Inserting rod branch binding machine

Abstract

The invention discloses a rod inserting and branch binding machine which comprises a walking module, a rod storage module, an overturning module, a rod inserting module and a branch binding module. The rod storage module is arranged on the walking module, is used for storing thin rods which are horizontally placed and is also used for intermittently releasing single thin rods; the overturning module is arranged on the walking module, located on the side of the rod storage module and used for bearing and clamping the slender rod and further used for changing the slender rod from the horizontal state to the vertical state. The rod inserting module is arranged on the walking module and is used for inserting a vertical thin rod into soil; the branch binding module is arranged on the walking module and used for binding the slender rods inserted into the soil and the corresponding pepper plant stems. The machine has the advantages that the machine can adapt to the complex terrain environment and enter a greenhouse to conduct high-efficiency seedling rod inserting and branch binding work, the machine cost is low, and small farmers can bear the machine.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, and in particular to a pole-inserting and branch-binding machine. Background Art

[0002] As an important part of my country's spicy vegetable industry, the scale of pepper cultivation continues to grow. By the end of 2023, the pepper planting area had reached about 2.15 million hectares, with an output value of 250 billion yuan, accounting for about 11.36% of the country's total output value, and the pepper industry contributed 1.14% to farmers' income. As a Solanaceae economic crop with a shallow root system, pepper's underdeveloped root system makes it vulnerable to external factors such as bad weather and unsuitable soil environment, which leads to plant lodging, resulting in a certain degree of pepper yield reduction. In order to reduce the occurrence of crop diseases and insect pests and avoid dense planting of peppers, farmers mainly plant peppers in single ridges, single holes and single plants. In order to reduce the lodging of pepper plants, farmers often insert poles and tie branches in the early growth stage of peppers, that is, when the plants begin to grow but are not yet too lush, to guide the growth direction of the plant stems and reduce plant lodging.

[0003] At present, the main methods of tying pepper branches are manual tying or small branch tying devices (such as a branch tying machine disclosed in application No. 201710092399.4). There are also emerging large-scale mechanized operations, but manual tying is less efficient, and small branch tying devices still need to be held by hand, and it takes a certain amount of effort to start the branch tying device and nail the buckle, which is labor-intensive and has uneven work quality. Large machines are large in size and difficult to adapt to complex terrain. They cannot enter the greenhouse to work and are only suitable for open-air planting environments. In addition, the machine costs are high and small farmers cannot afford them. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a pole inserting and branch tying machine to solve the technical problems in the prior art that manual pole inserting and branch tying is labor-intensive, small branch tying devices are inefficient, and large machinery is difficult to enter the greenhouse for pole inserting and branch tying.

[0005] In order to achieve the above technical objectives, the technical solution of the present invention provides a rod-inserting branch-binding machine, comprising: A walking module for traveling along the ridge path; A rod storage module, which is arranged on the walking module and is used to store thin rods placed horizontally and also to release a single thin rod intermittently; A flip module is arranged on the walking module and is located on the side of the rod storage module, and is used to receive and clamp the thin rod and to change the thin rod from a horizontal state to a vertical state; A rod insertion module, which is arranged on the walking module and is used to insert a vertical thin rod into the soil; The branch binding module is arranged on the walking module and is used for binding the thin rod inserted into the soil with the corresponding pepper plant stem.

[0006] Furthermore, the rod storage module includes a rod storage box and a rod transport unit, the rod storage box has a rod inlet and a rod outlet, the rod storage box is used to store horizontally placed thin rods, the inlet end of the rod transport unit is connected to the rod outlet to receive and intermittently transport a single thin rod, and the flip module is located at the end of the rod transport unit.

[0007] Furthermore, the rod transport unit includes two fixed plates, two movable plates, a rod transport driving assembly and two guide assemblies. The two fixed plates are arranged opposite to each other and at intervals. The tops of the two fixed plates have a first step-like structure. The two first step-like structures are respectively used to receive the two ends of the thin rod. The two movable plates are slidingly connected to the two fixed plates one by one. The tops of the two movable plates have a second step-like structure. The rod transport driving assembly is connected to the two movable plates to drive the two movable plates to move up and down synchronously, so that the second step-like structure transports the thin rod to the upper step of the first step-like structure step by step. The two guide assemblies are connected to the fixed plates and the movable plates one by one to guide the up and down movement of the movable plates.

[0008] Furthermore, the flip module includes a clamping unit and a flipping unit, the clamping unit is used to receive and clamp the thin rod, and the flipping unit is connected to the clamping unit and is used to drive the clamping unit to flip so that the thin rod changes from a horizontal state to a vertical state.

[0009] Furthermore, the clamping unit includes a fixed clamping member, a movable clamping member and a clamping drive assembly, the movable clamping member is arranged opposite to the fixed clamping member, the clamping drive assembly is fixedly connected to the fixed clamping member, and is also connected to one end of the movable clamping member, and is used to drive the other end of the movable clamping member to approach or move away from the fixed clamping member so as to clamp or release the thin rod together with the fixed clamping member, and the flipping unit is connected to the fixed clamping member.

[0010] Furthermore, the fixed clamping member includes a first fixed clamping portion, a second fixed clamping portion and a connecting rod, the first fixed clamping portion has a first clamping groove, the second fixed clamping portion has a second clamping groove, the first clamping groove and the second clamping groove are respectively used to receive two ends of the thin rod, the connecting rod is horizontally arranged between the first fixed clamping portion and the second fixed clamping portion, and fixedly connects the first fixed clamping portion and the second fixed clamping portion, the second fixed clamping portion is provided with a plurality of through grooves at intervals on the side wall close to the rod transport unit, the movable clamping member includes a mounting shaft and a plurality of clamping grips, the mounting shaft is horizontally arranged, and one end of each of the clamping grips They are all fixedly connected to the mounting shaft, and each of the clamping grasping corresponds to each of the through slots one by one. The clamping drive assembly includes a driving rod and a third rotating driving member. One end of the driving rod is fixedly connected to one end of the rotating shaft. The third rotating driving member is arranged on the second fixed clamping part. The output end of the third rotating driving member is fixedly connected to the other end of the driving rod, and is used to drive the driving rod to rotate forward or reversely, so that each of the clamping grasping passes through each of the through slots one by one, and moves into or out of the second clamping slot. When each of the clamping grasping moves into the second clamping slot, it clamps the thin rod together with the second fixed clamping part.

[0011] Furthermore, the rod insertion module includes at least one guide rail, a pressure plate and a lifting drive assembly, each of the guide rails is vertically arranged, the pressure plate is horizontally arranged and slidably connected to each of the guide rails, and the lifting drive assembly is connected to the pressure plate to drive the pressure plate to move up and down so that the pressure plate presses the lower end of the thin rod into the soil.

[0012] Furthermore, the branch binding module includes a storage tray, a clamping unit, a blade, a knotting unit, an X-axis moving unit, a Y-axis moving unit and a Z-axis moving unit. The storage tray is used to wind the strap, and the storage tray has an outlet for the end of the strap to pass through. The clamping unit is arranged on the side of the storage tray to clamp or loosen the end of the strap. The blade is arranged at the outlet and fixedly connected to the storage tray. The blade is used to cut the strap. The knotting unit is arranged on the side of the clamping unit and is connected to the clamping unit. The unit is connected to the material storage tray and the clamping unit to tie a knot. The X-direction moving unit is connected to the material storage tray and the clamping unit to drive the material storage tray and the clamping unit to move toward or away from each other in a horizontal plane along the travel direction of the walking module. The Y-direction moving unit is connected to the X-direction moving unit to drive the X-direction moving unit to move back and forth in a horizontal plane along a travel direction perpendicular to the walking module. The Z-direction moving unit is connected to the Y-direction moving unit to drive the Y-direction moving unit to move up and down.

