JP2006333745A5 - - Google Patents

Description

Root crop harvesting machine

The present invention relates to a root crop harvester that harvests a harvest from a field.

Patent Document 1 describes a technique for conveying a harvested product with a flat belt.
JP 2003-33105 A

The sizes and shapes of harvested items such as root vegetables harvested from the field are not uniform, and in the case of particularly large harvested products, it may be difficult to lift and convey them with the conveying device.
In addition, mud clumps are attached to the harvested products such as root vegetables harvested from the field, making it difficult to select the harvested product in the subsequent process of the conveying process. In addition, when the harvested product with the mud adhered is stored in the storage container, the weight of the storage container becomes heavy, and it becomes difficult to carry out the transfer operation.

The present invention is capable of lifting and transporting even if a large amount of harvest is harvested from the field, and performing the above-described sorting and transporting operations by removing a large amount of mud adhering to the harvest during the transporting process. The problem is to make it easier.

In order to solve the above-mentioned problems, the present invention has taken the following technical means.
That is, the invention described in claim 1 includes a sandwich conveyance belt (5) that sandwiches and conveys the stems and leaves of the root vegetable (X) , and a root vegetable (X) that is sandwiched and conveyed by the sandwich conveyance belt (5). A cutting device (6) that cuts the foliage part, and a remaining leaf that removes the remaining leaves adhering to the root vegetables (X) while transporting the root vegetables (X) that have been cut and dropped by the cutting device (6). In a root vegetable harvesting machine provided with a processing device (7) and a conveying device (8) for taking over and conveying the root vegetables (X) subjected to residual leaf processing in the residual leaf processing device (7), the conveying device (8) The root vegetables (X) supplied from the remaining leaf processing device (7) is lifted and transported in the lateral direction of the machine body, and the root vegetables (X) are accommodated at the transport end of the transport conveyor (60). A storage bag upper support means (65) for supporting the storage bag (64) to be carried, and a conveyor (6 Was Root crop harvester, characterized in that the number formed at predetermined intervals protrusion supporting the root vegetables (X) on the conveying surface of) the (61) along the conveying direction.

Further, the invention according to claim 2 is the root vegetable harvester according to claim 1, characterized in that the conveying device (8) is configured by winding a plurality of endless bands (30a) arranged at predetermined intervals. .
According to the third aspect of the present invention, there is provided a first transport device (30) configured by winding a plurality of endless belts (30a) at predetermined intervals, and the first transport device (30). ) And a second transfer device (31) configured by winding a plurality of endless bands (31a) for transferring the harvest (X) in the same transfer direction as the first transfer device (30) in a predetermined interval. The conveying terminal end of the endless belt (30a) of the first conveying device (30) and the conveying starting end of the endless belt (31a) of the second conveying device (31) are alternately arranged on the same axis (32). The root vegetable harvesting machine according to claim 1, wherein the root vegetable harvesting machine is wound.

The inventions of claim 1, a conveyor that root crops be supplied from Zanha processor conveying device (8) (7) (X) for conveying lifting the machine body transverse direction (60), said transport conveyor ( 60) and a storage bag upper support means (65) for supporting the storage bag (64) for storing the root vegetables (X) at the transport terminal end, and the root vegetables (X) on the transport surface of the transport conveyor (60). By forming a large number of protrusions (61) that support the container at predetermined intervals along the conveyance direction, the protrusion (61) supports and conveys even if the root vegetables (X) is large, and is conveyed to the storage bag (64). Therefore, the root vegetables (X) that are not transported at the transport start end of the transport conveyor (60) are prevented from staying and the transport capability of the transport conveyor (60) is improved.

The claim 2 inventions described, in addition to the effect of the invention according to claim 1, by providing side by side a plurality endless belt a (30a) at predetermined intervals, a space is formed between the adjacent endless belt Therefore, the mud adhering to the harvest (X) placed on the endless belt (30a) is likely to fall from the space between the adjacent endless belts, so the mud adhering to the harvest (X) Removal is promoted, and it is possible to facilitate a sorting operation and a conveying operation performed in a subsequent process.
In addition to the effect of the invention described in claim 1, the invention described in claim 3 includes a first transfer device (30) and a second transfer device (31) provided with a plurality of endless belts (X) arranged in parallel at predetermined intervals. ) Are provided in succession in the same transport direction, the transport terminal end of the endless belt (30a) of the first transport device (30) and the transport start end of the endless belt (31a) of the second transport device (31) Are configured to be wound alternately on the same shaft (32), so that the transfer from the first transport device (30) to the second transport device (31) can be performed smoothly. Moreover, since the mud adhering to the harvest (X) can be removed by any of the first transport device (30) and the second transport device (31), the mud removal range is widened, and the mud mass Removal can be facilitated.

