A drip irrigation tape picking manipulator

Abstract

The present invention discloses a drip irrigation tape picking manipulator, which comprises a picking frame, on which a tape guiding and collecting mechanism, a lifting mechanism and a picking mechanism are installed; the picking mechanism is located at the lower part of the picking frame and is in transmission cooperation with the lifting mechanism; the lifting mechanism is vertically installed on the picking frame and conveys the drip irrigation tape obtained from the picking mechanism to the tape guiding and collecting mechanism, and the tape guiding and collecting mechanism is installed at the upper part of the picking frame and conveys the drip irrigation tape obtained from the lifting mechanism out, and a power mechanism transmits power to the tape guiding and collecting mechanism, the lifting mechanism and the picking mechanism. The whole process is automated, greatly reducing the labor intensity.

Description

Technical Field

[0001] The present invention belongs to the technical field of drip irrigation tape picking-up equipment, and particularly relates to a drip irrigation tape picking-up robotic arm. Background Art

[0002] For the areas irrigated with drip irrigation tapes, after the crops are harvested, the drip irrigation tapes need to be recycled before the next quarter's tillage and sowing. This work has a large labor intensity and requires a lot of manpower, and currently there is no suitable machine to achieve efficient recycling of drip irrigation tapes. Summary of the Invention

[0003] In view of the deficiencies in the above-mentioned prior art, the present invention provides a drip irrigation tape picking-up robotic arm, which can quickly pick up, lift and convey the drip irrigation tape, and has a high degree of automation.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A drip irrigation tape picking-up robotic arm includes a picking-up frame, on which a power mechanism, a tape guiding and collecting mechanism, a lifting mechanism and a picking-up mechanism are installed; the power mechanism is installed on the picking-up frame, and the picking-up mechanism is located at the lower part of the picking-up frame and is in transmission cooperation with the lifting mechanism; the lifting mechanism is vertically installed on the picking-up frame and conveys the drip irrigation tape obtained from the picking-up mechanism to the tape guiding and collecting mechanism, and the tape guiding and collecting mechanism is installed on the upper part of the picking-up frame and conveys the drip irrigation tape obtained from the lifting mechanism out, and the power mechanism transmits power to the tape guiding and collecting mechanism, the lifting mechanism and the picking-up mechanism.

[0006] As a preferred solution of the present invention, the power mechanism includes a power receiving component and a power transmitting component; the power receiving component receives external power and transmits power to the tape guiding and collecting mechanism, the lifting mechanism and the picking-up mechanism through the power transmitting component.

[0007] As a preferred solution of the present invention, specifically, the power receiving component includes a bearing seat, a bearing and a power shaft. The bearing seat is installed on the top of the picking-up frame, the bearing is installed in the bearing seat, a bushing is embedded in the inner hole of the bearing, and the power shaft passes through the bushing; the bushing is an internal hexagonal sleeve, and the power shaft is a hexagonal shaft.

[0008] As a preferred solution of the present invention, the power transmitting component includes a main power transmission wheel, a tape collecting power transmission wheel, a tape exporting power transmission wheel and a power transmission chain; the main power transmission wheel is installed on the internal hexagonal bushing, the internal hexagonal bushing rotates with the power shaft, and the main power transmission wheel rotates together with the internal hexagonal shaft; the tape collecting power transmission wheel is installed on the tape collecting driving shaft of the tape guiding and collecting mechanism; the tape exporting power transmission wheel is installed on the tape exporting driving shaft of the tape guiding and collecting mechanism; the power transmission chain drives and connects the main power transmission wheel, the tape collecting power transmission wheel, the tape exporting power transmission wheel and the power box of the lifting mechanism.

[0009] As a preferred embodiment of the present invention, the tape guiding and collecting mechanism includes a tape collecting component and a tape guiding component. The tape collecting component is symmetrically installed on both sides of the lifting mechanism and transmits the drip irrigation tape received from the lifting mechanism to the tape guiding component. The tape guiding component is located below the tape collecting component and conveys the drip irrigation tape conveyed by the tape collecting component out.

[0010] As a preferred embodiment of the present invention, specifically, the tape collecting component includes a tape collecting driving wheel, a tape collecting driven wheel, a tape collecting driving shaft and a tape collecting driven shaft. The tape collecting driving shaft is installed on the pickup frame, and the tape collecting driving wheel is installed on the tape collecting driving shaft and is coaxial with the tape collecting power transmission wheel. Above the tape collecting driving wheel, there is a tape collecting driven wheel, which is symmetrically arranged and in contact with the tape collecting driving wheel. And spiral taper openings are provided at the front parts of both the tape collecting driving wheel and the tape collecting driven wheel. The spiral taper opening structure makes it easier for the drip irrigation tape transmitted by the lifting mechanism to be received by the tape collecting component.

