An integrated machine and method for inserting and guiding cowpea stems based on automatic control

Abstract

The present invention discloses an integrated, automatically controlled cowpea vine-insertion and vine-guiding machine and method. The machine comprises a housing with a wheel hub mounted on it, a frame within the housing equipped with a shovel mechanism that reciprocates with a shovel blade; a delivery mechanism that automatically grips bamboo poles and drives them into the soil loosened by the shovel mechanism; a compaction mechanism that compacts the loosened soil; a vine-guiding mechanism that uses large and small closed circular rings to drive branches and vines around and upward; a knotting mechanism that automatically grips ropes and ties them to the branches and vines; and an opening and closing mechanism for passing cowpea plants through the integrated machine. The present invention implements the soil loosening, pole insertion, compaction, pole winding, and rope tying operations for cowpea vine-insertion and vine-guiding, achieving automated cowpea vine-insertion and vine-guiding operations.

Description

Technical Field

[0001] The present invention relates to a cowpea stem-inserting and vine-guiding machine and method, and in particular to an automatic-control-based integrated cowpea stem-inserting and vine-guiding machine and method. Background Art

[0002] my country's countryside is mostly mountainous and hilly, so cowpea is widely cultivated, and develops faster in hilly and mountainous areas. The country's cowpea cultivation spans about 28 degrees of latitude and 50 degrees of longitude from east to west. It has high economic value and can be used as a staple food, an important raw material for the food industry, and an excellent feed for livestock. It has high nutritional value and high protein content, and makes up for the insufficient lysine and tryptophan content in cereals.

[0003] In recent years, the area of cowpea cultivation in China has exceeded 670,000 hectares, with an annual output of approximately 1.5 million tons. Cowpea cultivation techniques include thinning, replanting, trellising, vine guiding, fertilizing and watering, pruning, and harvesting. However, there is a lack of machinery specifically designed for cowpea cultivation, resulting in a low level of mechanization, and even fewer small agricultural machinery, which has limited the further development of cowpea cultivation in my country. Currently, cowpea cultivation is mostly done manually. Trellising and vine guiding during cowpea cultivation promotes healthy growth by absorbing strong sunlight, effectively improving their resistance to pests and diseases, and preventing adjacent stems from becoming entangled. However, trellising is time-consuming and labor-intensive, especially as inserting poles is difficult and prone to tipping over. Vine guiding also places high demands on the operator, requiring a counterclockwise rotation, which requires strenuous bending and difficult to control. Furthermore, the time-consuming and labor-intensive vines still have a chance of falling off. Automatically controlled machinery is currently a well-established technology, primarily based on a combination of computers, sensors, actuators, and control algorithms. For example, industrial robots have a multi-joint, multi-degree-of-freedom structure and can operate autonomously according to preset instructions and environmental feedback. They use sensors to obtain information about the surrounding environment and perform various tasks such as handling, welding, and assembly through control algorithms and actuators. However, there is no integrated machine for inserting and guiding cowpea vines using automatic control technology. Summary of the Invention

[0004] In order to solve the shortcomings of the above-mentioned technology, the present invention provides an integrated cowpea stem inserting and vine guiding machine and method based on automatic control.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an integrated cowpea pole-inserting and vine-guiding machine based on automatic control, including a shell, a wheel hub is installed on the shell, and a shoveling mechanism with a shoveling surface that moves back and forth is provided on the frame inside the shell; a feeding and inserting mechanism that automatically clamps bamboo poles and drives the bamboo poles to be inserted into the soil after the shoveling mechanism loosens the soil; a compacting mechanism that compacts the loosened soil; a vine-guiding mechanism that gathers cowpea seedlings in a small ring and drives the branches and vines to surround and rise; a knotting mechanism that automatically clamps ropes and ties the branches and vines; and an opening and closing mechanism for cowpea plants to pass through the integrated machine.

[0006] Furthermore, the shoveling mechanism includes a loosening body movable arm that is mounted on a horizontal stable frame and reciprocates, and a shoveling surface connecting rod assembly that is rotatably connected to the horizontal stable frame and reciprocates.