[0013] Furthermore, the clamping unit includes an installation box, a fixing part, a movable part, a clamping part, a through shaft, a first elastic part and a second elastic part. The side wall of the installation box close to the storage tray is opened, the fixing part is arranged in the installation box and fixedly connected to the installation box, the fixing part is provided with an L-shaped groove, the L-shaped groove has a first section and a second section that are interconnected, the first section extends along the travel direction of the walking module, and the second section extends in a direction perpendicular to the travel direction of the walking module, the movable part is arranged in the installation box and is slidably connected to the installation box, the movable part can reciprocate along the travel direction of the walking module, the movable part is provided with a T-shaped groove, the T-shaped groove has a third section that is interconnected and a fourth section, the third section extends along the travel direction of the walking module, the fourth section extends perpendicular to the travel direction of the walking module, the clamping member is arranged in the installation box and is slidably connected to the installation box, the clamping member can reciprocate along the travel direction perpendicular to the walking module to approach or move away from the movable member, and clamp or loosen the end of the strap together with the movable member, the through-shaft is vertically arranged, and slides through the L-shaped groove and the T-shaped groove, one end of the through-shaft is fixedly connected to the clamping member, the first elastic member is arranged in the installation box, one end of the first elastic member is fixedly connected to the installation box, and the other end of the first elastic member is fixedly connected to the inner end of the movable member so that the movable member When the movable part reaches the first position, the through shaft is located at the intersection of the first section and the second section, and also at the inner end of the third section, the clamping part is away from the movable part, and the second elastic part is arranged in the installation box, one end of the second elastic part is fixedly connected to the installation box, and the other end of the second elastic part is fixedly connected to the end of the clamping part away from the movable part, so that the clamping part is close to the movable part, and when the material storage tray and the clamping unit move closer to each other in the horizontal plane along the travel direction of the walking module, the end of the material storage tray close to the clamping unit pushes the movable part to move inward along the travel direction of the walking module, so that the movable part reaches the second position. , when the movable part reaches the second position, the second section and the fourth section correspond to each other, the through-shaft is first located at the intersection of the third section and the fourth section, and the second elastic part pushes the clamping part to move in a direction perpendicular to the travel direction of the walking module to approach the movable part and clamp the end of the strap together with the movable part, the through-shaft is finally located at the end of the second section away from the first section, and finally located at the end of the fourth section away from the third section, the clamping part is in a locked state, and the end of the material storage tray close to the clamping unit continues to push the movable part to move inward along the travel direction of the walking module, so that the movable part reaches the third position, and the clamping part moves in a direction perpendicular to the travel direction of the walking module,to move away from the movable part and loosen the end of the strap together with the movable part. When the movable part reaches the third position, the through-shaft is located at the outer end of the third section and also at the intersection of the first section and the second section. The end of the material storage tray close to the clamping unit continues to push the movable part to move inward along the travel direction of the walking module so that the movable part reaches the fourth position. When the movable part reaches the fourth position, the through-shaft is located at the inner end of the first section, and the clamping part is in a locked state. When the end of the material storage tray close to the clamping unit releases the movable part and gradually moves away from the clamping unit, the first elastic part pushes the movable part to move outward along the travel direction of the walking module, and the movable part reaches the first position.

[0014] Furthermore, the knotting unit includes a thread twisting disk, at least two knotting rods and a sixth rotating drive member, each of the knotting rods is circumferentially arranged on the side of the thread twisting disk, and also extends tangentially along the thread twisting disk, one end of each knotting rod close to the thread twisting disk is fixedly connected to the thread twisting disk, and a knotting seam is formed between each knotting rod and the thread twisting disk, the sixth rotating drive member is fixedly connected to the installation box, and the output end of the sixth rotating drive member is coaxially fixedly connected to the thread twisting disk for driving the thread twisting disk to rotate. During the rotation of the thread twisting disk, each of the knotting rods can roll the strap into the corresponding knotting seam to tie the strap.

[0015] Compared with the prior art, the beneficial effects of the present invention include: when in use, the thin rods to be inserted and tied are placed horizontally in the rod storage module, and then the walking module is moved along the ridge. During the movement of the walking module along the ridge, the rod storage module will intermittently release a single thin rod, which can be received and clamped by the flip module, and then the thin rod is changed from a horizontal state to a vertical state by the flip module, and then the vertical thin rod is inserted into the soil by the rod insertion module, and finally the thin rod inserted into the soil is tied to the corresponding pepper stem by the branch tying module to complete the work of inserting and tying the pepper seedlings. The rod insertion and branch tying machine can adapt to complex terrain environments and enter the greenhouse to perform efficient seedling insertion and branch tying work, and the machine cost is low, which can be afforded by small farmers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of a rod-inserting and branch-binding machine provided by the present invention; Figure 2 It is a three-dimensional structural schematic diagram of a rod-inserting and branch-binding machine provided by the present invention from another perspective; Figure 3 It is a schematic diagram of the three-dimensional structure of the rod transport unit provided by the present invention; Figure 4It is a three-dimensional structural schematic diagram of the flip module provided by the present invention; Figure 5 is a schematic diagram of the three-dimensional structure of the flip module provided by the present invention at another viewing angle; Figure 6 It is a three-dimensional structural schematic diagram of the plunger module provided by the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the branch binding module provided by the present invention; Figure 8 yes Figure 7 An enlarged view of the branch binding module in ; Fig. 9 It is a schematic diagram of the three-dimensional structure of the clamping unit provided by the present invention after omitting the installation box; Fig.10 It is a schematic diagram of the three-dimensional structure of the clamping unit provided by the present invention after omitting the installation box from another viewing angle; In the figure: 100-travel module, 110-frame, 120-drive wheel, 130-universal wheel, 140-first rotating drive member, 200-rod storage module, 210-rod storage box, 220-rod transport unit, 221-fixed plate, 2211-first stepped structure, 222-movable plate, 2221-second stepped structure, 2222-connecting groove, 2223-guide groove, 223-rod transport drive assembly, 2231-rotating wheel, 2232-connecting shaft, 2233-second rotating drive member, 224-guide assembly, 2241-guide shaft, 300-turning module, 310-clamping unit, 3111-fixed clamping member, 31111-first fixed clamping portion, 31111-first clamping groove, 3112-second fixed clamping portion, 3112 1-second clamping groove, 31122-through groove, 3113-connecting rod, 312-movable clamping member, 3121-installation shaft, 3122-clamping, 313-clamping drive assembly, 3131-drive rod, 3132-third rotation drive member, 320-turning unit, 321-installation plate, 3211-arc groove, 322-limiting sleeve, 323-guide sleeve, 324-rotation rod, 325-fourth rotation drive member, 400-insertion rod module, 410-guide rail, 420-pressing plate, 430-lifting drive assembly, 431-long rod, 432-short rod, 433-fifth rotation drive member, 500-branch binding module, 510-storage tray, 511-belt outlet, 520-clamping unit, 521-installation box, 522-fixing member, 5221- L-shaped slot, 52211 - first section, 52212 - second section, 523 - movable part, 5231 - T-shaped slot, 52311 - third section, 52312 - fourth section, 5232 - movable part, 5233 - abutting part, 5234 - connecting part, 524 - clamping part, 5241 - mounting part, 5242 - clamping part, 525 - through shaft, 530 - blade, 540 - knotting unit, 541 - thread twisting disc, 542 - knotting rod, 543 - sixth rotating driving part, 544 - knotting seam, 550 - X-direction moving unit , 551 - platform, 552 - slide rail, 553 - moving belt, 554 - first overlapping rod, 555 - second overlapping rod, 556 - X-axis driving assembly, 5561 - driving wheel, 5562 - driven wheel, 5563 - seventh rotating driving member, 560 - Y-axis moving unit, 561 - mounting frame, 562 - first guide rod, 563 - first screw rod, 564 - eighth rotating driving member, 570 - Z-axis moving unit, 571 - second guide rod, 572 - second screw rod, 573 - lifting plate, 574 - ninth rotating driving member. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] The present invention provides a rod inserting and branch binding machine, the structure of which is as follows: Figure 1 and Figure 2 As shown, it includes a walking module 100, a pole storage module 200, a flip module 300, a pole insertion module 400 and a branch binding module 500, wherein the walking module 100 is used for traveling along the ridge path; the pole storage module 200 is arranged on the walking module 100, and is used for storing horizontally placed thin poles, and is also used for intermittently releasing a single thin pole; the flip module 300 is arranged on the walking module 100 and is located on the side of the pole storage module 200, and is used for receiving and clamping the thin poles, and is also used for changing the thin poles from a horizontal state to a vertical state; the pole insertion module 400 is arranged on the walking module 100, and is used for inserting the vertical thin poles into the soil; the branch binding module 500 is arranged on the walking module 100, and is used for binding the thin poles inserted into the soil with the corresponding pepper plant stems.

