A method and apparatus for harvesting single stalks of sugar cane by rotary gripping

Abstract

A rotary clamp-type single sugarcane harvesting method involves using a rotary clamp-type single sugarcane harvesting device to clamp and cut sugarcane stalks one by one. The rotary clamp-type single sugarcane harvesting device includes a longitudinal positioning device, a transverse positioning device, a rotating frame, a braking assembly, a rotating shaft, and a movable clamp / cutter driven by a planetary gear set. Initially, the cutter and movable clamp are in an open state, and the harvesting device moves forward. When the longitudinal positioning device collides with the sugarcane, the harvesting device stops moving forward and triggers the rotating shaft to rotate, causing the rotating frame to rotate. This causes the transverse positioning device to collide with the sugarcane, allowing the planetary gear set to rotate, causing the movable clamp to clamp the sugarcane with the fixed clamp on the rotating frame. This drives the cutter to cut the sugarcane and transport it to a designated position. After the movable clamp releases the sugarcane, the rotating frame returns to the initial position, completing the harvesting of one sugarcane stalk. The operation can be repeated to harvest the next sugarcane stalk. This technology achieves automatic clamping of the sugarcane before cutting, enabling orderly harvesting.

Description

Technical Field

[0001] This invention relates to the technical field of sugarcane harvesting, specifically to a method and apparatus for harvesting single sugarcane stalks using a rotary gripper. Background Technology

[0002] Sugarcane (scientific name: *Saccharum officinarum*) is a perennial, tall, solid herbaceous plant belonging to the genus *Saccharum*. It has a robust and well-developed rhizome. The culms reach a height of 3-6 meters. Sugarcane thrives in fertile soil, abundant sunshine, and areas with significant temperature differences between winter and summer. A temperate and tropical crop, sugarcane is the raw material for sugar production and can also be used to extract ethanol as an energy substitute. It is an important sugar crop in my country and a major source of sugar. The green development and sustainable high-yield cultivation of sugarcane are crucial for national sugar security. Sugarcane is the most widely planted economic crop in Guangxi Zhuang Autonomous Region. According to data from the National Bureau of Statistics in 2018, Guangxi Zhuang Autonomous Region had a sugarcane planting area of ​​886,400 hectares (approximately 13.3 million mu), accounting for 63.05% of the national planting area; sugarcane output was 72.9276 million tons, accounting for 67.46% of the national total; and sugar production was 5.9 million tons, accounting for 67.23% of the national sugar production.

[0003] Sugarcane cultivation in Guangxi Zhuang Autonomous Region is mostly located in hilly areas with complex terrain. The requirements and characteristics of sugarcane cultivation, such as the need to retain ratoons for at least three years, have slowed the development of mechanized sugarcane harvesting. Therefore, traditional sugarcane harvesting still relies heavily on manual labor, which is not only physically demanding but also inefficient, making it a difficult and arduous task. The sugar industry and sugarcane farmers urgently need mechanized harvesting methods. In recent years, with the significant increase in labor costs, manual sugarcane harvesting has been increasingly abandoned by sugarcane growers, replaced by sugarcane harvesters. On relatively flat land, the harvesting efficiency of sugarcane harvesters is significantly higher than that of manual harvesting, and they also have a cost advantage. Existing sugarcane harvesters are mainly imported and domestically produced, including both stalk-cutting and whole-stalk harvesters. Both types of harvesters have their own problems.

[0004] Cutting combine harvesters have mature applications abroad and are highly reliable. However, these large sugarcane harvesters are bulky, heavy, complex in structure, and have large tires with wide wheelbases. In my country's scattered, small-plot planting conditions, turning around at the edge of the field is extremely inconvenient. While they achieve a certain level of efficiency, because they cut sugarcane into small sections of about 40 centimeters, the cut sugarcane has a short shelf life and must be immediately transported to the sugar mill for processing. Furthermore, a transport vehicle is needed to receive the sugarcane during operation, and when two vehicles are working together, the sugarcane roots are severely damaged or crushed. This makes them unsuitable for sugarcane fields in most mountainous and hilly areas of my country, as well as for the need to preserve ratooned sugarcane after harvest. Moreover, the production cost of these machines is very high abroad, resulting in extremely expensive purchase and operating costs. The technology of whole-stalk combine harvesters is not mature enough, and their applicability and reliability are poor. They are difficult to work smoothly in sugarcane fields with lodging or dense sugarcane growth. Because they harvest in a straight line along the entire ridge, they are prone to blockage of the sugarcane conveying channel when encountering lodging or dense sugarcane growth, and they are also prone to damage to the leaf stripping components. Their continuous working time is short.

