at one end of horizontal stand bar, horizontal drive apparatus is connect with cross slide way mechanism, and horizontal drive apparatus drives horizontal stand Bar is relatively fixed frame and moves in left and right directions, and horizontal stand bar is connect with bracket slide, and promotion driving dress is provided on the upside of holder It sets, lifting driving device includes the ball-screw for passing vertically through pedestal, and the lower end of ball-screw is fixedly connected with pedestal, is promoted and is driven Dynamic device drives ball-screw that pedestal is made to move up and down, and clamping device is provided with above delver, and clamping device includes being located at Clamping manipulator right over delver and interconnecting piece, interconnecting piece are connected with horizontally arranged pendulous device, pendulous device Plane of oscillation be vertical, pendulous device is connect with interconnecting piece, and the swaying direction of pendulous device is to be swung along the front-rear direction of car body, Pendulous device is oscillating cylinder or upset motor, and the turning end of oscillating cylinder or upset motor is fixedly connected with interconnecting piece, clamping For the opening direction of manipulator towards the rear of car body, clamping manipulator includes two Double-head telescopic cylinders, Double-head telescopic cylinder point Do not connect with the fore paw positioned at manipulator front end and the rear solid end positioned at manipulator rear end, fore paw and rear solid end be vertically arranged half Cylindrical shape, fore paw and rear solid end form round tube shape when clamping manipulator is closed, and soil cleaning is provided on the right side of clamping device Device, soil cleaning plant include the cylinder being obliquely installed, and the upper end of cylinder is corresponding with the tip height of vertical guide, works as folder The position for the upper end that manipulator follows pedestal to rise to soil cleaning plant is held, pendulous device drives clamping manipulator to be turned to mud Above cylinder in native cleaning plant, controller is controlled and is connect with oscillating cylinder and Double-head telescopic cylinder, and the upper end of cylinder is The half-cylinder structure of upper semi-circle opening, cylinder are circumferentially provided with hairbrush grinding wheel, are connected on the cylinder at hairbrush grinding wheel place Earth discharging hole is provided with the compressed-air atomizer being fixedly connected with cylinder below hairbrush grinding wheel, and earth discharging hole is located at the bottom of cylinder On side wall and corresponding with compressed-air atomizer position, each earth discharging hole is connected to the casting pipe being obliquely installed respectively, cylinder Lower end is fixedly connected with compartment, and the lower section of cylinder is compartment, and the lower end of cylinder is deep into compartment, using compartment as storage Chinese yam Equipment, the lower end of casting pipe is located at the outside in compartment.

The detection device of the utility model emits ultrasonic wave or frequency electromagnetic waves by probe, receives to visit by popping one's head in The reflected signal of marker is surveyed, to detect the position of Chinese yam, probe quantity is multiple, and 20 probes are each 10 according to left and right The array probe that the combination formed shape for being spaced 10mm is elongate in shape and lateral length is 200mm, multiple array probes The signal of receiving is transmitted to controller, controller connects with being arranged on the car body and controlling the movable motor control that car body travels It connects, the car body uses Athey wheel, is applicable in soft soil, and movable motor uses 5KW*2 platform stepper motors, is driven by adjusting Movable motor adjusts the front and back position of delver.Horizontal drive apparatus using 2KW electric pushrod drive, controller with it is electronic Push rod control connection, the lateral position of horizontal stand bar is adjusted to adjust the lateral position of delver by controlling electric pushrod It sets.

