阅读说明：本技术 一种用于萝卜收获机器人的臂链混合式传送机构 (Arm chain mixed type conveying mechanism for radish harvesting robot ) 是由 杨钦涌 杨金明 于 2020-07-10 设计创作，主要内容包括：本发明针对现有技术中存在的技术问题,提供一种用于萝卜收获机器人的臂链混合式传送机构,其包括：支架,臂式传送机构,链条式传送机构,拦截器,镇压轮,所述镇压轮位于链条式传送机构上方,且活动连接在链条式传送机构上,用于将位于链条式传送机构上的萝卜压实,防止萝卜在传送过程中打滑。拔取和传送机构的独立设计,整体上进一步提升萝卜收获的效果和效率提供了极大的可能性和方便性。不仅有效降低了传送机构的高度和机身重心,从而提升机身的稳定性,而且,还减少了萝卜受到的伤害,从而降低收获的破损率。还提升了整机收获作业的可靠性和效率。(The invention aims at the technical problems in the prior art and provides an arm chain hybrid type conveying mechanism for a radish harvesting robot, which comprises: the support, arm-type transport mechanism, chain formula transport mechanism, the interceptor, the press wheel is located chain formula transport mechanism top, and swing joint is on chain formula transport mechanism for the turnip compaction that will be located on chain formula transport mechanism prevents that the turnip from skidding in the data send process. The independent design of the pulling and conveying mechanism integrally further improves the radish harvesting effect and efficiency, and provides great possibility and convenience. Not only effectively reduced transport mechanism's height and fuselage focus to promote the stability of fuselage, moreover, still reduced the injury that the turnip received, thereby reduced the breakage rate of results. And the reliability and the efficiency of the harvesting operation of the whole machine are also improved.)

1. An arm chain hybrid conveyor mechanism for a radish harvesting robot, characterized in that it comprises:

the bracket is used as a main body frame of the conveying mechanism and is used for mounting and fixing various components of the conveying mechanism;

the arm type conveying mechanism is fixed on the support and positioned at the upper part of the front end of the support, and is used for clamping radish leaves by moving the arm type conveying mechanism, moving the radish leaves to the position above the rear end of the interceptor and further loosening the radish leaves to finish the discrete conveying process of the radish;

the chain type conveying mechanism is positioned at the lower part of the rear end of the bracket and is positioned at the lower part of the arm type conveying mechanism and is used for parallelly conveying the radishes which are subjected to the discrete conveying process through the chain type conveying mechanism;

the interceptor is positioned at the lower part of the front end of the bracket and at the upper part of the front end of the arm type conveying mechanism and is used for preventing the radishes from sliding out of the chain type conveying mechanism forwards;

the press wheel is located chain formula transport mechanism top, and swing joint is on chain formula transport mechanism for the turnip compaction that will be located on chain formula transport mechanism prevents that the turnip from skidding in the data send process.

2. The arm chain hybrid conveyor mechanism for a radish harvesting robot as claimed in claim 1, wherein the arm conveyor mechanism includes a left moving slide, a right moving slide, a left slide, a right slide, a left gripping finger, a right gripping finger, a left gripping bracket, a right gripping bracket, a gear set, a gripping screw pair, a gripping timing belt, a gripping driving motor, a moving connector, a moving timing belt, a moving driving motor, a first driving wheel and a first driven wheel; the mobile synchronous belt is sleeved on the first driving wheel and the first driven wheel, and the first driving wheel is fixedly connected with the mobile driving motor; one end of a movable connecting piece is fixedly connected with a movable synchronous belt, the other end of the movable connecting piece is fixedly connected with a left clamping support, a clamping driving motor is fixedly connected with the left clamping support, the clamping synchronous belt is connected with a gear set and the clamping driving motor, gears of the gear set are respectively sleeved on corresponding clamping screw rod pairs, the left end and the right end of each clamping screw rod pair are respectively fixedly connected with a left clamping support and a right clamping support, and the right clamping support is fixedly connected with a right sliding block; the left sliding block is arranged on the left movable sliding rail, the left sliding block is fixedly connected with the movable connecting piece, the right sliding block is arranged on the right movable sliding rail, and the left clamping finger and the right clamping finger are sleeved on the clamping screw rod pair in parallel.

