A variable stiffness clamping device for stalk crops and a clamping method thereof

Abstract

The application belongs to the technical field of crop clamping, and discloses a variable-rigidity clamping device suitable for stem crops and a clamping method thereof. The device mainly comprises a bottom plate and a horizontal plate parallel to the top, which are connected through a flat channel steel and a flat smooth plate, and the height is adjusted by using a meshing assembly. In the clamping part, an elliptical connecting plate, a hinged connecting rod, an L-shaped swing arm and a trapezoidal rubber plate are cooperated with each other, and linkage is realized through a limiting assembly. The application realizes height self-adaptive adjustment, can accurately match stem crops with different heights, ensures stable movement synchronization, realizes efficient power transmission and reduces energy loss. In actual clamping, the application realizes preliminary reliable clamping, ring limiting anti-shaking and the use of trapezoidal rubber plates to enhance friction, and comprehensively guarantees the reliability, stability and firmness of clamping, greatly improving the efficiency and quality of stem crop clamping operation.

Description

Technical Field

[0001] This invention relates to the field of crop clamping technology, and in particular to a variable stiffness clamping device and clamping method suitable for stalk crops. Background Technology

[0002] Currently, there are many technical bottlenecks in the harvesting of stalk crops. Traditional harvesting methods usually involve manual or mechanical harvesting, but manual harvesting is inefficient and labor-intensive; mechanical harvesting has problems such as limited height above the ground, high stalk damage rate, and easy crop residue. Especially during the harvest season of stalk crops, the stalks are soft and fragile, making them difficult to hold and transport accurately, which further limits the promotion and application of mechanized harvesting.

[0003] Existing clamping devices mainly employ fixed-rigidity structures, which cannot adapt to variations in the diameter and flexibility of different crop stems, resulting in poor clamping performance and easy damage to the stems. While some improved clamping devices attempt to adopt adjustable-rigidity solutions, the adjustment methods are complex, inconvenient to operate, and difficult to adjust flexibly in practical applications.

[0004] Most existing stalk crop harvesting machinery uses a single clamping mechanism, and its fixed clamping force leads to the following problems during the harvesting process: it cannot flexibly adjust to stalk crops of different plant types and maturity levels, which can easily cause damage; excessive clamping force will cause crop quality loss, while insufficient clamping force cannot effectively fix the stalks, affecting work efficiency. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by proposing a variable stiffness clamping device and clamping method suitable for stem crops.

[0006] To address the problems existing in the prior art, the present invention adopts the following technical solution:

[0007] A variable stiffness clamping device suitable for stem crops includes a base plate, with parallel horizontal plates arranged above the top surface of the base plate. Four equidistantly distributed flat channel steels are fixed to the rear side of the top surface of the base plate, and four equidistantly distributed flat sliding plates are fixed to the rear side of the bottom surface of the horizontal plates. The bottom end of each flat sliding plate is slidably inserted into the corresponding flat channel steel, and each flat sliding plate is connected to the corresponding flat channel steel through an engaging assembly.

[0008] Five equidistant elliptical connecting plates are fixed to the front front edges of the top surface of the base plate and the cross plate. A pair of parallel hinged connecting rods are hinged to the two sides of the top surface of each elliptical connecting plate. A pair of L-shaped swing arms are hinged to the front end of each pair of hinged connecting rods. A trapezoidal rubber plate is fixed between the front ends of each pair of L-shaped swing arms, and adjacent pairs of trapezoidal rubber plates are symmetrically distributed.

[0009] Each of the elliptical connecting plates has a second rectangular slide block fixed in the middle of its top surface. Each second rectangular slide block has a second slide rod slidably inserted inside it. The front end of each second slide rod is connected to a pair of adjacent hinged connecting rods through a limiting component.

[0010] Preferably, a pair of roller brackets are fixedly provided on both sides of the bottom surface of the base plate, and a wheel is rotatably sleeved at the bottom end of each roller bracket;

[0011] A pair of rectangular sleeves are fixed at the two corners of the rear side of the top surface of the base plate, and a pair of rectangular sliding rods are fixed at the two corners of the rear side of the bottom surface of the cross plate. The bottom end of each rectangular sliding rod is slidably inserted into the rectangular sleeve on the same side.

[0012] Preferably, the meshing assembly includes a driven rack and a driven gear. A rectangular through hole is provided in the middle of the flat slide plate. A driven rack is fixed on one side of the rectangular through hole. A driven shaft is rotatably inserted into the upper middle part of the flat channel steel. A driven gear is concentrically fixed at the inner end of the driven shaft. The driven gear meshes with the driven rack.

