JPH09205840A - Harvester for root vegetables - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a harvester which can securely grip a stem and leaf without correcting the travel direction of a machine body itself. SOLUTION: A horizontal frame 16 which is independent of the frame of a machine main body is provided as a mechanism which can move a clamp conveying device to the right and left in the travel direction of the machine body in relation to the detection result of a position detection sensor 21 at the tip part of a clamp conveyor belt 9. Respective devices such as a raising-up device 3, a clamp conveyance belt 9, a leaf cutting belt 11, and a leaf discharge belt 12 are provided on the horizontal frame 16, and a horizontal guide rail 18 is provided below the frame 16, so that the horizontal frame 16 is moved by a hydraulic cylinder 19 for horizontal control. Thus, when this carrot harvester is used, the machine quickly reacts even to the curvature of a planting row of roots on a ridge and the machine body does not roll; and the machine body is only made to travel straight, so the need for complicated operation is eliminated to make the operation easy.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a harvester for root vegetables such as carrots having good workability.

[0002]

2. Description of the Related Art An example of a conventional root vegetable harvesting machine will be described below by taking carrots as an example of root vegetables. The conventional carrot harvester digs carrot stalks after being squeezed by a sandwiching and conveying belt consisting of a pair of endless belts that rotate in opposite directions, and then conveys them to the rear of the harvester with the sandwiching and conveying belt. It is a machine that cuts foliage in the process and conveys it further backward to store root vegetables in a basket.

[0003]

The carrot harvester of the prior art described above runs along a carrot planting line and carries out the following series of operations for causing foliage.
When the carrot planting strip is bent, it is necessary to change the traveling direction of the carrot harvesting machine so that the carrot planting strip is located at the center of the pair of raising devices or the pair of pinching and conveying belts.

Therefore, the operator must constantly monitor the carrot planting strip while operating, and if the carrot planting strip has a large bend, the harvester also bends greatly in the traveling direction, and the machine shakes. . Further, if the pair of raising devices or the central portions of the pair of pinching and conveying belts cannot be arranged along the bend of the carrot planting strip, a digging error will occur.

Therefore, an object of the present invention is to provide a root vegetable harvesting machine that can reliably pinch foliage without modifying the traveling direction of the machine itself.

Another object of the present invention is to provide a root vegetable harvesting machine which can quickly cope with a bending of a planting strip of a root vegetable without any digging error.

[0007]

The above object of the present invention is achieved by the following constitution. That is, in a root vegetable harvester having a sandwiching and conveying device that sandwiches and pulls out at least the foliage and conveys it, a position detecting means that detects the position of the foliage, and a sandwiching and conveying device in relation to the detection result of the position detecting means. A root vegetable harvesting machine provided with means for moving in the left-right direction with respect to the traveling direction of the machine body.

In relation to the detection result of the position detecting means of the root vegetable harvester of the present invention, there is the following specific example of means for moving the holding and conveying device in the left and right direction with respect to the traveling direction of the machine body.

That is, the horizontal frame is independent of the frame of the machine body. And, on this horizontal frame, the raising device, the nip conveying belt, the tapping belt,
Provide each device such as a leaf discharge belt. A horizontal guide is provided in the lower part of the frame, and the horizontal control cylinder provided at the side end of the horizontal frame allows the horizontal frame to move horizontally.

Thus, when the root vegetable harvesting machine of the present invention is used, it quickly responds to the bending of the planting strips of the root vegetables on the ridges, and there is no shaking of the machine, so the machine only needs to be run straight, so no detailed operation is required. Work can be done easily.

According to the root vegetable harvesting machine of the present invention, the foliage can be reliably clamped without correcting the direction of the machine itself.

