Visualized tractor rear-mounted agricultural machine auxiliary hitching device

Abstract

The application discloses a visual tractor rear suspension agricultural implement auxiliary hitching device and belongs to the field of agricultural machinery applications. The device comprises a base, the top end of the base is fixed with a lifting module, the lifting module is slidably connected with a lead screw sliding group mechanism on one side, the lead screw sliding group mechanism is fixedly connected with a direction adjusting module on the side far from the lifting module, the direction adjusting module is fixedly connected with a fixed mounting plate on the side far from the lead screw sliding group mechanism, both ends of the fixed mounting plate are connected with fixed baffles, the top end of the fixed mounting plate is connected with a front hook assembly, and both the fixed baffles are connected with side hook assemblies. The lifting module, the lead screw sliding group mechanism, the direction adjusting module, the front hook assembly and the side hook assemblies are arranged, so that the connection between the rear suspension connecting device and the agricultural implement can be realized through cab flat operation without manual operation. The overall connection precision is higher, the safety hidden danger is reduced, and the connection is easier to realize.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery application, specifically relating to a visual tractor rear suspension agricultural implement auxiliary attachment device. Background Technology

[0002] Most existing tractor rear suspension connection devices are manually connected. First, the lower tie rod must be installed, ensuring it aligns with the connection point between the frame and the suspension system, and the nuts tightened. Next, the upper tie rod is installed, aligned with the upper suspension point of the implement, and the bolts tightened. Finally, the lifting arm is installed and the hydraulic cylinder connected; the positions of all components are adjusted to ensure a secure and tight connection.

[0003] This method suffers from low precision, significant safety hazards, and the potential for damage to components due to improper operation. Furthermore, it requires multi-dimensional adjustments to the tilt angle and spatial position of the connecting hook during installation, making it unsuitable for continuous tractor operation. Manual adjustments are also time-consuming and labor-intensive, exacerbating component wear and maintenance costs.

[0004] Therefore, how to provide a visual auxiliary attachment device for tractor rear suspension agricultural implements is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The main objective of this invention is to provide a visual auxiliary attachment device for tractor rear suspension implements to solve the aforementioned technical problems. This device includes a lifting module, a lead screw sliding mechanism, a direction adjustment module, a front hook assembly, and a side hook assembly. It enables the connection between the rear suspension attachment device and the implement via a cab-mounted flatbed operation without manual intervention. Furthermore, it offers higher overall connection accuracy, reduced safety hazards, and easier connection.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A visual tractor rear suspension agricultural implement auxiliary attachment device includes a base, a lifting module fixed to the top of the base, a screw slide mechanism slidably connected to one side of the lifting module, a direction adjustment module fixedly connected to the side of the screw slide mechanism away from the lifting module, a fixed mounting plate fixedly connected to the side of the direction adjustment module away from the screw slide mechanism, fixed baffles connected to both ends of the fixed mounting plate, a front hook assembly connected to the top of the fixed mounting plate, and side hook assemblies 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 drive gear. Two vertical lifting plates are correspondingly fixed to the top of the base. Two horizontal lifting plates are horizontally fixedly connected to the two vertical lifting plates. A lead screw fixing plate is fixedly connected vertically to one side of each horizontal lifting plate. The first sliding lead screw is connected to the lead screw fixing plate via two lead screw seats, with the two lead screw seats 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. The first sliding screw has a lifting driven gear fixedly connected to one end, and a screw sliding mechanism is connected to the first sliding screw. A track is provided on the side of the vertical lifting plate near the first sliding screw, and the track is slidably connected to the screw sliding mechanism. A lifting drive motor and a direction control device are fixedly connected on the side of the horizontal lifting plate away from the screw fixing plate. A lifting drive gear is fixedly connected to the output end of the lifting drive motor, and the lifting drive 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, and the direction control device is connected to the cloud.