[0013] Preferably, the rear ends of a pair of driven shafts on both sides are fitted with a concentrically fixed linkage sprocket, and the rear ends of a pair of driven shafts in the middle are fitted with two concentrically fixed linkage sprockets, and adjacent pairs of linkage sprockets are connected by meshing transmission through a linkage chain belt.

[0014] One of the flat channel steels has a servo motor with its output end facing backward mounted on the upper part of its front side, and the end of the motor shaft of the servo motor is fixedly connected to the front end of the corresponding driven shaft.

[0015] Preferably, the limiting assembly includes a driven link, and a U-shaped lug is fixedly provided at the front end of the second slide rod. A pair of driven links are provided in the opening of the U-shaped lug, which are staggered vertically. The outer end of each driven link is fixedly connected to a hinged link on the same side.

[0016] Each of the driven connecting rods has an elliptical pin hole at its inner end, and a limiting pin is fixed inside the opening of the U-shaped lug. The middle part of the limiting pin is inserted through a pair of elliptical pin holes.

[0017] Preferably, five equidistant first rectangular slide blocks are fixedly provided on the rear side of the top surface of the base plate and the cross plate, and a first slide rod is slidably inserted inside each first rectangular slide block. A vertically distributed elliptical slide plate is fixed between the front end of each first slide rod and the rear end of the corresponding second slide rod.

[0018] Preferably, five equidistant fixed connecting shafts are rotatably inserted on the top surface of the base plate and the cross plate, and a concentrically fixed gear disk is sleeved on the top end of each fixed connecting shaft. An eccentrically distributed eccentric pin is fixed on the top surface of each gear disk, and the top end of each eccentric pin is slidably inserted into the elliptical slide plate.

[0019] A high-torque motor with its output end facing upward is installed in the middle of the bottom surface of the base plate, and the end of the motor shaft of the high-torque motor is fixedly connected to the bottom end of the corresponding fixed coupling.

[0020] Preferably, four equidistant first connecting shafts are rotatably inserted on the top surface of the base plate, and a first linkage gear is concentrically fixed in the middle of each first connecting shaft. Four equidistant second connecting shafts are rotatably inserted through the top surface of the cross plate, and a second linkage gear is concentrically fixed in the top end of each second connecting shaft. Each first linkage gear and second linkage gear meshes with the adjacent gear discs on both sides.

[0021] Each of the first couplings has a polygonal sleeve fixed at its top end, and each of the second couplings has a polygonal slide rod fixed at its bottom end. The bottom end of each polygonal slide rod is slidably inserted into the corresponding polygonal sleeve.

[0022] Preferably, each L-shaped swing arm is hinged with a T-shaped hinge seat, each T-shaped hinge seat is provided with an arc-shaped sliding hole, and each L-shaped swing arm is hinged with a notched sliding ring at the corner. The outer end of each notched sliding ring is slidably inserted into the arc-shaped sliding hole on the other side, and adjacent pairs of notched sliding rings are staggered vertically.

[0023] Each trapezoidal rubber sheet has several U-shaped anti-slip grooves evenly distributed on its clamping side, and each trapezoidal rubber sheet has a reduction through hole, which is distributed sequentially through the several U-shaped anti-slip grooves.

[0024] This invention also proposes a clamping method for a variable stiffness clamping device suitable for stalk crops, comprising the following steps:

[0025] Step 1: Adjust the height of the horizontal plate according to the height of the stalk crop. Driven by the servo motor, the motor shaft of the servo motor drives the corresponding driven shaft to rotate synchronously. Due to the transmission effect of the linkage belt and linkage sprocket, the other three driven shafts are driven to rotate synchronously. The driven shafts drive the driven gears to rotate synchronously. The driven gears mesh and drive the driven rack and flat slide plate to slide upward along the flat channel steel, which in turn drives the rectangular slide rod to slide upward along the rectangular sleeve, and then drives the polygonal slide rod to slide upward along the polygonal sleeve, so that the distance between the horizontal plate and the bottom plate increases to meet the clamping requirements of stalk crops of different heights.

[0026] Step 2: Push the wheel to move the base plate and cross plate to several stalk crops. Under the drive of the high torque motor, the motor shaft of the high torque motor drives the corresponding fixed coupling and gear disk to rotate synchronously. Under the meshing action of the first linkage gear, the second linkage gear and the gear disk, the remaining gear disks are driven to rotate synchronously.