[0011] The tape collecting driven wheel is installed on the pickup frame through a bearing and a tape collecting mounting plate. And adjusting slotted holes and torsion springs are provided on the tape collecting mounting plate. The function of the adjusting slotted holes is to enable the tape collecting mechanism to be applicable to drip irrigation tapes of different thicknesses.

[0012] A bearing is installed inside the tape collecting driven wheel and assembled on the tape collecting driven shaft. The tape collecting driven shaft is installed in the adjusting slotted hole. The torsion spring presses the outer circle of the tape collecting driven wheel against the outer circle of the tape collecting driving wheel with the gravity of the tape collecting driven shaft and the tape collecting driven wheel itself. A frictional force is generated between the tape collecting driving wheel and the tape collecting driven wheel (the magnitude of the frictional force is determined by the torque of the torsion spring). When the picked-up drip irrigation tape is transported by the lifting chain and the feeding chain into the engaging opening between the tape collecting driving wheel and the tape collecting driven wheel, the engaging lines on the engaging opening bite the drip irrigation tape and quickly push the drip irrigation tape to the outer circle joint surface of the tape collecting driving wheel and the tape collecting driven wheel. The tape collecting driving wheel and the tape collecting driven wheel bite the drip irrigation tape and rotate, and then continuously harvest the drip irrigation tape to the middle of the pickup frame and drop it onto the guiding conveyor belt.

[0013] As a preferred embodiment of the present invention, the tape collecting component further includes a cutter, which is installed on the pickup frame between the two tape collecting driving wheels. The tape guiding component is located below the cutter.

[0014] As a preferred embodiment of the present invention, the tape guiding component includes a tape guiding driving wheel, a tape guiding driven wheel, a tape guiding conveyor belt, a tape guiding driving shaft and a tape guiding driven shaft. The tape guiding driving shaft is installed on the pickup frame, and the tape guiding driving wheel is installed on the tape guiding driving shaft and is coaxial with the tape guiding power transmission wheel. The tape guiding driven wheel is installed on the tape guiding driven shaft, and the tape guiding driven shaft is installed on the pickup frame.

[0015] The export conveyor belt is installed in the upper middle part of the picking frame, one end of the export conveyor belt is below the cutter, and the other end is installed above the horizontal conveying mechanism. When the lifting chain lifts the drip irrigation belt to the cutter position, the cutter will cut the drip irrigation belt, and the drip irrigation belt will fall onto the export conveyor belt under the action of gravity. The export conveyor belt transports the drip irrigation belt to the other end of the export conveyor belt, that is, above the horizontal conveying mechanism. The export conveyor belt keeps moving continuously, and the drip irrigation belt will be continuously transported to the top of the horizontal conveyor and fall onto the horizontal conveying mechanism.

[0016] As a preferred embodiment of the present invention, the lifting mechanism includes a lifting chain, a lifting driving wheel, a lifting driven wheel, a lifting driving shaft and a lifting power box; the frame drooping arm is located at the lower part of the picking frame; the lifting driving shaft is installed between the frame drooping arms, and the lifting driving shaft is transmission connected with the lifting power box, and the power wheel of the lifting power box is meshed with the power transmission chain; the lifting driving wheel is installed on the lifting driving shaft, the lifting driven wheel is installed on the top of the picking frame, and the lifting driven wheel is transmission connected with the lifting driving wheel through the lifting chain; the hanging belt teeth on the lifting chain transport the dropper belt obtained from the picking mechanism to the belt collection assembly.

[0017] As a preferred solution of the present invention, in order to better convey the drip irrigation tape to the belt collection assembly, the lifting mechanism also includes a feeding chain assembly, which is symmetrically installed on both sides of the lifting mechanism; the feeding chain assembly includes a feeding chain, a feeding main sprocket, a feeding driven sprocket, a feeding main rotating shaft, a feeding driven rotating shaft, and a feeding power wheel; the feeding main sprocket is installed on the feeding main rotating shaft, the feeding main rotating shaft is installed on the rotating shaft mounting plate below the top plate of the picking frame, the feeding power wheel is installed on the feeding main rotating shaft and meshes with the lifting chain; the feeding driven sprocket is installed on the feeding driven rotating shaft and is connected to the feeding main sprocket through the feeding chain, the feeding driven rotating shaft is installed on the outside of the frame drooping arm, and the feeding chain is equipped with hanging belt teeth. The hanging belt teeth on the feeding assembly cooperate with the hanging belt teeth on the lifting mechanism to raise the drip irrigation tape in a "∧" shape.

