Large-width rotary gantry type bale plucker based on bilateral grabbing

Abstract

The invention discloses a large-width rotary portal type bale plucker based on bilateral grabbing, and belongs to the technical field of bale pluckers. The bale plucker comprises a suction groove, a bale plucker body, a grabbing arm and a walking supporting device, the bale plucker body is installed on a guide rail of the suction groove, one end of the grabbing arm is connected to the side face of the bale plucker body, the other end of the grabbing arm is connected to the walking supporting device, and a portal type double-side supporting structure is formed. A rotating mechanism composed of an inner gear and a planetary gear is arranged in the bale plucker body and used for driving the grabbing arms to rotate to the two sides of the suction groove guide rail. And an omnidirectional wheel mechanism is arranged at the bottom of the walking supporting device, comprises an omnidirectional wheel chassis and a plurality of wheels which are mounted on the chassis and are driven by an independent driving motor, and is used for driving the walking supporting device to do linear reciprocating motion and driving the bale binding and plucking machine main body to do circular motion. The limitation of the breadth of the grabbing arm is broken through through the supporting structures on the two sides, double-side grabbing is achieved through linkage of the rotating mechanism and the omnidirectional wheel mechanism, and the yield and the space utilization rate are increased.

Description

Technical Field

[0001] This invention relates to the field of cotton grabbing machine technology, and specifically to a wide-width rotating gantry cotton grabbing machine based on double-sided grabbing. Background Technology

[0002] The cotton grabber is the starting device in the combing and carding process, its function being to grab raw cotton from the arranged cotton bales and transport it to subsequent processing steps. The capacity of the cotton grabber directly affects the production efficiency of the entire combing and carding process; therefore, improving the output and flexibility of the cotton grabber is an important research direction in the field of textile machinery. Currently, two main types of cotton grabbers are popular in the market: single-arm reciprocating cotton grabbers and gantry cotton grabbers, each with its own structural characteristics and application scenarios.

[0003] The main structure of a single-arm reciprocating cotton grabber consists of a tower-shaped carriage mounted on a suction trough guide rail. One end of the grabber arm, used to grab raw materials, is mounted on the side of the carriage, while the other end is suspended, forming a cantilever structure. To balance the torque generated by the cantilever, a movable balance iron device is typically installed inside the carriage. The weight of the movable balance iron matches the weight of the grabber arm to maintain static balance. The tower of the single-arm reciprocating cotton grabber can rotate, allowing the grabber arm to be turned to either side of the suction trough guide rail, enabling cotton bales to be placed on either side of the guide rail during bale arrangement. However, because the grabber arm uses a single-sided cantilever support structure, as the width of the grabber arm increases, the deflection and vibration amplitude at the cantilever end will also increase, increasing the risk of shaking or even tipping over during operation. Therefore, it is difficult to increase the output of a single-arm reciprocating cotton grabber by increasing the width of the grabber arm; its output increase is limited by the grabber arm structure.

[0004] The overall structure of a gantry-type cotton grabber is gantry-shaped, with one side of the frame mounted on a suction guide rail, and the other side of the frame in contact with the ground or other substrate via wheels. The grabbing arms are mounted on both sides of the frame. Because the grabbing arms are supported on both sides, they are no longer cantilevered, thus preventing them from easily shaking or tipping over due to increased width. The gantry-type cotton grabber also eliminates the need for a bulky balancing iron mechanism. However, in existing gantry-type cotton grabbers, the outer frame typically contacts the ground via wheels arranged parallel to the guide rail's extension direction. This structure limits the gantry-type cotton grabber to reciprocating linear motion in the forward and backward direction, preventing the grabbing arms from rotating to the other side of the guide rail. Therefore, the gantry-type cotton grabber can only grab cotton bales located on one side of the guide rail, which is not conducive to efficient space utilization and processing multiple different types of raw materials in the same area.

[0005] In summary, existing cotton grabbers suffer from a technical challenge of balancing increased output with flexible arrangement of cotton bales. While single-arm reciprocating cotton grabbers can grab from both sides, their output is limited by the stability of the cantilever structure. Although gantry-type cotton grabbers overcome the limitation of grab arm width, their grab arms cannot rotate and can only grab from one side.