Further, since the roots and leaves of the root vegetables are sandwiched by the center between the sandwiching and conveying belts, digging mistakes of the roots and leaves of the root vegetable are reduced.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the examples below. FIG. 1 is a side view of the carrot harvester of this embodiment, and FIG. 2 is a plan view of the carrot harvester as seen from above. The carrot harvester includes a crawler 1, a vehicle body 2 supported by an axle of the crawler 1, a carring device 3 for supporting the foliage of the carrot, and a carrot front conveying section 5 provided behind the caring device 3. The rear transport unit 6 and a storage unit provided behind the transport unit 6 for storing harvested carrots.

The stirrer 3 is a device for sequentially sending a pair of stirrer lugs 4 for causing carrot foliage onto the field ground. Is sandwiched between a pair of endless belt-shaped holding and conveying belts 9 which rotate in opposite directions at intervals of, and is conveyed rearward, and the foliage is transferred between the pair of endless belts of the rear conveying section 6.

The endless belt of the rear transport section 6 comprises a head aligning belt 10, a leaf cutting belt 11 and a leaf discharging belt 12 arranged above the head aligning belt 10. Also,
At the rear position of the head alignment belt 10, a disc type leaf cutting cutter 14 which is driven to rotate horizontally by a leaf cutting belt 11.
Is provided, and the foliage cut by the cutter 14 is discarded by the leaf discharge belt 12 outside the rear of the harvester. The root part from which the foliage is cut is sent to a container (not shown) by the storage belt 15 of the storage part.

The feature of the present embodiment is that a horizontal frame 16 independent of the carrot harvester body (machine frame) 2 is provided, and the raising device 3, the sandwiching conveyor belt 9, the head alignment belt 10, and the leaf cutting are provided on the horizontal frame 16. The belt 11 and the leaf discharge belt 12 are provided with the horizontal frame 16
A guide rail 18 for horizontal movement is provided in the lower part of the horizontal frame 16, and a horizontal control hydraulic cylinder 19 provided at a side end of the horizontal frame 16 allows the horizontal frame 16 to move in the horizontal direction.

Further, a pair of direction control sensors 21 for detecting the presence of carrot foliage and controlling the traveling direction of the harvester are provided on the front surface of the raising apparatus 3. The directional control sensor 21 may be provided with a position sensor or an on / off switch at the stem portion of the pressure-sensitive sensor, and the movement of the directional control sensor 21 may be observed or the distance between the foliage may be measured by an ultrasonic sensor.

Regarding the bending of the planting strip of carrots on the ridges in the field, if only one of the pair of direction control sensors 21 detects the foliage, it is judged that the planting strip is curved, and both direction control sensors are detected. When both 21 do not sense the foliage, it is judged that the direction of movement of the raising device 3 to which the sensor 21 is attached is along the planting line.

Thus, when the pair of direction control sensors 21 sense the bending of the carrot planting strip, a signal is sent to a control box (not shown) to activate the horizontal control hydraulic cylinder 19 and the horizontal frame 16 to guide the horizontal rail 16.
8 Move horizontally.

With the above construction, the carrot harvester quickly responds to the bending of the carrot planting strip, the shaking of the machine is eliminated, and the machine only needs to be run straight. become able to. Further, since the foliage of carrot can always be clamped at the center between the pair of clamping and conveying belts 9, the carrot digging error is reduced.

Further, the carrot harvester is provided with a work frame 22 independent of the vehicle body (machine frame) 2 as shown in a side view of the main part of FIG. Providing head aligning belt 10, leaf cutting belt 11 and leaf discharging belt 12,
The work frame 22 may be connected to the vehicle body 2 with a horizontal control hydraulic cylinder 19 or the like so that the work frame 22 is always automatically kept horizontal.

The work frame 22 is composed of a frame portion provided in a direction parallel to the sandwiching and conveying belt 9 and a substantially horizontal direction portion provided behind the frame portion. The work frame 22 has an intermediate portion and a horizontal portion in a portion parallel to the sandwiching and conveying belt 9. Rotation shafts 23 and 24 that rotate in a substantially horizontal direction are provided at the rear end portion.
The front substantially horizontal rotation shaft 23 is connected to the support arm 27 having the vertical rotation shaft 26, and the rear substantially horizontal rotation shaft 24 is connected to the support arm 30 having the vertical rotation shaft 29. 27 and 30 are supported by the body 2 of the machine body.

