Bionic pre-sowing earth surface residual film recovery device

Abstract

A bionic pre-sowing earth surface residual film recovery device belongs to the technical field of agricultural machinery, and integrates a walking device, a film collecting device, a film picking manipulator and a monitoring control device, earth surface residual film fragments are identified through a camera group, collected information is processed by a controller, a bionic manipulator is driven to grab the earth surface residual film fragments, and the earth surface residual film fragments are collected by the monitoring control device. And the residual film is assisted to be separated from the manipulator through rotation of the brush and is fed into the upper layer of the film collecting box through the film inlet. Residual films are compressed and transferred to the lower layer of the box body for storage, and the capacity of the film collecting box is remarkably improved; the protruding structures on the inner sides of the film picking claws are designed in a bionic mode on the basis of the feet of flatheaded borers, the grabbing force on residual films on the earth surface can be enhanced, the thorn sets at the top ends of the film picking claws can hook residual film fragments in the shallow earth surface, and the removing efficiency of the residual film fragments buried in the shallow earth surface soil layer is effectively improved. The full-process automation of residual film picking, compressing and unloading can be achieved, the recovery rate of residual film fragments is effectively increased, manual intervention is effectively reduced, excessive waste of human resources is avoided, and sustainable development is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a biomimetic pre-sowing surface residual film recycling device. Background Technology

[0002] Currently, Xinjiang cotton fields, as the world's largest demonstration area for intensive application of plastic film, have the highest film usage per unit area globally, forming a "full-cycle regulation-type agriculture" technology paradigm. This has driven a significant increase in cotton yield per unit area and achieved a "leap in agricultural production capacity in arid oasis areas." However, it has also created a double-edged sword effect of "white revolution - white pollution." The abundance of microplastics in the soil with residual film per unit area is relatively high, constituting a techno-economic paradox of "high and stable yields - ecological liability," making it a key target for the national "Action Plan for Negative Growth of Agricultural Non-point Source Pollution."

[0003] Plastic mulch has greatly promoted the development of agriculture and economy in Xinjiang through its effects of warming and moisture retention, salt suppression and water conservation, significantly increasing the productivity of marginal saline soils and achieving a breakthrough in the ecological and economic synergy of "turning desert into granary." It is widely used in agricultural production. However, plastic mulch is mostly made of high-molecular materials such as polyethylene. Long-term residues in the soil can lead to "white pollution," damaging soil structure, hindering crop root development, and potentially threatening the ecological environment and human health through the food chain.

[0004] Although traditional mechanized mulch film collection technology has achieved effective recycling of mulch film, some unrecovered mulch film fragments still remain in the soil before sowing. These mulch film fragments in the soil are small in size and difficult to see with the naked eye. Traditional manual collection of these mulch film fragments is inefficient, costly, and labor-intensive, so there is an urgent need for mechanized and efficient solutions for mulch film recycling.

[0005] Therefore, it is necessary to propose a biomimetic residual film recycling device for the ground surface before sowing to improve the residual film recycling rate. Summary of the Invention

[0006] The purpose of this invention is to provide a biomimetic residual film collection and recycling device for cleaning up residual film fragments on the ground before sowing. This device uses a camera to identify residual film fragments on the ground, then a robotic arm picks them up and collects them in the upper layer of a collection box. When enough residual film fragments are collected, they are compressed and collected in the lower layer of the collection box. They are then unloaded at a designated location for unified processing.

[0007] This invention discloses a pre-sowing biomimetic residual film recovery device, comprising a walking device A, a film collection device B, a film picking robot C, and a monitoring and control device D. The driven steering gear 52 of the film collection device B meshes with the driving steering gear 14 of the walking device A. The rotating shaft 52a of the film collection device B is movably connected to the rotating shaft hole 13 of the walking device A. The bottom of the rotating seats 36 of the front film picking robot C1, right film picking robot C2, and left film picking robot C3 are respectively fixed to the front plate of the film collection box B2 in the film collection device B. 35 and the middle of the two plates of the side plate 28; the controller 25 of the monitoring and control device D is fixed to the upper rear of the perforated upper plate 29 of the film collection device B; the three cameras of the camera group 26a in the monitoring and control device D are respectively fixed to the three grooves of the groove group 27 in the three side plates of the film collection box cover B1 of the film collection device B, excluding the rear plate; the 16-22 monitors of the infrared film collection monitoring instrument group 1a of the monitoring and control device D are fixed to the long groove 1 of the film collection device B; the controller 25 of the monitoring and control device D Fixed to the front top of the perforated upper plate 29 in the film collection box B2; the controller 25 of the monitoring and control device D, the three cameras of the camera group 26a, the 16-22 monitors of the infrared film collection monitoring instrument group 1a, the film collection device steering motor 16 of the walking device A, the left track motor 5, the right track motor 10, the hydraulic pump 23 of the film collection device B, the solar panel of the film collection box cover B1, the brush drive motor 21a, the rotating seat 36 of the film picking robot C, the upper swing arm drive motor 37, and the connecting rod drive motor 44. The telescopic tube drive motor 40, the telescopic tube rotation motor 39, the upper telescopic tube 42, the servo motor pair 49asms are connected by wires between the battery 4 of the walking device A; the controller 25 of the monitoring and control device D is connected by control lines between the film collection device steering motor 16, the left track motor 5, the right track motor 10, the hydraulic pump 23, the rotating seat 36 of the film picking robot C, the upper swing arm drive motor 37, the connecting rod drive motor 44, the telescopic tube drive motor 40, the telescopic tube rotation motor 39, the upper telescopic tube 42, and the servo motor pair 49a.

