A mobile pick-up and threshing device special for highland barley

Abstract

The application discloses a mobile pick-up and threshing device special for highland barley, which comprises a mobile base, a pick-up device, a conveying mechanism and a threshing mechanism installed on the mobile base; the pick-up device is provided with a grabbing paw, a mechanical arm and a connecting frame connected between the grabbing paw and the mechanical arm; the pick-up device further comprises a bracket and a guide rod; the bracket can rotate relative to the connecting frame, and the relative rotation shafts of the bracket and the connecting frame are parallel to the extension direction of the guide rod; the bracket can slide along the guide rod; the connecting frame is provided with a first motor for changing the posture of the grabbing paw around the Z axis, and the connecting frame is further provided with a camera. In the application, the grabbing paw is matched with the translatable and slidable guide rod, so that the operation of picking up and threshing the baled highland barley can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of highland barley harvesting and threshing, and particularly relates to a mobile picking and threshing device special for highland barley. BACKGROUND

[0002] Highland barley is a crop of the genus Hordeum in the family Poaceae and is widely planted in Tibet and other alpine regions. It has strong adaptability, is cold and drought tolerant, and can grow on plateaus above an altitude of 3000 meters, thus becoming one of the main food of the people in the Tibetan region.

[0003] In the process of harvesting highland barley, the patent CN117204202A shows that the machine is used for harvesting and bundling. The bundled highland barley is placed in the field and is picked and threshed after drying. In the prior art, the patent CN215223222U shows that the picker is used for picking crops. However, this picker can only pick scattered crops and cannot pick bundled highland barley crops. Therefore, a new picking and threshing device needs to be designed for this scenario to meet the needs of picking and threshing of highland barley bundles. SUMMARY

[0004] The present application provides a mobile picking and threshing device special for highland barley, which can pick and thresh bundled highland barley.

[0005] Technical scheme: To achieve the above-mentioned purpose, the mobile picking and threshing device special for highland barley comprises a mobile base, a picking device, a conveying mechanism and a threshing mechanism installed on the mobile base; the picking device comprises a grabbing claw, a mechanical arm and a connecting frame connected between the grabbing claw and the mechanical arm.

[0006] The picking device further comprises a bracket and a guide rod; the bracket can rotate relative to the connecting frame, and the relative rotation axis of the bracket and the connecting frame is parallel to the extension direction of the guide rod; the bracket can slide along the guide rod; the connecting frame is installed with a first motor for changing the posture of the grabbing claw around the Z axis, and the connecting frame is further installed with a camera. The first motor and the grabbing claw are connected through an elastic torsion mechanism.

[0007] Further, the picking device further comprises a sliding seat capable of sliding along the guide rod; the swivel frame is rotatably installed relative to the sliding seat, and a linear motion execution mechanism is connected between the swivel frame and the sliding seat; the connecting frame is further installed with a push-pull execution unit for driving the sliding seat to move.

[0008] Furthermore, the number of the rotating frames and the sliding seats is two, and the number of the push-pull actuators is also two; the grabbing claw is located in the middle of the connecting frame. In the initial state, the two rotating frames are gathered in the middle of the connecting frame and are respectively placed on the left and right sides of the grabbing claw.

[0009] Furthermore, the rotary frame is in an arc shape, or a curved shape composed of multiple straight rods.

[0010] The slewing frame can switch between the raised position and the working position. In the initial state, the slewing frame is in the raised state, which will not interfere with the grasping claw grasping the barley bale, and the grasping claw is in the upright position; the control system determines the position and posture of the barley bale based on the photos obtained by the camera, and then, based on the position and posture information, controls the first motor to adjust the posture of the grasping claw, and controls the operation of the mechanical arm to make the grasping claw reach the grasping position; then, controls the grasping claw to close and grasp the middle of the barley bale, and controls the operation of the mechanical arm to completely lift the barley bale off the ground and return the grasping claw to the upright position; then, controls the linear movement The actuator is activated to extend the rotary frame under the barley bale. Finally, the push-pull actuator is controlled to operate to move the sliding seat along the guide rod. In this way, the two rotary frames can be moved away from the grabbing claws in two directions to lift the two ends of the barley bale. In this process, the posture of the barley bale can be corrected at the same time. If the posture of the barley bale is twisted, due to the presence of the elastic torsion mechanism, the barley bale can cause the grabbing claws to produce a certain elastic torsion relative to the first motor. After the grabbing claws release the barley bale, the elastic torsion mechanism resets the grabbing claws.

