Crop straw grabbing and carrying robot

Abstract

The invention discloses a crop straw grabbing and carrying robot, and relates to the technical field of crop straw carrying, the crop straw grabbing and carrying robot comprises a robot main body, and the top end of the robot main body is fixedly connected with a rotating mechanism. By arranging the clamping mechanism, when a straw bundle is grabbed, the straw bundle is wrapped between two sets of grabbing clamps, then the straw bundle is packed through the packing mechanism and then placed in a collecting box to be transported, and the situation that the straw bundle is directly clamped with force to be transported is avoided; meanwhile, the width of the grabbing clamps and the distance between the grabbing clamps can be adjusted through the adjusting mechanism according to the size of the straw bundle needing to be grabbed, and meanwhile some impurities mixed in the straw bundle can fall off from gaps between the grabbing clamps when the straw bundle is grabbed and cannot be transported together with the straw bundle; the packaging mechanism is arranged, in the moving process of the clamping mechanism, a set of packaging bags are driven to automatically move to the position below the straw bundle placing position, and when the straw bundle is placed by the clamping mechanism, the straw bundle directly falls into the packaging bags.

Description

Technical Field

[0001] The present invention relates to the technical field of crop straw handling, and specifically to a crop straw grasping and handling robot. Background Art

[0002] Straw is the general term for the stems and leaves of mature crops. It usually refers to the remaining parts after harvesting the seeds of wheat, rice, corn, potatoes, rapeseed, cotton, sugarcane and other crops (usually coarse grains). More than half of the products of crop photosynthesis are present in the straw. Straw is rich in nitrogen, phosphorus, potassium, calcium, magnesium and organic matter, etc., and is a renewable biological resource with multiple uses. In recent years, the state and governments at all levels have increased the intensity of crop straw burning bans and comprehensive utilization, and invested funds and mechanical equipment to carry out the collection and utilization of crop straw.

[0003] Currently, manual collection and transportation and the operation method of bundling with a fixed straw baler are generally used for collection. In this process, the transport vehicle needs to be driven into the field, and then the bundled straw is transported onto the vehicle. The transportation method usually uses manual transportation or transportation by a transport machine.

[0004] During the process of transporting straw bales by existing transport machines, most of them directly grasp and transport the straw bales with a robotic arm, transporting the straw bales one by one, which is time-consuming and has low efficiency. Moreover, the clamping force of the machine is relatively direct. Once the force is too large, the straw bales originally pressed by many straws will be deformed and shed slag, or even fall apart. At the same time, the bumps and collisions during transportation and long-distance transportation are also likely to cause the straw to fall off, with low efficiency. Usually, the fixing and packing method for straw bales is multi-layer film winding, which is time-consuming and not environmentally friendly enough. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a crop straw grasping and handling robot to solve the technical problems raised in the above background.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a crop straw grasping and handling robot, comprising a robot main body, the top of the robot main body is fixedly connected with a rotating mechanism, one end of the rotating mechanism is fixedly connected with a clamping mechanism, the bottom end of the clamping mechanism is fixedly connected with an adjusting mechanism, and the top of the robot main body is fixedly connected with a packaging mechanism; the clamping mechanism comprises a positioning frame fixedly connected to one end of the rotating mechanism, the inner wall of the positioning frame is rotatably connected with a support shaft, the outer wall of the support shaft is fixedly sleeved with an adjusting block, one side of the adjusting block is fixedly connected with a limiting disk, the limiting disk is fixedly sleeved on the outer wall of the support shaft, the inner wall of the positioning frame is located above the support shaft and is rotatably connected with a moving component, one side of the positioning frame is fixedly connected with a clamping component, the outer wall of the support shaft is located on one side of the positioning frame and is fixedly sleeved with a rotating ratchet, and the top surface of the robot main body is fixedly connected with a first ratchet bar.

[0007] As a preferred technical solution of the present invention, the moving component includes a threaded rod rotatably connected to the positioning frame, the outer wall of the threaded rod is threadedly sleeved with a moving block, the inner side of the moving block is connected to a pulley, and a clearance groove is opened on the positioning frame, and the clearance groove is slidably connected to the moving block.

[0008] As a preferred technical solution of the present invention, the clamping assembly includes a sliding rod fixedly connected to one side of the positioning frame, the outer wall of the sliding rod is rotatably connected to a rotating rod, the inner wall of the rotating rod is fixedly connected to a positioning shaft, the outer wall of the positioning shaft is rotatably sleeved with a roller, one side of the rotating rod is fixedly connected to a first spring, the sliding rod, rotating rod, positioning shaft and roller are each provided in two groups, the two groups of sliding rods, rotating rods, positioning shafts and rollers are symmetrically arranged at both ends of the first spring, and the bottom end of the rotating rod is fixedly connected to an adjustment mechanism.