[0027] Step 3: The gear disk rotates, and the eccentric pin shaft and the elliptical slide plate form a limiting action, driving the elliptical slide plate and the first slide rod to slide backward along the first rectangular slide block, and driving the second slide rod and the U-shaped ear seat to slide backward along the second rectangular slide block;

[0028] Step 4: The limiting pin and a pair of elliptical pin holes form a limiting function. The driven connecting rod drives the hinged connecting rod to swing inward. Since each pair of hinged connecting rods are in a parallel hinged state, they drive each pair of L-shaped swing arms and trapezoidal rubber plates to translate inward, so that each pair of trapezoidal rubber plates forms a preliminary clamping and fixing of the stem crop.

[0029] Step 5: Since each pair of trapezoidal rubber plates clamps each other, with the cooperation of the notched sliding ring and the T-shaped hinge seat, each pair of notched sliding rings slides alternately and forms a ring-shaped limiting effect on the stem crop, thereby achieving the clamping and fixing effect on the stem crop.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. In this invention, the height is adaptively adjusted: through the meshing components driven by the servo motor, namely the driven gear and the driven rack, the linkage sprocket and the linkage chain belt achieve synchronous transmission, which can accurately adjust the height of the horizontal plate to meet the clamping requirements of stalk crops of different heights, making the device widely applicable;

[0032] Synchronization and stability of motion: The meshing of the first and second coupling shafts and the corresponding linkage gears and gear discs ensures the synchronicity and coordination of the movement of each component; the polygonal sleeve and polygonal slide rod guide and transmit torque during the lifting and lowering of the horizontal plate, ensuring the synchronous stability of each part; the cooperation of the rectangular sleeve and rectangular slide rod, and the flat channel steel and flat slide plate also provides stable guidance for the lifting and lowering of the horizontal plate, preventing the device from shaking or tilting.

[0033] Efficient power transmission: The high-torque motor drives the gear disk to rotate through the fixed coupling shaft. The eccentric pin shaft and the elliptical slide plate work together to convert rotation into linear motion, providing efficient power for the clamping action. The connection structure between the first rectangular slide and the first slide rod, the second rectangular slide and the second slide rod, and the elliptical slide plate ensures smooth power transmission.

[0034] 2. In this invention, reliable initial clamping: the hinged and symmetrical distribution design of the elliptical connecting plate, hinged connecting rod, L-shaped swing arm and trapezoidal rubber plate can simultaneously perform initial clamping and fixing of multiple stem crops. The structure is reasonably designed and has strong applicability.

[0035] Stable ring-shaped limiting: When the trapezoidal rubber plate closes and clamps, the T-shaped hinge seat cooperates with the notch sliding ring to form a ring-shaped limiting for the stem crop, preventing the stem from shaking or falling off during the clamping process, which greatly improves the stability and reliability of the clamping.

[0036] Enhanced clamping friction: The U-shaped anti-slip grooves on the trapezoidal rubber plate increase the friction between the plant and the stem, making the clamping more secure and ensuring the clamping effect;

[0037] In summary, this invention, through its ingenious structural design, achieves height adaptive adjustment, synchronous and stable motion, and efficient power transmission. In the actual clamping process of stalk crops, from initial clamping to annular limiting and then to enhanced friction, it comprehensively ensures the reliability, stability, and firmness of the clamping of stalk crops, effectively meeting various needs for clamping stalk crops and improving work efficiency and quality. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0039] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 This is a rear view schematic diagram of the overall structure of the present invention;

[0041] Figure 3 This is a schematic diagram of the base plate and several pairs of trapezoidal rubber plates of the present invention;

[0042] Figure 4 This is a rear view schematic diagram of the structure of the base plate and the cross plate of the present invention;

[0043] Figure 5 This is a rear exploded view of the structure of the base plate and the cross plate of the present invention;

[0044] Figure 6 This is a schematic diagram of the base plate and a pair of trapezoidal rubber plates of the present invention;

[0045] Figure 7 This is an exploded view of the base plate and a pair of trapezoidal rubber plates of the present invention;

[0046] The components in the diagram are numbered as follows: 1. Base plate; 2. Horizontal plate; 3. Wheel; 4. Rectangular sleeve; 5. Rectangular slide bar; 6. Flat channel steel; 7. Flat sliding plate; 8. Driven rack; 9. Driven shaft; 10. Driven gear; 11. Linkage chain; 12. Servo motor; 13. First linkage gear; 14. Polygonal sleeve; 15. Second linkage gear; 16. Polygonal slide bar; 17. Gear disk; 18. Eccentric pin; 19. Elliptical slide bar; 20. First slide bar; 21. First rectangular slide block; 22. Elliptical connecting plate; 23. Second rectangular slide block; 24. Second slide bar; 25. U-shaped lug; 26. High torque motor; 27. Hinge link; 28. Driven link; 29. ​​L-shaped swing arm; 30. T-shaped hinge seat; 31. Notched sliding ring; 32. Trapezoidal rubber plate. Detailed Implementation