[0011] After picking up the barley bale, the robotic arm operates to make the connecting frame reach the front side of the conveying mechanism, the picker releases the barley bale to the conveying mechanism, and the conveying mechanism transports the barley bale backward.

[0012] Furthermore, the conveying mechanism includes a first conveying assembly at the bottom and a second conveying assembly at the top, both of which are arranged in an inclined configuration with a lower front and a higher rear, and a conveying passage formed between them. Furthermore, the conveying mechanism also includes an inclined plate positioned at the front end of the first conveying assembly, the inclined plate being higher in the front and lower in the rear, with the front end of the second conveying assembly positioned behind the front end of the second conveying assembly, a gradually narrowing entry passage being formed between the front sides of the first conveying assembly and the front sides of the second conveying assembly, and equal-width passages being formed between the middle and rear sides of the first and second conveying assemblies.

[0013] Further, the first conveying assembly comprises a first conveying belt and vertical plates arranged equidistantly along the conveying route of the first conveying assembly, and the vertical plates form a containing groove for containing the barley bundle between the first conveying assembly and the second conveying assembly, so as to prevent the barley bundle from being displaced relative to the conveying mechanism. The second conveying assembly has a second conveying belt, and the two ends of the second conveying belt are respectively provided with belt rollers, and the inside of the second conveying belt is provided with a transition roller corresponding to the transition position between the entry channel and the equal-width channel.

[0014] After the pickup device puts the barley bundle into the front end of the conveying mechanism, the barley bundle reaches the bottom of the V-shaped groove formed between the first conveying assembly and the inclined plate, the first conveying assembly conveys the barley bundle upward, so that the barley bundle enters the entry channel, and then enters the equal-width channel between the first conveying assembly and the second conveying assembly. The middle and lower parts of the barley bundle are clamped between the first conveying assembly and the second conveying assembly, and the ear part of the barley is exposed outside the conveying mechanism.

[0015] Further, the threshing mechanism is installed on the side of the conveying direction of the conveying mechanism, and has two opposite threshing cylinders; the threshing cylinder has a plurality of bars arranged in a circumferential array, and the bars are provided with a plurality of threshing elements arranged in a scattered manner. During operation, the two threshing cylinders rotate at the same speed in opposite directions, so that the ear part of the barley bundle can be threshed. The first conveying belt and the second conveying belt are respectively provided with pressure rollers corresponding to the inside of the equal-width channel, so as to maintain the clamping effect of the barley bundle and prevent the barley from being displaced transversely during the threshing process.

[0016] In addition, the shaft of the threshing cylinder is installed obliquely relative to the conveying direction of the conveying mechanism, so that the threshing cylinder can fully thresh the ear part of the barley bundle.

[0017] Beneficial effects: The barley special mobile pickup and threshing device has the following beneficial effects:

[0018] (1) The grabbing claws cooperate with the guide rods that can slide horizontally, so that the bundled barley can be picked up and threshed.

[0019] (2) During the picking process, the position and posture of the barley bundle are identified by vision, which effectively improves the intelligentization of the machine tool, realizes the automatic identification and picking of the barley bundles with different postures, and reduces the operation difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a side view of the barley special mobile pickup and threshing device;

[0021] Figure 2 It is a top view of the barley special mobile pickup and threshing device;

[0022] Figure 3This is a three-dimensional structural diagram of a mobile picking and threshing device specifically for highland barley;

[0023] Figure 4 This is the first-person perspective structural diagram of the pickup part;

[0024] Figure 5 This is the second perspective structural diagram of the pickup part;

[0025] Figure 6 This is the structural diagram of the conveying mechanism.

[0026] In the figure: 1-mobile base; 2-pickup device; 21-grabbing claw; 22-mechanical arm; 23-bracket; 24-connecting frame; 25-guide rod; 26-sliding seat; 27-linear motion actuator; 28-first motor; 29-push-pull actuator unit; 210-camera; 211-elastic torsion mechanism; 3-conveyor mechanism; 31-first conveyor assembly; 31a-first conveyor belt; 31b-vertical plate; 32-second conveyor assembly; 32a-second conveyor belt; 32b-belt roller; 32c-transition roller; 33-inclined plate; 4-threshing mechanism; 41-threshing drum; 41a-rod; 41b-threshing element. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] like Figures 1 to 3 The mobile picking and threshing device for highland barley shown includes a mobile base 1 on which a picker 2, a conveying mechanism 3 and a threshing mechanism 4 are installed.

