Intelligent reconfigurable Chinese cabbage core wrapping and bundling robot

Abstract

The invention provides an intelligent reconfigurable Chinese cabbage core bundling robot, which is used for bundling Chinese cabbages in a growth cycle, and comprises a moving frame, the moving frame is provided with a mounting bracket and a moving part connected to the mounting bracket, and the moving part is used for driving the mounting bracket to move; the clamping mechanism is used for controlling the two mechanical clamps to move oppositely; the bundling mechanism is connected to the mounting support and provided with a plurality of sliding rails, a driving mechanism and a plurality of elastic rings, the sliding rails are used for opening the elastic rings, and the driving mechanism is connected to the sliding rails, is in transmission connection with the elastic rings and is used for pulling the elastic rings away from the sliding rails; the driving mechanism comprises a driving motor, the sliding rails are slidably connected with the mounting support, the driving motor is arranged on the center line of the elastic ring, each pull rod is connected with one sliding rail, and the driving motor is in transmission connection with the sliding rails and used for driving the sliding rails to synchronously move towards the center or away from the center. According to the scheme, the opening range of the sliding rail is adjusted through the driving motor, so that the size of the elastic ring is adjusted, and Chinese cabbages with different bundling sizes are correspondingly bundled.

Description

Technical Field

[0001] The invention relates to the technical field of Chinese cabbage bundling, and in particular to an intelligent reconfigurable cabbage core bundling robot. Background Art

[0002] During the growth of Chinese cabbage, because Chinese cabbage is not restricted by external forces, the leaves of Chinese cabbage will grow and extend in all directions. Then the leaves of adjacent Chinese cabbages will extend to each other, which will cause some leaves to be blocked. The blocked leaves cannot be exposed to sunlight, which will affect the growth of Chinese cabbage. At the same time, during the growth of Chinese cabbage, the weather gradually becomes colder, then the scattered leaves on the Chinese cabbage will increase the contact area with the air, causing the cabbage to be frostbitten, affecting the yield of Chinese cabbage.

[0003] Therefore, during the growth of Chinese cabbage, it is necessary to bundle the cabbage to ensure that the leaves of the cabbage will not spread out. Usually, this operation is done manually, because the height of the cabbage is relatively low, which makes manual bundling inconvenient. Although some machines are used for bundling, the disadvantage of existing machine bundling is that the bundling range cannot be adjusted according to the size of the cabbage, resulting in poor bundling effect when facing cabbages of different sizes. Summary of the invention

[0004] The invention provides an intelligent reconfigurable cabbage bundling robot and a use method thereof, so as to solve the defect in the prior art that the bundling range cannot be adjusted according to the size of the cabbage.

[0005] The present invention provides an intelligent reconfigurable cabbage bundling robot, which is used for bundling Chinese cabbage in a growth cycle, and comprises: A mobile frame, wherein the mobile frame is provided with a mounting bracket and a moving part connected to the mounting bracket, and the moving part is used to drive the mounting bracket to move; A clamping mechanism connected to the mounting bracket, wherein the clamping mechanism is provided with a clamping motor and two mechanical clamps arranged opposite to each other, wherein the motor is in transmission connection with the two mechanical clamps and is used to control the two mechanical clamps to move toward each other; A strapping mechanism is connected to the mounting bracket, the strapping mechanism is provided with a plurality of slide rails, a driving mechanism and a plurality of elastic rings, the plurality of slide rails are arranged in a ring on the mounting bracket for propping up the elastic rings, the plurality of elastic rings are arranged in sequence on the slide rails, the driving mechanism is connected to the slide rails and is in driving connection with the elastic rings for pulling the elastic rings away from the slide rails; Among them, the driving mechanism includes a driving motor, the slide rail is slidably connected to the mounting bracket, the driving motor is arranged on the center line of the elastic ring, each of the pull rods is connected to one of the slide rails, and the driving motor is transmission-connected to multiple slide rails for driving multiple slide rails to move synchronously toward or away from the center.