  As one of the best modes for carrying out the present invention, there is a root vegetable harvesting machine that harvests root vegetables such as carrots from a field. Below, the root vegetable harvester which implemented this invention is demonstrated in detail. In this embodiment, the left side is called left and the right side is called right in the direction of travel of the aircraft.

  The root vegetable harvesting machine 1 includes a traveling device 2 that self-propels the aircraft, a control unit 3 that is provided with an operation tool that is operated by a boarded operator, and a raising device that causes a foliage portion of the root vegetable X to be vegetated on the field. 4, the digging and raising blade 11 that digs up the root vegetables X in the field, the nipping and conveying belt 5 that holds the stalks and leaves of the digging root vegetables and conveys them obliquely upward on the rear side, and the root vegetables that are nipped and conveyed by the nipping and conveying belt 5 A cutting device 6 for cutting the stems and leaves of the class X, and a residual leaf processing device 7 for removing the residual leaves adhering to the root vegetables X while conveying the fallen root vegetables X, the stems and leaves being cut by the cutting device 6; A transfer device 8 that takes over and transports the root vegetables X that have undergone residual leaf processing by the remaining leaf processing device 7, and a crop placement unit 9 that mounts a storage container C that stores the root vegetables X transported by the transport device 8. And.

  The traveling device 2 includes a pair of left and right crawlers 10L and 10R that are driven and rotated. The sandwiching and conveying belt 5 is disposed on one of the left and right sides of the machine body, and the crop placement unit 9 is disposed on the other side of the machine body. In addition, the left and right outer end portions of the harvested product placing portion 9 are disposed on the outer side in the left and right direction from the left and right outer ends of the crawler 10R on the side where the harvested product placing portion 9 is disposed. And the grounding part of the crawler 10R on the side where the harvested product placing part 9 is arranged is provided so as to be able to move down to a state located below the grounding part of the crawler 10L on the opposite side.

Below, the specific structure of each part of the root vegetable harvester 1 is demonstrated.
The pulling device 4 provided in the front part on the left side of the machine body is provided with a number of lugs 4a that cause the stems and leaves of the root vegetables X vegetated from the ground.

  Below the pulling device 4 is provided a digging blade 11 that digs up the soil around the root vegetables X in the field. In addition, the nipping and conveying start end of the nipping and conveying belt 5 faces the digging and raising blade 11.

The sandwiching and conveying belt 5 is configured to rotate so that the belt surface moves rearward in a state where the peripheral side surfaces of the pair of belts facing left and right are pressed against each other.
A tail excision device 13 for removing the tail hair of the root vegetables X is provided on the lower side of the nipping conveyor belt 5 during the conveyance, but a rotating blade that rotates in the direction opposite to the conveyance direction of the root vegetables X or in the vertical direction. (Not shown) are internally arranged and a plurality of them are arranged in parallel.
A cutting device 6 that cuts the stems and leaves of the root vegetables X is provided on the conveyance end side of the sandwich conveyance belt 5. While the root vegetables are being transported by the sandwiching conveyor belt 5, the leaflet belt 21 that takes over the stems and leaves of the root vegetables X and transports them horizontally in the rear of the machine body is substantially horizontal below the end portion of the left and right sandwiching conveyor belt 4. It is provided in a pair of postures on the left and right. In addition, when handing over the leaf and leaf portion to the leaflet belt 21, it engages with the upper end portion of the root vegetable X to restrict the rise of the root vegetable X and sets the height of the root vegetable X to the cutting device 6. An alignment belt 22 for aligning the height is provided. A cutting device 6 is arranged behind the rear end portion of the alignment belt 22 to cut the foliage portion of the root vegetable X that has been conveyed by the sandwich conveying belt 4. The cut root vegetables X fall downward, and the stems and leaves are conveyed to the rear of the machine by the leaflet belt 21 and discharged from the rear of the machine.