[0018] As a preferred embodiment of the present invention, the picking mechanism includes a picking arm assembly, a picking belt tooth assembly and a swing assembly; the picking arm assembly includes a picking arm, a picking driving wheel, a picking driven wheel, a picking chain and a picking rotating shaft; a picking driving wheel is installed at one end of the picking arm, and the picking driving wheel is installed on the lifting driving rotating shaft and rotates around the lifting driving rotating shaft; a picking driven wheel is installed at the other end of the picking arm, and the picking driven wheel is installed on the picking rotating shaft and rotates around the picking rotating shaft, and the picking driven wheel is connected to the picking driving wheel through a picking chain, and a hanging belt tooth is provided on the picking chain.

[0019] As a preferred embodiment of the present invention, in order to adjust the tightness of the picking chain, an adjustment cavity is provided in the picking arm. One end of the sliding member is installed in the adjustment cavity and moves within the adjustment cavity, and a picking driven wheel is installed at the other end of the sliding member; the sliding member is a square sliding rod, which can adjust the tightness of the picking chain.

[0020] As a preferred embodiment of the present invention, the tape picking tooth assembly includes a tape picking tooth and a tape picking tooth mounting disc. The tape picking tooth is mounted on the tape picking tooth mounting disc, and the tape picking tooth mounting disc is mounted on the picking rotating shaft.

[0021] As a preferred embodiment of the present invention, the swing assembly includes a swing power member, a swing limit member, and a swing return member. The swing power member is connected to the picking arm, and the swing limit member and the swing return member are arranged on both sides of the picking arm.

[0022] As a preferred embodiment of the present invention, the swing power member includes a swing cylinder and a swing drive rod. The swing cylinder is vertically installed on the picking frame, the piston rod of the swing cylinder is connected to the swing drive rod, and the swing drive rod is connected to the picking arm.

[0023] As a preferred embodiment of the present invention, the swing limit member includes a swing limit turntable, a reciprocating pull rod, a limit link, a travel switch, and a travel limit plate; the swing limit turntable is installed on the picking rotating shaft, and limit teeth are provided on the swing limit turntable, and the limit teeth cooperate with the stopper on the picking arm; the reciprocating pull rod is connected to the swing limit turntable, one end of the limit link is connected to the reciprocating pull rod and moves within the moving groove of the reciprocating pull rod; the other end of the limit link is hinged to the travel limit plate, and the travel limit plate is installed on the inner side of the lower part of the frame drooping arm; and the limit link cooperates with the travel switch on the travel limit plate.

[0024] As a preferred embodiment of the present invention, the swing return member includes a tension spring and a tension spring extension plate. One end of the tension spring is installed on the frame drooping arm, the other end of the tension spring is connected to the tension spring extension plate, and the tension spring extension plate is hinged to the tape picking tooth mounting disc.

[0025] Under the action of the swing assembly, the picking belt teeth of the present invention will rotate a certain angle relative to the picking arm to pick up the drip irrigation belt on the ground. After being picked up, under the action of the picking chain and the belt hanging teeth, it will be conveyed to the lifting chain. The belt hanging teeth on the lifting chain receive the drip irrigation belt and rise under the action of the lifting chain. During the rising process, the drip irrigation belt will be hooked by the belt hanging teeth on the feeding assembly and continue to rise in a ∧ shape together with the lifting mechanism. The left and right parts of the drip irrigation belt are respectively pushed by the lifting chain and the feeding chain to the conical surfaces of the two groups of belt receiving wheel systems and fit with them. After the belt receiving driving wheel rotates, the drip irrigation belt is brought into the space between the belt receiving driving wheel and the belt receiving driven wheel. The belt receiving wheel system bites and the belt receiving starts. At this time, the drip irrigation belt is separated from the feeding chain but not from the lifting chain and is conveyed. The lifting chain pulls the drip irrigation belt towards the cutting knife. The linear speed of the lifting chain is greater than that of the belt receiving wheel. The drip irrigation belt is tightened and passes through the cutting knife, and the cutting knife will cut the drip irrigation belt in the middle of the two groups of belt receiving wheel systems, cutting the drip irrigation belt into two left and right parts. The left and right parts of the drip irrigation belt are continuously recovered by the biting of the two groups of belt receiving wheels. The cut leading end in the middle continues to extend and falls onto the export conveyor belt installed below. The export conveyor belt conveys the drip irrigation belt out. The whole process is automated, greatly reducing the labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a three-dimensional view of the present invention.

