Movable picking and threshing device special for highland barley

Abstract

The invention discloses a movable picking and threshing device special for highland barley. The movable picking and threshing device comprises a movable machine base, and a picking device, a conveying mechanism and a threshing mechanism are installed on the movable machine base; the picking device is provided with a grabbing paw, a mechanical arm and a connecting frame connected between the grabbing paw and the mechanical arm. The pickup device further comprises a bracket and a guide rod. The bracket can rotate relative to the connecting frame, and a relative rotating shaft of the bracket and the connecting frame is parallel to the extending direction of the guide rod; the bracket can slide along the guide rod; a first motor used for changing the posture of the grabbing paw around the Z axis is installed on the connecting frame, and a camera is further installed on the connecting frame. According to the hullessbarley picking and threshing device, the grabbing paws are matched with the guide rods capable of horizontally moving and sliding, and picking and threshing operation can be conducted on bundled hullessbarley.

Description

Technical Field

[0001] The invention relates to the technical field of highland barley harvesting and threshing, in particular to a mobile picking and threshing device special for highland barley. Background Art

[0002] Highland barley is a crop of the genus Hordeum in the Poaceae family. It is widely grown in high-altitude areas. It has strong adaptability, is cold-resistant and drought-resistant, and can grow on plateaus above 3,000 meters above sea level, becoming one of the main foods in the area.

[0003] During the barley harvesting process, the harvesting and baling process is generally performed using the machine shown in patent CN117204202A. The baled barley is placed in the field and, after drying, is picked up and threshed. In the prior art, crops are generally picked up using a picker shown in patent CN215223222U. However, this picker can only pick up scattered crops and cannot pick up bundled barley crops. Therefore, it is necessary to design a new picking and threshing device for this scenario to meet the needs of picking up and threshing barley bales. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a mobile picking and threshing device for highland barley that can pick up and thresh bundles of highland barley.

[0005] Technical solution: To achieve the above-mentioned purpose, the present invention provides a mobile picking and threshing device for highland barley, which includes a mobile base on which a picker, a conveying mechanism, and a threshing mechanism are installed; the picker has a grabbing claw, a mechanical arm, and a connecting frame connected between the grabbing claw and the mechanical arm;

[0006] The picker also includes a bracket and a guide rod. The bracket is rotatable relative to the connecting frame, with their relative rotation axis parallel to the extension direction of the guide rod. The bracket is slidable along the guide rod. A first motor for changing the posture of the grabbing claw about the Z axis is mounted on the connecting frame. A camera is also mounted on the connecting frame. The first motor is connected to the grabbing claw via an elastic torsion mechanism.

[0007] Furthermore, the picker also includes a sliding seat capable of sliding along the guide rod; the rotary frame is rotatably installed relative to the sliding seat, and a linear motion actuator is connected between the two; and a push-pull actuator unit that drives the sliding seat to move is also installed on the connecting frame.

[0008] Furthermore, the number of the rotating frames and the sliding seats is two, and the number of the push-pull actuators is also two; the grabbing claw is located in the middle of the connecting frame. In the initial state, the two rotating frames are gathered in the middle of the connecting frame and are respectively placed on the left and right sides of the grabbing claw.

[0009] Furthermore, the rotary frame is in an arc shape, or a curved shape composed of multiple straight rods.

[0010] The slewing frame can switch between the raised position and the working position. In the initial state, the slewing frame is in the raised state, which will not interfere with the grasping claw grasping the barley bale, and the grasping claw is in the upright position; the control system determines the position and posture of the barley bale based on the photos obtained by the camera, and then, based on the position and posture information, controls the first motor to adjust the posture of the grasping claw, and controls the operation of the mechanical arm to make the grasping claw reach the grasping position; then, controls the grasping claw to close and grasp the middle of the barley bale, and controls the operation of the mechanical arm to completely lift the barley bale off the ground and return the grasping claw to the upright position; then, controls the linear movement The actuator is activated to extend the rotary frame under the barley bale. Finally, the push-pull actuator is controlled to operate to move the sliding seat along the guide rod. In this way, the two rotary frames can be moved away from the grabbing claws in two directions to lift the two ends of the barley bale. In this process, the posture of the barley bale can be corrected at the same time. If the posture of the barley bale is twisted, due to the presence of the elastic torsion mechanism, the barley bale can cause the grabbing claws to produce a certain elastic torsion relative to the first motor. After the grabbing claws release the barley bale, the elastic torsion mechanism resets the grabbing claws.

