A pole binding machine

Abstract

The application discloses a stick inserting and branch binding machine, which comprises a walking module, a stick storage module, a turnover module, a stick inserting module and a branch binding module. The walking module is used to walk along a ridge. The stick storage module is arranged on the walking module and is used to store horizontally placed thin sticks and intermittently release single thin stick. The turnover module is arranged on the walking module and is located at the side of the stick storage module, and is used to receive and clamp the thin stick and change the thin stick from a horizontal state to a vertical state. The stick inserting module is arranged on the walking module and is used to insert the vertical thin stick into the soil. The branch binding module is arranged on the walking module and is used to bind the thin stick inserted into the soil with the corresponding pepper plant stem. The stick inserting and branch binding machine can adapt to complex terrain environment and enter the greenhouse to perform high-efficiency seedling stick inserting and branch binding work, and the machine cost is low, which can be afforded by small-scale farmers.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, and in particular to a pole-planting and branch-tying machine. Background Technology

[0002] Chili peppers, as an important component of my country's spicy vegetable industry, have seen continuous growth in planting scale. By the end of 2023, the planting area of ​​chili peppers had reached approximately 2.15 million hectares, with an output value of 250 billion yuan, accounting for about 11.36% of the national total output value. The chili pepper industry contributed 1.14% to farmers' income. As a solanaceous economic crop with shallow root systems, chili peppers are susceptible to external factors such as adverse weather and unsuitable soil conditions, leading to lodging and reduced yields. To reduce crop diseases and pests and avoid dense planting, farmers mainly use single-row, single-hole, single-plant planting methods. To further reduce lodging, farmers often use stakes and tie branches in the early stages of chili pepper growth, when the plants begin to grow but are not yet overly vigorous, to guide the direction of stem growth and reduce lodging.

[0003] Currently, chili pepper stalk tying is mainly done manually or with small tying machines (such as the tying machine disclosed in application number 201710092399.4). There are also emerging large-scale mechanized operations. However, manual tying is inefficient, and small tying machines still require hand-held operation. Furthermore, starting the tying machine and securing the clips requires considerable effort, resulting in high labor intensity and inconsistent work quality. Large machinery is too large to adapt to complex terrain and cannot be used inside greenhouses. It is only suitable for open-field planting environments, and the cost of the machines is high, making it unaffordable for small farmers. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a pole-planting and branch-tying machine to solve the technical problems of high labor intensity, low efficiency of small branch-tying devices, and difficulty of large machinery entering the greenhouse for pole-planting and branch-tying in the prior art.

[0005] To achieve the above-mentioned technical objectives, the present invention provides a pole-inserting and branch-tying machine, comprising:

[0006] The walking module is used to move along the ridges;

[0007] A rod storage module, which is mounted on the walking module, is used to store horizontally placed thin rods and also to intermittently release individual thin rods.

[0008] A flipping module is mounted on the walking module and located to the side of the rod storage module. It is used to receive and clamp the thin rod and to change the thin rod from a horizontal state to a vertical state.

[0009] A pole insertion module, which is mounted on the walking module, is used to insert a vertical thin pole into the soil;

[0010] The branch-tying module, which is installed on the walking module, is used to tie the thin pole inserted into the soil to the corresponding chili plant stem.

[0011] 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. The flipping module is located at the end of the rod transport unit.

[0012] Furthermore, the rod-moving unit includes two fixed plates, two movable plates, a rod-moving drive assembly, and two guide assemblies. The two fixed plates are arranged opposite each other and spaced apart. The top of each fixed plate has a first stepped structure, which is used to support the two ends of the thin rod. The two movable plates are slidably connected to the two fixed plates one by one. The top of each movable plate has a second stepped structure. The rod-moving drive assembly is connected to both movable plates and is used to drive the two movable plates to move up and down synchronously, so that the second stepped structure gradually transports the thin rod to the upper step of the first stepped structure. 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.

[0013] Furthermore, the flipping 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 to drive the clamping unit to flip so that the thin rod changes from a horizontal state to a vertical state.

[0014] Furthermore, the clamping unit includes a fixed clamping member, a movable clamping member, and a clamping drive assembly. The movable clamping member is disposed opposite to the fixed clamping member. The clamping drive assembly is fixedly connected to the fixed clamping member and also connected to one end of the movable clamping member, for driving the other end of the movable clamping member to move closer to or 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.

[0015] Furthermore, the fixing clamping member includes a first fixing clamping part, a second fixing clamping part, and a connecting rod. The first fixing clamping part has a first clamping groove, and the second fixing clamping part has a second clamping groove. The first clamping groove and the second clamping groove are respectively used to receive the two ends of the thin rod. The connecting rod is horizontally arranged between the first fixing clamping part and the second fixing clamping part and is fixedly connected to the first fixing clamping part and the second fixing clamping part. The second fixing clamping part has multiple through grooves spaced apart on the side wall near the rod moving unit. The movable clamping member includes a mounting shaft and multiple clamps. The mounting shaft is horizontally arranged, and one end of each clamp is... All are fixedly connected to the mounting shaft, and each of the clamps corresponds one-to-one with each of the through slots. The clamping drive assembly includes a drive rod and a third rotation drive component. One end of the drive rod is fixedly connected to one end of the rotating shaft. The third rotation drive component is disposed on the second fixed clamping part. The output end of the third rotation drive component is fixedly connected to the other end of the drive rod, and is used to drive the drive rod to rotate forward or backward, so that each of the clamps passes through each of the through slots 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.

[0016] Furthermore, the insertion rod 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.

[0017] Furthermore, the 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 binding tape, and the storage tray has a tape outlet for the end of the binding tape to pass through. The clamping unit is located on the side of the storage tray and is used to clamp or loosen the end of the binding tape. The blade is located at the tape outlet and is fixedly connected to the storage tray. The blade is used to cut the binding tape. The knotting unit is located on the side of the clamping unit and is connected to the clamping unit. The unit is connected to tie the straps. The X-axis moving unit is connected to both the storage tray and the clamping unit, and is used to drive the storage tray and the clamping unit to move closer to each other or further away from each other in the horizontal plane along the traveling direction of the walking module. The Y-axis moving unit is connected to the X-axis moving unit, and is used to drive the X-axis moving unit to reciprocate in the horizontal plane along the traveling direction perpendicular to the walking module. The Z-axis moving unit is connected to the Y-axis moving unit, and is used to drive the Y-axis moving unit to move up and down.