The front vertical rotation shaft support arm 27 is a dogleg-shaped member, and the vertical rotation shaft 26 is rotatably supported by the vehicle body at a bent portion of the dogleg shape, and one end thereof. Is provided with a hydraulic cylinder 20 for rotating the arm in the vertical direction around the bent portion.
When the support arm 27 rotates about the rotation shaft 26, the work frame 22 moves up and down. Further, the rear vertical rotation shaft support arm 30 is provided on the vehicle body 2. A substantially horizontal rotation shaft 29 connected to the rear vertical rotation shaft support arm 30 is used to rotate the rotation shafts 23 and 24 in the left-right direction with respect to the machine traveling direction and to control the attitude of the work frame 22 in the horizontal position. Horizontal control hydraulic cylinder 1
9 are provided.

With the above construction, when the machine body tilts, the work frame 22 tilts to the side opposite to the machine body, and the work frame 22 can be automatically kept always horizontal. Therefore, when the carrots are pulled out, the sandwiching and conveying belt 9 can always pull out the carrots in the direction perpendicular to the ground, so that the carrots are not cracked or broken, and even when one side of the crawler 1 falls into a ridge groove. The digging part of can maintain the horizontal direction. Further, even when tapping with the head-aligning belt 10, the head of carrot is placed in a horizontal position (the carrot hangs in the vertical direction), and diagonal cutting of foliage does not occur.

FIG. 4 (side view of the main part), FIG. 5 (A-A in FIG. 4)
Another view for always keeping the rear conveyance unit 6 in a horizontal position is shown in a view (a view indicated by a line arrow). A pair of arms 32 having a pair of horizontal rotation shafts 24a and 24b respectively provided in front of and behind the work frame 22 which is a support frame for the sandwiching and conveying belt 9 are provided, and the front end of the arms 32 is provided. Is supported by the supporting member of the head aligning belt 10, and the rear end is supported by the chain case 34 via the universal join 33. Then, as shown in FIG. 5, a cylinder 37 for vertically moving the end portion of the stay 36 connecting the pair of horizontal rotation shafts 24b to one end portion of the work frame 22.
Is provided. Further, the cylinder 3 is provided at the other end of the stay 36.
The work arm 22 is provided with a member 38 that serves as a fulcrum for the vertical movement of 7. The horizontal sensor 4 is provided at the center of the stay 36.
0 is provided and the cylinder 37 is moved up and down according to the detection value of the sensor 40, so that the rear transport section 6 can be always kept in the horizontal position.

In this way, the rear transport section 6 can be kept in the horizontal position when the carrots are pulled out, and the head alignment belt 10
Even when tapping by the carrot head is placed in a horizontal position (carrots hang vertically) will not cut the stem and leaves diagonally.

Further, in the enlarged view of the leaf cutter 14 shown in FIG. 6, the joint portion 14a in which the cutter blade freely rotates is shown.
A chain case 34 for driving the head alignment belt 10 and the like.
It is also possible to provide a structure in which the foliage part (neck) of carrot can be cut straight in the horizontal direction regardless of the inclination of the machine body to the left and right.

Leaf cutter 14 and chain case 34
FIG. 7 shows a view of the cut surface of the joint part 14a with the arrow from the side of the harvester, and FIG. 8 shows a view from the rear of the harvester. 9 is a control block diagram for maintaining the rotation plane of the leaf cutter 14 in the horizontal direction.
Shown in

The horizontal cylinder 42 supported by the chain case 34 via the fixing stay 41 is actuated in accordance with the inclination value detected by the horizontal sensor 40 arranged on the chain case 34, so that one leaf cutting operation is performed. Orient the plane of rotation of the cutter 14 horizontally. Since the other cutter 14 is connected to the horizontal cylinder 42 via the rod 44, at the same time, the rotation plane of the cutter 14 can be oriented in the horizontal direction. The cutter 14 is connected to a sprocket 46 in the chain case 34 via a universal joint 45.