3. The arm chain hybrid transmission mechanism for the radish harvesting robot as claimed in claim 1, wherein the chain transmission mechanism comprises a support column, a support plate, a motor fixing frame, a driving motor, a driving shaft, a second driving wheel, a first transmission belt, a second transmission belt, a driven shaft and a second driven wheel; one end of the supporting column is fixedly connected with the supporting plate, and the other end of the supporting column is fixedly connected with the bracket; motor mount one end and backup pad fixed connection, the other end and driving motor fixed connection, driving motor's axle and driving shaft fixed connection, driving shaft and two at least second action wheel fixed connection, driven shaft and two at least follow driving wheel fixed connection, the driven shaft passes through the bearing with two backup pads respectively and is connected, the driving shaft passes through the bearing with two backup pads respectively and is connected, first conveyer belt cup joints on second action wheel and at least one second follow driving wheel, the second conveyer belt cup joints on first conveyer belt, the width of second conveyer belt is less than the width of first conveyer belt, a chain formula transport mechanism includes two first conveyer belts and two second conveyer belts.

4. The arm chain hybrid transmission mechanism for the radish harvesting robot as claimed in claim 3, wherein one chain transmission mechanism comprises at least four support columns, two support plates and a driven shaft, and one support plate is fixedly connected with at least two support columns.

5. The arm chain hybrid transmission mechanism for the radish harvesting robot as claimed in claim 4, wherein the interceptor includes two side guards, a front guard, a rotating shaft, a power rod and a power rope; the lower ends of the two side baffles are respectively fixedly connected with the two supporting plates, the front end of the front baffle is fixedly connected with the power rod, the rear end of the front baffle is connected with the rotating shaft, and one end of the power rod is fixedly connected with the power rope.

6. The arm chain hybrid transmission mechanism for the radish harvesting robot as claimed in claim 5, wherein the press wheel includes two rotation fulcrums, two connecting rods, a rotation shaft, a press wheel, two tension springs; the rotating fulcrum is fixed on one side of the supporting plate; one end of the connecting rod is connected with the rotating fulcrum, and the other end of the connecting rod is connected with the shaft; the axis of rotation runs through in the pinch roller setting, and tension spring one end and backup pad fixed connection, the other end and connecting rod fixed connection.

Technical Field

The invention relates to the technical field of agricultural equipment, in particular to an arm and chain mixed type conveying mechanism for a radish harvesting robot.

Background

China is facing the dilemma of labor shortage and continuous rising of labor cost, and intelligent agricultural machinery becomes a problem to be solved urgently in the technical research of agricultural machinery equipment in China. The planting area of economic crops such as white radish, carrot, garlic, lettuce, Chinese cabbage and the like is large in China, but the harvesting mechanization rate is very low, the existing harvesting machine cannot meet the requirements of actual production operation, still needs a large amount of manual work to implement harvesting operation, and cannot effectively reduce the labor cost. Since the invention, the main technical thought of the carrot harvester is not changed greatly, the leaf lifter corrects the leaves, the digging shovel loosens the soil of the carrots in the soil, then the pulling chain clamps the leaves of the carrots so as to pull the leaves out of the soil, then the chain is used for continuously transferring the carrots, and finally the leaf cutting treatment is carried out. Some equipment adds the mechanism of patting earth in the intermediate link, and follow-up vanning mechanism that still is equipped with. European and American are mainly large harvesters, Asia is mainly small harvesters, wherein some harvesters need external power, and some harvesters are self-propelled. For the harvesting equipment of the white radish, the harvesting equipment is mostly formed according to the improvement of a carrot harvester, and the technical idea is not changed. Therefore, no matter the carrot harvester or the white radish harvester, the design limitation exists, the adaptability to diversified and irregular planting conditions in China is difficult, in addition, in the whole harvesting process, an operator is required to always aim at crop plants for operation, the operation difficulty is high, the labor intensity is high, the yield leakage rate and the damage rate are high, and the harvesting efficiency is not high. The existing harvesting equipment is difficult to be applied to actual production operation, and farmers rely on manual harvesting operation to directly influence the economic benefit of the existing harvesting equipment, thereby seriously restricting the healthy development of the radish industry in China.