[0009] Furthermore, the lead screw slide mechanism includes a lead screw slide housing. A slide base is fixedly connected to one side of the lead screw slide housing. A lifting and fixing block is fixedly connected to the side of the slide base away from the lead screw slide housing. The lifting and 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 slide base where the lifting and fixing block is located. The first sliding grooves enable a sliding connection between the slide base and the vertical lifting plate. A first mounting groove is provided inside the lead screw slide housing. A fixed bearing seat and a rear bearing seat are fixedly connected within the first mounting groove. The fixed bearing seat and the rear bearing seat... A second sliding lead screw is connected, and a perforated connector is fixedly connected to one end of the second sliding lead screw near the fixed bearing seat. A slider drive motor is also provided on the outside of the lead screw slide assembly housing. The output end of the slider drive motor passes through the lead screw slide assembly housing and is connected to the perforated connector. A slide plate is connected to the second sliding lead screw. The side of the slide plate away from the second sliding lead screw is connected to the side of the direction adjustment module. An external sensing plate and multiple position sensors are also provided on the lead screw slide assembly housing. The position sensors, the external sensing plate, 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 which is fixedly connected to a slide plate. A control groove is provided inside the direction adjustment housing, and a length drive motor is fixedly connected inside the control groove. Two drive pulleys are fixedly connected to the output end of the length drive motor, and two driven pulleys are rotatably connected inside the control groove. The two drive pulleys are respectively connected to the two driven pulleys via two conveyor belts. One end of the driven pulley is connected to a connecting shaft, and the other end of the connecting shaft is connected to a first spiral telescopic mechanism. The end of the first spiral telescopic mechanism away from the connecting shaft is connected to a fixed mounting plate. The length drive motor is electrically connected to the direction control device.

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

[0012] Furthermore, the side hook assembly includes a pear-shaped rotating plate, a telescopic drive motor, a second spiral telescopic mechanism, a compressible 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 near the fixed baffle. A rotating plate rotation motor is fixedly connected to the side of the fixed baffle near the hinge groove. The output end of the rotating plate rotation motor is fixedly connected to the pear-shaped rotating plate through the hinge groove. A bearing is also provided at the circumferential contact point between the output end of the rotating plate rotation motor and the inner wall of the hinge groove. An arc-shaped groove is provided on the fixed baffle, and the rotating shaft extends into the arc-shaped groove. The pear-shaped rotating plate is also provided with a self-locking body connection hole. The bottom end of the pear-shaped rotating plate away from the fixed baffle is connected to a compressed circular self-locking body through the self-locking body connection hole. The compressed circular self-locking body abuts against the connecting rod provided on the auxiliary slider through the self-locking body connection hole. The top end of the pear-shaped rotating plate away from the fixed baffle is also fixedly connected to a telescopic drive motor. The output end of the telescopic drive motor is connected to the second spiral telescopic mechanism. The end of the second spiral telescopic mechanism away from the telescopic drive motor is fixedly connected to the side hook. The telescopic drive motor and the rotating plate rotation motor are both electrically connected to the direction control device.

[0013] Furthermore, the compressed circular self-locking body includes an angle adjustment device switch, a spring, a sliding column, a self-locking gear, a self-locking housing, and a self-locking connecting block. The self-locking housing contains the self-locking connecting block, and a self-locking gear is fixedly connected to one side of the self-locking connecting block. The self-locking housing also has a self-locking gear groove corresponding to the self-locking gear. An angle adjustment device switch is located on the side of the self-locking gear away from the self-locking connecting block, extending through the self-locking housing to the outside. The angle adjustment device switch is a fixed shaft. A self-locking sliding groove is provided on the self-locking connecting block. The bottom end of the inner wall of the self-locking housing is circumferentially hinged to one end of the sliding column. A sliding column is fixedly connected to the other end of the sliding column, extending into the self-locking sliding groove. A spring is also provided inside the self-locking housing, with one end abutting against the side of the self-locking connecting block away from the self-locking gear, and the other end abutting against the inner wall of the self-locking housing.

[0014] Furthermore, the front hook assembly includes an image information controller, a robotic arm, a telescopic unit, a second high-definition camera, an upper hanging hook, a force sensor, a first hook connector, a second hook connector, a front hook connecting plate, and a hook connecting platform. The front hook connecting plate is fixedly connected to the top of the fixed baffle, and an image information controller is located at the bottom of the front hook connecting plate. The top of the front hook connecting plate is hinged to one end of the robotic arm and one end of the telescopic unit, respectively. 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 located at the hinge point between the robotic arm and the hook connecting platform. A hook connecting platform is located on one side. The second high-definition camera has a hook connecting platform with one end of the first hook connecting member and the second hook connecting member. The other end of the first hook connecting member and the second hook connecting member is hinged to the upper hanging hook. A worm gear is fixedly connected to the hinge shaft at the hinge point of the first hook connecting member and the hook connecting platform. A servo motor is also fixedly installed on the hook connecting platform. A worm is fixedly connected to the output end of the servo motor. The worm gear and the worm mesh with each other. A force sensor is installed on the upper hanging hook. The force sensor, servo motor, 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] Furthermore, the top of the base is also fixedly connected with multiple telescopic support components for the direction adjustment module. The telescopic support components for the direction adjustment module are electrically connected to the direction control device, and the telescopic support components for the direction adjustment module are cylinders.