[0047] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0048] Example 1: This example provides a variable stiffness clamping device suitable for stalk crops. See [link to example]. Figure 1-7 Specifically, it includes a base plate 1, on both sides of the bottom surface of the base plate 1, a pair of roller brackets are fixedly provided, and a wheel 3 is rotatably sleeved at the bottom end of each roller bracket. The base plate 1 is the basic support component of the entire device, bearing other components, and the device can be moved through the roller brackets and wheels 3.

[0049] A horizontal plate 2 is provided above the top surface of the base plate 1. The horizontal plate 2 is parallel to the base plate 1 and is used to adjust the height to accommodate stalk crops of different heights. The lifting is achieved by the cooperation of the rectangular slide bar 5 and the rectangular sleeve 4, the flat slide plate 7 and the flat channel steel 6.

[0050] A pair of rectangular sleeves 4 are fixed at the two corners of the rear side of the top surface of the base plate 1, and a pair of rectangular sliding rods 5 are fixed at the two corners of the rear side of the bottom surface of the horizontal plate 2. The bottom end of each rectangular sliding rod 5 is slidably inserted into the rectangular sleeve 4 on the same side. The bottom end of the rectangular sliding rod 5 is slidably inserted into the rectangular sleeve 4 to provide guidance for the lifting and lowering of the horizontal plate 2 and ensure the stability of the lifting and lowering process of the horizontal plate 2.

[0051] Four equidistant flat channel steels 6 are fixed to the rear side of the top surface of the base plate 1, and four equidistant flat sliding plates 7 are fixed to the rear side of the bottom surface of the cross plate 2. The bottom end of each flat sliding plate 7 is slidably inserted into the corresponding flat channel steel 6. Each flat sliding plate 7 is connected to the corresponding flat channel steel 6 through a meshing component. The bottom end of the flat sliding plate 7 is slidably inserted into the flat channel steel 6. The meshing component enables precise adjustment of the height of the cross plate 2. The four equidistantly distributed structures make the cross plate 2 evenly stressed and more stable in lifting.

[0052] Five equidistant elliptical connecting plates 22 are fixedly mounted on the front front edges of the top surface of the base plate 1 and the cross plate 2. A pair of parallel hinged connecting rods 27 are hinged to the two sides of the top surface of each elliptical connecting plate 22. A pair of L-shaped swing arms 29 are hinged to the front end of each pair of L-shaped swing arms 29. A trapezoidal rubber plate 32 is fixed between the front ends of each pair of L-shaped swing arms 29, and adjacent pairs of trapezoidal rubber plates 32 are symmetrically distributed. The hinged connecting rods 27 on each elliptical connecting plate 22 drive the L-shaped swing arms 29 and the trapezoidal rubber plates 32 to move. The trapezoidal rubber plates 32 are used to directly clamp the stem crops. Its symmetrical distribution and hinged structure design can achieve the initial clamping and fixing of the stem crops, and multiple sets of structures can clamp multiple stem crops at the same time.

[0053] Each elliptical connecting plate 22 has a second rectangular slide block 23 fixedly installed in the middle of its top surface. Each second rectangular slide block 23 has a second slide rod 24 slidably inserted inside it. The front end of each second slide rod 24 is connected to a pair of adjacent hinged connecting rods 27 through a limiting component. The second slide rod 24 slides in the second rectangular slide block 23 to guide the movement of the limiting component and related parts connected to its front end, ensuring the linearity and stability of the movement.

[0054] It should be noted that in this embodiment, four equidistant first connecting shafts are rotatably inserted on the top surface of the base plate 1, and a first linkage gear 13 is concentrically fixed in the middle of each first connecting shaft. Four equidistant second connecting shafts are rotatably inserted through the top surface of the horizontal plate 2, and a second linkage gear 15 is concentrically fixed in the top of each second connecting shaft. Each first linkage gear 13 and second linkage gear 15 is meshed with the adjacent gear disks 17 on both sides. When the gear disks 17 rotate, the meshing action of the first linkage gear 13 and second linkage gear 15 with the gear disks 17 drives the other gear disks 17 to rotate synchronously, ensuring the synchronicity and coordination of the entire device's movement.

