A mechanism for imitating the human hand in gathering leaves of carrot

Abstract

A mechanism for imitating human hand to gather carrot stems and leaves, comprising two groups of gathering mechanisms arranged on a main frame, the two groups of gathering mechanisms are arranged symmetrically left and right; each group of gathering mechanisms comprises a driving motor, a cylindrical cam, a parallelogram linkage and two first left and right stroke optical shafts, the driving motor is installed on the main frame; based on the above, the two groups of gathering mechanisms arranged symmetrically left and right work synchronously, the bent carrot stems and leaves on both sides of the ridge are lifted by the supporting hands, and the carrot stems and leaves on both sides are gathered to the middle, then the carrot stems and leaves are clamped by the two sides of the supporting hand, finally the carrot stems and leaves are clamped and continue to be lifted, and then the carrot stems and leaves are fed into the clamping and cutting mechanism at the rear, and then the cycle action is reset quickly; the application designs a gathering mechanism by imitating the action of human hand to gather carrot stems and leaves, so that the precision and quality of the supporting hand are improved, the labor cost is saved, and the work efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to a mechanism for imitating human hands to gather carrot stems and leaves. BACKGROUND

[0002] China's carrot planting area is close to 40% of the world's total carrot planting area, and the total output accounts for about 1 / 3 of the world's total output, being the world's largest carrot producer. In the whole process of carrot production, carrot planting has basically realized mechanization, and in the aspect of carrot harvesting, there are few tools for carrot harvesting, and the operation mode of farmers harvesting carrots still mainly adopts manual digging, which is extremely low in efficiency and high in labor intensity. At the same time, the level of carrot harvesting mechanization is low, and various types of carrot harvesters have poor stability, especially the stalk guiding device of the carrot harvester. The current stalk guiding mechanism of the carrot harvester mostly adopts fixed type and roller counter-rotating type, and the stems and leaves are often wound into a bundle, affecting the harvesting efficiency, and the stalk guiding efficiency is not high.

[0003] Animals and plants have evolved to almost perfect adaptation to nature through millions of years of evolution, and bionics is to imitate the functions of animals and plants in nature through technical means. As the most "successful" species in evolution, humans can better adapt to nature, utilize nature and transform nature through the limbs controlled by the brain. In recent years, bionics has been increasingly widely applied in the field of agricultural engineering, and therefore the present application provides a gathering mechanism for imitating human hand actions to lift and gather carrot stems and leaves on both sides of the ridge, so as to solve the problems raised in the above background technology. SUMMARY

[0004] The present application aims to provide a mechanism for imitating human hands to gather carrot stems and leaves, and solve the technical problems of poor stalk guiding effect and low efficiency of the stalk guiding mechanism of the existing carrot harvester.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] A mechanism for imitating human hands to gather carrot stems and leaves, comprising two groups of gathering mechanisms arranged on a main frame, the two groups of gathering mechanisms being arranged symmetrically left and right;

[0007] Each group of gathering mechanisms comprises a driving motor, a cylindrical cam, a parallelogram linkage and two first left and right stroke shafts, the driving motor being installed on the main frame, the cylindrical cam being installed on the main shaft of the driving motor, a cam groove being formed on the outer surface of the cylindrical cam, the cam groove being composed of a circumferential groove section and a transition groove section, the circumferential groove section being located in the circumferential direction of the outer surface of the cylindrical cam;

[0008] Two first left and right stroke light shafts are installed side by side on the main frame, two-degree-of-freedom sliders are installed on the two first left and right stroke light shafts, the two-degree-of-freedom sliders can slide left and right along the two first left and right stroke light shafts, a Z-shaped connecting piece is fixed on the two-degree-of-freedom sliders, a cylindrical pin is fixed at the end of the Z-shaped connecting piece, and the cylindrical pin extends into the cam groove along the radial direction of the cylindrical cam;

[0009] The bottom of the two-degree-of-freedom slider is provided with a sliding groove, a sliding rail is inserted in the sliding groove, the sliding rail can move in the front and rear directions in the bottom sliding groove of the two-degree-of-freedom slider, an L-shaped connecting piece is fixed on the sliding rail, two upper and lower stroke light shafts are fixed at the end of the L-shaped connecting piece, and a four-degree-of-freedom driving block is arranged on the two upper and lower stroke light shafts, the four-degree-of-freedom driving block can move up and down along the two upper and lower stroke light shafts, and a weeding hand mechanism is installed on the four-degree-of-freedom driving block.