[0016] Furthermore, the first and second spiral telescopic mechanisms are the same type of spiral telescopic mechanism. The first spiral telescopic mechanism includes a main telescopic housing, within which a first telescopic screw is rotatably connected. A first telescopic slider and a second telescopic screw are sleeved on the first telescopic screw. The inner wall of the first telescopic slider is threaded. One side of the first telescopic slider is fixedly connected to one end of the second telescopic screw. The first telescopic slider is rotatably connected to the inner wall of the auxiliary housing of the first telescopic mechanism. The second telescopic screw is sleeved with a second telescopic slider and a third telescopic screw. The inner wall of the second telescopic slider is threaded. One side of the second telescopic slider is fixedly connected to one end of the third telescopic screw. The second telescopic slider is rotatably connected to the inner wall of the auxiliary housing of the second telescopic mechanism. The third telescopic screw is sleeved with a third telescopic slider. The inner wall of the third telescopic slider is threaded. 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 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) The present invention is equipped with a lifting module, a screw slide mechanism, a direction adjustment module, a front hook assembly and a side hook assembly, which can connect the rear suspension connection device and the agricultural implement through the operation of the cab flat plate without manual intervention; and the overall connection accuracy is higher, the safety hazards are reduced, and the connection is easier to perform.

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

[0020] (3) The direction control device, microcontroller and image information controller in this invention are all connected to the cloud for signal transmission. They can work separately through the cab tablet, thereby achieving collaborative work of target recognition and positioning through the vision system and sensors, improving the efficiency of the connection and reducing wear and tear during the connection process.

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

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the device of the present invention.

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

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

[0026] Figure 4 This is a schematic diagram of the lead screw slide block structure in the direction adjustment module of the present invention.

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

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

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

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

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

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

[0033] Figure 11 This is a schematic cross-sectional view of the first spiral telescopic mechanism of the present invention after it is closed.

[0034] Figure 12 This is a schematic cross-sectional view of the first spiral telescopic mechanism of the present invention after it has been extended.

[0035] Among them, 1-lifting module, 2-base, 3-slide table base, 4-screw sliding mechanism, 5-external sensor plate, 6-direction adjustment module, 7-first spiral telescopic mechanism, 7.1-first telescopic 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 screw, 7.9-third telescopic screw, 8-compressible 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 seat, 20-Slider drive motor, 21-Telescopic drive motor, 22-Pear-shaped rotating plate, 23-First sliding 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 screw, 31-Slide plate, 32-Rear bearing seat, 33-Drive pulley, 34-Length drive motor, 35-Connecting shaft, 36-Electric cylinder, 37-Main slider, 38-Angle adjustment device switch, 39-Bearing, 40-Second slider, 41-Second spiral telescopic mechanism, 42-Self-locking gear, 43-Slide column, 44-Spring. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] like Figures 1-12 As shown, the present invention provides a visual tractor rear suspension agricultural implement auxiliary attachment device, including a base 2, a lifting module 1 fixed at the top of the base 2, a screw slide mechanism 4 slidably connected to one side of the lifting module 1, a direction adjustment module 6 fixedly connected to the side of the screw slide mechanism 4 away from the lifting module 1, a fixed mounting plate fixedly connected to the side of the direction adjustment module 6 away from the screw slide mechanism 4, fixed baffles 11 connected to both ends of the fixed mounting plate, a front hook assembly connected to the top of the fixed mounting plate, and side hook assemblies connected to both 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 drive gear. Two vertical lifting plates are fixedly mounted on the top of the base 2. Two horizontal lifting plates are horizontally fixedly connected to the two vertical lifting plates. A lead screw fixing plate is fixedly connected vertically to one side of each horizontal lifting plate. The first sliding lead screw 23 is connected to the lead screw fixing plate via two lead screw seats 19, 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. A lifting driven gear is fixedly connected to one end of the first sliding lead screw 23. A lead screw sliding mechanism 4 is connected to the first sliding lead screw 23. The vertical lifting plate... A track is provided on the side near the first sliding lead screw 23, and the track is slidably connected to the lead screw sliding mechanism 4. A lifting drive motor 25 and a direction control device 26 are fixedly connected on the side of the transverse lifting plate away from the lead screw fixing plate. A lifting drive gear is fixedly connected to the output end of the lifting drive motor 25. The lifting drive gear and the lifting driven gear mesh with each other. 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 and is a PLC controller that can be controlled by mobile phones, computers, etc. The lifting drive motor 25 drives the lifting drive gear to rotate, the lifting drive gear drives the lifting driven gear to rotate, and the lifting driven gear drives the first sliding lead screw 23 to rotate, thereby realizing the movement of the lead screw sliding mechanism 4 on the first sliding lead screw 23.