[0009] As a preferred technical solution of the present invention, the adjusting mechanism includes a first connection frame fixedly connected to the bottom end of the rotating rod. A slider is slidably connected to the inner wall of the first connection frame. One side of the slider is fixedly connected to a first connection shaft. One side of the first connection frame is fixedly connected to a second connection shaft. A second connecting rod is rotatably sleeved on the outer wall of the second connection shaft. The outer wall of the first connection shaft is rotatably connected to a first connecting rod. One side of the first connecting rod is fixedly connected to a third connection shaft. The third connection shaft is rotatably connected to the second connecting rod. One end of the second connection shaft is rotatably connected to a gripper. The top end of the gripper is fixedly connected to a second connection frame. There are two groups of the second connection frames. The first connection shaft, the second connection shaft, the first connecting rod, the second connecting rod, the third connection shaft and the gripper are all provided in multiple groups. There are two groups of the adjusting mechanisms, and the two groups of the adjusting mechanisms are symmetrically arranged. The second connection frame is slidably connected to the first connection shaft, and the second connection frame is fixedly connected to the second connection shaft. A limiting rod is slidably connected to the inner wall of the gripper. An electric telescopic rod is fixedly connected to the inner wall of the first connection frame. The bottom end of the slider is fixedly connected to the telescopic part of the electric telescopic rod.

[0010] As a preferred technical solution of the present invention, the packing mechanism includes a packing frame fixedly connected to the top end of the robot body. A lead screw is rotatably connected to the inner wall of the packing frame. A limiting frame is rotatably connected to the outer wall of the lead screw above the packing frame. The limiting frame is fixedly connected to the packing frame. A U-shaped block is threadedly sleeved on the outer wall of the lead screw. The U-shaped block is slidably connected to the limiting frame. A second ratchet bar is fixedly connected to one side of the limiting frame. A packing component is fixedly sleeved on the outer wall of the lead screw. A conveying component is rotatably connected to the inner wall of the packing frame. A sealing member is arranged inside the packing frame. The sealing member is electrically connected to a touch switch. A second spring is fixedly connected to the bottom end of the U-shaped block. The second spring is fixedly connected to the packing frame.

[0011] As a preferred technical solution of the present invention, the packing component includes a gear fixedly sleeved on the outer wall of the packing frame. The gear meshes with a rack. One side of the rack is fixedly connected to a connecting plate. A moving rod is slidably connected to the inner wall of the connecting plate. A hook block is fixedly connected to the bottom end of the moving rod. One side of the moving rod is fixedly connected to a guiding shaft. A guiding groove is formed inside the packing frame. A first torsion spring shaft is fixedly connected to the inner wall of the guiding groove. A flap is torsionally connected to the guiding groove through the first torsion spring shaft.

[0012] As a preferred technical solution of the present invention, the conveying assembly includes a conveying shaft rotatably connected to the inner wall of the packing frame. The conveying shaft meshes with a conveyor belt. A guiding block is fixedly connected to the inner side of the packing frame. A second torsion spring shaft is rotatably connected to the inner wall of the packing frame. The packing frame is torsion spring connected with a guiding plate through the second torsion spring shaft. A rotating block is fixedly connected to the outer wall of the second torsion spring shaft.

[0013] As a preferred technical solution of the present invention, the rotating mechanism includes a support frame fixedly connected to the top end of the robot body. A rotating column is rotatably connected to the inner wall of the support frame. A worm gear is fixedly sleeved on the outer wall of the rotating column. A first sliding groove is formed on the rotating column. A limiting shaft is slidably connected in the groove of the first sliding groove. One end of the limiting shaft is fixedly connected with a positioning plate. The positioning plate is fixedly connected with the robot body. A rotating plate is fixedly connected to the top end of the rotating column. The worm gear meshes with a rotating assembly.

[0014] As a preferred technical solution of the present invention, the rotating assembly includes a worm meshing with the worm gear. A moving plate is fixedly connected to one side of the worm. A second sliding groove is formed on the moving plate. A sliding shaft is slidably connected in the groove of the second sliding groove. One end of the sliding shaft is fixedly connected with a disc. A rotating shaft is fixedly connected to the inner wall of the disc. One end of the rotating shaft is fixedly connected with the output end of a motor. The bottom end of the moving plate is slidably connected with a limiting seat. The limiting seat is fixedly connected with the robot body.