[0019] When in use, the thin poles to be inserted and branches are placed horizontally in the pole storage module 200, and then the walking module 100 is moved along the ridge. During the movement of the walking module 100 along the ridge, the pole storage module 200 will intermittently release a single thin pole, and the flip module 300 can first receive and clamp the single thin pole released by the pole storage module 200, and then the flip module 300 can change the thin pole from a horizontal state to a vertical state, and then the vertical thin pole is inserted into the soil through the pole insertion module 400, and finally the thin pole inserted into the soil is tied to the corresponding pepper plant stem through the branch tying module 500 to complete the pole insertion and branch tying work of the pepper seedlings. The pole insertion and branch tying machine can adapt to complex terrain environments and enter the interior of the greenhouse to perform efficient pole insertion and branch tying work of the seedlings, and the machine cost is low, which can be afforded by small farmers.

[0020] As a preferred embodiment, please refer to Figure 1 and Figure 2The walking module 100 includes a frame 110, two driving wheels 120, two universal wheels 130 and two first rotating driving members 140. The two driving wheels 120 are arranged at a distance from each other on the front side of the frame 110. The wheel axles of the two driving wheels 120 are rotatably connected to the frame 110. The two universal wheels 130 are arranged at a distance from each other on the rear side of the frame 110. The wheel frames of the two universal wheels 130 are fixedly connected to the frame 110. The output ends of the two first rotating driving members 140 are connected to the two driving wheels 120 in a one-to-one correspondence to drive the corresponding driving wheels 120 to rotate. When the output speeds of the two first rotating driving members 140 are the same, the walking module 100 moves along When the output speeds of the two first rotating drive members 140 are different, there is a differential between the two driving wheels 120 to achieve steering. The driving wheel 120 adopts a 10-inch rubber sand wheel. The universal wheel 130 is used to facilitate the front wheel to drive the rear wheel to steer, so that the walking module 100 has more flexible steering ability in the field. The walking module 100 adopts a front-wheel drive mode, which can better adapt to the sandy loam environment of the farmland. The first rotating drive member 140 is a hub motor, which simplifies the structure of the walking module 100, reduces the weight of the entire device to a certain extent, reduces the degree of sinking of the device in the farmland, and facilitates the movement of the device. The tire adopts a zigzag pattern to reduce rolling resistance, reduce side slip, and provide good handling stability.

[0021] As a preferred embodiment, the walking module 100 is provided with an inertial navigation system, GPS, and IMU positioning. Through the inertial navigation system, the absolute spatial path of the device during its movement can be detected and sent to the host computer through wireless communication. Through GPS positioning, the current position of the device can be located, and the target points to be passed can be sent through the host computer. The road conditions can be judged in conjunction with GPS image information and deep learning, thereby planning the optimal route. Through the cooperation of IMU and GPS, the direction of movement of the device can be controlled so that the device can move along the planned route.

[0022] As a preferred embodiment, please refer to Figure 1 and Figure 2The rod storage module 200 includes a rod storage box 210 and a rod transport unit 220. The rod storage box 210 has a rod inlet and a rod outlet. The rod storage box 210 is fixedly connected to the frame 110. The rod storage box 210 is used to store horizontally placed thin rods. The inlet end of the rod transport unit 220 is connected to the rod outlet to receive and intermittently transport a single thin rod. The flip module 300 is located at the end of the rod transport unit 220. When in use, the thin rod falls from the rod outlet by its own gravity and reaches the rod transport unit 220. Since a certain operating cycle is required for inserting rods and binding branches, the rod transport unit 220 can ensure that a single thin rod is transferred at a certain distance.

[0023] As a preferred embodiment, the top surface of the rod storage box 210 is opened to form the rod entry port, so as to facilitate the placement of thin rods into the rod storage box 210 through the opening on the top surface of the rod storage box 210 .

[0024] As a preferred embodiment, the top plate of the rod storage box 210 is tilted downward toward the side where the rod outlet is located, so that the thin rods in the rod storage box 210 can roll down to the rod outlet.

[0025] As a preferred embodiment, please refer to Figure 3 The rod transport unit 220 includes two fixed plates 221, two movable plates 222, a rod transport driving assembly 223 and two guide assemblies 224. The two fixed plates 221 are arranged opposite to each other and at intervals, and are both fixedly connected to the frame 110. The tops of the two fixed plates 221 have a first stepped structure 2211, and the two first stepped structures 2211 are respectively used to receive the two ends of the thin rod. The two movable plates 222 are slidably connected to the two fixed plates 221 in a one-to-one manner. The tops of the two movable plates 222 have a second stepped structure 2221. The rod transport driving assembly 223 is connected to the two movable plates 222 for driving the two movable plates 222 to move up and down synchronously, so that the second stepped structure 2221 transports the thin rod to the frame 110 step by step. The upper step of the first stepped structure 2211, the two guide components 224 are connected to the fixed plate 221 and the movable plate 222 in a one-to-one manner to guide the up and down movement of the movable plate 222, and the two fixed plates 221 and the two movable plates 222 are arranged to receive and transport the two ends of the thin rod, which can ensure the stability of the thin rod during the transmission process and avoid the thin rod from swaying and tipping. The rod driving component 223 drives the two movable plates 222 to move up and down synchronously. Through the upper and lower position difference between the first stepped structure 2211 and the second stepped structure 2221, the second stepped structure 2221 can transport the thin rod to the upper step of the first stepped structure 2211 step by step, and the thin rod slides onto the flip module 300 when it is transported to the end of the step.

[0026] As a preferred embodiment, please refer to Figure 3 The bottom surface of each step of the first stepped structure 2211 is inclined downward toward the upper step, and the bottom surface of each step of the second stepped structure 2221 is inclined downward toward the upper step, so as to facilitate the thin rod to slide onto the upper step.

[0027] As a preferred embodiment, please refer to Figure 3 The two movable plates 222 are slidably connected to the mutually adjacent sides of the two fixed plates 221 in a one-to-one correspondence. The transport rod driving assembly 223 is arranged between the two movable plates 222. The transport rod driving assembly 223 includes two rotating wheels 2231, two connecting shafts 2232 and a second rotating driving member 2233. A connecting groove 2222 is provided on the movable plate 222. The connecting groove 2222 is arranged obliquely. One end of the two connecting shafts 2232 is eccentrically fixedly connected to the two rotating wheels 2231 in a one-to-one correspondence. The other end of the two connecting shafts 2232 is eccentrically fixedly connected to the two connecting grooves 22 22 are slidingly connected in a one-to-one correspondence, the second rotating drive member 2233 is fixedly connected to the frame 110, and the two output ends of the second rotating drive member 2233 are coaxially fixedly connected with the two rotating wheels 2231 in a one-to-one correspondence, and are used to drive the two rotating wheels 2231 to rotate synchronously. The two output ends of the second rotating drive member 2233 rotate synchronously, which will drive the two rotating wheels 2231 to rotate synchronously, and drive the two connecting shafts 2232 to rotate eccentrically synchronously. During the eccentric rotation of the connecting shaft 2232, the movable plate 222 will be driven to move up and down relative to the fixed plate 221.

[0028] As a preferred embodiment, please refer to Figure 3 The second rotating driving member 2233 is a dual-axis motor, which can realize synchronous driving of the two rotating wheels 2231 through the dual-axis motor.

[0029] As a preferred embodiment, please refer to Figure 3 The guide assembly 224 includes a plurality of guide shafts 2241, and a plurality of guide grooves 2223 are opened on the movable plate 222. Each of the guide grooves 2223 is arranged obliquely and is perpendicular to the connecting groove 2222. One end of each of the guide shafts 2241 is fixedly connected to the fixed plate 221, and the other end of each of the guide shafts 2241 is slidably connected to each of the guide grooves 2223 in a one-to-one correspondence. Through the cooperation of the guide grooves 2223 and the guide shafts 2241, the movement of the connecting shaft 2232 can be guided and limited, so that the up and down movement of the movable plate 222 is more stable.

[0030] As a preferred embodiment, the rod storage module 200 also includes an adjusting unit, which is connected to the rod storage box 210 and is used for adjusting the opening width of the rod outlet. Since different batches of thin rods have different diameters, in order to allow different batches of thin rods to be discharged from the rod outlet and to ensure that only one thin rod from different batches is allowed to be discharged from the rod outlet at a time, the opening width of the rod outlet needs to be adjusted.