[0007] Furthermore, the loosening main body movable arm includes a pair of movable rods, which are fixedly connected by a movable arm rotating shaft, and the shaft ends of the movable arm rotating shaft are simultaneously connected to the movable arm motor, which is installed on the frame; the horizontal stabilizing frame is fixedly connected to the ends of the movable rods one by one;

[0008] The shovel surface connecting rod assembly is rotatably connected to the horizontal stable frame. The driving shaft of the shovel surface connecting rod assembly is rotatably set on the horizontal stable frame. An active rod is installed on the active shaft. The distal end of the active rod is hinged with a first driven rod. The distal end of the first driven rod is hinged to the shovel surface. The shovel surface is also hinged to the horizontal stable frame through the second driven rod. The driving shaft is connected to the shoveling motor, and the shoveling motor is installed on the horizontal stable frame.

[0009] Furthermore, the insertion mechanism includes a storage box for storing bamboo poles, a movable door for controlling the opening and closing of the storage box, and a clamping claw assembly for clamping the bamboo poles and driving the bamboo poles to be inserted into the soil.

[0010] Furthermore, a passage opening is vertically opened at one side end of the storage box for sliding out the bamboo poles; the storage box is installed on the frame in an inclined direction, and the side with the passage opening is positioned lower; a movable motor installed on the side wall of the storage box drives a movable door to slide at the passage opening, and the movable door is provided with a first rack that moves in the horizontal direction;

[0011] The clamping claw assembly includes a first rocking arm driven by a clamping motor to swing horizontally, the clamping motor is installed on the frame, a fixed rod and a linkage rod are vertically installed on the first rocking arm, and a clamping claw is matched on the fixed rod and the linkage rod, the fixed rod is fixed on the first rocking arm, and the linkage rod is rotatably installed on the first rocking arm, and a first gear is installed on the rod body of the linkage rod. When the clamping motor drives the first rocking arm to approach the movable door, the first gear and the first rack engage with each other, and the end of the linkage rod is driven and connected by the first micro motor at the same time, and the housing of the first micro motor is fixed to the fixed rod or the clamping claw on the fixed rod.

[0012] Furthermore, the vine-guiding mechanism includes a horizontal vine-guiding guide rail that opens and closes in the horizontal direction, a first slider that is slidably arranged in the horizontal vine-guiding guide rail, a sliding screw rod that is arranged in the vertical direction, and a cowpea binding mechanism that opens and closes in the cylindrical space defined by the horizontal vine-guiding guide rail to enclose the cowpea seedlings in a small ring and drive the cowpea vines to rise.

[0013] Furthermore, the horizontal guide rail for guiding the vines is connected by driving the guiding cylinder, and the sliding screw is vertically arranged between two first sliders installed symmetrically up and down; the cowpea binding mechanism includes a binding motor, and the binding motor is connected to a binding arm, and the radius of the binding arm is smaller than the radius of the circular track.

[0014] Furthermore, the knotting mechanism includes a friction wheel assembly, a rope clamp, a tangent clamp, a surrounding rotation assembly and a rope drawing assembly arranged on the frame. The surrounding rotation assembly pulls the rope around the rope drawing assembly, and the rope drawing assembly hooks the rope within the movable track defined by the triangular frame and recycles it to form two ears of the rope bow.

[0015] Furthermore, the friction wheel assembly includes a friction wheel, which is connected to a friction motor, which is connected to an L-shaped support plate, which is movably arranged along the X-axis relative to the frame, and a vertical gear is movably arranged on the L-shaped support plate, and the vertical gear includes a group of vertically meshing bevel teeth, wherein the rotating shaft extension end of one bevel tooth is slidably arranged in a groove opened on the L-shaped support plate, and the rotating shaft extension end of the bevel tooth can be driven by a micro motor, and a stabilizing gear is coaxially connected to the bevel tooth, and the stabilizing gear engages with the stabilizing rack on the L-shaped support plate when adjusting the position of the vertical gear; the rotating shaft of the other bevel tooth is connected to the housing of the friction motor to adjust the position of the friction motor, and then adjust the position of the friction wheel.

[0016] A cowpea stem-inserting and vine-guiding method based on an automatically controlled cowpea stem-inserting and vine-guiding integrated machine, the cowpea stem-inserting and vine-guiding method comprising the following steps:

[0017] Activate the opening and closing mechanism to allow the cowpea plants to enter the cowpea stem inserting and vine guiding integrated machine;

[0018] The shovel mechanism carries the shovel face and moves back and forth to loosen the soil;

[0019] The insertion mechanism automatically grabs the bamboo poles and drives them into the soil loosened by the shoveling mechanism;

[0020] The compacting mechanism compacts the soil after loosening;

[0021] The large and small closed rings of the vine guiding mechanism drive the branches to rise counterclockwise;

[0022] The knotting mechanism automatically clamps the rope and ties the branches;

[0023] The opening and closing mechanism is started again to pass the cowpeas after the rods are inserted and the vines are guided through the cowpea rod-inserting and vine-guiding integrated machine.