[0006] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, the driving mechanism includes a fixed frame, a synchronous belt and a motor, the fixed frame is connected to the mounting bracket, the slide rail is arranged on the fixed frame, each of the slide rails is provided with a synchronous belt, and a plurality of elastic rings are arranged in sequence on the synchronous belt. The motor is connected to the synchronous belt for driving the synchronous belt to rotate around the slide rail, thereby driving the elastic ring to slide along the slide rail.

[0007] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, the driving mechanism also includes a latch tooth, which is arranged on the synchronous belt. Along the direction toward the Chinese cabbage, the latch tooth is closer to the Chinese cabbage than the elastic ring. The latch tooth is used to limit the elastic ring, and the synchronous belt is used to drive the latch tooth and the elastic ring to move toward the Chinese cabbage together.

[0008] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, the driving mechanism also includes a plurality of pull rods, each of the pull rods is connected to one of the slide rails, and the driving motor is transmission-connected to the plurality of slide rails through the pull rods, so as to drive the plurality of slide rails to move synchronously toward or away from the center.

[0009] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, the pulling rod includes a driving rod and a connecting rod, the driving rod is connected to the driving motor, and the two ends of the connecting rod are respectively hinged to one end of the driving rod away from the driving motor and the slide rail, and the driving motor is used to drive the driving rod to rotate, thereby driving the slide rail to slide through the connecting rod.

[0010] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, a visual sensor is further provided on the side of the driving motor facing the cabbage, and the visual sensor is used to detect the size of the cabbage, so that the driving motor drives the multiple slide rails to move to positions corresponding to the size of the cabbage.

[0011] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, at least one limiting hole and a limiting protrusion are provided on the fixed frame. Along the sliding direction of the slide rail, the limiting hole is arranged on the side of the slide rail away from the driving motor, and the limiting protrusion is inserted into the limiting hole to prevent the slide rail from sliding out of the fixed frame.

[0012] According to an intelligent reconfigurable cabbage-wrapping and bundling robot provided by the present invention, the intelligent reconfigurable cabbage-wrapping and bundling robot further includes a lifting mechanism, which is connected to the bundling mechanism and is used to drive the bundling mechanism to move toward the Chinese cabbage.

[0013] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, an elastic member is provided on the side of the mechanical clamp facing the cabbage, and the mechanical clamp abuts against the cabbage through the elastic member.

[0014] According to an intelligent reconfigurable cabbage bundling robot provided by the present invention, a pressure sensor is further provided on the side of the mechanical clamp facing the cabbage, and the pressure sensor is used to detect the pressure when the mechanical clamp abuts the cabbage. When the pressure sensor detects a preset pressure value signal, the motor is used to control the mechanical clamp to stop moving.

[0015] The present invention provides an intelligent reconfigurable cabbage bundling robot, which drives the entire mechanism to move to the top of the cabbage through a moving part, and then drives two mechanical clamps to move toward the center through a clamping motor, thereby clamping the scattered leaves of the cabbage, and then the driving mechanism pushes the elastic ring to the cabbage, and the cabbage is bundled by the contraction of the elastic ring. The entire bundling process does not require manual operation, which saves human resources and improves work efficiency. In addition, because the elastic ring is spread out by a slide rail, when the drive motor drives the slide rail to move toward or away from the center, the size of the elastic ring can be adjusted, so that cabbages of different sizes can be bundled accordingly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of an intelligent reconfigurable cabbage stuffing and bundling robot provided by one embodiment of the present invention.

[0018] Figure 2 It is a structural schematic diagram of a bundling mechanism provided in one embodiment of the present invention.

[0019] Figure 3 It is a structural schematic diagram of a clamping mechanism provided in one embodiment of the present invention.

