Visual auxiliary hooking device for rear suspension agricultural implement of tractor

Abstract

The invention discloses a visual tractor rear suspension agricultural implement auxiliary hooking device, which belongs to the field of agricultural machinery application, and comprises a base, a lifting module is fixed at the top end of the base, one side of the lifting module is slidably connected with a screw rod sliding group mechanism, and one side, far away from the lifting module, of the screw rod sliding group mechanism is fixedly connected with a direction adjusting module; the side, away from the lead screw sliding set mechanism, of the direction adjusting module is fixedly connected with a fixed mounting plate, the two ends of the fixed mounting plate are both connected with fixed baffles, the top end of the fixed mounting plate is connected with a front face hook assembly, and the two fixed baffles are both connected with side hook assemblies. The rear suspension connecting device is provided with the lifting module, the lead screw sliding set mechanism, the direction adjusting module, the front hook assembly and the side hook assembly, and on the premise that manpower is not needed, connection between the rear suspension connecting device and an agricultural implement can be achieved through cab panel operation; and the overall connection precision is higher, potential safety hazards are reduced, and connection is easier.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery applications, and particularly relates to a visual auxiliary hitch device for a tractor rear hitch agricultural implement. Background Art

[0002] Existing tractor rear hitch connection devices mostly adopt manual connection methods. First, the lower pull rod needs to be installed to ensure that the connection points with the frame and the hitch device are aligned, and the nuts are tightened. Then, the upper pull rod is installed and aligned with the upper hitch point of the agricultural implement, and the bolts are tightened for fixation. Finally, the lift arm is installed and connected to the hydraulic cylinder, and the positions of each component are adjusted to ensure firm connection without looseness.

[0003] This method has problems such as low precision, great potential safety hazards, easy damage to components due to improper operation, and the need for multi-dimensional adjustment of the depression angle and spatial position of the connection hook during the installation process, which is not suitable for continuous operation of tractors. Moreover, manual debugging is time-consuming and laborious, increasing component wear and maintenance costs.

[0004] Therefore, how to provide a visual auxiliary hitch device for a tractor rear hitch agricultural implement is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The main object of the present invention is to provide a visual auxiliary hitch device for a tractor rear hitch agricultural implement to solve the above technical problems. The device is provided with a lifting module, a lead screw sliding group mechanism, a direction adjustment module, a front hook assembly, and a side hook assembly, which can realize the connection between the rear hitch connection device and the agricultural implement through the operation of the cab tablet without manual labor; and the overall connection accuracy is higher, the potential safety hazards are reduced, and the connection is easier.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A visual auxiliary hitch device for a tractor rear hitch agricultural implement, comprising a base, a lifting module is fixed at the top of the base, a lead screw sliding group mechanism is slidably connected to one side of the lifting module, a direction adjustment module is fixedly connected to the side of the lead screw sliding group mechanism away from the lifting module, a fixed mounting plate is fixedly connected to the side of the direction adjustment module away from the lead screw sliding group mechanism, fixed baffles are connected to both ends of the fixed mounting plate, a front hook assembly is connected to the top of the fixed mounting plate, and side hook assemblies are connected to both fixed baffles.

[0008] Furthermore, the lifting module includes a vertical lifting plate, a horizontal lifting plate, a lifting drive motor, a first sliding lead screw, a lead screw seat, a lead screw fixing plate, a direction control device, a lifting driven gear, and a lifting driving gear. Two of the vertical lifting plates are correspondingly fixed to the top of the base. Two horizontal lifting plates are horizontally fixedly connected between the two vertical lifting plates. A lead screw fixing plate is fixedly connected in the vertical direction on one side of the horizontal lifting plate. The first sliding lead screw is connected to the lead screw fixing plate through two lead screw seats. The two lead screw seats are located at both ends of the first sliding lead screw. A third high-definition camera is also fixedly connected to the lead screw fixing plate. One end of the first sliding lead screw is fixedly connected to the lifting driven gear. A lead screw sliding group mechanism is connected to the first sliding lead screw. A track is provided on one side of the vertical lifting plate close to the first sliding lead screw. The track is slidably connected to the lead screw sliding group mechanism. A lifting drive motor and a direction control device are fixedly connected to the side of the horizontal lifting plate away from the lead screw fixing plate. The output end of the lifting drive motor is fixedly connected to the lifting driving gear. The lifting driving gear meshes with the lifting driven gear. The direction control device is electrically connected to the third high-definition camera and the lifting drive motor respectively. The direction control device is connected to the cloud.

[0009] Furthermore, the lead screw sliding group mechanism includes a lead screw sliding group housing. A sliding table seat is fixedly connected to one side of the lead screw sliding group housing. A lifting fixing block is fixedly connected to the side of the sliding table seat away from the lead screw sliding group housing. The lifting fixing block is threadedly connected to the first sliding lead screw. First sliding grooves are also provided at both ends of the side of the sliding table seat where the lifting fixing block is provided. The first sliding grooves can realize the sliding connection between the sliding table seat and the vertical lifting plate. A first installation groove is provided inside the lead screw sliding group housing. A fixed bearing seat and a rear bearing seat are fixedly connected in the first installation groove. A second sliding lead screw is connected to the fixed bearing seat and the rear bearing seat. A plum blossom connecting piece is fixedly connected to one end of the second sliding lead screw close to the fixed bearing seat. A slider drive motor is also provided outside the lead screw sliding group housing. The output end of the slider drive motor penetrates the lead screw sliding group housing and is connected to the plum blossom connecting piece. A sliding seat plate is connected to the second sliding lead screw. The side of the sliding seat plate away from the second sliding lead screw is connected to one side of the direction adjustment module. An external induction sheet and a plurality of position sensors are also provided on the lead screw sliding group housing. The position sensors, the external induction sheet, and the slider drive motor are all electrically connected to the direction control device.

[0010] Furthermore, the direction adjustment module includes a direction adjustment housing. One side of the direction adjustment housing is fixedly connected to the sliding seat plate. A control groove is provided inside the direction adjustment housing. A length driving motor is fixedly connected inside the control groove. The output end of the length driving motor is fixedly connected with two driving pulleys. Two driven pulleys are rotatably connected inside the control groove. The two driving pulleys are respectively connected to the two driven pulleys through two conveyor belts. One end of the driven pulley is connected to one end of the connecting shaft. The other end of the connecting shaft is connected to the first screw telescopic mechanism. The end of the first screw telescopic mechanism far from the connecting shaft is connected to the fixed mounting plate. The length driving motor is electrically connected to the direction control device.