[0029] like Figure 4 and Figure 5 The picker 2 comprises a gripper 21, a robotic arm 22, and a connecting frame 24 connected between the gripper 21 and the robotic arm 22. The picker 2 also includes a bracket 23 and a guide rod 25. The bracket 23 is rotatable relative to the connecting frame 24, with their relative rotation axis parallel to the extension direction of the guide rod 25. The bracket 23 is slidable along the guide rod 25. A first motor 28 for changing the posture of the gripper 21 about the Z-axis is mounted on the connecting frame 24. A camera 210 is also mounted on the connecting frame 24. The first motor 28 is connected to the gripper 21 via an elastic torsion mechanism 211.

[0030] Preferably, the pickup device 2 further comprises a sliding seat 26 capable of sliding along the guide rod 25; the swivel frame 23 is rotatably installed relative to the sliding seat 26, and a linear motion actuator 27 is connected therebetween, in this embodiment, the linear motion actuator 27 is an oil cylinder; the connecting frame 24 is further provided with a push-pull actuating unit 29 for driving the sliding seat 26 to move.

[0031] Preferably, the number of the swivel frames 23 and the sliding seats 26 is both two, and the number of the push-pull actuating units 29 is also two; the grabbing hand 21 is located at the middle of the connecting frame 24. In the initial state, the two swivel frames 23 are gathered at the middle of the connecting frame 24 and are respectively located at the left and right sides of the grabbing hand 21.

[0032] Preferably, the swivel frame 23 is in the shape of a circular arc or is in the shape of a curve composed of multiple straight rods.

[0033] The swivel frame 23 can be switched between a raised position and a working position (as shown in the state of Figure 4 and Figure 5 the initial state). In the initial state, the swivel frame 23 is in the raised state and does not interfere with the grabbing hand 21 grabbing the barley bundle, and the grabbing hand 21 is in the upright position; the control system determines the position and posture of the barley bundle based on the photos obtained by the camera 210, and then, based on the position and posture information, controls the first motor 28 to adjust the posture of the grabbing hand 21 and controls the mechanical arm 22 to operate so that the grabbing hand 21 reaches the grabbing position; then, the control system controls the grabbing hand 21 to close and hold the middle part of the barley bundle and controls the mechanical arm 22 to operate so as to completely grab the barley bundle off the ground and make the grabbing hand 21 return to the upright position; thereafter, the control system controls the linear motion actuator 27 to make the swivel frame 23 extend below the barley bundle, and finally, the control system controls the push-pull actuating unit 29 to operate so as to make the sliding seat 26 move along the guide rod 25, so that the two swivel frames 23 are respectively away from the grabbing hand 21 in two directions to hold the two ends of the barley bundle, and in this process, the posture of the barley bundle can be corrected at the same time. If the posture of the barley bundle is twisted, the barley bundle can make the grabbing hand 21 produce a certain elastic twist relative to the first motor 28 due to the existence of the elastic twist mechanism 211, and the grabbing hand 21 is reset after the barley bundle is released.

[0034] After picking up the barley, the grabbing hand 21 holds the tied position of the barley, which is the most compact position and is easier to be grabbed, and since the position of the bracket 23 is close to the grabbing hand 21 in the initial state, the grabbing hand 21 is more likely to extend below the barley bundle and hold the downward end of the barley bundle in the process of the sliding seat 26 moving away from the grabbing hand 21 along the guide rod 25, so that the complete pickup of the barley bundle is completed, and the situation that part of the barley is located below the bracket 23 does not occur.

[0035] After picking up the barley bale, the mechanical arm 22 operates to make the connecting frame 24 reach the front side of the conveying mechanism 3, the picker 2 releases the barley bale to the conveying mechanism 3, and the conveying mechanism 3 conveys the barley bale backward.

[0036] In the present invention, the grabbing claw 21 is used in conjunction with the guide rod 25 that can slide horizontally, so as to realize the operation of picking up and threshing the bundled barley.

[0037] During the above-mentioned picking process, the position and posture of the barley bales are identified by vision, which effectively improves the intelligence of the machine, realizes the automatic identification and picking of barley bales with different postures, and reduces the difficulty of operation.

[0038] Preferably, if Figure 6 As shown, the conveying mechanism 3 includes a first conveying assembly 31 at the bottom and a second conveying assembly 32 at the top. Both the first conveying assembly 31 and the second conveying assembly 32 are arranged in an inclined configuration with a lower front and a higher rear. A conveying passage is formed between the two. In addition, the conveying mechanism 3 also includes an inclined plate 33 placed at the front end of the first conveying assembly 31. The inclined plate 33 is higher at the front and lower at the rear. The front end of the second conveying assembly 32 is located behind the front end of the second conveying assembly 32. A gradually narrowing entry passage is formed between the front side of the first conveying assembly 31 and the front side of the second conveying assembly 32. A passage of equal width is formed between the middle and rear sides of the first conveying assembly 31 and the second conveying assembly 32.

