Finger and leg bionic self-propelled straw raking machine

Abstract

The invention discloses a finger and leg bionic self-propelled straw raking machine, and belongs to agricultural machinery. A finger type raking mechanism and a straw collecting box are installed at the front end and the upper end of a rack assembly respectively, a finger type raking mechanism driving system is assembled on the side portion of the front end of the rack assembly, and three leg type walking mechanisms are sequentially installed on the lower portion of each of the left side and the right side of the rack assembly from front to back. The three leg type walking mechanisms on the same side are sequentially sleeved with the chains, and when the leg type walking mechanisms on the front portion, the rear portion and the middle portion of the left side are located at the positions away from the ground, the leg type walking mechanisms on the middle portion of the left side and the front portion and the rear portion of the right side are located at the positions in supporting contact with the ground and sequentially circulate and alternate left and right sides; the straw collecting machine adopts a human finger and leg bionic structure to collect straw, and is novel, unique and reasonable in structure, high in automation degree and operation efficiency, low in operation cost and high in adaptability, and labor resources are saved.

Description

Technical Field

[0001] The present invention belongs to agricultural machinery, and mainly relates to a self-propelled straw raking operation machine based on a bionic structure. Background Art

[0002] At present, most straw raking machines are traction type or semi-automatic type. During operation, not only the driver is required to operate, especially such machines can only be adapted to and meet the operation requirements in flat areas or limited ranges, and cannot adapt to and meet the requirements of complex field environments and long-term continuous operations. This not only consumes human resources but also reduces the operation efficiency. In recent years, with the reduction of rural labor force, the increase of operation costs, and the actual demand for mechanized straw collection operations, there is an urgent need for a machine that can walk independently in various field environments and independently complete straw raking to solve the problems existing in the prior art. Summary of the Invention

[0003] The purpose of the present invention is to address the problems existing in the above-mentioned prior art, and in combination with the actual needs of mechanized straw raking operations, research and design a finger and leg bionic self-propelled straw raking machine based on the human body structure, so as to achieve the purposes of improving the straw raking operation efficiency, high automation degree, reducing labor input, lowering operation costs, strong adaptability, and wide application range.

[0004] The purpose of the present invention is achieved as follows: A finger-type raking mechanism is installed at the front end of the frame assembly, a straw collection box is configured and installed at the upper end of the frame assembly, at the rear side of the finger-type raking mechanism. The drive system of the finger-type raking mechanism is installed on the front side of the frame assembly. The drive system of the finger-type raking mechanism is connected to the finger-type raking mechanism. Three leg-type walking mechanisms are respectively installed on the lower parts of the left and right sides of the frame assembly in sequence from front to back. A chain is rotatably sleeved on the three leg-type walking mechanisms on the same side. When the front and rear leg-type walking mechanisms on the left side and the middle leg-type walking mechanism on the right side are in the off-ground position, the middle leg-type walking mechanism on the left side and the front and rear leg-type walking mechanisms on the right side are in the supporting contact position with the ground, alternating in sequence between the left and right sides in a cycle.

[0005] The structure of the drive system of the finger-type raking mechanism is: An electric motor A is fixedly installed on the drive system frame of the finger-type raking mechanism, and a driven cylindrical gear is rotatably installed. A driving cylindrical gear is fixedly installed on the motor shaft of the electric motor A. The driving cylindrical gear meshes with the driven cylindrical gear. A pin B and a pin A are eccentrically installed on the same side end faces of the driving cylindrical gear and the driven cylindrical gear respectively. The track grooves of the H-shaped forward and reverse track plate are respectively in intermittent snap-in sliding fit or disengagement fit with the pin B and the pin A. A drive shaft is fixedly installed at the center of the outer end face of the H-shaped forward and reverse track plate.

