Constant force clamping and conveying mechanism for leafy vegetables based on non-circular gear system and transmission ratio algorithm

Abstract

The present invention relates to a constant-force clamping and conveying mechanism for leafy vegetables based on a non-circular gear system and a transmission ratio algorithm. The clamping and conveying mechanism includes a frame and a plurality of constant-force clamping modules mounted on the frame. The constant-force clamping module includes a non-circular gear system, which includes a front non-circular gear rotatably connected to a mounting shell, and a rear non-circular gear. The front non-circular gear is transmission-connected to the rear non-circular gear via a plurality of intermediate non-circular gears. A floating connecting rod is fixed to the first rotating shaft, and a floating clamping wheel is mounted on the floating connecting rod. The wheel surface of the floating clamping wheel is pressed against the inner side surface of the clamping conveyor belt. The constant-force clamping module is the core component of the entire clamping and conveying mechanism. By designing the non-circular gear system, the constant-force clamping of the leafy vegetables is achieved. The driving module is used to drive the clamping belt to rotate. The present invention can avoid clamping damage during the mechanical harvesting process of leafy vegetables, realize flexible clamping and conveying of leafy vegetables under different feed amounts, and complete low-damage and orderly harvesting of leafy vegetables.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, in particular to the clamping and conveying of leafy vegetables, and specifically to a leafy vegetable constant-force clamping and conveying mechanism based on a non-circular gear system and a transmission ratio calculation method. Background Art

[0002] Leafy vegetables like spinach and rapeseed account for a significant portion of vegetable cultivation. Currently, harvesting these leafy vegetables is primarily a time-consuming and labor-intensive process in agricultural production. This is particularly true with the increasing aging of the rural population and the resulting labor shortage, which has led to a sharp increase in the cost of harvesting leafy vegetables. Harvesting has become a significant constraint on the development of the leafy vegetable industry. Compared to mechanized operations like sowing and fertilizing, harvesting leafy vegetables has become a weak link in mechanization. Therefore, there is an urgent need to replace humans with machines and implement mechanical harvesting of leafy vegetables.

[0003] Currently, some leafy vegetable harvesting equipment has emerged that can replace manual labor to pull leafy vegetables out of the soil, greatly reducing labor intensity and improving harvesting efficiency. However, for leafy vegetables, in order to facilitate bundling and packaging after harvest, the leafy vegetables need to be transported a distance after being pulled out of the soil to achieve orderly harvesting. Since the stems of leafy vegetables are tender and juicy, they are easily damaged by clamping during the orderly harvesting and transportation process. As a result, existing leafy vegetable transport equipment causes significant damage to the leafy vegetables.

[0004] In view of the problem that leafy vegetables are easily damaged during the orderly harvesting process, it is urgent to invent a constant-force clamping and conveying mechanism for leafy vegetables so that the force applied during the harvesting process is less than the damaging force of the leafy vegetables, thereby achieving orderly and low-damage harvesting of leafy vegetables. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a constant-force clamping and conveying mechanism for leafy vegetables based on a non-circular gear system and a transmission ratio algorithm, which provides a transmission ratio function for the design of the non-circular gear system. The constant-force clamping and conveying mechanism realizes flexible and orderly clamping and conveying of leafy vegetables such as spinach, effectively reducing damage to the leafy vegetables during the conveying process.

[0006] The present invention is achieved through the following technical solutions, which provide a leafy vegetable constant-force clamping and conveying mechanism based on a non-circular gear system, comprising a frame, two clamping conveyor belts rotatably mounted on the frame, and a driving device for driving the clamping conveyor belts to rotate, wherein a clamping and conveying channel is formed between the adjacent sides of the two clamping conveyor belts, and the inner sides of the two clamping conveyor belts are respectively provided with a plurality of constant-force clamping modules mounted on the frame; the constant-force clamping module comprises a mounting shell fixedly connected to the frame, and a non-circular gear system arranged on the mounting shell, the non-circular gear system comprising a front non-circular gear rotatably connected to the mounting shell via a first rotating shaft, and a rear non-circular gear rotatably connected to the mounting shell via a second rotating shaft, the front non-circular gear being transmission-connected to the rear non-circular gear via a plurality of intermediate non-circular gears;

[0007] A floating connecting rod extending toward the side where the clamping conveying channel is located is fixedly connected to the first rotating shaft, and a floating clamping wheel is installed on the floating connecting rod. The wheel surface of the floating clamping wheel is pressed against the inner side surface of the clamping conveyor belt; the second rotating shaft is connected to the mounting shell through a torsion spring.