[0011] Furthermore, an angle adjustment control device and two second sliding grooves are provided on the fixed mounting plate. The two second sliding grooves are arranged at both ends of the side of the fixed mounting plate far from the direction adjustment module. The side of the second sliding groove is connected to one side of the fixed baffle. The top of the fixed mounting plate is fixedly connected with a first high-definition camera. The angle adjustment control device includes an electric cylinder, a main slider, an angle adjustment rod and a sub-slider. A second installation groove is also provided on the fixed mounting plate. The electric cylinder is arranged inside the second installation groove. The bottom side of the electric cylinder is fixedly connected with the main slider. One end of the two angle adjustment rods is hinged to the main slider. The other ends of the two angle adjustment rods are respectively hinged to the two sub-sliders. The sub-sliders are slidably arranged inside the second sliding groove. A connecting rod is arranged on one side of the sub-slider. The connecting rod penetrates through the fixed baffle and is connected to the side hook assembly. Both the electric cylinder and the first high-definition camera are electrically connected to the direction control device.

[0012] Furthermore, the side hook assembly includes a pear-shaped rotating plate, a telescopic driving motor, a second screw telescopic mechanism, a compression circular self-locking body, a side hook and a tactile sensor. A rotating shaft and a hinge groove are fixedly connected to the side of the pear-shaped rotating plate close to the fixed baffle. A rotating plate rotating motor is fixedly connected to the side of the fixed baffle close to the hinge groove. The output end of the rotating plate rotating motor is fixedly connected to the pear-shaped rotating plate through the hinge groove. A bearing is also provided at the circumferential contact position between the output end of the rotating plate rotating motor and the inner wall of the hinge groove. An arc-shaped groove is provided on the fixed baffle. The rotating shaft extends into the arc-shaped groove. A self-locking body connection hole is also provided on the pear-shaped rotating plate. The bottom end of the side of the pear-shaped rotating plate far from the fixed baffle is connected with a compression circular self-locking body through the self-locking body connection hole. The compression circular self-locking body abuts against the connecting rod arranged on the sub-slider through the self-locking body connection hole. A telescopic driving motor is also fixedly connected to the top end of the side of the pear-shaped rotating plate far from the fixed baffle. The output end of the telescopic driving motor is connected to the second screw telescopic mechanism. The end of the second screw telescopic mechanism far from the telescopic driving motor is fixedly connected to the side hook. Both the telescopic driving motor and the rotating plate rotating motor are electrically connected to the direction control device.

[0013] Further, the compressed circular self-locking body includes an angle adjustment device switch, a spring, a chute column, a self-locking gear, a self-locking housing, and a self-locking connection block. The self-locking connection block is arranged inside the self-locking housing. One side of the self-locking connection block is fixedly connected to the self-locking gear. A self-locking gear groove corresponding to the self-locking gear is also arranged on the self-locking housing. An angle adjustment device switch is arranged on the side of the self-locking gear away from the self-locking connection block. The angle adjustment device switch penetrates through the self-locking housing and extends to the outside. The angle adjustment device switch is a fixed shaft. A self-locking chute is arranged on the self-locking connection block. The bottom end of the inner wall of the self-locking housing is circumferentially hinged to one end of the chute column. The other end of the chute column is fixedly connected to a sliding column. The sliding column extends into the self-locking chute. A spring is also arranged inside the self-locking housing. One end of the spring abuts against the side of the self-locking connection block away from the self-locking gear, and the other end of the spring abuts against the inner wall of the self-locking housing.

[0014] Further, the front hook assembly includes an image information controller, a robotic arm, a telescopic unit, a second high-definition camera, an upper suspension hook, a force sensor, a first hook connecting piece, a second hook connecting piece, a front hook connecting plate, and a hook connecting platform. The front hook connecting plate is fixedly connected to the top end of the fixed baffle. The image information controller is arranged at the bottom end of the front hook connecting plate. The top end of the front hook connecting plate is respectively hinged to one end of the robotic arm and the telescopic unit. The other ends of the robotic arm and the telescopic unit are both hinged to the hook connecting platform. A robotic arm drive motor is arranged at the hinge between the robotic arm and the hook connecting platform. A second high-definition camera is arranged on one side of the hook connecting platform. The top end of the hook connecting platform is hinged to one end of the first hook connecting piece and the second hook connecting piece. The other ends of the first hook connecting piece and the second hook connecting piece are hinged to the upper suspension hook. A worm gear is fixedly connected to the hinge shaft at the hinge between the first hook connecting piece and the hook connecting platform. A servo motor is also fixedly arranged on the hook connecting platform. The output end of the servo motor is fixedly connected to a worm. The worm gear meshes with the worm. A force sensor is arranged on the upper suspension hook. The force sensor, the servo motor, the robotic arm drive motor, and the second high-definition camera are all electrically connected to the image information controller. The image information controller is connected to the cloud.

[0015] Further, a plurality of direction adjustment module telescopic supports are also fixedly connected to the top end of the base. The direction adjustment module telescopic supports are electrically connected to the direction control device. The direction adjustment module telescopic supports are cylinders.