The lifting driving device of the utility model includes retarder, and retarder is connect with ball-screw-transmission, retarder with The top of pedestal is fixedly connected, and the control of controller and retarder connects, the pedestal include be vertically arranged along the longitudinal direction it is perpendicular To slide plate, vertical slide plate is slidably connected with vertical guide, and the bottom of the pendulous device is slided perpendicular to vertical slide plate and with vertical Plate is fixedly connected, and delver is fixedly connected with vertical slide plate, and ball-screw converts the rotation of retarder to excavation by pedestal Device moves up and down, and lifting driving device can also use cylinder, hydraulic cylinder isoline driving mechanism, for example, by using cylinder, gas The piston rod of cylinder drives pedestal to move up and down, and delver diameter is determined according to the diameter of Chinese yam, while length is more than the length of Chinese yam Degree, delver wall thickness are 5-10MM, and the inner wall of delver has certain taper, and inner diameter is up big and down small, according to soil Compression-expansion coefficient determines that the taper needed, delver material use high-strength abrasion-proof stainless steel, in delver by soil and The native stick of Chinese yam composition can be ejected by ground from delver top when second of delver declines, and ejection part branch enters folder It holds in manipulator.

The hairbrush grinding wheel of the utility model uses dish-type hairbrush grinding wheel, and multiple hairbrush grinding wheels direction of rotation angle is not same Rotating force is offset in direction, and multiple hairbrush grinding wheels direction is adjustable, reinforces the effect of cleaning, large aperture is provided on earth discharging hole Strainer prevents Chinese yam to be discharged with earth discharging hole, and the lower end of casting pipe is provided with canvas cover, ensures the vertical landing of soil, controller It controls and connects with soil cleaning plant.

Controller uses multi-axis controller, and for the utility model using being the control of six axis, X-axis is progress signal, is filled by detection The probe acquisition set, Y-signal are left and right correction signal, are acquired by 20 small probe inside detection device, Z signals are believed for depth Number, depth as needed is manually entered parameter, excess-three axis, and G axis control clamping manipulator moves up and down, and H axis controls clamping machine The holding action of tool hand, L axis controls the rotary movement of clamping manipulator, common to complete that delver is dug out Chinese yam and puts Chinese yam The action for entering soil cleaning plant is manually entered parameter by the control panel of controller.

Compared with the existing technology, the beneficial effects of the utility model are：The utility model uses detection Chinese yam Position, by movable motor according to the information of detection adjust delver walking position, pass through transverse shifting machine Structure adjusts the left and right position of delver according to the information of detection, excavates Chinese yam by excavating gear, passes through clamping Device fixes the Chinese yam in delver, Chinese yam is moved on to the top of soil cleaning plant by lifting driving device, passes through Chinese yam is transported in soil cleaning plant by pendulous device, is removed the soil that Chinese yam adheres to by soil cleaning plant, leads to Container of the compartment as storage Chinese yam is crossed, the utility model is easy to use, simple in structure in a word, can detect the position of Chinese yam automatically It sets, independently excavates Chinese yam, automatically remove soil, have the advantages that production efficiency is high, Chinese yam damage rate is low low with production cost.

Description of the drawings

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the right view of excavating gear, clamping device and oscillating cylinder；

Fig. 3 is the vertical view of Fig. 2.

In figure：1, car body 2, headstock 3, compartment 4, detection device 5, excavating gear 6, probe 7, probe can Probe mark object 8, array probe 9, delver 10, vertical driving mechanism 11, vertical guide 12, pedestal 13, cross To mobile mechanism 14, cross slide way 15, holder 16, horizontal stand bar 17, fixed frame 18, chassis 19, electronic Push rod 20, lifting driving device 21, ball-screw 22, retarder 23, vertical slide plate 24, clamping device 25, Clamping manipulator 26, Double-head telescopic cylinder 27, fore paw 28, rear solid end 29, interconnecting piece 30, oscillating cylinder 31, soil Cleaning plant 32, cylinder 33, earth discharging hole 34, hairbrush grinding wheel 35, compressed-air atomizer 36, casting pipe 37, canvas Set 38, delver supporting rack 39, Athey wheel.

