Crab-shaped sesame cutting and bundling robot based on mantis foreleg bionic blade and control method

Abstract

The application discloses a crab-shaped sesame cutting and bundling robot based on a mantis foreleg bionic blade and a control method, and relates to the field of sesame cutting and bundling robots.The sesame cutting and bundling robot comprises a mobile vehicle, a bundling device arranged at the front side of the mobile vehicle, a cutting device and a collecting device movably connected to the front side of the mobile vehicle, and a narrowing structure connected to the front side of the mobile vehicle.The cutting device, the collecting device and the bundling device are arranged in sequence from bottom to top.The collecting device collects the sesame rods cut by the cutting device to the narrowing structure for bundling by the bundling device.The cutting blade of the cutting device adopts a bionic long-short-tooth blade based on a mantis foreleg.The circular moving track formed by the crab-shaped collecting claw of the collecting device covers the bionic long-short-tooth blade.Under the collecting action of the crab-shaped collecting claw, the sesame rods are inclined towards the mobile vehicle, and then the bionic long-short-tooth blade cuts the sesame rods, so that the sesame rods are more easily cut, and the automatic harvesting efficiency of the sesame rods is higher.

Description

Technical Field

[0001] This invention relates to the fields of agricultural engineering and robotics, and in particular to a crab-shaped sesame cutting and bundling robot based on the biomimetic blades of a mantis's forelegs, and its control method. Background Technology

[0002] Sesame is a traditional grain and high-value health food in Asian and African countries, as well as a specialty oil crop with high nutritional, medicinal, and oil value. However, sesame harvesting is mainly done manually, requiring a large labor force and exhibiting low levels of automation and precision.

[0003] In the prior art, patent document CN115804293 discloses a highly efficient automated sesame cutting and bundling device that realizes the automatic harvesting and bundling of sesame stalks. However, sesame stalks are composed of multiple bundles of fibers, which are not easy to cut, and the efficiency of automated harvesting of sesame stalks needs to be improved.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a crab-shaped sesame cutting and bundling robot and its control method based on the biomimetic blade of a mantis foreleg, which addresses the above-mentioned deficiencies of the prior art. The aim is to solve the problem that sesame stalks are multi-bundled fibers and are not easy to cut, and the efficiency of automated harvesting of sesame stalks needs to be improved.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A crab-shaped sesame-cutting and bundling robot based on the biomimetic blades of a praying mantis's forelegs, comprising:

[0008] Mobile vehicle;

[0009] A bundling device is installed on the front side of the mobile vehicle;

[0010] The cutting device and the collection device are movably connected to the front side of the mobile vehicle;

[0011] A narrowing structure is connected to the front side of the mobile vehicle;

[0012] The cutting device, the collecting device, and the bundling device are arranged sequentially from bottom to top; the collecting device collects the sesame stalks cut by the cutting device into the narrowing structure for the bundling device to tie.

[0013] The cutting device uses short-toothed blades that mimic the growth of mantis forelegs.

[0014] The circular moving track formed by the crab-shaped collecting claws of the collecting device covers the bionic short-tooth blade.

[0015] The crab-shaped sesame cutting and bundling robot based on the bionic blade of praying mantis foreleg, wherein the bionic short-tooth blade comprises:

[0016] The first rack is arranged on the moving vehicle;

[0017] The second rack is movably connected with the moving vehicle;

[0018] The first rack is arranged on the moving vehicle;

[0019] The second rack is movably connected with the moving vehicle;

[0020] The first cutting teeth, the second cutting teeth and the third cutting teeth are arranged alternately on the second rack;

[0021] The first cutting teeth, the second cutting teeth and the third cutting teeth are arranged alternately on the second rack;

[0022] The crab-shaped sesame cutting and bundling robot based on the bionic blade of praying mantis foreleg, wherein the bundling device comprises:

[0023] The rope winding placement position is arranged on the moving vehicle;

[0024] The rope feeding hook is rotatably connected with the moving vehicle;

[0025] The crank rocker mechanism is arranged on the moving vehicle and is used for driving the rope feeding hook to reciprocally swing;

[0026] The knotter is arranged on the moving vehicle;

[0027] The knotter and the rope feeding hook are located on both sides of the narrowing structure;

[0028] The rope feeding hook feeds the rope on the rope winding placement position to the knotter along an arc reciprocating swing track.

[0029] The crab-shaped sesame cutting and bundling robot based on the bionic blade of praying mantis foreleg, wherein the knotter comprises:

[0030] The rack is arranged on the moving vehicle;

[0031] The first driving assembly is arranged in the rack;

[0032] The end rotating member is rotatably arranged in the rack;

[0033] The knot part rotating piece is arranged on the frame;

[0034] The cutter is arranged on the frame;

[0035] The end part of the rope passes through the knot part rotating piece and is clamped on the end part rotating piece;

[0036] When the knot part of the rope is sent to the end part rotating piece through the knot part rotating piece by the rope sending hook and is clamped, the first driving assembly drives the knot part rotating piece to rotate the knot, and drives the end part rotating piece to rotate to the cutter to cut off the knot part of the rope.

