CN217722073U

CN217722073U - Crop harvester

Info

Publication number: CN217722073U
Application number: CN202221501524.5U
Authority: CN
Inventors: 王昌权; 张园; 韦丽娇; 邓远宝; 刘智强; 郭昌进; 郑鸿基; 刘健
Original assignee: Guangdong Ocean University; Institute of Agricultural Machinery of CATAS
Current assignee: Guangdong Ocean University; Institute of Agricultural Machinery of CATAS
Priority date: 2022-06-15
Filing date: 2022-06-15
Publication date: 2022-11-04
Anticipated expiration: 2032-06-15

Abstract

The utility model discloses a crop harvester, include frame, cutting unit, dial seedling unit, conveying unit, cutting knife height adjustment unit, walking unit and the control unit, cutting knife height adjustment unit installs in the frame, and walking unit installs in the bottom of frame, and conveying unit installs on cutting knife height adjustment unit, and cutting unit installs in conveying unit's entry end, and conveying unit's exit end is located the frame, dial seedling unit and install the side at cutting unit, dial the seedling unit and can dial the good crops of cutting unit to conveying unit on. The utility model discloses realize the automatic adjustment of cutting knife height according to the control unit, the uniformity of the cutting position of guarantee crops has effectively solved current harvester and has been difficult to realize the automatic results scheduling problem of crops because of crops plant the low realization of land ridge face complicacy, roughness, has promoted crop harvester's suitability.

Description

Crop harvester

Technical Field

The utility model relates to a harvester technical field especially relates to a crop harvester.

Background

Due to the influence of crop seeding and irrigation, the topography of the south and the like, the topography of each ridge of a plurality of crop planting fields in the south is fluctuated, the ridge surface is uneven, namely, the ridge surface has larger longitudinal and transverse fluctuation. When the harvester works, if the height of the cutting knife is not adjustable and is always kept at the same height, the harvesting loss and the harvesting quality are reduced due to the fact that the leaf vegetables are scattered due to the fact that the height of the cutting knife from the ridge surface is too high, or the cutting knife is damaged due to the fact that the height of the cutting knife from the ridge surface is too low, and the like. Therefore, the leaf vegetable harvester requires the header to have the capability of pitching and swinging adjustment suitable for the vertical and horizontal bidirectional height difference change of the ridge surface.

The prior art discloses an electric leaf vegetable harvester which comprises a harvesting device, a conveying device and a vegetable collecting box, and is characterized by further comprising a power transmission device, a walking device and a height adjusting device, wherein the two ends of the conveying device are respectively provided with the harvesting device and the vegetable collecting box; the power transmission device is simultaneously connected with the walking device and the conveying device, the height adjusting device supports the conveying device, and the height adjusting device and the harvesting device move up and down together. The harvesting device can be used for cutting operation under soil and can also be used for cutting operation on soil. The upper part of the cutting knife is provided with a narrow hole for shaking off fine soil brought out during the soil cutting operation; the cutting and collection of vegetables are realized; the driving wheel track does not exceed the whole cutting width to ensure that the vegetables outside the cutting width are not crushed during harvesting; the differential lifting of the lifting mechanism can be realized, thereby ensuring the horizontal operation of the harvesting device. But the electric adjusting effect of the height adjusting device of the harvesting knife of the electric leaf vegetable harvester is poor.

SUMMERY OF THE UTILITY MODEL

The utility model provides a crop harvester, which realizes the automatic adjustment of the height of a cutting knife;

in order to achieve the above purpose, the technical scheme of the utility model is as follows:

a crop harvester comprises a rack, a cutting unit, a seedling poking unit, a conveying unit, a cutting knife height adjusting unit, a walking unit and a control unit, wherein the cutting knife height adjusting unit is arranged on the rack, the walking unit is arranged at the bottom of the rack, the conveying unit is arranged on the cutting knife height adjusting unit, the cutting unit is arranged at the inlet end of the conveying unit, the outlet end of the conveying unit is positioned on the rack, the seedling poking unit is arranged beside the cutting unit, and the seedling poking unit can poke crops cut by the cutting unit onto the conveying unit;

the signal input end of the control unit is respectively and electrically connected with the detection signal ends of the cutting unit, the seedling pulling unit, the conveying unit, the cutting knife height adjusting unit and the walking unit, and the signal output end of the control unit is respectively and electrically connected with the control ends of the cutting unit, the seedling pulling unit, the conveying unit, the cutting knife height adjusting unit and the walking unit.