[0005] To achieve whole-stalk combined harvesting of sugarcane as soon as possible, single-stalk harvesting methods are also an important research direction. Published literature has reported single-stalk harvesting technologies, such as: Chinese Patent: A Single-Stalk Harvesting Method and Apparatus for Sugarcane, Application No.: 202011374661.2, Application Date: 2020.12.01, Abstract: A single-stalk harvesting method for sugarcane involves using a sugarcane harvesting device to cut sugarcane stalk by stalk. Its power mechanism pushes the active sliding rod forward, causing the locking rod to move forward. When the fixed clamp on the locking rod touches the sugarcane, the locking rod is obstructed and stops moving. The active slide bar, relative to the sugarcane, continues to move forward, clamping the sugarcane between its moving and fixed clamps. The cutting blade then cuts the sugarcane. When the relative movement reaches the set position, a cutting limit switch is triggered, and the controller activates the power mechanism to move the active slide bar backward. The reverse clamping mechanism pulls the moving clamp, clamping the sugarcane and pulling it back. When the set position is reached, the reverse clamping mechanism releases the moving clamp, releasing the sugarcane. When the active slide bar returns to the stop position, a return limit switch is triggered, stopping the return and completing the harvesting of one sugarcane. The same operation can be repeated to harvest the next sugarcane. This method utilizes a sugarcane harvesting device to achieve stalk-by-stalk cutting of sugarcane.

[0006] Applied research has revealed that the aforementioned single-stalk harvesting sugarcane technology requires precise alignment of the clamps with the sugarcane for cutting, necessitating accurate clamp control and making automatic clamp alignment during harvesting difficult. Therefore, it is necessary to design a new single-stalk sugarcane harvesting technology. Summary of the Invention

[0007] The purpose of this invention is to address the problems existing in the prior art by providing a rotary gripper-type single sugarcane harvesting method and device. This technology utilizes the longitudinal positioning device of the harvesting device to trigger the rotation of the harvesting device by colliding with the sugarcane, and then triggering the transverse positioning device to clamp and cut the sugarcane. Finally, the sugarcane is transported to a designated position to complete the harvesting of a single sugarcane. This achieves automatic clamping of the sugarcane by the gripper before cutting, thereby also achieving orderly harvesting of single sugarcane.

[0008] This invention is achieved using the following technical solution: A method for harvesting single sugarcane stalks using a rotary gripper is a process of gripping and cutting sugarcane stalks one by one using a rotary gripper. The rotary gripper is a device containing a longitudinal positioning device, a transverse positioning device, a rotating frame, a braking assembly, a rotating shaft, and a moving clamp / cutter driven by a planetary gear set. In the initial position, the cutter and the moving clamp are in the open state, the controller controls the motor to be in the standby position, and the sugarcane harvesting device moves forward. When the longitudinal positioning device collides with the sugarcane, the sugarcane harvesting device stops moving forward and triggers the rotating shaft to rotate, causing the rotating frame to rotate. This causes the transverse positioning device to collide with the sugarcane, allowing the planetary gear set to rotate, causing the moving clamp to clamp the sugarcane with the fixed clamp on the rotating frame, driving the cutter to cut the sugarcane. Then, the rotating frame rotates to transport the sugarcane to the designated position. After the moving clamp releases the sugarcane, the rotating frame returns to the initial position, completing the harvesting of one sugarcane stalk. The same operation can be repeated to harvest the next sugarcane stalk.

[0009] The rotary gripper-type single sugarcane harvester has three structures. The first structure includes a mounting base. The mounting base has a rotating shaft vertically mounted on it via a shaft mounting seat and bearings. The bearings are installed inside the shaft mounting seat. The mounting base is equipped with a power unit for driving the shaft's rotation and a forward-extending longitudinal positioning sensor. The longitudinal positioning sensor can also be installed in other suitable locations, as long as it can touch the sugarcane during operation. A planetary gear system and a laterally extending swing arm are rotatably mounted on the lower end of the shaft. The device is equipped with an upper eccentric wheel and a lower eccentric wheel. The swing frame is equipped with two stops, one and the other, to limit the rotation range of the upper and lower eccentric wheels. The swing frame is also equipped with a damping block that rubs against the rotating shaft mounting seat. The swing frame is equipped with a fixed clamp, a movable clamp, a lateral positioning device, and a cutter. The upper eccentric wheel is connected to the movable clamp via a movable clamp opening and closing linkage. The rotation of the upper eccentric wheel controls the opening and closing of the movable clamp to cooperate with the fixed clamp to clamp the sugarcane. The lower eccentric wheel is connected to the cutter via a cutter cutting linkage. The rotation of the lower eccentric wheel controls the cutter to cut the sugarcane via the cutter cutting linkage.