[0010] The outer shape of the parallelogram linkage is a parallelogram, the parallelogram linkage comprises a first connecting rod, a second connecting rod, a first link and a second link, the first link and the second link are arranged in parallel, the two ends of the first connecting rod are hingedly connected to the end portions of the first link and the second link respectively, the two ends of the second connecting rod are hingedly connected to the other end portions of the first link and the second link respectively, and the hinge joints of the first connecting rod with the end portions of the first link and the second link are respectively an upper hinge joint and a lower hinge joint; the main shaft end of the driving motor is provided with a driving crank, the end of the driving crank is hingedly connected to the upper hinge joint, a rocker and a driven crank are rotatably installed on the main frame, the end of the rocker is hingedly connected to the middle portion of the first link, the driven crank is located below the driving crank in parallel, and the end of the driven crank is hingedly connected to the lower hinge joint.

[0011] The second left and right stroke light shaft is fixed on the four-degree-of-freedom driving block, the front end of the up and down stroke support rod is provided with a sleeve, and the second left and right stroke light shaft is inserted into the sleeve in the left and right horizontal directions.

[0012] The front end of the up and down stroke support rod is further provided with a 90-degree turnover mechanism, and the 90-degree turnover mechanism is used for rotating the weeding hand mechanism by 90 degrees.

[0013] Further, the weeding hand mechanism comprises a fixed seat and a rotating light shaft, one end of the rotating light shaft is rotatably installed on the four-degree-of-freedom driving block, the fixed seat is fixed at the other end of the rotating light shaft, and a weeding hand is installed on the fixed seat.

[0014] Further, the weeding hand comprises a base strip plate, and a flexible clamping body is connected to the upper surface of the base strip plate through a plurality of springs.

[0015] Further, the 90-degree turnover mechanism comprises turnover connecting rod one and turnover connecting rod two, the end portions of the turnover connecting rod one and the turnover connecting rod two are hingedly connected, the end portion of the turnover connecting rod one is rotatably installed at the end portion of the up-and-down stroke support rod, and the end portion of the turnover connecting rod two is fixed on the rotating optical axis.

[0016] Compared with the prior art, the present application has the beneficial effects that: the two groups of raking mechanisms arranged symmetrically left and right work synchronously, the bent and fallen carrot stems and leaves are lifted on both sides of the ridge by the lifting hands, and the carrot stems and leaves on both sides are gathered to the middle, then the carrot stems and leaves are clamped by the lifting hands on both sides, and finally the carrot stems and leaves are clamped and continuously lifted, and fed into the clamping and cutting mechanism at the rear, and then quickly reset for the cycle action; the present application designs a raking mechanism by imitating the action of human hands raking carrot stems and leaves, so that the precision and quality of the lifting are improved, the labor cost is saved, and the work efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application together with the embodiments thereof, and explain the present application, but do not constitute a limitation of the present application. In the drawings:

[0018] Figure 1 It is a structure schematic view of the mechanism for imitating human hands to rake carrot stems and leaves;

[0019] Figure 2 It is a structure schematic view of the raking mechanism;

[0020] Figure 3 It is a connection schematic view of the cylindrical cam and the Z-shaped connecting piece;

[0021] Figure 4 It is a connection schematic view of the two-degree-of-freedom sliding block, the L-shaped connecting piece and the four-degree-of-freedom driving block;

[0022] Figure 5 It is a connection schematic view of the two-degree-of-freedom sliding block, the 90-degree turnover mechanism, the four-degree-of-freedom driving block and the up-and-down stroke support rod;

[0023] Figure 6 It is a structure schematic view of the parallelogram linkage;

[0024] Figure 7 It is a structure schematic view of the lifting hand;

[0025] Figure 8 It is a working state view of the present application in the first stage;

[0026] Figure 9 It is a working state view of the present application in the second stage;

[0027] Figure 10The third stage of the application is in the working state diagram. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the application will be apparently and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all the other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the application.