The existing mechanized harvesting technology mainly has the following defects:

for large-scale harvesting equipment, no matter the equipment is self-propelled or side-hung, the equipment has huge preparation weight, can form huge pressure on soil, damage the soil structure and is not beneficial to the growth of crops; in addition, the device has the advantages that the volume is huge, the turning radius is large, a large operation surface needs to be developed before operation, and the device has no practical significance for small land parcels; in addition, the volume is large, so that the land is difficult to adapt to the dispersed, fluctuant and uneven hilly and mountainous lands of vast land blocks in China.

For small harvesting equipment, although they do not have the above-mentioned disadvantages of large machines, they still rely on the digging shovel to perform the pulling operation, as do large equipment. The digging type harvesting technology has the advantages that high requirements on power are necessarily put forward, particularly, strong power is needed for crops which are pricked into the soil deeply, such as white radishes, to dig out the white radishes from the soil, and even though some improved methods for digging from the side of ridges still need strong power. Moreover, this method has inherent limitations of being susceptible to crop damage.

Secondly, the existing harvesters all need operators to operate the tractor or the harvester all the time to aim at the harvest object for harvesting operation, which increases the operation difficulty and the labor intensity of the operators. In particular, in the case of long-term operation, the operator feels fatigue, and the harvesting machine is likely to miss harvesting and the damage rate is likely to increase.

Finally, the harvesting operation of the existing harvesting equipment can not be timely sensed and dynamically adjusted according to different environments and growth conditions of operation objects. The Chinese radish planting method has the advantages that the radish planting agricultural technology is not standard enough, the planting mode changes greatly, the ridge width, the planting distance, the length of the part of a crop plant exposed out of the ground, the center deviation degree and distribution, the depth of the radish pricked into soil, the soil softness and the like are greatly different, and particularly, the white radish pulling difficulty is greatly related to the air temperature, the harvesting time, the variety, the growth time and the like. In the face of these complex and difficult practical conditions, existing harvesters will not be able to cope effectively.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides the arm chain hybrid type conveying mechanism for the radish harvesting robot, and the independent design of the pulling and conveying mechanism further improves the radish harvesting effect and efficiency on the whole and provides great possibility and convenience. Not only effectively reduced transport mechanism's height and fuselage focus to promote the stability of fuselage, moreover, still reduced the injury that the turnip received, thereby reduced the breakage rate of results. And the reliability and the efficiency of the harvesting operation of the whole machine are also improved.

The technical scheme for solving the technical problems is as follows: an arm chain hybrid transfer mechanism for a radish harvesting robot, comprising:

the bracket is used as a main body frame of the conveying mechanism and is used for mounting and fixing various components of the conveying mechanism;

the arm type conveying mechanism is fixed on the support and positioned at the upper part of the front end of the support, and is used for clamping radish leaves by moving the arm type conveying mechanism, moving the radish leaves to the position above the rear end of the interceptor and further loosening the radish leaves to finish the discrete conveying process of the radish;

the chain type conveying mechanism is positioned at the lower part of the rear end of the bracket and is positioned at the lower part of the arm type conveying mechanism and is used for parallelly conveying the radishes which are subjected to the discrete conveying process through the chain type conveying mechanism;

the interceptor is positioned at the lower part of the front end of the bracket and at the upper part of the front end of the arm type conveying mechanism and is used for preventing the radishes from sliding out of the chain type conveying mechanism forwards;

the press wheel is located chain formula transport mechanism top, and swing joint is on chain formula transport mechanism for the turnip compaction that will be located on chain formula transport mechanism prevents that the turnip from skidding in the data send process.