[0011] After picking up the barley bale, the robotic arm operates to make the connecting frame reach the front side of the conveying mechanism, the picker releases the barley bale to the conveying mechanism, and the conveying mechanism transports the barley bale backward.

[0012] Furthermore, the conveying mechanism includes a first conveying assembly at the bottom and a second conveying assembly at the top, both of which are arranged in an inclined configuration with a lower front and a higher rear, and a conveying passage formed between them. Furthermore, the conveying mechanism also includes an inclined plate positioned at the front end of the first conveying assembly, the inclined plate being higher in the front and lower in the rear, with the front end of the second conveying assembly positioned behind the front end of the second conveying assembly, a gradually narrowing entry passage being formed between the front sides of the first conveying assembly and the front sides of the second conveying assembly, and equal-width passages being formed between the middle and rear sides of the first and second conveying assemblies.

[0013] Furthermore, the first conveyor assembly includes a first conveyor belt and vertical plates arranged equidistantly along the conveying route of the first conveyor assembly. A storage compartment for accommodating barley bales is formed between the vertical plates and the first and second conveyor assemblies to prevent the barley bales from shifting relative to the conveyor mechanism. The second conveyor assembly includes a second conveyor belt with belt rollers at each end. A transition roller is provided within the second conveyor belt at the transition point between the entry channel and the equal-width channel.

[0014] After the picker drops the barley bale onto the front end of the conveyor mechanism, it reaches the bottom of the V-shaped groove formed between the first conveyor assembly and the inclined plate. The first conveyor assembly then transports the bale upward, allowing it to enter the aforementioned entry channel and then into the equal-width channel between the first and second conveyor assemblies. The lower middle portion of the barley bale is sandwiched between the first and second conveyor assemblies, with the ear of barley exposed outside the conveyor mechanism.

[0015] Furthermore, the threshing mechanism is mounted to the side of the conveyor mechanism in the conveying direction and comprises two opposing threshing drums. The threshing drums have a plurality of bars arranged in a circular array, each of which has a plurality of threshing elements arranged in a dispersed manner. During operation, the two threshing drums rotate at equal speeds and in opposite directions, threshing the ears of barley bales. Pressure rollers are installed within the first and second conveyor belts, corresponding to the equal-width channels, to maintain the clamping effect on the barley rollers and prevent lateral displacement of the barley during threshing.

[0016] In addition, the threshing drum is installed with its axial direction tilted relative to the conveying direction of the conveying mechanism, so that the threshing drum can fully thresh the ears of the barley bale.

[0017] Beneficial effects: The mobile picking and threshing device for highland barley of the present invention has the following beneficial effects:

[0018] (1) The grabbing claws are used in conjunction with a guide rod that can slide horizontally to realize the operation of picking up and threshing bundles of highland barley.

[0019] (2) During the picking process, the position and posture of the barley bales are identified by vision, which effectively improves the intelligence of the machine and realizes the automatic identification and picking of barley bales with different postures, which can reduce the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a side view of the structure of a mobile picking and threshing device for highland barley;

[0021] Figure 2 This is a top view of the structure of a mobile picking and threshing device for highland barley;

[0022] Figure 3This is a three-dimensional structural diagram of a mobile picking and threshing device specifically for highland barley;

[0023] Figure 4 This is the first-person perspective structural diagram of the pickup part;

[0024] Figure 5 This is the second perspective structural diagram of the pickup part;

[0025] Figure 6 This is the structural diagram of the conveying mechanism.

[0026] In the figure: 1-mobile base; 2-pickup device; 21-grabbing claw; 22-mechanical arm; 23-bracket; 24-connecting frame; 25-guide rod; 26-sliding seat; 27-linear motion actuator; 28-first motor; 29-push-pull actuator unit; 210-camera; 211-elastic torsion mechanism; 3-conveyor mechanism; 31-first conveyor assembly; 31a-first conveyor belt; 31b-vertical plate; 32-second conveyor assembly; 32a-second conveyor belt; 32b-belt roller; 32c-transition roller; 33-inclined plate; 4-threshing mechanism; 41-threshing drum; 41a-rod; 41b-threshing element. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] like Figures 1 to 3 The mobile picking and threshing device for highland barley shown includes a mobile base 1 on which a picker 2, a conveying mechanism 3 and a threshing mechanism 4 are installed.