[0029] The application will be further described in detail below with reference to the embodiments.

[0030] As shown in the figure, a specific embodiment of the mechanism for imitating human hands to gather carrot stems and leaves provided by the application is as follows: Figures 1-10 A mechanism for imitating human hands to gather carrot stems and leaves comprises two sets of gathering mechanisms arranged on a main frame 1, and the two sets of gathering mechanisms are arranged symmetrically left and right.

[0031] A mechanism for imitating human hands to gather carrot stems and leaves comprises two sets of gathering mechanisms arranged on a main frame 1, and the two sets of gathering mechanisms are arranged symmetrically left and right.

[0032] Each set of gathering mechanisms comprises a driving motor 2, a cylindrical cam 3, a parallelogram linkage 4 and two first left-right stroke shafts 5. The driving motor 2 is installed on the main frame 1. The cylindrical cam 3 is installed on the main shaft of the driving motor 2, and the end of the main shaft of the driving motor 2 is rotatably installed on the main frame 1 through an angular contact bearing, so as to realize stable rotation, as shown in the figure. Figure 3 As shown in the figure, a specific embodiment of the mechanism for imitating human hands to gather carrot stems and leaves provided by the application is as follows:

[0033] The two first left-right stroke shafts 5 are installed side by side on the main frame 1. Two-degree-of-freedom sliders 9 are installed on the two first left-right stroke shafts 5. The two-degree-of-freedom sliders 9 can slide left and right along the two first left-right stroke shafts 5. Z-shaped connecting pieces 10 are fixed on the two-degree-of-freedom sliders 9. Cylindrical pins 11 are fixed at the ends of the Z-shaped connecting pieces 10. The cylindrical pins 11 extend into the cam groove 6 along the radial direction of the cylindrical cam 3.

[0034] The bottom of the two-degree-of-freedom slider 9 is provided with a sliding groove, a sliding rail 12 is inserted in the sliding groove, the sliding rail 12 can move in the front-rear direction in the sliding groove of the bottom of the two-degree-of-freedom slider 9, an L-shaped connecting piece 13 is fixed on the sliding rail 12, two upper and lower stroke optical shafts 14 are fixed at the end of the L-shaped connecting piece 13, a four-degree-of-freedom driving block 15 is arranged on the two upper and lower stroke optical shafts 14, the four-degree-of-freedom driving block 15 can move up and down along the two upper and lower stroke optical shafts 14, and a lifting hand mechanism is installed on the four-degree-of-freedom driving block 15. The lifting hand mechanism comprises a fixed seat 16 and a rotating optical shaft 17, one end of the rotating optical shaft 17 is rotatably installed on the four-degree-of-freedom driving block 15, the fixed seat 16 is fixed at the other end of the rotating optical shaft 17, and a lifting hand 18 is installed on the fixed seat 16, as shown in Figure 7 The lifting hand 18 comprises a base strip plate 19, and a flexible clamping body 21 is connected to the upper surface of the base strip plate 19 through a plurality of springs 20; the lifting hand 18 is divided into three parts, and an inclined surface with a certain angle is arranged at the front end of the base strip plate 19, which is used to make the front carrot stems and leaves receive a downward inclined force, so as to be more smoothly introduced into the lifting hand 18; the arrangement of the springs 20 can share the clamping force received by the carrot stems and leaves during clamping, so as to reduce the damage rate of the carrot stems and leaves; the flexible clamping body 21 can clamp the carrot stems and leaves after lifting, so as to facilitate the next feeding, and can also avoid the carrot stems and leaves from scattering downward under the action of gravity.

[0035] The outer shape of the parallelogram linkage 4 is a parallelogram, as shown in Figure 6 The parallelogram linkage 4 comprises a first connecting rod 22, a second connecting rod 23, a first connecting rod 24 and a second connecting rod 25, the first connecting rod 24 and the second connecting rod 25 are arranged in parallel, the two ends of the first connecting rod 22 are hingedly connected to the end portions of the first connecting rod 24 and the second connecting rod 25, respectively, the two ends of the second connecting rod 23 are hingedly connected to the other end portions of the first connecting rod 24 and the second connecting rod 25, respectively, and the hinge points of the first connecting rod 22 with the end portions of the first connecting rod 24 and the second connecting rod 25 are an upper hinge point 26 and a lower hinge point 27; the end portion of the main shaft of the driving motor 2 is provided with a driving crank 28, the end portion of the driving crank 28 is hingedly connected to the upper hinge point 26, and a rocker 29 and a driven crank 30 are rotatably installed on the main frame 1, the end portion of the rocker 29 is hingedly connected to the middle portion of the first connecting rod 24, and the driven crank 30 is parallel to the driving crank 28 and located below the driving crank 28, and the end portion of the driven crank 30 is hingedly connected to the lower hinge point 27.