Preferably, the arm-type conveying mechanism comprises a left moving slide rail, a right moving slide rail, a left slide block, a right slide block, a left clamping finger, a right clamping finger, a left clamping bracket, a right clamping bracket, a gear set, a clamping screw pair, a clamping synchronous belt, a clamping driving motor, a moving connecting piece, a moving synchronous belt, a moving driving motor, a first driving wheel and a first driven wheel; the mobile synchronous belt is sleeved on the first driving wheel and the first driven wheel, and the first driving wheel is fixedly connected with the mobile driving motor; one end of a movable connecting piece is fixedly connected with a movable synchronous belt, the other end of the movable connecting piece is fixedly connected with a left clamping support, a clamping driving motor is fixedly connected with the left clamping support, the clamping synchronous belt is connected with a gear set and the clamping driving motor, gears of the gear set are respectively sleeved on corresponding clamping screw rod pairs, the left end and the right end of each clamping screw rod pair are respectively fixedly connected with a left clamping support and a right clamping support, and the right clamping support is fixedly connected with a right sliding block; the left sliding block is arranged on the left movable sliding rail, the left sliding block is fixedly connected with the movable connecting piece, the right sliding block is arranged on the right movable sliding rail, and the left clamping finger and the right clamping finger are sleeved on the clamping screw rod pair in parallel.

Preferably, the chain type transmission mechanism comprises a support column, a support plate, a motor fixing frame, a driving motor, a driving shaft, a second driving wheel, a first transmission belt, a second transmission belt, a driven shaft and a second driven wheel; one end of the supporting column is fixedly connected with the supporting plate, and the other end of the supporting column is fixedly connected with the bracket; motor mount one end and backup pad fixed connection, the other end and driving motor fixed connection, driving motor's axle and driving shaft fixed connection, driving shaft and two at least second action wheel fixed connection, driven shaft and two at least follow driving wheel fixed connection, the driven shaft passes through the bearing with two backup pads respectively and is connected, the driving shaft passes through the bearing with two backup pads respectively and is connected, first conveyer belt cup joints on second action wheel and at least one second follow driving wheel, the second conveyer belt cup joints on first conveyer belt, the width of second conveyer belt is less than the width of first conveyer belt, a chain formula transport mechanism includes two first conveyer belts and two second conveyer belts.

Preferably, one chain type transmission mechanism at least comprises four support columns, two support plates and a driven shaft, and one support plate is fixedly connected with at least two support columns.

Preferably, the interceptor comprises two side baffles, a front baffle, a rotating shaft, a power rod and a power rope; the lower ends of the two side baffles are respectively fixedly connected with the two supporting plates, the front end of the front baffle is fixedly connected with the power rod, the rear end of the front baffle is connected with the rotating shaft, and one end of the power rod is fixedly connected with the power rope.

Preferably, the press wheel comprises two rotating fulcrums, two connecting rods, a rotating shaft, a press wheel and two tension springs; the rotating fulcrum is fixed on one side of the supporting plate; one end of the connecting rod is connected with the rotating fulcrum, and the other end of the connecting rod is connected with the shaft; the axis of rotation runs through in the pinch roller setting, and tension spring one end and backup pad fixed connection, the other end and connecting rod fixed connection.

The invention has the beneficial effects that: the invention provides an arm chain hybrid type conveying mechanism for a radish harvesting robot, which separates radish pulling and conveying into two independent mechanisms, realizes the modular design of a harvesting device, and is beneficial to maintenance, replacement and upgrading. On the other hand, be favorable to strengthening the design to the different functional requirement of two mechanisms: the pulling mechanism can realize discrete pulling, and simultaneously strengthen the pulling force and flexibility; the flexible design of discrete receiving and continuous transmission can be realized for the transmission mechanism.

The invention divides the transmission mechanism into an arm type transmission section and a chain type transmission section. The arm type conveying section realizes seamless connection between discrete pulling of the pulling mechanism and chain type continuous conveying of the conveying mechanism by the arm type conveying mechanism.