[0020] Reference numerals: 1. Mobile frame; 11. Mounting bracket; 12. Mobile part; 2. Clamping mechanism; 21. Clamping motor; 22. Mechanical clamp; 23. Elastic member; 24. Pressure sensor; 3. Strapping mechanism; 31. Slide rail; 32. Driving mechanism; 321. Fixing frame; 322. Synchronous belt; 323. Motor; 324. Gear; 325. Pulley; 326. Limiting hole; 327. Limiting protrusion; 33. Elastic ring; 34. Driving motor; 35. Pull rod; 351. Driving rod; 352. Connecting rod 352; 4. Lifting mechanism. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Combine the following Figures 1 to 3 The present invention is an intelligent reconfigurable cabbage bundling robot, comprising: A mobile frame 1, wherein the mobile frame 1 is provided with a mounting bracket 11 and a moving part 12 connected to the mounting bracket 11, and the moving part 12 is used to drive the mounting bracket 11 to move; The clamping mechanism 2 is connected to the mounting bracket 11. The clamping mechanism 2 is provided with a clamping motor 21 and two mechanical clamps 22 arranged opposite to each other. The motor 21 is in transmission connection with the two mechanical clamps 22 to control the two mechanical clamps 22 to move toward each other. The strapping mechanism 3 is connected to the mounting bracket 11. The strapping mechanism 3 is provided with a plurality of slide rails 31, a driving mechanism 32 and a plurality of elastic rings 33. The plurality of slide rails 31 are arranged in a ring on the mounting bracket 11 for opening the elastic rings 33. The plurality of elastic rings 33 are arranged in sequence on the slide rails 31. The driving mechanism 32 is connected to the slide rails 31 and is in transmission connection with the elastic rings 33 for pulling the elastic rings 33 away from the slide rails 31. Among them, the driving mechanism 32 includes a driving motor 34, the slide rail 31 is slidably connected to the mounting bracket 11, the driving motor 34 is arranged on the center line of the elastic ring 33, each pull rod 35 is connected to a slide rail 31, and the driving motor 34 is transmission-connected to multiple slide rails 31 for driving multiple slide rails 31 to move synchronously toward or away from the center.

[0023] Please refer to Figure 1In this embodiment, the mounting bracket 11 is spliced ​​by steel pipes or aluminum frames to form a rectangular frame. A handrail is also provided above the mounting bracket 11. By holding and controlling the mounting bracket 11 with the handrail, the movement of the mounting bracket 11 can be more conveniently pushed or controlled. Below the mounting bracket 11, that is, on the side of the mounting bracket 11 facing the bottom surface, a moving part 12 is installed. Because the intelligent reconfigurable cabbage bundling robot is mainly used for bundling Chinese cabbage, and Chinese cabbage is planted in vegetable fields, in this embodiment, the moving part 12 uses universal wheels to make the movement of the mounting bracket 11 more convenient. Of course, the moving part 12 can also be adjusted accordingly according to the actual road conditions.

[0024] In this embodiment, the entire intelligent reconfigurable cabbage bundling robot is pushed to move by manually holding the handrail, and the driving mechanism 32 is moved to the top of the cabbage. Specifically, in other embodiments, a motor or other power can also be used to drive the intelligent reconfigurable cabbage bundling robot to move.

[0025] like Figure 1 As shown, in this embodiment, four slide rails 31 are taken as an example, and the four slide rails 31 are arranged at intervals from each other. Preferably, the four slide rails 31 are arranged along the four corners of a rectangle. After the four slide rails 31 are connected to the mounting bracket 11, the elastic ring 33 is sleeved on the four slide rails 31, and the elastic ring 33 is stretched open by the four slide rails 31.

[0026] Furthermore, in this embodiment, the four slide rails 31 are slidably connected to the mounting bracket 11. A driving motor 34 is provided on the center line of the elastic ring 33, and the driving motor 34 is transmission-connected to the four slide rails 31, and the four slide rails 31 are driven to move synchronously by the driving motor 34. Because the elastic ring 33 is sleeved on the slide rail 31, and the elastic ring 33 is stretched open by the slide rail 31, after the driving motor 34 drives the four slide rails 31 to move synchronously, the stretching range of the four slide rails 31 can be adjusted, thereby adjusting the contraction range of the elastic ring 33, so that the elastic ring 33 can be used to bundle cabbages of different sizes.