[0006] Therefore, a new type of cotton grabber is needed that can achieve support on both sides to overcome the limitation of the grabber arm width, and can also achieve grabber arm rotation to meet the needs of grabbing from both sides. Summary of the Invention

[0007] To address the problems existing in the background art, the present invention provides a wide-width rotating gantry cotton grabber based on dual-sided gripping, comprising:

[0008] Suction trays are used to transport gripped raw materials to the next process.

[0009] The main body of the cotton grabber is mounted on the guide rail of the suction groove. The main body of the cotton grabber is provided with a rotating mechanism, which includes an internal gear and a planetary gear meshing with the internal gear.

[0010] The grab arm, with one end connected to the side of the cotton grabber body, is used to grab raw materials from cotton bales;

[0011] A walking support device is connected to the other end of the grab arm. The bottom of the walking support device is provided with an omnidirectional wheel mechanism. The omnidirectional wheel mechanism includes an omnidirectional wheel chassis and multiple rotating wheels and a drive motor mounted on the omnidirectional wheel chassis. Each rotating wheel is driven by an independent drive motor.

[0012] The omnidirectional wheel mechanism drives the walking support device to perform linear reciprocating motion and circular motion around the main body of the cotton grabber, while the rotating mechanism drives the grabbing arm to rotate to both sides of the suction groove guide rail.

[0013] In a preferred embodiment, the walking support device includes a lifting motor, a winding wheel, and a flexible cable. The lifting motor is connected to the winding wheel, the flexible cable is wound around the winding wheel, the grab arm is provided with a fixed pulley, the flexible cable passes around the fixed pulley, and the lifting motor drives the winding wheel to raise and lower the grab arm by winding and releasing the flexible cable.

[0014] In a preferred embodiment, the side of the walking support device is provided with a slide rail, and the grab arm is engaged on the slide rail by rollers.

[0015] In a preferred embodiment, the omnidirectional wheel mechanism comprises three wheels, with each pair of the three wheels forming an angle of 60 degrees, and the wheels are evenly distributed on the outer side of the omnidirectional wheel chassis.

[0016] In a preferred embodiment, an anti-tilt compensation device is provided between the housing of the walking support device and the omnidirectional wheel chassis. The anti-tilt compensation device includes multiple compression springs, which are evenly distributed above the omnidirectional wheel chassis and connect the omnidirectional wheel chassis and the housing of the walking support device.

[0017] In a preferred embodiment, the number of compression springs is six.

[0018] In a preferred embodiment, the main body of the cotton grabber is provided with a lifting mechanism, which is connected to the grabber arm and is used to drive the grabber arm to lift.

[0019] In a preferred embodiment, the cotton grabber body, the grabber arm, and the traveling support device together form a gantry structure. The cotton grabber body and the traveling support device are located at both ends of the grabber arm, providing lateral support for the grabber arm.

[0020] In a preferred embodiment, the rotating mechanism is located inside the main body of the cotton grabber, and the main body of the cotton grabber is equipped with a drive motor. The drive motor is connected to the planetary gear and is used to drive the tower body of the main body of the cotton grabber to rotate.

[0021] In a preferred embodiment, when the cotton grabber body travels along the guide rail of the suction groove to the end, the rotating mechanism drives the grabber arm to rotate to the opposite side, and at the same time, the omnidirectional wheel mechanism drives the walking support device to make a circular motion around the cotton grabber body, so that the grabber arm moves to the other side of the suction groove guide rail.

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

[0023] This invention changes the support method of the grab arm from single-sided support to double-sided support by installing a traveling support device at the end of the grab arm. The main body of the cotton grabber and the traveling support device are located at both ends of the grab arm, forming a gantry-type structure. Because both ends of the grab arm are supported, the bending moment distribution during operation is more uniform, and the deflection and vibration amplitude of the grab arm are effectively controlled, avoiding the shaking or overturning problems that easily occur in single-sided cantilever structures with a large grab arm width. With the double-sided support structure, the width of the grab arm is no longer limited by the stability of the cantilever, and the grab arm width can be increased according to production needs to improve the coverage of a single grab, thereby increasing the overall output of the cotton grabber. At the same time, because both ends of the grab arm are supported, there is no need to install a balance iron in the vehicle body to balance the cantilever moment, as is required in traditional single-arm reciprocating cotton grabbers. This simplifies the overall structure, reduces the overall weight, and lowers manufacturing costs and maintenance requirements.