[0028] Figure 2 is a front view of the present invention.

[0029] Figure 3 is a left view of the present invention.

[0030] Figure 4 is a right view of the present invention.

[0031] Figure 5 is a schematic assembly structure diagram of partial components of the present invention Figure 1 .

[0032] Figure 6 is a schematic assembly structure diagram of partial components of the present invention Figure 2 . DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Embodiment 1:

[0035] A drip irrigation belt picking manipulator, as Figure 1 shown, includes a picking frame 1, on which a power mechanism, a guiding and collecting belt mechanism, a lifting mechanism, and a picking mechanism are installed; the power mechanism is installed on the picking frame 1, and the picking mechanism is located at the lower part of the picking frame 1 and is in transmission cooperation with the lifting mechanism; the lifting mechanism is vertically installed on the picking frame 1 and conveys the drip irrigation belt obtained from the picking mechanism to the guiding and collecting belt mechanism, and the guiding and collecting belt mechanism is installed on the upper part of the picking frame 1 and conveys the drip irrigation belt obtained from the lifting mechanism out, and the power mechanism transmits power to the guiding and collecting belt mechanism, the lifting mechanism, and the picking mechanism.

[0036] Specifically, the power mechanism includes a power receiving component and a power transmitting component; the power receiving component receives external power and transmits power to the guiding and collecting belt mechanism, the lifting mechanism, and the picking mechanism through the power transmitting component.

[0037] The power receiving component, as Figures 1-6 shown, includes a bearing seat 21, a bearing 22, and a power shaft 23. The bearing seat 21 is installed on the top of the picking frame 1, the bearing 22 is installed in the bearing seat 21, an inner hexagonal shaft sleeve is provided in the bearing 22, the outer circle of the inner hexagonal shaft sleeve is installed in the bearing hole, the power shaft 23 passes through the shaft sleeve, and the inner hexagonal shaft sleeve can move on the hexagonal shaft; the power shaft is a hexagonal shaft. The bearing seat coincides with the center line of the picking frame, so that the frame can be rotated 180° for installation.

[0038] The power transmitting component, as Figure 6 shown, includes a main power transmitting wheel 24, a belt collecting power transmitting wheel 25, an exporting power transmitting wheel 26, and a power transmission chain 27; the main power transmitting wheel 24 is installed on the inner hexagonal shaft sleeve and rotates with the power shaft; the belt collecting power transmitting wheel 25 is installed on the belt collecting main shaft 33 of the belt collecting component in the guiding and collecting belt mechanism; the exporting power transmitting wheel 26 is installed on the exporting main shaft of the exporting component in the guiding and collecting belt mechanism; the power transmission chain 27 drives the main power transmitting wheel 24, the belt collecting power transmitting wheel 25, the exporting power transmitting wheel 26, and the power box of the lifting mechanism to be connected.

[0039] The guiding and collecting belt mechanism includes a collecting belt assembly and a guiding-out assembly. The collecting belt assembly is symmetrically installed on both sides of the lifting mechanism and bites the drip irrigation belt fed in, continuously collecting the drip irrigation belt on the ground and transmitting it to the guiding-out assembly. The guiding-out assembly is located below the collecting belt assembly and conveys the drip irrigation belt conveyed by the collecting belt assembly out.

[0040] Specifically, the collecting belt assembly is as Figure 1 , 2 , as shown in Figure 5, includes a collecting belt driving wheel 31, a collecting belt driven wheel 32, a collecting belt driving shaft 33 and a collecting belt driven shaft; the collecting belt driving shaft 33 is installed on the pickup frame 1, the collecting belt driving wheel 31 is installed on the collecting belt driving shaft 33 and is coaxial with the collecting belt power transmission wheel 25; a collecting belt driven wheel 32 is installed above the collecting belt driving wheel 31. The collecting belt driven wheels 32 are symmetrically arranged and in contact with the collecting belt driving wheel 31, and spiral taper openings are provided at the front parts of both the collecting belt driving wheel 31 and the collecting belt driven wheel 32. The spiral taper opening structure makes it easier for the drip irrigation belt transmitted by the lifting mechanism to be received by the collecting belt assembly.