[0039] In this embodiment, the lead screw slide mechanism 4 includes a lead screw slide housing. A slide base 3 is fixedly connected to one side of the lead screw slide housing. A lifting fixing block is fixedly connected to the side of the slide base 3 away from the lead screw slide housing. The lifting fixing block is threadedly connected to the first sliding lead screw 23. The slide base 3 has first sliding grooves at both ends on the side where the lifting fixing block is located. The first sliding grooves enable the slide base 3 to slide with the vertical lifting plate. A first mounting groove is provided inside the lead screw slide housing. A fixed bearing seat 28 and a rear bearing seat 32 are fixedly connected in the first mounting groove. A second sliding lead screw 30 is connected to the fixed bearing seat 28 and the rear bearing seat 32. The second sliding lead screw 30 is close to... One end of the fixed bearing housing 28 is fixedly connected to a plum blossom connector 29. A slider drive motor 20 is also provided on the outside of the lead screw slide housing. The output end of the slider drive motor 20 passes through the lead screw slide housing and is connected to the plum blossom connector 29. A slide plate 31 is connected to the second sliding lead screw 30. The side of the slide plate 31 away from the second sliding lead screw 30 is connected to the side of the direction adjustment module 6. An external sensing plate 5 and multiple position sensors 27 are also provided on the lead screw slide housing. The position sensors 27, the external sensing plate 5, and the slider drive motor 20 are all electrically connected to the direction control device 26. The slide table 3 slides through the first slide groove and the vertical lifting plate to restrict the slide table 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 plate 31. A control groove is provided inside the direction adjustment housing. A length drive motor 34 is fixedly connected inside the control groove. Two active pulleys 33 are fixedly connected to the output end of the length drive motor 34. Two driven pulleys are rotatably connected inside the control groove. The two active 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. The other end of the connecting shaft 35 is connected to a first spiral telescopic mechanism 7. The end of the first spiral telescopic mechanism 7 away from the connecting shaft 35 is connected to a fixed mounting plate. The length drive motor 34 is electrically connected to the direction control device 26. The first spiral telescopic mechanism 7 mainly achieves spiral telescopic movement through a threaded cylinder and a threaded column. The threaded cylinder and the threaded column are fixed on different structures. When one structure rotates, the other structure rotates relative to it, thereby realizing the telescopic movement of the first spiral telescopic mechanism 7.

[0041] In this embodiment, the fixed mounting plate is provided with an angle adjustment control device and two second sliding grooves. The two second sliding grooves are located at both ends of the fixed mounting plate away from the direction adjustment module 6. The sides of the second sliding grooves are connected to one side of the fixed baffle 11. A first high-definition camera 13 is fixedly connected to the top of the fixed mounting plate. The angle adjustment control device includes an electric cylinder 36, a main slider 37, an angle adjustment rod, and a secondary slider 40. The fixed mounting plate is also provided with a second mounting groove, in which the electric cylinder 36 is disposed. The main slider 37 is fixedly connected to the bottom side of the electric cylinder 36. The main slider 37 is hinged to one end of the two angle adjustment rods, and the other ends of the two angle adjustment rods are respectively hinged to the two secondary sliders 40. The secondary slider 40 is slidably disposed in the second slide groove. A connecting rod is provided 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. The first high-definition camera 13 is used to monitor the angle of the side hook assembly, so as to facilitate the adjustment of the side hook assembly. The fixed baffle 11 is used to connect the side hook assembly. The electric cylinder 36 can drive the main slider 37 to perform up and down extension and retraction movements. When the main slider 37 moves up and down, it drives the angle adjustment rod to open or close, so as to control the left and right position of the secondary slider 40. When the secondary slider 40 moves left and right, it pushes the connecting rod to contact the compression circular self-locking body 8, so as to control 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 drive motor 21, a second spiral telescopic mechanism 41, a compressible 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 near the fixed baffle 11. A rotating plate rotating motor is fixedly connected to the side of the fixed baffle 11 near 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 provided at the circumferential contact point 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. The bottom end of the pear-shaped rotating plate 22 away from the fixed baffle 11 is connected to the self-locking body through the self-locking body connection hole. A compression circular self-locking body 8 is connected, and the compression circular self-locking body 8 abuts against the connecting rod provided on the auxiliary slider 40 through the self-locking body connecting hole. The top of the pear-shaped rotating plate 22 away from the fixed baffle 11 is also fixedly connected to a telescopic drive motor 21. The output end of the telescopic drive motor 21 is connected to the second spiral telescopic mechanism 41. The end of the second spiral telescopic mechanism 41 away from the telescopic drive motor 21 is fixedly connected to the side hook 9. The telescopic drive motor 21 and the rotating plate rotation motor are both electrically connected to the direction control device 26. The rotating plate rotation 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 auxiliary slider 40 to compress the spring 44 and control the self-locking state of the compression circular self-locking body 8. The second spiral telescopic mechanism 41 and the first spiral telescopic mechanism 7 have the same structure.