In this way, the plane of rotation of the leaf-cutting cutter 14 can be oriented in the horizontal direction regardless of the left-right inclination of the body of the harvester, and the carrot foliage can be cut straight in the horizontal direction.

As shown in FIG. 10 (side view of main part), FIG. 11 (side view of straight root cutting cutter part), and FIG. 12 (explanatory view of straight root detecting mechanism), a head aligning guide 10 'is provided below the head aligning guide 10'. A configuration may be adopted in which the straight roots are reliably cut by detecting the position of the straight roots by the straight root detection sensors 48 composed of photo interrupters arranged in tandem.

The straight root detecting sensor 48, which is a photo interrupter, and the straight root cutting cutter 49 are each supporting arms 51 supported by a supporting arm (not shown) of the nip conveying belt 9.
It is supported by 52. The head alignment guide 10 ′ is rotatable around its bent portion as a center of rotation, and the vicinity of its rear end is also supported by a link 53 supported by the chain case 34. Then, it is vertically moved by the lifting hydraulic cylinder 55. The lifting hydraulic cylinder 55 is supported at its front part by a support arm of the nip transport belt 9.

As shown in FIG. 11, the straight-cutting cutter 49 rotates a cylindrical drum 56 provided with a large number of slits 56a, and a shelf-shaped cover 57 is provided on the upper portion thereof. As a result, the straight root enters the slit 56a of the drum 56 and is cut. The vertical movement of the head alignment guide 10 'is performed by the lifting cylinder 55.

As shown in FIG. 10, the straight root detection sensor 48 receives light from the light emitting elements of the photo interrupters arranged in a row by the light receiving element. However, the light is not received due to the difference in the interruption time of the carrots passing between the photo interrupters. The straight root can be detected from the number of the photo interrupter of the part where the interruption time is relatively short, and the operation amount of the lifting hydraulic cylinder 55 is adjusted accordingly, and the head alignment guide 10 'is moved up and down. , It is possible to surely cut the straight root.

Although the position of the straight root differs depending on the size of the carrot, in the conventional harvesting machine, the straight root cutting cutter 49 is fixed or provided at only one place. For this reason, the roots were cut without checking the position of the roots, so many of them were uneven. Since the roots were cut again after the carrots were harvested and they were evenly distributed over the whole, a great deal of labor and time was spent. However, the apparatus of this embodiment can automatically do this.

13 (side view of the main part), FIG. 14 (side view of the straight-cutting cutter part, and line AA of FIG. 13) as a structure for cutting the position while checking the position of the straight root. As shown in the figure), after carrot head alignment with the head alignment belt 10, the carrot length is determined to be large, medium or small at a position before the cutting of the foliage by the leaf cutter 14, It is also possible to adopt a configuration in which the disposition position of the straight-cutting cutter is lowered when it is large, and the disposition position of the straight-cutting cutter is raised when it is small.

The position of the root is detected in the same manner as described with reference to FIG. 10 and the like by a plurality of photo interrupters provided in a column which are supported above the link component 59 for transmitting the driving force of the nip transport belt 9. Based on the warp detection result, the cylindrical drum type straight root cutting cutter 49 itself supported by the link component 59 is vertically moved by the electric cylinder 60 to appropriately control the cutting position. The straight-cutting cutter 49 shown in FIG. 14 has a large number of slits 5 similar to that shown in FIG.
A cylindrical drum 56 having 6a and a slit-shaped cover 57 covering the upper half of the drum 56.
By the rotation of 6, the straight root enters the slit 56a of the drum 56 and is cut.