[0016] Furthermore, the first screw telescopic mechanism and the second screw telescopic mechanism are of the same type. The first screw telescopic mechanism includes a main housing of the telescopic mechanism. A first telescopic lead screw is rotatably connected inside the main housing of the telescopic mechanism. A first telescopic slider and a second telescopic lead screw are sleeved on the first telescopic lead screw. Threads are provided on the inner wall of the first telescopic slider. One side of the first telescopic slider is fixedly connected to one end of the second telescopic lead screw. The first telescopic slider is rotatably connected to the inner wall of the auxiliary housing of the first telescopic mechanism. A second telescopic slider and a third telescopic lead screw are sleeved on the second telescopic lead screw. Threads are provided on the inner wall of the second telescopic slider. One side of the second telescopic slider is fixedly connected to one end of the third telescopic lead screw. The second telescopic slider is rotatably connected to the inner wall of the auxiliary housing of the second telescopic mechanism. A third telescopic slider is sleeved on the third telescopic lead screw. Threads are provided on the inner wall of the third telescopic slider. The end of the third telescopic slider away from the second telescopic slider is connected to a fixed mounting plate. The end of the first telescopic lead screw away from the main housing of the telescopic mechanism is connected to a connecting shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) In the present invention, a lifting module, a lead screw slider mechanism, a direction adjustment module, a front hook assembly, and a side hook assembly are provided, which can realize the connection between the rear suspension connecting device and the agricultural implement through the operation of the cab flat plate without manual labor; and the overall connection accuracy is higher, the potential safety hazards are reduced, and the connection is easier.

[0019] (2) The connecting device in the present invention is only opened during the connection work process. In other cases, it remains in the closed state and will not interfere with the subsequent work of the tractor.

[0020] (3) The direction control device, the microcontroller, and the image information controller in the present invention are all connected to the cloud for signal transmission, and can work separately through the cab flat plate, so as to cooperate in target recognition and positioning through the vision system and sensors, improving the connection efficiency and reducing the wear loss caused during the connection process.

[0021] (4) The present invention is provided with a first high-definition camera, a second high-definition camera, and a third high-definition camera, which can record the connection process in real time and transmit the connection effect to the cab flat plate to help the operator judge the progress of the connection work and record the connection results of each device. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the provided drawings.

[0023] Figure 1 It is a schematic structural diagram of the device of the present invention.

[0024] Figure 2 is Figure 1 A schematic structural diagram from another perspective.

[0025] Figure 3 It is a schematic structural diagram of the back of the column in the lifting module of the present invention.

[0026] Figure 4 It is a schematic structural diagram of the screw rod sliding group in the direction adjustment module of the present invention.

[0027] Figure 5 It is a schematic internal structural diagram of the working length adjustment module of the present invention.

[0028] Figure 6 It is a schematic structural diagram of the back of the working length adjustment module of the present invention.

[0029] Figure 7 It is a schematic structural diagram of the angle adjustment module of the present invention.

[0030] Figure 8 It is a schematic structural diagram of the angle adjustment device in the angle adjustment module of the present invention.

[0031] Figure 9 It is a schematic internal structural diagram of the compression circular self-locking body in the angle adjustment device of the present invention.

[0032] Figure 10 It is a schematic front structural diagram of the connecting hook in the angle adjustment module of the present invention.

[0033] Figure 11 It is a schematic cross-sectional structural diagram after the first spiral telescopic mechanism of the present invention is closed.

[0034] Figure 12 It is a schematic cross-sectional structural diagram after the first spiral telescopic mechanism of the present invention is extended.

[0035] Among them, 1 - lifting module, 2 - base, 3 - slide base, 4 - screw slide group mechanism, 5 - external induction sheet, 6 - direction adjustment module, 7 - first spiral telescopic mechanism, 7.1 - first telescopic lead screw, 7.2 - telescopic mechanism main housing, 7.3 - first telescopic slider, 7.4 - first telescopic mechanism auxiliary housing, 7.5 - second telescopic slider, 7.6 - second telescopic mechanism auxiliary housing, 7.7 - third telescopic slider, 7.8 - second telescopic lead screw, 7.9 - third telescopic lead screw, 8 - compression circular self-locking body, 9 - side hook, 10 - tactile sensor, 11 - fixed baffle, 12 - image information controller, 13 - first high-definition camera, 14 - robotic arm, 15 - second high-definition camera, 16 - upper suspension hook, 17 - force sensor, 18 - direction adjustment module telescopic support, 19 - screw base, 20 - slider drive motor, 21 - telescopic drive motor, 22 - pear-shaped rotating plate, 23 - first sliding lead screw, 24 - third high-definition camera, 25 - lifting drive motor, 26 - direction control device, 27 - position sensor, 28 - fixed bearing seat, 29 - plum blossom connector, 30 - second sliding lead screw, 31 - slide seat plate, 32 - rear bearing seat, 33 - driving pulley, 34 - length drive motor, 35 - connecting shaft, 36 - electric cylinder, 37 - main slider, 38 - angle adjustment device switch, 39 - bearing, 40 - secondary slider, 41 - second spiral telescopic mechanism, 42 - self-locking gear, 43 - chute column, 44 - spring. Detailed implementation manner

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] As Figures 1 to 12 shown, the present invention provides a visual auxiliary hitching device for a tractor rear-mounted agricultural implement, including a base 2. A lifting module 1 is fixed to the top end of the base 2. A screw slide group mechanism 4 is slidably connected to one side of the lifting module 1. A direction adjustment module 6 is fixedly connected to the side of the screw slide group mechanism 4 away from the lifting module 1. A fixed mounting plate is fixedly connected to the side of the direction adjustment module 6 away from the screw slide group mechanism 4. Both ends of the fixed mounting plate are connected with fixed baffles 11. A front hook assembly is connected to the top end of the fixed mounting plate. Side hook assemblies are connected to both of the fixed baffles 11.

[0038] In this embodiment, the lifting module 1 includes a vertical lifting plate, a horizontal lifting plate, a lifting drive motor 25, a first sliding lead screw 23, a lead screw seat 19, a lead screw fixing plate, a direction control device 26, a lifting driven gear, and a lifting driving gear. Two corresponding vertical lifting plates are fixed to the top of the base 2. Two horizontal lifting plates are horizontally fixedly connected between the two vertical lifting plates. A lead screw fixing plate is fixedly connected in the vertical direction on one side of the horizontal lifting plate. The first sliding lead screw 23 is connected to the lead screw fixing plate through two lead screw seats 19. The two lead screw seats 19 are located at both ends of the first sliding lead screw 23. A third high-definition camera 24 is also fixedly connected to the lead screw fixing plate. One end of the first sliding lead screw 23 is fixedly connected to the lifting driven gear. A lead screw sliding group mechanism 4 is connected to the first sliding lead screw 23. A track is provided on one side of the vertical lifting plate close to the first sliding lead screw 23. The track is slidably connected to the lead screw sliding group mechanism 4. A lifting drive motor 25 and a direction control device 26 are fixedly connected to the side of the horizontal lifting plate away from the lead screw fixing plate. The output end of the lifting drive motor 25 is fixedly connected to the lifting driving gear. The lifting driving gear meshes with the lifting driven gear. The direction control device 26 is electrically connected to the third high-definition camera 24 and the lifting drive motor 25 respectively. The direction control device 26 is connected to the cloud. The direction control device 26 is a PLC controller and can be controlled through mobile phones, computers, etc. The lifting drive motor 25 drives the lifting driving gear to rotate. The lifting driving gear drives the lifting driven gear to rotate. The lifting driven gear drives the first sliding lead screw 23 to rotate to realize the movement of the lead screw sliding group mechanism 4 on the first sliding lead screw 23.