[0036] The second connecting rod 23 is fixed with an up-down stroke support rod 31, the up-down stroke support rod 31 is arranged in the front-rear horizontal direction, the four-degree-of-freedom driving block 15 is fixed with a second left-right stroke optical shaft 32, the front end portion of the up-down stroke support rod 31 is fixed with a sleeve 33, and the second left-right stroke optical shaft 32 is inserted in the sleeve 33 in the left-right horizontal direction.

[0037] The active crank 28, the rocker 29, the driven crank 30 and the parallelogram linkage 4 constitute a crank-rocker 29 mechanism, which adopts a top-down design method. The mechanism needs to meet the continuous reciprocating action requirement of the weeding action, so the mechanism needs to have two working strokes, namely the action stroke and the reset stroke. According to the agricultural and actual application requirements, the action stroke should be a vertical upward linear motion, and the reset stroke needs to quickly restore the weeding hand 18 to the initial position of the action. However, direct reset will cause the weeding hand 18 to hit and even break the stems and leaves of the carrots, resulting in poor weeding effect, so the reset stroke needs to simulate the action of the human hand recovering and extending again, and the action trajectory should be approximately a cycloid. In order to realize fast reset and increase the weeding efficiency, the invention utilizes the quick-return characteristic of the crank-rocker 29 mechanism to adapt to the preset action requirement. Specifically, the active crank 28 is a driving part, one end of the active crank 28 is connected with the main shaft of the driving motor 2 and rotates under the driving of the driving motor 2, and the other end of the active crank 28 is hinged at the upper hinge point 26. One end of the rocker 29 is hinged on the main rack 1, and the other end of the rocker 29 is hinged at the middle part of the first connecting rod 24. The parallelogram linkage 4 adopts a parallelogram structure, and under the pulling of the active crank 28 and the rocker 29, the parallelogram linkage 4 drives the up-down stroke support rod 31 to complete the vertical upward action and the approximately cycloid reset action (the action trajectory is shown in Figure 6 According to the calculation, the distance between the main shaft and the end of the rocker 29 connected with the main rack 1 is 320 mm, the lengths of the first connecting rod 24 and the second connecting rod 25 are 800 mm, the lengths of the first connecting rod 22 and the second connecting rod 23 are 200 mm, the lengths of the active crank 28 and the driven crank 30 are 160 mm, and the length of the rocker 29 is 400 mm.

[0038] The front end of the up-down stroke support rod 31 is further provided with a 90-degree flip mechanism, which is used to rotate the weeding hand 18 mechanism by 90 degrees.

[0039] As shown in Figure 5 The 90-degree flip mechanism includes a flip connecting rod one 34 and a flip connecting rod two 35, the ends of the flip connecting rod one 34 and the flip connecting rod two 35 are hinged, the end of the flip connecting rod one 34 is rotatably installed at the end of the up-down stroke support rod 31, and the end of the flip connecting rod two 35 is fixed on the rotating optical axis 17.

[0040] The mechanism simulating the human hand gathering carrot stems and leaves works synchronously with the two groups of gathering mechanisms. Specifically, the driving motor 2 is started to drive the main shaft to rotate, which in turn drives the active crank 28 and the cylindrical cam 3 to rotate, as shown in Figure 8As shown, the first stage is a two-side lifting stage, the driving crank 28 rotates to drive the parallelogram linkage 4 to move, so that the up-and-down stroke support rods 31 fixed on the second linkage rod 23 move vertically upward, at the same time, the cylindrical pin 11 is in the circumferential groove segment 7, and the circumferential groove segment 7 is located in the circumferential direction of the outer surface of the cylindrical cam 3, so the cylindrical cam 3 does not exert force on the cylindrical pin 11 when rotating, and as the two up-and-down stroke support rods 31 move upward, the up-and-down stroke support rods 31 drive the four-degree-of-freedom driving block 15 through the second left-and-right stroke light shaft 32, so that the four-degree-of-freedom driving block 15 moves upward along the two up-and-down stroke light shafts 14, and the supporting hands 18 are installed on the four-degree-of-freedom driving block 15, so the two groups of supporting hands 18 move upward, and in the process of vertical upward movement, the two groups of supporting hands 18 support the middle bent carrot stems and leaves.