Specific implementation mode

Embodiment：As shown in Figure 1 to Figure 3, when the utility model is used, a kind of autonomous type Chinese yam plant harvest machine, packet Car body 1 is included, car body 1 includes headstock 2 and compartment 3, and compartment 3 is located at the rear of headstock 2 and has spacing, the downside of headstock 2 with headstock 2 It is fixedly installed detection device 4 and excavating gear 5, the detection device 4 includes probe 6 and pre-plugged in Chinese yam root It pops one's head in detectable marker 7, probe 6 is electrically connected with the controller, and detection device 4 passes through 6 transmitting ultrasonic waves of probe or high-frequency electrical Magnetic wave, to popping one's head in, detectable marker 7 detects, and receives detectable 7 reflected letter of marker of popping one's head in by probe 6 Number, to detect the position of Chinese yam, 6 quantity of probe are multiple, and 20 probes 6 are according to each 10 of the left and right combination for being spaced 10mm Formed shape is elongate in shape and the signal of receiving is transmitted to by the array probe 8 of lateral length 200mm, multiple array probes 8 Controller, controller and the movable motor control connection for being arranged on car body 1 and controlling the traveling of car body 1, the car body 1, which uses, to be carried out Belt wheel 39 is applicable in soft soil, and movable motor uses 5KW*2 platform stepper motors, is excavated by adjusting movable motor to adjust The advanced positions of device 9, excavating gear 5 include delver 9 and drive the vertical driving mechanism 10 of the up and down motion of delver 9, excavate Device 9 is vertically arranged and positioned at the rear side of probe 6, and delver 9 is the cylinder-like structure of upper and lower opening, the side of delver 9 A seam for vertically running through 9 side wall of delver is offered on wall, 9 diameter of delver is determined according to the diameter of Chinese yam, together Shi Changdu is more than the length of Chinese yam, and 9 wall thickness of delver is 5-10MM, and the inner wall of delver 9 has certain taper, delver 9 Inner diameter be it is up big and down small, according to the compression-expansion coefficient of soil determine delver 9 need taper, 9 material of delver Using high-strength abrasion-proof stainless steel.

Vertical driving mechanism 10 further includes holder 15 and pedestal 12, and vertical guide 11, pedestal are vertically provided on holder 15 12 are slidably connected with vertical guide 11, and 12 lower end of pedestal is connected with delver 9, and the front side of the holder 15 slidably connects cross To mobile mechanism 13, transverse moving mechanism 13 includes the cross slide way 14 being arranged along the left and right directions of car body 1 and horizontal drive dress It sets, cross slide way 14 includes that horizontally disposed horizontal stand bar 16 and two are set in consolidating for 13 rear and front end of transverse moving mechanism Determine frame 17, fixed frame 17 is fixedly connected with the chassis 18 of 2 lower section of headstock, and horizontal stand bar 16 and two slidings of fixed frame 17 connect It connects, the holder 15 is located at the rear side of horizontal stand bar 16 and is slidably connected with horizontal stand bar 16, horizontal drive apparatus 2KW Electric pushrod 19, electric pushrod 19 is located at the tache motorice and horizontal stand bar of one end of horizontal stand bar 16 and electric pushrod 19 16 are fixedly connected, and electric pushrod 19 is connect with 14 mechanism of cross slide way, and electric pushrod 19 drives horizontal stand bar 16 to be relatively fixed Frame 17 moves in left and right directions, and controller is connected with the control of electric pushrod 19, and horizontal branch is adjusted by controlling electric pushrod 19 To adjust the lateral position of delver 9,11 upside of vertical guide is provided with lifting driving device 20 for the lateral position of hack lever 16, Lifting driving device 20 includes the ball-screw 21 for passing vertically through pedestal 12, and the lifting driving device 20 of the present embodiment includes slowing down Device 22, retarder 22 are sequentially connected with ball-screw 21, and controller is connected with the control of retarder 22, and the pedestal 12 includes along a left side The vertical slide plate 23 that right direction is vertically arranged and the delver supporting rack 38 perpendicular to vertical slide plate 23, vertical slide plate 23 are located at perpendicular It the rear side of direction guiding rail 11 and is slidably connected with vertical guide 11, the left end of delver supporting rack 38 and the lower end of vertical slide plate 23 are right Side wall is fixedly connected, and the right end of delver supporting rack 38 is fixedly connected with the upper end of delver 9, the lower end of vertical slide plate 23 and digging The left end of pick device supporting rack 38 is fixedly connected, and delver supporting rack 38 is perpendicular to vertical slide plate 23 and solid with the top of delver 9 Fixed connection, the lower end of vertical slide plate 23 are fixedly connected with delver 9, and the upper end of vertical slide plate 23 connects with the lower end of ball-screw 21 It connects, ball-screw 21 converts the rotation of retarder 22 to moving up and down for delver 9, the top of delver 9 by pedestal 12 It is provided with clamping device 24, clamping device 24 includes the clamping manipulator 25 being located at right over delver 9, the clamping of the present embodiment Manipulator 25 include two Double-head telescopic cylinders 26, Double-head telescopic cylinder 26 respectively with the fore paw positioned at 25 front end of clamping manipulator 27 and positioned at 25 rear end of clamping manipulator rear solid end 28 connect, the semi-cylindrical shape that fore paw 27 and rear solid end 28 are vertically arranged, Fore paw 27 and rear solid end 28 form round tube shape when clamping manipulator 25 is closed, and clamping device 24 further includes interconnecting piece 29, interconnecting piece 29 left side is provided with oscillating cylinder 30, and the turning end of oscillating cylinder 30 is fixedly connected with interconnecting piece 29, and oscillating cylinder 30 is vertical It is fixedly connected with vertical slide plate 23 in the bottom of vertical slide plate 23 and oscillating cylinder 30, controller is stretched with oscillating cylinder 30 and double end Contracting cylinder 26 controls connection.