[0024] The present invention discloses an integrated machine and method for automatically controlling the insertion and vine guidance of cowpeas. The machine frame within the housing includes a shoveling mechanism equipped with a shovel surface for reciprocating movement; a feeding mechanism that automatically clamps bamboo poles and drives them into the soil loosened by the shoveling mechanism; a compacting mechanism that compacts the loosened soil; and a vine guidance mechanism that utilizes large and small closed circular rings to drive branches and vines to rise and surround the pole. Based on the physiological characteristics of cowpeas, this mechanism ensures that, despite differences, cowpea branches can be wound counterclockwise around the pole without harming the cowpea seedlings. A knotting mechanism automatically clamps a rope and ties the rope to the branches and vines; and an opening and closing mechanism for allowing cowpea plants to pass through the integrated machine. Based on existing rope knotting methods, a knotting mechanism suitable for cowpea knotting has been designed, featuring high reliability and success rate, and adapting to the complex rural environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0027] Figure 3 It is a structural diagram of the earth-shoveling mechanism.

[0028] Figure 4 It is a structural diagram of the insertion mechanism.

[0029] Figure 5 It is a structural diagram of the compaction mechanism.

[0030] Figure 6 This is a structural diagram of the vine guiding mechanism.

[0031] Figure 7 Schematic diagram of the structure of the knotting mechanism (excluding the drawstring component).

[0032] Figure 8 Schematic diagram of the structure of the drawstring assembly.

[0033] Figure 9 Schematic diagram of the structure of the retractable connector.

[0034] In the figure: 1, frame; 2, housing; 3, hub;

[0035] 110, loosening main moving arm; 111, moving rod; 112, moving arm rotating shaft; 113, moving arm motor; 120, horizontal stabilizing frame; 130, shovel surface connecting rod assembly; 131, driving shaft; 132, driving rod; 133, first driven rod; 134, shovel surface; 135, shovel motor;

[0036] 210, storage box; 211, passage opening; 220, movable door; 221, first rack; 222, movable motor; 230, clamping claw assembly; 231, clamping motor; 232, first rocker; 233, fixed rod; 234, linkage rod; 235, clamping claw; 236, first micromotor; 237, first gear;

[0037] 310, compacting assembly; 311, second rocker; 312, compacting surface; 313, compacting motor;

[0038] 410, horizontal guide rail for guiding vines; 420, cylinder for guiding vines; 430, first slider; 440, sliding screw; 450, cowpea restraining mechanism; 451, restraining motor; 452, restraining arm;

[0039] 510, friction wheel assembly; 511, friction wheel; 512, friction motor; 513, L-shaped support plate; 514, vertical gear; 515, channel; 516, stabilizing gear; 517, stabilizing rack; 520, rope-drawing gripper; 530, orbiting rotation assembly; 531, rotating cylinder; 532, horizontal connecting rod; 533, knotting gripper; 540, tangent gripper; 550, rope-drawing assembly; 551, triangular frame; 552, rope-drawing hook; 553, rope drum; 554, movable rack; 555, second gear;

[0040] 610. Telescopic cylinder; 620. Fork head. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1 and Figure 2 The integrated cowpea stem-inserting and vine-guiding machine shown in the figure includes a shell 2 on which a wheel hub 3 is mounted, and further includes a shoveling mechanism A, a planting mechanism B, a compacting mechanism C, a vine-guiding mechanism D and a knotting mechanism E arranged on a frame 1 within the shell 2. At the same time, the present invention adopts two parts, left and right, in the design of the overall mechanism. In order to ensure that the plant can pass through the overall mechanism, an opening and closing mechanism F composed of retractable connecting parts is adopted.