[0043] The side hook 9 can be a side hook structure similar to the upper hanging hook 16, or it can include a lever assembly, a side connecting cylinder, a clamping head, and a cylinder. The side connecting cylinder is L-shaped, with one end connected to the second spiral telescopic mechanism 41, and the other end hinged to the two clamping heads through the lever assembly. The lever assembly includes multiple levers that are 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 is controlled by the extension and retraction 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 sliding post 43, a self-locking gear 42, a self-locking housing, and a self-locking connecting block. The self-locking housing contains the self-locking connecting block, and the self-locking gear 42 is fixedly connected to one side of the self-locking connecting block. The self-locking housing also has a self-locking gear groove corresponding to the self-locking gear 42. An angle adjustment device switch 38 is located on the side of the self-locking gear 42 away from the self-locking connecting block. The angle adjustment device switch 38 extends through the self-locking housing to the outside and is a fixed shaft. The self-locking connecting block has a self-locking sliding groove. The bottom end of the inner wall of the self-locking housing is circumferentially hinged to one end of the sliding post 43, and the other end of the sliding post 43 is fixed... A sliding column is fixedly connected to the self-locking groove. A spring 44 is also provided inside the self-locking housing. One end of the spring 44 abuts against the side of the self-locking connecting 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. When in use, the auxiliary slider 40 will press the angle adjustment device switch 38 and the self-locking gear 42. When pressed, the sliding column 43 swings due to the hinge at one end of the self-locking housing inner wall. The end of the sliding column 43 with the sliding column will move along the heart-shaped self-locking groove. When pressed, the sliding column will reach the top of the heart-shaped self-locking groove. When released, the sliding column enters the recess of the heart-shaped self-locking groove to unlock. When pressed down again, the sliding column on the sliding column 43 returns along the original path to lock.

[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 hanging hook 16, a force sensor 17, a first hook connector, a second hook connector, 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, and 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 hinged to one end of the robotic arm 14 and the telescopic unit, respectively. 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 point between the robotic arm 14 and the hook connecting platform. The 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 connector and the second hook connector. The other ends of the first hook connector and the second hook connector are hinged to the upper hanging hook 16. A hinge shaft is fixedly connected to the hinge point between the first hook connector and the hook connecting platform. The system includes a worm gear and a servo motor fixedly mounted on the hook connection platform. The output end of the servo motor is fixedly connected to a worm. The worm gear and worm mesh with each other. A force sensor 17 is mounted on the upper suspension hook 16. The force sensor 17, servo motor, robotic arm drive motor, and second high-definition camera 15 are all electrically connected to an image information controller 12, which is connected to the cloud. The force sensor 17 detects the contact force between the end of the robotic arm 14 and the agricultural implement. Through feedback from the force sensor 17, force control can be achieved on the upper suspension hook 16 of the robotic arm 14. The second high-definition camera 15 serves as a vision sensor for the robotic arm 14, used for target recognition and positioning, and also transmits real-time images during operation, facilitating angle adjustment of the upper suspension hook 16. The image information controller 12 can be a PLC controller, capable of connecting to the cloud and being controlled via mobile phones, computers, etc. The angle control of the upper suspension hook 16 can be achieved through the cooperation of the servo motor, worm gear, and worm, resulting in a more stable connection.