[0039] Preferably, the first conveyor assembly 31 includes a first conveyor belt 31a and vertical plates 31b arranged equidistantly along the conveying route of the first conveyor assembly 31. A storage compartment for accommodating barley bales is formed between the vertical plates 31b and the first conveyor assembly 31 and the second conveyor assembly 32 to prevent the barley bales from shifting relative to the conveyor mechanism 3. The second conveyor assembly 32 includes a second conveyor belt 32a, with belt rollers 32b at each end. A transition roller 32c is provided inside the second conveyor belt 32a at the transition position between the entrance channel and the equal-width channel.

[0040] After the picker 2 drops the barley bale onto the front end of the conveyor mechanism 3, it reaches the bottom of the V-shaped groove formed between the first conveyor assembly 31 and the inclined plate 33. The first conveyor assembly 31 then transports the bale upward, allowing it to enter the aforementioned entry channel and then into the equal-width channel between the first and second conveyor assemblies 31, 32. The middle and lower portion of the barley bale is sandwiched between the first and second conveyor assemblies 31, 32, with the ear of barley exposed outside the conveyor mechanism 3.

[0041] Preferably, the threshing mechanism 4 is installed on the side of the conveying mechanism 3 in the conveying direction, and has two opposite threshing cylinders 41; the threshing cylinder 41 has a plurality of bars 41a arranged in a circumferential array, and the bars 41a have a plurality of threshing elements 41b arranged in a scattered manner. During operation, the two threshing cylinders 41 rotate at the same speed in opposite directions, and can thresh the ear parts of the barley bales. The first conveying belt 31a and the second conveying belt 32a each have a pressure roller arranged in the corresponding equal-width channel to maintain the pressure and prevent the barley from moving transversely during the threshing process.

[0042] In addition, the threshing cylinder 41 is installed in an inclined manner in the axial direction relative to the conveying direction of the conveying mechanism 3, so that the threshing cylinder 41 can fully thresh the ear parts of the barley bales.

[0043] The above description is only the preferred embodiments of the present application, and it should be pointed out that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A mobile picking and threshing device for highland barley, comprising a mobile base (1), a picker (2), a conveying mechanism (3) and a threshing mechanism (4) mounted on the mobile base (1); the picker (2) having a grabbing claw (21), a mechanical arm (22) and a connecting frame (24) connected between the grabbing claw (21) and the mechanical arm (22); characterized in that: The picker (2) further comprises a bracket (23) and a guide rod (25); the bracket (23) is rotatable relative to the connecting frame (24), and the relative rotation axis of the bracket and the guide rod (25) is parallel to the extension direction of the guide rod (25); the bracket (23) is slidable along the guide rod (25); a first motor (28) for changing the posture of the grabbing claw (21) around the Z axis is mounted on the connecting frame (24), and a camera (210) is also mounted on the connecting frame (24); The picker (2) further includes a sliding seat (26) capable of sliding along the guide rod (25); the bracket (23) is rotatably mounted relative to the sliding seat (26), and a linear motion actuator (27) is connected therebetween; a push-pull actuator unit (29) for driving the sliding seat (26) to move is also mounted on the connecting frame (24); The number of the brackets (23) and the number of the sliding seats (26) are both two, and the number of the push-pull execution units (29) is also two; the grabbing claw (21) is located in the middle of the connecting frame (24).

2. The mobile picking and threshing device for highland barley according to claim 1, characterized in that: The bracket (23) is in an arc shape, or a curved shape consisting of multiple straight rods.

3. The mobile picking and threshing device for highland barley according to claim 1, characterized in that: The conveying mechanism (3) comprises a first conveying assembly (31) at the bottom and a second conveying assembly (32) at the top. Both the first conveying assembly (31) and the second conveying assembly (32) are arranged in an inclined manner with the front lower and the rear higher, and a conveying channel is formed between the two.

4. The mobile picking and threshing device for highland barley according to claim 3, characterized in that: The first conveying assembly (31) comprises a first conveying belt (31a) and vertical plates (31b) arranged at equal distances along a conveying route of the first conveying assembly (31).

5. The mobile picking and threshing device for highland barley according to claim 1, characterized in that: The threshing mechanism (4) is installed on the side of the conveying direction of the conveying mechanism (3), and has two opposing threshing rollers (41); the threshing rollers (41) have a plurality of rods (41a) arranged in a circumferential array, and the rods (41a) have a plurality of threshing elements (41b) arranged in a dispersed manner.

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