[0024] This invention utilizes a rotating mechanism composed of an internal gear and planetary gears within the main body of the cotton grabber, allowing the tower of the grabber to rotate relative to the suction groove guide rail. When the drive motor drives the planetary gears to roll within the internal gears, the tower of the grabber rotates accordingly, thereby causing the grabbing arm connected to the tower to rotate. Through the action of the rotating mechanism, the grabbing arm can rotate from one side of the guide rail to the other, thus achieving the grabbing of cotton bales on both sides of the guide rail. Compared with existing gantry-type cotton grabbers where the grabbing arm is fixed to one side, the grabbing arm of this invention can flexibly turn, allowing cotton bales to be arranged on both sides of the suction groove guide rail during cotton bale arrangement, improving space utilization.

[0025] This invention utilizes an omnidirectional wheel mechanism at the bottom of the walking support device, enabling the device to move both linearly alongside the cotton grabber body and in circular motion while attached to it. The omnidirectional wheel mechanism comprises an omnidirectional wheel chassis and multiple wheels evenly distributed on the outer side of the chassis. Each wheel is driven by an independent drive motor. By controlling the speed and direction of each drive motor, velocity vector synthesis is achieved, allowing the walking support device to move in any direction. When the rotating mechanism within the cotton grabber body drives the grabbing arm to rotate to the opposite side, the omnidirectional wheel mechanism synchronously drives the walking support device to move in circular motion while attached to the cotton grabber body, moving the walking support device from one side of the guide rail to the other. The linkage between the omnidirectional wheel mechanism and the rotating mechanism allows the cotton grabber to achieve dual-sided grabbing while maintaining the dual-sided support structure, solving the technical problem in existing technologies where increasing output and spatial arrangement flexibility cannot be simultaneously achieved.

[0026] This invention utilizes an anti-tilt compensation device composed of multiple compression springs installed between the housing of the walking support device and the omnidirectional wheel chassis, enabling the walking support device to adapt to uneven road surfaces. When the walking support device passes over a low-lying area, the corresponding compression spring releases and extends to keep the wheel in contact with the ground; when passing over a high-lying area, the corresponding compression spring is compressed to absorb the impact. Each compression spring responds independently to road undulations, allowing the omnidirectional wheel chassis to tilt with the road while the housing remains vertical. This ensures the stability of the supporting force direction of the walking support device on the grab arm, avoids abnormal lateral loads on the grab arm, and improves the operational stability and reliability of the cotton grabber in actual working environments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a wide-width rotating gantry cotton grabber based on dual-side gripping according to the present invention.

[0028] Figure 2 This is a schematic diagram of the basic structure of the walking support device in this invention and the connection relationship between the walking support device and the grab arm.

[0029] Figure 3 This is a schematic diagram of the omnidirectional wheel mechanism in this invention.

[0030] Figure 4 This is a schematic diagram of the internal gear rotation mechanism of the cotton grabber body in this invention.

[0031] Figure 5 This is a schematic diagram of the travel trajectory of a wide-width rotating gantry cotton grabber based on dual-side gripping according to the present invention.