[0055] Each first connecting shaft is fixed with a polygonal sleeve 14 at its top end, and each second connecting shaft is fixed with a polygonal slide rod 16 at its bottom end. The bottom end of each polygonal slide rod 16 is slidably inserted into the corresponding polygonal sleeve 14. During the lifting and lowering of the horizontal plate 2, the polygonal slide rod 16 slides in the polygonal sleeve 14, which not only plays a guiding role, but also transmits torque to ensure the synchronization and stability of each part during the lifting and lowering of the horizontal plate 2.

[0056] Each L-shaped swing arm 29 is hinged with a T-shaped hinge seat 30, and each T-shaped hinge seat 30 is provided with an arc-shaped sliding hole. Each L-shaped swing arm 29 is hinged with a notched sliding ring 31 at the corner. The outer end of each notched sliding ring 31 is slidably inserted into the arc-shaped sliding hole on the other side, and adjacent pairs of notched sliding rings 31 are staggered vertically. When the trapezoidal rubber plate 32 closes to clamp the stem crop, the notched sliding ring 31 slides in the arc-shaped sliding hole of the T-shaped hinge seat 30, forming a ring-shaped limiting effect on the stem crop, which further improves the stability and reliability of clamping the stem crop and prevents the stem crop from shaking or falling off during the clamping process.

[0057] Each trapezoidal rubber plate 32 has several equidistantly distributed U-shaped anti-slip grooves on its clamping side, and each trapezoidal rubber plate 32 also has a reduction through hole, which is distributed sequentially through the U-shaped anti-slip grooves. The U-shaped anti-slip grooves increase the friction between the trapezoidal rubber plate 32 and the stem crop, making the clamping more secure. The reduction through hole reduces the weight of the trapezoidal rubber plate 32 without affecting the clamping function, thereby reducing material costs and making the device more portable.

[0058] Example 2: Based on Example 1, this example also includes:

[0059] In the specific implementation process, such as Figure 4 and Figure 5 As shown, the meshing assembly includes a driven rack 8 and a driven gear 10. A rectangular through hole is provided in the middle of the flat slide plate 7. The driven rack 8 is fixed on one side of the rectangular through hole. A driven shaft 9 is rotatably inserted into the upper middle part of the flat channel steel 6. The driven gear 10 is concentrically fixed at the inner end of the driven shaft 9. The driven gear 10 meshes with the driven rack 8. When the driven shaft 9 drives the driven gear 10 to rotate, the driven rack 8 and the flat slide plate 7 can slide along the flat channel steel 6 to adjust the height of the horizontal plate 2. This meshing transmission method has high transmission accuracy and can accurately meet the clamping requirements of stalk crops of different heights.

[0060] Each of the two driven shafts 9 on both sides has a concentrically fixed linkage sprocket at its rear end. Each of the two driven shafts 9 in the middle has two concentrically fixed linkage sprockets at its rear end. Adjacent linkage sprockets are connected by a linkage chain 11. Through the transmission of the linkage chain 11 and the linkage sprockets, a servo motor 12 can drive the four driven shafts 9 to rotate synchronously, ensuring the synchronicity of each part during the lifting and lowering of the horizontal plate 2 and preventing the horizontal plate 2 from tilting.

[0061] Among them, a servo motor 12 with its output end facing backward is installed on the upper middle part of the front of a flat channel steel 6. The motor shaft end of the servo motor 12 is fixedly connected to the front end of the corresponding driven shaft 9. The servo motor 12 provides power for the height adjustment of the horizontal plate 2. Its output end is fixedly connected to the front end of the driven shaft 9, which precisely controls the rotation of the driven shaft 9, thereby achieving precise control of the height of the horizontal plate 2.

[0062] Example 3: Based on Example 2, this example also includes:

[0063] In the specific implementation process, such as Figure 6 and Figure 7 As shown, the limiting assembly includes a driven link 28. A U-shaped lug 25 is fixedly provided at the front end of the second slide rod 24. A pair of driven links 28 are provided in the opening of the U-shaped lug 25, which are staggered vertically. The outer end of each driven link 28 is fixedly connected to the hinged link 27 on the same side.

[0064] Each driven link 28 has an elliptical pin hole at its inner end. A limiting pin is fixed inside the opening of the U-shaped lug 25. The middle part of the limiting pin is inserted into a pair of elliptical pin holes. Through the limiting action of the limiting pin and the elliptical pin holes on the driven link 28, the movement of the second slide bar 24 can drive the hinged link 27 to swing inward, thereby realizing the clamping action of the stem crop. This limiting structure ensures the accuracy and reliability of the clamping action.