[0031] As a preferred embodiment, the adjustment unit includes an adjustment plate and a telescopic driving member, the adjustment plate is slidably connected to the plate surface of the rod outlet on the rod storage box 210, and is sealed at the rod outlet, the telescopic driving member is fixedly connected to the frame 110, and the output end of the telescopic driving member is connected to the adjustment plate, which is used to drive the adjustment plate to move back and forth to adjust the opening width of the rod outlet. By manipulating the telescopic driving member, the telescopic driving member can drive the adjustment plate to move back and forth, thereby adjusting the opening width of the rod outlet, ensuring that only one thin rod is allowed to be discharged from the rod outlet at a time.

[0032] As a preferred embodiment, please refer to Figure 2 and Figure 4 The flipping module 300 includes a clamping unit 310 and a flipping unit 320. The clamping unit 310 is used to receive and clamp the thin rod. The flipping unit 320 is connected to the clamping unit 310 and is used to drive the clamping unit 310 to flip so that the thin rod changes from a horizontal state to a vertical state. When the rod transport unit 220 transports the thin rod to the end of the step, the thin rod slides onto the clamping unit 310. After the clamping unit 310 clamps the thin rod, the flipping unit 320 flips the clamping unit 310 so that the thin rod changes from a horizontal state to a vertical state.

[0033] As a preferred embodiment, please refer to Figure 4 and Figure 5 The clamping unit 310 includes a fixed clamping member 311, a movable clamping member 312 and a clamping drive assembly 313. The movable clamping member 312 is arranged opposite to the fixed clamping member 311. The clamping drive assembly 313 is fixedly connected to the fixed clamping member 311 and is also connected to one end of the movable clamping member 312, and is used to drive the other end of the movable clamping member 312 to approach or move away from the fixed clamping member 311, so as to clamp or release the thin rod together with the fixed clamping member 311. The flipping unit 320 is connected to the fixed clamping member 311. When the rod transport unit 220 transports the thin rod to the end of the step, the thin rod slides onto the fixed clamping member 311, and the clamping drive assembly 313 drives the other end of the movable clamping member 312 to approach the fixed clamping member 311, so that it can clamp the thin rod together with the fixed clamping member 311.

[0034] As a preferred embodiment, please refer to Figure 4 and Figure 5 The fixed clamping member 311 includes a first fixed clamping portion 3111, a second fixed clamping portion 3112 and a connecting rod 3113. The first fixed clamping portion 3111 has a first clamping groove 31111, and the second fixed clamping portion 3112 has a second clamping groove 31121. The first clamping groove 31111 and the second clamping groove 31121 are respectively used to receive the two ends of the thin rod. The connecting rod 3113 is horizontally arranged between the first fixed clamping portion 3111 and the second fixed clamping portion 3112, and fixedly connects the first fixed clamping portion 3111 and the second fixed clamping portion 3112. The second fixed clamping part 3112, the second fixed clamping part 3112 is provided with a plurality of through slots 31122 at intervals on the side wall close to the rod transport unit 220, the movable clamping member 312 includes a mounting shaft 3121 and a plurality of clamping grasps 3122, the mounting shaft 3121 is horizontally arranged, one end of each of the clamping grasps 3122 is fixedly connected to the mounting shaft 3121, and each of the clamping grasps 3122 corresponds to each of the through slots 31122 one by one, the clamping drive assembly 313 includes a driving rod 3131 and a third rotating driving member 3132, one end of the driving rod 3131 is connected to the third rotating driving member 3132, and the third rotating driving member 3132 is connected to the third rotating driving member 3132. One end of the rotating shaft is fixedly connected, the third rotating driving member 3132 is arranged on the second fixed clamping portion 3112, and the output end of the third rotating driving member 3132 is fixedly connected to the other end of the driving rod 3131, and is used to drive the driving rod 3131 to rotate forward or reversely, so that each of the clamping grasping 3122 passes through each of the through slots 31122 one by one, and moves into the second clamping slot 31121 or moves out of the second clamping slot 31121. When each of the clamping grasping 3122 moves into the second clamping slot 31121, it is clamped with the second fixed clamping portion 31121. The third rotating driving member 3132 is controlled so that the output end of the third rotating driving member 3132 drives the driving rod 3131 to rotate forward, and drives each of the clamping grasping members 3122 to pass through each of the through grooves 31122 one by one, so that each of the clamping grasping members 3122 moves into the second clamping groove 31121, and clamps the thin rod together with the second fixed clamping member 3112.

[0035] As a preferred embodiment, please refer to Figure 4 and Figure 5The side walls of the first clamping groove 31111 and the second clamping groove 31121 close to the rod transport unit 220 are inclined structures, which facilitates the thin rod reaching the end of the rod transport unit 220 to slide into the first clamping groove 31111 and the second clamping groove 31121 along the inclined surface.

[0036] As a preferred embodiment, please refer to Figure 4 The flip unit 320 includes a mounting plate 321, a limiting sleeve 322, a guide sleeve 323, a rotating rod 324 and a fourth rotating driving member 325. The mounting plate 321 is vertically arranged and fixedly connected to the frame 110. An arc groove 3211 is provided on the mounting plate 321. The arc groove 3211 is a quarter arc structure, and the arc groove 3211 is bent downward. The limiting sleeve 322 is arranged above the arc groove 3211 and is rotatably connected to the mounting plate 321 via a pin shaft. The guide sleeve 323 is slidably connected to the arc groove 3211 via a pin shaft and can rotate relative to the mounting plate 321. The connecting rod 3113 slides through the limiting sleeve 322 and the guide sleeve 323. One end of the rotating rod 324 is connected to the mounting plate 321. The guide sleeve 323 is fixedly connected, the fourth rotation driving member 325 is fixedly connected to the mounting plate 321, and the output end of the fourth rotation driving member 325 is coaxial with the center of the arc groove 3211, and the output end of the fourth rotation driving member 325 is fixedly connected to the other end of the rotating rod 324, and is used to drive the rotating rod 324 to rotate forward or reversely. When the rotating rod 324 rotates forward or reversely, it will drive the pin shaft connected to the guide sleeve 323 to slide in the arc groove 3211. At this time, the limit sleeve 322 will rotate relative to the mounting plate 321, and the connecting rod 3113 will change from a horizontal state to a vertical state, or from a vertical state to a horizontal state under the restriction of the limit sleeve 322 and the guide sleeve 323.

[0037] As a preferred embodiment, please refer to Figure 6 The rod insertion module 400 includes at least one guide rail 410, a pressure plate 420 and a lifting drive assembly 430. Each of the guide rails 410 is vertically arranged and fixedly connected to the frame 110. The pressure plate 420 is horizontally arranged and slidably connected to each of the guide rails 410. The lifting drive assembly 430 is connected to the pressure plate 420 to drive the pressure plate 420 to move up and down so that the pressure plate 420 presses the lower end of the thin rod into the soil. The lifting drive assembly 430 drives the pressure plate 420 to move downward. During the downward movement of the pressure plate 420, it will contact the top of the thin rod and press the thin rod downward so that the lower end of the thin rod is inserted into the soil.

[0038] As a preferred embodiment, the model of the guide rail 410 is HGR45-1000, and the up and down movement stroke can reach up to 25 cm, that is, the cutting depth can reach up to 25 cm.

[0039] As a preferred embodiment, please refer to Figure 6 A plurality of grooves are provided on the bottom surface of the pressing plate 420, and the grooves are used to accommodate the upper ends of the thin rods, thereby enhancing the accuracy of positioning the thin rods.

[0040] As a preferred embodiment, please refer to Figure 6 The lifting drive assembly 430 includes a long rod 431, a short rod 432 and a fifth rotating drive member 433. The upper end of the long rod 431 is hinged to the pressing plate 420, and one end of the short rod 432 is hinged to the lower end of the long rod 431. The fifth rotating drive member 433 is fixedly connected to the frame 110. The output end of the fifth rotating drive member 433 is hinged to the other end of the short rod 432, and is used to drive the short rod 432 to rotate so that the pressing plate 420 moves up and down. The fifth rotating drive member 433 drives the short rod 432 to rotate. During the rotation of the short rod 432, the pressing plate 420 will be driven up and down through the transmission action of the long rod 431. The fifth rotating drive member 433 is a 57 motor, and the 57 motor adopts closed-loop control. The drive plate installed at the tail can return the rotation angle information of the device, communicate with the host computer through the serial port, and realize the virtual control of the real by the digital twin through the application design of unity.