[0008] The leafy vegetable constant force clamping and conveying mechanism of this scheme clamps the leafy vegetables by two clamping conveyor belts. The clamping conveyor belts rotate under the drive of the driving device to convey the leafy vegetables through the clamping and conveying channel. The transmission connection between the front non-circular gear and the rear non-circular gear is realized by the intermediate non-circular gear. By setting a torsion spring, the second rotating shaft can rotate after receiving the torque transmitted by the intermediate non-circular gear. When the number of leafy vegetables in the clamping and conveying channel is large, the floating clamping wheel is displaced, and the first rotating shaft is driven to rotate by the floating connecting rod, and then the rear non-circular gear and the second rotating shaft are driven to rotate by the intermediate non-circular gear, thereby utilizing the variability characteristics of the torsion spring to realize flexible clamping and conveying.

[0009] As an optimization, the mounting housing is rotatably connected to an intermediate rotating shaft located between the first and second rotating shafts. Fixedly mounted on this intermediate rotating shaft are intermediate noncircular gears I, which mesh with the front noncircular gear, and II, which mesh with the rear noncircular gear. This optimization solution utilizes a set of intermediate noncircular gears to transmit torque, resulting in a simple structure and a variable-ratio noncircular gear system.

[0010] As an optimization, a preload adjustment screw is threadedly connected to the mounting housing. The axis of the preload adjustment screw is perpendicular to the axis of the torsion spring. One arm of the torsion spring is fixedly mounted on the second rotating shaft, while the other arm of the torsion spring contacts the end face of the preload adjustment screw. This optimization solution, by providing the preload adjustment screw, allows the preload force of the torsion spring to be adjusted by rotating the preload adjustment screw.

[0011] As an optimization, the mounting housing comprises an upper housing and a lower housing. The upper housing comprises an upper top plate and two upper side plates extending downward from the ends of the upper top plate. The lower housing comprises a lower bottom plate and two lower side plates extending upward from the ends of the lower bottom plate. The two upper side plates are removably fixed to the two lower side plates. The ends of the first rotating shaft and the ends of the second rotating shaft are rotatably connected to the upper top plate and the lower bottom plate, respectively, via bearings. This optimized mounting housing, formed by the opposing arrangement of the upper and lower housings, has a simple structure and is easily disassembled while avoiding interference with the rotation of the floating connecting rod.

[0012] This solution also provides a transmission ratio algorithm for the non-circular gear system of the above-mentioned leafy vegetable constant-force clamping and conveying mechanism: according to the relationship between the dead weight and clamping force of leafy vegetables with different feed amounts, the minimum clamping force required for stable clamping of leafy vegetables is obtained; during the harvesting process, when clamping leafy vegetables with different feed amounts, under the action of the minimum clamping force, due to the relationship between the action force and the reaction force, the floating clamping wheel drives the floating connecting rod to rotate a certain angle, generating an action torque; through the non-circular gear system, the torsion spring is driven to rotate and generate a corresponding angle, thereby generating a corresponding torque; according to the torque balance and the basic principle of gear transmission, it is determined that there is a functional relationship between the gear angles in the non-circular gear system, and the transmission ratio function of the non-circular gear system that meets the constant-force clamping is obtained, so that the non-circular gear system can be designed based on the transmission ratio function.

[0013] The minimum clamping force required to clamp and transport leafy vegetables satisfies the following relationship:

[0014]

[0015] Where m is the mass of a single leafy vegetable, n is the amount of leafy vegetables fed, i.e., the number of leafy vegetables clamped, μ is the friction coefficient between the clamping belt and the leafy vegetables, ζ is the safety factor, and the ζ value reflects the relationship between the friction force and the weight of the clamped leafy vegetables. The larger the value, the greater the clamping force, and the more likely the leafy vegetables are to be damaged. The value range of ζ is [1.2, 2]. n is the minimum clamping force required under different feeding amounts, where the subscript n represents the feeding amount of the leafy vegetables to be clamped, and F is the minimum clamping force;

[0016] The torsion spring generates the corresponding torque:

[0017] M θ =kθ+M0

[0018] Where k is the rotational stiffness of the torsion spring, θ is the torsion angle of the torsion spring, and M0 is the preload torque of the torsion spring;

[0019] The floating clamping wheel drives the floating connecting rod to rotate, generating a torque of:

[0020]

[0021] Where F is the minimum clamping force, L is the length of the floating link, is the initial attitude angle of the floating link, is the floating link rotation angle;