The right side of clamping device 24 is provided with soil cleaning plant 31, and soil cleaning plant 31 includes the cylinder being obliquely installed 32, the upper end of cylinder 32 is corresponding with the tip height of vertical guide 11, and the upper end of cylinder 32 is the semicircular cylinder of upper semi-circle opening Structure, cylinder 32 are circumferentially provided with hairbrush grinding wheel 34, earth discharging hole 33 are connected on the cylinder 32 at 34 place of hairbrush grinding wheel, this The hairbrush grinding wheel 34 of embodiment uses dish-type hairbrush grinding wheel, 34 direction of rotation angle of multiple hairbrush grinding wheels to be supported not in same direction Disappear rotating force, and multiple 34 directions of hairbrush grinding wheel are adjustable, reinforces the effect of cleaning, and the rear side of hairbrush grinding wheel 34 is provided with and circle 32 compressed-air atomizers 35 that are fixedly connected of cylinder, earth discharging hole 33 be located on the side wall of cylinder 32 and with 35 position of compressed-air atomizer Corresponding, each earth discharging hole 33 is connected to the casting pipe 36 being obliquely installed respectively, and large aperture strainer is provided on earth discharging hole 33, is prevented Only Chinese yam is discharged with earth discharging hole 33, and the lower end of casting pipe 36 is provided with canvas cover 37, ensures the vertical landing of soil, cylinder 32 Lower end is fixedly connected with compartment 3, and the lower end of cylinder 32 is deep into compartment 3, and the lower end of casting pipe 36 is located at the outside in compartment 3, Equipment by compartment 3 as storage Chinese yam, controller are connected with the control of soil cleaning plant 31.

Controller uses multi-axis controller, and the present embodiment is using being the control of six axis, and X-axis is progress signal, by detection device 4 On probe 6 acquire, Y-signal is left and right correction signal, and by 6 acquisition of the probe of the inside of detection device 4 20, Z signals are depth letter Number, depth as needed is manually entered parameter, and parameter, excess-three axis, G axis control folder are manually entered by the control panel of controller Moving up and down for manipulator 25 is held, H axis controls the holding action of clamping manipulator 25, and L axis controls the overturning of clamping manipulator 25 Action, the common action for completing that delver 9 is dug out Chinese yam and Chinese yam is put into soil cleaning plant 31.