[0041] As a preferred embodiment, please refer to Figure 7 and Figure 8The branch binding module 500 includes a storage tray 510, a clamping unit 520, a blade 530, a knotting unit 540, an X-axis moving unit 550, a Y-axis moving unit 560 and a Z-axis moving unit 570. The storage tray 510 is used to wind the strap, and the storage tray 510 has a strap outlet 511 for the end of the strap to pass through. The clamping unit 520 is arranged on the side of the storage tray 510 to clamp or loosen the end of the strap. The blade 530 is arranged at the strap outlet 511 and is fixedly connected to the storage tray 510. The blade 530 is used to cut the strap. The knotting unit 540 is arranged on the side of the clamping unit 520 and is connected to the clamping unit 520 to The straps are tied, the X-direction moving unit 550 is connected to both the material storage tray 510 and the clamping unit 520, and is used to drive the material storage tray 510 and the clamping unit 520 to move toward each other or away from each other in the horizontal plane along the travel direction of the walking module 100, the Y-direction moving unit 560 is connected to the X-direction moving unit 550, and is used to drive the X-direction moving unit 550 to reciprocate in the horizontal plane along the travel direction perpendicular to the walking module 100, the Z-direction moving unit 570 is connected to the Y-direction moving unit 560, and is used to drive the Y-direction moving unit 560 to move up and down, and in the initial position, the material storage tray 510 and the clamping unit 520 are in a state of being away from each other, And the material storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 are all located on the inner side of the thin rod. When the lower end of the thin rod is inserted into the soil, the branch tying module 500 moves to the thin rod under the drive of the walking module 100, and keeps the material storage tray 510 and the clamping unit 520 respectively located on both sides of the thin rod. The Y-direction moving unit 560 drives the X-direction moving unit 550 to move outward in a horizontal plane along a direction perpendicular to the travel direction of the walking module 100, so that the material storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 reach the outside of the thin rod. The X-direction moving unit 550 drives the material storage tray 510 and the clamping unit 520 The tightening unit 520 moves toward each other in the horizontal plane along the traveling direction of the walking module 100. When the material storage tray 510 and the clamping unit 520 are in a close state, the clamping unit 520 clamps the end of the strap. The X-direction moving unit 550 drives the material storage tray 510 and the clamping unit 520 to move away from each other in the horizontal plane along the traveling direction of the walking module 100 and pull out the strap. The Y-direction moving unit 560 drives the X-direction moving unit 550 to move inward in the horizontal plane perpendicular to the traveling direction of the walking module 100, so that the material storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 reach the inner side of the thin rod.When the material storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 reach the inner side of the thin rod, the Y-direction moving unit 560 continues to drive the X-direction moving unit 550 to move inward in the horizontal plane along the travel direction perpendicular to the walking module 100. At the same time, the X-direction moving unit 550 drives the material storage tray 510 and the clamping unit 520 to move closer to each other in the horizontal plane along the travel direction of the walking module 100. The pulled-out strap hoop is arranged on the thin rod, the blade 530 cuts off the strap near the strap outlet 511, and the clamping unit 520 loosens the strap. At the same time, the knotting unit 540 knots the strap to complete a binding, and the Z-direction moving unit 570 drives the Y-direction moving unit 560 to move upward or downward to reach different heights, repeating the above actions to complete other bindings, thereby achieving binding at different heights and improving the binding effect. Small branch binders mainly handheld by humans use straps with high-tech adhesive materials as the core, which have problems in consumables and machinery, cannot be used for a long time, and have low reliability. A small number of large-scale machines have problems such as large consumption of nail consumables and easy to produce mechanical failures such as nail jams. The use efficiency and easy maintenance of this rod-inserting branch binding machine are relatively high. ,

[0042] As a preferred embodiment, please refer to Figure 8 - Fig.10The clamping unit 520 includes a mounting box 521, a fixing member 522, a movable member 523, a clamping member 524, a through shaft 525, a first elastic member and a second elastic member. The side wall of the mounting box 521 close to the material storage tray 510 is opened. The fixing member 522 is arranged in the mounting box 521 and is fixedly connected to the mounting box 521. An L-shaped groove 5221 is provided on the fixing member 522. The L-shaped groove 5221 has a first section 52211 and a second section 52212 that are interconnected. The first section 52211 extends along the travel direction of the walking module 100, and the second section 52212 extends perpendicular to the travel direction of the walking module 100. The movable member 523 is arranged The movable member 523 is arranged in the installation box 521 and is slidably connected with the installation box 521. The movable member 523 can reciprocate along the travel direction of the walking module 100. A T-shaped slot 5231 is provided on the movable member 523. The T-shaped slot 5231 has a third section 52311 and a fourth section 52312 which are connected to each other. The third section 52311 extends along the travel direction of the walking module 100, and the fourth section 52312 extends perpendicular to the travel direction of the walking module 100. The clamping member 524 is arranged in the installation box 521 and is slidably connected with the installation box 521. The clamping member 524 can reciprocate along the travel direction perpendicular to the travel direction of the walking module 100 to get close to or away from the movable member 523. The movable member 523 is provided, and the end of the binding strap is clamped or released together with the movable member 523. The through shaft 525 is vertically arranged, and slides through the L-shaped slot 5221 and the T-shaped slot 5231. One end of the through shaft 525 is fixedly connected to the clamping member 524. The first elastic member is arranged in the installation box 521, and one end of the first elastic member is fixedly connected to the installation box 521, and the other end of the first elastic member is fixedly connected to the inner end of the movable member 523, so that the movable member 523 reaches the first position. When the movable member 523 reaches the first position, the through shaft 525 is located at the intersection of the first section 52211 and the second section 52212, and is also located at the third section 52311. , the clamping member 524 is at the inner end thereof, away from the movable member 523, the second elastic member is arranged in the installation box 521, one end of the second elastic member is fixedly connected to the installation box 521, and the other end of the second elastic member is fixedly connected to the end of the clamping member 524 away from the movable member 523, so that the clamping member 524 is close to the movable member 523, and when the material storage tray 510 and the clamping unit 520 move toward each other in the horizontal plane along the traveling direction of the walking module 100, the end of the material storage tray 510 close to the clamping unit 520 pushes the movable member 523 to move inwardly along the traveling direction of the walking module 100, so that the movable member 523 reaches the second position,When the movable member 523 reaches the second position, the second section 52212 corresponds to the fourth section 52312, and the through shaft 525 is first located at the intersection of the third section 52311 and the fourth section 52312. The second elastic member pushes the clamping member 524 to move in a direction perpendicular to the travel direction of the walking module 100 to approach the movable member 523 and clamp the end of the strap together with the movable member 523. The through shaft 525 is finally located at the end of the second section 52212 away from the first section 52211, and is finally located at the end of the fourth section 52312 away from the third section 52311. The clamping member 524 is in a locked state, and the end of the material storage tray 510 close to the clamping unit 520 continues to push the movable member 523 to move inwardly along the travel direction of the walking module 100, so that the movable member 523 reaches the third position, and the clamping member 524 moves in a direction perpendicular to the travel direction of the walking module 100. , to move away from the movable member 523, and loosen the end of the strap together with the movable member 523. When the movable member 523 reaches the third position, the through-shaft 525 is located at the outer end of the third section 52311, and is also located at the intersection of the first section 52211 and the second section 52212. The end of the storage tray 510 close to the clamping unit 520 continues to push the movable member 523 to move inward along the travel direction of the walking module 100, so that the movable member 523 reaches the fourth position. When the movable member 523 reaches the fourth position, the through-shaft 525 is located at the inner end of the first section 52211, and the clamping member 524 is in a locked state. When the end of the storage tray 510 close to the clamping unit 520 releases the movable member 523 and gradually moves away from the clamping unit 520, the first elastic member pushes the movable member 523 to move outward along the travel direction of the walking module 100, and the movable member 523 reaches the first position. ,

[0043] As a preferred embodiment, please refer to Fig.10The movable member 523 includes a movable portion 5232, a moving portion 5233 and a connecting portion 5234. The movable portion 5232 is arranged directly below the fixed member 522. The movable portion 5232 is provided with the T-shaped slot 5231. The moving portion 5233 is arranged on one side of the fixed member 522. The connecting portion 5234 is fixedly connected to the movable portion 5232 and the moving portion 5233. The clamping member 524 includes a mounting portion 52 41 and a clamping portion 5242, the mounting portion 5241 is arranged directly below the movable portion 5232, the lower end of the through-axis 525 is fixedly connected to the mounting portion 5241, the clamping portion 5242 is arranged on the outer side of the fixing member 522 and corresponds to the abutting portion 5233, the clamping portion 5242 is fixedly connected to the mounting portion 5241, and the clamping portion 5242 and the abutting portion 5233 jointly clamp the end of the strap.