[0008] The walking device A consists of a left track 2, a left wheel assembly 3, a battery 4, a left track motor 5, a left reducer 6, a right reducer 7, a right wheel assembly 8, a right track 9, a right track motor 10, a chassis frame 11, a steering base 12, a drive steering gear 14, and a diaphragm collection device steering motor 16. The chassis frame 11 is welded from square and round steel pipes and steel plates, and has a steering base 12 with a pivot hole 13 on it. The left track 2, left wheel assembly 3, right track 9, and right wheel assembly 8 are mounted on the chassis frame. On the left and right sides of the chassis frame 11; the left track motor 5, the left reducer 6, the right reducer 7, and the right track motor 10 are fixedly connected to the front of the chassis frame 11; the output end of the left track motor 5 is connected to the left front wheel of the left wheel group 3 via the left reducer 6; the output end of the right track motor 10 is connected to the right front wheel of the right wheel group 8 via the right reducer 7; the film collection device steering motor 16 is fixedly connected to the underside of the steering base 12, and the output shaft 15 of the film collection device steering motor 16 is fixedly connected to the drive steering gear 14.

[0009] The film collection device B consists of a film collection box cover B1, a film collection box B2, a film unloading belt 17, a shaft pair 18, a pressure plate 19, a film inlet assembly 20, a brush base assembly 21, a hydraulic pump base 22, a hydraulic pump 23, a hydraulic compressor 24, a belt shaft motor 28a, and a driven steering gear 52. The film collection box cover B1 has a five-plate box structure, with its top plate being a solar panel. Except for the rear plate 26, the other three side plates have grooves for the groove assembly 27. The lower end of the front plate of the film collection box cover B1 and the film collection box B2... The front panel 35 of plate 2 is hinged at the upper end; the film collection box B2 is a box structure composed of side panels 28, perforated upper plate 29, rear upper plate 30, rear lower plate 31, bottom plate 32 and front panel 35. The upper inner side of the side panel 29 is provided with a long groove 1, and a perforated iron plate 33 is fixed in the middle of the box and is parallel to the bottom surface of the perforated upper plate 29; the rear upper plate 30 and rear lower plate 31 are hinged, and the rear lower plate 31 is the film unloading port; the upper part of the side panel 28 and the front panel 35 are respectively provided with three brush base groups 21; the three film inlet groups 20 have three The film inlets are located on the upper part of the front plate 35 and the side plate pair 28, respectively. Brush base assemblies 21 with brush drive motors 21a are provided on both sides of the film inlets. Brush assembly 34 and brush base assembly 21 are movably connected via brush drive motors 21a. The two shafts of the shaft pair 18 are located at the front and rear ends of the base plate 32. The left and right ends of the shafts are movably connected to the two side plates of the side plate pair 28. The drive shaft at the rear of the shaft pair 18 is connected to the belt shaft motor 28a at the lower rear of the side plate. The film unloading belt 17 is tumbledly connected to the shaft pair 18. The hydraulic pump 23 is fixed to the hydraulic pump base 22, which is fixed to the front of the perforated upper plate 29. The hydraulic compressor 24 is fixed to the middle of the perforated upper plate 29. The lower end of the hydraulic compressor 25 passes through the hole in the perforated upper plate and is fixed to the pressure plate 19 in the collection box B2. The pressure plate 19 is slidably connected to the front plate 35, the side plate pair 28, and the rear upper plate 30. A driven steering gear 52 is fixed to the middle of the bottom of the base plate 32, and a rotating shaft 52a is fixed to the center of the bottom surface of the driven steering gear 52.

[0010] The film-picking robot C consists of a front film-picking robot C1, a right film-picking robot C2, and a left film-picking robot C3. The front film-picking robot C1, right film-picking robot C2, and left film-picking robot C3 have the same structure. Taking the front film-picking robot C1 as an example: it consists of a film-picking assembly C4, a rotating base 36, an upper swing arm drive motor 37, a lifting lug pair 38, a telescopic tube rotation motor 39, a telescopic tube drive motor 40, a telescopic tube shaft 41, an upper telescopic tube 42, a lower telescopic tube 43, a connecting rod drive motor 44, an upper swing arm pair 45, and a crossbar assembly 46. The film-picking assembly C4 consists of a connecting rod 47 and a base. The system consists of 48, 49, 49a, 50, and 51. The connecting rod 47, base 48, and the two picking claws of the picking claw pair 49 are arranged sequentially from top to bottom. The bottom of the connecting rod 47 is fixed to the center of the base 48. The base 48 is movably connected to the two picking claws of the picking claw pair 49 via the 49a. Half of the protrusion structure 50 and the 51 are fixed to the opposite lower surfaces of the two picking claws of the picking claw pair 49. The two lifting lugs of the lifting lug pair 38 are fixed to the outside of the rotating seat 36. The upper swing arm drive motor 37 is fixed between the two lifting lugs of the lifting lug pair 38.