[0041] The collecting belt driven wheel 32 is installed on the pickup frame 1 through a collecting belt mounting plate, and adjusting slotted holes are provided on the collecting belt mounting plate. The collecting belt driven wheel 32 is installed on the collecting belt driven shaft through a bearing, the collecting belt driven shaft is installed in the shaft waist-shaped holes, and a torsion spring presses the collecting belt driven shaft. Together with the self-weight of the collecting belt driven wheel itself, the outer circle of the collecting belt driven wheel is tightly combined with the outer circle of the collecting belt driving wheel 31.

[0042] The collecting belt assembly is as Figure 5 , as shown in the figure, further includes a cutter 38. The cutter is installed on the pickup frame between the two collecting belt driving wheels 31, and the guiding-out assembly is located below the cutter.

[0043] The guiding-out assembly is as Figure 5 , as shown in the figure, includes a guiding-out driving wheel 34, a guiding-out driven wheel 35, a guiding-out conveyor belt 36, a guiding-out driving shaft 37 and a guiding-out driven shaft; the guiding-out driving shaft 37 is installed on the pickup frame 1, the guiding-out driving wheel 34 is installed on the guiding-out driving shaft 37 and is coaxial with the guiding-out power transmission wheel 26; the guiding-out driven wheel 35 is installed on the guiding-out driven shaft, and the guiding-out driven shaft is installed on the pickup frame.

[0044] The lifting mechanism is as Figures 1-6As shown, it includes a frame drooping arm 41, a lifting chain 42, a lifting driving wheel 43, a lifting driven wheel 44, a lifting driving rotating shaft 45 and a lifting power box 46; the frame drooping arm 41 is located at the lower part of the picking frame 1 and is integrated with the picking frame; the lifting driving rotating shaft 45 is installed between the frame drooping arms 41, and the lifting driving rotating shaft 45 is in transmission connection with the lifting power box 46, and the power wheel of the lifting power box 46 meshes with the power transmission chain 27; the lifting driving wheel 43 is installed on the lifting driving rotating shaft 45, the lifting driven wheel 44 is installed on the top of the picking frame, and the lifting driven wheel 44 is in transmission connection with the lifting driving wheel 43 through the lifting chain 42; the hanging belt teeth on the lifting chain 42 convey the drip irrigation tape obtained from the picking mechanism to the tape collecting assembly.

[0045] In order to better convey the drip irrigation tape to the tape collecting assembly, the lifting mechanism further includes a feeding chain assembly, and the feeding chain assembly is symmetrically installed on both sides of the lifting mechanism; as Figures 1-4 shown, the feeding chain assembly includes a feeding chain 47, a feeding driving sprocket 48, a feeding driven sprocket 49, a feeding driving rotating shaft 410, a feeding driven rotating shaft 411, a feeding power wheel 412; the feeding driving sprocket 48 is installed on the feeding driving rotating shaft 410, the feeding driving rotating shaft 410 is installed on the rotating shaft mounting plate under the top plate of the picking frame, the feeding power wheel 412 is installed on the feeding driving rotating shaft 410 and meshes with the lifting chain 42; the feeding driven sprocket 49 is installed on the feeding driven rotating shaft 411 and is in transmission connection with the feeding driving sprocket 48 through the feeding chain 47, the feeding driven rotating shaft 411 is installed outside the frame drooping arm 41, and the hanging belt teeth are installed on the feeding chain 47. The hanging belt teeth on the feeding assembly cooperate with the hanging belt teeth on the lifting mechanism to lift the drip irrigation tape in a "∧" shape.

[0046] The picking mechanism, as Figures 1-6 shown, includes a picking arm assembly, a tape picking tooth assembly and a swinging assembly; the picking arm assembly includes a picking arm 51, a picking driving wheel 52, a picking driven wheel 53, a picking chain 54, a picking rotating shaft 55; a picking driving wheel 52 is installed at one end of the picking arm 51, and the picking driving wheel 52 is installed on the lifting driving rotating shaft 45 and rotates around the lifting driving rotating shaft 45; a picking driven wheel 53 is installed at the other end of the picking arm 51, the picking driven wheel 53 is installed on the picking rotating shaft 55 and is in transmission connection with the picking driving wheel 52 through the picking chain 54, and a bearing is installed in the inner hole of the picking driven wheel 53, the bearing is installed on the picking rotating shaft 55, the picking driven wheel 53 is connected with the picking driving wheel 52 through the picking chain 54. Since a bearing is installed in the inner hole of the picking driven wheel, the picking driven wheel can rotate around the picking rotating shaft, and a tape picking tooth is installed on the picking rotating shaft and can rotate and swing freely without rotating with the picking driven wheel.