[0027] For example, when bundling the cabbage of larger size, and then bundling the cabbage of smaller size, the four slide rails 31 are first driven by the driving motor 34 to move synchronously toward the center to reduce the expansion range of the four slide rails 31. Correspondingly, the elastic ring 33 with a smaller contraction range can be replaced at the same time, and the elastic ring 33 with a smaller contraction range can be put on the four slide rails 31 after the expansion range is reduced, so that the smaller cabbage can be bundled by the elastic ring 33 with a smaller contraction range, and a better bundling effect can be achieved.

[0028] It is understandable that different elastic rings 33 have different contraction forces, and the contraction force of the elastic ring 33 is also related to the range of being stretched. When the same elastic ring 33 is stretched to a larger range, the contraction force generated when the elastic ring 33 is contracted is also greater. Therefore, when facing Chinese cabbages of different sizes, in order to prevent the contraction force of the elastic ring 33 from damaging the Chinese cabbage, the corresponding elastic ring 33 can also be selected according to the size of the Chinese cabbage. Then, the slide rail 31 is adjusted to a position corresponding to the size of the Chinese cabbage through the driving motor 34, and the elastic ring 33 is slightly stretched through the slide rail 31, thereby reducing the contraction force of the elastic ring 33 after sliding off the slide rail 31, and avoiding the elastic ring 33 from causing damage to the Chinese cabbage.

[0029] When the driving mechanism 32 is located directly above the Chinese cabbage, that is, the Chinese cabbage is located at the center of the four slide rails 31, the clamping motor 21 is started to drive the two mechanical clamps 22 to move toward the center, thereby gathering the scattered leaves of the Chinese cabbage toward the center. After ensuring that the Chinese cabbage is within the range of the elastic ring 33, the driving mechanism 32 is started, and the elastic ring 33 is pulled off the slide rail 31 by the driving mechanism 32. After losing the support of the slide rail 31, the elastic ring 33 gathers toward the center due to its own elastic force. Then, while the elastic ring 33 is pulled toward the Chinese cabbage, it is also gathered toward the center, so that the elastic ring 33 can bundle the Chinese cabbage.

[0030] In one embodiment, the driving mechanism 32 includes a fixed frame 321, a synchronous belt 322 and a motor 323. A synchronous belt 322 is provided on each slide rail 31, and a plurality of elastic rings 33 are arranged in sequence on the synchronous belt 322. The motor 323 is connected to the synchronous belt 322 for driving the synchronous belt 322 to drive around the slide rail 31, thereby driving the elastic ring 33 to slide along the slide rail 31.

[0031] Please refer to Figure 2 In this embodiment, a synchronous belt 322 is wound around the slide rail 31, and the synchronous belt 322 is wound around the outer ring of the slide rail 31 in the vertical direction. Two pulleys 325 are provided on the slide rail 31, and the two pulleys 325 are respectively arranged on the upper and lower sides of the slide rail 31, and the two pulleys 325 are used to tighten the synchronous belt 322 and drive the synchronous belt 322 to transmit.

[0032] Because the synchronous belt 322 is sleeved on the outer ring of the slide rail 31, the elastic ring 33 originally sleeved on the slide rail 31 and stretched by the slide rail 31 now abuts against the synchronous belt 322 on the outer ring of the slide rail 31. Because there is sufficient friction between the synchronous belt 322 and the elastic ring 33, the synchronous belt 322 can drive the elastic ring 33 to move together when transmitting.

[0033] When the driving mechanism 32 is moved to the top of the Chinese cabbage, the motor 323 is started, and the synchronous belt 322 is driven by the motor 323 to move toward the Chinese cabbage, driving the elastic ring 33 to move toward the Chinese cabbage. When the synchronous belt 322 moves to the position of the lower pulley 325, the synchronous belt 322 is guided by the pulley 325 to rotate to another direction, and the elastic ring 33 moves to the bottom during the rotation of the synchronous belt 322. At this time, the elastic ring 33 loses the support of the synchronous belt 322, slides off the synchronous belt 322, and is tied to the Chinese cabbage under the contraction of its own elastic force.