[0011] The two swing arms of the upper swing arm pair 45 are fixedly connected in the middle by the five crossbars of the crossbar group 46. The inner ends of the two swing arms are movably connected to the lifting lug pair 38 via the upper swing arm pair drive motor 37. The outer ends of the upper swing arm pair 45 are movably connected to the telescopic tube shaft 41 via the telescopic tube drive motor 40. The upper end of the upper telescopic tube 42 is movably connected to the telescopic tube shaft 41 via the telescopic tube rotation motor 39. The upper telescopic tube 42 and the lower telescopic tube 48 are slidably connected. The lower end of the lower telescopic tube 48 is movably connected to the connecting rod 47 of the film picking assembly C4 via the connecting rod drive motor 44.

[0012] The protruding structure 50 and the spiky group 51 mimic the features of the foot of the jewel beetle. The contour curve of the protruding structure 50 is biomimetic to the contour curve of the jewel beetle's foot, and its fitting equation is expressed as a function in the first and second quadrants as follows:

[0013] y=-0.399307467623381-0.315993338941783x+0.678772100640039x 2 +0.0338271807413322x 3 -0.0299988884319231x 4 -0.00116122391601667x 5 +0.000584445445321817x 6

[0014] +0.0000132720678346928x 7-0.00000481436158138493x 8 ;

[0015] The function expressions of the curve fitting equation in the third and fourth quadrants are as follows:

[0016] y=-60.4200771864208+41.4881454161905x-10.8862442182509x 2 +1.24209211594755x 3 -0.0510418287025208x 4 And y = -60.4200771864208 - 41.4881454161905x - 10.8862442182509x 2 -1.24209211594755x 3 -0.0510418287025208x 4 .

[0017] The monitoring and control device D consists of a controller 25, three cameras in camera group 26a, and 16-22 monitors in infrared mulch film collection monitoring instrument group 1a. The three cameras in camera group 26a, the 16-22 monitors in infrared mulch film collection monitoring instrument group 1a, and the controller 25 are connected by data cables.

[0018] During operation, the battery 4 at the bottom of the machine supplies power to various parts of the machine. The machine uses three cameras in the camera group 26a to identify residual plastic film fragments on the ground and transmits the collected information to the controller 25. Then, the controller 25 controls the walking device A to reach the vicinity of the residual plastic film fragments and controls the film-picking robot C to grab the residual plastic film fragments. At the same time, it controls the brush drive motor 21a on the brush base group 21 to drive the brushes of the brush group 34 to rotate and controls the film-picking robot C to send the grabbed plastic film to the inlet of the inlet group 20. Through the rotation of the brush, the film-picking claws 49 deliver the plastic film to the upper part of the film collection box B2. When the amount of plastic film fragments collected in the upper layer of B2 reaches a certain number, the infrared plastic film collection monitoring instrument group 1a in the long groove 1 receives the signal and transmits it to the controller. The controller 25 controls the hydraulic pump 23 to drive the hydraulic compressor 24 to move the pressure plate 19 downward, compressing the plastic film fragments in the upper layer of the collection box B2. Under pressure, the plastic film fragments will be squeezed out in a long strip compressed form along the holes of the porous iron plate 33 between the upper and lower layers, reaching the upper part of the unloading belt 17 in the lower layer of the collection box B3. When the operation is finished, the controller 25 will control the walking device A to move the machine to the designated position, and drive the unloading belt 17 to move through the belt shaft motor 28a at the bottom of the collection box to unload the compressed material to the designated position.

[0019] During operation, the upper swing arm 45 reciprocates on the lifting lug 38 under the drive of the upper swing arm drive motor 37. The rotating seat 36 can rotate the upper swing arm 45. The telescopic tube shaft 41 drives the upper telescopic tube 42, lower telescopic tube 43, connecting rod drive motor 44, connecting rod 47, and film picking assembly C4 to swing under the drive of the telescopic tube drive motor 40. The upper telescopic tube 42 is equipped with a hydraulic device, which reciprocates between itself and the lower telescopic tube 43 under electric drive. The telescopic tube rotation drive motor 39 drives the entire assembly consisting of the upper telescopic tube 42, lower telescopic tube 43, connecting rod drive motor 44, connecting rod 47, and film picking assembly C4 to rotate on the telescopic tube shaft 41. The connecting rod drive motor 44 drives the connecting rod to swing at the end of the lower telescopic tube 43, allowing the film picking assembly C4 to reach a suitable angle and position. Then, the servo motor 49a drives the film picking claw 49 to perform an opening and closing gripping motion.

[0020] During operation, the film collection device B is driven by the film collection device steering motor 16 to rotate the active steering gear 14, which in turn drives the driven steering gear 52 to rotate. This causes the film collection device B to rotate on the steering base 12 of the walking device A. This rotation can reduce the blind spots that the camera group 26a cannot observe and adjust the rotation amplitude to allow the film picking robot C to reach the most suitable gripping position.