[0047] In order to be able to adjust the tightness of the picking chain, as Figure 5 and 6As shown, an adjustment cavity is provided inside the picking arm 51. One end of the sliding member 56 is installed and moves inside the adjustment cavity, and a picking driven wheel 53 is installed at the other end of the sliding member 56; the sliding member is a square sliding rod, which can adjust the tightness of the picking chain. The sliding member will drive the picking rotating shaft to move together, and the structures installed on the picking rotating shaft will move together, ensuring the relative stability of the positions between several mechanisms, which is beneficial to tape picking and picking.

[0048] The described tape picking tooth assembly, as Figures 1-6 shown, includes a tape picking tooth 57 and a tape picking tooth mounting disc 58. The tape picking tooth 57 is installed on the tape picking tooth mounting disc 58, and the tape picking tooth mounting disc 58 is installed on the picking rotating shaft 55.

[0049] The described swing assembly includes a swing power member, a swing limit member and a swing return member. The swing power member is connected to the picking arm 51, and the swing limit member and the swing return member are arranged on both sides of the picking arm 51.

[0050] The described swing power member, as Figures 1-6 shown, includes a swing cylinder 59 and a swing drive rod 510. The swing cylinder 59 is vertically installed on the picking frame 1, the piston rod of the swing cylinder 59 is connected to the swing drive rod 510, and the swing drive rod 510 is connected to the picking arm 51. The swing cylinder is a pneumatic cylinder, and the piston rod of the pneumatic cylinder drives the picking arm to rotate through the swing drive rod.

[0051] The described swing limit member, as Figure 1 、 2 、3, 4, 5 and 6 shown, includes a swing limit turntable 511, a reciprocating pull rod 512, a limit connecting rod 513, a travel switch 514 and a travel limit plate; the swing limit turntable 511 is installed on the picking rotating shaft 55, and a limit engaging tooth 5111 is provided on the swing limit turntable 511, as Figure 4 shown, the limit engaging tooth 5111 cooperates with the stop block on the picking arm; the reciprocating pull rod 512 is connected to the swing limit turntable 511, one end of the limit connecting rod 513 is connected to the reciprocating pull rod 512 and moves in the moving groove of the reciprocating pull rod 512; the other end of the limit connecting rod 513 is hinged on the travel limit plate, and the travel limit plate is installed on the inner side of the lower part of the frame drooping arm; and the limit connecting rod 513 cooperates with the travel switch on the travel limit plate.

[0052] The described swing return member, as Figures 1-3 and 5-6 shown, includes a tension spring 515 and a tension spring extension plate 516. One end of the tension spring 515 is installed on the frame drooping arm 41, the other end of the tension spring 515 is connected to the tension spring extension plate 516, and the tension spring extension plate 516 is hinged on the tape picking tooth mounting disc 58.

[0053] The telescoping principle is as follows: In the in-situ state, the cylinder retracts, and the belt-picking teeth are in the extended state (i.e., the axis of the belt-picking teeth is parallel to the axis of the picking arm), and the included angles between the axis of the belt-picking teeth, the axis of the picking arm, and the axis of the picking frame are 60 degrees.

[0054] The principle of the belt-picking teeth retracting action is as follows: When the cylinder receives the picking command (the non-rod chamber of the cylinder is inflated), the piston rod extends forward to drive the picking arm to rotate. When the picking arm rotates more than 30 degrees, the limit rotating disc will be pulled by the reciprocating pull rod, so that the limit rotating disc will rotate relative to the picking arm (relative rotation occurs with the picking arm during the forward swing of the picking arm). When the picking arm continues to swing more than 60 degrees, the limit rotating disc will rotate 30 degrees relative to the picking arm. Since the limit rotating disc and the belt-picking teeth mounting disc are installed on the same shaft, the belt-picking teeth mounting disc will also rotate 30 degrees. The pin center of the tension spring on the picking frame, the center of the picking rotating shaft, and the pin center of the tension spring connected to the belt-picking teeth mounting disc form a straight line. The belt-picking teeth mounting disc will be in an unstable state. When the picking arm continues to swing close to 70 degrees (the pin center on the belt-picking teeth mounting disc crosses the connection line between the pin center of the tension spring connected to the picking frame and the center of the picking rotating shaft), the tension spring will pull the belt-picking teeth mounting disc to rotate quickly until the limit teeth of the limit rotating disc collide with the positioning plate on the picking arm and stop. The belt-picking teeth mounting disc drives the installed belt-picking teeth to rotate 95 degrees and stop, and the belt-picking teeth are in the retracted state.