[0039] In this embodiment, the lead screw slider mechanism 4 includes a lead screw slider housing. One side of the lead screw slider housing is fixedly connected to a slide table base 3. On the side of the slide table base 3 away from the lead screw slider housing, a lifting fixed block is fixedly connected. The lifting fixed block is threadedly connected to the first sliding lead screw 23. At both ends of the side of the slide table base 3 where the lifting fixed block is provided, first sliding grooves are also provided. The first sliding grooves can realize the sliding connection between the slide table base 3 and the vertical lifting plate. Inside the lead screw slider housing, a first installation groove is provided. A fixed bearing seat 28 and a rear bearing seat 32 are fixedly connected in the first installation groove. A second sliding lead screw 30 is connected to the fixed bearing seat 28 and the rear bearing seat 32. One end of the second sliding lead screw 30 close to the fixed bearing seat 28 is fixedly connected to a plum blossom connector 29. Outside the lead screw slider housing, a slider driving motor 20 is also provided. The output end of the slider driving motor 20 penetrates the lead screw slider housing and is connected to the plum blossom connector 29. A slide seat plate 31 is connected to the second sliding lead screw 30. One side of the slide seat plate 31 away from the second sliding lead screw 30 is connected to one side of the direction adjustment module 6. An external induction sheet 5 and a plurality of position sensors 27 are also provided on the lead screw slider housing. The position sensors 27, the external induction sheet 5, and the slider driving motor 20 are all electrically connected to the direction control device 26; the slide table base 3 slides with the vertical lifting plate through the first sliding grooves to limit the slide table base 3.

[0040] In this embodiment, the direction adjustment module 6 includes a direction adjustment housing. One side of the direction adjustment housing is fixedly connected to the slide seat plate 31. A control groove is provided inside the direction adjustment housing. A length driving motor 34 is fixedly connected in the control groove. The output end of the length driving motor 34 is fixedly connected to two driving pulleys 33. Two driven pulleys are rotatably connected in the control groove. The two driving pulleys 33 are respectively connected to the two driven pulleys through two conveyor belts. One end of the driven pulley is connected to one end of a connecting shaft 35. The other end of the connecting shaft 35 is connected to the first screw telescopic mechanism 7. One end of the first screw telescopic mechanism 7 away from the connecting shaft 35 is connected to a fixed mounting plate. The length driving motor 34 is electrically connected to the direction control device 26; the first screw telescopic mechanism 7 mainly realizes screw telescoping through a threaded cylinder and a threaded column. The threaded cylinder and the threaded column are respectively fixed on different structures. When one structure rotates, the other structure rotates relatively to realize the telescoping of the first screw telescopic mechanism 7.

[0041] In this embodiment, an angle adjustment control device and two second sliding grooves are provided on the fixed mounting plate. The two second sliding grooves are arranged at both ends of the side of the fixed mounting plate away from the direction adjustment module 6. The side of the second sliding groove is connected to one side of the fixed baffle 11. The top of the fixed mounting plate is fixedly connected with a first high-definition camera 13. The angle adjustment control device includes an electric cylinder 36, a main slider 37, an angle adjustment rod and a sub-slider 40. A second installation groove is also provided on the fixed mounting plate. The electric cylinder 36 is arranged in the second installation groove. The bottom side of the electric cylinder 36 is fixedly connected with the main slider 37. One end of the main slider 37 is hinged to one end of two angle adjustment rods. The other ends of the two angle adjustment rods are respectively hinged to two sub-sliders 40. The sub-slider 40 is slidably arranged in the second sliding groove. A connecting rod is arranged on one side of the sub-slider 40. The connecting rod penetrates through the fixed baffle 11 and is connected to the side hook assembly. Both the electric cylinder 36 and the first high-definition camera 13 are electrically connected to the direction control device 26. The first high-definition camera 13 is used to monitor the angle of the side hook assembly, which is convenient for adjusting the side hook assembly. The fixed baffle 11 is used to connect the side hook assembly. The electric cylinder 39 can drive the main slider 37 to move up and down. When the main slider 37 moves up and down, it drives the angle adjustment rods to open or close, realizing the control of the left and right positions of the sub-slider 40. When the sub-slider 40 moves left and right, it pushes the connecting rod to contact the compression circular self-locking body 8, controlling the locking of the compression circular self-locking body 8.

[0042] In this embodiment, the side hook assembly includes a pear-shaped rotating plate 22, a telescopic driving motor 21, a second spiral telescopic mechanism 41, a compression circular self-locking body 8, a side hook 9, and a tactile sensor 10. On one side of the pear-shaped rotating plate 22 close to the fixed baffle 11, a rotating shaft and a hinge groove are fixedly connected. On one side of the fixed baffle 11 close to the hinge groove, a rotating plate rotating motor is fixedly connected. The output end of the rotating plate rotating motor is fixedly connected to the pear-shaped rotating plate 22 through the hinge groove. A bearing 39 is also provided at the circumferential contact between the output end of the rotating plate rotating motor and the inner wall of the hinge groove. An arc-shaped groove is provided on the fixed baffle 11, and the rotating shaft extends into the arc-shaped groove. A self-locking body connection hole is also provided on the pear-shaped rotating plate 22. At the bottom end of the side of the pear-shaped rotating plate 22 away from the fixed baffle 11, a compression circular self-locking body 8 is connected through the self-locking body connection hole. The compression circular self-locking body 8 abuts against a connecting rod provided on the secondary slider 40 through the self-locking body connection hole. At the top end of the side of the pear-shaped rotating plate 22 away from the fixed baffle 11, a telescopic driving motor 21 is also fixedly connected. The output end of the telescopic driving motor 21 is connected to the second spiral telescopic mechanism 41. The end of the second spiral telescopic mechanism 41 away from the telescopic driving motor 21 is fixedly connected to the side hook 9. Both the telescopic driving motor 21 and the rotating plate rotating motor are electrically connected to the direction control device 26. The rotating plate rotating motor is used to drive the rotation of the pear-shaped rotating plate 22; the compression circular self-locking body 8 can cooperate with the secondary slider 40 to compress the spring 44 and control the self-locking situation of the compression circular self-locking body 8; the second spiral telescopic mechanism 41 and the first spiral telescopic mechanism 7 are of the same structure;