[0032] The following are the labels in the diagram: 1. Walking support device; 2. Grab arm; 3. Main body of cotton grabber; 4. Suction groove; 11. Winding wheel; 12. Lifting motor; 13. Flexible rope; 14. Fixed pulley; 15. Roller; 16. Compression spring; 17. Omnidirectional wheel mechanism; 31. Internal gear; 32. Planetary gear; 171. Rotary wheel; 172. Drive motor; 173. Omnidirectional wheel chassis. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] like Figures 1 to 5 As shown, this invention provides a wide-width rotating gantry-type cotton grabber based on dual-sided gripping, comprising a traveling support device 1, a grabbing arm 2, a cotton grabber body 3, and a suction groove 4. The cotton grabber body 3 is mounted on the guide rail of the suction groove 4. One end of the grabbing arm 2 is connected to the side of the cotton grabber body 3, and the other end of the grabbing arm 2 is connected to the side of the traveling support device 1. The cotton grabber body 3, the grabbing arm 2, and the traveling support device 1 together constitute a gantry-type structure. The so-called gantry-type structure means that both ends of the grabbing arm 2 are supported by the cotton grabber body 3 and the traveling support device 1 respectively, forming a dual-sided support form similar to a gantry, which is different from the single-sided cantilever support structure of traditional single-arm reciprocating cotton grabbers.

[0035] The suction trough 4 is a channel component in the cotton grabber system used for conveying raw materials. It extends longitudinally and is equipped with guide rails for the cotton grabber body 3 to travel on. The cotton grabber body 3 reciprocates linearly along the guide rails of the suction trough 4. The raw materials grabbed by the grabber arm 2 from the cotton bales enter the suction trough 4 through the cotton grabber body 3, and are finally conveyed to the next process by negative pressure airflow through the suction trough 4. In actual production, the cotton bales are arranged along the extension direction of the guide rails of the suction trough 4. As the cotton grabber body 3 moves along the guide rails, the grabber arm 2 sequentially grabs each cotton bale.

[0036] like Figure 4As shown, the main body 3 of the cotton grabber is equipped with a rotating mechanism, which includes an internal gear 31 and a planetary gear 32 meshing with the internal gear 31. The internal gear 31 is a gear with its gear ring located on the inside, and the planetary gear 32 is located inside the internal gear 31 and meshes with its internal teeth. The main body 3 of the cotton grabber is also equipped with a drive motor, which is connected to the planetary gear 32 and is used to drive the tower of the cotton grabber 3 to rotate. When the drive motor is working, the planetary gear 32 rolls inside the internal gear 31, thereby causing the tower of the cotton grabber 3 to rotate relative to the guide rail of the suction groove 4. Through the action of the rotating mechanism, the grabbing arm 2 can rotate to both sides of the guide rail of the suction groove 4, thereby realizing the grabbing of cotton bales on both sides of the guide rail. The main body 3 of the cotton grabber is also equipped with a lifting mechanism, which is connected to the grabbing arm 2 and is used to drive the grabbing arm 2 to rise and fall, so that the grabbing arm 2 can be adjusted according to the height of the cotton bales during the grabbing process.

[0037] The gripper arm 2 is a working component used to grab raw materials from cotton bales. It extends laterally, with one end connected to the main body 3 of the cotton grabber and the other end connected to the traveling support device 1. A gripping mechanism is located below the gripper arm 2. This mechanism grips the surface of the cotton bale as the gripper arm 2 moves above it, peeling the raw cotton from the bale and conveying it into the main body 3 of the cotton grabber. Because both ends of the gripper arm 2 are supported by the main body 3 of the cotton grabber and the traveling support device 1 respectively, the stability of the gripper arm 2 during operation is ensured, avoiding the shaking or overturning problems that easily occur in single-sided cantilever structures when the gripper arm width is large. A fixed pulley 14 is also fixed on the gripper arm 2. The fixed pulley 14 is used to change the direction of the flexible cable 13, allowing the lifting motor 12 in the traveling support device 1 to apply supporting force and lifting driving force to the gripper arm 2 through the flexible cable 13.

[0038] like Figure 2 As shown, the walking support device 1 is connected to the end of the grab arm 2 away from the main body 3 of the cotton grabber, providing support for the grab arm 2. The walking support device 1 includes a housing and a lifting motor 12, a winding wheel 11, and a flexible rope 13 disposed within the housing. The lifting motor 12 is a drive device for providing lifting power, and its output shaft is connected to the winding wheel 11. The winding wheel 11 is a wheel-shaped component that can wind up a rope, and the flexible rope 13 is wound around the winding wheel 11. The flexible rope 13 is a flexible rope or wire rope that is led out from the winding wheel 11 and tied to a fixed pulley 14 fixed on the grab arm 2. When the lifting motor 12 rotates in the forward direction, the winding wheel 11 winds up the flexible rope 13, generating an upward pulling force on the grab arm 2; when the lifting motor 12 rotates in the reverse direction, the winding wheel 11 releases the flexible rope 13, and the grab arm 2 descends under its own weight. The lifting motor 12 drives the winding wheel 11 to wind and unwind the flexible cable 13, and the walking support device 1 can drive the grab arm 2 to rise and fall. At the same time, the tension of the flexible cable 13 makes the walking support device 1 act as a fulcrum for the grab arm 2.