[0037] The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade, wherein the crab-shaped collecting claw comprises a plurality of left collecting claws and a plurality of right collecting claws; the left collecting claws and the right collecting claws are both curved outwardly;

[0038] The collecting device further comprises:

[0039] The left double-crank mechanism and the right double-crank mechanism are both rotationally connected with the moving vehicle;

[0040] The second driving assembly is used for driving the left double-crank mechanism and the right double-crank mechanism to rotate;

[0041] The left double-crank mechanism and the right double-crank mechanism are respectively located on the two sides of the narrowing structure;

[0042] The left collecting claw is arranged on the left double-crank mechanism;

[0043] The right collecting claw is arranged on the right double-crank mechanism.

[0044] The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade, wherein the moving vehicle is provided with a controller and an imager, and the imager is used for collecting images of sesame rods; the moving vehicle, the bundling device, the cutting device, the collecting device and the imager are all electrically connected with the controller, and the controller is wirelessly connected with a control terminal;

[0045] The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade further comprises:

[0046] The lifting device is arranged on the moving vehicle;

[0047] The pressure sensor is arranged on the lifting device;

[0048] The cutting device, the collecting device and the narrowing structure are connected with the moving vehicle through the lifting device;

[0049] The pressure sensor is used to detect the weight of the sesame rod collected by the collecting device;

[0050] The lifting device and the pressure sensor are electrically connected with the controller.

[0051] The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade, wherein the moving vehicle comprises:

[0052] A vehicle body;

[0053] Four track wheel assemblies are respectively rotatably connected to the four corners of the vehicle body.

[0054] The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade, wherein the track wheel assembly comprises:

[0055] A side plate;

[0056] A third driving assembly is arranged on the side plate;

[0057] A driving gear and at least one driven gear are rotatably connected with the side plate;

[0058] A track is respectively engaged with the driving gear and the driven gear.

[0059] The output shaft of the third driving assembly is connected with the driving gear.

[0060] A control method of the crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade, wherein the control method comprises the following steps:

[0061] After starting the cutting device and the collecting device, the moving vehicle is controlled to move towards the sesame rod;

[0062] When the bundling condition is met, the bundling device is controlled to bundle the sesame rod at the position of the collecting structure; wherein the bundling device completes the bundling within the time when the crab-shaped collecting claw of the collecting device approaches the moving vehicle.

[0063] The control method of the crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade, wherein a controller and an imager are arranged on the moving vehicle, the imager is used to collect the image of the sesame rod; the moving vehicle, the bundling device, the cutting device, the collecting device, and the imager are electrically connected with the controller, and the controller is wirelessly connected with a control terminal.

[0064] The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade further comprises:

[0065] A lifting device is arranged on the moving vehicle.

[0066] A pressure sensor is arranged on the lifting device;

[0067] The cutting device, the collecting device and the narrowing structure are connected with the moving vehicle through the lifting device;

[0068] The pressure sensor is used for detecting the weight of the collected sesame stems;

[0069] The lifting device and the pressure sensor are electrically connected with the controller;

[0070] The bundling condition includes at least one of the following: the weight of the collected sesame stems reaches a preset value, and the bundling interval time reaches a preset time;

[0071] The control method further includes:

[0072] An image of the sesame stems is acquired by the imager;

[0073] According to the image of the sesame stems, the planting density of the sesame stems is determined, and the moving speed of the moving vehicle and the rotating speed of the collecting device are adjusted according to the planting density of the sesame stems.

[0074] Beneficial effects: under the collecting action of the crab-shaped collecting claw, the sesame stems are inclined towards the moving vehicle, and then the bionic short-tooth blade is used to cut the sesame stems, so that the sesame stems are more easily cut off, and the automatic harvesting efficiency of the sesame stems is higher. BRIEF DESCRIPTION OF DRAWINGS

[0075] Figure 1 is a first structure schematic diagram of a crab-shaped sesame bundling robot based on a bionic blade of a front leg of a mantis in an embodiment of the present application.

[0076] Figure 2 is an enlarged view of A in Figure 1

[0077] Figure 3 is a top view of a crab-shaped sesame bundling robot based on a bionic blade of a front leg of a mantis in an embodiment of the present application.

[0078] Figure 4 is an enlarged view of B in Figure 3

[0079] Figure 5 is a second structure schematic diagram of a crab-shaped sesame bundling robot based on a bionic blade of a front leg of a mantis in an embodiment of the present application.

[0080] Figure 6 is a structure schematic diagram of a knotter in an embodiment of the present application.

[0081] Figure 7 ​​is a flow chart of a control method of a crab-shaped sesame cutting and bundling robot based on a mantis foreleg bionic blade in embodiments of the present application.