[0055] The principle of the belt-picking teeth extending action is as follows: When the picking arm completes the arm-picking action (rotates 73 degrees), the striker (stroke valve striker) on the limit connecting rod will hit the travel switch, sending a signal that the cylinder operation is completed. The automatic control system sends a command for the cylinder to return. When the cylinder receives the return command (the rod chamber of the cylinder is inflated), the piston rod retracts to drive the picking arm to rotate, presenting the opposite sequence to the belt-picking teeth retracting action principle. When the picking arm returns more than 30 degrees, the limit rotating disc will be pulled by the reciprocating pull rod, so that the limit rotating disc will rotate relative to the picking arm (relative rotation occurs with the picking arm during the return swing of the picking arm). When the picking arm continues to return more than 60 degrees, the limit rotating disc will rotate 30 degrees relative to the picking arm. Since the limit rotating disc and the belt-picking teeth mounting disc are installed on the same shaft, the belt-picking teeth mounting disc will also rotate 30 degrees. The pin center of the tension spring connected to the picking frame, the center of the rotating shaft, and the pin center of the tension spring connected to the belt-picking teeth mounting disc form a straight line. The belt-picking teeth mounting disc will be in an unstable state. When the picking arm continues to return close to 70 degrees (the pin center on the belt-picking teeth mounting disc crosses the connection line between the pin center of the tension spring connected to the picking frame and the center of the rotating shaft), the tension spring will pull the belt-picking teeth mounting disc to rotate quickly until the limit teeth of the limit rotating disc collide with the positioning plate on the picking arm and stop. The belt-picking teeth mounting disc drives the installed belt-picking teeth to rotate reversely 95 degrees and stop, and the belt-picking teeth return to the extended state, completing the preparation work before the next picking.

[0056] In the present invention, the structures of the pickup chain, the lifting chain, and the feeding chain are the same, and all are provided with belt-hanging teeth on them. The lifting chain is assembled in the middle of the frame, the feeding chain is assembled on both sides of the frame, and the pickup chain is assembled at the lower part and together with the belt-picking teeth is assembled on the pickup arm. The pickup arm swings by a certain angle under the drive of the cylinder, and the pickup teeth cross from the ground (80 mm deep under the ground surface), hook up the drip irrigation tape and lift it off the ground. When the drip irrigation tape contacts the pickup teeth, the belt-hanging teeth on the pickup chain hook up the drip irrigation tape and convey it upward (convey it to the joint of the pickup arm). There is a lifting chain installed at the joint of the pickup arm. When the drip irrigation tape is conveyed to the joint, the lifting chain hooks up the drip irrigation tape and quickly separates from the pickup chain (since the linear speed of the pickup chain is slow and the linear speed of the lifting chain is fast, they will quickly separate) and lift it upward.

[0057] In the description of this specification, the description with reference to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0058] As described above, only the specific preferred embodiments of the present invention are given, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. A drip irrigation tape picking manipulator, comprising a picking frame (1). Characterized in that: A tape guiding and collecting mechanism, a lifting mechanism and a picking mechanism are installed on the picking frame (1); the picking mechanism is located at the lower part of the picking frame (1) and is in transmission cooperation with the lifting mechanism; the lifting mechanism is installed on the picking frame (1) and conveys the drip irrigation tape obtained from the picking mechanism to the tape guiding and collecting mechanism, and the tape guiding and collecting mechanism is installed on the upper part of the picking frame (1) and conveys the drip irrigation tape obtained from the lifting mechanism out; The picking mechanism includes a picking arm assembly, a tape picking tooth assembly and a swinging assembly; the picking arm assembly includes a picking arm (51), a picking driving wheel (52), a picking driven wheel (53), a picking chain (54), and a picking rotating shaft (55); a picking driving wheel (52) is installed at one end of the picking arm (51), and the picking driving wheel (52) is installed on the lifting driving rotating shaft (45) and rotates around the lifting driving rotating shaft (45); a picking driven wheel (53) is installed at the other end of the picking arm (51), the picking driven wheel (53) is installed on the picking rotating shaft (55) and is in transmission connection with the picking driving wheel (52) through the picking chain (54), and hanging teeth are arranged on the picking chain (54); The tape picking tooth assembly includes a tape picking tooth (57) and a tape picking tooth mounting disc (58), the tape picking tooth (57) is installed on the tape picking tooth mounting disc (58), and the tape picking tooth mounting disc (58) is installed on the picking rotating shaft (55); The swinging assembly includes a swinging power member, a swinging limiting member and a swinging return member, the swinging power member is connected with the picking arm (51), and the swinging limiting member and the swinging return member are arranged on both sides of the picking arm (51); The swinging power member includes a swinging cylinder (59) and a swinging driving rod (510), the swinging cylinder (59) is vertically installed on the picking frame (1), the piston rod of the swinging cylinder (59) is connected with the swinging driving rod (510), and the swinging driving rod (510) is connected with the picking arm (51); the swinging return member includes a tension spring (515) and a tension spring extension plate (516), one end of the tension spring (515) is installed on the drooping arm (41) of the frame, the other end of the tension spring (515) is connected with the tension spring extension plate (516), and the tension spring extension plate (516) is hinged on the tape picking tooth mounting disc (58); The swinging limiting member includes a swinging limiting turntable (511), a reciprocating pull rod (512), a limiting connecting rod (513), a travel switch (514) and a travel limiting plate; the swinging limiting turntable (511) is installed on the picking rotating shaft (55), and a limiting tooth (5111) is arranged on the swinging limiting turntable (511), and the limiting tooth (5111) cooperates with the stop block on the picking arm; the reciprocating pull rod (512) is connected with the swinging limiting turntable (511), one end of the limiting connecting rod (513) is connected with the reciprocating pull rod (512) and moves in the moving groove of the reciprocating pull rod (512); the other end of the limiting connecting rod (513) is hinged on the travel limiting plate; and the limiting connecting rod (513) cooperates with the travel switch on the travel limiting plate.