[0015] In summary, the present invention mainly has the following beneficial effects: By setting the clamping mechanism, when grasping the straw bale, it is held between two groups of grippers, and then after the straw bale is packed by the packing mechanism, it is placed in the collection box for transportation, rather than directly clamping the straw bale forcefully for transportation. At the same time, the adjusting mechanism can adjust the width of the grippers and the distance between the grippers according to the size of the straw bale to be grasped, and at the same time, some sundries mixed in when grasping the straw bale can fall from the gap between the grippers and will not be transported together with the straw bale; By setting the packing mechanism, during the movement of the clamping mechanism, a set of packing bags are driven to automatically move below the position where the straw bale is placed. When the clamping mechanism places the straw bale, the straw bale directly falls into the packing bag, and the self-weight of the straw bale drives the sealing member to seal the packing bag, making it more convenient to pack the straw bale, preventing the straw from falling during transportation, and at the same time, the packing bags can be collected and reused after transportation, which is more environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the adjusting mechanism of the present invention; Figure 3 Schematic structural diagram of the adjustment mechanism and the clamping mechanism of the present invention; Figure 4 Schematic structural diagram of the clamping mechanism of the present invention; Figure 5 First perspective structural diagram of the packing mechanism of the present invention; Figure 6 Second perspective structural diagram of the packing mechanism of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of part A; Figure 8 Partial structural diagram of the packing mechanism of the present invention; Figure 9 Schematic structural diagram of the rotating mechanism of the present invention; Figure 10 Partial structural diagram of the rotating mechanism of the present invention.

[0017] In the figure: 100, robot main body; 200, rotating mechanism; 300, clamping mechanism; 400, adjustment mechanism; 500, gripper; 600, packing mechanism; 700, collection box; 800, first ratchet bar; 900, second ratchet bar; 210, rotating column; 220, worm gear; 230, first chute; 240, limiting shaft; 250, positioning plate; 260, rotating plate; 270, rotating assembly; 280, support frame; 271, worm; 272, moving plate; 273, second chute; 274, sliding shaft; 275, disc; 276, rotating shaft; 277, motor; 278, limiting seat; 310, positioning frame; 320, support shaft; 330, adjustment block; 340, limiting disc; 350, moving assembly; 360, clamping assembly; 370, rotating ratchet; 351, threaded rod; 352, moving block; 353, pulley; 354, relief groove; 361, sliding rod; 362, rotating rod; 363, positioning shaft; 364, roller; 365, first spring; 410, first connecting frame; 420, slider; 430, first connecting shaft; 440, second connecting shaft; 450, first connecting rod; 460, second connecting rod; 470, third connecting shaft; 480, second connecting frame; 490, limiting rod; 411, electric telescopic rod; 610, packing frame; 620, lead screw; 630, limiting frame; 640, U-shaped block; 650, packing assembly; 660, conveying assembly; 670, touch switch; 680, sealing member; 690, second spring; 651. Gear; 652. Rack; 653. Connecting plate; 654. Moving rod; 655. Hook block; 656. Guide shaft; 657. Guide groove; 658. First torsion spring shaft; 659. Flap 661. Conveyor shaft; 662. Conveyor belt; 663. Guide block; 664. Second torsion spring shaft; 665. Guide plate; 666. Rotating block Specific embodiments

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] The embodiments of the present invention will be described below according to its overall structure.