[0043] The side hook 9 can be a side hook structure similar to the upper suspension hook 16, or can include a lever assembly, a side connecting cylinder, a clamping head, and a cylinder. The side connecting cylinder is L-shaped and is connected to the second spiral telescopic mechanism 41 at one end and is hinged to two clamping heads through the lever assembly at the other end. The lever assembly includes a plurality of levers hinged to each other. A cylinder is fixedly connected to the inner wall of the side connecting cylinder. The end of the cylinder away from the inner wall of the side connecting cylinder is connected to the lever assembly. The opening and closing of the two clamping heads are controlled by the telescopic movement of the cylinder. In addition, the cylinder is electrically connected to the image information controller 12.

[0044] In this embodiment, the compressed circular self-locking body 8 includes an angle adjustment device switch 38, a spring 44, a chute column 43, a self-locking gear 42, a self-locking housing, and a self-locking connection block. A self-locking connection block is arranged inside the self-locking housing. One side of the self-locking connection block is fixedly connected to a self-locking gear 42. A self-locking gear groove corresponding to the self-locking gear 42 is also arranged on the self-locking housing. An angle adjustment device switch 38 is arranged on the side of the self-locking gear 42 away from the self-locking connection block. The angle adjustment device switch 38 penetrates through the self-locking housing and extends to the outside. The angle adjustment device switch 38 is a fixed shaft. A self-locking chute is arranged on the self-locking connection block. One end of the chute column 43 is hinged to the bottom circumference of the inner wall of the self-locking housing. The other end of the chute column 43 is fixedly connected to a sliding column. The sliding column extends into the self-locking chute. A spring 44 is also arranged inside the self-locking housing. One end of the spring 44 abuts against the side of the self-locking connection block away from the self-locking gear 42. The other end of the spring 44 abuts against the inner wall of the self-locking housing. During use, the secondary slider 40 will squeeze the angle adjustment device switch 38 and the self-locking gear 42. During the squeezing, since one end of the chute column 43 is hinged to the inner wall of the self-locking housing, it will swing. The end of the chute column 43 with the sliding column will move along the heart-shaped self-locking chute. The sliding column will reach the top of the heart-shaped self-locking chute when being squeezed. When released, the sliding column enters the recess of the heart-shaped self-locking chute to achieve unlocking. When pressed down again, the sliding column on the chute column 43 returns along the original route to achieve locking.

[0045] In this embodiment, the front hook assembly includes an image information controller 12, a robotic arm 14, a telescopic unit, a second high-definition camera 15, an upper suspension hook 16, a force sensor 17, a first hook connecting member, a second hook connecting member, a front hook connecting plate, and a hook connecting platform. The top of the fixed baffle 11 is fixedly connected to the front hook connecting plate. The bottom of the front hook connecting plate is provided with the image information controller 12. The top of the front hook connecting plate is respectively hinged to one end of the robotic arm 14 and the telescopic unit. The other ends of the robotic arm 14 and the telescopic unit are both hinged to the hook connecting platform. A robotic arm drive motor is provided at the hinge between the robotic arm 14 and the hook connecting platform. A second high-definition camera 15 is provided on one side of the hook connecting platform. The top of the hook connecting platform is hinged to one end of the first hook connecting member and the second hook connecting member. The other ends of the first hook connecting member and the second hook connecting member are hinged to the upper suspension hook 16. A worm gear is fixedly connected to the hinge shaft at the hinge between the first hook connecting member and the hook connecting platform. A servo motor is also fixedly provided on the hook connecting platform. The output end of the servo motor is fixedly connected to a worm. The worm gear and the worm are meshed with each other. A force sensor 17 is provided on the upper suspension hook 16. The force sensor 17, the servo motor, the robotic arm drive motor, and the second high-definition camera 15 are all electrically connected to the image information controller 12. The image information controller 12 is connected to the cloud. The force sensor 17 is used to detect the contact force between the end of the robotic arm 14 and the agricultural implement. Through the feedback of the force sensor 17, the upper suspension hook 16 on the robotic arm 14 can achieve force control. The second high-definition camera 15 serves as the visual sensor of the robotic arm 14, which is used for target recognition and positioning, and also plays the role of transmitting the real-time scene during operation, facilitating the angle adjustment of the upper suspension hook 16. The image information controller 12 can be a PLC controller, which can be connected to the cloud and controlled through mobile phones, computers, etc. Through the mutual cooperation among the servo motor, the worm gear, and the worm, the angle control of the upper suspension hook 16 can be achieved, making the connection more stable.

[0046] In this embodiment, a plurality of direction adjustment module telescopic supports 18 are further fixedly connected to the top of the base 2. The direction adjustment module telescopic supports 18 are electrically connected to the direction control device 26. The direction adjustment module telescopic supports 18 are cylinders.