The conveying part of the existing harvester clamps radish leaves by a chain type conveying mechanism to convey the radish backwards, the radish is suspended in the air in the conveying process, and if the machine body shakes, the radish is likely to collide with other parts to be injured. The arm type conveying mechanism for the arm and chain mixed type conveying mechanism receives the radishes from the pulling mechanism and places the radishes on the chain type conveying mechanism in a parallel state, so that the problem that the radishes are damaged by collision can be effectively avoided. On the other hand, the conveying mode enables the space required by the radishes in the conveying process to be reduced, the height of the conveying mechanism can be greatly reduced, and therefore the center of gravity of the whole machine is reduced.

The press wheel is added on the chain type conveying mechanism, so that the friction force between the radishes and the chain type conveying mechanism is increased, and the smoothness and the reliability of the radishes are guaranteed.

Drawings

FIG. 1 is a schematic view of a radish harvesting robot mounting structure according to the present invention;

FIG. 2 is a schematic structural diagram of a transfer mechanism of the present invention;

FIG. 3 is a schematic view of the arm-type transport mechanism of the present invention;

FIG. 4 is a schematic structural diagram of the chain type conveying mechanism 1 of the present invention;

FIG. 5 is a schematic structural diagram of the chain type conveying mechanism of the present invention shown in FIG. 2;

FIG. 6 is a schematic structural diagram of an interceptor of the present invention;

figure 7 is a schematic view of the press wheel portion of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

the harvesting robot 1, the pulling mechanism 20, the conveying mechanism 30, the support 31, the arm-type conveying mechanism 32, the chain-type conveying mechanism 33, the interceptor 34, the press wheel 35, the clamping synchronous belt 323, the clamping driving motor 324, the moving connecting piece 325, the moving synchronous belt 326, the moving driving motor 327, the support column 330, the support plate 331, the motor fixing frame 332, the driving motor 333, the driving shaft 334, the second driving wheel 335, the first conveying belt 336, the second conveying belt 337, the driven shaft 338, the side baffle 341, the front baffle 342, the rotating shaft 343, the power rod 344, the power rope 345, the rotating fulcrum 350, the connecting rod 351, the rotating shaft 352, the press wheel 353, the tension spring 354, the left slider 3203, the left moving slide track 3201, the right moving slide track 3202, the right slider 3204, the left clamping finger 3211, the right clamping finger 3212, the left clamping support 3221, the right clamping support 3222, 3223, and the screw.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1 to 7, the present embodiment discloses an arm chain hybrid transfer mechanism for a radish harvesting robot, which includes:

a bracket 31, the bracket 31 being a main frame of the conveying mechanism 30 for providing mounting and fixing of various components of the conveying mechanism 30;

the arm type conveying mechanism 32 is fixed on the bracket 31, is positioned at the upper part of the front end of the bracket 31, and is used for clamping radish leaves by moving the arm type conveying mechanism 32, moving the radish leaves to the position above the rear end of the interceptor 34, and further loosening the radish leaves to finish the discrete conveying process of the radish;

the chain type conveying mechanism 33 is positioned at the lower part of the rear end of the bracket 31 and at the lower part of the arm type conveying mechanism 32, and is used for carrying out parallel conveying on the radishes which are subjected to the discrete conveying process through the chain type conveying mechanism 33;

the interceptor 34 is positioned at the lower part of the front end of the bracket 31 and at the upper part of the front end of the arm type conveying mechanism 32, and is used for blocking the radishes from sliding out of the chain type conveying mechanism 33 forwards;

press wheel 35, press wheel 35 is located chain formula transport mechanism 33 top, and swing joint is on chain formula transport mechanism 33 for the turnip compaction that will be located on chain formula transport mechanism 33 prevents that the turnip from skidding in the data send process.