[0020] A crop straw grabbing and transporting robot, as Figures 1 to 10As shown, the robot body 100 includes a robot body 100, the top of which is fixedly connected to a rotating mechanism 200, one end of which is fixedly connected to a clamping mechanism 300, the bottom end of which is fixedly connected to an adjusting mechanism 400, and the top of the robot body 100 is fixedly connected to a packaging mechanism 600; the clamping mechanism 300 includes a positioning frame 310 fixedly connected to one end of the rotating mechanism 200, the inner wall of which is rotatably connected to a support shaft 320, The outer wall of the support shaft 320 is fixedly sleeved with an adjustment block 330, one side of the adjustment block 330 is fixedly connected to a limit plate 340, the limit plate 340 is fixedly sleeved on the outer wall of the support shaft 320, the inner wall of the positioning frame 310 is located above the support shaft 320 and is rotatably connected to a moving component 350, one side of the positioning frame 310 is fixedly connected to a clamping component 360, the outer wall of the support shaft 320 is located on one side of the positioning frame 310 and is fixedly sleeved with a rotating ratchet 370, the top surface of the robot body 100 is fixedly connected The first ratchet bar 800 is connected; the moving assembly 350 includes a threaded rod 351 rotatably connected to the positioning frame 310, the outer wall of the threaded rod 351 is threadedly sleeved with a moving block 352, the inner side of the moving block 352 is connected to a pulley 353, and a clearance groove 354 is opened on the positioning frame 310, and the clearance groove 354 is slidably connected to the moving block 352; the clamping assembly 360 includes a sliding rod 361 fixedly connected to one side of the positioning frame 310, and the outer wall of the sliding rod 361 is rotatably connected to a rotating A movable rod 362, the inner wall of the rotating rod 362 is fixedly connected with a positioning shaft 363, the outer wall of the positioning shaft 363 is rotatably sleeved with a roller 364, one side of the rotating rod 362 is fixedly connected with a first spring 365, the sliding rod 361, the rotating rod 362, the positioning shaft 363 and the roller 364 are each provided with two groups, the two groups of sliding rods 361, the rotating rod 362, the positioning shaft 363 and the roller 364 are symmetrically arranged at both ends of the first spring 365, and the bottom end of the rotating rod 362 is fixedly connected with an adjustment mechanism 400;The adjusting mechanism 400 includes a first connection frame 410 fixedly connected to the bottom end of the rotating rod 362. A slider 420 is slidably connected to the inner wall of the first connection frame 410. A first connection shaft 430 is fixedly connected to one side of the slider 420. A second connection shaft 440 is fixedly connected to one side of the first connection frame 410. A second connecting rod 460 is rotatably sleeved on the outer wall of the second connection shaft 440. A first connecting rod 450 is rotatably connected to the outer wall of the first connection shaft 430. A third connection shaft 470 is fixedly connected to one side of the first connecting rod 450. The third connection shaft 470 is rotatably connected to the second connecting rod 460. One end of the second connection shaft 440 is rotatably connected to a gripper 500. The top end of the gripper 500 is fixedly connected to a second connection frame 480. There are two sets of the second connection frames 480. The first connection shaft 430, the second connection shaft 440, the first connecting rod 450, the second connecting rod 460, the third connection shaft 470, and the gripper 500 are all provided in multiple sets. There are two sets of the adjusting mechanisms 400, which are symmetrically arranged between the two sets. The second connection frame 480 is slidably connected to the first connection shaft 430. The second connection frame 480 is fixedly connected to the second connection shaft 440. A limiting rod 490 is slidably connected to the inner wall of the gripper 500. An electric telescopic rod 411 is fixedly connected to the inner wall of the first connection frame 410. The bottom end of the slider 420 is fixedly connected to the telescopic part of the electric telescopic rod 411.;

[0021] The staff controls the movement of the robot through the robot main body 100. When the robot body moves to the handling location, the overall width of the adjusting mechanism 400 is adjusted according to the straw to be handled. The rotating mechanism 200 drives the clamping mechanism 300 to rotate above the straw to be handled. Then, the rotating mechanism 200 drives the clamping mechanism 300 to move downward, driving the gripper 500 to grab the straw. The rotating mechanism 200 drives the clamping mechanism 300 to rotate back above the packing mechanism 600. The rotating mechanism 200 drives the clamping mechanism 300 to move downward. The clamping mechanism 300 drives the gripper 500 to place the grabbed straw into the packing mechanism 600 and pack the straw. The packed straw slides into the collection box 700. The straw is transported to the designated position by controlling the robot main body 100. The parts not involved in this device are the same as the prior art or can be implemented by using the prior art.

[0022] The rotating mechanism 200 drives the clamping mechanism 300 to rotate above the straw to be carried, and then the rotating mechanism 200 drives the positioning frame 310 to move downward. When the gripper 500 approaches the straw, the positioning frame 310 continues to move, driving the rotating ratchet 370 to engage with the first ratchet bar 800. Driven by the positioning frame 310, the rotating ratchet 370 continues to move downward and rotates around the support shaft 320 as the axis, thereby driving the support shaft 320 to rotate, and further driving the adjusting block 330 to rotate. In the initial state, the widest part of the adjusting block 330 is in a vertical state, so that the distance between the tops of the two clamping components 360 is relatively close, while the distance between the bottoms of the two rotating rods 362 is relatively far. At this time, the distance between the two grippers 500 is relatively far and in an open state. When the adjusting block 330 rotates driven by the rotating ratchet 370, the widest part of the adjusting block 330 rotates to a horizontal state, driving the rotating rod 362 to rotate around the sliding rod 361 as the axis. At this time, the distance between the bottoms of the rotating rods 362 is relatively close, thereby driving the two grippers 500 to approach each other and grasp the approaching straw. Due to the characteristics of the ratchet, when the rotating ratchet 370 moves upward, it will not rotate driven by the first ratchet bar 800, so it will not drive the gripper 500 to release the straw. By rotating the threaded rod 351, the moving block 352 is driven to slide along the relief groove 354, thereby driving the pulley 353 to move, and further driving the limit disk 340 to move along the support shaft 320, driving the adjusting block 330 to move on the support shaft 320, thereby adjusting the position where the roller 364 fits the adjusting block 330, and further adjusting the opening size of the bottoms of the two rotating rods 362. At the same time, the maximum distance between the two grippers 500 is adjusted to grasp straw bales of different sizes. Among them, the first spring 365 is always in a stretched state, so when the horizontal position between the roller 364 and the adjusting block 330 moves and the adjusting block 330 rotates, the positioning shaft 363 always fits the outer wall of the adjusting block 330.