The cutting device 6 consists of a pair of left and right, and is set to a different rotational speed.
The root vegetables X that have been cut off by the cutting device 6 and dropped are dropped onto the remaining leaf processing device 7 located below the cutting device 6. The remaining leaf processing apparatus 7 includes a remaining leaf processing conveyor 24 that conveys the root vegetables X in the left and right inner sides of the machine body, that is, the right side of the machine body, and a remaining leaf processing roller 25 that is rotationally driven above the conveyance terminal side of the remaining leaf processing conveyor 24. And consists of

  The remaining leaf processing conveyor 24 is constituted by a belt conveyor having a flat surface, and a remaining leaf processing roller 25 whose lower side is driven and rotated in the same direction as the belt rotating direction on the upper surface of the lower transfer belt is provided at the front end of the roller. It is arranged and arranged in an inclined state in plan view so that the side is on the inner side of the machine body in the left-right direction compared to the rear end side. A support member 70 that supports the belt conveyor and prevents mud from flowing into the belt conveyor is provided on the inner side of the remaining leaf processing conveyor 24.

  The support member 70 includes support portions 70a and 70b on the left and right sides in the transport direction and a connection portion 70c that connects the support portions 70a and 70b along the remaining leaf processing roller 25, and is formed in a substantially N shape in plan view. .

The support portions 70a and 70b are formed by bending downward, and the bent portion 70d prevents mud from entering the circumference of the belt conveyor.
The front end portion 25a of the remaining leaf processing roller 25 is positioned so as not to overlap the support portion 70a in the vertical direction, and a notch V is provided in the connecting portion 70c facing the lower side of the front end portion 25a. The lower part of the belt facing 25a is opened. A stay 71 is provided from the front end portion 25a of the remaining leaf processing roller 25 in a diagonally forward direction in the conveying direction, and an interval (not shown) is provided between the stay 71 and the belt surface of the remaining leaf processing conveyor 24. The interval (not shown) between the stay 71 and the belt surface of the remaining leaf processing conveyor 24 is configured to be larger than the interval H between the remaining leaf processing roller 25 and the remaining leaf processing conveyor 24.

Next, the transport device 8 will be described in detail. The transport device 8 inherits and transports the root vegetables X processed by the remaining leaf processing apparatus 7 and the second transport transports the root vegetables X transported by the first transport device 30. The apparatus 31 is comprised. The first conveying device 30 and the second conveying device 31 are each provided with a plurality of V belts 30a, 31a arranged in parallel at predetermined intervals, and the first conveying device 30 has a conveying end side of the V belt 30a and the second conveying device 31 . The conveyance start end side is wound around the same shaft 32 alternately. In this embodiment, it is wound around a pulley attached to the shaft 32. Note that the V belts 30 a at both ends of the first transport device 30 are disposed inside the V belts 31 a at both ends of the second transport device 31.

  The first conveying device 30 is provided adjacent to the front side of the machine body of the remaining leaf processing device 7 and is configured to convey in the same direction as the remaining leaf processing conveyor 24. Further, the first transport device 30 is configured to be inclined obliquely downward from the transport start end side toward the transport end side, and the transport end portion of the first transport device 30, that is, the transport start end portion of the second transport device 31 is a remaining leaf. It arrange | positions in the position facing the front-end part 25a of the processing roller 25. FIG. In addition, the shaft 32 is configured to be positioned below the remaining leaf processing conveyor 24 so that the root vegetables supplied to the first conveying device 30 supplied with the remaining leaf processing can be temporarily stored.

  The second transport device 31 is disposed obliquely upward and downward in the left-right direction of the machine body from the transport start end to the transport end, and each of the V belts 31a includes a plurality of supports 31b for lifting and transporting the root vegetables X. It is attached.

  The transport terminal portion of the second transport device 31 is configured to face the transport start end portion of the sorting transport device 35, and the sorting transport device 35 is disposed toward the rear of the machine body. On the side of the sorting / conveying device 35, there is provided a boarding section 36 for an operator who performs sorting work to remove defective products from the root vegetables X conveyed by the sorting / conveying device 35 to board the machine body. The boarding portion 36 is provided with a seat 37 so that an operator can easily board and work on the aircraft. In addition, a crop placement section 9 is provided on the outer side of the left and right direction body of the boarding section 36 so that a plurality of containers C can be placed in the front and rear rows from the front of the body to the rear of the body. The work can be efficiently performed by advancing the harvesting work while placing the container C. The harvested product placing portion 9 is provided so as to be housed inside the machine body by being attached to the inside of the machine body so as to be rotatable and foldable.