[0047] In this embodiment, the first screw telescopic mechanism 7 and the second screw telescopic mechanism 41 are of the same type of screw telescopic mechanism. The first screw telescopic mechanism 7 includes a main housing 7.2 of the telescopic mechanism. A first telescopic lead screw 7.1 is rotatably connected inside the main housing 7.2 of the telescopic mechanism. A first telescopic slider 7.3 and a second telescopic lead screw 7.8 are sleeved on the first telescopic lead screw 7.1. Threads are provided on the inner wall of the first telescopic slider 7.3. One side of the first telescopic slider 7.3 is connected to one end of the second telescopic lead screw 7.8. A bearing is provided at the connection between one side of the first telescopic slider 7.3 and the second telescopic lead screw 7.8. The first telescopic slider 7.3 is rotatably connected to the inner wall of the auxiliary housing 7.4 of the first telescopic mechanism. A second telescopic slider 7.5 and a third telescopic lead screw 7.9 are sleeved on the second telescopic lead screw 7.8. Threads are provided on the inner wall of the second telescopic slider 7.5. One side of the second telescopic slider 7.5 is connected to one end of the third telescopic lead screw 7.9. A bearing is provided at the connection between one side of the second telescopic slider 7.5 and the third telescopic lead screw 7.9. The second telescopic slider 7.5 is rotatably connected to the inner wall of the auxiliary housing 7.6 of the second telescopic mechanism. A third telescopic slider 7.7 is sleeved on the third telescopic lead screw 7.9. Threads are provided on the inner wall of the third telescopic slider 7.7. The end of the third telescopic slider 7.7 away from the second telescopic slider 7.5 is connected to a fixed mounting plate. One end of the first telescopic lead screw 7.1 away from the main housing 7.2 of the telescopic mechanism is connected to a connecting shaft 35. The inner wall of the main housing 7.2 of the telescopic mechanism and the outer wall of the auxiliary housing 7.4 of the first telescopic mechanism are slidably connected through a slide rail. The inner wall of the auxiliary housing 7.4 of the first telescopic mechanism and the outer wall of the auxiliary housing 7.6 of the second telescopic mechanism are slidably connected through a slide rail. The inner wall of the auxiliary housing 7.6 of the second telescopic mechanism and the outer wall of the third telescopic slider 7.7 are slidably connected through a slide rail. When the motor drives the first telescopic lead screw 7.1 to rotate, the first telescopic slider 7.3 moves along the first telescopic lead screw 7.1. The first telescopic slider 7.3 pushes the auxiliary housing 7.4 of the first telescopic mechanism to move along the slide rail, and at the same time pushes the second telescopic lead screw 7.8 to move. When the second telescopic lead screw 7.8 moves, it rotates along the thread inside the second telescopic slider 7.5. The second telescopic slider 7.5 moves on the second telescopic lead screw 7.8. The second telescopic slider 7.5 drives the third telescopic lead screw 7.9 and the auxiliary housing 7.6 of the second telescopic mechanism to move. When the third telescopic lead screw 7.9 moves, it rotates and at the same time causes the third telescopic slider 7.7 to perform telescopic movement, thereby realizing the overall telescoping.

[0048] Working principle:

[0049] During use, first start the lifting drive motor 25 in the lifting module 1. The lifting drive motor 25 drives the lifting driven gear and the first sliding lead screw 23 to rotate through the lifting driving gear. The rotation of the first sliding lead screw 23 drives the slide base 3 to move up and down. When the slide base 3 moves up and down, it drives the entire lead screw slide group mechanism 4 to move up and down and uses the third high-definition camera 24 to fix the lead screw slide group mechanism 4 at an appropriate height. Then start the slider drive motor 20. The slider drive motor 20 drives the second sliding lead screw 30 to rotate, causing the slide seat plate 31 and the direction adjustment module 6 to move along the second sliding lead screw 30. After confirming the position of the direction adjustment module 6 through the position sensor 27, turn off the slider drive motor 20. At the same time, start the telescopic support member 18 of the direction adjustment module to support the direction adjustment module 6. Then start the length drive motor 34 to drive the driving pulley 33 to rotate. The driving pulley 33 drives two driven pulleys and two first screw telescopic mechanisms 7 to operate through the conveyor belt. The start of the first screw telescopic mechanism 7 pushes the fixed mounting plate to move, and the specific position of the fixed mounting plate is determined in cooperation with the first high-definition camera 13;

[0050] Start the electric cylinder 36 and drive the main slider 37 at the bottom of the electric cylinder 36 to descend. The main slider 37 drives the secondary slider 40 to move left and right along the second chute through the angle adjustment rod. The connecting rod on one side of the secondary slider 40 passes through the self-locking body connection hole and abuts and presses against the angle adjustment device switch 38 of the compression circular self-locking body 8. Through the extrusion of the angle adjustment device switch 38, the self-locking gear 42 is separated from the self-locking gear groove. After extrusion, the chute column 43 moves along the self-locking chute to unlock the compression circular self-locking body. Retract the secondary slider 40 through the electric cylinder 36. At this time, use the turntable rotation motor to control the pear-shaped turntable 23 to rotate along the arc-shaped groove on the fixed baffle 11. The pear-shaped turntable 23 drives the entire side hook assembly to rotate. When not in use, the pear-shaped turntable 23 can be first controlled by the turntable rotation motor to reset, and then the electric cylinder 39 and the secondary slider 40 cooperate with each other to squeeze the compression circular self-locking body 8 to achieve the reset locking of the compression circular self-locking body 8, realizing the adjustment of the overall angle of the side hook assembly. At the same time, use the telescopic drive motor 21 to drive the second screw telescopic mechanism 41 to rotate and expand and contract, realizing the movement of the entire side hook 9;

[0051] The front hook assembly controls the height and angle of the upper suspension hook 16 by controlling the robotic arm 14 and the telescopic unit, and further realizes the precise control of the upper suspension hook 16 by coordinating the angles of the first hook connecting piece and the second hook connecting piece. Through the above steps, the one-key connection of the entire auxiliary hanging device is realized, and the degree of automation is higher.

[0052] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0053] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A visual auxiliary hitch device for tractor rear-mounted agricultural implements, characterized in that, It includes a base (2), with a lifting module (1) fixed to the top of the base (2). A lead screw sliding group mechanism (4) is slidably connected to one side of the lifting module (1). A direction adjustment module (6) is fixedly connected to the side of the lead screw sliding group mechanism (4) away from the lifting module (1). A fixed mounting plate is fixedly connected to the side of the direction adjustment module (6) away from the lead screw sliding group mechanism (4). Fixed baffles (11) are connected to both ends of the fixed mounting plate. A front hook assembly is connected to the top of the fixed mounting plate, and side hook assemblies are connected to both of the fixed baffles (11).