[0021] During operation, the walking device A contains two motors: a left track motor 5 and a right track motor 10. The speed and forward / reverse rotation of the two motors can be controlled by the controller 25 to realize the device's steering and reversing functions. When grabbing surface film fragments that are far away, the controller 25 controls the lower telescopic tube 43 to extend from the upper telescopic tube 42, so that the film picking component C4 reaches the designated position for grabbing.

[0022] The beneficial effects of this invention are as follows:

[0023] This invention features a brush base assembly 21 at the film inlet. The brush drive motor 21a of the brush base assembly 21 drives a pair of brushes within the upper and lower brush assemblies 34 to rotate. This ensures that the film fragments picked up by the film-picking assembly C4 are separated from the film-picking claws 49 and reach the inside of the film collection device B. When a certain amount of film fragments are collected in the upper layer of the film collection device B, the infrared film collection monitoring instrument assembly 1a transmits a signal to the controller. The controller drives the hydraulic pump 23 to control the hydraulic compressor 24, which presses down the pressure plate 19 to compress the collected residual film. This causes the film fragments to be squeezed out in a long, compressed form through the perforated iron plate 33 and onto the unloading belt 17 in the lower layer of the film collection device B. This compression storage method increases the storage capacity of the film collection box B2, reduces the need for frequent cleaning due to the limited capacity of the film collection box B2, and improves the machine's working efficiency. In addition, the inner side of the picking surface of the film picking claw 49 is provided with a protruding structure 50 and a barb group 51. The protruding structure 50 and the barb group 51 imitate the foot characteristics of the jewel beetle and are used to increase the friction when picking up film fragments on the ground surface. The barb group 51 is used to hook up film fragments buried on the shallow surface of the soil and increase the efficiency of film recycling.

[0024] This invention can automatically identify residual plastic film fragments on the ground surface through camera group 26a and transmit the information to controller 25, thereby controlling components such as walking device A and film-picking robot C to perform targeted plastic film grabbing work. It can realize the automated cleaning process of residual plastic film fragments on the ground surface before sowing, reduce the intensity and cost of manual operation, and effectively remove residual plastic film fragments on the ground surface, avoiding the damage to soil structure and ecological environment caused by plastic film residue in the soil. It helps to protect soil quality, promote the sustainable development of agriculture, and has good environmental protection significance.

[0025] The present invention features three film inlets within the film inlet assembly 20, and three film-collecting robotic arms C positioned in the front, left, and right directions respectively. This increases the efficiency of collecting film fragments in the field. Furthermore, the film collection device B can be driven by the film collection device steering motor 16 to rotate above the walking device A, eliminating blind spots in the collection process. If the device overturns during field operations due to uneven road conditions or obstacles, the film-collecting robotic arms C can automatically correct its position. Additionally, a solar panel is installed on the top of the film collection box cover B2, effectively utilizing the abundant sunlight resources in the field during operations and extending the equipment's operating time.

[0026] The film collection box cover B2 provided by this invention can effectively isolate the intrusion of sand and debris in the field during operation, thereby providing reliable protection for key components such as controller 25, hydraulic pump 23, and hydraulic compressor 24, ensuring their stable operation in field operations with harsh environments, and facilitating maintenance and replacement when key components fail.

[0027] The rear lower plate 31 at the film unloading port effectively prevents compressed film from accidentally detaching from the lower layer of the film collection box B2 due to machine movement or vibration during operation, avoiding the need for repeated collection after the material falls to the ground. This significantly improves overall operational efficiency and makes the entire operation process smoother and more efficient. Attached Figure Description

[0028] Figure 1 Axonometric drawing of a biomimetic pre-sowing residual film recovery device;

[0029] Figure 2 Axonometric drawing of monitoring and control device D;

[0030] Figure 3 Forward axonometric drawing of walking device A;

[0031] Figure 4 This is a left view of the walking device A;

[0032] Figure 5 Left axonometric view of section B of the film collection device;

[0033] Figure 6 Axonometric view of the cross-sections of the film collection box cover B1 and the film collection box B2.

[0034] Figure 7 Right axonometric view of section B of the film collection device;

[0035] Figure 8 Axonometric drawing of the film-picking robot C

[0036] Figure 9 Axonometric view of membrane pickup assembly C4;

[0037] Figure 10 A partial left view showing the positional relationship between the walking device A and the film collecting device C;

[0038] Figure 11 A left axonometric view of a portion of the bottom of the film collection device B;

[0039] Figure 12 Right axonometric view of the interior of the film collection box B2;

[0040] Figure 13 A partial left-side axonometric view of the positional relationship between the brush drive motor 21a and the brush base;