[0018] Furthermore, the clamping unit includes a mounting box, a fixing member, a movable member, a clamping member, a through shaft, a first elastic member, and a second elastic member. The mounting box has an opening on its side wall near the storage tray. The fixing member is disposed inside the mounting box and fixedly connected to it. The fixing member has an L-shaped groove with a first segment and a second segment that communicate with each other. The first segment extends along the traveling direction of the traveling module, and the second segment extends perpendicular to the traveling direction of the traveling module. The movable member is disposed inside the mounting box and slidably connected to it. The movable member can reciprocate along the traveling direction of the traveling module. The movable member has a T-shaped groove with a third segment that communicates with each other. The third segment extends along the travel direction of the walking module, and the fourth segment extends perpendicular to the travel direction of the walking module. The clamping member is disposed within the mounting box and slidably connected to the mounting box. The clamping member can reciprocate along the travel direction perpendicular to the walking module to approach or move away from the movable part, and clamp or release the end of the strap together with the movable part. The through shaft is vertically disposed 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 disposed within the mounting box. One end of the first elastic member is fixedly connected to the mounting box, and the other end of the first elastic member is fixedly connected to the inner end of the movable part, so that the movable part... Upon reaching the first position, when the movable component reaches the first position, the through shaft is located at the junction of the first and second segments and also at the inner end of the third segment. The clamping component is away from the movable component. The second elastic component is disposed inside the mounting box, with one end of the second elastic component fixedly connected to the mounting box and the other end of the second elastic component fixedly connected to the end of the clamping component away from the movable component, so that the clamping component moves closer to the movable component. During the process of the storage tray and the clamping unit moving closer to each other in the horizontal plane along the traveling direction of the traveling module, the end of the storage tray near the clamping unit pushes the movable component to move inward along the traveling direction of the traveling module, so that the movable component reaches the second position. When the movable component reaches the second position, the second segment and the fourth segment correspond to each other. The through shaft is initially located at the junction of the third and fourth segments. The second elastic element pushes the clamping member to move along the travel direction perpendicular to the traveling module, so as to approach the movable component and clamp the end of the strap together with the movable component. The through shaft is finally located at the end of the second segment away from the first segment and at the end of the fourth segment away from the third segment. The clamping member is in a locked state. The end of the storage tray near the clamping unit continues to push the movable component inward along the travel direction of the traveling module so that the movable component reaches the third position. The clamping member moves along the travel direction perpendicular to the traveling module.The end of the strap is loosened away from the movable part and 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 segment and also at the junction of the first and second segments. The end of the storage tray near the clamping unit continues to push the movable part inward along the traveling 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 segment, and the clamping member is in a locked state. When the end of the storage tray near the clamping unit releases the movable part and gradually moves away from the clamping unit, the first elastic member pushes the movable part outward along the traveling direction of the walking module, and the movable part reaches the first position.

[0019] Furthermore, the knotting unit includes a twisting disc, at least two knotting rods, and a sixth rotation drive. Each knotting rod is circumferentially arranged on the side of the twisting disc and extends tangentially along the twisting disc. The end of each knotting rod near the twisting disc is fixedly connected to the twisting disc, and a knotting seam is formed between each knotting rod and the twisting disc. The sixth rotation drive is fixedly connected to the mounting box, and its output end is coaxially fixedly connected to the twisting disc for driving the twisting disc to rotate. During the rotation of the twisting disc, each knotting rod can roll the binding tape into the corresponding knotting seam to knot the binding tape.

[0020] Compared with the prior art, the beneficial effects of the present invention include: In use, the thin rod to be inserted and tied is placed horizontally in the rod storage module, and then the walking module moves along the ridge. During the movement of the walking module along the ridge, the rod storage module will intermittently release individual thin rods. First, the flipping module can receive and clamp the individual thin rods released by the rod storage module, and then the flipping module changes the thin rod from a horizontal state to a vertical state. Then, the insertion module inserts the vertical thin rod into the soil, and finally, the tying module ties the thin rod inserted into the soil to the corresponding chili seedling stem, thus completing the insertion and tying of chili seedlings. This insertion and tying machine can adapt to complex terrain environments and enter the greenhouse to carry out efficient insertion and tying of seedlings. Moreover, the machine cost is low, which is affordable for small farmers. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of a pole-inserting and branch-tying machine provided by the present invention;

[0022] Figure 2 This is a three-dimensional structural diagram of a pole-inserting and branch-tying machine provided by the present invention from another perspective;

[0023] Figure 3 This is a three-dimensional structural schematic diagram of the rod-moving unit provided by the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram of the flipping module provided by the present invention;

[0025] Figure 5 This is a three-dimensional structural diagram of the flipping module provided by the present invention from another perspective;

[0026] Figure 6 This is a three-dimensional structural schematic diagram of the insertion rod module provided by the present invention;

[0027] Figure 7 This is a three-dimensional structural diagram of the tying module provided by the present invention;

[0028] Figure 8 yes Figure 7 An enlarged view of the tying module in the image;

[0029] Figure 9 This is a three-dimensional structural diagram of the clamping unit provided by the present invention after omitting the mounting box;

[0030] Figure 10 This is a three-dimensional structural diagram of the clamping unit provided by the present invention with the mounting box omitted, viewed from another perspective.

[0031] In the diagram: 100 - Walking module, 110 - Frame, 120 - Drive wheel, 130 - Caster wheel, 140 - First rotation drive component, 200 - Storage module, 210 - Storage box, 220 - Motion unit, 221 - Fixing plate, 2211 - First stepped structure, 222 - Movable plate, 2221 - Second stepped structure, 2222 - Connecting groove, 2223 - Guide groove, 223 - Motion drive assembly, 2231 - Rotary wheel, 2232 - Connecting shaft, 2233 - Second rotation drive component, 224 - Guide assembly, 2241 - Guide shaft, 300 - Flipping module, 310 - Clamping unit, 311 - Fixed clamping component, 3111 - First fixed clamping part, 31111 - First clamping groove, 3112 - Second fixed clamping part, 3112 1 - Second clamping slot, 31122 - Through slot, 3113 - Connecting rod, 312 - Movable clamping component, 3121 - Mounting shaft, 3122 - Clamp, 313 - Clamping drive assembly, 3131 - Drive rod, 3132 - Third rotation drive component, 320 - Flipping unit, 321 - Mounting plate, 3211 - Arc groove, 322 - Limiting sleeve, 323 - Guide sleeve, 324 - Rotating rod, 325 - Fourth rotation drive component, 400 - Insert rod module, 410 - Guide rail, 420 - Pressure plate, 430 - Lifting drive assembly, 431 - Long rod, 432 - Short rod, 433 - Fifth rotation drive component, 500 - Binding module, 510 - Storage tray, 511 - Belt outlet, 520 - Clamping unit, 521 - Mounting box, 522 - Fixing component, 5221 - L-shaped groove, 52211 - first section, 52212 - second section, 523 - movable part, 5231 - T-shaped groove, 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 rotation drive, 544 - knotting seam, 550 - X-axis moving unit 551 - Platform, 552 - Slide rail, 553 - Moving belt, 554 - First connecting rod, 555 - Second connecting rod, 556 - X-axis drive assembly, 5561 - Drive wheel, 5562 - Driven wheel, 5563 - Seventh rotation drive component, 560 - Y-axis moving unit, 561 - Mounting bracket, 562 - First guide rod, 563 - First lead screw, 564 - Eighth rotation drive component, 570 - Z-axis moving unit, 571 - Second guide rod, 572 - Second lead screw, 573 - Lifting plate, 574 - Ninth rotation drive component. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] This invention provides a pole-inserting and branch-tying machine, the structure of which is as follows: Figure 1 and Figure 2 As shown, the system includes a walking module 100, a pole storage module 200, a flipping module 300, a pole insertion module 400, and a branch binding module 500. The walking module 100 is used to travel along the ridges. The pole storage module 200 is mounted on the walking module 100 and is used to store horizontally placed thin poles and to intermittently release individual thin poles. The flipping module 300 is mounted on the walking module 100 and located to the side of the pole storage module 200. It is used to receive and clamp the thin poles and to change the thin poles from a horizontal state to a vertical state. The pole insertion module 400 is mounted on the walking module 100 and is used to insert the vertical thin poles into the soil. The branch binding module 500 is mounted on the walking module 100 and is used to bind the thin poles inserted into the soil to the corresponding chili pepper plant stems.