Furthermore, the cutting knife height adjusting unit comprises a cutting table, an electric push rod and a position detector of the cutting table or a position detector of the electric push rod, the conveying unit is arranged on the cutting table arranged on the cutting knife height adjusting unit, the electric push rod is positioned below the cutting table, and the cutting table is controlled to ascend and descend by the electric push rod; the position detector of the header or the position detector of the electric push rod is electrically connected with the signal input end of the control unit, and the output end of the control unit is electrically connected with the control end of the electric push rod.

In the above scheme, electric putter is 2, distributes in the both sides of header, can the independent control header go up and down for the header can adapt to the operation demand of vertical every single move and horizontal yaw adjustment, and the cutting knife is installed to the below of header, and then realizes that the header drives the altitude mixture control of cutting knife.

Further, the cutting unit comprises a cutting knife, a connecting rod, a cutting knife motor and a cutting knife motor speed detector; the cutting knife is used for cutting crops and is fixedly connected with an output shaft of a cutting knife motor, the cutting knife motor is fixed on a connecting rod, and the connecting rod is fixed on the cutting table; the cutting knife motor speed detector is electrically connected with the signal input end of the control unit, and the output end of the control unit is electrically connected with the control end of the cutting knife motor.

Further, the seedling pulling unit comprises a support frame, a seedling pulling wheel, a seedling pulling motor, a middle rotating shaft, a seedling pulling rod, a brush and a seedling pulling motor speed detector; wherein: the support frame is fixedly connected with the frame, two ends of the middle rotating shaft are respectively supported on the support frame, the middle rotating shaft is connected with an output shaft of the seedling poking motor, the two seedling poking wheels are respectively arranged at two ends of the middle rotating shaft, the seedling poking rod is arranged on the seedling poking wheel, and the brush is arranged on the seedling poking rod; the seedling poking motor speed detector is electrically connected with the signal input end of the control unit, and the output end of the control unit is electrically connected with the control end of the seedling poking motor.

Further, the conveying unit comprises a conveying motor, a conveying motor speed detector and a transmission mechanism, wherein the transmission mechanism comprises a chain transmission mechanism and a belt transmission mechanism; the chain transmission mechanism comprises a first chain wheel, a second chain wheel and a transmission chain, the belt transmission mechanism comprises a first rolling cylinder, a second rolling cylinder and a transmission belt, a rotating shaft of the first chain wheel is connected with an output shaft of the conveying motor, the transmission chain is wound between the first chain wheel and the second chain wheel, the rotating shaft of the first rolling cylinder is coaxial with the rotating shaft of the second chain wheel, and the transmission belt is wound between the first rolling cylinder and the second rolling cylinder; the conveying motor speed detector is electrically connected with the signal input end of the control unit, and the output end of the control unit is electrically connected with the control end of the conveying motor.

Furthermore, the collecting unit is positioned above the rack and comprises a collecting box, and the collecting box is positioned at the conveying tail end of the conveying unit.

Further, the walking unit comprises a driving wheel, a driven wheel, a vehicle seat, a walking motor and a walking motor speed detector; an output shaft of the walking motor is fixedly connected with the driving wheel and is used for driving the driving wheel to rotate; the saddle is fixedly connected with the frame; the walking motor speed detector is electrically connected with the signal input end of the control unit, and the output end of the control unit is electrically connected with the control end of the walking motor.

Further, the control unit is a PLC controller, the input end of the PLC controller is respectively electrically connected with the detection signal ends of the cutting unit, the seedling poking unit, the conveying unit, the cutting knife height adjusting unit and the walking unit, and the signal output end of the control unit is respectively electrically connected with the control ends of the cutting unit, the seedling poking unit, the conveying unit, the cutting knife height adjusting unit and the walking unit.

The cutting knife motor speed detector, the seedling poking motor speed detector, the conveying motor speed detector and the walking motor speed detector are all rotary encoders, and the position detector of the header or the position detector of the electric push rod is an ultrasonic sensor;

the input end of the PLC is electrically connected with the rotary encoder and the ultrasonic sensor respectively; the output end of the PLC controller is respectively and electrically connected with a cutting knife motor, a seedling poking motor, a conveying motor, a walking motor and an electric push rod;

the ultrasonic sensor is arranged above the cutting knife and used for monitoring the height of the cutting knife from the ground.