[0029] like Figure 4 and Figure 5 The picker 2 comprises a gripper 21, a robotic arm 22, and a connecting frame 24 connected between the gripper 21 and the robotic arm 22. The picker 2 also includes a bracket 23 and a guide rod 25. The bracket 23 is rotatable relative to the connecting frame 24, with their relative rotation axis parallel to the extension direction of the guide rod 25. The bracket 23 is slidable along the guide rod 25. A first motor 28 for changing the posture of the gripper 21 about the Z-axis is mounted on the connecting frame 24. A camera 210 is also mounted on the connecting frame 24. The first motor 28 is connected to the gripper 21 via an elastic torsion mechanism 211.

[0030] Preferably, the picker 2 also includes a sliding seat 26 that can slide along the guide rod 25; the rotating frame 23 is rotatably installed relative to the sliding seat 26, and a linear motion actuator 27 is connected between the two. In this embodiment, the linear motion actuator 27 is an oil cylinder; the connecting frame 24 is also equipped with a push-pull actuator 29 that drives the sliding seat 26 to move.

[0031] Preferably, there are two rotating frames 23 and two sliding seats 26, and two push-pull actuators 29. The grabbing claws 21 are located in the middle of the connecting frame 24. In the initial state, the two rotating frames 23 are gathered in the middle of the connecting frame 24 and are located on the left and right sides of the grabbing claws 21.

[0032] Preferably, the rotary frame 23 is in an arc shape, or a curved shape composed of multiple straight rods.

[0033] The rotary frame 23 can be in the lifting position and the working position (such as Figure 4 and Figure 5 In the initial state, the rotary frame 23 is in the raised state, which will not interfere with the grabbing claw 21 grabbing the barley bale, and the grabbing claw 21 is in the upright position; the control system determines the position and posture of the barley bale based on the photo obtained by the camera 210, and then, based on the information of the position and posture, controls the first motor 28 to adjust the posture of the grabbing claw 21, and controls the mechanical arm 22 to operate so that the grabbing claw 21 reaches the grabbing position; then, controls the grabbing claw 21 to close and grab the middle of the barley bale, and controls the mechanical arm 22 to operate to completely lift the barley bale off the ground and return the grabbing claw 21 to the upright position; thereafter, controls the linear motion execution The travel mechanism 27 allows the rotary frame 23 to extend under the barley bale. Finally, the push-pull execution unit 29 is controlled to operate so that the sliding seat 26 moves along the guide rod 25. In this way, the two rotary frames 23 can be moved away from the grabbing claws 21 in two directions to lift the two ends of the barley bale. In this process, the posture of the barley bale can be corrected at the same time. If the posture of the barley bale is twisted, due to the presence of the elastic twisting mechanism 211, the barley bale can cause the grabbing claw 21 to produce a certain elastic twist relative to the first motor 28. After the grabbing claw 21 releases the barley bale, the elastic twisting mechanism 211 resets the grabbing claw 21.

[0034] After picking up the barley, the grabbing claw 21 grabs the bundled position of the barley, which has the greatest degree of contraction and is easier to grab. In addition, since the bracket 23 is located close to the grabbing claw 21 in the initial state, the grabbing claw 21 can more easily reach under the barley bale and lift the drooping end of the barley bale along the guide rod 25. This completes the picking up of the barley bale and prevents part of the barley from being located under the bracket 23.

[0035] After picking up the barley bale, the mechanical arm 22 operates to make the connecting frame 24 reach the front side of the conveying mechanism 3, the picker 2 releases the barley bale to the conveying mechanism 3, and the conveying mechanism 3 conveys the barley bale backward.

[0036] In the present invention, the grabbing claw 21 is used in conjunction with the guide rod 25 that can slide horizontally, so as to realize the operation of picking up and threshing the bundled barley.

[0037] During the above-mentioned picking process, the position and posture of the barley bales are identified by vision, which effectively improves the intelligence of the machine, realizes the automatic identification and picking of barley bales with different postures, and reduces the difficulty of operation.

[0038] Preferably, if Figure 6 As shown, the conveying mechanism 3 includes a first conveying assembly 31 at the bottom and a second conveying assembly 32 at the top. Both the first conveying assembly 31 and the second conveying assembly 32 are arranged in an inclined configuration with a lower front and a higher rear. A conveying passage is formed between the two. In addition, the conveying mechanism 3 also includes an inclined plate 33 placed at the front end of the first conveying assembly 31. The inclined plate 33 is higher at the front and lower at the rear. The front end of the second conveying assembly 32 is located behind the front end of the second conveying assembly 32. A gradually narrowing entry passage is formed between the front side of the first conveying assembly 31 and the front side of the second conveying assembly 32. A passage of equal width is formed between the middle and rear sides of the first conveying assembly 31 and the second conveying assembly 32.