For the utility model when implementing, controller opens movable motor after starting operation, and car body 1 is moved forward, visited simultaneously Device 4 is surveyed by 6 transmitting ultrasonic wave of probe or frequency electromagnetic waves, detectable marker 7 detects to popping one's head in, and then passes through Probe 6 receives the signal of reflection, and after signal is transmitted to controller, controller adjusts delver 9 by controlling movable motor Front and back position, controller control the left and right position that electric pushrod 19 adjusts delver 9, delver 9 to detectable marker 7 of popping one's head in Position above so that movable motor and electric pushrod 19 stop, controller control retarder 22 starts to rotate, 22 band of retarder Dynamic ball-screw 21 rotates, and it is straight that ball-screw 21 drives delver 9 to penetrate underground straight down by pedestal 12 To the position of Chinese yam, the then reversion of retarder 22 drives after the transmission of retarder 22, ball-screw 21 and pedestal 12 and excavates Device 9 rises；Then movable motor reaches the position of next detectable marker 7 of popping one's head in motor vehicles bodies 1 together with detection device 4, first Movable motor, electric pushrod 19 are first adjusted, delver 9 is made to be positioned exactly at the surface of Chinese yam, retarder 22 is then rotated and drives Delver 9 excavates the native stick of next Chinese yam and soil composition, the native stick that the last time excavates when delver 9 declines straight down It is ejected from the upper end of delver 9 by ground, ejection part enters in clamping manipulator 25, is then turned on Double-head telescopic cylinder 26, drive clamping manipulator 25 to clamp native stick, then the rotation of retarder 22 drives ball-screw 21 to rise to pass through pedestal 12 Oscillating cylinder 30, oscillating cylinder 30 is driven to drive clamping machine by band rotation connection 29 in uphill process with vertical slide plate 23 Hand 25 rises；When clamping manipulator 25 rises to the position of the upper end of soil cleaning plant 31, oscillating cylinder 30 rotation to The whole upper end for being turned to cylinder 32 of clamping manipulator 25 is driven by interconnecting piece 29, Double-head telescopic cylinder 26 is then adjusted and opens The native stick of clamping manipulator 25, Chinese yam and soil composition is fallen in the cylinder 32 of soil cleaning plant 31, and cylinder 32 is oblique, Under the effect of gravity, native stick slides to the position of hairbrush grinding wheel 34 along cylinder 32, then opens hairbrush grinding wheel 34 and compressed air Nozzle 35, native stick move right under its own gravity and the tangential force of hairbrush grinding wheel 34, and native stick is moved to by hairbrush grinding wheel 34 Behind the position of compressed-air atomizer 35, soil enters casting pipe 36 under the action of compressed-air atomizer 35 by earth discharging hole 33 In be then discharged to outside compartment 3, Chinese yam is discharged in compartment 3；After native stick enters soil cleaning plant 31, oscillating cylinder 30 reversely turns Dynamic, mechanical grip hand 25 returns to vertical state, and during this, the signal that movable motor is received according to probe 6 is by delver 9 It is moved to the surface of next Chinese yam, the rotation of retarder 22 drives delver 9 to move downward, then excavated next time； The utility model is easy to use, simple in structure in a word, can detect the position of Chinese yam automatically, independently excavate Chinese yam, automatically remove mud Soil has the advantages that production efficiency is high, Chinese yam damage rate is low low with production cost.

The oscillating cylinder 30 of the utility model can also be replaced with upset motor, and level is set upset motor along the longitudinal direction It sets, the bottom of upset motor is fixedly connected with vertical slide plate 23, and the shaft end of upset motor is fixedly connected with interconnecting piece 29.