[0006] The finger - type gathering mechanism consists of motor B, the driving rocker, the conveyor belt, the finger - type gathering mechanism frame, the driven straight rocker, the driven L - shaped rocker, the connecting middle knuckle, the bucket - shaped front knuckle and the shaft - equipped assembly. At the upper end of the finger - type gathering mechanism frame, motor B and the shaft are fixedly installed and rotatably supported respectively. The conveyor belt is sleeved on the motor shaft of motor B and the shaft in a rotatable manner. The driving shaft of the driving system of the finger - type gathering mechanism is rotatably inserted into the rear end of the finger - type gathering mechanism frame. The driving rocker is fixedly installed at the end of the driving shaft. The connecting middle knuckle is pivotally connected to the front end of the finger - type gathering mechanism frame in an up - and - down swingable manner. The bucket - shaped front knuckle is pivotally connected to the front end of the connecting middle knuckle in an up - and - down swingable manner. The front end and the rear end of the driven straight rocker are respectively rotatably hinged to the connecting middle knuckle and the driving rocker. The front end and the rear end of the driven L - shaped rocker are respectively rotatably hinged to the bucket - shaped front knuckle and the finger - type gathering mechanism frame;

[0007] The structure of the leg - type walking mechanism is as follows: On the leg - type walking mechanism frame, the shaft - type sprocket and the thigh rod are axially and radially positioned and circumferentially rotatably inserted and pivotally installed respectively. A hinge pin is fixedly installed on the end face of the shaft - type sprocket. One end of the main connecting rod is hinged to the shaft - type sprocket through the hinge pin, and the other end of the main connecting rod is hinged to the thigh rod. The sub - connecting rod is pivotally installed at the middle part of the main connecting rod. The calf plate is hung and pivotally connected to the lower ends of the thigh rod and the sub - connecting rod. The foot rod is pivotally installed on the thigh rod through the auxiliary connecting rod, and the foot rod is pivotally connected to the calf plate;

[0008] A hollow motor is fixedly installed at the middle part of the rear end of the frame assembly. The transmission shaft is fixedly inserted into the hollow motor. The left end and the right end of the transmission shaft are respectively coaxially and fixedly installed with the shaft - type sprockets on the left - hand and right - hand leg - type walking mechanisms. The chain is sleeved on the shaft - type sprockets. Thus, the finger - and - leg bionic self - propelled straw gathering machine is formed.

[0009] The present invention adopts a combined structure in which the finger - type gathering mechanism that bionics the human finger structure is used to complete straw gathering and conveying, and the leg - type walking mechanism that bionics the human leg structure is used for machine support and walking. It overcomes and solves the problems and deficiencies existing in the prior art, and has the characteristics of novel, unique, reasonable structure, high degree of automation, high operation efficiency, saving labor resources, low operation cost and strong adaptability, providing technical support for high - quality and high - efficiency mechanized straw collection operations. Description of the Drawings

[0010] Figure 1 is the three - dimensional schematic diagram of the overall structure of the finger - and - leg bionic self - propelled straw gathering machine;

[0011] Figure 2 is the two - dimensional schematic diagram of the overall structure of the finger - and - leg bionic self - propelled straw gathering machine;

[0012] Figure 3 is Figure 2Left view of;

[0013] Figure 4 is Figure 2 Right view of;

[0014] Figure 5 is Figure 2 Bottom view of;

[0015] Figure 6 Is a three-dimensional schematic diagram of the driving system structure of the finger-type gathering mechanism;

[0016] Figure 7 Is a two-dimensional schematic diagram of the driving system structure of the finger-type gathering mechanism;

[0017] Figure 8 is Figure 7 Top view of;

[0018] Figure 9 Is a three-dimensional schematic diagram of the structure of the finger-type gathering mechanism;

[0019] Figure 10 Is a two-dimensional schematic diagram of the structure of the finger-type gathering mechanism;

[0020] Figure 11 is Figure 10 Left view of;

[0021] Figure 12 is Figure 11 Top view of;

[0022] Figure 13 Is a schematic diagram of the working state of the finger-type gathering mechanism;

[0023] Figure 14 Is a three-dimensional schematic diagram of the structure of the leg-type walking mechanism;

[0024] Figure 15 Is a two-dimensional schematic diagram of the structure of the leg-type walking mechanism;

[0025] Figure 16 is Figure 15 Left view of;

[0026] Figure 17 is Figure 15 Bottom view of.