[0039] The walking support device 1 has a slide rail on its side, and the gripper arm 2 is secured to the slide rail by rollers 15. Rollers 15 are wheel-shaped components installed at the end of the gripper arm 2, which cooperate with the slide rail on the side of the walking support device 1, allowing the gripper arm 2 to slide vertically relative to the walking support device 1. When the lifting motor 12 drives the gripper arm 2 to rise or fall, the rollers 15 roll within the slide rail, guiding the lifting movement of the gripper arm 2 and simultaneously transferring the horizontal load at the end of the gripper arm 2 to the housing of the walking support device 1, thus providing stable lateral support for the gripper arm 2 from the walking support device 1.

[0040] like Figure 3 As shown, the bottom of the walking support device 1 is provided with an omnidirectional wheel mechanism 17. The omnidirectional wheel mechanism 17 is a wheeled movement mechanism capable of moving in any direction. It includes an omnidirectional wheel chassis 173, multiple rotating wheels 171 mounted on the omnidirectional wheel chassis 173, and a drive motor 172. In this embodiment, there are three rotating wheels 171, with an included angle of 60° between each pair, evenly distributed on the outer side of the omnidirectional wheel chassis 173. Each rotating wheel 171 is driven by an independent drive motor 172, which is mounted on the omnidirectional wheel chassis 173 and connected to the corresponding rotating wheel 171.

[0041] The working principle of the omnidirectional wheel mechanism 17 is based on velocity vector synthesis. When the three drive motors 172 drive the corresponding wheels 171 at different speeds and directions, the velocity vectors generated by the three wheels 171 are synthesized, giving the omnidirectional wheel chassis 173 the synthesized speed and direction of motion. By controlling the speed and direction of each drive motor 172, the omnidirectional wheel mechanism 17 can drive the walking support device 1 to move linearly in any direction. When all three wheels 171 rotate in the same direction, i.e., simultaneously clockwise or simultaneously counterclockwise, the omnidirectional wheel chassis 173 will acquire an angular velocity, thus causing the walking support device 1 to move in a circular motion around a fixed point. By adjusting the combination of the linear velocity and angular velocity of each wheel 171, the omnidirectional wheel mechanism 17 can make the walking support device 1 move in a circular motion around the cotton-grabbing machine body 3.

[0042] An anti-tilt compensation device is provided between the housing of the walking support device 1 and the omnidirectional wheel chassis 173. This anti-tilt compensation device includes multiple compression springs 16, which are evenly distributed above the omnidirectional wheel chassis 173, connecting the omnidirectional wheel chassis 173 and the housing of the walking support device 1. In this embodiment, there are six compression springs 16. A compression spring 16 is an elastic element that deforms elastically when compressed; it shortens when compressed and returns to its original length when released. The function of the anti-tilt compensation device is to adapt to uneven road surfaces and maintain the vertical state of the housing of the walking support device 1.

[0043] In actual working environments, the road surface on which the walking support device 1 travels is not completely flat, but rather has undulations. If the housing of the walking support device 1 is rigidly connected to the omnidirectional wheel chassis 173, when the road surface is uneven, if one of the wheels 171 misses a spot or encounters a bump, the housing of the walking support device 1 will tilt, thus applying abnormal lateral loads to the grab arm 2. By setting up an anti-tilt compensation device, when the walking support device 1 travels to a low-lying area, the compression spring 16 projected on the low-lying area releases and extends, keeping the corresponding wheel 171 in contact with the ground; when the walking support device 1 travels to a bump, the compression spring 16 projected on the bump is compressed, keeping the housing of the walking support device 1 vertical. Each compression spring 16 responds independently to road surface undulations, allowing the omnidirectional wheel chassis 173 to tilt while the housing remains vertical, thereby ensuring stable and reliable support of the grab arm 2 by the walking support device 1.