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

[0047] In this embodiment, the first spiral telescopic mechanism 7 and the second spiral telescopic mechanism 41 are the same type of spiral telescopic mechanism. The first spiral telescopic mechanism 7 includes a telescopic mechanism main housing 7.2. A first telescopic screw 7.1 is rotatably connected inside the telescopic mechanism main housing 7.2. A first telescopic slider 7.3 and a second telescopic screw 7.8 are sleeved on the first telescopic screw 7.1. The inner wall of the first telescopic slider 7.3 is provided with threads. One side of the first telescopic slider 7.3 is connected to one end of the second telescopic screw 7.8. A bearing is provided at the connection between the first telescopic slider 7.3 and the second telescopic screw 7.8. Block 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 screw 7.9 are fitted onto the second telescopic screw 7.8. The inner wall of the second telescopic slider 7.5 is threaded. One side of the second telescopic slider 7.5 is connected to one end of the third telescopic screw 7.9. A bearing is provided at the connection point between the second telescopic slider 7.5 and the third telescopic 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 fitted onto the third telescopic screw 7.9. The inner wall of the third telescopic slider 7.7 is provided with… The threaded connection includes a third telescopic slider 7.7, with its end furthest from the second telescopic slider 7.5, connected to a fixed mounting plate; a first telescopic lead screw 7.1, with its end furthest from the main housing 7.2 of the telescopic mechanism, connected to a connecting shaft 35; the inner wall of the main housing 7.2 of the telescopic mechanism is slidably connected to the outer wall of the first auxiliary housing 7.4 of the telescopic mechanism via a slide rail; the inner wall of the first auxiliary housing 7.4 of the telescopic mechanism is slidably connected to the outer wall of the second auxiliary housing 7.6 of the telescopic mechanism via a slide rail; and the inner wall of the second auxiliary housing 7.6 of the telescopic mechanism is slidably connected to the outer wall of the third telescopic slider 7.7 via a slide rail. When the motor drives the first telescopic lead screw 7.1 to rotate, the first telescopic slider... 7.3 Move along the first telescopic screw 7.1. The first telescopic slider 7.3 pushes the first telescopic mechanism auxiliary housing 7.4 to move along the slide rail, which in turn pushes the second telescopic screw 7.8 to move. When moving, the second telescopic screw 7.8 rotates along the internal thread of the second telescopic slider 7.5. The second telescopic slider 7.5 moves on the second telescopic screw 7.8. The second telescopic slider 7.5 drives the third telescopic screw 7.9 and the second telescopic mechanism auxiliary housing 7.6 to move. When moving, the third telescopic screw 7.9 rotates, which simultaneously causes the third telescopic slider 7.7 to telescopically move, thereby realizing the overall telescopic movement.

[0048] Working principle:

[0049] In use, firstly, 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 screw 23 to rotate through the lifting active gear. The rotation of the first sliding screw 23 drives the slide table 3 to move up and down. When the slide table 3 moves up and down, it drives the entire screw sliding mechanism 4 to move up and down. The third high-definition camera 24 fixes the screw sliding mechanism 4 to a suitable height. Then, start the slider drive motor 20. The slider drive motor 20 drives the second sliding screw 30 to rotate, so that the slide plate 31 and the direction adjustment module 6 move along the second sliding 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 direction adjustment module telescopic support 18 to support the direction adjustment module 6. Start the length drive motor 34 to drive the active pulley 33 to rotate. The active drive 33 drives the two driven pulleys and the two first spiral telescopic mechanisms 7 to rotate through the conveyor belt. The first spiral telescopic mechanism 7 starts to push the fixed mounting plate to move. The first high-definition camera 13 determines the specific position of the fixed mounting plate.

[0050] The electric cylinder 36 is activated, causing the main slider 37 at its bottom to descend. The main slider 37, via an angle adjustment rod, drives the auxiliary slider 40 to move left and right along the second slide groove. A connecting rod on one side of the auxiliary slider 40 passes through the self-locking body connecting hole and abuts against and presses against the angle adjustment device switch 38 of the compressed circular self-locking body 8. This pressing action of the angle adjustment device switch 38 separates the self-locking gear 42 from the self-locking gear groove. After pressing, the slide column 43 moves along the self-locking slide groove, unlocking the compressed circular self-locking body. The auxiliary slider 40 is then retracted via the electric cylinder 36. At this point, the rotation... The plate rotation motor controls the pear-shaped rotating plate 23 to rotate along the arc groove on the fixed baffle 11. The pear-shaped rotating plate 23 drives the entire side hook assembly to rotate. When not in use, the pear-shaped rotating plate 23 can be reset by controlling the plate rotation motor. Then, the electric cylinder 36 and the auxiliary slider 40 work together to squeeze the compressed circular self-locking body 8 to reset and lock the compressed circular self-locking body 8, thereby adjusting the overall angle of the side hook assembly. At the same time, the telescopic drive motor 21 drives the second spiral telescopic mechanism 41 to rotate and extend, thereby moving the side hook 9 as a whole.

[0051] The front hook assembly controls the height and angle of the upper hanging hook 16 by controlling the robotic arm 14 and the telescopic unit. Furthermore, it works in conjunction with the angles of the first hook connector and the second hook connector to achieve more precise control of the upper hanging hook 16. Through the above steps, the entire auxiliary hooking device can be connected with one click, resulting in a higher degree of automation.