[0043] The following is an introduction to the structure of the cowpea stem insertion and vine guiding integrated machine based on the cowpea stem insertion and vine guiding process:

[0044] 1. Soil loosening operation is realized by shoveling mechanism, such as Figure 3 The scraping mechanism shown includes:

[0045] The loosening main body mobile arm 110 drives the entire shoveling mechanism to reciprocate within the arc range radiated by the arm length of the loosening main body mobile arm 110 as a radius, so as to realize the position switching of the shoveling mechanism to and from the shoveling position. The loosening main body mobile arm 110 includes a pair of movable rods 111 arranged parallel to each other. The two movable rods 111 are fixedly connected by a movable arm rotating shaft 112. The shaft end of the movable arm rotating shaft 112 is simultaneously connected to the movable arm motor 113 and driven by the output shaft of the movable arm motor 113. The movable arm motor 113 is installed on the frame of the cowpea rod inserting and vine guiding integrated machine;

[0046] The horizontal stabilizing frame 120 is L-shaped and fixedly connected to the ends of the moving rods 111 in a one-to-one manner;

[0047] The shovel surface connecting rod assembly 130 is rotatably connected to the horizontal stable frame 120 and performs reciprocating motion, driving a shovel surface 134 to perform reciprocating motion. The driving shaft 131 of the shovel surface connecting rod assembly 130 is rotatably set on the horizontal stable frame 120. The driving shaft 131 is equipped with an active rod 132. When the driving shaft 131 rotates, the active rod 132 rotates with the driving shaft 131. The distal end of the active rod 132 is hinged to a first driven rod 133. The first driven rod 133 rotates with the active rod 132. The distal end of the first driven rod 133 is hinged to the shovel surface 134. The shovel surface 134 is simultaneously hinged to the second driven rod 133. The dynamic rod is hinged to the horizontal stable frame 120, and the shovel surface 134 is flipped back and forth on the horizontal stable frame 120 through the second driven rod under the drive of the first driven rod 133, so that the soil is loosened when the shoveling mechanism reaches the shoveling position. There are two shovel surface connecting rod assemblies 130, and the two shovel surface connecting rod assemblies 130 are installed in parallel on the loosening main body moving arm 110. The two driving shafts 131 are coaxially arranged, and the two driving shafts 131 are connected to the shoveling motor 135 with dual output shafts. The shoveling motor 135 is installed on the horizontal stable frame 120 and drives the two driving shafts 131 to rotate at the same time.

[0048] The shoveling mechanism realizes the loosening operation through the loosening main body moving arm, the horizontal stable frame and the shoveling surface connecting rod assembly. The moving arm motor drives the moving arm shaft to rotate, so that the moving arm reciprocates within the arc range. The moving arm shaft is connected to the moving rod, and the moving rods are fixedly connected by the moving arm shaft to form the loosening main body moving arm. The movement of the moving rod causes the entire shoveling mechanism to move accordingly, reaching the shoveling position or leaving the shoveling position; the horizontal stable frame is L-shaped and fixedly connected to the end of the moving rod to increase the stability of the shoveling mechanism; the shoveling surface connecting rod assembly is rotatably connected to the horizontal stable frame and reciprocates; an active rod is installed on the active shaft of the shoveling surface connecting rod assembly, and when the active shaft rotates, the active rod rotates accordingly. The distal end of the active rod is hinged with a first driven rod, and is connected to the shoveling surface through the first driven rod. The shoveling surface is also hinged to the horizontal stable frame through the second driven rod. When the shoveling mechanism reaches the shoveling position, the movement of the shoveling surface connecting rod assembly causes the shoveling surface to loosen the soil. The shoveling surface is driven by the first driven rod and flipped back and forth on the horizontal stable frame through the second driven rod to loosen the soil.

[0049] Second, the pole insertion operation is realized by the insertion mechanism. After the loosening operation is completed, the insertion mechanism will insert the bamboo pole to the loosening point. Figure 4 The delivery and insertion mechanism shown includes:

[0050] The storage box 210 has a flat interior space. Bamboo poles are used as an example in this embodiment. Cowpea cultivation can use various poles including but not limited to bamboo poles as supports and are placed vertically in the interior space of the storage box 210. A passage opening 211 is vertically opened at one end of the storage box 210 for the bamboo poles to slide out. The storage box 210 is installed on the frame 1 in an inclined direction, and the side with the passage opening 211 is positioned lower. The bamboo poles automatically slide toward the passage opening 211 under gravity.

[0051] A movable door 220 is driven by a movable motor 222 mounted on the side wall of the storage box 210 to slide at the passage opening 211. The movable door 220 is provided with a first rack 221 that moves in the horizontal direction.