[0044] As a preferred embodiment, the first elastic member is a first spring, and the second elastic member is a second spring.

[0045] As a preferred embodiment, please refer to Figure 8 The knotting unit 540 includes a thread twisting disc 541, at least two knotting rods 542 and a sixth rotating drive member 543. Each of the knotting rods 542 is circumferentially arranged on the side of the thread twisting disc 541 and extends tangentially along the thread twisting disc 541. One end of each of the knotting rods 542 close to the thread twisting disc 541 is fixedly connected to the thread twisting disc 541. A knotting seam 544 is formed between each of the knotting rods 542 and the thread twisting disc 541. The sixth rotating drive member 543 is fixedly connected to the installation box 521. The output end of 43 is coaxially fixedly connected to the thread twisting disk 541, and is used to drive the thread twisting disk 541 to rotate. During the rotation of the thread twisting disk 541, each of the knotting rods 542 can roll the strap into the corresponding knotting seam 544 to tie the strap. When the pulled-out strap hoop is arranged on the thin rod, the sixth rotating drive member 543 drives the thread twisting disk 541 to rotate, and each of the knotting rods 542 can roll the strap into the corresponding knotting seam 544 to tie the strap. While tying the strap, the blade 530 cuts off the strap near the strap outlet 511.

[0046] As a preferred embodiment, please refer to Figure 7 and Figure 8The X-axis moving unit 550 includes a platform 551, a plurality of slide rails 552, a moving belt 553, a first lap rod 554, a second lap rod 555 and an X-axis driving assembly 556. The platform 551 is horizontally arranged, and each of the slide rails 552 is horizontally arranged along the travel direction of the walking module 100. The storage tray 510 is slidably connected to each of the slide rails 552, and the installation box 521 is slidably connected to each of the slide rails 552. The moving belt 553 is a closed belt, and one end of the first lap rod 554 is fixedly connected to the storage tray 510, and the other end of the first lap rod 554 is fixedly connected to one side of the moving belt 553. Fixed connection, one end of the second overlapping rod 555 is fixedly connected to the installation box 521, the other end of the second overlapping rod 555 is fixedly connected to the other side of the moving belt 553, the X-axis driving component 556 is connected to the moving belt 553, and is used to drive the moving belt 553 to perform circular reciprocating motion. The X-axis driving component 556 drives the moving belt 553 to perform circular reciprocating motion, and the two sides of the moving belt 553 move in opposite directions, driving the first overlapping rod 554 and the second overlapping rod 555 to approach each other or move away from each other, thereby driving the storage tray 510 and the installation box 521 to approach each other or move away from each other.

[0047] As a preferred embodiment, please refer to Figure 7 and Figure 8 The X-axis driving assembly 556 includes a driving wheel 5561, a driven wheel 5562 and a seventh rotating driving member 5563. The driving wheel 5561 is rotatably connected to the platform 551 via a wheel shaft. The driven wheel 5562 is rotatably connected to the platform 551 via a wheel shaft. The moving belt 553 is wound around the driving wheel 5561 and the driven wheel 5562. The seventh rotating driving member 5563 is fixedly connected to the platform 551. The output end of the seventh rotating driving member 5563 is connected to the The axle of the driving wheel 5561 is coaxially fixedly connected and is used to drive the axle of the driving wheel 5561 to rotate. The output end of the seventh rotating drive member 5563 rotates forward or reversely, which will drive the driving wheel 5561 to rotate forward or reversely. Since the moving belt 553 is wound around the driving wheel 5561 and the driven wheel 5562, the driven wheel 5562 can be driven to rotate forward or reversely via the moving belt 553, thereby realizing the circular reciprocating motion of the moving belt 553.

[0048] As a preferred embodiment, please refer to Figure 7 and Figure 8The Y-axis moving unit 560 is arranged below the platform 551, and includes a mounting frame 561, at least one first guide rod 562, a first screw rod 563 and an eighth rotation driving member 564. Each of the first guide rods 562 is horizontally arranged along a direction perpendicular to the travel direction of the walking module 100, and both ends of each of the first guide rods 562 are fixedly connected to the mounting frame 561. The first screw rod 563 is horizontally arranged along a direction perpendicular to the travel direction of the walking module 100, and both ends of the first screw rod 563 are rotatably connected to the mounting frame 561. A plurality of first through holes and first screw holes are opened at the bottom of the platform 551, and are slidably sleeved on each of the first guide rods 561 through each of the first through holes. The eighth rotation driving member 564 is fixedly connected to the mounting bracket 561, and the output end of the eighth rotation driving member 564 is coaxially fixedly connected to one end of the first screw rod 563 for driving the first screw rod 563 to rotate. The output end of the eighth rotation driving member 564 rotates forward or reversely, which drives the first screw rod 563 to rotate forward or reversely. Since the first screw rod 563 is screwed to the platform 551 via the first screw hole, and the platform 551 is restricted by the first guide rod 562, the platform 551 will reciprocate.

[0049] As a preferred embodiment, please refer to Figure 7 and Figure 8The Z-axis moving unit 570 includes a plurality of second guide rods 571, a second screw rod 572, a lifting plate 573 and a ninth rotating driving member 574. Each of the second guide rods 571 and the second screw rod 572 is vertically arranged, and the upper and lower ends of each of the second guide rods 571 are fixedly connected to the frame 110, and the upper and lower ends of the second screw rod 572 are rotatably connected to the frame 110. The lifting plate 573 is provided with a plurality of second through holes and second screw holes, and is slidably sleeved on each of the second guide rods 571 through each of the second through holes, and is sleeved on the second screw rod 572 through the second screw holes, and the second screw holes are connected to the ninth rotating driving member 574. The second screw rod 572 is screwed, and the mounting frame 561 is arranged on the lifting plate 573. The ninth rotating driving member 574 is fixedly connected to the frame 110. The output end of the ninth rotating driving member 574 is coaxially fixedly connected to the lower end of the second screw rod 572 for driving the second screw rod 572 to rotate. The output end of the ninth rotating driving member 574 rotates forward or reversely, which will drive the second screw rod 572 to rotate forward or reversely. Since the second screw rod 572 and the lifting plate 573 are screwed via the second screw hole, and the lifting plate 573 is restricted by the second guide rod 571, the lifting plate 573 moves up and down.