[0034] In one embodiment, the driving mechanism 32 also includes a latch tooth 324, which is disposed on the synchronous belt 322. Along the direction toward the Chinese cabbage, the latch tooth 324 is closer to the Chinese cabbage than the elastic ring 33. The latch tooth 324 is used to limit the elastic ring 33, and the synchronous belt 322 is used to drive the latch tooth 324 and the elastic ring 33 to move toward the Chinese cabbage.

[0035] Please refer to Figure 2 , each slide rail 31 is provided with a synchronous belt 322, which is sleeved on the slide rail 31 in the up-down direction, and can be transmitted in the up-down direction on the slide rail 31. At the same time, a latching tooth 324 is provided on the synchronous belt 322, and in this embodiment, a plurality of latching teeth 324 are provided (only a part is shown in the figure). Preferably, a plurality of latching teeth 324 are arranged on the synchronous belt 322 at equal intervals. Then, the space between every two latching teeth 324 is used to clamp the elastic ring 33, and the number of elastic rings 33 is determined according to the actual bundling requirements. In this embodiment, an elastic ring 33 is provided between every two latching teeth 324 as an example.

[0036] When the intelligent reconfigurable cabbage bundling robot moves into position, that is, when the cabbage to be bundled is located at the center of the four slide rails 31, the motor 323 is started. Driven by the motor 323, the synchronous belt 322 is driven downward, thereby driving the latch 324 and the elastic ring 33 to move downward together. When the latch 324 moves with the synchronous belt 322 to the reversing area at the lower end of the synchronous belt 322, the latch 324 changes from extending outward to extending inward. Then the elastic ring 33 limited by the latch 324 will lose the limit of the latch 324 and thus pop out. And because the elastic ring 33 moves downward with the synchronous belt 322 until it moves to the lower end and pops out from between the latch 324, after popping out, the elastic ring 33 will continue to move downward due to inertia, thereby being bundled on the cabbage.

[0037] In this embodiment, the number of elastic rings 33 ejected each time can be accurately controlled by means of the synchronous belt 322 and the latching teeth 324, so that the bundling is more precise.

[0038] In one embodiment, the driving mechanism 32 further includes a driving motor 34 and a plurality of pull rods 35. The slide rail 31 is slidably connected to the fixed frame 321. The driving motor 34 is disposed on the center line of the elastic ring 33. Each pull rod 35 is connected to a slide rail 31. The driving motor 34 is transmission-connected to the plurality of slide rails 31 through the pull rods 35, and is used to drive the plurality of slide rails 31 to move synchronously toward or away from the center. In one embodiment, the pull rod 35 includes a driving rod 351 and a connecting rod 352. The driving rod 351 is connected to the driving motor 34. Both ends of the connecting rod 352 are respectively hinged to one end of the driving rod 351 away from the driving motor 34 and the slide rail 31. The driving motor 34 is used to drive the driving rod 351 to rotate, thereby driving the slide rail 31 to slide through the connecting rod 352.

[0039] Please refer to Figure 2 In this embodiment, four slide rails 31 are symmetrically arranged. The four slide rails 31 are mounted on a fixing frame 321, and a driving motor 34 is arranged at the center of the four slide rails 31. The driving motor 34 is transmission-connected with four pull rods 35, and each pull rod 35 is connected to a corresponding slide rail 31.

[0040] In this embodiment, the pull rod 35 is a two-section rod that is hinged to each other, namely, a driving rod 351 and a connecting rod 352. When the driving motor 34 rotates, the driving rod 351 is driven to rotate. Because the driving rod 351 and the connecting rod 352 are hinged to each other, and the slide rail 31 is connected to the fixing frame 321, the slide rail 31 cannot rotate. Therefore, the connecting rod 352 is driven by the driving rod 351 to move toward the driving rod 351, thereby driving the slide rail 31 to move toward the driving motor 34.