[0034] In use, the thin poles to be inserted and tied are placed horizontally in the pole storage module 200, and then the walking module 100 moves along the ridge. During the movement of the walking module 100 along the ridge, the pole storage module 200 will intermittently release individual thin poles. First, the flipping module 300 can receive and clamp the individual thin poles released by the pole storage module 200. Then, the flipping module 300 changes the thin pole from a horizontal state to a vertical state. Then, the pole insertion module 400 inserts the vertical thin pole into the soil. Finally, the tying module 500 ties the thin pole inserted into the soil to the corresponding chili pepper stem, completing the pole insertion and tying work of the chili pepper seedlings. This pole insertion and tying machine can adapt to complex terrain environments and enter the greenhouse to carry out high-efficiency pole insertion and tying work of seedlings. Moreover, the machine cost is low and small farmers can afford it.

[0035] As a preferred embodiment, please refer to Figure 1 and Figure 2The walking module 100 includes a frame 110, two drive wheels 120, two casters 130, and two first rotation drive components 140. The two drive wheels 120 are positioned opposite each other and spaced apart on the front side of the frame 110, with their axles rotatably connected to the frame 110. The two casters 130 are positioned opposite each other and spaced apart on the rear side of the frame 110, with their wheel frames fixedly connected to the frame 110. The output ends of the two first rotation drive components 140 are connected one-to-one with the two drive wheels 120, driving the corresponding drive wheel 120 to rotate. When the output speeds of the two first rotation drive components 140 are the same, the walking module 100 moves along... When traveling in a straight line, the two drive wheels 120 have a differential speed when the output speeds of the two first rotating drive components 140 are different, thus achieving steering. The drive wheels 120 are 10-inch rubber sand wheels, and the universal wheels 130 facilitate the front wheels to drive the rear wheels to steer, giving the walking module 100 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 soil environment of farmland. The first rotating drive component 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 tires adopt a zigzag tread pattern to reduce rolling resistance, reduce sideslip, and provide good handling stability.

[0036] In a preferred embodiment, the walking module 100 is equipped with an inertial navigation system, GPS, and IMU positioning. The inertial navigation system enables the detection of the absolute spatial path of the device during its movement and transmits the data to a host computer via wireless communication. The GPS positioning system can locate the current position of the device and send the target points to be passed through to the host computer. By combining GPS image information with deep learning to judge the road conditions, the optimal route can be planned. The IMU and GPS work together to control the direction of movement of the device, enabling the device to move along the planned route.

[0037] 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 conveying 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 conveying unit 220 is connected to the rod outlet to receive and intermittently convey a single thin rod. The flipping module 300 is located at the end of the rod conveying unit 220. In use, the thin rod falls from the rod outlet by its own weight and reaches the rod conveying unit 220. Since the insertion of rods and binding of branches requires a certain operating cycle, the rod conveying unit 220 can ensure that a single thin rod is conveyed at a certain distance.

[0038] In a preferred embodiment, the top surface of the rod storage box 210 is open to form the rod inlet, which facilitates the insertion of thin rods into the rod storage box 210 through the opening on the top surface of the rod storage box 210.

[0039] In 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 rod inside the rod storage box 210 rolls down to the rod outlet.

[0040] As a preferred embodiment, please refer to Figure 3 The rod-moving unit 220 includes two fixed plates 221, two movable plates 222, a rod-moving drive assembly 223, and two guide assemblies 224. The two fixed plates 221 are arranged opposite to each other and spaced apart, and are both fixedly connected to the frame 110. The top of each of the two fixed plates 221 has a first stepped structure 2211, which is used to support the two ends of the thin rod. The two movable plates 222 are slidably connected to the two fixed plates 221 one by one. The top of each of the two movable plates 222 has a second stepped structure 2221. The rod-moving drive assembly 223 is connected to both movable plates 222 and is used to drive the two movable plates 222 to move up and down synchronously, so that the second stepped structure 2221 transports the thin rod step by step to the frame 110. The upper step of the first stepped structure 2211 is connected to the fixed plate 221 and the movable plate 222 in a one-to-one correspondence by two guide components 224, which guide the vertical movement of the movable plate 222. The two fixed plates 221 and the two movable plates 222 are set 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 or tipping over. The rod driving component 223 drives the two movable plates 222 to move up and down synchronously. Through the vertical position difference between the first stepped structure 2211 and the second stepped structure 2221, the second stepped structure 2221 can transport the thin rod step by step to the upper step of the first stepped structure 2211. When the thin rod reaches the end of the step, it slides onto the flipping module 300.

[0041] As a preferred embodiment, please refer to Figure 3 The bottom surfaces of each step of the first stepped structure 2211 are inclined downwards towards the step above, and the bottom surfaces of each step of the second stepped structure 2221 are inclined downwards towards the step above, so that the thin rod can slide down to the step above.

[0042] As a preferred embodiment, please refer to Figure 3 The two movable plates 222 and the two fixed plates 221 are slidably connected to each other on their adjacent sides. The rod driving assembly 223 is disposed between the two movable plates 222. The rod driving assembly 223 includes two rotating wheels 2231, two connecting shafts 2232, and a second rotation driving member 2233. The movable plates 222 are provided with connecting grooves 2222, which are arranged at an angle. One end of each of the two connecting shafts 2232 is eccentrically fixedly connected to the two rotating wheels 2231, and the other end of each connecting shaft 2232 is connected to the two connecting grooves 2231. The two rotating drive components 2233 and 2231 are connected in a one-to-one sliding connection. The two output ends of the second rotating drive component 2233 are coaxially and fixedly connected to the two rotating wheels 2231 in a one-to-one correspondence. The two rotating wheels 2231 are driven to rotate synchronously. The synchronous rotation of the two output ends of the second rotating drive component 2233 will drive the two rotating wheels 2231 to rotate synchronously, and drive the two connecting shafts 2232 to rotate synchronously eccentrically. During the eccentric rotation of the connecting shafts 2232, the movable plate 222 will be driven to move up and down relative to the fixed plate 221.

[0043] As a preferred embodiment, please refer to Figure 3 The second rotation drive 2233 is a dual-axis motor, which can synchronously drive the two rotating wheels 2231.

[0044] As a preferred embodiment, please refer to Figure 3 The guide assembly 224 includes multiple guide shafts 2241, and the movable plate 222 has multiple guide grooves 2223. Each guide groove 2223 is inclined and perpendicular to the connecting groove 2222. One end of each guide shaft 2241 is fixedly connected to the fixed plate 221, and the other end of each guide shaft 2241 is slidably connected to each guide groove 2223. 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, making the up-and-down movement of the movable plate 222 more stable.