[0022] According to the torque balance and force transmission characteristics of the gear, the torque M θ and torque There is a transmission relationship:

[0023]

[0024] in, In a non-circular gear system determined according to the basic principle of gear transmission, the torsion angle θ of the torsion spring and the rotation angle of the floating link are The first derivative of the functional relationship between , i is the transmission ratio of the non-circular gear system;

[0025] We get the differential equation:

[0026]

[0027] Solve the differential equation to obtain the transmission ratio function of the non-circular gear system that satisfies constant force clamping:

[0028]

[0029] The beneficial effects of the present invention are:

[0030] (1) The floating clamping wheel, floating connecting rod and non-circular gear system are provided to transmit the force exerted on the leafy vegetables on the clamping conveyor belt to the torsion spring. Thus, when there are a large number of leafy vegetables in the clamping conveying channel, the clamping conveyor belt can push the floating clamping wheel to rotate the floating connecting rod to a certain angle, thereby realizing flexible clamping and conveying, thus avoiding damage to the leafy vegetables. In addition, the clamping and conveying mechanism of the present invention has a simple overall structure and strong versatility, and can realize flexible clamping and conveying of a variety of leafy vegetables.

[0031] (2) The constant force clamping and conveying structure design based on the non-circular gear system avoids the high cost and low reliability brought by the traditional control method. The mechanism and the vegetables can achieve low-damage interaction, realizing low-damage clamping and conveying of leafy vegetables under different feed amounts. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of the leaf vegetable constant force clamping and conveying mechanism based on the non-circular gear system of the present invention;

[0033] Figure 2 This is a structural diagram of the constant force clamping module in the present invention;

[0034] Figure 3This is a graph showing the relationship between the rotation angle and transmission ratio of the non-circular gear system under a clamping force of 4N in the present invention;

[0035] Figure 4 Schematic diagram of the non-circular gear system structure under a clamping force of 4N in the present invention;

[0036] As shown in the figure:

[0037] 1. Support wheel, 2. Frame, 3. Clamping conveyor belt, 41. Driving device, 42. Driving wheel, 5. Constant force clamping module, 6. Tensioning pulley, 52. First rotating shaft, 56. Bearing, 511. Lower shell, 512. Fastener, 513. Upper shell, 531. Front non-circular gear, 532. Intermediate non-circular gear I, 533. Intermediate non-circular gear II, 534. Rear non-circular gear, 541. Torsion spring, 542. Preload adjustment screw, 551. Floating clamping wheel, 552. Floating connecting rod. DETAILED DESCRIPTION

[0038] In order to clearly illustrate the technical features of this solution, the solution is described below through specific implementation methods in conjunction with the accompanying drawings.

[0039] like Figure 1 The illustrated embodiment shows a constant force clamping conveying mechanism for leafy vegetables based on a non-circular gear system, comprising a frame 2, two clamping conveyor belts 3 rotatably mounted on the frame, and a drive device 41 for driving the clamping conveyor belts to rotate. A clamping conveying channel is formed between the adjacent sides of the two clamping conveyor belts. The frame is also rotatably provided with a support wheel 1 and a drive wheel 42 respectively adapted for each clamping conveyor belt. The clamping conveyor belt 3 is wound around the support wheel 1 and the drive wheel 42, and the axes of the support wheel and the drive wheel are both arranged vertically. The two drive wheels are respectively connected to the drive device 41. The drive device 41 of this embodiment is a drive motor, which provides rotational power to the drive wheel through the drive motor. When the drive wheel rotates, it drives the clamping conveyor belt to rotate.

[0040] The inner sides of the two clamping conveyor belts are respectively provided with a plurality of constant force clamping modules 5 mounted on the frame, and each constant force clamping module is arranged in sequence along the direction of leafy vegetable conveying. Specifically, the constant force clamping module 5 includes a mounting shell fixed to the frame, and a non-circular gear system provided on the mounting shell, the non-circular gear system includes a front non-circular gear 531 rotatably connected to the mounting shell via a first rotating shaft 52, and a rear non-circular gear 534 rotatably connected to the mounting shell via a second rotating shaft, the front non-circular gear is connected to the rear non-circular gear through a plurality of intermediate non-circular gears rotatably mounted on the mounting shell; the first rotating shaft and the second rotating shaft are respectively rotatably connected to the mounting shell via bearings, the axes of the first rotating shaft and the second rotating shaft both extend vertically and are parallel to each other, the front non-circular gear is fixed to the first rotating shaft, and the rear non-circular gear is fixed to the second rotating shaft.