Furthermore, the device also comprises a touch screen, wherein the touch screen is communicated with the PLC through RS485, so that the height of the cutting knife can be manually set and displayed.

Furthermore, the power supply adopts a storage battery or a lithium battery and supplies power for the cutting unit, the seedling poking unit, the conveying unit, the cutting knife height adjusting unit, the walking unit and the control unit.

In the scheme, the cutting knife adopts a reciprocating type cutting knife, the harvester adopts electric drive, and the harvester can be driven by power to move automatically so as to realize the movement of the harvester in the ground.

Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:

the utility model discloses a crop harvester, cutting knife height adopt PLC control, can realize the automatic adjustment of cutting knife height, and the uniformity of the cutting position of guarantee crops has effectively solved current harvester and has been difficult to realize the automatic results scheduling problem of crops because of crops planting ridge face is complicated, the roughness is low, has promoted crop harvester's suitability, and then has improved the results quality of crops.

Drawings

The drawings are for illustrative purposes only and are not to be construed as limiting the invention;

for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;

it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Fig. 1 is a schematic view of an overall structure of a crop harvester according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a cutting unit of a crop harvester according to an embodiment of the present invention;

fig. 3 is a schematic view of a seedling pulling unit of a crop harvester according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a header of a crop harvester according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a conveying unit of a crop harvester according to an embodiment of the present invention;

description of reference numerals: 1. a frame; 2. a cutting unit; 21. a cutting knife, 22 connecting rods, 23 and a cutting knife motor; 3. a seedling pulling unit; 31. a support frame; 32 seedling pulling wheels; 33. a seedling poking motor; 34. an intermediate rotating shaft; 35 seedling pulling rods, 36 and a brush; 4. a conveying unit; 41. a second rolling cylinder; 42. a conveyor belt; 43. a conveying motor; 44. a first sprocket; 45 a drive chain; 46. a second sprocket; 47. a first rolling cylinder; 5. a cutting knife height adjusting unit; 51. a baffle plate; 52. a header; 53. an electric push rod; 6. a collection unit; 61. a collection box; 62. collecting a support frame; 7. a traveling unit; 71. a drive wheel; 72. a driven wheel; 73. a vehicle seat; 8. a control unit.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the indicated unit or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Example 1

In order to facilitate understanding, please refer to fig. 1, the utility model provides an embodiment of a crop harvester, including frame 1, cutting unit 2, group seedling unit 3, conveying unit 4, cutting knife height adjustment unit 5, walking unit 7 and control unit 8, cutting knife height adjustment unit 5 is installed on frame 1, walking unit 7 is installed at the bottom of frame 1, conveying unit 4 is installed on cutting knife height adjustment unit 5, cutting unit 2 is installed at the entry end of conveying unit 4, the exit end of conveying unit 4 is located frame 1, group seedling unit 3 and install at the side of cutting unit 2, group seedling unit 3 can dial the crops that cutting unit 2 has cut to conveying unit 4;

the signal input end of the control unit 8 is respectively electrically connected with the detection signal ends of the cutting unit 2, the seedling pulling unit 3, the conveying unit 4, the cutting knife height adjusting unit 5 and the walking unit 7, and the signal output end of the control unit 8 is respectively electrically connected with the control ends of the cutting unit 2, the seedling pulling unit 3, the conveying unit 4, the cutting knife height adjusting unit 5 and the walking unit 7.

The utility model discloses the PLC control among the control unit 8 is highly adopted to the cutting knife, can realize the automatic adjustment of cutting knife height, ensures the uniformity of the cutting position of crops.

Example 2

Specifically, in addition to embodiment 1, the following description will be given of a scheme in conjunction with a specific embodiment, and the technical effects of the scheme will be further demonstrated. The method specifically comprises the following steps:

specifically, the cutting knife height adjusting unit 5 comprises a cutting table 52, an electric push rod 53 and a position detector of the electric push rod 53, the conveying unit 4 is mounted on the cutting table 52 arranged on the cutting knife height adjusting unit 5, the electric push rod 53 is positioned below the cutting table 52, and the cutting table 52 is controlled to ascend and descend by the electric push rod 53; the position detector of the electric push rod 53 is electrically connected with the signal input end of the control unit 8, and the output end of the control unit 8 is electrically connected with the control end of the electric push rod 53.