[0065] Five equidistant first rectangular slide blocks 21 are fixedly provided on the rear side of the top surface of the base plate 1 and the cross plate 2. Each first rectangular slide block 21 has a through-type first slide rod 20 slidably inserted inside. Each first slide rod 20 has a vertically distributed elliptical slide plate 19 fixed between the front end of the first slide rod 20 and the rear end of the corresponding second slide rod 24. The elliptical slide plate 19 connects the first slide rod 20 and the second slide rod 24. Under the action of the eccentric pin 18, it drives the first slide rod 20 and the second slide rod 24 to move, providing a power transmission path for the clamping action. The first rectangular slide block 21 provides a guide for the first slide rod 20.

[0066] Five equidistant fixed coupling shafts are rotatably inserted on the top surfaces of the base plate 1 and the cross plate 2. Each fixed coupling shaft has a concentrically fixed gear disk 17 fitted at its top end. Each gear disk 17 has an eccentrically distributed eccentric pin shaft 18 fixed on its top surface. The top end of each eccentric pin shaft 18 is slidably inserted into the elliptical slide plate 19. The fixed coupling shafts drive the gear disk 17 to rotate. The eccentric pin shafts 18 are eccentrically distributed on the gear disk 17. Their cooperation with the elliptical slide plate 19 converts the rotation of the gear disk 17 into the linear motion of the elliptical slide plate 19, thereby realizing the clamping action of the stem crop. This structure is ingeniously designed and can efficiently realize the conversion of motion form.

[0067] A high-torque motor 26 with its output end facing upward is installed in the middle of the bottom surface of the base plate 1. The motor shaft end of the high-torque motor 26 is fixedly connected to the bottom end of the corresponding fixed coupling shaft. The high-torque motor 26 provides power for the entire clamping action. Its output end is fixedly connected to the bottom end of the fixed coupling shaft, driving the fixed coupling shaft, gear disk 17 and other components to rotate, thereby realizing the clamping of the stalk crop. The high-torque motor 26 can provide sufficient power to ensure the smooth progress of the clamping action.

[0068] Specifically, the working principle and operation method of this invention are as follows:

[0069] Step 1: Adjust the height of the horizontal plate 2 according to the height of the stalk crop. Under the drive of the servo motor 12, the motor shaft of the servo motor 12 drives the corresponding driven shaft 9 to rotate synchronously. Due to the transmission effect of the linkage belt 11 and the linkage sprocket, the other three driven shafts 9 are driven to rotate synchronously. The driven shafts 9 drive the driven gear 10 to rotate synchronously. The driven gear 10 meshes and drives the driven rack 8 and the flat slide plate 7 to slide upward along the flat channel steel 6, which in turn drives the rectangular slide rod 5 to slide upward along the rectangular sleeve 4, and then drives the polygonal slide rod 16 to slide upward along the polygonal sleeve 14, so that the distance between the horizontal plate 2 and the bottom plate 1 increases to meet the clamping requirements of stalk crops of different heights.

[0070] Step 2: Push the wheel 3 to move the base plate 1 and the cross plate 2 to the front of several stalk crops. Under the driving action of the high torque motor 26, the motor shaft of the high torque motor 26 drives the corresponding fixed connecting shaft and gear disk 17 to rotate synchronously. Under the meshing action of the first linkage gear 13, the second linkage gear 15 and the gear disk 17, the remaining gear disks 17 are driven to rotate synchronously.

[0071] Step 3: The gear disk 17 rotates, and the eccentric pin 18 and the elliptical slide plate 19 form a limiting effect, causing the elliptical slide plate 19 and the first slide rod 20 to slide backward along the first rectangular slide block 21, and causing the second slide rod 24 and the U-shaped ear seat 25 to slide backward along the second rectangular slide block 23.

[0072] Step 4: The limiting pin and a pair of elliptical pin holes form a limiting function. The driven connecting rod 28 drives the hinged connecting rod 27 to swing inward. Since each pair of hinged connecting rods 27 are in a parallel hinged state, they drive each pair of L-shaped swing arms 29 and trapezoidal rubber plates 32 to translate inward, so that each pair of trapezoidal rubber plates 32 forms a preliminary clamping and fixing of the stem crop.

[0073] Step 5: Since each pair of trapezoidal rubber plates 32 are relatively closed and clamped, with the cooperation of the notched sliding ring 31 and the T-shaped hinge seat 30, each pair of notched sliding rings 31 are driven to slide alternately and form a ring-shaped limiting effect on the stem crop, thereby realizing the clamping and fixing effect on the stem crop.