Next, the root vegetable harvesting operation of the root vegetable harvesting machine of the present embodiment will be described.
The root vegetable harvesting machine 1 continuously digs and harvests the root vegetable X in the field while traveling.
First, the lug 4a of the pulling device 4 circulates in the vertical direction and scrapes up the foliage vegetated from the field U. Then, the digging blade 11 digs up the soil around the root vegetables X in the field U to lift the root vegetables X, and the nipping and conveying belt 4 sandwiches the foliage part and suspends and conveys the root vegetables X.

  The root vegetables X transported toward the rear of the machine body by the sandwiching conveyor belt 4 is cut at the foliage part by the cutting device 5, the root vegetables X is dropped downward, and the foliage part is transported to the rear of the machine body by the leaflet belt 21. It is discharged from the rear side of the aircraft.

  The root part X falls on the remaining leaf processing conveyor 24 of the remaining leaf processing apparatus 7, and the root vegetables X are transferred by the remaining leaf processing conveyor 24. When the root vegetables X to be transferred hits the remaining leaf processing roller 25 on the conveyance end side, the remaining leaves are cut after being cut by the cutting device 6 while moving to the first conveying device side along the remaining leaf processing roller 25. In the case of the attached root vegetables X, the remaining leaves are drawn between the upper surface of the belt of the remaining leaf processing conveyor 25 and the remaining leaf processing roller 25 and removed.

  At that time, solid foreign matter P such as stone may be supplied to the remaining leaf processing conveyor 24 together with the root vegetables X. When the solid foreign matter is smaller than the interval between the residual leaf processing roller 25 and the residual leaf processing conveyor 24, the solid foreign matter P passes through H between the residual leaf processing roller 25 and the residual leaf processing conveyor 24, and the residual leaf processing conveyor. 24 is discharged from the conveyance end side. On the other hand, when the solid foreign matter P is larger than the interval between the residual leaf processing roller 25 and the residual leaf processing conveyor 24, the solid foreign matter P extends along the residual leaf processing roller 25 to the front end portion 25a of the residual leaf processing roller 25. The remaining leaf processing conveyor 24 is bent in the notch V, and the solid foreign matter P passes through the interval H between the remaining leaf processing roller 25 and the remaining leaf processing conveyor 24 and is discharged outside the apparatus. Or it passes between the stay 71 and the remaining leaf processing conveyor 24 and is discharged. With this configuration, the solid foreign matter P is prevented from biting between the remaining leaf processing roller 25 and the remaining leaf processing conveyor 24.

The root vegetables X subjected to the residual leaf processing in the residual leaf processing device 7 falls to the first transport device 30, is placed on the V belt 30a and transported, and then is taken over and supported by the V belt 31a of the second transport device 31. It is supported by the body 31a and lifted and conveyed. While being conveyed by the V belts 30a and 31a, the mud adhering to the root vegetables X falls into the space between the adjacent V belts 30a or 31a.
The root vegetables X transported by the second transport device 31 is dropped and supplied to the transport start end side of the sorting transport device 35 and transported toward the rear of the machine body. An operator sitting on the sheet 37 in the middle of the conveyance removes defective products, and the good root vegetables X are accommodated in the accommodating container C provided at the conveying terminal portion of the sorting and conveying device 35, and the accommodating container C becomes full. Are sequentially placed on the crop placement unit 9.