The lifting driving device 20 of the utility model can also use cylinder, hydraulic cylinder isoline driving mechanism, such as adopt With cylinder, the piston rod of cylinder is fixedly connected with the 23 of vertical slide plate top, and pedestal 12 is driven to move up and down.

Claims (10)

1. a kind of autonomous type Chinese yam plant harvest machine, it is characterised in that：Including car body, car body is provided with detection device and excavates and fills It sets, is fixedly connected on the downside of detection device and car body, the detection device includes the spy of probe and pre-plugged in Chinese yam root Detectable marker, probe are electrically connected with the controller, and it is perpendicular that excavating gear includes delver and driving delver moves up and down To driving mechanism, delver is vertically arranged and positioned at the rear side of probe.

2. a kind of autonomous type Chinese yam plant harvest machine according to claim 1, it is characterised in that：The delver is upper The cylinder-like structure of under shed offers a seam for vertically running through delver side wall on the side wall of delver.

3. a kind of autonomous type Chinese yam plant harvest machine according to claim 1, it is characterised in that：The vertical driving machine Structure further includes holder and pedestal, and vertical guide is vertically equipped on holder, and pedestal is slidably connected with vertical guide, connects and digs on pedestal Dig device.

4. a kind of autonomous type Chinese yam plant harvest machine according to claim 3, it is characterised in that：The upside of the holder It is provided with lifting driving device, lifting driving device includes the ball leading screws for passing vertically through pedestal, the lower end and bottom of ball-screw Seat connection, lifting driving device drive ball-screw that pedestal is made to move up and down.

5. a kind of autonomous type Chinese yam plant harvest machine according to claim 3, it is characterised in that：The vertical driving machine Structure side slidably connects transverse moving mechanism, transverse moving mechanism include the cross slide way being arranged along the left and right directions of car body and Horizontal drive apparatus, cross slide way are connect with bracket slide, and horizontal drive apparatus is connect with holder, and horizontal drive apparatus drives branch Frame side-to-side movement.

6. a kind of autonomous type Chinese yam plant harvest machine according to claim 1, it is characterised in that：The delver it is upper Side is provided with clamping device, and clamping device includes the clamping manipulator being located at right over delver.

7. a kind of autonomous type Chinese yam plant harvest machine according to claim 6, it is characterised in that：The clamping device packet Include interconnecting piece, interconnecting piece is connected with horizontally arranged pendulous device, the plane of oscillation of pendulous device be it is vertical, pendulous device with Interconnecting piece connects.

8. a kind of autonomous type Chinese yam plant harvest machine according to claim 6, it is characterised in that：The clamping manipulator Including two Double-head telescopic cylinders, Double-head telescopic cylinder respectively with positioned at manipulator front end fore paw and positioned at manipulator rear end Rear solid end connects, the semi-cylindrical shape that fore paw and rear solid end are vertically arranged, fore paw and rear solid end composition circle when clamping manipulator is closed Tube shape.

9. a kind of autonomous type Chinese yam plant harvest machine according to claim 1, it is characterised in that：It further include soil cleaning dress It sets, soil cleaning plant includes the cylinder being obliquely installed, and cylinder is circumferentially provided with hairbrush grinding wheel, the circle at hairbrush grinding wheel place It is connected with earth discharging hole on cylinder.

10. a kind of autonomous type Chinese yam plant harvest machine according to claim 9, it is characterised in that：The hairbrush grinding wheel Rear side be provided with the compressed-air atomizer being fixedly connected with cylinder, earth discharging hole is located in the bottom sidewall of cylinder and empty with compression Gas blowout mouth position is corresponding, and each earth discharging hole is connected to the casting pipe being obliquely installed respectively, and the lower section of cylinder is compartment, casting pipe Lower end be located at the outside in compartment, the upper end of the cylinder is the half-cylinder structure of upper semi-circle opening.