FIG. 15 shows an example in which three pairs of the light emitting portion and the light receiving portion of the photo interrupter are provided in the vertical direction. Table 1 shows the relationship between the ON / OFF of each light receiving portion, the determination of the size of the straight root, and the arrangement position of the straight root cutting cutter 49 when each light receiving portion is set to P ₁ , P ₂ , and P ₃ .

[Table 1] Also in this case, only the straight root can be accurately cut by the straight root cutting cutter 49, and moreover, the straight root cutting cutter 49 only needs to be provided at one place and does not take up a space.

Next, in the carrot harvester of the type shown in FIG. 16 (plan view of the harvester) in which the tip of the excavation device 3 and the nipping and conveying belt 9 moves laterally, the button provided on the operation panel 61 of the driver's seat. The tip of the excavation device 3 may be moved laterally by operating a switch (not shown), and the body of the harvester may be moved forward with the body position unchanged.

FIG. 17 shows the structure of the sandwiching and conveying belt 9, and the link 6 supported by the machine body (not shown).
2 is a pair of pulleys 64a, 6 for driving the sandwiching and conveying belt 9
It is connected to an intermediate portion of a member 65 connecting between 4b and the side surface of the link 62 is movable by an electric cylinder 67 (in FIG. 17, the state where the electric cylinder is connected to only one link 62 is shown. Although shown, the links 62, 62 are connected by a connecting member (not shown), and the two links 62, 62 slide together.

Further, FIG. 18 shows a conceptual diagram of a work method for laterally moving the holding and conveying belt 9. The carrot planting strip in the center of the field shown in FIG. 18 is harvested by hand digging so that the crawler 1 of the harvester can pass through this center. Then, the carrot harvesting work of the area or any area shown in the area is performed. At this time, for example, when the carrots in the area are harvested, if the button switch (the button switch slides for one or more articles when pressed once) is pushed once, the conveying belt 9 for nipping one or more articles of α articles in the area Move the tip of the sideways. At this time, the carrot harvester main body is on the strip of the area, but the tip of the nipping and conveying belt 9 is on the area. Then, the button switch is pressed to align the leading end of the sandwiching and conveying belt 9 with one or more lines of carrot to be harvested. Then, the harvester goes straight and harvests one or more rows, then backs up as it is, and then the next planting section β
The front end of the sandwiching and conveying belt 9 is aligned with the strip by a button switch and moved forward to collect the carrots on the strip. Further, when the carrots in the area are harvested, the tip of the sandwiching and conveying belt 9 is laterally moved by sliding the slide switch to the left side, and the harvesting work is performed as in the case of the area. In this way, the lateral movement amount of the carrot harvester main body can be reduced and the carrots of a plurality of planting lines can be efficiently harvested.

Next, FIGS. 19 to 21 show a construction in which the gripping force of the gripping and conveying belt 9 is changed according to the size of the foliage of carrots to eliminate the uncut portion of carrots. With a configuration without a mechanism for changing the clamping force of the conventional clamping / conveying belt 9, if the foliage of carrots is thick, it may not be possible to clamp by the clamping / conveying belt 9, and there is no choice but to dig the carrots left uncut, but this manual work It takes a lot of work and, conversely, carrots have few stems and leaves, so the stems and leaves may break when trying to pull them out with a strong clamping force.

Therefore, as shown in the plan view of the tip of the nipping and conveying belt 9 in FIG. 19, the position of the tension pulley 69 that changes the nipping force of the nipping and conveying belt 9 according to the opening amount of the pair of strain gauges 68 is electrically driven. It is controlled by the cylinder 70. FIG. 20 shows a side view of the front end of the sandwiching and conveying belt 9, and FIG. 21 shows the positional relationship between the pair of strain gauges 68 and the foliage of carrot.

In this way, the pressing force between the two sandwiching and conveying belts 9, particularly the pressing force between the pair of belts 9 at the tip end is controlled according to the thickness of the carrot, so that there is no uncut residue in the case of thick carrots. In the case of a thin carrot, the gripping force of the gripping and conveying belt 9 can be weakened and the foliage can be dug without breaking.