[0052] The clamping claw assembly 230 includes a first rocking arm 232 driven by a clamping motor 231 to swing horizontally. The clamping motor 231 is mounted on a frame. A fixed rod 233 and a linkage rod 234 are vertically mounted on the first rocking arm 232. The fixed rod 233 and the linkage rod 234 are matched with a clamping claw 235. The fixed rod 233 is fixed to the first rocking arm 232. The linkage rod 234 is rotatably mounted on the first rocking arm 232. The rod body of the linkage rod 234 is equipped with a first A gear 237, when the clamping motor 231 drives the first rocker 232 to approach the movable door 220, the first gear 237 and the first rack 221 engage with each other. When the movable door 220 is opened, under the meshing action of the first rack 221 and the first gear 237, the clamping claw 235 of the linkage rod 234 moves toward the direction of the clamping claw 235 close to the fixed rod 233, forming a clamping force to clamp the bamboo pole that slides out at the passage opening 211 when the movable door 220 is opened. After the clamping claw 235 clamps the bamboo pole, the clamping motor 231 drives the first rocker 232 to a predetermined drop point on a concentric circle with the bamboo pole. After reaching the predetermined drop point, the clamping claw 235 puts the bamboo pole down. Due to the limiting effect of the clamping claw 235, the bamboo pole will fall into the predetermined position. The end of the linkage rod 234 is driven by the first micro motor 236 at the same time. The housing of the first micro motor 236 is fixedly connected to the fixed rod 233 or the clamping claw 235 on the fixed rod 233 to realize the operation of putting down the bamboo pole.

[0053] The delivery and insertion mechanism realizes the delivery and insertion operation of the bamboo poles through a storage box, a movable door and a clamping claw assembly. First, the bamboo poles are stored in a storage box, which has a passage opening. The storage box is installed on the frame by tilting, and the position of the passage opening is relatively low, so that the bamboo poles automatically slide towards the passage opening under the action of gravity; the movable door is driven by a movable motor installed on the side wall of the storage box, and slides at the passage opening to open or close the passage opening; a first rack that moves horizontally is provided on the movable door; a fixed rod and a linkage rod are installed on the first rocker of the clamping claw assembly, and the fixed rod and the linkage rod are equipped with clamping claws. When the clamping motor drives the first rocker to approach the movable door, the first gear and the first rack engage with each other. When the movable door is opened, under the action of the first rack and the first gear, the clamping claw of the linkage rod moves in the direction close to the fixed rod, forming a clamping force to clamp the bamboo pole that slides out of the passage opening; after clamping the bamboo pole, the clamping motor drives the first rocker to move to a predetermined pole dropping point, and the clamping claw puts down the bamboo pole; due to the limiting effect of the clamping claw, the bamboo pole will fall into the predetermined position; at the same time, the end of the linkage rod is driven by the first micro motor to put down the bamboo pole.

[0054] 3. Compaction operation is realized by the compaction mechanism. After the pole insertion operation is completed, the compaction mechanism will compact the soil around the bamboo pole inserted into the loose soil point. Figure 5 The compaction mechanism shown includes:

[0055] The compaction assembly 310 includes two sets of second rockers 311 that are independently connected to and driven by compaction motors 313 to swing horizontally. The compaction motors 313 are connected to the frame. Each second rocker 311 is equipped with a compaction surface 312. The compaction surface 312 is arc-shaped. The two compaction surfaces 312 swing toward each other and form a combined force to compact the soil around the predetermined drop point where the bamboo pole is located when they approach each other.

[0056] Fourth, the vine guiding operation is realized by the vine guiding mechanism. After the compaction operation is completed, the vine guiding mechanism drives the cowpea vine to rise around and realize the vine winding on the bamboo pole. Figure 6 The guiding mechanism shown includes:

[0057] The horizontal guide rail 410 for guiding the vines includes a circular guide rail that opens and closes in the horizontal direction. There are two circular guide rails that are symmetrically installed up and down. The circular guide rails are opened from the middle to form two semicircular rails. The rail openings that are symmetrically installed up and down are arranged opposite to each other.

[0058] The vine guiding cylinder 420 is arranged along the opening and closing direction of the semicircular track and is correspondingly connected to the semicircular track. The vine guiding cylinder 420 drives the semicircular track to gather the cowpea vines and form a complete circular guide rail.

[0059] There are two first sliders 430, which are slidably arranged in circular guide rails symmetrically installed above and below.