[0027] Part number description in the figure:

[0028] 1. Finger-type raking mechanism drive system, 1-1. Drive shaft, 1-2. Driving cylindrical gear, 1-3. H-shaped forward and reverse track plate, 1-4. Driven cylindrical gear, 1-5. Motor A, 1-6. Finger-type raking mechanism drive system frame, 1-7. Pin A, 1-8. Pin B, 2. Finger-type raking mechanism, 2-1. Motor B, 2-2. Driving rocker, 2-3. Conveyor belt, 2-4. Finger-type raking mechanism frame, 2-5. Driven straight rocker, 2-6. Driven L-shaped rocker, 2-7. Connecting middle knuckle, 2-8. Bucket-shaped front knuckle, 2-9. Shaft with belt, 3. Straw collecting box, 4. Chain, 5. Leg-type walking mechanism, 5-1. Leg-type walking mechanism frame, 5-2. Axial sprocket, 5-3. Thigh rod, 5-4. Main connecting rod, 5-5. Sub-connecting rod, 5-6. Auxiliary connecting rod, 5-7. Calf plate, 5-8. Foot rod, 5-9. Hinge pin, 6. Transmission shaft, 7. Hollow motor, 8. Frame assembly. Detailed implementation mode

[0029] The implementation of the present invention will be described in detail below with reference to the accompanying drawings. A finger and leg bionic self-propelled straw raking machine installs a finger-type raking mechanism 2 at the front end of the frame assembly 8, configures and installs a straw collecting box 3 at the upper end of the frame assembly 8 and at the rear side of the finger-type raking mechanism 2, installs a finger-type raking mechanism drive system 1 on the front side of the frame assembly 8, the finger-type raking mechanism drive system 1 is connected to the finger-type raking mechanism 2, and three leg-type walking mechanisms 5 are respectively installed on the lower parts of the left and right sides of the frame assembly 8 from front to back in sequence. The chain 4 is rotatably sleeved on the three leg-type walking mechanisms 5 on the same side in sequence. When the leg-type walking mechanisms 5 at the front and rear of the left side and the middle of the right side are in the off-ground position, the leg-type walking mechanisms 5 in the middle of the left side and the front and rear of the right side are in the support contact position with the ground, alternating in sequence between the left and the right in a cycle;

[0030] The structure of the finger-type raking mechanism drive system 1 is as follows: A motor A 1-5 is fixedly installed on the finger-type raking mechanism drive system frame 1-6, and a driven cylindrical gear 1-4 is rotatably installed. A driving cylindrical gear 1-2 is fixedly installed on the motor shaft of the motor A 1-5. The driving cylindrical gear 1-2 meshes with the driven cylindrical gear 1-4. A pin B 1-8 and a pin A 1-7 are eccentrically installed on the same side end faces of the driving cylindrical gear 1-2 and the driven cylindrical gear 1-4 respectively. The track grooves of the H-shaped forward and reverse track plate 1-3 are respectively in intermittent snap-in sliding fit or disengagement fit with the pin B 1-8 and the pin A 1-7. A drive shaft 1-1 is fixedly installed at the center of the outer end face of the H-shaped forward and reverse track plate 1-3;

[0031] The finger-type gathering mechanism 2 is assembled by a motor B 2-1, a driving rocker 2-2, a conveyor belt 2-3, a finger-type gathering mechanism frame 2-4, a driven straight rocker 2-5, a driven L-shaped rocker 2-6, a connecting middle knuckle 2-7, a bucket-shaped front knuckle 2-8 and a belt shaft 2-9. The motor B 2-1 and the belt shaft 2-9 are rotatably supported and installed on the upper end of the finger-type gathering mechanism frame 2-4 respectively. The conveyor belt 2-3 is sleeved on the motor shaft of the motor B 2-1 and the belt shaft 2-9 in a rotatable manner. The driving shaft 1-1 of the driving system 1 of the finger-type gathering mechanism is rotatably inserted into the rear end of the finger-type gathering mechanism frame 2-4. The driving rocker 2-2 is fixedly installed on the end of the driving shaft 1-1. The connecting middle knuckle 2-7 is pivotally connected to the front end of the finger-type gathering mechanism frame 2-4 in an up-and-down swingable manner. The bucket-shaped front knuckle 2-8 is pivotally connected to the front end of the connecting middle knuckle 2-7 in an up-and-down swingable manner. The front end and the rear end of the driven straight rocker 2-5 are respectively pivotally connected to the connecting middle knuckle 2-7 and the driving rocker 2-2. The front end and the rear end of the driven L-shaped rocker 2-6 are respectively pivotally connected to the bucket-shaped front knuckle 2-8 and the finger-type gathering mechanism frame 2-4;