Next, while the carrots are being conveyed by the pulling-out device (the holding and conveying belt 9), the inclination angle of the holding and conveying belt 9 is changed according to the length of the carrot.
(Main part side view for detecting carrot length and for setting inclination angle of the nipping and conveying belt 9) and FIG. 23 (perspective view for main part for setting inclination angle of the nipping and conveying belt 9).

In the conventional carrot harvester, long carrots are easily broken. Therefore, the work speed is slowed down to slow down the carrot withdrawing speed of the sandwiching and conveying belt 9 to reduce the withdrawal force and prevent the carrots from being broken. But,
In this case, work efficiency will be reduced. Further, if the holding and conveying belt 9 is made to have a gentle pull-out inclination angle, long carrots will not break, but the holding and conveying belt 9 will become long, and this method cannot be applied to short carrots.

Therefore, as shown in FIG. 22, a carrot length detection sensor 73 including a photocoupler including a plurality of light emitting portions and light receiving portions is provided on the supporting frame 72 of the sandwiching and conveying belt 9 in the vertical direction. The carrot length detection sensor 73 detects one of the carrot length, long, medium or short.
Based on the detection result of the carrot length detection sensor 73, the pulling angle control hydraulic cylinder 76 provided between the auxiliary frame 74 of the support frame 72 and the vehicle body 2 raises the inclination angle of the sandwiching conveyance belt 9 for a long carrot. Moreover, the conveyance speed of the nipping and conveying belt 9 is increased, and conversely, in the case of a short carrot, the inclination angle of the nipping and conveying belt 9 is loosened and the conveying speed of the nipping and conveying belt 9 is reduced. A hydraulic cylinder 77 for raising and lowering the nipping and conveying belt 9 is provided between the support frame 72 of the nipping and conveying belt 9 and the vehicle body 2.

FIG. 23 shows a control mechanism for the conveyance speed of a nip conveyance belt (not shown) and a pull-out angle control hydraulic cylinder 76. The driving force is transmitted from the engine 80 to the large pulley 78 via the small pulley 81, but in the case of a long carrot, the piston of the hydraulic cylinder 76 for pulling-out angle control is extended to raise the inclination angle of the nip conveying belt 9. At this time, since the large pulley 78 also rises, the large pulley 78 moves to the position shown by the broken line in FIG. 24A, the distance between the large pulley 78 and the small pulley 81 increases, and the pulleys 78, 81 in FIG. As shown in the cross-sectional view, the belt 82 enters the inside of the groove of the large pulley 78 and the rotation speed of the large pulley 78 becomes faster. In the case of a short carrot, the large pulley 78 moves to the position shown by the solid line in FIG. 24A, the distance between the large pulley 78 and the small pulley 81 becomes short, and the rotation speed of the large pulley 78 becomes slow.

Carrot length detection sensor 73 (from the top P ₁ ,
Table 2 shows the relationship between the detection results of (P ₂ , P ₃ ), the determination of the length of carrot, the operation of the pull-out angle control hydraulic cylinder 76, and the transport speed of the nip transport belt 9.

[Table 2]

[Brief description of drawings]

FIG. 1 is a side view of a carrot harvester according to an embodiment of the present invention.

2 is a plan view of the carrot harvester of FIG. 1. FIG.

FIG. 3 is a side view of a main part of a carrot harvester according to an embodiment of the present invention.

FIG. 4 is a side view of a main part of a carrot harvester according to an embodiment of the present invention.

5 is a view taken along the line AA of the carrot harvester of FIG.

FIG. 6 is an enlarged view of a leaf cutting cutter portion of a carrot harvester according to an embodiment of the present invention.

7 is a view of the cutting surface of the joint between the leaf cutter and the chain case of the carrot harvester of FIG. 6 as seen from the side of the harvester.

FIG. 8 is a rear view of the carrot harvester of FIG.