[0041] A floating link 552 is fixedly connected to the first rotating shaft 52, extending toward the clamping conveyor channel. A floating clamping wheel 551 is mounted on the floating link 552. In this embodiment, the floating clamping wheel 551 is mounted at the movable end of the floating link 552. The supporting end of the floating link 552 is fixed to the first rotating shaft 52 and is coaxial with the front non-circular gear 531 of the non-circular gear system. The curved wheel surface of the floating clamping wheel abuts against the inner surface of the clamping conveyor belt, forming a tangent relationship with the inner surface of the clamping conveyor belt. The axis of the floating clamping wheel is parallel to the axis of the first rotating shaft. The floating clamping wheel is rotatably mounted on an axle, which is fixedly connected to the floating link to reduce wear on the clamping conveyor belt caused by the floating clamping wheel.

[0042] The second rotating shaft is connected to the mounting shell through a torsion spring 541. When the amount of leafy vegetables in the clamping and conveying channel is large, the second rotating shaft rotates forward along with the non-circular gear at the rear end, and the torsion spring is deformed under pressure. When the amount of leafy vegetables in the clamping and conveying channel is small, the elastic force of the torsion spring causes the second rotating shaft to rotate in the opposite direction, so that the floating clamping wheel maintains pressure on the clamping conveyor belt to ensure reliable clamping of the leafy vegetables.

[0043] A preload adjustment screw 542 is threadedly connected to the mounting housing. The axis of the preload adjustment screw is perpendicular to the axis of the torsion spring. One arm of the torsion spring is fixedly mounted on the second rotational axis, while the other arm of the torsion spring abuts the end face of the preload adjustment screw. In this embodiment, the preload adjustment screw is mounted on the side wall of the mounting housing. By rotating the preload adjustment screw, the preload adjustment screw moves toward or away from the torsion spring, thereby adjusting the preload force of the preload adjustment screw.

[0044] The mounting housing is rotatably connected to an intermediate rotating shaft located between the first and second rotating shafts. Fixedly mounted on the intermediate rotating shaft are intermediate noncircular gears I 532, which meshes with the front noncircular gear 531, and II 533, which meshes with the rear noncircular gear 534. The noncircular gear system can also be composed of multiple pairs of meshing noncircular gears. These pairs are fixedly mounted on the rotating shafts. The noncircular gears on adjacent rotating shafts mesh sequentially, and the coaxial noncircular gears rotate synchronously, forming a variable transmission ratio noncircular gear system.

[0045] The mounting shell includes an upper shell 513 and a lower shell 511. The upper shell 513 and the lower shell 511 are both U-shaped and arranged relative to each other to support the other components of the constant force clamping module. The upper shell 513 is fixed to the frame 2 by bolts. Specifically, the upper shell 513 includes an upper top plate and two upper side plates extending downward from the ends of the upper top plate. The lower shell 511 includes a lower bottom plate and two lower side plates extending upward from the ends of the lower bottom plate. The two upper side plates are detachably fixed to the two lower side plates by fasteners 512. The fasteners in this embodiment are connecting bolts. The two ends of the first rotating shaft and the two ends of the second rotating shaft are rotatably connected to the upper top plate and the lower bottom plate respectively by bearings 56.

[0046] The frame is also equipped with a tensioning wheel 6 adapted to the clamping conveyor belt, and the tensioning wheel 6 is rotatably mounted on the tensioning shaft. The frame is fixed with an upper fixed seat located above the tensioning wheel 6 and a lower fixed seat located below the tensioning wheel 6. The tensioning shaft passes through the upper fixed seat upward and passes through the lower fixed seat downward. The upper fixed seat and the lower fixed seat are respectively provided with long slots for the tensioning shaft to move along the tensioning direction. The part of the tensioning shaft that passes through the upper fixed seat upward and the part that passes through the lower fixed seat downward are both threadedly connected with fastening nuts. Tighten the fastening nuts to fix the tensioning shaft. After loosening the fastening nuts, adjust the position of the tensioning shaft along the long slot to adjust the tensioning force of the clamping conveyor belt.