[0045] In a preferred embodiment, the rod storage module 200 further includes an adjustment unit connected to the rod storage box 210, which is used to adjust the opening width of the rod outlet. Since the diameters of different batches of rods are different, in order to ensure that rods from different batches can be discharged from the rod outlet and that only one rod from each batch is allowed to be discharged from the rod outlet at a time, the opening width of the rod outlet needs to be adjusted.

[0046] In a preferred embodiment, the adjustment unit includes an adjustment plate and a telescopic drive component. 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 drive component is fixedly connected to the frame 110, and the output end of the telescopic drive component is connected to the adjustment plate to drive the adjustment plate to move back and forth, thereby adjusting the opening width of the rod outlet. By operating the telescopic drive component, the telescopic drive component can drive the adjustment plate to move back and forth, thereby adjusting the opening width of the rod outlet and ensuring that only one thin rod is allowed to be discharged from the rod outlet at a time.

[0047] 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 transporting unit 220 transports the thin rod to the end of the steps, 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.

[0048] 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 disposed opposite to the fixed clamping member 311. The clamping drive assembly 313 is fixedly connected to the fixed clamping member 311 and also connected to one end of the movable clamping member 312, for driving the other end of the movable clamping member 312 to move closer to or 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 transporting unit 220 transports the thin rod to the end of the step, the thin rod slides onto the fixed clamping member 311. The clamping drive assembly 313 drives the other end of the movable clamping member 312 to move closer to the fixed clamping member 311, so that it can clamp the thin rod together with the fixed clamping member 311.

[0049] As a preferred embodiment, please refer to Figure 4 and Figure 5 The fixing clamp 311 includes a first fixing clamp 3111, a second fixing clamp 3112, and a connecting rod 3113. The first fixing clamp 3111 has a first clamping groove 31111, and the second fixing clamp 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 disposed between the first fixing clamp 3111 and the second fixing clamp 3112, and is fixedly connected to the first fixing clamp 3111 and the connecting rod 3113. The second fixed clamping part 3112 has multiple through slots 31122 spaced apart on its side wall near the rod-moving unit 220. The movable clamping member 312 includes a mounting shaft 3121 and multiple clamping claws 3122. The mounting shaft 3121 is horizontally arranged, and one end of each clamping claw 3122 is fixedly connected to the mounting shaft 3121. Each clamping claw 3122 corresponds one-to-one with each through slot 31122. The clamping drive assembly 313 includes a drive rod 3131 and a third rotation drive member 3132. One end of the drive rod 3131 is connected to... One end of the rotating shaft is fixedly connected, and the third rotation drive member 3132 is disposed on the second fixed clamping part 3112. The output end of the third rotation drive member 3132 is fixedly connected to the other end of the drive rod 3131, and is used to drive the drive rod 3131 to rotate in the forward or reverse direction, so that each of the clamps 3122 passes through each of the through slots 31122 in a one-to-one correspondence, and moves into or out of the second clamping slot 31121. When each of the clamps 3122 moves into the second clamping slot 31121, it is clamped by the second fixed clamp. The two ends of the rod slide into the first clamping groove 31111 and the second clamping groove 31121 respectively when the rod transport unit 220 transports the rod to the end of the step. By controlling the third rotation drive member 3132, the output end of the third rotation drive member 3132 drives the drive rod 3131 to rotate in the forward direction, and drives each of the clamping grippers 3122 to pass through each of the through grooves 31122 one by one, so that each of the clamping grippers 3122 moves into the second clamping groove 31121, and clamps the rod together with the second fixed clamping part 3112.

[0050] As a preferred embodiment, please refer to Figure 4 and Figure 5The first clamping groove 31111 and the second clamping groove 31121 have a sloping structure on the side wall near the rod moving unit 220, which makes it easier for the thin rod reaching the end of the rod moving unit 220 to slide into the first clamping groove 31111 and the second clamping groove 31121 along the sloping surface.

[0051] As a preferred embodiment, please refer to Figure 4 The flipping unit 320 includes a mounting plate 321, a limiting sleeve 322, a guide sleeve 323, a rotating rod 324, and a fourth rotating drive component 325. The mounting plate 321 is vertically arranged and fixedly connected to the frame 110. An arc-shaped groove 3211 is formed on the mounting plate 321. The arc-shaped groove 3211 has a quarter-circle structure and is curved downwards. The limiting sleeve 322 is disposed above the arc-shaped groove 3211 and is rotatably connected to the mounting plate 321 via a pin. The guide sleeve 323 is slidably connected to the arc-shaped groove 3211 via a pin 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 guide sleeve 323 is fixedly connected, the fourth rotation drive 325 is fixedly connected to the mounting plate 321, and the output end of the fourth rotation drive 325 is coaxial with the center of the arc groove 3211. The output end of the fourth rotation drive 325 is fixedly connected to the other end of the rotating rod 324, which is used to drive the rotating rod 324 to rotate in the forward or reverse direction. When the rotating rod 324 rotates in the forward or reverse direction, it will drive the pin connected to the guide sleeve 323 to slide in the arc groove 3211. At this time, the limiting 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 limiting sleeve 322 and the guide sleeve 323.

[0052] As a preferred embodiment, please refer to Figure 6 The insertion rod module 400 includes at least one guide rail 410, a pressure plate 420, and a lifting drive assembly 430. Each guide rail 410 is vertically arranged and fixedly connected to the frame 110. The pressure plate 420 is horizontally arranged and slidably connected to each guide rail 410. The lifting drive assembly 430 is connected to the pressure plate 420 and is used 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.

[0053] In a preferred embodiment, the guide rail 410 is model HGR45-1000, and its vertical movement stroke can reach up to 25cm, that is, the insertion depth can reach up to 25cm.

[0054] As a preferred embodiment, please refer to Figure 6 The bottom surface of the pressure plate 420 is provided with multiple grooves, which are used to accommodate the upper end of the thin rod, thereby enhancing the accuracy of positioning the thin rod.

[0055] 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 rotation drive component 433. The upper end of the long rod 431 is hinged to the pressure plate 420, and one end of the short rod 432 is hinged to the lower end of the long rod 431. The fifth rotation drive component 433 is fixedly connected to the frame 110, and the output end of the fifth rotation drive component 433 is hinged to the other end of the short rod 432 to drive the short rod 432 to rotate, thereby causing the pressure plate 420 to move up and down. The fifth rotation drive component 433 drives the short rod 432 to rotate. During the rotation of the short rod 432, the pressure plate 420 will move up and down through the transmission action of the long rod 431. The fifth rotation drive component 433 is a 57 motor. The 57 motor adopts closed-loop control. The drive plate installed at the tail can return the rotation angle information of the device. It communicates with the host computer through a serial port. Through the design of applications such as Unity, it can realize the virtual control of the real digital twin.