[0041] Among them: A. Walking device B. Film collection device B1. Film collection box cover B2. Film collection box C. Film picking robot C1. Front film picking robot C2. Right film picking robot C3. Left film picking robot C4. Film picking assembly D. Monitoring and control device 1. Long groove 1a. Infrared film collection monitoring instrument group 2. Left track 3. Left wheel group 4. Battery 5. Left track motor 6. Left reducer 7. Right reducer 8. Right wheel group 9. Right track 10. Right track motor 11. Chassis frame 12. Steering base 13. Rotary shaft hole 14. Active steering gear 15. Output shaft 16. Film collection device steering motor 17. Film unloading belt 18. Shaft pair 19. Pressure plate 20. Film inlet group 21. Brush base group 21a. Brush drive motor 22. Liquid 23. Hydraulic pump base 24. Hydraulic compressor 25. Controller 26. Rear plate 26a. Camera assembly 27. Groove assembly 28. Side plate pair 28a. Belt shaft motor 29. Perforated upper plate 30. Rear upper plate 31. Rear lower plate 32. Base plate 33. Perforated iron plate 34. Brush assembly 35. Front plate 36. Rotating seat 37. Upper swing arm drive motor 38. Lifting lug pair 39. Telescopic tube rotation motor 40. Telescopic tube drive motor 41. Telescopic tube shaft 42. Upper telescopic tube 43. Lower telescopic tube 44. Linkage drive motor 45. Upper swing arm pair 46. Crossbar assembly 47. Linkage 48. Base 49. Film picking claw pair 49a. Servo pair 50. Protruding structure 51. Spike assembly 52. ​​Driven steering gear 52a. Shaft. Detailed Implementation

[0042] The present invention will now be described in conjunction with the accompanying drawings.

[0043] like Figure 1As shown, the biomimetic pre-sowing surface residual film recycling device of the present invention consists of a walking device A, a film collecting device B, a film picking robot C, and a monitoring and control device D. The driven steering gear 52 of the film collecting device B meshes with the driving steering gear 14 of the walking device A; the rotating shaft 52a of the film collecting device B is movably connected to the rotating shaft hole 13 of the walking device A; the bottom of the rotating seat 36 of the front film picking robot C1, the right film picking robot C2, and the left film picking robot C3 is respectively fixed to the front of the film collecting box B2 in the film collecting device B. The middle of the two plates 35 and 28; the controller 25 of the monitoring and control device D is fixed to the upper rear of the perforated upper plate 29 of the film collection device B; the three cameras of the camera group 26a in the monitoring and control device D are respectively fixed to the three grooves of the groove group 27 in the three side plates of the film collection box cover B1 of the film collection device B, excluding the rear plate; the 16-22 monitors of the infrared film collection monitoring instrument group 1a of the monitoring and control device D are fixed to the long groove 1 of the film collection device B; the controller 25 of the monitoring and control device D is fixed to the upper rear of the perforated upper plate 29 of the film collection device B; the controller 25 of the monitoring and control device D is fixed to the middle of the two plates 35 and 28 of the side plate 28; the controller 25 of the monitoring and control device D is fixed to the middle of the perforated upper plate 29 of the film collection device B ... 5 is fixed to the front of the perforated upper plate 29 in the film collection box B2; the controller 25 of the monitoring and control device D, the three cameras of the camera group 26a, the 16-22 monitors of the infrared film collection monitoring instrument group 1a, the film collection device steering motor 16 of the walking device A, the left track motor 5, the right track motor 10, the hydraulic pump 23 of the film collection device B, the solar panel of the film collection box cover B1, the brush drive motor 21a, the rotating seat 36 of the film picking robot C, the upper swing arm drive motor 37, and the connecting rod drive motor 44. The telescopic tube drive motor 40, telescopic tube rotation motor 39, upper telescopic tube 42, and servo motor pair 49asms are connected by wires between the battery 4 of the walking device A; the controller 25 of the monitoring and control device D is connected by control lines between the film collection device steering motor 16, left track motor 5, right track motor 10, hydraulic pump 23, rotating seat 36 of the film picking robot C, upper swing arm drive motor 37, connecting rod drive motor 44, telescopic tube drive motor 40, telescopic tube rotation motor 39, upper telescopic tube 42, and servo motor pair 49a.

[0044] like Figure 3 and Figure 4As shown, the walking device A consists of a left track 2, a left wheel assembly 3, a battery 4, a left track motor 5, a left reducer 6, a right reducer 7, a right wheel assembly 8, a right track 9, a right track motor 10, a chassis frame 11, a steering base 12, a drive steering gear 14, and a diaphragm collection device steering motor 16. The chassis frame 11 is welded from square and round steel pipes and steel plates, and has a steering base 12 with a pivot hole 13 on it. The left track 2, left wheel assembly 3, right track 9, and right wheel assembly 8 are located on the chassis frame. The left and right sides of the chassis frame 11; the left track motor 5, the left reducer 6, the right reducer 7, and the right track motor 10 are fixedly connected to the front of the chassis frame 11; the output end of the left track motor 5 is connected to the left front wheel of the left wheel group 3 via the left reducer 6; the output end of the right track motor 10 is connected to the right front wheel of the right wheel group 8 via the right reducer 7; the film collection device steering motor 16 is fixedly connected to the underside of the steering base 12, and the output shaft 15 of the film collection device steering motor 16 is fixedly connected to the drive steering gear 14.