[0060] The sliding screw 440 is vertically arranged between the two first sliding blocks 430 symmetrically installed in the upper and lower directions;

[0061] The cowpea binding mechanism 450 slides longitudinally along the predetermined track of the sliding screw 440. The cowpea binding mechanism includes a binding motor 451. The binding motor 451 drives two driven gears in opposite directions through a driving gear. The two driven gears are connected to a binding arm 452. The radius of the binding arm 452 is smaller than the radius of the circular track. The binding arm 452 opens and closes within the cylindrical space defined by the circular guide rail to enclose the cowpea seedlings in the small ring. Driven by the motor in the first slider 430, the cowpea binding mechanism rotates along the horizontal track of the vine guide. At the same time, the motor is also connected to the sliding screw 440 via a gear. Driven by the sliding screw 440, the cowpea binding mechanism rotates counterclockwise along the horizontal track while moving upward, ultimately achieving the effect of guiding the vine. The motor in the first slider 430 can also be a dual-axis motor, which simultaneously drives the sliding screw 440 and the roller on the first slider 430 that drives the circular guide rail. However, this drive method is not limited to the above one, and independent motors can also be used to control each component.

[0062] 5. Knotting operation is realized by the knotting mechanism, which knots and fixes the part that has completed the vine guiding, such as Figure 7 and Figure 8 The knotting mechanisms shown include:

[0063] The friction wheel assembly 510 includes a friction wheel 511 that rests on a rope drum 553 that provides a line source on the frame 1 and is used to pull down the wound rope. The friction wheel 511 is connected to a friction motor 512, and the friction motor 512 is connected to an L-shaped support plate 513. The L-shaped support plate 513 is movably arranged relative to the frame 1 along the X-axis. A vertical gear 514 is movably arranged on the L-shaped support plate 513. The vertical gear 514 includes a group of vertically meshing bevel teeth, and the extended end of the rotating shaft of one of the bevel teeth is slidably arranged in a groove 515 opened on the L-shaped support plate 513. The extended end of the rotating shaft of the bevel tooth can be driven by a micro motor. A stabilizing gear 516 is coaxially connected to the bevel tooth. When the position of the vertical gear 514 is adjusted, the stabilizing gear 516 engages with the stabilizing rack 517 on the L-shaped support plate 513. The rotating shaft of the other bevel gear is connected to the housing of the friction motor 512, which is used to adjust the position of the friction motor 512 and, in turn, the position of the friction wheel 511. To stabilize the position adjustment effect of the friction motor 512, a stabilizing gear 516 is coaxially connected to the bevel gear in this embodiment. The stabilizing gear 516 meshes with the stabilizing rack 517 on the L-shaped support plate 513 when adjusting the position of the vertical gear 514.

[0064] The rope clamp 520 is movably arranged along the X-axis relative to the frame 1. The rope clamp 520 is arranged vertically and vertically stretches the rope end led out of the friction wheel assembly 510 to stretch the rope to a specified position;

[0065] The rotating assembly 530 includes a rotating cylinder 531 movably arranged along the X-axis and the Z-axis relative to the frame 1. The rotating cylinder 531 is connected by a horizontal connecting rod 532 and drives a pair of mutually symmetrical knotting grippers 533. The knotting grippers 533 can rotate 360 degrees. The initial position of the knotting grippers 533 is set in the horizontal direction. After rotating 90 degrees clockwise or counterclockwise, the knotting grippers 533 are set in the vertical direction. The two knotting grippers 533 can simultaneously clamp the rope on the rope gripper 520.

[0066] The cutting gripper 540 is movably arranged along the X-axis relative to the frame 1. The cutting gripper 540 corresponds to the position of the rope gripper 520 and is used to cut the rope above the rope gripper 520.

[0067] The drawstring assembly 550 includes a triangular frame 551. Two sides of the triangular frame 551 extend toward each other through a movable rack 554, forming a drawstring hook 552. The movable rack 554 is driven by a second gear 555 on the triangular frame 551. A rope drum 553 is mounted on the handle end of the drawstring hook 552. When the drawstring hook 552 rotates around the rotating assembly 530, the drawstring is wrapped around the two rope drums 553, leaving space for the drawstring hook 552 to draw the rope. Simultaneously, the drawstring hook 552, driven by the gear train, retracts into the rope drums 553, hooking the rope at the corresponding position for recovery, simulating a manual two-handed knotting operation. The rope drums 553 cooperate with the drawstring hook 552 to retract the two ends of the rope bow, completing the knot. Finally, the drawstring hook 552, driven by the movable rack 554, returns to its original position, awaiting the next action.