[0056] As a preferred embodiment, please refer to Figure 7 and Figure 8The 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 binding tape and has a tape outlet 511 for the end of the binding tape to pass through. The clamping unit 520 is located on the side of the storage tray 510 and is used to clamp or loosen the end of the binding tape. The blade 530 is located at the tape outlet 511 and is fixedly connected to the storage tray 510. The blade 530 is used to cut the binding tape. The knotting unit 540 is located on the side of the clamping unit 520 and is connected to the clamping unit 520 to... The straps are knotted. The X-axis moving unit 550 is connected to both the storage tray 510 and the clamping unit 520, and is used to drive the storage tray 510 and the clamping unit 520 to move closer to each other or further apart in the horizontal plane along the traveling direction of the walking module 100. The Y-axis moving unit 560 is connected to the X-axis moving unit 550, and is used to drive the X-axis moving unit 550 to reciprocate in the horizontal plane along a direction perpendicular to the traveling direction of the walking module 100. The Z-axis moving unit 570 is connected to the Y-axis moving unit 560, and is used to drive the Y-axis moving unit 560 to move up and down. In the initial position, the storage tray 510 and the clamping unit 520 are in a state of being far apart. Furthermore, the storage tray 510, the clamping unit 520, the blade 530, and the knotting unit 540 are all located inside the thin rod. When the lower end of the thin rod is inserted into the soil, the binding module 500 moves to the thin rod under the drive of the walking module 100, keeping the storage tray 510 and the clamping unit 520 located on both sides of the thin rod. The Y-axis moving unit 560 drives the X-axis moving unit 550 to move outward in the 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-axis moving unit 550 drives the storage tray 510 and the clamping unit 520 to move outward in the 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 clamping unit 520 moves closer to each other in the horizontal plane along the traveling direction of the traveling module 100. When the storage tray 510 and the clamping unit 520 are close together, the clamping unit 520 clamps the end of the strap. The X-axis moving unit 550 drives the storage tray 510 and the clamping unit 520 to move away from each other in the horizontal plane along the traveling direction of the traveling module 100, and pulls out the strap. The Y-axis moving unit 560 drives the X-axis moving unit 550 to move inward in the horizontal plane along a direction perpendicular to the traveling direction of the traveling module 100, so that the storage tray 510, the clamping unit 520, the blade 530 and the knotting unit 540 reach the inside of the thin rod.When the storage tray 510, clamping unit 520, blade 530, and knotting unit 540 reach the inner side of the thin rod, the Y-axis moving unit 560 continues to drive the X-axis moving unit 550 to move inward in the horizontal plane along a direction perpendicular to the travel direction of the traveling module 100. Simultaneously, the X-axis moving unit 550 drives the storage tray 510 and clamping unit 520 to move closer to each other in the horizontal plane along the travel direction of the traveling module 100. The pulled-out strap is secured to the thin rod, the blade 530 cuts the strap near the tape outlet 511, and the clamping unit 520 releases the strap. At the end, simultaneously, the knotting unit 540 knots the binding tape, completing one binding. The Z-axis moving unit 570 drives the Y-axis moving unit 560 to move up or down to different heights, repeating the above actions to complete other bindings, thereby achieving binding at different heights and improving the binding effect. Small branch binding tools, mainly handheld, use high-adhesive materials as the core binding tape, which have problems with consumables and machinery, cannot be used for a long time, and have low reliability. Some large-scale machines have problems such as high consumption of nail consumables and easy mechanical failures such as nail jamming. This pole binding machine has relatively high efficiency and ease of maintenance.

[0057] As a preferred embodiment, please refer to Figure 8 - Figure 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 mounting box 521 has an opening near the side wall of the storage tray 510. The fixing member 522 is disposed inside the mounting box 521 and is fixedly connected to the mounting box 521. The fixing member 522 has an L-shaped groove 5221, which has a first segment 52211 and a second segment 52212 that are interconnected. The first segment 52211 extends along the traveling direction of the traveling module 100, and the second segment 52212 extends perpendicular to the traveling direction of the traveling module 100. The movable member 523 is provided with... The movable member 523 is located within and slidably connected to the mounting box 521. It can reciprocate along the traveling direction of the walking module 100. A T-shaped groove 5231 is formed on the movable member 523, which has a third segment 52311 and a fourth segment 52312 that are interconnected. The third segment 52311 extends along the traveling direction of the walking module 100, and the fourth segment 52312 extends perpendicular to the traveling direction of the walking module 100. A clamping member 524 is located within and slidably connected to the mounting box 521. The clamping member 524 can reciprocate along the traveling direction perpendicular to the walking module 100 to move closer to or further away from the movable member 523. The movable member 523, together with the movable member 523, clamps or releases the end of the strap. The through shaft 525 is vertically arranged and slides through the L-shaped groove 5221 and the T-shaped groove 5231. One end of the through shaft 525 is fixedly connected to the clamping member 524. The first elastic member is disposed in the mounting box 521. One end of the first elastic member is fixedly connected to the mounting 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 junction of the first segment 52211 and the second segment 52212, and is also located at the third segment 52311. At the inner end, the clamping member 524 is away from the movable member 523. The second elastic member is disposed inside the mounting box 521. One end of the second elastic member is fixedly connected to the mounting 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. During the process of the storage tray 510 and the clamping unit 520 moving closer to each other in the horizontal plane along the traveling direction of the traveling module 100, the end of the storage tray 510 close to the clamping unit 520 pushes the movable member 523 inward along the traveling direction of the traveling module 100, so that the movable member 523 reaches the second position.When the movable member 523 reaches the second position, the second segment 52212 corresponds to the fourth segment 52312. The through shaft 525 is initially located at the junction of the third segment 52311 and the fourth segment 52312. The second elastic member pushes the clamping member 524 to move along a direction perpendicular to the travel 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 segment 52212 away from the first segment 52211, and finally located at the end of the fourth segment 52312 away from the third segment 52311. The clamping member 524 is in a locked state. The end of the storage tray 510 near the clamping unit 520 continues to push the movable member 523 inward along the travel direction of the travel module 100, so that the movable member 523 reaches the third position. The clamping member 524 moves along a direction perpendicular to the travel direction of the travel module 100. The material storage tray 510 moves the movable part 523 away from the moving part 523 and loosens the end of the strap together with the movable part 523. When the movable part 523 reaches the third position, the through shaft 525 is located at the outer end of the third segment 52311 and at the junction of the first segment 52211 and the second segment 52212. The end of the material storage tray 510 near the clamping unit 520 continues to push the movable part 523 inward along the traveling direction of the walking module 100 so that the movable part 523 reaches the fourth position. When the movable part 523 reaches the fourth position, the through shaft 525 is located at the inner end of the first segment 52211, and the clamping member 524 is in a locked state. When the end of the material storage tray 510 near the clamping unit 520 loosens the movable part 523 and gradually moves away from the clamping unit 520, the first elastic member pushes the movable part 523 outward along the traveling direction of the walking module 100, and the movable part 523 reaches the first position. ,

[0058] As a preferred embodiment, please refer to Figure 10The movable component 523 includes a movable part 5232, a stop part 5233, and a connecting part 5234. The movable part 5232 is located directly below the fixed component 522, and a T-shaped groove 5231 is formed on the movable part 5232. The stop part 5233 is located on one side of the fixed component 522. The connecting part 5234 fixes the movable part 5232 and the stop part 5233. The clamping component 524 includes a mounting part 52. 41 and clamping part 5242, the mounting part 5241 is disposed directly below the movable part 5232, the lower end of the through shaft 525 is fixedly connected to the mounting part 5241, the clamping part 5242 is disposed on the outside of the fixing member 522 and corresponds to the abutting part 5233, the clamping part 5242 is fixedly connected to the mounting part 5241, and the clamping part 5242 and the abutting part 5233 together clamp the end of the strap.