  As in the present embodiment, the first conveying device 30 and the second conveying device 31 are coaxially arranged between the conveying terminal end of the first conveying device 30 and the conveying starting end of the second conveying device 31, and the V belt 30a and the V belt 31a. As a configuration in which the shaft 32 is alternately wound, the shaft 32 can be shared while the transfer from the first transport device 30 to the second transport device 31 can be performed smoothly, so that a compact and inexpensive configuration can be achieved. it can. Moreover, it becomes possible to change the conveyance direction of the 1st conveying apparatus 30 to the 2nd conveying apparatus 31 upwards, and to convey it, and it becomes possible to lift and convey root vegetables (a crop) to a high position. Therefore, the container C can be made large to accommodate many root vegetables (harvested products), thereby improving the harvesting efficiency. Moreover, since the removal of the mud adhering to a crop can be performed by any of the first conveying device 30 and the second conveying device 31, the removable range of the mud can be expanded and the removal of the mud can be promoted. . In particular, use of the root vegetable harvesting machine 1 transmits the vibration of the harvesting work, so that mud dropping is promoted. Further, since the V belts 30a at both ends of the first transport device 30 are arranged on the inner side of the V belts 31a at both ends of the second transport device 31, the takeover of the harvest becomes smooth. In addition, root vegetables X are hard to be damaged by using a V-belt, and the width of the conveying device is set at a distance where the root vegetables X does not fall while having a compact configuration, and a space in which mud adhering to the root vegetables X falls is widened. It becomes possible to take.

Next, another embodiment of the transport device 8 will be described.
The transport device 8 of this embodiment is configured by a transport conveyor 60 that is lifted by a cylinder 67 by operating a pedal 69 on the transport end side. A number of protrusions 61 having a predetermined width are formed at predetermined intervals along the conveyance direction so as to support one side of the crop on the conveyance surface of the harvesting conveyor 60. A large number of protrusions 61 are formed in a plurality of rows in the width direction of the conveyor 60, and the protrusions 61 in adjacent rows are provided in a staggered pattern. Further, as shown in FIG. 5, when the protrusion 61 of the present embodiment reaches the position B that becomes the non-transfer surface from the transfer end position of the transfer surface, the height Q of the protrusion position from the conveyor surface becomes the height of the protrusion at the time of transfer. It is formed of a soft member so as to be lower than the thickness R.

A sensor (not shown) capable of detecting root vegetables in the storage bag 64 may be provided at the transfer terminal end of the transfer conveyor 60, and the storage bag 64 may be raised based on the detection result of the sensor. Or it may be carried out vertical movement of the conveyor 60 by the switch 85.

Further, when the transport conveyor 60 moves up, the storage bag placing portion 68 may be folded inside the machine body. Further, a limit switch (not shown) for detecting the vertical movement of the transfer conveyor 60 is provided. Reference numeral 81 denotes a shooter that discards defective root vegetables X.

Next, the harvesting operation of the vegetable harvesting machine of the present embodiment will be described.
While traveling with the traveling device 2, the soil around the root vegetables X in the field is dug up, and the stalks and leaves of the crop are pinched on the nipping and conveying start end side of the nipping and conveying belt 4 while being dug up with the blade 11, and are conveyed obliquely upward rearward. . In the middle of the conveyance of the nipping and conveying belt 4, the leaf removal belt 21 takes over the stem and leaf portion of the root vegetable X, and the height of the root vegetable X is made constant by the alignment belt 22 and the stem and leaf portion is cut by the cutting device 6. The stems and leaves are discharged to the rear of the machine body by the leaflet belt 21, and the root vegetables X fall on the remaining leaf processing conveyor 24.

The remaining leaves are removed by the remaining leaf processing device conveyor 24 and the remaining leaf processing roller 25 in the same manner as described in the above embodiment, and are supplied to the conveyor 60.
The root vegetables X discharged to the transport conveyor 60 are lifted and transported in the lateral direction of the machine body while one side of the root vegetables X is supported by the protrusions 61. The sizes and shapes of the root vegetables X harvested at this time are not uniform. In particular, in the case of a large root vegetable X, it may be difficult to support by the protrusions 60, and it may be difficult to lift and convey. Like the state of the root vegetables X1, it is lifted and transported by being sandwiched between one end inside one protrusion 61a and one end inside the protrusion 61b adjacent in a staggered pattern. Then, it is discharged from the conveyance end side of the conveyance conveyor 60 to the accommodation bag 64.

  When starting to store the root vegetables X in the empty storage bag 64, the transport terminal portion of the transport conveyor 60 and the storage bag upper support means 65 are both lowered to a lower position so that the root vegetables X are stored in the storage bag 64. Reduce the distance to drop in. As the amount of root vegetables X gradually increases, the operator sits on the seat 37, sorts out the defective root vegetables X, and stores the root vegetables X in the storage bag 64. While confirming the above, the transport terminal end side of the transport conveyor 60 is stepped up and appropriately lifted. And by raising both the conveyance termination | terminus part and the accommodation bag upper part support means 65 of the conveyance conveyor 60, it keeps root vegetables in the accommodation bag 64 until it becomes a full state, preventing the root vegetables X from overflowing from the accommodation bag 64. Contains X.