2. The visualized auxiliary hitch device for the rear hitch of a tractor according to claim 1, characterized in that, The lifting module (1) includes a vertical lifting plate, a horizontal lifting plate, a lifting drive motor (25), a first sliding lead screw (23), a lead screw seat (19), a lead screw fixing plate, a direction control device (26), a lifting driven gear, and a lifting driving gear. The two vertical lifting plates are correspondingly fixed to the top of the base (2). Two horizontal lifting plates are horizontally fixedly connected between the two vertical lifting plates. A lead screw fixing plate is fixedly connected in the vertical direction on one side of the horizontal lifting plate. The first sliding lead screw (23) is connected through two lead screw seats (19) on the lead screw fixing plate. The two lead screw seats (19) are located at both ends of the first sliding lead screw (23). A third high-definition camera (24) is also fixedly connected to the lead screw fixing plate. One end of the first sliding lead screw (23) is fixedly connected to the lifting driven gear. The lead screw sliding group mechanism (4) is connected to the first sliding lead screw (23). A track is provided on the side of the vertical lifting plate close to the first sliding lead screw (23), and the track is slidably connected to the lead screw sliding group mechanism (4). A lifting drive motor (25) and a direction control device (26) are fixedly connected to the side of the horizontal lifting plate away from the lead screw fixing plate. The output end of the lifting drive motor (25) is fixedly connected to the lifting driving gear. The lifting driving gear meshes with the lifting driven gear. The direction control device (26) is electrically connected to the third high-definition camera (24) and the lifting drive motor (25) respectively. The direction control device (26) is connected to the cloud.

3. The visual tractor rear hitch agricultural implement auxiliary hitch device according to claim 2, characterized in that, The screw slide group mechanism (4) includes a screw slide group housing. One side of the screw slide group housing is fixedly connected to a slide base (3). The side of the slide base (3) away from the screw slide group housing is fixedly connected to a lifting fixed block, which is threadedly connected to the first sliding screw rod (23). At both ends of the side of the slide base (3) where the lifting fixed block is provided, there are also first chutes, which can realize the sliding connection between the slide base (3) and the vertical lifting plate. Inside the screw slide group housing, there is a first installation groove, and a fixed bearing seat (28) and a rear bearing seat (32) are fixedly connected in the first installation groove. A second sliding screw rod (30) is connected to the fixed bearing seat (28) and the rear bearing seat (32). One end of the second sliding screw rod (30) close to the fixed bearing seat (28) is fixedly connected to a plum blossom connecting piece (29). Outside the screw slide group housing, there is also a slider driving motor (20). The output end of the slider driving motor (20) penetrates the screw slide group housing and is connected to the plum blossom connecting piece (29). A slide seat plate (31) is connected to the second sliding screw rod (30). The side of the slide seat plate (31) away from the second sliding screw rod (30) is connected to one side of the direction adjustment module (6). An external induction sheet (5) and a plurality of position sensors (27) are also provided on the screw slide group housing. The position sensors (27), the external induction sheet (5), and the slider driving motor (20) are all electrically connected to the direction control device (26).

4. A visual tractor rear hitch agricultural implement auxiliary hitch device according to claim 3, characterized in that, The direction adjustment module (6) includes a direction adjustment housing. One side of the direction adjustment housing is fixedly connected to the slide seat plate (31). Inside the direction adjustment housing, there is a control groove, and a length driving motor (34) is fixedly connected in the control groove. The output end of the length driving motor (34) is fixedly connected to two driving pulleys (33). Two driven pulleys are rotatably connected in the control groove. The two driving pulleys (33) are respectively connected to the two driven pulleys through two conveyor belts. One end of the driven pulley is connected to a connecting shaft (35), and the other end of the connecting shaft (35) is connected to the first screw telescopic mechanism (7). The end of the first screw telescopic mechanism (7) away from the connecting shaft (35) is connected to a fixed mounting plate. The length driving motor (34) is electrically connected to the direction control device (26).

5. A visual tractor rear hitch agricultural implement auxiliary hitch device according to claim 4, characterized in that, An angle adjustment control device and two second sliding grooves are provided on the fixed mounting plate. The two second sliding grooves are arranged at both ends of the side of the fixed mounting plate away from the direction adjustment module (6). The side of the second sliding groove is connected to one side of the fixed baffle (11). The top of the fixed mounting plate is fixedly connected with a first high-definition camera (13). The angle adjustment control device includes an electric cylinder (36), a main slider (37), an angle adjustment rod, and a secondary slider (40). A second mounting groove is also provided on the fixed mounting plate. The electric cylinder (36) is arranged in the second mounting groove. The bottom side of the electric cylinder (36) is fixedly connected with a main slider (37). One end of the main slider (37) is hinged to one end of two angle adjustment rods. The other ends of the two angle adjustment rods are respectively hinged to two secondary sliders (40). The secondary slider (40) is slidably arranged in the second sliding groove. A connecting rod is arranged on one side of the secondary slider (40). The connecting rod passes through the fixed baffle (11) and is connected to the side hook assembly. The electric cylinder (36) and the first high-definition camera (13) are both electrically connected to the direction control device (26).

6. The visual tractor rear hitch agricultural implement auxiliary hitch device according to claim 5, characterized in that, The side hook assembly includes a pear-shaped rotating plate (22), a telescopic driving motor (21), a second spiral telescopic mechanism (41), a compression circular self-locking body (8), a side hook (9), and a tactile sensor (10). A rotating shaft and a hinge groove are fixedly connected to the side of the pear-shaped rotating plate (22) close to the fixed baffle (11). A rotating plate rotating motor is fixedly connected to the side of the fixed baffle (11) close to the hinge groove. The output end of the rotating plate rotating motor is fixedly connected to the pear-shaped rotating plate (22) through the hinge groove. A bearing (39) is also arranged at the circumferential contact between the output end of the rotating plate rotating motor and the inner wall of the hinge groove. An arc-shaped groove is provided on the fixed baffle (11). The rotating shaft extends into the arc-shaped groove. A self-locking body connecting hole is also provided on the pear-shaped rotating plate (22). The bottom end of the side of the pear-shaped rotating plate (22) away from the fixed baffle (11) is connected with a compression circular self-locking body (8) through the self-locking body connecting hole. The compression circular self-locking body (8) abuts against the connecting rod arranged on the secondary slider (40) through the self-locking body connecting hole. A telescopic driving motor (21) is also fixedly connected to the top end of the side of the pear-shaped rotating plate (22) away from the fixed baffle (11). The output end of the telescopic driving motor (21) is connected to the second spiral telescopic mechanism (41). The end of the second spiral telescopic mechanism (41) away from the telescopic driving motor (21) is fixedly connected to the side hook (9). The telescopic driving motor (21) and the rotating plate rotating motor are both electrically connected to the direction control device (26).