[0041] Because the four slide rails 31 are connected to the drive motor 34 in the same way, and the drive motor 34 is arranged at the center of the four slide rails 31, the drive motor 34 can control the four slide rails 31 to move synchronously toward or away from the center. Because the elastic ring 33 is spread open by the four slide rails 31, when the four slide rails 31 move synchronously toward or away from the center, the spread range of the four slide rails 31 is changed, so that the size of the elastic ring 33 can be changed.

[0042] In one embodiment, a visual sensor is further provided on the side of the driving motor 34 facing the Chinese cabbage, and the visual sensor is used to detect the size of the Chinese cabbage, so that the driving motor 34 drives the multiple slide rails 31 to move to a position corresponding to the size of the Chinese cabbage.

[0043] Furthermore, a visual sensor is provided below the drive motor 34, which can detect whether there is Chinese cabbage below and the size of the Chinese cabbage below. When the visual sensor detects that there is Chinese cabbage below and the Chinese cabbage is located at the center of the drive mechanism 32, the entire intelligent reconfigurable cabbage bundling robot stops moving. The visual sensor then transmits the Chinese cabbage size signal to the drive motor 34, and the drive motor 34 adjusts the expansion range of the four slide rails 31 according to the actual size of the Chinese cabbage, so that the size of the elastic ring 33 corresponds to the size of the Chinese cabbage, thereby being able to bundle the Chinese cabbage more accurately.

[0044] In one embodiment, at least one limiting hole 326 and a limiting protrusion 327 are provided on the mounting bracket 11. Along the sliding direction of the slide rail 31, the limiting hole 326 is arranged on the side of the slide rail 31 away from the driving motor 34, and the limiting protrusion 327 is inserted into the limiting hole 326 to prevent the slide rail 31 from sliding out of the fixing frame 321.

[0045] Please refer to Figure 2 In this embodiment, the slide rail 31 slides on the fixing frame 321, and a limiting hole 326 is provided on the sliding path of the slide rail 31. In this embodiment, two limiting holes 326 are provided, and the two limiting holes 326 are respectively arranged on the front and rear sides of the sliding path of the slide rail 31, and limiting protrusions 327 are respectively inserted into the two limiting holes 326. Then, when the slide rail 31 slides on the fixing frame 321, when the slide rail 31 moves to the front and rear ends, it will be pushed against by the limiting protrusions 327 and cannot move, thereby ensuring that the slide rail 31 slides on the path between the two limiting protrusions 327, and preventing the slide rail 31 from sliding off the fixing frame 321.

[0046] In one embodiment, the intelligent reconfigurable cabbage bundling robot further includes a lifting mechanism 4, which is connected to the bundling mechanism 3 and is used to drive the bundling mechanism 3 to move toward the Chinese cabbage.

[0047] Please refer to Figures 1 to 3 The bundling mechanism 3 is connected to the mounting bracket 11 through the lifting mechanism 4, and can move up and down along the mounting bracket 11 under the drive of the lifting mechanism 4. Then, the entire intelligent reconfigurable cabbage bundling robot is pushed to move by manually holding the handrail, and the driving mechanism 32 is moved to the top of the Chinese cabbage. The lifting mechanism 4 is started, and the driving mechanism 32 is driven downward by the lifting mechanism 4, so that the lower end of the synchronous belt 322 moves to the corresponding height above the Chinese cabbage, thereby controlling the bundling position of the elastic ring 33 on the Chinese cabbage.

[0048] Generally, the bundling position of Chinese cabbage is at two-thirds of the height of the Chinese cabbage. When bundling Chinese cabbage of different heights, the height of the bundling mechanism 3 needs to be adjusted according to the actual height of the Chinese cabbage. After the bundling position of the Chinese cabbage to be bundled is determined, the driving mechanism 32 is driven by the lifting mechanism 4 to move to the corresponding bundling position, and then the Chinese cabbage is bundled.