According to the configuration of the present embodiment, in the conventional configuration in which one protrusion is provided on the conveyor surface, it is difficult to lift in the case of a large root vegetable, but when adjacent to a large crop, two adjacent staggered legs are transported. Since it can be lifted and transported so as to be sandwiched between the protrusions 61a and 61b, it is possible to prevent a crop that is not transported at the transport start end of the transport conveyor 60 from staying and to improve the transport capability of the transport conveyor 60. . In particular, it is easy to lift and convey the crop by adopting the configuration of the present embodiment where the conveyor 60 moves up and down.

Moreover, since the protrusion 61 of the conveyor 60 is made of a soft material as in this embodiment, the height of the protrusion is reduced at the end of conveyance, so that the action of pushing out the crop is reduced, and the crop is terminated at the end of the conveyance conveyor 60. In the case of a configuration that can prevent the crop from being easily damaged by jumping out from the side, the protrusion 61a (or 61b) supported by the root vegetables X in the front in the transport direction protrudes at the transport end portion. , The root vegetables can be dropped and accommodated in the accommodation bag 64 without being caught by the projection 61b (or 61a). Moreover, since the protrusion 61 is formed of a soft member, the root vegetables X are not easily damaged even when the root vegetables X are sandwiched, and root vegetables X of various sizes are also easily sandwiched.

  Although not shown in the drawings, the arrangement of the two rows of protrusions may be configured obliquely inward so that the root vegetables X can be sandwiched.

  Although the present invention describes a harvester for root vegetables, it may be used for a transport device that transports a harvested crop to a washing machine or the like, or an adjuster that adjusts a crop.

Left side view of root crop harvester Top view of root crop harvesting machine Rear view of root crop harvester Plan view of essential parts of the invention (A) Perspective view of remaining leaf processing apparatus (b) Perspective view of support member 70 (c) Cross-sectional view of remaining leaf processing apparatus Plan view of another embodiment Perspective view of another embodiment viewed from the back Side view of the conveyor 60 Plan view of another embodiment

Explanation of symbols

X crop
5 Nipping and conveying belt
6 cutting device
7 Residual leaf processing equipment
8 transport device 30 first transport device 31 second transport device 30a V belt 31a V belt
32 axes
60 conveyor
61 protrusions
64 containment bags
65 containment bag upper support means

Claims (3)

A sandwiching and conveying belt (5) that sandwiches and conveys the foliage of the root vegetable (X), and a cutting device (6) that cuts the foliage of the root vegetable (X) that is nipped and conveyed by the sandwiching and conveying belt (5); A residual leaf processing device (7) for removing residual leaves adhering to the root vegetables (X) while transporting the root vegetables (X) that have been cut and dropped by the cutting device (6), and a residual leaf processing device In the root crop harvesting machine provided with the transport device (8) for taking over and transporting the root vegetables (X) subjected to the residual leaf processing in (7),
The transporting device (8) lifts and transports the root vegetables (X) supplied from the remaining leaf processing device (7) in the lateral direction of the machine body, and the root vegetables at the transport end of the transporting conveyor (60). And a storage bag upper support means (65) for supporting the storage bag (64) for storing the product (X), and a protrusion (61) for supporting the root vegetables (X) on the transport surface of the transport conveyor (60) A root vegetable harvester characterized in that a large number of rice cakes are formed at predetermined intervals along the conveying direction.   The root vegetable harvesting machine according to claim 1, wherein the conveying device (8) is configured by winding a plurality of endless bands (30a) arranged at predetermined intervals.   A first transport device (30) configured by winding a plurality of endless belts (30a) at predetermined intervals, and a first transport device (8) from a transport end portion of the first transport device (30). 30) and a second transport device (31) configured by winding a plurality of endless belts (31a) for transporting the harvest (X) in the same transport direction at a predetermined interval. The first transport device (30 The end-of-end belt (30a) of the endless belt and the transport start-end portion of the endless belt (31a) of the second transport device (31) are alternately wound around the same shaft (32). The root vegetable harvester described.