[0068] It should be noted here that the way in which the various components are movable relative to the frame 1 during the knotting operation is achieved by sliding on a slide driven by a motor, and the second gear 555 of the triangular frame 551 is driven by a micro motor connected to the corresponding gear.

[0069] In the above process, in order to ensure that the plant can pass through the whole mechanism, the opening and closing mechanism is provided with at least one set of correspondingly connected retractable connectors at the front and rear of the whole mechanism when the plant passes through the whole mechanism, and each retractable connector includes the following: Figure 9 A telescopic cylinder 610 is shown, which is telescopically extended and retracted left and right along the X-axis direction to drive the matching fork head 620 to fork left and right. The shape of the fork head 620 includes an outer fork and an inner fork. When the plant passes through the overall mechanism, the corresponding telescopic connecting parts at the front and back are alternately opened and closed to allow the plant to pass through.

[0070] The above embodiments are not limitations of the present invention, and the present invention is not limited to the above examples. Any changes, modifications, additions or substitutions made by technicians in this technical field within the scope of the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. An integrated cowpea stem-inserting and vine-guiding machine based on automatic control, comprising a housing with a hub mounted on the housing, characterized in that: The frame inside the shell is provided with a shoveling mechanism that carries a shoveling surface and moves back and forth; a feeding and inserting mechanism that automatically clamps a bamboo pole and drives the bamboo pole to be inserted into the soil loosened by the shoveling mechanism; a compacting mechanism that compacts the loosened soil; a vine guiding mechanism that gathers the cowpea seedlings in a small ring and drives the branches and vines to circle and rise; a knotting mechanism that automatically clamps a rope and ties the branches and vines; and an opening and closing mechanism for the cowpea plants to pass through the integrated machine.

2. The automatic control-based cowpea stem inserting and vine guiding integrated machine according to claim 1, characterized in that: The shoveling mechanism comprises a soil loosening main body movable arm (110) which is mounted on a horizontal stabilizing frame (120) and reciprocates, and a shoveling surface connecting rod assembly (130) which is rotatably connected to the horizontal stabilizing frame (120) and reciprocates.

3. The automatic control-based integrated cowpea stem insertion and vine guiding machine according to claim 2, characterized in that: The loosening main body movable arm (110) comprises a pair of movable rods (111), the movable rods (111) being fixedly connected to each other via a movable arm rotating shaft (112), the shaft ends of the movable arm rotating shaft (112) being simultaneously connected to a movable arm motor (113), and the movable arm motor (113) being mounted on a frame; the horizontal stabilizing frame (120) being fixedly connected to the ends of the movable rods (111) in a one-to-one manner; The shovel surface connecting rod assembly (130) is rotatably connected to the horizontal stable frame (120). The driving shaft (131) of the shovel surface connecting rod assembly (130) is rotatably arranged on the horizontal stable frame (120). An active rod (132) is installed on the active shaft (131). The distal end of the active rod (132) is hinged to a first driven rod (133). The distal end of the first driven rod (133) is hinged to the shovel surface (134). The shovel surface (134) is hinged to the horizontal stable frame (120) through a second driven rod. The driving shaft (131) is connected to a shoveling motor (135). The shoveling motor (135) is installed on the horizontal stable frame (120).

4. The automatic control-based integrated cowpea stem insertion and vine guiding machine according to claim 1, characterized in that: The insertion mechanism comprises a storage box (210) for storing bamboo poles, a movable door (220) for controlling the opening and closing of the storage box (210), and a clamping claw assembly (230) for clamping the bamboo poles and driving the bamboo poles to be inserted into the soil.