[0082] BRIEF DESCRIPTION OF DRAWINGS

[0083] 10, mobile vehicle; 11, vehicle body; 12, track wheel assembly; 13, steering device; 20, bundling device; 21, rope roll placement position; 22, rope feeding hook; 23, crank rocker mechanism; 24, knotter; 241, frame; 242, first driving assembly; 243, end rotating piece; 244, knotting part rotating piece; 245, cutter; 30, cutting device; 31, bionic long-short-tooth blade; 311, first rack; 3111, first cutting tooth; 312, second rack; 3121, second cutting tooth; 3122, third cutting tooth; 40, gathering device; 41, crab-shaped gathering claw; 42, left double crank mechanism; 43, right double crank mechanism; 44, second driving assembly; 50, narrowing structure; 60, lifting device; 61, mounting platform; 62, extender. DETAILED DESCRIPTION

[0084] To make the objectives, technical solutions, and advantages of the present application clearer and more explicit, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are merely used to explain the present application and do not limit the present application.

[0085] Please also refer to Figures 1-6 The present application provides some embodiments of a crab-shaped sesame cutting and bundling robot based on a mantis foreleg bionic blade.

[0086] As shown in Figure 1 , Figure 4 and Figure 5 , the crab-shaped sesame cutting and bundling robot based on a mantis foreleg bionic blade of the present application comprises:

[0087] a mobile vehicle 10;

[0088] a bundling device 20 arranged at the front side of the mobile vehicle 10;

[0089] a cutting device 30 and a gathering device 40 movably connected to the front side of the mobile vehicle 10;

[0090] a narrowing structure 50 connected to the front side of the mobile vehicle 10;

[0091] The cutting device 30, the collecting device 40 and the bundling device 20 are sequentially arranged from bottom to top; the collecting device 40 collects the sesame stems cut by the cutting device 30 to the narrowing structure 50 for the bundling device 20 to bundle; the cutting blade of the cutting device 30 adopts a bionic long-short-tooth blade 31 based on the foreleg of a mantis; the circular moving track formed by the crab-shaped collecting claw 41 of the collecting device 40 covers the bionic long-short-tooth blade 31.

[0092] Specifically, the mobile vehicle 10 refers to a movable and steerable vehicle, the narrowing structure 50 refers to a structure that gradually narrows in space towards the center of the mobile vehicle 10, the narrowing structure 50 is used to converge the cut sesame stems, the cutting device 30 refers to a device for cutting sesame stems, the collecting device 40 refers to a device for collecting sesame stems to the narrowing structure 50, and the bundling device 20 refers to a device for bundling cut sesame stems. The bundling device 20 is located at the uppermost position, the collecting device 40 is located below the bundling device 20, and the cutting device 30 is located below the collecting device 40. Since the sesame stem is long and the length can exceed 1m, the sesame fruits are mainly located in the middle and top regions of the sesame stem, and there are basically no sesame fruits in the bottom region of the sesame stem. Therefore, the bottom region of the sesame stem can be cut to harvest most of the sesame fruits. Therefore, the cutting device 30 is located at the lower position, and the collecting device 40 and the bundling device 20 correspond to the middle region of the sesame stem, which can form better collecting force and bundling force, and the sesame stem is not easy to spread during the collecting and bundling process, and the reliability is higher.

[0093] The bionic long-short-tooth blade 31 is based on the bionic foreleg of a mantis. The long-short-tooth blade has teeth with different lengths. Since the cross section of the sesame stem is not circular, but a petal-shaped formed by multiple circular arcs connected in sequence, the sesame stem can be regarded as multiple bundles of split stems (fibers) connected together. During the cutting process, the split stems may be separated. The bionic long-short-tooth blade 31 has teeth with different lengths, which can quickly cut the complete sesame stem or the split stem, thereby improving the cutting efficiency. In addition, the bionic long-short-tooth blade 31 can reduce the resistance during cutting of the sesame stem, thereby reducing the cutting energy consumption.

[0094] The crab-shaped collecting claw 41 simulates the action of a crab using its claws to prey, forming a circular moving track to achieve the purpose of fully collecting crops. The circular moving track formed by the crab-shaped collecting claw 41 covers the bionic long-short-tooth blade 31, that is, before the bionic long-short-tooth blade 31 contacts the sesame stem, the crab-shaped collecting claw 41 can have already collected the sesame stem to the narrowing structure 50, and the sesame stem moves or converges to the bionic long-short-tooth blade 31 and is not easy to slide out of the bionic long-short-tooth blade 31, thereby assisting the cutting of the bionic long-short-tooth blade 31.

[0095] It can be seen that under the gathering action of the crab-shaped gathering claw 41, the sesame stems are inclined towards the moving vehicle 10, and then are cut by the bionic short-tooth blade 31, so that the sesame stems are more easily cut off, and the automatic harvesting efficiency of the sesame stems is higher.

[0096] The gathering device 40 gathers the sesame stems towards the cutting device 30, and after the sesame stems are cut off by the cutting device 30, the sesame stems are gathered by the gathering device 40 towards the narrowing structure 50, and finally are bound by the bundling device 20, so that the automatic harvesting and bundling of the sesame stems are realized, and the bound sesame stems can be subjected to post-processing such as drying and flattening, so that sesame in the sesame fruits is obtained.