[0052] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0053] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A visual auxiliary attachment device for tractor rear suspension agricultural implements, characterized in that, Includes a base (2), a lifting module (1) is fixed to the top of the base (2), a screw slide 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 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 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 fixed baffles (11). 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 drive gear. The two vertical lifting plates are fixedly fixed to the top of the base (2). Two horizontal lifting plates are fixedly connected to the two vertical lifting plates. A lead screw fixing plate is fixedly connected to one side of the horizontal lifting plate in the vertical direction. 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. A sliding lead screw (23) is fixedly connected to a lifting driven gear at one end. A lead screw sliding 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). The track is slidably connected to the lead screw sliding mechanism (4). A lifting drive motor (25) and a direction control device (26) are fixedly connected on the side of the horizontal lifting plate away from the lead screw fixed plate. A lifting drive gear is fixedly connected to the output end of the lifting drive motor (25). The lifting drive gear and the lifting driven gear mesh with each other. 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 lead screw slide mechanism (4) includes a lead screw slide housing. A slide base (3) is fixedly connected to one side of the lead screw slide housing. A lifting fixing block is fixedly connected to the side of the slide base (3) away from the lead screw slide housing. The lifting fixing block is threadedly connected to the first sliding lead screw (23). The slide base (3) is provided with first sliding grooves at both ends on the side where the lifting fixing block is provided. The first sliding grooves can realize the sliding connection between the slide base (3) and the vertical lifting plate. A first mounting groove is provided inside the lead screw slide housing. A fixed bearing seat (28) and a rear bearing seat (32) are fixedly connected in the first mounting groove. A second sliding lead screw (30) is connected to the fixed bearing seat (28) and the rear bearing seat (32). A plum blossom connector (29) is fixedly connected to one end of the moving lead screw (30) near the fixed bearing seat (28). A slider drive motor (20) is also provided on the outside of the lead screw slide housing. The output end of the slider drive motor (20) passes through the lead screw slide housing and is connected to the plum blossom connector (29). A slide plate (31) is connected to the second sliding lead screw (30). The side of the slide plate (31) away from the second sliding lead screw (30) is connected to the side of the direction adjustment module (6). An external sensing plate (5) and multiple position sensors (27) are also provided on the lead screw slide housing. The position sensors (27), the external sensing plate (5), and the slider drive motor (20) are all electrically connected to the direction control device (26). The direction adjustment module (6) includes a direction adjustment housing. One side of the direction adjustment housing is fixedly connected to the slide plate (31). A control slot is provided inside the direction adjustment housing. A length drive motor (34) is fixedly connected inside the control slot. Two active pulleys (33) are fixedly connected to the output end of the length drive motor (34). Two driven pulleys are rotatably connected inside the control slot. The two active pulleys (33) are respectively connected to the two driven pulleys through two conveyor belts. The driven pulleys are connected to one end of the connecting shaft (35). The other end of the connecting shaft (35) is connected to the first spiral telescopic mechanism (7). The end of the first spiral telescopic mechanism (7) away from the connecting shaft (35) is connected to the fixed mounting plate. The length drive motor (34) is electrically connected to the direction control device (26). The fixed mounting plate is provided with an angle adjustment control device and two second sliding grooves. The two second sliding grooves are located at both ends of the fixed mounting plate away from the direction adjustment module (6). The sides of the second sliding grooves are connected to one side of the fixed baffle (11). A first high-definition camera (13) is fixedly connected to the top of the fixed mounting plate. The angle adjustment control device includes an electric cylinder (36), a main slider (37), an angle adjustment rod, and a secondary slider (40). The fixed mounting plate is also provided with a second mounting groove, in which an electric cylinder is installed. The cylinder (36) has a main slider (37) fixedly connected to the bottom side of the electric cylinder (36). The main slider (37) is hinged to one end of two angle adjustment rods, and the other end of the two angle adjustment rods is hinged to two auxiliary sliders (40) respectively. The auxiliary sliders (40) are slidably arranged in the second slide groove. A connecting rod is provided on one side of the auxiliary sliders (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). 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 connector, a second hook connector, a front hook connecting plate, and a hook connecting platform. The front hook connecting plate is fixedly connected to the top of the fixed baffle (11), and the image information controller (12) is provided at the bottom of the front hook connecting plate. The top of the front hook connecting plate is hinged to one end of the robotic arm (14) and the telescopic unit, respectively. The other ends of the robotic arm (14) and the telescopic unit are hinged to the hook connecting platform. A robotic arm drive motor is provided at the hinge point between the robotic arm (14) and the hook connecting platform. A hook connecting platform is provided on one side. There is a second high-definition camera (15). The top of the hook connecting platform is hinged to one end of the first hook connector and the second hook connector. The other end of the first hook connector and the second hook connector is hinged to the upper hanging hook (16). A worm gear is fixedly connected to the hinge shaft at the hinge point of the first hook connector and the hook connecting platform. A servo motor is also fixedly installed on the hook connecting platform. A worm is fixedly connected to the output end of the servo motor. The worm gear and the worm mesh with each other. A force sensor (17) is installed on the upper hanging 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.