7. A visual tractor rear hitch agricultural implement auxiliary hitch device according to claim 6, characterized in that, The compressed circular self-locking body (8) includes an angle adjustment device switch (38), a spring (44), a chute column (43), a self-locking gear (42), a self-locking housing, and a self-locking connection block. A self-locking connection block is arranged inside the self-locking housing. A self-locking gear (42) is fixedly connected to one side of the self-locking connection block. A self-locking gear groove corresponding to the self-locking gear (42) is also arranged on the self-locking housing. An angle adjustment device switch (38) is arranged on the side of the self-locking gear (42) away from the self-locking connection block. The angle adjustment device switch (38) penetrates through the self-locking housing and extends to the outside. The angle adjustment device switch (38) is a fixed shaft. A self-locking chute is arranged on the self-locking connection block. The bottom end of the inner wall of the self-locking housing is circumferentially hinged to one end of the chute column (43). The other end of the chute column (43) is fixedly connected to a sliding column. The sliding column extends into the self-locking chute. A spring (44) is also arranged inside the self-locking housing. One end of the spring (44) abuts against the side of the self-locking connection block away from the self-locking gear (42), and the other end of the spring (44) abuts against the inner wall of the self-locking housing.

8. A visual auxiliary hitch device for a tractor rear hitch agricultural implement according to claim 5, characterized in that, The front hook assembly includes an image information controller (12), a robotic arm (14), a telescopic unit, a second high-definition camera (15), an upper hanging hook (16), a force sensor (17), a first hook connecting piece, a second hook connecting piece, a front hook connecting plate, and a hook connecting platform. The top end of the fixed baffle (11) is fixedly connected to the front hook connecting plate. The image information controller (12) is arranged at the bottom end of the front hook connecting plate. The top end of the front hook connecting plate is respectively hinged to one end of the robotic arm (14) and the telescopic unit. The other ends of the robotic arm (14) and the telescopic unit are both hinged to the hook connecting platform. A robotic arm driving motor is arranged at the hinged part of the robotic arm (14) and the hook connecting platform. A second high-definition camera (15) is arranged on one side of the hook connecting platform. The top end of the hook connecting platform is hinged to one end of the first hook connecting piece and the second hook connecting piece. The other ends of the first hook connecting piece and the second hook connecting piece are hinged to the upper hanging hook (16). A worm gear is fixedly connected to the hinge shaft at the hinged part of the first hook connecting piece and the hook connecting platform. A steering gear is also fixedly arranged on the hook connecting platform. The output end of the steering gear is fixedly connected to a worm. The worm gear and the worm are meshed with each other. A force sensor (17) is arranged on the upper hanging hook (16). The force sensor (17), the steering gear, the robotic arm driving motor, and the second high-definition camera (15) are all electrically connected to the image information controller (12). The image information controller (12) is connected to the cloud.

9. A visual auxiliary hitch device for a tractor rear hitch agricultural implement according to claim 2, characterized in that, A plurality of direction adjustment module telescopic support members (18) are also fixedly connected to the top end of the base (2). The direction adjustment module telescopic support members (18) are electrically connected to the direction control device (26). The direction adjustment module telescopic support members (18) are cylinders.

10. A visual auxiliary hitch device for a tractor rear hitch implement according to claim 6, characterized in that, The first screw telescopic mechanism (7) and the second screw telescopic mechanism (41) are the same kind of screw telescopic mechanism. The first screw telescopic mechanism (7) includes a main housing (7.2) of the telescopic mechanism. A first telescopic lead screw (7.1) is rotatably connected inside the main housing (7.2) of the telescopic mechanism. A first telescopic slider (7.3) and a second telescopic lead screw (7.8) are sleeved on the first telescopic lead screw (7.1). Threads are provided on the inner wall of the first telescopic slider (7.3). One side of the first telescopic slider (7.3) is connected to one end of the second telescopic lead screw (7.8). A bearing is provided at the connection between one side of the first telescopic slider (7.3) and the second telescopic lead screw (7.8). The first telescopic slider (7.3) is rotatably connected to the inner wall of the auxiliary housing (7.4) of the first telescopic mechanism. A second telescopic slider (7.5) and a third telescopic lead screw (7.9) are sleeved on the second telescopic lead screw (7.8). Threads are provided on the inner wall of the second telescopic slider (7.5). One side of the second telescopic slider (7.5) is connected to one end of the third telescopic lead screw (7.9). A bearing is provided at the connection between one side of the second telescopic slider (7.5) and the third telescopic lead screw (7.9). The second telescopic slider (7.5) is rotatably connected to the inner wall of the auxiliary housing (7.6) of the second telescopic mechanism. A third telescopic slider (7.7) is sleeved on the third telescopic lead screw (7.9). Threads are provided on the inner wall of the third telescopic slider (7.7). The end of the third telescopic slider (7.7) away from the second telescopic slider (7.5) is connected to a fixed mounting plate. One end of the first telescopic lead screw (7.1) away from the main housing (7.2) of the telescopic mechanism is connected to a connecting shaft (35). The inner wall of the main housing (7.2) of the telescopic mechanism and the outer wall of the auxiliary housing (7.4) of the first telescopic mechanism are slidably connected through a slide rail. The inner wall of the auxiliary housing (7.4) of the first telescopic mechanism and the outer wall of the auxiliary housing (7.6) of the second telescopic mechanism are slidably connected through a slide rail. The inner wall of the auxiliary housing (7.6) of the second telescopic mechanism and the outer wall of the third telescopic slider (7.7) are slidably connected through a slide rail.

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