[0097] In a preferred implementation manner of the embodiment of the present application, as shown in Figures 1-2 the bionic short-tooth blade 31 comprises:

[0098] a first rack 311 arranged on the moving vehicle 10;

[0099] a second rack 312 movably connected with the moving vehicle 10;

[0100] The first rack 311 is provided with a plurality of first cutting teeth 3111; the second rack 312 is alternately provided with a plurality of second cutting teeth 3121 and a plurality of third cutting teeth 3122; the tooth length of the first cutting tooth 3111, the tooth length of the second cutting tooth 3121 and the tooth length of the third cutting tooth 3122 decrease in sequence; the interval between two adjacent first cutting teeth 3111 is greater than the outer diameter of the sesame stem, and the interval between two adjacent first cutting teeth 3111 is greater than the interval between two adjacent second cutting teeth 3121.

[0101] Specifically, the first rack 311 is comb-shaped, the first cutting teeth 3111 have large tooth length and tooth spacing (i.e. the spacing between two adjacent teeth), and the sesame stems can enter between two adjacent first cutting teeth 3111. The tooth length refers to the length of the part of the tooth protruding from the rack. The first rack 311 can be fixed, and the second rack 312 reciprocates along the arrangement direction of the second cutting teeth 3121, and the reciprocating distance of the second rack 312 is generally greater than the spacing between two adjacent first cutting teeth 3111. The tooth length of the second cutting teeth 3121 is smaller than that of the first cutting teeth 3111, the tooth length of the third cutting teeth 3122 is smaller than that of the second cutting teeth 3121, and the second cutting teeth 3121 and the third cutting teeth 3122 are alternately arranged. When the second rack 312 moves, the third cutting teeth 3122 can be brought together with the first cutting teeth 3111 to form a small range of cutting, which is suitable for small-diameter split stems, and the second cutting teeth 3121 can be brought together with the first cutting teeth 3111 to form a large range of cutting, which is suitable for large-diameter sesame stems. Moreover, the small range of cutting precedes the large range of cutting, the third cutting teeth 3122 can cut a part of the sesame stem (for example, one split stem of the sesame stem) first, and then the second cutting teeth 3121 cut the remaining part of the sesame stem (for example, the remaining split stems of the sesame stem), so that two-stage secondary cutting is formed, and the cutting efficiency is improved.

[0102] The spacing between two adjacent first cutting teeth 3111 is 26-30 mm, the spacing between two adjacent second cutting teeth 3121 is 19-23 mm, the tooth length of the first cutting teeth 3111 is 23-27 mm, the tooth length of the second cutting teeth 3121 is 18-22 mm, and the tooth length of the third cutting teeth 3122 is 9-13 mm.

[0103] In a preferred implementation manner of the embodiment of the present application, as shown in Figure 1 and Figure 3 the bundling device 20 comprises:

[0104] a rope roll placement site 21 arranged on the moving vehicle 10;

[0105] a rope feeding hook 22 rotationally connected with the moving vehicle 10;

[0106] a crank rocker mechanism 23 arranged on the moving vehicle 10 and used to drive the rope feeding hook 22 to reciprocate;

[0107] a knotter 24 arranged on the moving vehicle 10;

[0108] The knotter 24 and the rope feeding hook 22 are located on the two sides of the narrowing structure 50, and the rope feeding hook 22 feeds the rope on the rope roll placement site 21 to the knotter 24 along an arc reciprocating trajectory.

[0109] Specifically, the rope coil placement position 21 is used to place a rope coil on which a rope is wound, the rope coil can rotate on the rope coil placement position 21 to release the rope, the rope coil placement position 21 can adopt a stand, and the stand can be provided with a detachable limiting plate. The rope feeding hook 22 can swing back and forth, and the swinging angle is generally less than 180°, so as to feed the rope of the rope coil to the knotter 24 for lapping. The crank rocker mechanism 23 drives the rope feeding hook 22 to swing, and the crank rocker mechanism 23 comprises a driver, a crank and a connecting rod, the crank is connected with the output shaft of the driver, the crank performs a circular motion, and the connecting rod connects the crank and the middle part of the rope feeding hook 22. With the rotation of the crank, the rope feeding hook 22 swings back and forth along a circular arc track and pulls the rope. The end of the rope (i.e. the thread end) is clamped by the knotter 24, the rope extends to the rope feeding hook 22 and is wound on the rope feeding hook 22, and then extends to the rope coil placement position 21. There is a section of rope between the knotter 24 and the rope feeding hook 22, when the narrowed structure 50 is used to collect the cut sesame stems, the rope feeding hook 22 swings towards the knotter 24, and the rope is wound around the cut sesame stems collected at the narrowed structure 50, after the rope feeding hook 22 reaches the knotter 24, the knotter 24 clamps the rope, then knots and cuts the rope again, and the rope feeding hook 22 can swing away from the knotter 24 to the position of the bionic long and short tooth blade 31. Since the rope feeding hook 22 is hook-shaped and the reciprocating swinging track extends above the bionic long and short tooth blade 31, the cut sesame stems collected on the collecting device can be hooked towards the narrowed structure 50, thereby assisting in collection, and the accumulation of the cut sesame stems on the crab-shaped collecting claw 41 of the collecting device can also be avoided. Taking the center of the moving vehicle 10 as a reference, the circular moving track formed by the crab-shaped collecting claw 41 specifically has a near end point, a far end point, an inner end point and an outer end point, and the circular moving track formed by the crab-shaped collecting claw 41 can be divided into four parts, the far end point to the inner end point, the inner end point to the near end point, the near end point to the outer end point, and the outer end point to the far end point. The swinging of the rope feeding hook 22 towards the knotter 24 can be configured in the time period in which the crab-shaped collecting claw 41 moves from the far end point to the near end point, preferably, the swinging of the rope feeding hook 22 towards the knotter 24 is configured in the time period in which the crab-shaped collecting claw 41 moves from the inner end point to the near end point. The rotating speed of the rope feeding hook 22 is greater than the rotating speed of the crab-shaped collecting claw 41.