[0049] In this embodiment, the bundling position of the elastic ring 33 on the Chinese cabbage can be changed by the lifting mechanism 4, which can better adapt to the bundling of Chinese cabbages of different heights.

[0050] In one embodiment, an elastic member 23 is provided on the side of the mechanical clamp 22 facing the Chinese cabbage, and the mechanical clamp 22 abuts against the Chinese cabbage through the elastic member 23. A pressure sensor 24 is also provided on the side of the mechanical clamp 22 facing the Chinese cabbage, and the pressure sensor 24 is used to detect the pressure when the mechanical clamp 22 abuts against the Chinese cabbage. When the pressure sensor 24 detects a preset pressure value signal, the motor 21 controls the mechanical clamp 22 to stop moving.

[0051] Please refer to Figure 3 In this embodiment, the surface where the mechanical clamp 22 contacts the Chinese cabbage is provided with an elastic member 23 and a pressure sensor 24. Because when the scattered leaves of the Chinese cabbage are clamped, the clamping force of the mechanical clamp 22 is too large, which may cause damage to the leaves of the Chinese cabbage. Therefore, when the mechanical clamp 22 contacts the Chinese cabbage through the elastic member 23, the contact area can be increased, the pressure can be reduced, and damage to the Chinese cabbage can be avoided.

[0052] In this embodiment, the clamping motor 21 drives the two mechanical clamps 22 to move to a specified distance, so that the two mechanical clamps 22 are close to each other for clamping. However, different Chinese cabbages have different sizes, so when the two mechanical clamps 22 move to a fixed position for clamping each time, the Chinese cabbage may not be clamped or may be damaged.

[0053] Therefore, in this embodiment, the determination is made through the pressure sensor 24. First, a pressure value is preset on the pressure sensor 24, and when the pressure sensor 24 detects the preset pressure value, the clamping motor 21 stops driving the two mechanical clamps 22 to move.

[0054] Then, when encountering a large cabbage, the pressure sensor 24 has detected the preset pressure value before the two mechanical clamps 22 move to the fixed position. At this time, stopping the movement can ensure that the cabbage is clamped while avoiding damage to the cabbage. When encountering a small cabbage, the pressure sensor 24 has not detected the preset pressure value after the two mechanical clamps 22 move to the fixed position. At this time, continuing to move until the pressure sensor 24 detects the preset pressure value can ensure that the small cabbage is also clamped.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent reconfigurable cabbage bundling robot, used for bundling Chinese cabbage in the growth cycle, characterized in that: include: A mobile frame (1), the mobile frame (1) being provided with a mounting bracket (11) and a moving part (12) connected to the mounting bracket (11), the moving part (12) being used to drive the mounting bracket (11) to move; A clamping mechanism (2) connected to the mounting bracket (11), the clamping mechanism (2) being provided with a clamping motor (21) and two mechanical clamps (22) arranged opposite to each other, the clamping motor (21) being in transmission connection with the two mechanical clamps (22) and being used for controlling the two mechanical clamps (22) to move towards each other so as to clamp the Chinese cabbage located between the two mechanical clamps (22); A bundling mechanism (3) connected to the mounting bracket (11), the bundling mechanism (3) comprising a plurality of slide rails (31), a driving mechanism (32) and a plurality of elastic rings (33), the plurality of slide rails (31) being arranged at intervals on the mounting bracket (11) and being used to prop open the elastic rings (33), the plurality of elastic rings (33) being arranged in sequence on the slide rails (31), the driving mechanism (32) being connected to the slide rails (31) and being in transmission connection with the elastic rings (33) and being used to pull the elastic rings (33) away from the slide rails (31); The driving mechanism (32) comprises a driving motor (34), the slide rail (31) is slidably connected to the mounting bracket (11), the driving motor (34) is arranged on the center line of the elastic ring (33), and the driving motor (34) is transmission-connected to the plurality of slide rails (31) for driving the plurality of slide rails (31) to move synchronously toward or away from the center.