[0074] Through ingenious structural design, this invention achieves height adaptive adjustment, synchronous and stable movement, and efficient power transmission. In the actual clamping process of stalk crops, from initial clamping to annular limiting and then to enhanced friction, it comprehensively ensures the reliability, stability, and firmness of the clamping of stalk crops, effectively meeting various needs of stalk crop clamping and improving work efficiency and quality.

[0075] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A variable stiffness clamping device suitable for stalk crops, comprising a base plate (1), characterized in that: The top surface of the base plate (1) is provided with parallel horizontal plates (2). Four equidistant flat channel steels (6) are fixed on the rear side of the top surface of the base plate (1). Four equidistant flat sliding plates (7) are fixed on the rear side of the bottom surface of the horizontal plate (2). The bottom end of each flat sliding plate (7) is slidably inserted into the corresponding flat channel steel (6). Each flat sliding plate (7) is connected to the corresponding flat channel steel (6) through a meshing component. Five equidistant elliptical connecting plates (22) are fixed on the front side of the top surface of the base plate (1) and the horizontal plate (2). The top surfaces of each elliptical connecting plate (22) are hinged on both sides. A pair of parallel hinged connecting rods (27) are provided. The front end of each pair of hinged connecting rods (27) is hinged to a pair of L-shaped swing arms (29). A trapezoidal rubber plate (32) is fixed between the front ends of each pair of L-shaped swing arms (29), and the adjacent pair of trapezoidal rubber plates (32) are symmetrically distributed. A second rectangular slide block (23) is fixed in the middle of the top surface of each elliptical connecting plate (22). A second slide rod (24) is slidably inserted inside each second rectangular slide block (23). The front end of each second slide rod (24) is connected to the adjacent pair of hinged connecting rods (27) through a limiting component. Four equidistant first connecting shafts are rotatably inserted on the top surface of the base plate (1). A first linkage gear (13) is concentrically fixed in the middle of each first connecting shaft. Four equidistant second connecting shafts are rotatably inserted through the top surface of the horizontal plate (2). A second linkage gear (15) is concentrically fixed in the top end of each second connecting shaft. Each first linkage gear (13) and second linkage gear (15) meshes with the adjacent gear discs (17) on both sides. A polygonal sleeve (14) is fixed in the top end of each first connecting shaft. A polygonal slide rod (16) is fixed in the bottom end of each second connecting shaft. The bottom end of each polygonal slide rod (16) is slidably inserted into the corresponding polygonal sleeve (14). Each L-shaped swing arm (29) is hinged with a T-shaped hinge seat (30), each T-shaped hinge seat (30) is provided with an arc-shaped sliding hole, and each L-shaped swing arm (29) is hinged with a notched sliding ring (31) at the corner. The outer end of each notched sliding ring (31) is slidably inserted into the arc-shaped sliding hole on the other side, and adjacent pairs of notched sliding rings (31) are staggered vertically. Each trapezoidal rubber plate (32) has several U-shaped anti-slip grooves distributed at equal intervals on its clamping side, and each trapezoidal rubber plate (32) has a reduction through hole, and the reduction through hole is sequentially distributed in a through-hole pattern with several U-shaped anti-slip grooves.

2. The variable stiffness clamping device for stem crops according to claim 1, characterized in that: A pair of roller brackets are fixed on both sides of the bottom surface of the base plate (1), and a wheel (3) is rotatably sleeved at the bottom end of each roller bracket; a pair of rectangular sleeves (4) are fixed at the two corners of the rear side of the top surface of the base plate (1), and a pair of rectangular slide rods (5) are fixed at the two corners of the rear side of the bottom surface of the horizontal plate (2), and the bottom end of each rectangular slide rod (5) is slidably inserted into the rectangular sleeve (4) on the same side.

3. A variable stiffness clamping device suitable for stalk crops according to claim 2, characterized in that: The meshing assembly includes a driven rack (8) and a driven gear (10). A rectangular through hole is provided in the middle of the flat slide plate (7). A driven rack (8) is fixed on one side of the rectangular through hole. A driven shaft (9) is rotatably inserted into the upper middle part of the flat channel steel (6). A driven gear (10) is concentrically fixed at the inner end of the driven shaft (9). The driven gear (10) meshes with the driven rack (8).