[0044] The main body 3 of the cotton grabber and the walking support device 1 are located at both ends of the grabber arm 2, forming a two-sided support for the grabber arm 2. Compared with the traditional single-arm reciprocating cotton grabber, the two-sided support structure means that the grabber arm 2 is no longer in a cantilever state. The bending moment distribution of the grabber arm 2 during operation is more uniform, and the deflection and vibration amplitude of the grabber arm 2 are significantly reduced. With the two-sided support structure, the width of the grabber arm 2 is no longer limited by the single-sided cantilever structure. The width of the grabber arm 2 can be increased according to production requirements to improve the coverage of a single grab. At the same time, since the grabber arm 2 is supported at both ends, there is no need to set a balance iron in the main body 3 of the cotton grabber to balance the cantilever moment of the grabber arm 2, as is the case with the traditional single-arm reciprocating cotton grabber, which simplifies the overall structure and reduces the overall weight of the machine.

[0045] The working process of a wide-width rotary gantry cotton grabber based on dual-side gripping according to the present invention is described below. Before the start of work, cotton bales are arranged along both sides of the guide rail of suction groove 4. The main body 3 of the cotton grabber is located at one end of the guide rail of suction groove 4, the grabbing arm 2 faces one side of the guide rail, i.e., the first side, and the walking support device 1 is located outside the cotton bale area on the first side of the guide rail.

[0046] After the operation begins, the main body 3 of the cotton grabber moves forward along the guide rail of the suction trough 4. The omnidirectional wheel mechanism 17 of the traveling support device 1 synchronously drives the traveling support device 1 to move linearly in a direction parallel to the guide rail. The grabbing arm 2 moves synchronously with the main body 3 and the traveling support device 1. During this movement, the grabbing mechanism below the grabbing arm 2 grabs the surface of the first cotton bale, peeling the raw cotton from the bale. The peeled raw cotton enters the main body 3 of the cotton grabber through the conveying channel inside the grabbing arm 2, and then enters the suction trough 4 from the main body 3, where it is transported to the next process by negative pressure airflow. The lifting mechanism inside the main body 3 and the lifting motor 12 inside the traveling support device 1 work together to adjust the height of the grabbing arm 2 according to the change in the height of the cotton bale, ensuring that the grabbing mechanism below the grabbing arm 2 maintains appropriate contact pressure with the surface of the cotton bale.

[0047] When the main body 3 of the cotton grabber moves along the guide rail of the suction groove 4 from one end of the first cotton bale to the other end, the current layer of the first cotton bale is grabbed. At this time, the height of the grabber arm 2 decreases by one grabbing layer thickness, moves in the opposite direction and grabs the cotton bale until it reaches the end of the first cotton bale. In other words, whenever the grabber arm moves from one end of a cotton bale to the other, the height of the grabber arm 2 decreases by one grabbing layer thickness, repeating this cycle until the cotton bale on this side is completely grabbed.

[0048] When the first cotton bale is fully grasped, the cotton grabber body 3 moves along the guide rail of the suction groove 4 to the end, preparing to rotate to the other side of the guide rail, i.e., the second side, to grab the cotton bale on the second side. The drive motor inside the cotton grabber body 3 starts, driving the planetary gear 32 to roll in the internal gear 31, causing the tower of the cotton grabber body 3 to begin rotating towards the second side. At the same time, the omnidirectional wheel mechanism 17 of the traveling support device 1 starts, and the three drive motors 172 drive the corresponding rotating wheels 171 to rotate in the same direction, so that the omnidirectional wheel chassis 173 obtains angular velocity, and the traveling support device 1 begins to perform circular motion of binding the cotton grabber body 3.