[0050] In order to better understand the present invention, the following Figure 1 - Fig.10 The working principle of the technical solution of the present invention is described in detail: When in use, the thin poles to be inserted and tied are placed horizontally in the pole storage box 210, and then the walking module 100 is moved along the ridge path. During the movement of the walking module 100 along the ridge path, the thin poles fall from the pole outlet by their own gravity and reach the pole transport unit 220. The two output ends of the second rotating drive member 2233 rotate synchronously, which will drive the two rotating wheels 2231 to rotate synchronously, and drive the two connecting shafts 2232 to rotate eccentrically synchronously. During the eccentric rotation of the connecting shaft 2232, the movable plate 222 will be driven to move up and down relative to the fixed plate 221. Through the upper and lower position difference between the first stepped structure 2211 and the second stepped structure 2221, the movable plate 222 can be moved up and down relative to the fixed plate 221. The second stepped structure 2221 gradually transports the thin rod to the upper step of the first stepped structure 2211. When the thin rod is transported to the end of the step, the two ends of the thin rod slide into the first clamping groove 31111 and the second clamping groove 31121 respectively. By manipulating the third rotating driving member 3132, the output end of the third rotating driving member 3132 drives the driving rod 3131 to rotate forward, and drives each of the clamping grasping 3122 to pass through each of the through grooves 31122 one by one, so that each of the clamping grasping 3122 moves into the second clamping groove 31121, and clamps the thin rod together with the second fixed clamping portion 3112. The fourth rotating driving member 325 drives the rotating rod When the rotating rod 324 rotates in the opposite direction, the pin connected to the guide sleeve 323 will be driven to slide in the arc groove 3211. At this time, the limiting sleeve 322 will rotate relative to the mounting plate 321. The connecting rod 3113 will change from a horizontal state to a vertical state under the restriction of the limiting sleeve 322 and the guide sleeve 323. Then, the output end of the fifth rotating driving member 433 drives the short rod 432 to rotate. During the rotation of the short rod 432, the transmission action of the long rod 431 will drive the pressing plate 420 to move downward. During the downward movement of the pressing plate 420, it will contact the top of the thin rod and press the thin rod downward to make the thin rod The lower end is inserted into the soil. When the lower end of the thin rod is inserted into the soil, the branch binding module 500 moves to the thin rod under the drive of the walking module 100, and keeps the storage tray 510 and the clamping unit 520 respectively located on both sides of the thin rod. The Y-direction moving unit 560 drives the X-direction moving unit 550 to move outward in a horizontal plane along a direction perpendicular to the travel direction of the walking module 100, so that the storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 reach the outside of the thin rod. The X-direction moving unit 550 drives the storage tray 510 and the clamping unit 520 to move closer to each other in a horizontal plane along the travel direction of the walking module 100.When the material storage tray 510 and the clamping unit 520 move toward each other in the horizontal plane along the traveling direction of the walking module 100, the end of the material storage tray 510 close to the clamping unit 520 pushes the movable member 523 to move inward along the traveling direction of the walking module 100, so that the movable member 523 reaches the second position. When the movable member 523 reaches the second position, the second section 52212 corresponds to the fourth section 52312, and the through shaft 525 is first located at the intersection of the third section 52311 and the fourth section 52312. The second elastic member pushes the clamping member 524 to move in a direction perpendicular to the traveling direction of the walking module 100 to approach the movable member 523. The through shaft 525 is finally located at the end of the second section 52212 away from the first section 52211, and finally located at the end of the fourth section 52312 away from the third section 52311. The clamping member 524 is in a locked state. The X-direction moving unit 550 drives the material storage tray 510 and the clamping unit 520 to move away from the travel direction of the walking module 100 in the horizontal plane, and pull out the strap. The Y-direction moving unit 560 drives the X-direction moving unit 550 to move inward in the horizontal plane along the travel direction perpendicular to the travel direction of the walking module 100, so that the material storage tray 510, the clamping unit 520 and the walking module 100 are moved inward. 0, the blade 530 and the knotting unit 540 reach the inner side of the thin rod. When the storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 reach the inner side of the thin rod, the Y-direction moving unit 560 continues to drive the X-direction moving unit 550 to move inward in a horizontal plane along a direction perpendicular to the travel direction of the walking module 100. At the same time, the X-direction moving unit 550 drives the storage tray 510 and the clamping unit 520 to move closer to each other in a horizontal plane along the travel direction of the walking module 100. The pulled-out strap hoop is arranged on the thin rod, and the end of the storage tray 510 close to the clamping unit 520 continues to push the movable part 523 along the travel direction of the walking module 100. The movable member 523 moves inwardly in the direction of travel of the walking module 100 so that the movable member 523 reaches the third position, the clamping member 524 moves along a direction perpendicular to the direction of travel of the walking module 100 so as to be away from the movable member 523 and releases the end of the strap together with the movable member 523. When the movable member 523 reaches the third position, the through shaft 525 is located at the outer end of the third section 52311 and also at the junction of the first section 52211 and the second section 52212. The end of the material storage tray 510 close to the clamping unit 520 continues to push the movable member 523 to move inwardly in the direction of travel of the walking module 100 so that the movable member 523 reaches the fourth position. When the movable member 523 reaches the fourth position,The through shaft 525 is located at the inner end of the first section 52211, and the clamping member 524 is in a locked state. At the same time, the sixth rotating drive member 543 drives the thread twisting disk 541 to rotate. During the rotation of the thread twisting disk 541, each of the knotting rods 542 can roll the strap into the corresponding knotting seam 544 to tie the strap. While knotting the strap, the blade 530 cuts off the strap near the strap outlet 511 to complete a binding. The X-axis moving unit 550 drives the storage tray 510 and the clamping unit 520 to move away from the direction of travel of the walking module 100 in the horizontal plane. When the storage When the end of the material tray 510 close to the clamping unit 520 releases the movable part 523 and gradually moves away from the clamping unit 520, the first elastic member pushes the movable part 523 to move outward along the travel direction of the walking module 100, and the movable part 523 reaches the first position. The Z-direction moving unit 570 drives the Y-direction moving unit 560 to move upward or downward to reach different heights, and repeats the above actions to complete other bindings, thereby achieving binding at different heights. The rod-inserting and branch-binding machine can adapt to complex terrain environments and enter the interior of the greenhouse to perform efficient rod-inserting and branch-binding work of seedlings, and the machine cost is low, which can be afforded by small farmers.

[0051] The rod-inserting branch-binding machine provided by the present invention has the following beneficial effects: (1) When the material storage tray 510 and the clamping unit 520 move toward each other in a horizontal plane along the travel direction of the walking module 100, the end of the material storage tray 510 close to the clamping unit 520 pushes the movable member 523 to move inward along the travel direction of the walking module 100, so that the movable member 523 reaches the second position. When the movable member 523 reaches the second position, the second section 52212 corresponds to the fourth section 52312, the through shaft 525 is first located at the intersection of the third section 52311 and the fourth section 52312, and the second elastic member 523 is moved inward along the travel direction of the walking module 100. The clamping member 524 is pushed by the movable member 523 to move in a direction perpendicular to the travel direction of the walking module 100, so as to approach the movable member 523 and clamp the end of the strap together with the movable member 523. The through shaft 525 is finally located at the end of the second section 52212 away from the first section 52211, and is finally located at the end of the fourth section 52312 away from the third section 52311. The clamping member 524 is in a locked state, and the end of the material storage tray 510 close to the clamping unit 520 continues to push the movable member 523 to move inward along the travel direction of the walking module 100, so that the movable member 523 reaches the third position, the clamping member 524 moves along the direction of travel perpendicular to the walking module 100 to move away from the movable member 523, and loosens the end of the strap together with the movable member 523. When the movable member 523 reaches the third position, the through shaft 525 is located at the outer end of the third section 52311 and also at the junction of the first section 52211 and the second section 52212. The end of the storage tray 510 close to the clamping unit 520 continues to push the movable member 523 to move inward along the direction of travel of the walking module 100, so that the movable member 523 reaches the third position. Fourth position, when the movable member 523 reaches the fourth position, the through shaft 525 is located at the inner end of the first section 52211, and the clamping member 524 is in a locked state. When the storage tray 510 is close to one end of the clamping unit 520, the movable member 523 is released and gradually moves away from the clamping unit 520, the first elastic member pushes the movable member 523 to move outward along the travel direction of the walking module 100, and the movable member 523 reaches the first position. The clamping, pulling, clamping and loosening actions of the strap are linked, so that the self-clamping and self-loosening of the strap can be realized without the need for an additional driving member. (2) Small branch tying machines that are mainly hand-held and use high-tech adhesive materials as the core have problems with consumables and machinery, cannot be used for a long time, and have low reliability. A small number of large machines have problems such as large consumption of nail consumables and easy to cause mechanical failures such as nail jams. The use efficiency and easy maintenance of this rod-inserting branch tying machine are relatively high; (3) This rod-inserting and branch-binding machine can adapt to complex terrain environments and enter the greenhouse to carry out efficient rod-inserting and branch-binding work for seedlings. In addition, the machine cost is low and can be afforded by small farmers.

[0052] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A rod inserting and branch binding machine, characterized in that: include: Walking module; A rod storage module, which is arranged on the walking module and is used to store thin rods and intermittently supply single thin rods; A flip module is arranged on the walking module and is located on the side of the rod storage module, and is used to receive and clamp the thin rod, and can also change the thin rod from a horizontal state to a vertical state; A rod insertion module, which is arranged on the walking module and is used to insert a vertical thin rod into the soil; The branch binding module is arranged on the walking module and is used for binding the thin rod inserted into the soil with the corresponding plant stem.

2. The rod-inserting and branch-binding machine according to claim 1, characterized in that: The rod storage module includes a rod storage box and a rod transport unit. The rod storage box has a rod inlet and a rod outlet. The rod storage box is used to store horizontally placed thin rods. The inlet end of the rod transport unit is connected to the rod outlet to receive and intermittently transport a single thin rod. The flip module is located at the end of the rod transport unit.