[0110] In a preferred implementation manner of the embodiment of the present application, as shown in Figure 1 , Figure 3 and Figure 6 , the knotter 24 comprises:

[0111] a rack 241 arranged on the moving vehicle 10;

[0112] a first driving assembly 242 arranged in the rack 241;

[0113] an end rotating piece 243 rotationally arranged on the rack 241;

[0114] The knot part rotating member 244 is arranged on the frame 241 and rotates;

[0115] The cutter 245 is arranged on the frame 241;

[0116] The end part of the rope passes through the knot part rotating member 244 and is clamped on the end part rotating member 243; when the knot part of the rope is sent to the end part rotating member 243 by the rope sending hook 22 and is clamped, the first driving assembly 242 drives the knot part rotating member 244 to rotate the knot, and drives the end part rotating member 243 to rotate to the cutter 245 to cut the knot part of the rope.

[0117] Specifically, the cutter 245 is located between the end part rotating member 243 and the knot part rotating member 244. The first driving assembly 242 is used to drive the end part rotating member 243 to rotate and drive the knot part rotating member 244 to rotate. The end part rotating member 243 is used to clamp the end part of the rope, which includes the end part of the rope that has been cut (the old end part of the rope) and the end part of the rope that is about to be cut (the new end part of the rope). In the process of continuously bundling the rope, the rope is continuously cut by the cutter 245, and a new end part is generated each time the rope is cut. The new end part and the old end part are clamped on the end part rotating member 243. The knot part rotating member 244 is used to clamp the knot part of the rope, which refers to the part of the rope close to the end part of the rope, including the knot part close to the new end part and the knot part close to the old end part. The knot part rotating member 244 realizes knotting by rotating. After the knot part rotating member 244 is knotted, the cutter 245 cuts the rope at the position of the end part rotating member 243, and the old end part is cut off a segment and forms a new end part.

[0118] In a preferred implementation manner of the embodiment of the present application, as shown in Figure 1 and Figure 3 The crab-shaped collecting claw 41 includes a plurality of left collecting claws and a plurality of right collecting claws; the left collecting claws and the right collecting claws are curved outward.

[0119] Specifically, the crab-shaped collecting claw 41 has two types, which are located on the left side and the right side of the narrowing structure 50, namely the left collecting claw and the right collecting claw. The rotating direction of the left collecting claw is opposite to that of the right collecting claw, so as to converge the cut sesame rods on the left side and the right side to the middle and close to the narrowing structure 50. The left collecting claw and the right collecting claw are curved outward, which is beneficial to collect the cut sesame rods and separate the cut sesame rods during the movement of the crab-shaped collecting claw 41 from the proximal end point to the distal end point (from the proximal end point to the outer end point and from the outer end point to the distal end point).

[0120] In a preferred implementation of the embodiment of the present application, as shown in Figure 1 and Figure 3 The collecting device 40 further comprises:

[0121] A left double-crank mechanism 42 and a right double-crank mechanism 43, both of which are rotationally connected to the mobile vehicle 10.

[0122] A second driving assembly 44 for driving the left double-crank mechanism 42 and the right double-crank mechanism 43 to rotate.

[0123] The left double-crank mechanism 42 and the right double-crank mechanism 43 are respectively located on the left and right sides of the narrowing structure 50; the left collecting claw is arranged on the left double-crank mechanism 42; and the right collecting claw is arranged on the right double-crank mechanism 43.

[0124] Specifically, the double-crank mechanism comprises two cranks and a connecting rod, the two cranks rotate relative to the mobile vehicle 10, one end of the connecting rod is connected to the crab-shaped collecting claw 41, the other end of the connecting rod is connected to one of the cranks, and the other crank is connected to the middle part of the connecting rod. The second driving assembly 44 drives one of the cranks to rotate, and the second driving assembly 44 can adopt a synchronous belt driving assembly, which comprises a driver, a synchronous belt, and two synchronous wheels, the synchronous wheels are rotationally connected to the mobile vehicle 10, the synchronous belt is wound around the synchronous wheels, the driver drives one of the synchronous wheels to rotate, one of the cranks of the left double-crank mechanism 42 is connected to one of the synchronous wheels, and one of the cranks of the right double-crank mechanism 43 is connected to the other synchronous wheel, so that the left double-crank mechanism 42 and the right double-crank mechanism 43 rotate simultaneously. The left double-crank mechanism 42 and the right double-crank mechanism 43 are respectively located on the left and right sides of the narrowing structure 50, and the second driving assembly 44 is used to drive the left double-crank mechanism 42 and the right double-crank mechanism 43 to rotate, so as to drive the left collecting claw and the right collecting claw to rotate respectively, and the rotation direction of the left double-crank mechanism 42 is opposite to that of the right double-crank mechanism 43.