[0047] Spinach, as a typical representative of leafy vegetables, is selected as the specific target of this embodiment. This embodiment is based on the non-circular gear system transmission ratio algorithm of the leafy vegetable constant force clamping and conveying mechanism of the non-circular gear system:

[0048] The minimum clamping force required for stable spinach clamping was determined based on the relationship between the deadweight and clamping force of spinach at different feed rates. During the harvesting process, when clamping spinach at different feed rates, under the action of the minimum clamping force, the floating clamping wheel drives the floating connecting rod to rotate a certain angle due to the relationship between the action force and the reaction force, generating an action torque. Through the non-circular gear system, the torsion spring is driven to rotate and generate a corresponding angle, thereby generating a corresponding torque. Based on the basic principles of torque balance and gear transmission, a functional relationship between the gear angles in the non-circular gear system was determined, and the transmission ratio function of the non-circular gear system that meets the constant force clamping requirement was derived. The non-circular gear system was designed based on the transmission ratio function.

[0049] The minimum clamping force required to clamp and transport spinach satisfies the following relationship:

[0050]

[0051] Where m is the mass of a single leafy vegetable, n is the amount of leafy vegetables fed, i.e., the number of leafy vegetables clamped, μ is the friction coefficient between the clamping belt and the leafy vegetables, ζ is the safety factor, and the ζ value reflects the relationship between the friction force and the weight of the clamped leafy vegetables. The larger the value, the greater the clamping force, and the more likely the leafy vegetables are to be damaged. The value range of ζ is [1.2, 2]. n is the minimum clamping force required under different feeding amounts, where the subscript n represents the feeding amount of the leafy vegetables, and F is the minimum clamping force. The minimum clamping force required to clamp spinach is 4N.

[0052] The torsion spring generates the corresponding torque:

[0053] M θ =kθ+M0

[0054] Where k is the rotational stiffness of the torsion spring, θ is the torsion angle of the torsion spring, and M0 is the preload torque of the torsion spring;

[0055] The floating clamping wheel drives the floating connecting rod to rotate, generating a torque of:

[0056]

[0057] Where F is the minimum clamping force, L is the length of the floating link, is the initial attitude angle of the floating link, is the floating link rotation angle;

[0058] According to the torque balance and force transmission characteristics of the gear, the torque M θ and torque There is a transmission relationship:

[0059]

[0060] in, The torsion angle θ of the torsion spring and the rotation angle of the floating link in the non-circular gear system are determined based on the basic principle of gear transmission. The first derivative of the functional relationship between , i is the transmission ratio of the non-circular gear system;

[0061] We get the differential equation:

[0062]

[0063] Solve the differential equation to obtain the transmission ratio function of the non-circular gear system that satisfies constant force clamping:

[0064]

[0065] like Figure 3 As shown, the length of the floating link is L = 80 mm, and the initial attitude angle of the floating link is The rotational stiffness of the torsion spring is k = 0.0728 Nm / rad, and the transmission ratio curve of the non-circular gear system is obtained;

[0066] like Figure 4 As shown in the figure, based on the minimum clamping force of 4N, a corresponding transmission ratio non-circular gear system is designed to achieve constant force clamping of leafy vegetables with different feed amounts.

[0067] The clamping and conveying mechanism of the present invention adopts a symmetrical clamping and conveying mode of action. The frame serves as the skeleton of the entire conveying mechanism and is used to fix and install various auxiliary mechanisms. The clamping conveyor belt is used to clamp and convey leafy vegetables. The support wheel is used to support the clamping conveyor belt. The tensioning wheel is installed in the long groove of the frame to keep the clamping conveyor belt in a tensioned state. The constant force clamping module serves as the core component of the entire clamping and conveying mechanism. By designing a non-circular gear system, it realizes constant force clamping of leafy vegetables. The driving module is used to drive the clamping belt to rotate. The clamping and conveying mechanism of the present invention can avoid clamping damage during the mechanical harvesting process of leafy vegetables, realize flexible clamping and conveying of leafy vegetables under different feed amounts, facilitate the efficient and safe completion of centralized transportation after picking from the field, and realize low-damage and orderly harvesting of leafy vegetables.