[0039] Preferably, the first conveyor assembly 31 includes a first conveyor belt 31a and vertical plates 31b arranged equidistantly along the conveying route of the first conveyor assembly 31. A storage compartment for accommodating barley bales is formed between the vertical plates 31b and the first conveyor assembly 31 and the second conveyor assembly 32 to prevent the barley bales from shifting relative to the conveyor mechanism 3. The second conveyor assembly 32 includes a second conveyor belt 32a, with belt rollers 32b at each end. A transition roller 32c is provided inside the second conveyor belt 32a at the transition position between the entrance channel and the equal-width channel.

[0040] After the picker 2 drops the barley bale onto the front end of the conveyor mechanism 3, it reaches the bottom of the V-shaped groove formed between the first conveyor assembly 31 and the inclined plate 33. The first conveyor assembly 31 then transports the bale upward, allowing it to enter the aforementioned entry channel and then into the equal-width channel between the first and second conveyor assemblies 31, 32. The middle and lower portion of the barley bale is sandwiched between the first and second conveyor assemblies 31, 32, with the ear of barley exposed outside the conveyor mechanism 3.

[0041] Preferably, the threshing mechanism 4 is installed on the side of the conveying direction of the conveying mechanism 3, and has two opposing threshing rollers 41; the threshing rollers 41 have a plurality of rods 41a arranged in a circumferential array, and the rods 41a have a plurality of threshing elements 41b arranged in a dispersed manner. During operation, the two threshing rollers 41 rotate in opposite directions at the same speed, and can thresh the ears of the barley bale. Pressure rollers that maintain pressure are provided inside the first conveyor belt 31a and the second conveyor belt 32a corresponding to the equal-width channels to maintain the clamping effect on the barley rollers and prevent the barley from shifting laterally during the threshing process.

[0042] In addition, the threshing drum 41 is installed with its axial direction tilted relative to the conveying direction of the conveying mechanism 3 , so that the threshing drum 41 can fully thresh the ears of the barley bale.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A mobile picking and threshing device for highland barley, comprising a mobile base (1), on which a picker (2), a conveying mechanism (3) and a threshing mechanism (4) are mounted; the picker (2) has a grabbing claw (21), a mechanical arm (22) and a connecting frame (24) connected between the grabbing claw (21) and the mechanical arm (22); characterized in that: The picker (2) also includes a bracket (23) and a guide rod (25); the bracket (23) can rotate relative to the connecting frame (24), and the relative rotation axis of the two is parallel to the extension direction of the guide rod (25); the bracket (23) can slide along the guide rod (25); the connecting frame (24) is equipped with a first motor (28) for changing the posture of the grabbing claw (21) around the Z axis, and the connecting frame (24) is also equipped with a camera (210).

2. The mobile picking and threshing device for highland barley according to claim 1 is characterized in that: The picker (2) also includes a sliding seat (26) capable of sliding along the guide rod (25); the rotating frame (23) is rotatably mounted relative to the sliding seat (26), and a linear motion actuator (27) is connected between the two; and a push-pull actuator unit (29) for driving the sliding seat (26) to move is also mounted on the connecting frame (24).

3. The mobile picking and threshing device for highland barley according to claim 2 is characterized in that: The number of the rotating frame (23) and the number of the sliding seat (26) are both two, and the number of the push-pull execution units (29) is also two; the grabbing claw (21) is located in the middle of the connecting frame (24).

4. The mobile picking and threshing device for highland barley according to claim 1 is characterized in that: The rotating frame (23) is in an arc shape, or a curved shape composed of multiple straight rods.

5. The mobile picking and threshing device for highland barley according to claim 1 is characterized in that: The conveying mechanism (3) comprises a first conveying assembly (31) at the bottom and a second conveying assembly (32) at the top. Both the first conveying assembly (31) and the second conveying assembly (32) are arranged in an inclined manner with the front lower and the rear higher, and a conveying channel is formed between the two.

6. The mobile picking and threshing device for highland barley according to claim 5 is characterized in that: The first conveying component (31) comprises a first conveying belt (31a) and vertical plates (31b) arranged at equal distances along a conveying route of the first conveying component (31).

7. The mobile picking and threshing device for highland barley according to claim 1 is characterized in that: The threshing mechanism (4) is installed on the side of the conveying direction of the conveying mechanism (3), and has two opposing threshing rollers (41); the threshing rollers (41) have a plurality of bars (41a) arranged in a circular array, and the bars (41a) have a plurality of threshing elements (41b) arranged in a dispersed manner.

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