Specifically, the cutting unit 2 comprises a cutting knife 21, a connecting rod 22, a cutting knife motor 23 and a cutting knife motor speed detector; the cutting knife 21 is used for cutting crops and is fixedly connected with an output shaft of a cutting knife motor 23, the cutting knife motor 23 is fixed on a connecting rod 22, and the connecting rod 22 is fixed on the header 52; the cutting knife motor speed detector is electrically connected with the signal input end of the control unit 8, and the output end of the control unit 8 is electrically connected with the control end of the cutting knife motor 23.

Specifically, the seedling poking unit 3 comprises a support frame 31, a seedling poking wheel 32, a seedling poking motor 33, a middle rotating shaft 34, a seedling poking rod 35, a brush 36 and a seedling poking motor speed detector; wherein: two ends of the middle rotating shaft 34 are respectively supported on the supporting frame 31, the middle rotating shaft 34 is connected with an output shaft of the seedling poking motor 33, the two seedling poking wheels 32 are respectively arranged at two ends of the middle rotating shaft 34, the seedling poking rods 35 are arranged on the seedling poking wheels 32, and the hair brushes 36 are arranged on the seedling poking rods 35; the seedling poking motor speed detector is electrically connected with the signal input end of the control unit 8, and the output end of the control unit 8 is electrically connected with the control end of the seedling poking motor 33.

The support frame 31 is used for supporting the seedling poking wheels 32, three seedling poking rods 35 are arranged and are arranged on the seedling poking wheels 32, the seedling poking rods 35 are provided with the hairbrushes 36, and the hairbrushes 36 are in a strip shape; driven by a seedling poking motor 33, the seedling poking wheel 32 rotates around the middle rotating shaft 34 in a circle, so that the seedling poking function is realized, and the hairbrush 26 is used for preventing crops from being damaged in the seedling poking process.

Specifically, the conveying unit 4 comprises a conveying motor 43, a conveying motor speed detector and a transmission mechanism, wherein the transmission mechanism comprises a chain transmission mechanism and a belt transmission mechanism; the chain transmission mechanism comprises a first chain wheel 44, a second chain wheel 46 and a transmission chain 45, the belt transmission mechanism comprises a first rolling cylinder 47, a second rolling cylinder 41 and a transmission belt 42, a rotating shaft of the first chain wheel 44 is connected with an output shaft of the conveying motor 43, the transmission chain 45 is wound between the first chain wheel 44 and the second chain wheel 46, a rotating shaft of the first rolling cylinder 47 is coaxial with a rotating shaft of the second chain wheel 46, and the transmission belt 42 is wound between the first rolling cylinder 47 and the second rolling cylinder 41; the conveying motor speed detector is electrically connected with the signal input end of the control unit 8, and the output end of the control unit 8 is electrically connected with the control end of the conveying motor 43.

Specifically, the collecting unit 6 is positioned above the rack 1, the collecting unit 6 comprises a collecting box 61 and a collecting support frame 62, and the collecting box 61 is positioned at the conveying tail end of the conveying unit 4 and is fixedly connected with the collecting support frame 62.

Specifically, the traveling unit 7 includes a driving wheel 71, a driven wheel 72, a seat 73, a traveling motor, and a traveling motor speed detector; an output shaft of the walking motor is fixedly connected with the driving wheel 71 and used for driving the driving wheel 71 to rotate; the support frame 31 and the saddle 73 are fixedly connected with the frame 1; the walking motor speed detector is electrically connected with the signal input end of the control unit 8, and the output end of the control unit 8 is electrically connected with the control end of the walking motor.

Specifically, the control unit 8 is the PLC controller, the input of PLC controller respectively with cutting unit 2, dial seedling unit 3, conveying unit 4, cutting knife height adjustment unit 5, walking unit 7's detection signal end electric connection, the signal output part of control unit 8 respectively with cutting unit 2, dial seedling unit 3, conveying unit 4, cutting knife height adjustment unit 5, walking unit 7's control end electric connection.