[0125] In a preferred implementation of the embodiment of the present application, the mobile vehicle 10 is provided with a controller, and the mobile vehicle 10, the bundling device 20, the cutting device 30, and the collecting device 40 are electrically connected to the controller, and the controller is wirelessly connected to a control terminal.

[0126] Specifically, the mobile vehicle 10 is provided with a controller for controlling the bundling device 20, the cutting device 30, and the collecting device 40. The controller can be configured with a power module to supply power to the controller, the bundling device 20, the cutting device 30, the collecting device 40, and other electric devices. The controller can also be wirelessly connected to a control terminal, so as to remotely control the controller through the control terminal to adjust the bundling device 20, the cutting device 30, and the collecting device 40.

[0127] In a preferred implementation form of the embodiment of the present application, the mobile vehicle 10 is provided with an imager for collecting images of the sesame stalks; the imager is electrically connected to the controller.

[0128] Specifically, the mobile vehicle 10 is further provided with an imager, for example, an ESP32-CAM module can be used, the ESP32-CAM module transmits the collected images of the sesame stalks to the display of the control terminal based on WiFi, and then the harvesting condition of the sesame stalks can be observed. The mobile vehicle 10 can be further provided with an infrared positioning module, so that the mobile vehicle 10 can automatically return and recharge after completing the work.

[0129] In a preferred implementation form of the embodiment of the present application, as shown in Figure 1 the crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade further comprises:

[0130] a lifting device 60 arranged on the mobile vehicle 10;

[0131] a pressure sensor arranged on the lifting device 60;

[0132] The cutting device 30 and the collecting device 40 are connected to the mobile vehicle 10 through the lifting device 60; the pressure sensor is used to detect the weight of the collected sesame stalks; the lifting device 60 and the pressure sensor are electrically connected to the controller.

[0133] Specifically, the lifting device 60 can realize lifting relative to the mobile vehicle 10, and the pressure sensor is used to detect the weight of the collected sesame stalks; the collected sesame stalks are collected to the narrowing structure 50 by the collecting device 40, thereby increasing the weight of the entire lifting device 60; the pressure sensor takes the weight increment of the lifting device 60 as the weight of the collected sesame stalks. When the weight of the collected sesame stalks reaches a preset value, the bundling device 20 can be controlled to bundle. Of course, when the interval time between two adjacent bundling operations (i.e., the bundling interval time) reaches a preset time, the bundling operation can also be performed.

[0134] The lifting device 60 comprises a mounting platform 61 and a telescopic device 62, the telescopic device 62 is respectively connected to the mounting platform 61 and the vehicle body 11, and the telescopic device 62 adjusts the height of the mounting platform 61 by telescoping. The cutting device 30, the collecting device 40 and the narrowing structure 50 are arranged on the mounting platform 61. The cutting device 30 cannot be too high, otherwise the yield of sesame will be reduced; the cutting device 30 also cannot be too low, otherwise the cutting device 30 is easy to touch the soil and stones on the ground, and the area of the sesame stalks close to the ground has a large intensity and is difficult to cut. The cutting device 30 can be adjusted to a suitable height by the lifting device 60. The telescopic device 62 is electrically connected to the controller.

[0135] In a preferred implementation form of the embodiment of the application, as shown in Figure 1 and Figure 3 the mobile vehicle 10 comprises:

[0136] a vehicle body 11;

[0137] four crawler wheel assemblies 12, each rotatably connected to a corner of the vehicle body 11.

[0138] Specifically, the mobile vehicle 10 adopts a crawler type moving mode, which is beneficial for moving on a complex planting ground. Specifically, four crawler wheel assemblies 12 are arranged on the vehicle body 11. The crawler wheel assemblies 12 are rotatably connected to the vehicle body 11. A steering device 13 can be arranged on the vehicle body 11 and connected to the crawler wheel assemblies 12. The steering device 13 comprises a driver and a rotating shaft. The driver is arranged on the vehicle body 11, and the rotating shaft is rotatably arranged on the vehicle body 11. The rotating shaft is connected to the crawler wheel assemblies 12. The output shaft of the driver is connected to a first gear, and the rotating shaft is connected to a second gear. The first gear and the second gear are engaged. The four crawler wheel assemblies 12 can rotate freely, so that the mobile vehicle 10 has more degrees of freedom of movement and can move in any direction on the ground. The mobile vehicle 10 can be made of aluminum alloy.

[0139] In a preferred implementation form of the embodiment of the application, as shown in Figure 1 the crawler wheel assembly 12 comprises:

[0140] a side plate;

[0141] a third driving assembly arranged on the side plate;

[0142] a driving gear and at least one driven gear, each rotatably connected to the side plate;

[0143] a crawler belt, engaged with the driving gear and the driven gear, respectively;

[0144] wherein the output shaft of the third driving assembly is connected to the driving gear.