[0045] like Figures 5 to 7 , Figures 11 to 13As shown, the film collection device B consists of a film collection box cover B1, a film collection box B2, a film unloading belt 17, a shaft pair 18, a pressure plate 19, a film inlet assembly 20, a brush base assembly 21, a hydraulic pump base 22, a hydraulic pump 23, a hydraulic compressor 24, a belt shaft motor 28a, and a driven steering gear 52. The film collection box cover B1 has a five-plate box structure, with its top plate being a solar panel. Except for the rear plate 26, the other three side plates have grooves for the groove assembly 27. The lower end of the front plate of the film collection box cover B1 and the... The upper end of the front panel 35 of the film collection box B2 is hinged; the film collection box B2 is a box structure composed of side panels 28, a perforated upper plate 29, a rear upper plate 30, a rear lower plate 31, a bottom plate 32, and a front plate 35. A long groove 1 is provided on the upper inner side of the side panel 29. A perforated iron plate 33 is fixed to the middle of the box and is parallel to the bottom surface of the perforated upper plate 29; the rear upper plate 30 and the rear lower plate 31 are hinged, and the rear lower plate 31 is the film unloading port; three brush base assemblies 21 are respectively provided on the upper parts of the side panels 28 and the front plate 35; the film inlet assembly 20... Three film inlets are respectively located on the upper part of the front plate 35 and the side plate pair 28; brush base assemblies 21 with brush drive motors 21a are provided on both sides of the film inlets, and brush assembly 34 is movably connected to brush base assembly 21 via brush drive motors 21a; the two shafts of shaft pair 18 are located at the front and rear ends of the base plate 32, and the left and right ends of the shafts are movably connected to the two side plates of the side plate pair 28, and the drive shaft at the rear of shaft pair 18 is connected to the belt shaft motor 28a at the lower rear of the side plate, and the film unloading belt 17 is tumbling connected to shaft pair 18. The hydraulic pump 23 is fixedly connected to the hydraulic pump base 22, which is fixedly connected to the front upper part of the perforated upper plate 29. The hydraulic compressor 24 is fixedly connected to the middle upper part of the perforated upper plate 29. The lower end of the hydraulic compressor 25 passes through the hole in the perforated upper plate and its bottom is fixedly connected to the pressure plate 19 in the collection box B2. The pressure plate 19 is slidably connected to the front plate 35, the side plate pair 28 and the rear upper plate 30. A driven steering gear 52 is fixedly connected to the middle part of the bottom of the base plate 32, and a rotating shaft 52a is fixedly connected to the center of the bottom surface of the driven steering gear 52.

[0046] like Figure 8 and Figure 9As shown, the film-picking robot C consists of a front film-picking robot C1, a right film-picking robot C2, and a left film-picking robot C3. The front film-picking robot C1, right film-picking robot C2, and left film-picking robot C3 have the same structure. Taking the front film-picking robot C1 as an example: it consists of a film-picking assembly C4, a rotating base 36, an upper swing arm drive motor 37, a lifting lug pair 38, a telescopic tube rotation motor 39, a telescopic tube drive motor 40, a telescopic tube shaft 41, an upper telescopic tube 42, a lower telescopic tube 43, a connecting rod drive motor 44, an upper swing arm pair 45, and a crossbar assembly 46. The film-picking assembly C4 consists of a connecting rod 47, a base 48, a film-picking claw pair 49, a servo motor pair 49a, a protruding structure 50, and a spike assembly 51. The connecting rod 47, the base 48, and the two film-picking claws of the film-picking claw pair 49 are arranged sequentially from top to bottom. The bottom of the connecting rod 47 is fixed to the center of the base 48. 48 is movably connected to the two film-collecting claws of the film-collecting claw pair 49 via a servo motor 49a. Half of the protruding structure 50 and the spike group 51 are fixed to the opposite lower ends of the two film-collecting claws of the film-collecting claw pair 49. The two lifting lugs of the lifting lug pair 38 are fixed to the outside of the rotating seat 36. The upper swing arm pair drive motor 37 is fixed between the two lifting lugs of the lifting lug pair 38. The middle of the two swing arms of the upper swing arm pair 45 is fixed to the five crossbars of the crossbar group 46. The inner ends of the two swing arms are movably connected to the lifting lug pair 38 via the upper swing arm pair drive motor 37. The outer ends of the upper swing arm pair 45 are movably connected to the telescopic tube shaft 41 via the telescopic tube drive motor 40. The upper end of the upper telescopic tube 42 is movably connected to the telescopic tube shaft 41 via the telescopic tube rotation motor 39. The upper telescopic tube 42 and the lower telescopic tube 48 are slidably connected. The lower end of the lower telescopic tube 48 is movably connected to the connecting rod 47 of the film-collecting assembly C4 via the connecting rod drive motor 44.

[0047] The protruding structure 50 and the spiky group 51 mimic the features of the foot of the jewel beetle. The contour curve of the protruding structure 50 is biomimetic to the contour curve of the jewel beetle's foot, and its fitting equation is expressed as a function in the first and second quadrants as follows:

[0048] y=-0.399307467623381-0.315993338941783x+0.678772100640039x 2 +0.0338271807413322x 3 -0.0299988884319231x 4 -0.00116122391601667x 5 +0.000584445445321817x 6

[0049] +0.0000132720678346928x 7 -0.00000481436158138493x 8 ;

[0050] The function expressions of the curve fitting equation in the third and fourth quadrants are as follows:

[0051] y=-60.4200771864208+41.4881454161905x-10.8862442182509x 2 +1.24209211594755x 3 -0.0510418287025208x 4 And y = -60.4200771864208 - 41.4881454161905x - 10.8862442182509x 2 -1.24209211594755x 3 -0.0510418287025208x 4 .