The cutting knife motor speed detector, the seedling poking motor speed detector, the conveying motor speed detector and the walking motor speed detector are all rotary encoders, and the position detector of the electric push rod 53 is an ultrasonic sensor;

the input end of the PLC is electrically connected with the rotary encoder and the ultrasonic sensor respectively; the output end of the PLC is respectively and electrically connected with the cutting knife motor 23, the seedling poking motor 33, the conveying motor 43, the walking motor and the electric push rod 53;

the ultrasonic sensor is arranged above the cutting knife 21 and used for monitoring the height of the cutting knife 21 from the ground.

Furthermore, the seedling picking machine further comprises a power supply, wherein the power supply adopts a storage battery or a lithium battery to supply power for the cutting knife motor 23, the seedling poking motor 33, the conveying motor 43, the walking motor, the touch screen and the PLC.

The battery provides power for the motors in the cutting unit 2, the seedling poking unit 3 and the load walking unit 7 in the conveying unit 4. The battery adopts a storage battery or a lithium battery with large energy, good power, long service life and high safety level to supply power for the whole electric control device.

The frame 1 is used for supporting cutting unit 2, dials seedling unit 3, conveying unit 4, cutting knife height adjustment unit 5, collection unit 6, walking unit 7 and the control unit 8, is equipped with the steering wheel in the control unit 8 and is used for controlling the harvester direction of travel, is equipped with the brake in the control unit 8 and is used for controlling the harvester and travel in-process speed reduction and brake and stop.

During harvesting operation, the harvester moves forwards, leaf vegetables are cut by the cutter 21 in the cutting unit 2, cut crops are pushed onto the conveyor belt 42 by the seedling pushing unit 3 and are conveyed from bottom to top by the conveying unit 4, finally the cut crops fall into the collecting unit 6, the full-automatic process of cutting, conveying and collecting of the crops is achieved, 1 worker is configured on the harvester, and the collected crops are placed at the rear end of a seat.

Example 3

the harvester is provided with a walking mode and an operation mode, wherein the operation mode comprises a manual mode and an automatic mode. The walking mode is mainly used for the running of the harvester during non-operation, the height of the cutting knife is set at a default set value of the system, and the cutting knife 21, the seedling poking unit 3 and the conveying unit 4 do not work. In the harvesting operation mode, the operator is divided into a manual mode and an automatic mode, the operator can select the mode through a touch screen in the control system, and in the manual mode, the operator can input corresponding numerical values through input frames of the speed, the walking speed, the seedling poking speed, the conveying speed and the height of a cutting knife on a touch screen interface and can increase or decrease corresponding parameter values through corresponding input 'increase/decrease' touch buttons on the touch screen interface; in the automatic mode, the system works at the set cutting knife speed, walking speed, seedling pulling speed, conveying speed and cutting knife height, and an operator only needs to hold a steering wheel. Regardless of the manual mode or the automatic mode, the height of the cutting knife, the speed of the cutting knife, the walking speed, the seedling poking speed and the conveying speed can be displayed on the touch screen interface in real time, and the monitoring effect is achieved.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The crop harvester is characterized by comprising a rack (1), a cutting unit (2), a seedling pulling unit (3), a conveying unit (4), a cutting knife height adjusting unit (5), a walking unit (7) and a control unit (8), wherein the cutting knife height adjusting unit (5) is arranged on the rack (1), the walking unit (7) is arranged at the bottom of the rack (1), the conveying unit (4) is arranged on the cutting knife height adjusting unit (5), the cutting unit (2) is arranged at the inlet end of the conveying unit (4), the outlet end of the conveying unit (4) is positioned on the rack (1), the seedling pulling unit (3) is arranged at the side of the cutting unit (2), and the seedling pulling unit (3) can pull crops cut by the cutting unit (2) to the conveying unit (4);

the signal input part of the control unit (8) is respectively electrically connected with the detection signal ends of the cutting unit (2), the seedling poking unit (3), the conveying unit (4), the cutting knife height adjusting unit (5) and the walking unit (7), and the signal output part of the control unit (8) is respectively electrically connected with the control ends of the cutting unit (2), the seedling poking unit (3), the conveying unit (4), the cutting knife height adjusting unit (5) and the walking unit (7).

2. The crop harvester according to claim 1, wherein the cutting knife height adjusting unit (5) comprises a cutting table (52), an electric push rod (53), a position detector of the cutting table (52) or a position detector of the electric push rod (53), the conveying unit (4) is mounted on the cutting table (52) provided on the cutting knife height adjusting unit (5), the electric push rod (53) is located below the cutting table (52), and the cutting table (52) is controlled to ascend and descend by the electric push rod (53); the position detector of the header (52) or the position detector of the electric push rod (53) is electrically connected with the signal input end of the control unit (8), and the output end of the control unit (8) is electrically connected with the control end of the electric push rod (53).