[0059] In a preferred embodiment, the first elastic element is a first spring, and the second elastic element is a second spring.

[0060] As a preferred embodiment, please refer to Figure 8 The knotting unit 540 includes a twisting disc 541, at least two knotting rods 542, and a sixth rotation drive 543. Each knotting rod 542 is circumferentially arranged on the side of the twisting disc 541 and extends tangentially along the twisting disc 541. One end of each knotting rod 542 near the twisting disc 541 is fixedly connected to the twisting disc 541, and a knotting seam 544 is formed between each knotting rod 542 and the twisting disc 541. The sixth rotation drive 543 is fixedly connected to the mounting box 521. The output end of 43 is coaxially fixedly connected to the twisting disc 541 and is used to drive the twisting disc 541 to rotate. During the rotation of the twisting disc 541, each of the knotting rods 542 can roll the binding tape into the corresponding knotting seam 544 to tie the binding tape. When the pulled-out binding tape is clamped on the thin rod, the sixth rotation drive member 543 drives the twisting disc 541 to rotate. Each of the knotting rods 542 can roll the binding tape into the corresponding knotting seam 544 to tie the binding tape. At the same time as tying the binding tape, the blade 530 cuts the binding tape near the tape outlet 511.

[0061] As a preferred embodiment, please refer to Figure 7 and Figure 8The X-axis moving unit 550 includes a platform 551, multiple slide rails 552, a moving belt 553, a first connecting rod 554, a second connecting rod 555, and an X-axis driving assembly 556. The platform 551 is horizontally arranged, and each slide rail 552 is horizontally arranged along the traveling direction of the walking module 100. The storage tray 510 is slidably connected to each slide rail 552, and the mounting box 521 is slidably connected to each slide rail 552. The moving belt 553 is a closed belt. One end of the first connecting rod 554 is fixedly connected to the storage tray 510, and the other end of the first connecting rod 554 is fixedly connected to one side of the moving belt 553. The second overlapping rod 555 is fixedly connected to the mounting box 521 at one end and to the other end of the moving belt 553 at the other end. The X-axis drive assembly 556 is connected to the moving belt 553 and is used to drive the moving belt 553 to perform a circular reciprocating motion. The X-axis drive assembly 556 drives the moving belt 553 to perform a circular reciprocating motion, and the two sides of the moving belt 553 move in opposite directions, causing the first overlapping rod 554 and the second overlapping rod 555 to move closer to each other or further away from each other, thereby causing the storage tray 510 and the mounting box 521 to move closer to each other or further away from each other.

[0062] As a preferred embodiment, please refer to Figure 7 and Figure 8 The X-axis drive assembly 556 includes a drive wheel 5561, a driven wheel 5562, and a seventh rotation drive member 5563. The drive wheel 5561 is rotatably connected to the platform 551 via an axle, and the driven wheel 5562 is rotatably connected to the platform 551 via an axle. The moving belt 553 is wound around the drive wheel 5561 and the driven wheel 5562. The seventh rotation drive member 5563 is fixedly connected to the platform 551, and its output end is connected to... The axle of the driving wheel 5561 is coaxially fixedly connected and used to drive the axle of the driving wheel 5561 to rotate. The output end of the seventh rotation drive 5563 rotates in the forward or reverse direction, which will drive the driving wheel 5561 to rotate in the forward or reverse direction. 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 in the forward or reverse direction via the moving belt 553, thereby realizing the circular reciprocating motion of the moving belt 553.

[0063] As a preferred embodiment, please refer to Figure 7 and Figure 8The Y-axis moving unit 560 is disposed below the platform 551 and includes a mounting frame 561, at least one first guide rod 562, a first lead screw 563, and an eighth rotation drive component 564. Each of the first guide rods 562 is horizontally arranged along the direction perpendicular to the travel direction of the walking module 100, and both ends of each first guide rod 562 are fixedly connected to the mounting frame 561. The first lead screw 563 is horizontally arranged along the direction perpendicular to the travel direction of the walking module 100, and both ends of the first lead screw 563 are rotatably connected to the mounting frame 561. The bottom of the platform 551 has multiple first through holes and first screw holes, and the first guide rod 562 is slidably fitted onto each of the first guide rods 562 through the first through holes. The first screw rod 563 is sleeved on the first guide rod 562 via the first screw hole. The first screw hole is screwed to the first lead rod 563. The eighth rotation drive member 564 is fixedly connected to the mounting bracket 561. The output end of the eighth rotation drive member 564 is coaxially fixedly connected to one end of the first lead rod 563 to drive the first lead rod 563 to rotate. The output end of the eighth rotation drive member 564 rotates in the forward or reverse direction, which will drive the first lead rod 563 to rotate in the forward or reverse direction. Since the first lead 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.

[0064] As a preferred embodiment, please refer to Figure 7 and Figure 8The Z-axis moving unit 570 includes multiple second guide rods 571, second lead screws 572, a lifting plate 573, and a ninth rotation drive component 574. Each second guide rod 571 and second lead screw 572 is vertically arranged, and both ends of each second guide rod 571 are fixedly connected to the frame 110. Both ends of the second lead screw 572 are rotatably connected to the frame 110. The lifting plate 573 has multiple second through holes and second screw holes, and is slidably fitted onto each second guide rod 571 through each second through hole, and onto the second lead screw 572 through each second screw hole. The second screw holes are connected to the... The second lead screw 572 is screwed on, the mounting bracket 561 is disposed on the lifting plate 573, the ninth rotation drive member 574 is fixedly connected to the frame 110, and the output end of the ninth rotation drive member 574 is coaxially fixedly connected to the lower end of the second lead screw 572 for driving the second lead screw 572 to rotate. The output end of the ninth rotation drive member 574 rotates in the forward or reverse direction, which will drive the second lead screw 572 to rotate in the forward or reverse direction. Since the second lead screw 572 and the lifting plate 573 are screwed on through 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.

[0065] To better understand this invention, the following is combined with... Figure 1 - Figure 10 The working principle of the technical solution of the present invention will be described in detail below:

[0066] In use, the thin pole to be inserted and tied is placed horizontally in the pole storage box 210, and then the walking module 100 moves along the ridge. During the movement of the walking module 100 along the ridge, the thin pole falls from the pole outlet under its own weight and reaches the pole transport unit 220. The two output ends of the second rotation drive 2233 rotate synchronously, which drives the two rotating wheels 2231 to rotate synchronously, and drives the two connecting shafts 2232 to rotate synchronously eccentrically. During the eccentric rotation of the connecting shafts 2232, the movable plate 222 moves up and down relative to the fixed plate 221. Through the difference in the vertical position of the first stepped structure 2211 and the second stepped structure 2221, the pole can move up and down. The second stepped structure 2221 gradually transports the thin rod to the upper step of the first stepped structure 2211. When the thin rod reaches the end of the step, both ends of the thin rod slide into the first clamping groove 31111 and the second clamping groove 31121, respectively. By manipulating the third rotation drive 3132, the output end of the third rotation drive 3132 drives the drive rod 3131 to rotate in the forward direction, and drives each of the clamps 3122 to pass through each of the through grooves 31122 one by one, so that each of the clamps 3122 moves into the second clamping groove 31121, and together with the second fixed clamping part 3112, clamps the thin rod. The fourth rotation drive 325 drives the rotating rod. When the rotating rod 324 rotates in the reverse direction, it will cause the pin connected to the guide sleeve 323 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. Subsequently, the output end of the fifth rotation drive 433 drives the short rod 432 to rotate. During the rotation of the short rod 432, it will drive the pressure plate 420 to move downward through the transmission action of the long rod 431. 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 thin rod... The lower end of the thin rod is inserted into the soil. When the lower end of the thin rod is inserted into the soil, the 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 on both sides of the thin rod. The Y-axis moving unit 560 drives the X-axis moving unit 550 to move outward in the horizontal plane along the direction of travel perpendicular to 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-axis moving unit 550 drives the storage tray 510 and the clamping unit 520 to move closer to each other in the horizontal plane along the direction of travel of the walking module 100.As the storage tray 510 and the clamping unit 520 move closer to each other in the horizontal plane along the traveling direction of the traveling module 100, the end of the storage tray 510 near the clamping unit 520 pushes the movable member 523 inward along the traveling direction of the traveling module 100, so that the movable member 523 reaches the second position. When the movable member 523 reaches the second position, the second segment 52212 corresponds to the fourth segment 52312. The through shaft 525 is first located at the junction of the third segment 52311 and the fourth segment 52312. The second elastic member pushes the clamping member 524 to move along a direction perpendicular to the traveling direction of the traveling module 100, so as to approach the movable member 523. The component 523, together with the movable component 523, clamps the end of the strap. The through shaft 525 is located at the end of the second segment 52212 away from the first segment 52211, and at the end of the fourth segment 52312 away from the third segment 52311. The clamping component 524 is in a locked state. The X-axis moving unit 550 drives the storage tray 510 and the clamping unit 520 to move away from each other in the horizontal plane along the traveling direction of the traveling module 100, and pulls out the strap. The Y-axis moving unit 560 drives the X-axis moving unit 550 to move inward in the horizontal plane along the traveling direction perpendicular to the traveling module 100, so that the storage tray 510 and the clamping unit 523... 0. When the blade 530 and the knotting unit 540 reach the inner side of the thin rod, after 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-axis moving unit 560 continues to drive the X-axis moving unit 550 to move inward in the horizontal plane along the direction perpendicular to the travel module 100. At the same time, the X-axis moving unit 550 drives the storage tray 510 and the clamping unit 520 to move closer to each other in the horizontal plane along the travel direction of the travel module 100. The pulled-out strap is clamped onto the thin rod. The end of the storage tray 510 near the clamping unit 520 continues to push the movable part 523 along the travel module 100. The moving part 523 moves inward along the direction of travel of the walking module 100 to reach the third position. The clamping part 524 moves away from the moving part 523 along the direction of travel perpendicular to the walking module 100, and together with the moving part 523, loosens the end of the strap. When the moving part 523 reaches the third position, the through shaft 525 is located at the outer end of the third segment 52311 and at the junction of the first segment 52211 and the second segment 52212. The end of the storage tray 510 near the clamping unit 520 continues to push the moving part 523 inward along the direction of travel of the walking module 100 to reach the fourth position. When the moving part 523 reaches the fourth position...The through shaft 525 is located at the inner end of the first segment 52211, and the clamping member 524 is in a locked state. At the same time, the sixth rotation drive member 543 drives the twisting disc 541 to rotate. During the rotation of the twisting disc 541, each of the knotting rods 542 can roll the binding tape into the corresponding knotting seam 544 to tie the binding tape. While tying the binding tape, the blade 530 cuts the binding tape near the tape outlet 511 to complete a binding. The X-axis moving unit 550 drives the storage disc 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. When the material tray 510 releases the movable part 523 near the clamping unit 520 and gradually moves away from the clamping unit 520, the first elastic member pushes the movable part 523 outward along the traveling direction of the walking module 100. When the movable part 523 reaches the first position, the Z-axis moving unit 570 drives the Y-axis moving unit 560 to move upward or downward to different heights. This process is repeated to complete other binding operations, thus achieving binding at different heights. This stalk-tying machine can adapt to complex terrain environments and enter greenhouses for efficient stalk-tying of seedlings. Furthermore, the machine has low costs, making it affordable for small-scale farmers.

[0067] The pole-insertion and branch-tying machine provided by this invention has the following beneficial effects:

[0068] (1) During the process of the storage tray 510 and the clamping unit 520 moving closer to each other in the horizontal plane along the traveling direction of the traveling module 100, the end of the storage tray 510 near the clamping unit 520 pushes the movable part 523 inward along the traveling direction of the traveling module 100, so that the movable part 523 reaches the second position. When the movable part 523 reaches the second position, the second segment 52212 corresponds to the fourth segment 52312. The through shaft 525 is first located at the junction of the third segment 52311 and the fourth segment 52312. The second elastic... The clamping member 524 is pushed to move along 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 located at the end of the second segment 52212 away from the first segment 52211, and at the end of the fourth segment 52312 away from the third segment 52311. The clamping member 524 is in a locked state. The end of the storage tray 510 near the clamping unit 520 continues to push the movable member 523 inward along the travel direction of the walking module 100, so that the movable member... When the third position is reached, the clamping member 524 moves along a direction perpendicular to the travel direction of the walking module 100 to move away from the movable member 523 and, together with the movable member 523, loosens the end of the strap. When the movable member 523 reaches the third position, the through shaft 525 is located at the outer end of the third segment 52311 and at the junction of the first segment 52211 and the second segment 52212. The end of the storage tray 510 near the clamping unit 520 continues to push the movable member 523 inward along the travel direction of the walking module 100, so that the movable member 523 reaches the third position. In the fourth position, when the movable part 523 reaches the fourth position, the through shaft 525 is located at the inner end of the first segment 52211, and the clamping part 524 is in a locked state. When the storage tray 510 releases the movable part 523 near the clamping unit 520 and gradually moves away from the clamping unit 520, the first elastic element pushes the movable part 523 to move outward along the traveling direction of the walking module 100. When the movable part 523 reaches the first position, the clamping, pulling, clamping and loosening actions of the strap are linked, which can realize the self-clamping and self-loosening of the strap without the need for additional driving components.

[0069] (2) Small branch binding tools that are mainly hand-held and use high-tech adhesive materials as the core binding tape have problems in terms of consumables and machinery, cannot be used for a long time, and have low reliability. A small number of large machines have problems such as high consumption of nail consumables and easy to cause mechanical failures such as nail jamming. This pole binding machine has relatively high efficiency and ease of maintenance.

[0070] (3) This stalk-inserting and branch-tying machine can adapt to complex terrain environments and enter the greenhouse to carry out efficient stalk-inserting and branch-tying work for seedlings. Moreover, the machine cost is low and small farmers can afford it.