[0023] Since the sizes of the straw bales in the same field are basically the same, in the initial state, the distance between the grippers 500 can be adjusted according to the approximate length of the straw bales. The electric telescopic rod 411 is started to drive the slider 420 to move. The slider 420 moves longitudinally along the first connecting frame 410, thereby driving the first connecting shaft 430 to move. Since the second connecting shaft 440 is fixedly connected to the first connecting frame 410, and the third connecting shaft 470 connects the first connecting rod 450 and the second connecting rod 460, when the first connecting shaft 430 moves downward, it drives the first connecting rod 450 to rotate around the first connecting shaft 430 as the axis, and further drives the second connecting shaft 440 of the first connecting frame 410 that is not connected to move, and at the same time drives the gripper 500 to move horizontally, adjusting the width of the straw bales that the gripper 500 can grasp. Among them, the limiting rod 490 limits the gripper 500 to prevent it from rotating around the second connecting shaft 440 when moving driven by the second connecting shaft 440.

[0024] Please refer with emphasis to Figures 5 to 8 , the packing mechanism 600 includes a packing frame 610 fixedly connected to the top end of the robot body 100. The inner wall of the packing frame 610 is rotatably connected to a lead screw 620. The outer wall of the lead screw 620 is rotatably connected to a limiting frame 630 above the packing frame 610. The limiting frame 630 is fixedly connected to the packing frame 610. The outer wall of the lead screw 620 is threadedly sleeved with a U-shaped block 640. The U-shaped block 640 is slidably connected to the limiting frame 630. One side of the limiting frame 630 is fixedly connected to a second ratchet bar 900. The outer wall of the lead screw 620 is fixedly sleeved with a packing assembly 650. The inner wall of the packing frame 610 is rotatably connected to a conveying assembly 660. A sealing member 680 is arranged inside the packing frame 610. The sealing member 680 is electrically connected to a touch switch 670. The bottom end of the U-shaped block 640 is fixedly connected to a second spring 690. The second spring 690 is fixedly connected to the packing frame 610. The packing assembly 650 includes a gear 651 fixedly sleeved on the outer wall of the packing frame 610. The gear 651 meshes with a rack 652. One side of the rack 652 is fixedly connected to a connecting plate 653. The inner wall of the connecting plate 653 is slidably connected to a moving rod 654. The bottom end of the moving rod 654 is fixedly connected to a hook block 655. One side of the moving rod 654 is fixedly connected to a guide shaft 656. A guide groove 657 is formed inside the packing frame 610. A first torsion spring shaft 658 is fixedly connected to the inner wall of the guide groove 657. The guide groove 657 is torsionally connected to a flap 659 through the first torsion spring shaft 658. The conveying assembly 660 includes a conveying shaft 661 rotatably connected to the inner wall of the packing frame 610. The conveying shaft 661 meshes with a conveyor belt 662. A guide block 663 is fixedly connected to the inner side of the packing frame 610. A second torsion spring shaft 664 is rotatably connected to the inner wall of the packing frame 610. The packing frame 610 is torsionally connected to a guide plate 665 through the second torsion spring shaft 664. A rotating block 666 is fixedly connected to the outer wall of the second torsion spring shaft 664.