[0049] During the rotation reversal process, the rotation of the tower body of the cotton grabber 3 and the circular motion of the traveling support device 1 are synchronized. The rotational angular velocity of the tower body of the cotton grabber 3 matches the circular motion angular velocity of the traveling support device 1, ensuring that the grab arm 2 maintains its connection with the support points at both ends throughout the rotation. As the rotation continues, the grab arm 2 gradually changes its orientation from pointing to the first side to pointing to the second side, and the traveling support device 1 moves from the first side to the second side along an arc trajectory. When the rotation angle reaches 180°, the grab arm 2 is completely turned to the second side, and the traveling support device 1 reaches the outer side of the cotton bale area on the second side, completing the rotation reversal.

[0050] After the rotation and reversal are completed, the main body 3 of the cotton grabber moves back along the guide rail of the suction groove 4. The omnidirectional wheel mechanism 17 of the walking support device 1 synchronously drives the walking support device 1 to move linearly in a direction parallel to the guide rail. During the movement, the grabbing mechanism below the grabbing arm 2 grabs the surface of the second side cotton bale, working in the same way as when grabbing the first side cotton bale. When the second side cotton bale is completely grabbed, the first side cotton bale has been replenished while the cotton grabber is working on the second side. The main body 3 of the cotton grabber returns to the end of the guide rail, which is the position where the cotton grabber enters the second side from the first side. At this time, the cotton grabber rotates and reverses again, the grabbing arm 2 rotates back to the first side, and begins to grab the next layer of the first side cotton bale.

[0051] The cotton grabber reciprocates along both ends of the guide rail of the suction groove 4 in the manner described above. Each time it reaches the end of the guide rail, it rotates and reverses direction, alternately grabbing cotton bales on both sides of the guide rail. Throughout the entire operation, the main body 3 of the cotton grabber and the traveling support device 1 always provide lateral support for the grabbing arm 2, keeping the grabbing arm 2 stable during travel and rotation. The omnidirectional wheel mechanism 17 allows the traveling support device 1 to either follow the main body 3 in a straight line or move in a circular motion to reverse direction, thus enabling the grabbing arm 2 to grab cotton from both sides while maintaining lateral support.

[0052] During the movement of the walking support device 1, the anti-tilt compensation device continuously functions. When the omnidirectional wheel chassis 173 passes over a low point in the road surface, the corresponding compression spring 16 extends, causing the wheel 171 at that position to extend downwards to maintain contact with the ground; when the omnidirectional wheel chassis 173 passes over a high point in the road surface, the corresponding compression spring 16 is compressed, absorbing the impact from the high point. Each compression spring 16 operates independently, allowing the omnidirectional wheel chassis 173 to tilt with the undulations of the road surface, but the housing of the walking support device 1 always remains vertical, thereby ensuring the stability of the supporting force direction of the walking support device 1 on the grab arm 2 and avoiding abnormal lateral loads on the grab arm 2.

[0053] During the lifting and lowering process of the grab arm 2, the lifting mechanism inside the main body 3 of the cotton grabber and the lifting motor 12 inside the traveling support device 1 need to work together. The lifting motor 12 drives the winding wheel 11 to rotate, and the winding wheel 11 winds up and unwinds the flexible rope 13. The flexible rope 13 is tied to the fixed pulley 14 to apply an upward or downward force to the grab arm 2. The roller 15 at the end of the grab arm 2 rolls in the slide rail on the side of the traveling support device 1, which guides the lifting and lowering movement of the grab arm 2. The lifting mechanism inside the main body 3 of the cotton grabber operates synchronously, so that the lifting and lowering amount at both ends of the grab arm 2 is consistent, and the grab arm 2 maintains a horizontal posture during the lifting and lowering process.

[0054] This invention, by setting a traveling support device 1 at the end of the gripper arm 2, changes the support method of the gripper arm 2 from single-sided support to double-sided support, thus freeing the width of the gripper arm 2 from the limitation of the cantilever structure. By setting an omnidirectional wheel mechanism 17 at the bottom of the traveling support device 1, the traveling support device 1 can either follow the cotton grabber body 3 in a straight line or move in a circular motion while attached to the cotton grabber body 3. By setting a rotating mechanism composed of an internal gear 31 and a planetary gear 32 inside the cotton grabber body 3, the gripper arm 2 can rotate to both sides of the guide rail of the suction groove 4. The omnidirectional wheel mechanism 17 is linked with the rotating mechanism, enabling the cotton grabber to achieve double-sided gripping while maintaining the double-sided support structure, improving space utilization and meeting the need to process different types of raw materials in the same area.