[0052] like Figure 2 As shown, the monitoring and control device D consists of a controller 25, three cameras in camera group 26a, and 16-22 monitors in infrared mulch film collection monitoring instrument group 1a. The three cameras in camera group 26a, the 16-22 monitors in infrared mulch film collection monitoring instrument group 1a, and the controller 25 are connected by data cables.

Claims

1. A biomimetic pre-sowing surface residual film recycling device, characterized in that, It consists of a walking device (A), a film collection device (B), a film picking robot (C), and a monitoring and control device (D). The driven steering gear (52) of the film collection device (B) meshes with the driving steering gear (14) of the walking device (A); the rotating shaft (52a) of the film collection device (B) is movably connected to the rotating shaft hole (13) of the walking device (A); the bottom of the rotating seat (36) of the front film picking robot (C1), right film picking robot (C2), and left film picking robot (C3) in the film picking robot (C) is fixed to the front plate (35) and side plate (28) of the film collection box (B2) in the film collection device (B), respectively. The middle of the two plates; the controller (25) of the monitoring and control device (D) is fixed to the upper rear of the perforated upper plate (29) of the film collection device (B); the three cameras of the camera group (26a) in the monitoring and control device (D) are respectively fixed to the three grooves of the groove group (27) in the three side plates of the film collection box cover (B1) of the film collection device (B), except for the rear plate; the 16-22 monitors of the infrared film collection monitoring instrument group (1a) of the monitoring and control device (D) are fixed to the long groove (1) of the film collection device (B); the controller (25) of the monitoring and control device (D) is fixed to the film collection box (B2). The front top of the perforated upper plate (29); the controller (25) of the monitoring and control device (D), the three cameras of the camera group (26a), the 16-22 monitors of the infrared film collection monitoring instrument group (1a), the film collection device steering motor (16) of the walking device (A), the left track motor (5), the right track motor (10), the hydraulic pump (23) of the film collection device (B), the solar panel of the film collection box cover (B1), the brush drive motor (21a), the rotating seat (36) of the film picking robot (C), the upper swing arm drive motor (37), the connecting rod drive motor (44), and the telescopic tube drive motor. (40), the telescopic tube rotary motor (39), the upper telescopic tube (42), the servo motor pair (49a) are connected by wires to the battery (4) of the walking device (A); the controller (25) of the monitoring and control device (D) is connected by control lines to the film collection device steering motor (16), the left track motor (5), the right track motor (10), the hydraulic pump (23), the rotating seat (36) of the film picking robot (C), the upper swing arm drive motor (37), the connecting rod drive motor (44), the telescopic tube drive motor (40), the telescopic tube rotary motor (39), the upper telescopic tube (42), and the servo motor pair (49a).

2. The biomimetic pre-sowing surface residual film recycling device according to claim 1, characterized in that, The walking device (A) consists of a left track (2), a left wheel assembly (3), a battery (4), a left track motor (5), a left reducer (6), a right reducer (7), a right wheel assembly (8), a right track (9), a right track motor (10), a chassis frame (11), a steering base (12), a drive steering gear (14), and a diaphragm device steering motor (16). The chassis frame (11) is welded from square and round steel pipes and steel plates, and a steering base (12) with a pivot hole (13) is provided on it. The left track (2), left wheel assembly (3), right track (9), and right wheel assembly (8) are located on the left and right sides of the chassis frame (11). The left track motor (5), left reducer (6), right reducer (7), and right track motor (10) are fixed to the front of the chassis frame (11). The output end of the left track motor (5) is connected to the left front wheel of the left wheel assembly (3) via the left reducer (6). The right track motor (10) is connected to the right front wheel of the right wheel assembly (8) via the right reducer (7); the film collection device steering motor (16) is fixedly connected to the steering base (12), and the output shaft (15) of the film collection device steering motor (16) is fixedly connected to the drive steering gear (14).