[0025] When the clamping mechanism 300 moves downward above the packing frame 610 driven by the rotating mechanism 200, after the rotating ratchet 370 moves to engage with the second ratchet bar 900, the second ratchet bar 900 drives the rotating ratchet 370 to rotate, thereby driving the grippers 500 to move away from each other. The straw bale clamped by the grippers 500 falls into the packing bag with the opening supported by the packing component 650 in the lower packing frame 610. Then, under the action of gravity, the packing belt containing the straw bale slides down through the guide block 663 to push the guide plate 665 to rotate around the second torsion spring shaft 664, thereby driving the rotating block 666 to rotate and touch the touch switch 670. At this time, the touch switch 670 drives the sealing member 680 to start, and seals the packing bag containing the straw bale that has moved between the sealing members 680. After the sealing is completed, under the action of its own gravity, the packed straw bale slides into the collection box 700. Due to the torsion spring characteristic of the second torsion spring shaft 664, without external force, it drives the guide plate 665 to reset, thereby driving the rotating block 666 to reset, facilitating the next sealing of the packing bag; During the downward movement of the rotating ratchet wheel 370, the U-shaped block 640 is driven to move downward, thereby driving the second spring 690 to be compressed. Since the inner wall of the U-shaped block 640 sleeved on the lead screw 620 is provided with threads matching the external threads of the limiting frame 630, the downward movement of the U-shaped block 640 drives the lead screw 620 to rotate, thereby driving the gear 651 to rotate, and then driving the rack 652 to move. The rack 652 drives the connecting plate 653 to move, thereby driving the hook block 655 connected to the bottom end of the moving rod 654 to move. The hook block 655 located in the opening of the packing belt moves, thereby driving the opening part of the hook block 655 to open, facilitating the falling of the straw bale. When the rotating ratchet wheel 370 moves upward, the compressed second spring 690 resets. At this time, the lead screw 620 drives the U-shaped block 640 to move upward. At the same time, the robot main body 100 controls the driving member connected to the transmission shaft 661 to start, driving the transmission shaft 661 to rotate, thereby driving the conveyor belt 662 to move. Multiple groups of baffles are arranged on the surface of the conveyor belt 662, and packing bags are inserted between every two groups of baffles. The packing bags are made of a relatively hard material that can stand up. After a group of packing bags are filled with straw bales and move away from the conveyor belt 662, the conveyor belt 662 drives the packing bags to move to the initial position of the previous group of packing bags. The upward movement of the U-shaped block 640 drives the lead screw 620 to rotate in the opposite direction to when the U-shaped block 640 moved downward, thereby driving the rack 652 to move towards the packing bags, and then driving the guide shaft 656 to move along the guide groove 657. When the guide shaft 656 moves in the guide groove 657 and passes through the flap 659, since the first torsion spring shaft 658 is inclined, the flap 659 restricts the guide shaft 656 from continuing to move in the horizontal groove part of the guide groove 657. The guide shaft 656 moves towards the inverted V-shaped groove of the guide groove 657, driving the moving rod 654 to move upward and then downward, thereby driving the hook block 655 to move upward and then downward. Since the opening position of the first group of packing bags is aligned with the lowest point of the inverted V-shaped groove in the guide groove 657 close to the packing bags, when the hook block 655 moves obliquely downward, it inserts into the opening of the packing bag. When the rotating ratchet wheel 370 moves downward, the hook block 655 hooks the opening of the packing bag to open, facilitating the straw bale to fall into the packing bag. When the rotating ratchet wheel 370 moves downward, the guide shaft 656 moves in the horizontal groove part of the guide groove 657 and drives the flap 659 to rotate around the first torsion spring shaft 658 when passing through the flap 659. Therefore, at this time, the flap 659 does not restrict the horizontal movement of the guide groove 657.

[0026] Please refer particularly to Figure 9 and Figure 10, the rotating mechanism 200 includes a support frame 280 fixedly connected to the top end of the robot body 100. A rotating column 210 is rotatably connected to the inner wall of the support frame 280. A worm gear 220 is fixedly sleeved on the outer wall of the rotating column 210. A first chute 230 is formed in the rotating column 210. A limiting shaft 240 is slidably connected in the first chute 230. One end of the limiting shaft 240 is fixedly connected to a positioning plate 250. The positioning plate 250 is fixedly connected to the top surface of the robot body 100. The top end of the rotating column 210 is fixedly connected to a rotating plate 260. The worm gear 220 meshes with a rotating assembly 270; the rotating assembly 270 includes a worm 271 meshing with the worm gear 220. A moving plate 272 is fixedly connected to one side of the worm 271. A second chute 273 is formed in the moving plate 272. A sliding shaft 274 is slidably connected in the second chute 273. One end of the sliding shaft 274 is fixedly connected to a disc 275. A rotating shaft 276 is fixedly connected to the inner wall of the disc 275. One end of the rotating shaft 276 is fixedly connected to the output end of a motor 277. The bottom end of the moving plate 272 is slidably connected to a limiting seat 278. The limiting seat 278 is fixedly connected to the robot body 100.

[0027] Start the motor 277 to drive the disc 275 to rotate around the rotating shaft 276, thereby driving the sliding shaft 274 to rotate, and further driving the sliding shaft 274 to slide along the second chute 273 when rotating, and driving the moving plate 272 to move horizontally in the groove of the limiting seat 278, thereby driving the worm 271 to move horizontally. Since the sliding shaft 274 is not at the center of the disc 275, the sliding shaft 274 rotates eccentrically around the rotating shaft 276. The rotation of the disc 275 drives the sliding shaft 274 to reciprocate in the groove of the limiting seat 278, thereby driving the worm 271 to move horizontally back and forth.