Preferably, the arm-type conveying mechanism 32 includes a left moving slide track 3201, a right moving slide track 3202, a left slider 3203, a right slider 3204, a left clamping finger 3211, a right clamping finger 3212, a left clamping bracket 3221, a right clamping bracket 3222, a gear set 3223, a clamping screw pair 3224, a clamping timing belt 323, a clamping driving motor 324, a moving connecting member 325, a moving timing belt 326, a moving driving motor 327, a first driving wheel and a first driven wheel; the mobile synchronous belt 326 is sleeved on the first driving wheel and the first driven wheel, and the first driving wheel is fixedly connected with the mobile driving motor 327; one end of the movable connecting piece 325 is fixedly connected with a movable synchronous belt 326, the other end of the movable connecting piece is fixedly connected with a left clamping support 3221, a clamping driving motor 324 is fixedly connected with the left clamping support 3221, the clamping synchronous belt 323 is connected with a gear group 3223 and the clamping driving motor 324, gears of the gear group 3223 are respectively sleeved on a corresponding clamping screw rod pair 3224, the left end and the right end of the clamping screw rod pair 3224 are respectively and fixedly connected with the left clamping support 3221 and the right clamping support 3222, and the right clamping support 3222 is fixedly connected with a right sliding block 3204; the left sliding block 3203 is arranged on a left moving sliding rail 3201, the left sliding block 3203 is fixedly connected with the moving connecting piece 325, the right sliding block 3204 is arranged on a right moving sliding rail 3202, and the left clamping finger 3211 and the right clamping finger 3212 are sleeved on a clamping screw rod pair 3224 in parallel.

Preferably, the chain type transmission mechanism 33 includes a support column 330, a support plate 331, a motor fixing frame 332, a driving motor 333, a driving shaft 334, a second driving wheel 335, a first transmission belt 336, a second transmission belt 337, a driven shaft 338 and a second driven wheel; one end of the supporting column 330 is fixedly connected with the supporting plate 331, and the other end is fixedly connected with the bracket 31; one end of the motor fixing frame 332 is fixedly connected with the supporting plates 331, the other end of the motor fixing frame is fixedly connected with the driving motor 333, a shaft of the driving motor 333 is fixedly connected with the driving shaft 334, the driving shaft 334 is fixedly connected with at least two second driving wheels 335, the driven shaft 338 is fixedly connected with at least two driven wheels, the driven shaft 338 is respectively connected with the two supporting plates 331 through bearings, the driving shaft 334 is respectively connected with the two supporting plates 331 through bearings, the first conveying belt 336 is sleeved on the second driving wheels 335 and at least one second driven wheel, the second conveying belt 337 is sleeved on the first conveying belt 336, the width of the second conveying belt 337 is smaller than that of the first conveying belt 336, and the chain type conveying mechanism 33 comprises two first conveying belts 336 and two second conveying belts 337.

Preferably, a chain conveyor 33 includes at least four support columns 330, two support plates 331 and a driven shaft 338, and one support plate 331 is fixedly connected to at least two support columns 330.

Preferably, the interceptor 34 comprises two side guards 341, a front guard 342, a rotating shaft 343, a power rod 344, and a power cord 345; the lower ends of the two side baffles 341 are respectively fixedly connected with the two support plates 331, the front ends of the front baffles 342 are fixedly connected with the power rods 344, the rear ends of the front baffles 342 are connected with the rotating shaft 343, and one end of the power rods 344 is fixedly connected with the power rope 345.

Preferably, the press wheel 35 includes two rotation pivots 350, two connecting rods 351, a rotation shaft 352, a press wheel 353, and two tension springs 354; the rotation fulcrum 350 is fixed to one side of the support plate 331; one end of the connecting rod 351 is connected with the rotating fulcrum 350, and the other end is connected with the shaft; the rotation shaft 352 penetrates the pressing wheel 353, and one end of the tension spring 354 is fixedly connected with the support plate 331, and the other end is fixedly connected with the connecting rod 351.

The working principle and process of the embodiment are as follows:

as shown in fig. 1, the transfer mechanism 30 is located at the rear of the harvesting robot 1, and the front end is connected to the drawer mechanism 20.