3. The rod-inserting and branch-binding machine according to claim 2, characterized in that: The rod transport unit includes two fixed plates, two movable plates, a rod transport driving assembly and two guide assemblies. The two fixed plates are arranged opposite to each other and at intervals. The tops of the two fixed plates have a first stepped structure. The two first stepped structures are respectively used to receive the two ends of the thin rod. The two movable plates are slidingly connected to the two fixed plates in a one-to-one manner. The tops of the two movable plates have a second stepped structure. The rod transport driving assembly is connected to the two movable plates to drive the two movable plates to move up and down synchronously, so that the second stepped structure transports the thin rod to the upper step of the first stepped structure step by step. The two guide assemblies are connected to the fixed plates and the movable plates in a one-to-one manner to guide the up and down movement of the movable plates.

4. The rod-inserting and branch-binding machine according to claim 2, characterized in that: The flip module includes a clamping unit and a flip unit. The clamping unit is used to receive and clamp the thin rod. The flip unit is connected to the clamping unit and is used to drive the clamping unit to flip so that the thin rod changes from a horizontal state to a vertical state.

5. The rod-inserting and branch-binding machine according to claim 4, characterized in that: The clamping unit includes a fixed clamping member, a movable clamping member and a clamping drive assembly. The movable clamping member is arranged opposite to the fixed clamping member. The clamping drive assembly is fixedly connected to the fixed clamping member and is also connected to one end of the movable clamping member for driving the other end of the movable clamping member to approach or move away from the fixed clamping member so as to clamp or release the thin rod together with the fixed clamping member. The flipping unit is connected to the fixed clamping member.

6. The rod-inserting and branch-binding machine according to claim 5, characterized in that: The fixed clamping member includes a first fixed clamping part, a second fixed clamping part and a connecting rod, the first fixed clamping part has a first clamping groove, the second fixed clamping part has a second clamping groove, the first clamping groove and the second clamping groove are respectively used to receive two ends of the thin rod, the connecting rod is horizontally arranged between the first fixed clamping part and the second fixed clamping part, and fixedly connects the first fixed clamping part and the second fixed clamping part, and the second fixed clamping part is provided with a plurality of through grooves at intervals on the side wall of the second fixed clamping part close to the rod transporting unit, the movable clamping member includes a mounting shaft and a plurality of clamping grasps, the mounting shaft is horizontally arranged, and one end of each of the clamping grasps is connected to The mounting shaft is fixedly connected, and each of the clamps corresponds to each of the through slots one by one. The clamping drive assembly includes a driving rod and a third rotating drive member. One end of the driving rod is fixedly connected to one end of the rotating shaft. The third rotating drive member is arranged on the second fixed clamping part. The output end of the third rotating drive member is fixedly connected to the other end of the driving rod, and is used to drive the driving rod to rotate forward or reversely, so that each of the clamps passes through each of the through slots one by one, and moves into or out of the second clamping slot. When each of the clamps moves into the second clamping slot, it clamps the thin rod together with the second fixed clamping part.

7. The rod-inserting and branch-binding machine according to claim 1, characterized in that: The rod insertion module includes at least one guide rail, a pressure plate and a lifting drive assembly. Each of the guide rails is vertically arranged, and the pressure plate is horizontally arranged and slidably connected to each of the guide rails. The lifting drive assembly is connected to the pressure plate and is used to drive the pressure plate to move up and down so that the pressure plate presses the lower end of the thin rod into the soil.

8. The rod-inserting and branch-binding machine according to claim 1, characterized in that: The branch binding module includes a storage tray, a clamping unit, a blade, a knotting unit, an X-axis moving unit, a Y-axis moving unit and a Z-axis moving unit. The storage tray is used to wind the strap, and the storage tray has a strap outlet for the end of the strap to pass through. The clamping unit is arranged on the side of the storage tray to clamp or loosen the end of the strap. The blade is arranged at the strap outlet and is fixedly connected to the storage tray. The blade is used to cut the strap. The knotting unit is arranged on the side of the clamping unit and is connected to the clamping unit. The X-direction moving unit is connected to the material storage tray and the clamping unit, and is used to drive the material storage tray and the clamping unit to move toward or away from each other in a horizontal plane along the travel direction of the walking module. The Y-direction moving unit is connected to the X-direction moving unit, and is used to drive the X-direction moving unit to move back and forth in a horizontal plane along a travel direction perpendicular to the walking module. The Z-direction moving unit is connected to the Y-direction moving unit, and is used to drive the Y-direction moving unit to move up and down.

9. The rod-inserting and branch-binding machine according to claim 8, characterized in that: The clamping unit includes an installation box, a fixing member, a movable member, a clamping member, a through shaft, a first elastic member and a second elastic member. The side wall of the installation box close to the storage tray is opened, the fixing member is arranged in the installation box and fixedly connected to the installation box, the fixing member is provided with an L-shaped groove, the L-shaped groove has a first section and a second section that are interconnected, the first section extends along the travel direction of the walking module, and the second section extends perpendicular to the travel direction of the walking module, the movable member is arranged in the installation box and is slidably connected to the installation box, the movable member can reciprocate along the travel direction of the walking module, the movable member is provided with a T-shaped groove, the T-shaped groove has a third section and a fourth section that are interconnected. , the third section extends along the travel direction of the walking module, and the fourth section extends perpendicular to the travel direction of the walking module. The clamping member is arranged in the installation box and is slidably connected to the installation box. The clamping member can reciprocate along the travel direction perpendicular to the walking module to approach or move away from the movable member and clamp or loosen the end of the strap together with the movable member. The through-shaft is vertically arranged and slides through the L-shaped groove and the T-shaped groove. One end of the through-shaft is fixedly connected to the clamping member. The first elastic member is arranged in the installation box, one end of the first elastic member is fixedly connected to the installation box, and the other end of the first elastic member is fixedly connected to the inner end of the movable member so that the movable member reaches the first When the movable part reaches the first position, the through shaft is located at the intersection of the first section and the second section, and also at the inner end of the third section, the clamping part is away from the movable part, the second elastic part is arranged in the installation box, one end of the second elastic part is fixedly connected to the installation box, and the other end of the second elastic part is fixedly connected to the end of the clamping part away from the movable part, so that the clamping part is close to the movable part, and when the material storage tray and the clamping unit move closer to each other in the horizontal plane along the travel direction of the walking module, the end of the material storage tray close to the clamping unit pushes the movable part to move inward along the travel direction of the walking module, so that the movable part reaches the second position. When the movable part reaches the second position, the second section and the fourth section correspond to each other, the through-shaft is first located at the intersection of the third section and the fourth section, the second elastic part pushes the clamping part to move in a direction perpendicular to the travel direction of the walking module to approach the movable part and clamp the end of the strap together with the movable part, the through-shaft is finally located at the end of the second section away from the first section, and finally located at the end of the fourth section away from the third section, the clamping part is in a locked state, and the end of the material storage tray close to the clamping unit continues to push the movable part to move inward along the travel direction of the walking module, so that the movable part reaches the third position, and the clamping part moves in a direction perpendicular to the travel direction of the walking module.to move away from the movable part and loosen the end of the strap together with the movable part. When the movable part reaches the third position, the through-shaft is located at the outer end of the third section and also at the intersection of the first section and the second section. The end of the material storage tray close to the clamping unit continues to push the movable part to move inward along the travel direction of the walking module so that the movable part reaches the fourth position. When the movable part reaches the fourth position, the through-shaft is located at the inner end of the first section, and the clamping part is in a locked state. When the end of the material storage tray close to the clamping unit releases the movable part and gradually moves away from the clamping unit, the first elastic part pushes the movable part to move outward along the travel direction of the walking module, and the movable part reaches the first position.

10. The rod-inserting and branch-binding machine according to claim 9, characterized in that: The knotting unit includes a thread twisting disk, at least two knotting rods and a sixth rotating drive member, each of the knotting rods is circumferentially arranged on the side of the thread twisting disk, and also extends tangentially along the thread twisting disk, one end of each knotting rod close to the thread twisting disk is fixedly connected to the thread twisting disk, and a knotting seam is formed between each knotting rod and the thread twisting disk, the sixth rotating drive member is fixedly connected to the installation box, and the output end of the sixth rotating drive member is coaxially fixedly connected to the thread twisting disk for driving the thread twisting disk to rotate. During the rotation of the thread twisting disk, each of the knotting rods can roll the strap into the corresponding knotting seam to tie the strap.

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