[0028] The movement of the worm 271 drives the worm wheel 220 to rotate, thereby driving the rotating column 210 to rotate, and further driving the clamping mechanism 300 to rotate. Since the outer wall of the worm wheel 220 is provided with a first chute 230, and a limiting shaft 240 is slidably connected in the first chute 230. When the rotating column 210 rotates, the limiting shaft 240 causes the rotating column 210 to move along the trajectory of the first chute 230 while rotating, thereby driving the rotating column 210 to slide up and down along the inner wall of the support frame 280. When the limiting shaft 240 slides from the lowest point to the highest point of the first chute 230 along the vertical groove portion of the first chute 230, at this time, the rotating plate 260 is located directly above the straw bale to be grabbed. At the same time, the rotating plate 260 drives the clamping mechanism 300 to descend, and the gripper 500 approaches the straw bale and grabs it. After grasping, the rotating assembly 270 drives the rotating column 210 to rotate in the reverse direction, thereby driving the limiting shaft 240 to slide from the highest point to the lowest point of the first chute 230 and then continue to slide along the other vertical groove portion of the first chute 230, driving the rotating column 210 to rotate and move downward, thereby transporting the straw bale into the packing mechanism 600.

[0029] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and not limitations thereof. The specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations that do not make creative contributions to the embodiments according to needs, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A crop straw grabbing and handling robot, comprising a robot body (100), characterized in that: The top end of the robot body (100) is fixedly connected to a rotating mechanism (200), one end of the rotating mechanism (200) is fixedly connected to a clamping mechanism (300), the bottom end of the clamping mechanism (300) is fixedly connected to an adjusting mechanism (400), and the top end of the robot body (100) is fixedly connected to a packaging mechanism (600); The clamping mechanism (300) comprises a positioning frame (310) fixedly connected to one end of the rotating mechanism (200); the inner wall of the positioning frame (310) is rotatably connected to a supporting shaft (320); the outer wall of the supporting shaft (320) is fixedly sleeved with an adjusting block (330); one side of the adjusting block (330) is fixedly connected to a limiting disk (340); the limiting disk (340) is fixedly sleeved on the outer wall of the supporting shaft (320); the inner wall of the positioning frame (310) is located above the supporting shaft (320) and is rotatably connected to a moving component (350); one side of the positioning frame (310) is fixedly connected to a clamping component (360); the outer wall of the supporting shaft (320) is located on one side of the positioning frame (310) and is fixedly sleeved with a rotating ratchet (370); and the top surface of the robot body (100) is fixedly connected to a first ratchet bar (800).

2. The crop straw grabbing and handling robot according to claim 1, characterized in that: The moving assembly (350) comprises a threaded rod (351) rotatably connected to the positioning frame (310); a moving block (352) is threadedly sleeved on the outer wall of the threaded rod (351); a pulley (353) is connected to the inner side of the moving block (352); a clearance groove (354) is formed on the positioning frame (310); and the clearance groove (354) is slidably connected to the moving block (352).

3. The crop straw grabbing and handling robot according to claim 1, characterized in that: The clamping assembly (360) comprises a sliding rod (361) fixedly connected to one side of the positioning frame (310); the outer wall of the sliding rod (361) is rotatably connected to a rotating rod (362); the inner wall of the rotating rod (362) is fixedly connected to a positioning shaft (363); the outer wall of the positioning shaft (363) is rotatably sleeved with a roller (364); one side of the rotating rod (362) is fixedly connected to a first spring (365); the sliding rod (361), the rotating rod (362), the positioning shaft (363) and the roller (364) are each provided in two groups; the two groups of sliding rods (361), the rotating rod (362), the positioning shaft (363) and the roller (364) are symmetrically arranged at two ends of the first spring (365); the bottom end of the rotating rod (362) is fixedly connected to an adjustment mechanism (400).