3. The crop harvester according to claim 2, characterized in that the cutting unit (2) comprises a cutter (21), a connecting rod (22), a cutter motor (23) and a cutter motor speed detector; the cutting knife (21) is used for cutting crops and is fixedly connected with an output shaft of a cutting knife motor (23), the cutting knife motor (23) is fixed on a connecting rod (22), and the connecting rod (22) is fixed on the cutting table (52); the cutting knife motor speed detector is electrically connected with the signal input end of the control unit (8), and the output end of the control unit (8) is electrically connected with the control end of the cutting knife motor (23).

4. The crop harvester according to claim 3, characterized in that the seedling poking unit (3) comprises a support frame (31), a seedling poking wheel (32), a seedling poking motor (33), an intermediate rotating shaft (34), a seedling poking rod (35), a brush (36) and a seedling poking motor speed detector; wherein: the seedling poking device is characterized in that a support frame (31) is fixedly connected with a rack (1), two ends of a middle rotating shaft (34) are respectively supported on the support frame (31), the middle rotating shaft (34) is connected with an output shaft of a seedling poking motor (33), two seedling poking wheels (32) are respectively arranged at two ends of the middle rotating shaft (34), a seedling poking rod (35) is arranged on the seedling poking wheels (32), and a brush (36) is arranged on the seedling poking rod (35); the seedling poking motor speed detector is electrically connected with the signal input end of the control unit (8), and the output end of the control unit (8) is electrically connected with the control end of the seedling poking motor (33).

5. The crop harvester according to claim 4, characterized in that the conveyor unit (4) comprises a conveyor motor (43), a conveyor motor speed detector and a transmission mechanism comprising a chain transmission and a belt transmission; the chain transmission mechanism comprises a first chain wheel (44), a second chain wheel (46) and a transmission chain (45), the belt transmission mechanism comprises a first rolling drum (47), a second rolling drum (41) and a transmission belt (42), a rotating shaft of the first chain wheel (44) is connected with an output shaft of the conveying motor (43), the transmission chain (45) is wound between the first chain wheel (44) and the second chain wheel (46), a rotating shaft of the first rolling drum (47) is coaxial with a rotating shaft of the second chain wheel (46), and the transmission belt (42) is wound between the first rolling drum (47) and the second rolling drum (41); the speed detector of the conveying motor is electrically connected with the signal input end of the control unit (8), and the output end of the control unit (8) is electrically connected with the control end of the conveying motor (43).

6. A crop harvester according to claim 5, further comprising a collecting unit (6) located above the frame (1), the collecting unit (6) comprising a collecting bin (61), the collecting bin (61) being located at the delivery end of the delivery unit (4).

7. The crop harvester according to claim 6, characterized in that the walking unit (7) comprises a driving wheel (71), a driven wheel (72), a seat (73), a walking motor and a walking motor speed detector; the driving wheel (71) and the driven wheel (72) are arranged under the frame, and a rotating shaft of the driving wheel (71) is connected with an output shaft of the walking motor; the saddle (73) is fixedly connected with the frame (1); the walking motor speed detector is electrically connected with the signal input end of the control unit (8), and the output end of the control unit (8) is electrically connected with the control end of the walking motor.

8. The crop harvester according to any one of claims 1 to 7, wherein the control unit (8) is a PLC controller, the input end of the PLC controller is electrically connected with the detection signal ends of the cutting unit (2), the seedling poking unit (3), the conveying unit (4), the cutting knife height adjusting unit (5) and the walking unit (7), and the signal output end of the PLC controller is electrically connected with the control ends of the cutting unit (2), the seedling poking unit (3), the conveying unit (4), the cutting knife height adjusting unit (5) and the walking unit (7).

9. The crop harvester of claim 8, further comprising a touch screen in communication with the PLC controller using RS 485.

10. The crop harvester according to claim 9, further comprising a power supply, wherein the power supply adopts a storage battery or a lithium battery, and supplies power to the cutting unit (2), the seedling poking unit (3), the conveying unit (4), the cutter height adjusting unit (5), the walking unit (7) and the control unit (8).