When the picking mechanism 20 picks up the radishes from the ground and lifts the radishes to a certain height, the arm type conveying mechanism 32 moves forward to clamp the radish leaves, then moves backward to the rear upper part of the interceptor 34 to loosen the radishes, the radishes naturally fall on the upper surface of the front part of the chain type conveying mechanism 33, and the radishes and the chain type conveying mechanism 33 keep a parallel state and lie on the upper surface of the chain type conveying mechanism 33. Finally, the radishes are conveyed backward by the chain conveyor 33 and output.

The whole transmission process is divided into two stages: the front stage is an arm type discrete transmission process, and the rear stage is a chain type continuous transmission process.

Arm type transfer process: when the radish is lifted to a proper height, the rotation of the moving timing belt 326 is driven by the rotation of the moving driving motor 327, so that the left slider 3203 is driven to move forward, and the moving connecting member 325 is driven to move forward. Then, the left clamping bracket 3221 moves forward along with the moving connecting element 325, and the left clamping finger 3211 and the right clamping finger 3212, and the right clamping bracket 3222 and the right slider 3204 are caused to move forward through the force transmission of the screw rod pair 3224; after the left and right clamping fingers 3211 and 3212 move forward to the correct position, the clamping driving motor 324 rotates, and the driving gear set 3223 of the clamping timing belt 323 rotates, thereby driving the screw rod pair 3224 to rotate. The positive and negative rotation of the corresponding screw rod of the screw rod pair 3224 causes the left clamping finger 3211 and the right clamping finger 3212 to simultaneously move towards the middle along with the corresponding screw rod nut of the screw rod pair 3224, thereby clamping the radish leaves; then, the rotation of the shift timing belt 326 is driven by the rotation of the shift driving motor 327, thereby driving the left slider 3203 to move backward, and further driving the shift link 325 to move backward. Then, the left clamping bracket 3221 moves backwards along with the moving connecting piece 325, and the force transmission of the screw rod pair 3224 causes the left clamping finger 3211 and the right clamping finger 3212 to move rightwards, so that the radish is transmitted backwards; when the radishes are transferred to the rear upper side of the interceptor 34, the clamping driving motor 324 rotates, and the screw pair 3224 is rotated by the rotation of the driving gear set 3223 clamping the timing belt 323. Through the positive and negative rotation of the corresponding screw rod of the screw rod pair 3224, the left clamping finger 3211 and the right clamping finger 3212 are driven to simultaneously move to the two ends of the screw rod along with the corresponding screw rod nut of the screw rod pair 3224, so that the radishes are loosened.

And (3) a chain conveying process: after the arm-type conveyor 32 releases the radishes, the radishes naturally fall onto the upper surfaces of the front ends of the first conveyor belt 336 and the second conveyor belt 337 of the chain conveyor 33, and obliquely lie on and parallel to the chain conveyor 33. When the radish is held by the arm-type conveying mechanism 32 to move backwards, the power rope 345 is pulled by the arm-type conveying mechanism 32 to move backwards, so that the front baffle 342 of the interceptor 34 is lifted upwards through the force transmission of the power rod 344, and the radish is blocked from sliding forwards out of the chain-type conveying mechanism 33 together with the side baffle 341. The rotation of the driving wheel is driven by the rotation of the driving motor 333, so that the first and second conveyor belts 336 and 337 are driven to rotate to the right, and thus the radishes are driven to move backward. When the radish moves backward to the below of press wheel 35, through the elastic tension of tension spring 354 for connecting rod 351 is rotatory downwards around rotation fulcrum 350, simultaneously, drives axis of rotation 352 and moves down, thereby pulls down press wheel 35, and then, with the radish compaction on the surface of first conveyer belt 336 and second conveyer belt 337, prevents that the radish skids in data send process.

It should be noted that the transmission mode used by the forward and backward movement mechanism of the arm-type conveying mechanism of the present invention may be synchronous belt transmission or chain transmission.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.