[0145] Specifically, the side plate is connected to the rotating shaft. The third driving assembly drives the driving gear to rotate and drives the driven gear. The crawler belt also moves accordingly. Since the crawler belt forms a frictional force with the ground, the movement of the mobile vehicle 10 is realized. The third driving assembly is electrically connected to the controller.

[0146] The controller comprises a control mainboard (for example, model STM32F103C8T6), a chip (for example, model L298N), a power module, and a WiFi communication module.

[0147] The application further provides a preferred embodiment of a control method of the crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade.

[0148] As shown in Figure 7 The control method of the crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade comprises the following steps:

[0149] Step S100: After starting the cutting device and the gathering device, the moving vehicle is controlled to move towards the sesame stem.

[0150] Step S200: When the bundling condition is met, the bundling device is controlled to bundle the sesame stem at the narrow structure position; wherein, during the time when the crab-shaped gathering claw of the gathering device approaches the moving vehicle, the bundling device completes bundling.

[0151] Specifically, the cutting device and the gathering device can be started in advance and be in a working state, and then the moving vehicle is controlled to move towards the sesame stem. During the movement of the moving vehicle, the cutting device cuts the sesame stem, the gathering device gathers the sesame stem, and the cut sesame stem is gathered to the narrow structure. When the bundling condition is met, the bundling device is controlled to bundle the sesame stem at the narrow structure. During the time when the crab-shaped gathering claw approaches the moving vehicle, the bundling device completes bundling once. During the time period when the crab-shaped gathering claw moves from the far end point to the near end point, the bundling device completes bundling once. Preferably, during the time period when the crab-shaped gathering claw moves from the inner end point to the near end point, the bundling device completes bundling once.

[0152] Step S300: The image of the sesame stem of the imager is acquired.

[0153] Step S400: According to the image of the sesame stem, the planting density of the sesame stem is determined, and the moving speed of the moving vehicle and the rotating speed of the gathering device are adjusted according to the planting density of the sesame stem.

[0154] Specifically, the planting density of the sesame stems can be determined by the number of the sesame stems in the image of the sesame stems, and then the moving speed of the moving vehicle and the rotating speed of the gathering device can be adjusted according to the planting density of the sesame stems. If necessary, the rotating speed of the rope hook in the bundling device also needs to be adjusted. The planting density of the sesame stems is divided into low planting density, medium planting density and high planting density. Taking the medium planting density as a benchmark, when the sesame stems are of the medium planting density, the moving vehicle is configured to adopt a benchmark moving speed, the gathering device is configured to adopt a benchmark rotating speed, and the rope hook is configured to adopt a benchmark rotating speed; when the sesame stems are of the low planting density, the moving vehicle is configured to adopt a high moving speed, the gathering device is configured to adopt a low rotating speed, and the rope hook is configured to adopt a low rotating speed; and when the sesame stems are of the high planting density, the moving vehicle is configured to adopt a low moving speed, the gathering device is configured to adopt a high rotating speed, and the rope hook is configured to adopt a high rotating speed.

[0155] The height of the sesame fruits can also be determined according to the image of the sesame stems, and the lifting device can be controlled to lift according to the height of the sesame fruits. The image of the sesame stems is acquired by the imager, and the height of the sesame fruits relative to the ground can be determined according to the position of the sesame fruits in the image of the sesame stems, and then the lifting device can be controlled to lift according to the height of the sesame fruits, so as to adjust the height of the cutting device to cut the sesame stems at a suitable position.

[0156] Steps S300-S400 can be executed before step S100 or during the operation. After the operation is completed, the cutting device, the gathering device and the bundling device are closed, and the moving vehicle is controlled to move to a parking position or a charging position.

[0157] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can make improvements or modifications according to the above description, and all these improvements and modifications shall fall within the protection scope of the appended claims of the present application.

Claims

1. A crab-shaped sesame cutting and bundling robot based on a biomimetic blade of a mantis foreleg, characterized in that, The utility model relates to a sesame stalk cutting and bundling device, comprising: a mobile vehicle; a bundling device arranged at the front side of the mobile vehicle; a cutting device and a collecting device movably connected to the front side of the mobile vehicle; a narrowing structure connected to the front side of the mobile vehicle; wherein the cutting device, the collecting device and the bundling device are arranged in sequence from bottom to top; the collecting device collects the sesame stalks cut by the cutting device to the narrowing structure for the bundling device to bundle; the cutting blade of the cutting device adopts a bionic short-tooth blade based on the foreleg of a mantis; the circular moving track formed by the crab-shaped collecting claws covers the bionic short-tooth blade; the bionic short-tooth blade comprises: a first rack arranged on the mobile vehicle; a second rack movably connected to the mobile vehicle; wherein a plurality of first cutting teeth are arranged on the first rack; a plurality of second cutting teeth and a plurality of third cutting teeth are alternately arranged on the second rack; the tooth length of the first cutting teeth, the tooth length of the second cutting teeth and the tooth length of the third cutting teeth decrease in sequence; the distance between adjacent two first cutting teeth is greater than the outer diameter of the sesame stalk, and the distance between adjacent two first cutting teeth is greater than the distance between adjacent two second cutting teeth.