4. A variable stiffness clamping device suitable for stalk crops according to claim 3, characterized in that: The rear ends of a pair of driven shafts (9) on both sides are fitted with a concentric sprocket, and the rear ends of a pair of driven shafts (9) in the middle are fitted with two concentric sprockets. The adjacent pairs of sprockets are connected by a meshing transmission through a linkage belt (11). A servo motor (12) with its output end facing backward is installed on the upper part of the front of one of the flat channel steels (6). The end of the motor shaft of the servo motor (12) is fixed to the front end of the corresponding driven shaft (9).

5. A variable stiffness clamping device suitable for stalk crops according to claim 4, characterized in that: The limiting assembly includes a driven link (28), and a U-shaped lug (25) is fixedly provided at the front end of the second slide rod (24). A pair of driven links (28) are provided in the opening of the U-shaped lug (25) and are staggered vertically. The outer end of each driven link (28) is fixedly connected to the hinge link (27) on the same side. An elliptical pin hole is provided at the inner end of each driven link (28). A limiting pin is fixedly provided in the opening of the U-shaped lug (25), and the middle part of the limiting pin is inserted through a pair of elliptical pin holes.

6. A variable stiffness clamping device suitable for stalk crops according to claim 5, characterized in that: Five equally spaced first rectangular slide blocks (21) are fixedly provided on the rear side of the top surface of the base plate (1) and the cross plate (2). Each first rectangular slide block (21) is slidably inserted with a through-distributed first slide rod (20), and a vertically distributed elliptical slide plate (19) is fixed between the front end of each first slide rod (20) and the rear end of the corresponding second slide rod (24).

7. A variable stiffness clamping device suitable for stalk crops according to claim 6, characterized in that: Five equidistant fixed connecting shafts are rotatably inserted on the top surfaces of the base plate (1) and the cross plate (2). Each fixed connecting shaft has a concentrically fixed gear disk (17) fitted at its top end. Each gear disk (17) has an eccentrically distributed eccentric pin (18) fixed on its top surface. The top end of each eccentric pin (18) is slidably inserted into an elliptical slide plate (19). A high-torque motor (26) with its output end facing upward is installed in the middle of the bottom surface of the base plate (1). The motor shaft end of the high-torque motor (26) is fixedly connected to the bottom end of the corresponding fixed connecting shaft.

8. The clamping method of the variable stiffness clamping device for stem crops according to claim 7, characterized in that, Includes the following steps: Step 1: Adjust the height of the horizontal plate (2) according to the height of the stalk crop. Under the drive of the servo motor (12), the motor shaft of the servo motor (12) drives the corresponding driven shaft (9) to rotate synchronously. Due to the transmission effect of the linkage belt (11) and the linkage sprocket, the other three driven shafts (9) are driven to rotate synchronously. The driven shafts (9) drive the driven gears (10) to rotate synchronously. The driven gears (10) mesh and drive the driven rack (8) and the flat slide plate (7) to slide upward along the flat channel steel (6). This drives the rectangular slide bar (5) to slide upward along the rectangular sleeve (4), and then drives the polygonal slide bar (16) to slide upward along the polygonal sleeve (14), so that the distance between the horizontal plate (2) and the bottom plate (1) increases to meet the clamping requirements of stalk crops of different heights. Step 2: Push the wheel (3) to move the base plate (1) and the cross plate (2) to several stalk crops. Under the driving action of the high torque motor (26), the motor shaft of the high torque motor (26) drives the corresponding fixed coupling shaft and gear disk (17) to rotate synchronously. Under the meshing action of the first linkage gear (13), the second linkage gear (15) and the gear disk (17), the remaining gear disks (17) are driven to rotate synchronously. Step 3: The gear disk (17) rotates, and the eccentric pin (18) and the elliptical slide plate (19) form a limiting effect, driving the elliptical slide plate (19) and the first slide rod (20) to slide backward along the first rectangular slide block (21), and driving the second slide rod (24) and the U-shaped ear seat (25) to slide backward along the second rectangular slide block (23); Step 4: The limiting pin and a pair of elliptical pin holes form a limiting function. The driven connecting rod (28) drives the hinged connecting rod (27) to swing inward. Since each pair of hinged connecting rods (27) are in a parallel hinged state, each pair of L-shaped swing arms (29) and trapezoidal rubber plates (32) are driven to translate inward, so that each pair of trapezoidal rubber plates (32) forms a preliminary clamping and fixing of the stem crop. Step 5: Since each pair of trapezoidal rubber plates (32) are relatively closed and clamped, under the joint cooperation of the notched sliding ring (31) and the T-shaped hinge seat (30), each pair of notched sliding rings (31) are driven to slide alternately and form a ring-shaped limiting effect on the stem crop, thereby realizing the clamping and fixing effect on the stem crop.

Images