[0055] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wide-width rotating gantry cotton grabber based on dual-sided gripping, characterized in that, include: The suction trough transports the gripped raw materials to the next process. The main body of the cotton grabber is mounted on the guide rail of the suction groove. The main body of the cotton grabber is provided with a rotating mechanism, which includes an internal gear and a planetary gear meshing with the internal gear. The grab arm, with one end connected to the side of the main body of the cotton grabber, grabs raw materials from the cotton bales; A walking support device is connected to the other end of the grab arm. The bottom of the walking support device is provided with an omnidirectional wheel mechanism. The omnidirectional wheel mechanism includes an omnidirectional wheel chassis and multiple rotating wheels and a drive motor mounted on the omnidirectional wheel chassis. Each rotating wheel is driven by an independent drive motor. The omnidirectional wheel mechanism drives the walking support device to perform linear reciprocating motion and circular motion around the main body of the cotton grabber, while the rotating mechanism drives the grabbing arm to rotate to both sides of the suction groove guide rail.

2. The wide-width rotary gantry cotton grabber based on dual-side gripping as described in claim 1, characterized in that, The walking support device includes a lifting motor, a winding wheel, and a flexible cable. The lifting motor is connected to the winding wheel, and the flexible cable is wound around the winding wheel. The grab arm is provided with a fixed pulley, and the flexible cable passes around the fixed pulley. The lifting motor drives the winding wheel to wind and unwind the flexible cable to drive the grab arm to lift and lower.

3. The wide-width rotary gantry cotton grabber based on dual-side gripping according to claim 2, characterized in that, The walking support device is provided with a slide rail on its side, and the grab arm is engaged on the slide rail by rollers.

4. The wide-width rotating gantry cotton grabber based on dual-side gripping according to claim 1, characterized in that, The omnidirectional wheel mechanism comprises three wheels, with each pair of the three wheels forming an angle of 60 degrees, and they are evenly distributed on the outer side of the omnidirectional wheel chassis.

5. The wide-width rotating gantry cotton grabber based on dual-side gripping according to claim 1, characterized in that, An anti-tilt compensation device is provided between the housing of the walking support device and the omnidirectional wheel chassis. The anti-tilt compensation device includes multiple compression springs, which are evenly distributed above the omnidirectional wheel chassis and connect the omnidirectional wheel chassis and the housing of the walking support device.

6. The wide-width rotary gantry cotton grabber based on dual-side gripping according to claim 5, characterized in that, The number of compression springs is six.

7. The wide-width rotary gantry cotton grabber based on dual-side gripping according to claim 1, characterized in that, The main body of the cotton grabber is equipped with a lifting mechanism, which is connected to the grabber arm and is used to drive the grabber arm to lift.

8. The wide-width rotary gantry cotton grabber based on dual-side gripping according to claim 1, characterized in that, The main body of the cotton grabber, the grabbing arm, and the traveling support device together form a gantry-type structure. The main body of the cotton grabber and the traveling support device are located at both ends of the grabbing arm, providing lateral support for the grabbing arm.

9. The wide-width rotating gantry cotton grabber based on dual-side gripping according to claim 1, characterized in that, The rotating mechanism is located inside the main body of the cotton grabber, and the main body of the cotton grabber is equipped with a drive motor. The drive motor is connected to the planetary gear and is used to drive the tower body of the cotton grabber to rotate.

10. The wide-width rotating gantry cotton grabber based on dual-side gripping according to claim 1, characterized in that, When the cotton grabber body moves to the end along the guide rail of the suction groove, the rotating mechanism drives the grabbing arm to rotate to the opposite side, and at the same time the omnidirectional wheel mechanism drives the walking support device to make a circular motion around the cotton grabber body, so that the grabbing arm moves to the other side of the suction groove guide rail.

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