2. The crab-shaped sesame bunch cutting robot based on the mimicked foreleg of mantis' blade, according to claim 1, characterized in that, the bundling device comprises: a rope roll placement site arranged on the mobile vehicle; a rope feeding hook rotatably connected to the mobile vehicle; a crank rocker mechanism arranged on the mobile vehicle and used to drive the rope feeding hook to swing back and forth; a knotter arranged on the mobile vehicle; wherein the knotter and the rope feeding hook are located on both sides of the narrowing structure; the rope feeding hook feeds the rope on the rope roll placement site to the knotter along an arc-shaped back-and-forth swinging track from the bionic short-tooth blade.

3. The crab-shaped sesame bunch cutting robot based on the mantis foreleg-imitated bionic blade according to claim 2, characterized in that, the knotter comprises: a rack arranged on the mobile vehicle; a first driving assembly arranged in the rack; an end rotating piece rotatably arranged in the rack; a knotting rotating piece rotatably arranged in the rack; a cutter arranged in the rack; wherein the end of the rope passes through the knotting rotating piece and is clamped on the end rotating piece; when the knotting part of the rope is fed to the end rotating piece through the knotting rotating piece by the rope feeding hook and is clamped, the first driving assembly drives the knotting rotating piece to rotate to knot and drives the end rotating piece to rotate to the cutter to cut off the knotting part of the rope.

4. The crab-shaped sesame bunch cutting robot based on the mimicked foreleg of mantis' blade according to claim 1, characterized in that, the crab-shaped collecting claws comprise a plurality of left collecting claws and a plurality of right collecting claws; the left collecting claws and the right collecting claws are both outwardly curved and protruded; the collecting device further comprises: left and right double crank mechanisms rotatably connected to the mobile vehicle; a second driving assembly used to drive the left and right double crank mechanisms to rotate; wherein the left and right double crank mechanisms are respectively located on both sides of the narrowing structure; the left collecting claws are arranged on the left double crank mechanism; the right collecting claws are arranged on the right double crank mechanism.

5. The crab-shaped sesame bunch cutting robot based on the mimicked foreleg of mantis' blade according to claim 1, characterized in that, The mobile vehicle is provided with a controller and an imager for collecting images of the sesame rods; the mobile vehicle, the bundling device, the cutting device, the gathering device, and the imager are electrically connected to the controller, and the controller is in wireless communication connection with a control terminal; The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade further comprises: A lifting device arranged on the mobile vehicle; A pressure sensor arranged on the lifting device; The cutting device, the gathering device, and the narrowing structure are connected to the mobile vehicle through the lifting device; The pressure sensor is used to detect the weight of the sesame rods gathered by the gathering device; The lifting device and the pressure sensor are electrically connected to the controller.

6. The crab-shaped sesame bunch cutting robot based on the mimicked foreleg of mantis' blade according to claim 1, characterized in that, The mobile vehicle comprises: A vehicle body; Four track wheel assemblies rotatably connected to the four corners of the vehicle body.

7. The crab-shaped sesame bunch cutting robot based on a mantis foreleg-imitated bionic blade according to claim 6, characterized in that, The track wheel assembly comprises: A side plate; A third driving assembly arranged on the side plate; A driving gear and at least one driven gear rotatably connected to the side plate; A track meshed with the driving gear and the driven gear; The output shaft of the third driving assembly is connected to the driving gear.

8. A control method of a crab-shaped sesame bunch cutting robot based on a mantis foreleg-imitated blade according to any one of claims 1 to 7, characterized in that, The method comprises the steps of: After starting the cutting device and the gathering device, the mobile vehicle is controlled to move towards the sesame rods; When the bundling condition is met, the bundling device is controlled to bundle the sesame rods at the position of the narrowing structure; wherein, within the time when the crab-shaped gathering claw of the gathering device approaches the mobile vehicle, the bundling device completes the bundling.

9. The control method of the crab-shaped sesame bunch cutting robot based on the mantis foreleg-imitated bionic blade according to claim 8, characterized in that, The mobile vehicle is provided with a controller and an imager for collecting images of the sesame rods; the mobile vehicle, the bundling device, the cutting device, the gathering device, and the imager are electrically connected to the controller, and the controller is in wireless communication connection with a control terminal; The crab-shaped sesame cutting and bundling robot based on the mantis foreleg bionic blade further comprises: A lifting device arranged on the mobile vehicle; A pressure sensor arranged on the lifting device; The cutting device, the gathering device, and the narrowing structure are connected to the mobile vehicle through the lifting device; The pressure sensor is used to detect the weight of the sesame rods gathered by the gathering device; The lifting device and the pressure sensor are electrically connected to the controller. The bundling condition comprises at least one of the following: the weight of the gathered sesame rods reaches a preset value, and the bundling interval time reaches a preset time; The control method further comprises: Obtaining the images of the sesame rods by the imager; According to the images of the sesame rods, the planting density of the sesame rods is determined, and the moving speed of the mobile vehicle and the rotating speed of the gathering device are adjusted according to the planting density of the sesame rods.

Images