[0032] The structure of the leg-type walking mechanism 5 is as follows: an axle-type sprocket 5-2 and a hinged thigh rod 5-3 are respectively axially and radially positioned and circumferentially rotatably inserted on the leg-type walking mechanism frame 5-1. A hinge pin 5-9 is fixedly installed on the end face of the axle-type sprocket 5-2. One end of the main connecting rod 5-4 is hingedly connected to the axle-type sprocket 5-2 through the hinge pin 5-9. The other end of the main connecting rod 5-4 is hingedly connected to the thigh rod 5-3. A sub-connecting rod 5-5 is hingedly installed at the middle part of the main connecting rod 5-4. The calf plate 5-7 is hung and hinged to the lower ends of the thigh rod 5-3 and the sub-connecting rod 5-5. A foot rod 5-8 is hingedly installed on the thigh rod 5-3 through a secondary connecting rod 5-6. The foot rod 5-8 is hinged to the calf fork 5-7;

[0033] A hollow motor 7 is fixedly installed at the middle part of the rear end of the frame assembly 8. The transmission shaft 6 is fixedly inserted into the hollow motor 7. The left end and the right end of the transmission shaft 6 are respectively coaxially and fixedly installed with the axle-type sprockets 5-2 on the left and right leg-type walking mechanisms 5. The chain 4 is sleeved on the axle-type sprockets 5-2.

[0034] During operation, start the hollow motor 7, and drive the shaft-type sprockets 5-2 on the leg-type walking mechanisms 5 at the left and right rearmost ends to rotate through the transmission shaft 6. The left and right chains 4 respectively drive the shaft-type sprockets 5-2 on the leg-type walking mechanisms 5 in the middle, front part on the left and in the middle, front part on the right to rotate synchronously. The shaft-type sprockets 5-2 drive the main connecting rod 5-4 to perform a planar compound motion. The main connecting rod 5-4 drives the thigh rod 5-3 and the sub-connecting rod 5-5 to perform a planar compound motion. The thigh rod 5-3 and the sub-connecting rod 5-5 jointly drive the calf plate 5-7 to complete a planar compound motion. The thigh rod 5-3 simultaneously drives the sub-connecting rod 5-6 to perform a planar compound motion. The sub-connecting rod 5-6 and the calf plate 5-7 jointly drive the foot rod 5-8 to perform a compound motion of swinging up, down, forward and backward in the plane, finally realizing the forward and backward movements of the leg-type walking mechanism 5, driving the whole machine to move forward or backward. Based on the fact that when the leg-type walking mechanisms 5 at the front and rear on the left and in the middle on the right are in the off-ground position, the leg-type walking mechanisms 5 in the middle on the left and at the front and rear on the right are in the supporting contact position with the ground, and in turn, the left and right cyclic alternating motion structures are adopted, and three leg-type walking mechanisms 5 are always in the supporting state on the ground during the operation, ensuring the walking center of gravity stability of the machine. At the same time, the motor A1-5 on the finger-type gathering mechanism drive system 1 drives the driving cylindrical gear 1-2 and synchronously drives the driven cylindrical gear 1-4 to rotate. The pins 1-8 on the driving cylindrical gear 1-2 and the pins A1-7 on the driven cylindrical gear 1-4 respectively move periodically in the H-shaped forward and reverse track plate 1-3, and drive the H-shaped forward and reverse track plate 1-3 to rotate periodically in the clockwise and counterclockwise directions repeatedly, so that the driving shaft 1-1 rotates clockwise and counterclockwise. The driving shaft 1-1 that rotates clockwise and counterclockwise repeatedly and cyclically drives the driving rocker 2-2 on the finger-type gathering mechanism 2 to rotate periodically in the clockwise and counterclockwise directions repeatedly. Then, through the driven straight rocker 2-5, the connecting middle finger joint 2-7 is driven to rotate upward or downward on the finger-type gathering mechanism frame 2-4. At the same time, under the cooperation and control of the driven L-shaped rocker 2-6, the bucket-shaped front finger joint 2-8 also synchronously completes the upward or downward rotation relative to the connecting middle finger joint 2-7, and sends the straws gathered on the bucket-shaped front finger joint 2-8 to the conveyor belt 2-3. The conveyor belt 2-3 driven by the motor B2-1 rotates and sends the straws into the straw collection box 3, thus completing the operations of straw gathering, picking up and collecting into the box.