[0071] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pole-planting and branch-tying machine, characterized in that, include: Walking module; A rod storage module, which is mounted on the walking module, is used to store rods and intermittently supply individual rods; The flipping module is mounted on the walking module and located to the side of the rod storage module. It 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 pole insertion module, which is mounted on the walking module, is used to insert a vertical thin pole into the soil; A branch-tying module, which is set on the walking module, is used to tie the thin rod inserted into the soil to the corresponding plant stem; The 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 binding tape and has an outlet for the end of the binding tape to pass through. The clamping unit is located on the side of the storage tray and is used to clamp or loosen the end of the binding tape. The blade is located at the outlet and is fixedly connected to the storage tray; the blade is used to cut the binding tape. The knotting unit is located on the side of the clamping unit and is connected to the clamping unit. The X-axis moving unit is connected to the storage tray and the clamping unit, and is used to drive the storage tray and the clamping unit to move closer to each other or further away from each other in the horizontal plane along the traveling direction of the traveling module. The Y-axis moving unit is connected to the X-axis moving unit, and is used to drive the X-axis moving unit to reciprocate in the horizontal plane along the traveling direction perpendicular to the traveling module. The Z-axis moving unit is connected to the Y-axis moving unit, and is used to drive the Y-axis moving unit to move up and down. The clamping unit includes a mounting box, a fixing component, a movable component, a clamping component, a through shaft, a first elastic component, and a second elastic component. The mounting box has an opening on its side wall near the storage tray. The fixing component is disposed inside the mounting box and fixedly connected to it. The fixing component has an L-shaped groove with a first segment and a second segment that are interconnected. The first segment extends along the traveling direction of the traveling module, and the second segment extends perpendicular to the traveling direction of the traveling module. The movable component is disposed inside the mounting box and slidably connected to it. The movable component can reciprocate along the traveling direction of the traveling module. The movable component has a T-shaped groove with a third segment and a fourth segment that are interconnected. The third segment extends along the traveling direction of the walking module, and the fourth segment extends perpendicular to the traveling direction of the walking module. The clamping member is disposed within the mounting box and slidably connected to the mounting box. The clamping member can reciprocate along the traveling direction perpendicular to the walking module to approach or move away from the movable part, and clamp or release the end of the strap together with the movable part. The through shaft is vertically disposed 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 disposed within the mounting box. One end of the first elastic member is fixedly connected to the mounting box, and the other end of the first elastic member is fixedly connected to the inner end of the movable part, so that the movable part reaches the first... In the first position, when the movable component reaches the first position, the through shaft is located at the junction of the first and second segments and also at the inner end of the third segment. The clamping member is away from the movable component. The second elastic member is disposed inside the mounting box, with one end of the second elastic member fixedly connected to the mounting box and the other end of the second elastic member fixedly connected to the end of the clamping member away from the movable component, so that the clamping member is close to the movable component. During the process of the storage tray and the clamping unit moving closer to each other in the horizontal plane along the traveling direction of the traveling module, the end of the storage tray near the clamping unit pushes the movable component to move inward along the traveling direction of the traveling module, so that the movable component reaches the second position. When the movable component reaches the second position, the second segment and the fourth segment correspond to each other. The through shaft is initially located at the junction of the third and fourth segments. The second elastic element pushes the clamping member to move along a direction perpendicular to the travel module, so as to approach the movable component and clamp the end of the strap together with the movable component. The through shaft is finally located at the end of the second segment away from the first segment and at the end of the fourth segment away from the third segment. The clamping member is in a locked state. The end of the storage tray near the clamping unit continues to push the movable component inward along the travel direction of the travel module so that the movable component reaches the third position. The clamping member moves along a direction perpendicular to the travel module.The end of the strap is released away from the movable part and 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 segment and also at the junction of the first and second segments. The end of the storage tray near the clamping unit continues to push the movable part inward along the traveling 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 segment, and the clamping member is in a locked state. When the end of the storage tray near the clamping unit releases the movable part and gradually moves away from the clamping unit, the first elastic member pushes the movable part outward along the traveling direction of the walking module, and the movable part reaches the first position.

2. The pole-inserting and branch-tying 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 flipping module is located at the end of the rod transport unit.

3. The pole-inserting and branch-tying machine according to claim 2, characterized in that, The rod-moving unit includes two fixed plates, two movable plates, a rod-moving drive assembly, and two guide assemblies. The two fixed plates are arranged opposite each other and spaced apart. The top of each fixed plate has a first stepped structure, which is used to support the two ends of the thin rod. The two movable plates are slidably connected to the two fixed plates one by one. The top of each movable plate has a second stepped structure. The rod-moving drive assembly is connected to both movable plates and is used to drive the two movable plates to move up and down synchronously, so that the second stepped structure gradually transports the thin rod to the upper step of the first stepped structure. 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.

4. The pole-inserting and branch-tying machine according to claim 2, characterized in that, The flipping 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 to drive the clamping unit to flip so that the thin rod changes from a horizontal state to a vertical state.

5. The pole-inserting and branch-tying 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 disposed opposite to the fixed clamping member. The clamping drive assembly is fixedly connected to the fixed clamping member and also connected to one end of the movable clamping member, for driving the other end of the movable clamping member to move closer to or 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 pole-inserting and branch-tying machine according to claim 5, characterized in that, The fixing clamping component includes a first fixing clamping part, a second fixing clamping part, and a connecting rod. The first fixing clamping part has a first clamping groove, and the second fixing clamping part has a second clamping groove. The first clamping groove and the second clamping groove are respectively used to receive the two ends of the thin rod. The connecting rod is horizontally arranged between the first fixing clamping part and the second fixing clamping part and is fixedly connected to the first fixing clamping part and the second fixing clamping part. The second fixing clamping part has multiple through grooves spaced apart on the side wall near the rod moving unit. The movable clamping component includes a mounting shaft and multiple clamps. The mounting shaft is horizontally arranged, and one end of each clamp is connected to... The mounting shaft is fixedly connected, and each of the clamps corresponds one-to-one with each of the through slots. The clamping drive assembly includes a drive rod and a third rotation drive component. One end of the drive rod is fixedly connected to one end of the rotating shaft. The third rotation drive component is disposed on the second fixed clamping part. The output end of the third rotation drive component is fixedly connected to the other end of the drive rod, and is used to drive the drive rod to rotate forward or backward, so that each of the clamps passes through each of the through slots 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 pole-planting and branch-tying machine according to claim 1, characterized in that, The insertion rod module includes at least one guide rail, a pressure plate, and a lifting drive assembly. Each guide rail is vertically arranged, and the pressure plate is horizontally arranged and slidably connected to each guide rail. 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 pole-planting and branch-tying machine according to claim 1, characterized in that, The knotting unit includes a twisting disc, at least two knotting rods, and a sixth rotation drive. Each knotting rod is circumferentially arranged on the side of the twisting disc and extends tangentially along the twisting disc. The end of each knotting rod near the twisting disc is fixedly connected to the twisting disc, and a knotting seam is formed between each knotting rod and the twisting disc. The sixth rotation drive is fixedly connected to the mounting box, and its output end is coaxially fixedly connected to the twisting disc to drive the twisting disc to rotate. During the rotation of the twisting disc, each knotting rod can roll the binding tape into the corresponding knotting seam to tie the binding tape.

Images