5. The automatic control-based integrated cowpea stem insertion and vine guiding machine according to claim 4, characterized in that: A passage opening (211) for sliding out bamboo poles is vertically provided at one side end of the storage box (210); the storage box (210) is installed on the frame (1) in an inclined direction, and the side with the passage opening (211) is positioned relatively low; A movable motor (222) installed on the side wall of the storage box (210) drives the movable door (220) to slide at the passage opening (211), and a first rack (221) that moves in the horizontal direction is provided on the movable door (220); The clamping claw assembly (230) includes a first rocking arm (232) driven by a clamping motor (231) to swing horizontally, the clamping motor (231) being mounted on a frame, a fixed rod (233) and a linkage rod (234) being mounted vertically on the first rocking arm (232), a clamping claw (235) being matched with the fixed rod (233) and the linkage rod (234), the fixed rod (233) being fixedly connected to the first rocking arm (232), and the linkage rod (234) being rotatably mounted on the first rocking arm (232). 32), a first gear (237) is installed on the rod body of the linkage rod (234), and when the clamping motor (231) drives the first rocking arm (232) to approach the movable door (220), the first gear (237) and the first rack (221) are engaged with each other, and the end of the linkage rod (234) is driven and connected by the first micro motor (236) at the same time, and the housing of the first micro motor (236) is fixedly connected to the fixed rod (233) or the clamping claw (235) on the fixed rod (233).

6. The automatic control-based integrated cowpea stem insertion and vine guiding machine according to claim 1, characterized in that: The vine guiding mechanism comprises a vine guiding horizontal guide rail (410) that opens and closes in the horizontal direction, a first slider (430) that is slidably arranged in the vine guiding horizontal guide rail (410), a sliding screw (440) that is arranged in the vertical direction, and a cowpea restraining mechanism (450) that opens and closes in the cylindrical space defined by the vine guiding horizontal guide rail (410) to enclose the cowpea seedlings in a small ring and drive the cowpea vines to rise.

7. The automatic control-based integrated cowpea stem insertion and vine guiding machine according to claim 6, characterized in that: The vine-guiding horizontal guide rail (410) is connected by driving a vine-guiding cylinder (420), and a sliding screw (440) is vertically arranged between two first sliders (430) symmetrically installed up and down. The cowpea restraining mechanism includes a restraining motor (451), and a restraining arm (452) is connected to the restraining motor (451). The radius of the restraining arm (452) is smaller than the radius of the circular track.

8. The cowpea stem inserting and vine guiding integrated machine based on automatic control according to claim 1, characterized in that: The knotting mechanism comprises a friction wheel assembly (510), a rope pulling clamp (520), a wire cutting clamp (540), a rotating assembly (530) and a rope drawing assembly (550) arranged on a frame (1); the rotating assembly (530) pulls the rope around the rope drawing assembly (550); the rope drawing assembly (550) hooks the rope within a movable track defined by a triangular frame (551) and retracts the rope to form two ears of a rope bow.

9. The cowpea stem inserting and vine guiding integrated machine based on automatic control according to claim 8, characterized in that: The friction wheel assembly (510) includes a friction wheel (511), the friction wheel (511) is connected to a friction motor (512), the friction motor (512) is connected to an L-shaped support plate (513), the L-shaped support plate (513) is movably arranged relative to the frame (1) along the X-axis, and a vertical gear (514) is movably arranged on the L-shaped support plate (513), and the vertical gear (514) includes a group of vertically meshed umbrella teeth, wherein the shaft extension end of one of the umbrella teeth is slidably arranged on the L-shaped support plate ( The extended end of the rotating shaft of the umbrella-shaped tooth is driven by a micro-motor in a groove (515) opened on the vertical support plate (513). A stabilizing gear (516) is coaxially connected to the umbrella-shaped tooth. The stabilizing gear (516) is engaged with the stabilizing rack (517) on the L-shaped support plate (513) when adjusting the position of the vertical gear (514). The rotating shaft of the other umbrella-shaped tooth is connected to the housing of the friction motor (512) to adjust the position of the friction motor (512) and further adjust the position of the friction wheel (511).

10. A method for inserting and guiding cowpea stems and vines based on the automatic control integrated cowpea stem inserting and vine guiding machine according to any one of claims 1 to 9, the method comprising the steps of: Activating the opening and closing mechanism to allow the cowpea plants to enter the cowpea stem-inserting and vine-guiding integrated machine; The shovel mechanism carries the shovel face and moves back and forth to loosen the soil; The insertion mechanism automatically clamps the bamboo poles and drives the bamboo poles to be inserted into the soil loosened by the soil shoveling mechanism; The compacting mechanism compacts the soil after loosening; The large and small closed rings of the vine guiding mechanism drive the branches to rise counterclockwise; The knotting mechanism automatically clamps the rope and ties the branches; The opening and closing mechanism is started again to pass the cowpeas after the rods are inserted and the vines are guided through the cowpea rod-inserting and vine-guiding integrated machine.

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