2. The drip irrigation tape picking manipulator according to claim 1, Characterized in that: The guiding and winding belt mechanism includes a winding component and a guiding component. The winding component is symmetrically installed on both sides of the lifting mechanism and transmits the drip irrigation belt received from the lifting mechanism to the guiding component. The guiding component is located below the winding component and conveys the drip irrigation belt conveyed by the winding component outwards.

3. The drip irrigation belt picking manipulator according to claim 2, characterized in that: The winding component includes a winding driving wheel (31), a winding driven wheel (32), a winding driving shaft (33) and a winding driven shaft; the winding driving shaft (33) is installed on the picking frame (1), and the winding driving wheel (31) is installed on the winding driving shaft (33); a winding driven wheel (32) is installed above the winding driving wheel (31), and the winding driven wheels (32) are symmetrically arranged and in contact with the winding driving wheel (31); spiral conical openings are provided at the front parts of both the winding driving wheel (31) and the winding driven wheel (32); the guiding component includes a guiding driving wheel (34), a guiding driven wheel (35), a guiding conveyor belt (36), a guiding driving shaft (37) and a guiding driven shaft; the guiding driving shaft (37) is installed on the picking frame (1), and the guiding driving wheel (34) is installed on the guiding driving shaft (37); the guiding driven wheel (35) is installed on the guiding driven shaft, and the guiding driven shaft is installed on the picking frame.

4. The drip irrigation belt picking manipulator according to claim 1 or 2, characterized in that: The lifting mechanism includes a lifting chain (42), a lifting driving wheel (43), a lifting driven wheel (44), a lifting driving rotating shaft (45) and a lifting power box (46); the lifting driving rotating shaft (45) is installed between the drooping arms (41) of the machine frame, and the lifting driving rotating shaft (45) is in transmission connection with the lifting power box (46); the lifting driving wheel (43) is installed on the lifting driving rotating shaft (45), the lifting driven wheel (44) is installed on the top of the picking frame, and the lifting driven wheel (44) is in transmission connection with the lifting driving wheel (43) through the lifting chain (42); The hanging belt teeth on the lifting chain (42) convey the drip irrigation belt obtained from the picking mechanism to the winding component.

5. The drip irrigation belt picking manipulator according to claim 4, characterized in that: The lifting mechanism further includes a feeding chain component, and the feeding chain components are symmetrically installed on both sides of the lifting mechanism; the feeding chain component includes a feeding chain (47), a feeding driving sprocket (48), a feeding driven sprocket (49), a feeding driving rotating shaft (410), a feeding driven rotating shaft (411), a feeding power wheel (412); the feeding driving sprocket (48) is installed on the feeding driving rotating shaft (410), the feeding driving rotating shaft (410) is installed on the rotating shaft mounting plate below the top plate of the picking frame, the feeding power wheel (412) is installed on the feeding driving rotating shaft (410) and meshes with the lifting chain (42); the feeding driven sprocket (49) is installed on the feeding driven rotating shaft (411) and is in transmission connection with the feeding driving sprocket (48) through the feeding chain (47), the feeding driven rotating shaft (411) is installed outside the drooping arm (41) of the machine frame, and hanging belt teeth are installed on the feeding chain (47).

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