9 is a control block diagram for maintaining a horizontal plane of rotation of the leaf cutter of the carrot harvester of FIG. 6;

FIG. 10 is a side view of the essential parts of the carrot harvester of one embodiment of the present invention.

FIG. 11 is a side view of a straight root cutting cutter unit of the carrot harvester of FIG. 10.

12 is an explanatory view of a straight root detection mechanism of the carrot harvester of FIG.

FIG. 13 is a side view of a main part of a carrot harvester according to an embodiment of the present invention.

14 is a side view of the straight root cutting cutter portion of the carrot harvester of FIG. 13 (a view taken along the line AA of FIG. 13).

FIG. 15 is a layout view of a straight root detection sensor of the carrot harvester of FIG.

FIG. 16 is a plan view of a carrot harvester according to an embodiment of the present invention.

17 is a configuration diagram of a sandwiching and conveying belt portion of the carrot harvester of FIG.

FIG. 18 is a conceptual diagram of the work method shown in FIG. 17. It is.

FIG. 19 is a plan view of the front end portion of the sandwiching and conveying belt of the carrot harvesting machine according to the embodiment of the present invention.

FIG. 20 is a side view of the leading end portion of the sandwiching and conveying belt of the carrot harvester of FIG. 19.

FIG. 21 is a diagram showing a positional relationship between a pair of strain gauges and carrot foliage of the carrot harvester of FIG. 19.

FIG. 22 is a side view of essential parts of a device for detecting a carrot length and for setting an inclination angle of a sandwiching and conveying belt of a carrot harvester according to an embodiment of the present invention.

23 is a perspective view of a main part of a device for setting an inclination angle of a sandwiching and conveying belt of the carrot harvesting machine of FIG. 22.

FIG. 24 is an operation view and a cross-sectional view of a pulley of the device for setting the inclination angle of the sandwiching and conveying belt of the carrot harvester of FIG. 22.

[Explanation of symbols]

1 Crawler 2 Car Body 3 Raising Device 5 Front Conveying Section 6 Rear Conveying Section 9 Clamping Conveying Belt 10 Head Aligning Belt 10 'Head Aligning Guide 11 Leaf Cutting Belt 12 Leaf Discharging Belt 14 Leaf Cutting Cutter 15 Storage Belt 16 Horizontal Frame 18 Guide Rail 19 Horizontal control hydraulic cylinder 20 Vertical control hydraulic cylinder 21 Direction control sensor 22 Working frame 23, 24 Horizontal rotation shaft 26, 29 Vertical rotation shaft 27, 30 Support arm 32 Arm 33 Universal joint 34 Chain case 36 Stay 37 Cylinder 40 Horizontal sensor 41 Fixing stay 42 Horizontal cylinder 45 Universal joint 46 Sprocket 48 Straight root detection sensor 49 Straight root cutting cutter 51, 52 Support arm 53 Link 55 Lifting hydraulic cylinder 56 Cylindrical drum 7 Shelf-shaped Cover 59 Link Component 60 Electric Cylinder 61 Operation Panel 62 Link 64 Pinch for Conveying Conveyor Belt 65 Pulley Connecting Member 67 Electric Cylinder 68 Pair of Strain Gauges 69 Tension Pulley 70 Electric Cylinder 72 Support Frame 73 Carrot Length Detection Sensor 74 Auxiliary frame 76 Hydraulic cylinder for pull-out angle control 77 Hydraulic cylinder 78 Large pulley 80 Engine 81 Small pulley

Front page continuation (72) Inventor Seiichi Arima 1 Yakura, Tobe-cho, Iyo-gun, Ehime Pref.Iseki Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] 1. A root crop harvester having a sandwiching and conveying device for sandwiching, pulling out and transporting at least foliage, and a position detecting means for detecting the position of the foliage, and a sandwiching in association with a detection result of the position detecting means. A root vegetable harvesting machine, which is provided with means for moving the carrier device in the left-right direction with respect to the traveling direction of the machine body.