[0041] Then enters the second stage, that is, the lifting, gathering and overturning stage, as shown in Figure 9 As shown, the up-and-down stroke support rods 31 continue to move vertically upward, and at this time, as the cylindrical cam 3 rotates, the cylindrical pin 11 enters the transition groove segment 8, which "pushes" the cylindrical pin 11, so that the two cylindrical pins 11 move inward, and the cylindrical pin 11, the Z-shaped connecting piece 10 and the two-degree-of-freedom sliding block 9 are in a fixed connection, so the two-degree-of-freedom sliding block 9 slides inward along the two first left-and-right stroke light shafts 5 under the drive of the cylindrical pin 11, and the slide rail 12 is installed on the two-degree-of-freedom sliding block 9, and the slide rail 12, the L-shaped connecting piece 13 and the two up-and-down stroke light shafts 14 are in a fixed connection, so the two-degree-of-freedom sliding block 9 drives the L-shaped connecting piece 13 and the up-and-down stroke light shafts 14 to move inward, and the four-degree-of-freedom driving block 15 is arranged on the up-and-down stroke light shafts 14, and the supporting hands 18 are arranged on the four-degree-of-freedom driving block, so the two supporting hands 18 move inward synchronously, realizing the gathering action, and in this process, the up-and-down stroke support rods 31 only move vertically upward and do not move in the left-and-right direction, so the overturning linkage one 34 and the overturning linkage two 35 rotate relative to the hinge point, the rotating light shaft 17 at the end of the overturning linkage two 35 rotates under the four-degree-of-freedom driving block 15, and further drives the supporting hands 18 fixed thereto to overturn, and the gathering and overturning actions together realize the clamping of the carrot stems and leaves.

[0042] Then enters the third stage, that is, the clamping and upward conveying stage, as shown in Figure 10 As shown, the up-and-down stroke support rods 31 continue to move vertically upward, and at this time, as the cylindrical cam 3 rotates, the cylindrical pin 11 again enters the circumferential groove segment 7, and the supporting hands 18 move vertically upward through the flexible holding bodies at the upper ends to clamp the carrot stems and leaves, so as to ensure that the carrot stems and leaves will not slide downward due to gravity.

[0043] Then enters the fourth stage, that is, the feeding reset stage, the up and down stroke support rod 31 is driven by the parallelogram linkage 4 to move backward and downward, in the initial stage of the action, the two groups of supporting hands 18 "feed" the carrot stems and leaves into the rear clamping mechanism, at this time the cylindrical pin 11 enters the transition groove section 8 again, under the action of the transition groove section 8, the cylindrical pin 11 pulls the two-degree-of-freedom slider 9 to the two sides through the Z-shaped connecting piece 10, and finally the two groups of four-degree-of-freedom driving blocks 15 move to the two sides, in this process, the up and down stroke support rod 31 does not move in the left and right directions, therefore the turnover linkage one 34 and the turnover linkage two 35 rotate around the hinge point, the rotating optical axis 17 fixed at the end of the turnover linkage two 35 rotates with the four-degree-of-freedom driving block 15, and the supporting hand 18 is turned over and reset; then the up and down stroke support rod 31 moves forward and downward, the supporting hand 18 returns to the initial position of supporting the wheat, and the cycle action is repeated; in addition, it should be noted that when the up and down stroke support rod 31 moves in the forward and backward directions, the up and down stroke support rod 31 pulls the four-degree-of-freedom driving block 15 to move forward or backward through the second left and right stroke optical axis 32, the four-degree-of-freedom driving block 15 pulls the slide rail 12 through the up and down stroke optical axis 14 and the L-shaped connecting piece 13, so that the slide rail 12 moves in the sliding groove of the two-degree-of-freedom slider 9.