4. The crop straw grabbing and handling robot according to claim 3, characterized in that: The adjustment mechanism (400) includes a first connection frame (410) fixedly connected to the bottom end of the rotating rod (362); the inner wall of the first connection frame (410) is slidably connected to a slider (420); one side of the slider (420) is fixedly connected to a first connection shaft (430); one side of the first connection frame (410) is fixedly connected to a second connection shaft (440); the outer wall of the second connection shaft (440) is rotatably sleeved with a second connection rod (460); the outer wall of the first connection shaft (430) is rotatably connected to a first connection rod (450); one side of the first connection rod (450) is fixedly connected to a third connection shaft (470); the third connection shaft (470) is rotatably connected to the second connection rod (460); one end of the second connection shaft (440) is rotatably connected to a gripper (500); the top of the gripper (500) is A second connection frame (480) is fixedly connected, the second connection frame (480) is provided with two groups, the first connection axis (430), the second connection axis (440), the first connection rod (450), the second connection rod (460), the third connection axis (470) and the grabbing clamp (500) are each provided with multiple groups, the adjustment mechanism (400) is provided with two groups, the two groups of the adjustment mechanism (400) are symmetrically arranged, the second connection frame (480) is slidably connected to the first connection axis (430), the second connection frame (480) is fixedly connected to the second connection axis (440), the inner wall of the grabbing clamp (500) is slidably connected to the limit rod (490), the inner wall of the first connection frame (410) is fixedly connected to the electric telescopic rod (411), and the bottom end of the slider (420) is fixedly connected to the extension of the electric telescopic rod (411).

5. The crop straw grabbing and handling robot according to claim 1, characterized in that: The packing mechanism (600) comprises a packing frame (610) fixedly connected to the top of the robot body (100); the inner wall of the packing frame (610) is rotatably connected to a screw rod (620); the outer wall of the screw rod (620) is located above the packing frame (610) and is rotatably connected to a limit frame (630); the limit frame (630) is fixedly connected to the packing frame (610); the outer wall of the screw rod (620) is threadedly sleeved with a U-shaped block (640); the U-shaped block (640) is slidably connected to the limit frame (630); A second ratchet bar (900) is fixedly connected to one side of the limit frame (630); a packing assembly (650) is fixedly sleeved on the outer wall of the screw rod (620); a conveying assembly (660) is rotatably connected to the inner wall of the packing frame (610); a sealing member (680) is arranged inside the packing frame (610); the sealing member (680) is electrically connected to a touch switch (670); a second spring (690) is fixedly connected to the bottom end of the U-shaped block (640); and the second spring (690) is fixedly connected to the packing frame (610).

6. The crop straw grabbing and handling robot according to claim 5, characterized in that: The packing assembly (650) comprises a gear (651) fixedly sleeved with the outer wall of the packing frame (610); the gear (651) is meshed with a rack (652); one side of the rack (652) is fixedly connected to a connecting plate (653); the inner wall of the connecting plate (653) is slidably connected to a moving rod (654); the bottom end of the moving rod (654) is fixedly connected to a hook block (655); one side of the moving rod (654) is fixedly connected to a guide shaft (656); a guide groove (657) is provided on the inner side of the packing frame (610); a first torsion spring shaft (658) is fixedly connected in the groove of the guide groove (657); and the guide groove (657) is connected to a flap (659) via a torsion spring of the first torsion spring shaft (658).

7. The crop straw grabbing and handling robot according to claim 5, characterized in that: The conveying assembly (660) comprises a conveying shaft (661) rotatably connected to the inner wall of the packing frame (610); the conveying shaft (661) is meshed with a conveyor belt (662); a guide block (663) is fixedly connected to the inner side of the packing frame (610); the inner wall of the packing frame (610) is rotatably connected to a second torsion spring shaft (664); the packing frame (610) is connected to a guide plate (665) via a torsion spring of the second torsion spring shaft (664); and a rotating block (666) is fixedly connected to the outer wall of the second torsion spring shaft (664).

8. The crop straw grabbing and handling robot according to claim 1, characterized in that: The rotating mechanism (200) comprises a support frame (280) fixedly connected to the top of the robot body (100); the inner wall of the support frame (280) is rotatably connected to a rotating column (210); the outer wall of the rotating column (210) is fixedly sleeved with a worm gear (220); a first sliding groove (230) is provided on the rotating column (210); a limiting shaft (240) is slidably connected in the first sliding groove (230); one end of the limiting shaft (240) is fixedly connected to a positioning plate (250); the positioning plate (250) is fixedly connected to the robot body (100); the top of the rotating column (210) is fixedly connected to a rotating plate (260); and the worm gear (220) is meshed with a rotating assembly (270).

9. The crop straw grabbing and handling robot according to claim 8, characterized in that: The rotating assembly (270) includes a worm (271) meshing with the worm wheel (220); a movable plate (272) is fixedly connected to one side of the worm (271); a second slide groove (273) is provided on the movable plate (272); a sliding shaft (274) is slidably connected in the groove of the second slide groove (273); a circular disk (275) is fixedly connected to one end of the sliding shaft (274); a rotating shaft (276) is fixedly connected to the inner wall of the circular disk (275); an output end of a motor (277) is fixedly connected to one end of the rotating shaft (276); a limit seat (278) is slidably connected to the bottom end of the movable plate (272); and the limit seat (278) is fixedly connected to the robot body (100).

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