3. The biomimetic pre-sowing surface residual film recycling device according to claim 1, characterized in that, The film collection device (B) consists of a film collection box cover (B1), a film collection box (B2), a film unloading belt (17), a shaft pair (18), a pressure plate (19), a film inlet assembly (20), a brush base assembly (21), a hydraulic pump base (22), a hydraulic pump (23), a hydraulic compressor (24), a belt shaft motor (28a), and a driven steering gear (52). The film collection box cover (B1) is a five-plate box structure, with its top plate being a solar panel. Except for the rear plate (26), the other three side plates have grooves in the groove assembly (27). The lower end of the front plate of the film collection box cover (B1) and the film collection box (B2) are connected. The front plate (35) of B2) is hinged at the upper end; the film collection box (B2) is a box structure composed of side plate pairs (28), perforated upper plate (29), rear upper plate (30), rear lower plate (31), bottom plate (32) and front plate (35). The upper inner side of the side plate pairs (29) is provided with a long groove (1). A perforated iron plate (33) is fixed in the middle of the box and is parallel to the bottom surface of the perforated upper plate (29); the rear upper plate (30) and the rear lower plate (31) are hinged, and the film unloading port is located at the rear lower plate (31); the upper part of the side plate pairs (28) and the front plate (35) are respectively provided with three brush base groups (21); the film inlet group ( The three film inlets of 20) are respectively located on the upper part of the front plate (35) and the two plates of the side plate pair (28); the two sides of the film inlet are provided with brush base assembly (21) with brush drive motor (21a), and the brush assembly (34) and the brush base assembly (21) are movably connected via the brush drive motor (21a); ​​the two shafts of the shaft pair (18) are located at the front and rear ends of the bottom plate (32), and the left and right ends of the shafts are movably connected to the two side plates of the side plate pair (28), and the drive shaft behind the shaft pair (18) is connected to the belt shaft motor (28a) at the lower rear of the side plate, and the film unloading belt (17) is tumblingly connected to the shaft pair (18). The hydraulic pump (23) is fixed to the top of the hydraulic pump base (22), the hydraulic pump base (22) is fixed to the front top of the perforated upper plate (29), the hydraulic compressor (24) is fixed to the middle top of the perforated upper plate (29), the lower end of the hydraulic compressor (25) passes through the hole of the perforated upper plate, and the bottom is fixed to the pressure plate (19) in the collection box (B2). The pressure plate (19) is slidably connected to the front plate (35), the side plate pair (28) and the rear upper plate (30); the driven steering gear (52) is fixed to the middle of the bottom of the base plate (32), and the rotating shaft (52a) is fixed to the center of the bottom surface of the driven steering gear (52).

4. The biomimetic pre-sowing surface residual film recycling device according to claim 1, characterized in that, The film-picking robot (C) consists of a front film-picking robot (C1), a right film-picking robot (C2), and a left film-picking robot (C3). The front film-picking robot (C1), the right film-picking robot (C2), and the left film-picking robot (C3) have the same structure. Taking the front film-picking robot (C1) as an example: it consists of a film-picking assembly (C4), a rotating seat (36), an upper swing arm drive motor (37), a lifting lug pair (38), a telescopic tube rotation motor (39), a telescopic tube drive motor (40), and a telescopic tube rotating shaft (41). The assembly consists of an upper telescopic tube (42), a lower telescopic tube (43), a connecting rod drive motor (44), an upper swing arm pair (45), and a crossbar assembly (46). The film-collecting assembly (C4) consists of a connecting rod (47), a base (48), a film-collecting claw pair (49), a servo motor pair (49a), a protruding structure (50), and a spike assembly (51). The two film-collecting claws of the connecting rod (47), the base (48), and the film-collecting claw pair (49) are arranged sequentially from top to bottom. The bottom of the connecting rod (47) is fixed to the center of the base (48). At this location, the base (48) is movably connected to the two film-collecting claws of the film-collecting claw pair (49) via the servo motor pair (49a). Half of the protruding structure (50) and the spike group (51) are fixed to the opposite lower ends of the two film-collecting claws of the film-collecting claw pair (49). The two lifting lugs of the lifting lug pair (38) are fixed to the outside of the rotating seat (36). The upper swing arm pair drive motor (37) is fixed between the two lifting lugs of the lifting lug pair (38). The middle of the two swing arms of the upper swing arm pair (45) is fixed to the five crossbars of the crossbar group (46). The inner end of the swing arm is movably connected to the lifting lug pair (38) via the upper swing arm pair drive motor (37); the outer end of the upper swing arm pair (45) is movably connected to the telescopic tube shaft (41) via the telescopic tube drive motor (40); the upper end of the upper telescopic tube (42) is movably connected to the telescopic tube shaft (41) via the telescopic tube rotation motor (39); the upper telescopic tube (42) is slidably connected to the lower telescopic tube (48), and the lower end of the lower telescopic tube (48) is movably connected to the connecting rod (47) of the film picking assembly (C4) via the connecting rod drive motor (44).

5. The biomimetic pre-sowing surface residual film recycling device according to claim 4, characterized in that, The protruding structure (50) and the spiky group (51) mimic the features of the foot of the jewel beetle. The contour curve of the protruding structure (50) is biomimetic to the contour curve of the foot of the jewel beetle, and its fitting equation is expressed as a function in the first and second quadrants as follows: y=-0.399307467623381-0.315993338941783x+0.678772100640039x 2 +0.0338271807413322x 3 -0.0299988884319231x 4 - 0.00116122391601667x 5 +0.000584445445321817x 6 +0.0000132720678346928x 7 - 0.00000481436158138493x 8 ； The function expressions of the curve fitting equation in the third and fourth quadrants are as follows: y=-60.4200771864208-41.4881454161905x-10.8862442182509x 2 -1.24209211594755x 3 -0.0510418287025208x 4 And y = -60.4200771864208 + 41.4881454161905x - 10.8862442182509x 2 +1.24209211594755x 3 -0.0510418287025208x 4 。 6. The biomimetic pre-sowing surface residual film recycling device according to claim 1, characterized in that, The monitoring and control device (D) consists of a controller (25), three cameras of a camera group (26a), and 16-22 monitors of an infrared mulch film collection monitoring instrument group (1a). The three cameras of the camera group (26a), the 16-22 monitors of the infrared mulch film collection monitoring instrument group (1a), and the controller (25) are connected by data cables.

Images