2. The visual tractor rear suspension agricultural implement auxiliary attachment device according to claim 1, characterized in that, The side hook assembly includes a pear-shaped rotating plate (22), a telescopic drive motor (21), a second spiral telescopic mechanism (41), a compressible 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) near the fixed baffle (11). A rotating plate rotary motor is fixedly connected to the side of the fixed baffle (11) near the hinge groove. The output end of the rotating plate rotary 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 point between the output end of the rotating plate rotary 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. The pear-shaped rotating plate (22) is also provided with a self-locking body connection hole. The bottom end of the side away from the fixed baffle (11) of the pear-shaped rotating plate (22) is connected to a compressed circular self-locking body (8) through the self-locking body connection hole. The compressed circular self-locking body (8) abuts against the connecting rod provided on the auxiliary slider (40) through the self-locking body connection hole. The top end of the side away from the fixed baffle (11) of the pear-shaped rotating plate (22) is also fixedly connected to a telescopic drive motor (21). The output end of the telescopic drive motor (21) is connected to the second spiral telescopic mechanism (41). The end of the second spiral telescopic mechanism (41) away from the telescopic drive motor (21) is fixedly connected to the side hook (9). The telescopic drive motor (21) and the rotating plate rotation motor are both electrically connected to the direction control device (26).

3. The visual tractor rear suspension agricultural implement auxiliary attachment device according to claim 2, characterized in that, The compressed circular self-locking body (8) includes an angle adjustment device switch (38), a spring (44), a sliding column (43), a self-locking gear (42), a self-locking housing, and a self-locking connecting block. The self-locking housing contains a self-locking connecting block, and a self-locking gear (42) is fixedly connected to one side of the self-locking connecting block. The self-locking housing also has a self-locking gear groove corresponding to the self-locking gear (42). An angle adjustment device switch (38) is located on the side of the self-locking gear (42) away from the self-locking connecting block. 8) Extending through the self-locking housing to the outside, the angle adjustment device switch (38) is a fixed shaft, a self-locking groove is provided on the self-locking connecting block, the bottom end of the self-locking housing is circumferentially hinged to one end of the groove column (43), the other end of the groove column (43) is fixedly connected to a sliding column, the sliding column extends into the self-locking groove, a spring (44) is also provided in the self-locking housing, one end of the spring (44) abuts against the side of the self-locking connecting 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.

4. The visual tractor rear suspension agricultural implement auxiliary attachment device according to claim 3, characterized in that, The top of the base (2) is also fixedly connected to a plurality of direction adjustment module telescopic support members (18), which are electrically connected to the direction control device (26) and are cylinders.

5. A visual tractor rear suspension agricultural implement auxiliary attachment device according to claim 4, characterized in that, The first spiral telescopic mechanism (7) and the second spiral telescopic mechanism (41) are the same type of spiral telescopic mechanism. The first spiral telescopic mechanism (7) includes a telescopic mechanism main housing (7.2). A first telescopic screw (7.1) is rotatably connected inside the telescopic mechanism main housing (7.2). A first telescopic slider (7.3) and a second telescopic screw (7.8) are sleeved on the first telescopic screw (7.1). The inner wall of the first telescopic slider (7.3) is provided with threads. One side of the first telescopic slider (7.3) is connected to one end of the second telescopic screw (7.8). A bearing is provided at the connection between one side of the first telescopic slider (7.3) and the second telescopic screw (7.8). The first telescopic slider (7.3) is rotatably connected to the inner wall of the first telescopic mechanism auxiliary housing (7.4). A second telescopic slider (7.5) and a third telescopic screw (7.9) are sleeved on the second telescopic screw (7.8). .5) The inner wall is provided with threads. One side of the second telescopic slider (7.5) is connected to one end of the third telescopic screw (7.9). A bearing is provided at the connection between the second telescopic slider (7.5) and the third telescopic screw (7.9). The second telescopic slider (7.5) is rotatably connected to the inner wall of the second telescopic mechanism auxiliary housing (7.6). The third telescopic screw (7.9) is fitted with a third telescopic slider (7.7). The inner wall of the third telescopic slider (7.7) is provided with threads. The end of the third telescopic slider (7.7) away from the second telescopic slider (7.5) is connected to the fixed mounting plate. The end of the first telescopic screw (7.1) away from the telescopic mechanism main housing (7.2) is connected to the connecting shaft (35). The inner wall of the telescopic mechanism main housing (7.2) is slidably connected to the outer wall of the first telescopic mechanism auxiliary housing (7.4) through a slide rail. The inner wall of the first telescopic mechanism auxiliary housing (7.4) is connected to the outer wall of the second telescopic mechanism auxiliary housing (7.6). .6) The outer wall is slidably connected by a slide rail, and the inner wall of the second telescopic mechanism auxiliary housing (7 .6) is slidably connected to the outer wall of the third telescopic slider (7 .7) by a slide rail.

Images