2. The intelligent reconfigurable cabbage bundling robot according to claim 1 is characterized in that: The driving mechanism (32) comprises a fixing frame (321), a synchronous belt (322) and a motor (323); the fixing frame (321) is connected to the mounting bracket (11); the slide rails (31) are arranged on the fixing frame (321); each slide rail (31) is provided with a synchronous belt (322); a plurality of elastic rings (33) are arranged in sequence on the synchronous belt (322); the motor (323) is connected to the synchronous belt (322) for driving the synchronous belt (322) to rotate around the slide rail (31), thereby driving the elastic ring (33) to slide along the slide rail (31).

3. The intelligent reconfigurable cabbage bundling robot according to claim 2 is characterized in that: The driving mechanism (32) further comprises a latching tooth (324), the latching tooth (324) being arranged on the synchronous belt (322); in the direction towards the Chinese cabbage, the latching tooth (324) is closer to the Chinese cabbage than the elastic ring (33); the latching tooth (324) is used to limit the elastic ring (33); and the synchronous belt (322) is used to drive the latching tooth (324) and the elastic ring (33) to move towards the Chinese cabbage together.

4. The intelligent reconfigurable cabbage bundling robot according to claim 1 is characterized in that: The driving mechanism (32) further comprises a plurality of pull rods (35), each of the pull rods (35) being connected to one of the slide rails (31); the driving motor (34) being transmission-connected to the plurality of slide rails (31) via the pull rods (35) for driving the plurality of slide rails (31) to move synchronously towards or away from the center.

5. The intelligent reconfigurable cabbage bundling robot according to claim 4 is characterized in that: The pull rod (35) includes a driving rod (351) and a connecting rod (352), wherein the driving rod (351) is connected to the driving motor (34), and the two ends of the connecting rod (352) are respectively hinged to one end of the driving rod (351) away from the driving motor (34) and the slide rail (31), and the driving motor (34) is used to drive the driving rod (351) to rotate, thereby driving the slide rail (31) to slide through the connecting rod (352).

6. The intelligent reconfigurable cabbage bundling robot according to claim 4 is characterized in that: A visual sensor is also provided on the side of the driving motor (34) facing the Chinese cabbage, and the visual sensor is used to detect the size of the Chinese cabbage, so that the driving motor (34) drives the plurality of slide rails (31) to move to positions corresponding to the size of the Chinese cabbage.

7. The intelligent reconfigurable cabbage bundling robot according to claim 1 is characterized in that: At least one limiting hole (326) and a limiting protrusion (327) are provided on the mounting bracket (11); along the sliding direction of the slide rail (31), the limiting hole (326) is arranged on a side of the slide rail (31) away from the drive motor (34); and the limiting protrusion (327) is inserted into the limiting hole (326) to prevent the slide rail (31) from sliding out of the fixing bracket (321).

8. The intelligent reconfigurable cabbage bundling robot according to claim 1 is characterized in that: The intelligent reconfigurable cabbage bundling robot further comprises a lifting mechanism (4), wherein the lifting mechanism (4) is connected to the bundling mechanism (3) and is used to drive the bundling mechanism (3) to move towards the Chinese cabbage.

9. The intelligent reconfigurable cabbage bundling robot according to claim 1 is characterized in that: An elastic member (23) is provided on the side of the mechanical clamp (22) facing the Chinese cabbage, and the mechanical clamp (22) abuts against the Chinese cabbage via the elastic member (23).

10. The intelligent reconfigurable cabbage bundling robot according to claim 9 is characterized in that: A pressure sensor (24) is also provided on the side of the mechanical clamp (22) facing the Chinese cabbage, and the pressure sensor (24) is used to detect the pressure when the mechanical clamp (22) abuts against the Chinese cabbage. When the pressure sensor (24) detects a preset pressure value signal, the clamping motor (21) is used to control the mechanical clamp (22) to stop moving.

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