[0068] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by adopting existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical solutions of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A leafy vegetable constant force clamping and conveying mechanism based on a non-circular gear system, comprising a frame (2), two clamping conveyor belts (3) rotatably mounted on the frame, and a driving device (41) for driving the clamping conveyor belts to rotate, wherein a clamping conveying channel is formed between adjacent sides of the two clamping conveyor belts, and the mechanism is characterized in that: The inner sides of the two clamping conveyor belts are respectively provided with a plurality of constant force clamping modules (5) mounted on the frame; The constant force clamping module (5) comprises a mounting shell fixed to a frame, and a non-circular gear system arranged on the mounting shell, the non-circular gear system comprising a front non-circular gear (531) rotatably connected to the mounting shell via a first rotating shaft (52), and a rear non-circular gear (534) rotatably connected to the mounting shell via a second rotating shaft, the front non-circular gear being transmission-connected to the rear non-circular gear via a plurality of intermediate non-circular gears; A floating connecting rod (552) extending toward the side where the clamping conveying channel is located is fixedly connected to the first rotating shaft (52), a floating clamping wheel (551) is installed on the floating connecting rod (552), and the wheel surface of the floating clamping wheel is pressed against the inner side surface of the clamping conveying belt; The second rotating shaft is connected to the mounting shell via a torsion spring (541); The transmission ratio algorithm of the non-circular gear system of the leafy vegetable constant force clamping and conveying mechanism is: Based on the relationship between the deadweight and clamping force of leafy vegetables at different feed amounts, the minimum clamping force required for stable clamping of leafy vegetables is obtained. During the harvesting process, when clamping leafy vegetables at different feed amounts, under the action of the minimum clamping force, the floating clamping wheel drives the floating connecting rod to rotate a certain angle due to the relationship between the action force and the reaction force, generating an action torque. Through the non-circular gear system, the torsion spring is driven to rotate and generate a corresponding angle, thereby generating a corresponding torque. Based on the basic principles of torque balance and gear transmission, it is determined that there is a functional relationship between the gear angles in the non-circular gear system, and the transmission ratio function of the non-circular gear system that meets the constant force clamping requirement is obtained. The minimum clamping force required to clamp and transport leafy vegetables satisfies the following relationship: in, m It is the quality of a single leafy vegetable. n is the amount of leafy vegetables fed, i.e. the number of leafy vegetables clamped, μ is the friction coefficient between the clamping belt and the leafy vegetables, ζ is the safety factor, ζ The value reflects the relationship between friction and the weight of the clamped leafy vegetables. The larger the value, the greater the clamping force, and the more likely the leafy vegetables are to be damaged. ζ The value range of is [ 1.2 , 2 ], F n is the minimum clamping force required under different feed amounts, where the subscript n Indicates the feeding amount of clamped leafy vegetables, F is the minimum clamping force; The torsion spring generates the corresponding torque: in, is the rotational stiffness of the torsion spring, is the torsion angle of the torsion spring, is the preload torque of the torsion spring; The floating clamping wheel drives the floating connecting rod to rotate, generating a torque of: in, is the minimum clamping force, is the length of the floating link, is the initial attitude angle of the floating link, is the floating link rotation angle; According to the torque balance and force transmission characteristics of the gear, the torque and torque There is a transmission relationship: in, It is the torsion angle of the torsion spring in the non-circular gear system determined according to the basic principle of gear transmission. Rotation angle of floating link The first-order derivative of the functional relationship between is the transmission ratio of the non-circular gear system; We get the differential equation: Solve the differential equation to obtain the transmission ratio function of the non-circular gear system that satisfies constant force clamping: 。 2. The leafy vegetable constant force clamping and conveying mechanism based on a non-circular gear system according to claim 1, characterized in that: An intermediate rotating shaft located between the first rotating shaft and the second rotating shaft is rotatably connected to the mounting shell, and an intermediate non-circular gear I (532) meshing with the front non-circular gear (531) and an intermediate non-circular gear II (533) meshing with the rear non-circular gear (534) are fixedly mounted on the intermediate rotating shaft.

3. The leafy vegetable constant force clamping and conveying mechanism based on a non-circular gear system according to claim 1 is characterized in that: The mounting shell is threadedly connected to a preload adjustment screw (542), the axis of the preload adjustment screw being perpendicular to the axis of the torsion spring, one side arm of the torsion spring being fixedly mounted on the second rotating shaft, and the other side arm of the torsion spring being pressed against the end face of the preload adjustment screw.

4. The leafy vegetable constant force clamping and conveying mechanism based on a non-circular gear system according to claim 1, characterized in that: The mounting shell includes an upper shell (513) and a lower shell (511), the upper shell (513) includes an upper top plate and two upper side plates extending downward from both ends of the upper top plate, the lower shell (511) includes a lower bottom plate and two lower side plates extending upward from both ends of the lower bottom plate, the two upper side plates are detachably fixed to the two lower side plates, and the two ends of the first rotating shaft and the two ends of the second rotating shaft are rotatably connected to the upper top plate and the lower bottom plate respectively through bearings (56).

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