Claims

1. A finger and leg bionic self-propelled straw gatherer, characterized in that: A finger-type collecting mechanism (2) is installed at the front end of the frame assembly (8), and a straw collecting box (3) is arranged and installed at the upper end of the frame assembly (8) and located at the rear side of the finger-type collecting mechanism (2). A finger-type collecting mechanism driving system (1) is mounted on the front side of the frame assembly (8), and the finger-type collecting mechanism driving system (1) is connected to the finger-type collecting mechanism (2). Three leg-type walking mechanisms (5) are respectively installed on the lower parts of the left and right sides of the frame assembly (8) from front to back in sequence, and the chain (4) can be rotatably mounted on the three leg-type walking mechanisms (5) on the same side in sequence. When the leg-type walking mechanisms (5) at the front, rear and middle parts of the left side are in a position off the ground, the leg-type walking mechanisms (5) at the middle parts of the left side and the front and rear parts of the right side are in a position of supporting and contacting the ground, and the left and right sides are cyclically alternated in sequence. The structure of the finger-type gathering mechanism driving system (1) is as follows: a motor A (1-5) and a driven cylindrical gear (1-4) are fixedly mounted on a finger-type gathering mechanism driving system frame (1-6), respectively; a driving cylindrical gear (1-2) is fixedly mounted on a motor shaft of the motor A (1-5); the driving cylindrical gear (1-2) is meshed with the driven cylindrical gear (1-4); a column pin B (1-8) and a column pin A (1-7) are eccentrically mounted on the same side end surface of the driving cylindrical gear (1-2) and the driven cylindrical gear (1-4); the track groove of the H-shaped forward and reverse rotation track plate (1-3) is intermittently engaged and slidably matched or disengaged with the column pin B (1-8) and the column pin A (1-7); and a driving shaft (1-1) is fixedly mounted on the center of the outer end surface of the H-shaped forward and reverse rotation track plate (1-3); The finger-type collecting mechanism (2) is composed of a motor B (2-1), an active rocker (2-2), a conveyor belt (2-3), a finger-type collecting mechanism frame (2-4), a driven straight rocker (2-5), a driven L-shaped rocker (2-6), a connecting middle finger joint (2-7), a bucket-shaped front finger joint (2-8) and a belt shaft (2-9). The motor B (2-1) and the belt shaft (2-9) are fixedly mounted on the upper end of the finger-type collecting mechanism frame (2-4), respectively. The conveyor belt (2-3) is rotatably mounted on the motor shaft of the motor B (2-1) and the belt shaft (2-9). The driving shaft (1-1) of the finger-type collecting mechanism driving system (1) is ) is rotatably inserted into the rear end of the finger-type collecting mechanism frame (2-4), an active rocker (2-2) is fixedly mounted on the end of the driving shaft (1-1), a middle finger joint (2-7) is hingedly mounted on the front end of the finger-type collecting mechanism frame (2-4) so ​​as to swing up and down, a bucket-shaped front finger joint (2-8) is hingedly mounted on the front end of the middle finger joint (2-7) so as to swing up and down, a driven straight rocker (2-5) has a front end and a rear end which are respectively rotatably hinged to the middle finger joint (2-7) and the active rocker (2-2), and a driven L-shaped rocker (2-6) has a front end and a rear end which are respectively rotatably hinged to the bucket-shaped front finger joint (2-8) and the finger-type collecting mechanism frame (2-4); The structure of the leg-type walking mechanism (5) is as follows: an axial sprocket (5-2) and a hinged thigh rod (5-3) are respectively inserted on the leg-type walking mechanism frame (5-1) in an axial and radial positioning and circumferentially rotatable manner; a hinge pin (5-9) is fixedly installed on the end surface of the axial sprocket (5-2); one end of the main connecting rod (5-4) is hingedly connected to the axial sprocket (5-2) through the hinge pin (5-9); the other end of the main connecting rod (5-4) is hingedly connected to the thigh rod (5-3); a sub-connecting rod (5-5) is hingedly installed on the middle part of the main connecting rod (5-4); a calf plate (5-7) is hung and hingedly connected to the lower ends of the thigh rod (5-3) and the sub-connecting rod (5-5); a foot rod (5-8) is hingedly installed on the thigh rod (5-3) through a secondary connecting rod (5-6); and the foot rod (5-8) is hingedly connected to the calf plate (5-7); A hollow motor (7) is fixedly mounted on the middle portion of the rear end of the frame assembly (8), a transmission shaft (6) is fixedly inserted on the hollow motor (7), the left and right ends of the transmission shaft (6) are coaxially fixedly mounted on the shaft sprockets (5-2) on the left and right leg walking mechanisms (5), respectively, and the chain (4) is sleeved on the shaft sprockets (5-2).

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