[0044] It should be noted that in this text, terms such as "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0045] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanism that mimics the action of a human hand gathering carrot stems and leaves, characterized in that: It includes two sets of gathering mechanisms mounted on the main frame, with the two sets of gathering mechanisms arranged symmetrically on the left and right sides; Each set of gathering mechanisms includes a drive motor, a cylindrical cam, a parallelogram linkage group, and two first left and right stroke optical shafts. The drive motor is mounted on the main frame, and the cylindrical cam is mounted on the main shaft of the drive motor. A cam groove is formed on the outer surface of the cylindrical cam. The cam groove is composed of a circumferential groove section and a transition groove section. The circumferential groove section is located in the circumferential direction of the outer surface of the cylindrical cam. Two first left and right travel optical axes are mounted side by side on the main frame. Two-degree-of-freedom sliders are mounted on the two first left and right travel optical axes. The two-degree-of-freedom sliders can slide left and right along the two first left and right travel optical axes. A Z-shaped connector is fixed on the two-degree-of-freedom slider. A cylindrical pin is fixed at the end of the Z-shaped connector. The cylindrical pin extends into the cam groove along the radial direction of the cylindrical cam. The bottom of the two-degree-of-freedom slider is provided with a groove, and a slide rail is inserted in the groove. The slide rail can move in the front-back direction in the bottom groove of the two-degree-of-freedom slider. An L-shaped connector is fixed on the slide rail. Two vertical stroke optical axes are fixed at the ends of the L-shaped connector. A four-degree-of-freedom drive block is provided on the two vertical stroke optical axes. The four-degree-of-freedom drive block can move up and down along the two vertical stroke optical axes. A lifting hand mechanism is installed on the four-degree-of-freedom drive block. The parallelogram linkage assembly is parallelogram in shape and includes a first connecting rod, a second connecting rod, a first connecting rod, and a second connecting rod. The first connecting rod and the second connecting rod are arranged parallel to each other. The two ends of the first connecting rod are hinged to the ends of the first connecting rod and the second connecting rod, respectively. The two ends of the second connecting rod are hinged to the other ends of the first connecting rod and the second connecting rod, respectively. The hinge points of the first connecting rod with the ends of the first connecting rod and the second connecting rod are the upper hinge point and the lower hinge point, respectively. The main shaft end of the drive motor is equipped with an active crank, the end of which is hinged at the upper hinge point. A rocker arm and a driven crank are rotatably mounted on the main frame. The end of the rocker arm is hinged to the middle of the first connecting rod. The driven crank is parallel to and located below the active crank, and the end of the driven crank is hinged at the lower hinge point. The second connecting rod is fixed with an upper and lower stroke support rod, which is set in the front and rear horizontal direction. The four-degree-of-freedom drive block is fixed with a second left and right stroke optical axis. The front end of the upper and lower stroke support rod is fixed with a sleeve, and the second left and right stroke optical axis is inserted into the sleeve in the left and right horizontal direction. The front end of the upper and lower stroke support rod is also equipped with a 90-degree flipping mechanism, which is used to rotate the handle mechanism by 90 degrees.

2. The mechanism for mimicking a human hand gathering carrot stems and leaves according to claim 1, characterized in that: The rice-lifting hand mechanism includes a fixed base and a rotating optical shaft. One end of the rotating optical shaft is rotatably mounted on a four-degree-of-freedom drive block, and the fixed base is fixed to the other end of the rotating optical shaft. The rice-lifting hand is mounted on the fixed base.

3. The mechanism for mimicking a human hand gathering carrot stems and leaves according to claim 2, characterized in that: The support arm includes a base plate, and a flexible clamping body is connected to the upper surface of the base plate by several springs.

4. The mechanism for mimicking a human hand gathering carrot stems and leaves according to claim 3, characterized in that: The 90-degree flipping mechanism includes a flipping link one and a flipping link two. The ends of flipping link one and flipping link two are hinged together. The end of flipping link one is rotatably mounted on the end of the upper and lower stroke support rod, and the end of flipping link two is fixed on the rotating optical shaft.

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