[0010] A further preferred embodiment: The rear end of the swing frame is rotatably connected to the rotating shaft. The planetary gear train is located inside the rear end of the swing frame. The planetary gear train includes a gear ring, a sun gear, and planetary gears. The sun gear is connected to the rotating shaft via a key pin. The planetary gears are connected to the rotating shaft via a planet carrier. The planet carrier mounts the planetary gears via an optical shaft. The planet carrier and the rotating shaft are rotatably connected via a planet carrier bearing. A lower eccentric wheel is eccentrically mounted at the bottom of the planet carrier via a lower eccentric wheel bearing. A cutter active push rod is provided on the outer periphery of the lower eccentric wheel. The planetary carrier is connected to the cutting rod and the cutting blade. The outer circumference of the planetary carrier is provided with a protrusion. The gear ring and the rotating shaft are rotatably connected through the gear ring bearing. The upper part of the gear ring is eccentrically mounted on the upper eccentric wheel bearing. The outer circumference of the upper eccentric wheel is provided with a moving clamp active push rod. The moving clamp active push rod is connected to the moving clamp through the moving clamp opening and closing linkage. The outer circumference of the gear ring is provided with a protrusion. Stop block one and stop block two are provided on the swing frame and are used to cooperate with protrusion one and protrusion two to restrict the planetary carrier and gear ring to rotate only within the range of 0-180 degrees.

[0011] A further preferred embodiment: the moving clamp opening and closing linkage includes a moving clamp passive push rod. The middle part of the moving clamp passive push rod is hinged to the swing frame via a first pin. One end of the moving clamp passive push rod is hinged to the middle position of the moving clamp, and the other end of the moving clamp passive push rod is hinged to the moving clamp active push rod via a moving clamp connecting rod. The rear end of the moving clamp is hinged to a moving clamp hinge connecting rod, which is hinged to the swing frame via a second pin. With this connection structure, the moving clamp's opening and closing path is arc-shaped, allowing for better cooperation with the fixed clamp to clamp the sugarcane.

[0012] A further preferred embodiment: the connection end between the movable clamping link and the movable clamping active push rod is also hinged to the swing frame via a third pin, making the reciprocating motion of the movable clamping link smoother.

[0013] A further preferred embodiment: The lateral positioning device includes a lateral positioning swing rod and a lateral positioning sensor. The lateral positioning swing rod is hinged to the mounting base via a pin. The lateral positioning sensor is fixedly mounted on the mounting base and is triggered by the rotation of the lateral positioning swing rod. When the swing frame swings, the lateral positioning swing rod first touches the sugarcane. The lateral positioning swing rod is squeezed by the sugarcane, triggering the lateral positioning sensor. The lateral positioning sensor transmits a signal to the controller, and the controller controls the motor to work according to the set program.

[0014] A further preferred embodiment: The swing frame includes an upper support and a lower support. The rear end of the upper support is rotatably connected to a rotating shaft via an upper support rotating seat. A damping block is installed on the upper support rotating seat. The rear end of the lower support is rotatably connected to the rotating shaft via a lower support rotating seat. A stop block is provided at the rear end of the lower support rotating seat. A stop block is provided between the upper and lower supports on the side of the rotating shaft away from the stop block. Fixed clamps are respectively provided at the front ends of the upper and lower supports. The front ends of the upper and lower supports are connected by a fixed plate. A lateral positioning sensor is installed on the fixed plate. A first pin, a second pin, and a third pin are respectively provided between the upper and lower supports, connecting the upper and lower supports.

[0015] A second structure of a rotary gripper-type single sugarcane harvester includes a mounting base. The mounting base has a rotating shaft vertically mounted on it via a rotating shaft mounting seat and bearings. The mounting base is equipped with a power unit for driving the rotating shaft and a forward-extending longitudinal positioning sensor. A planetary gear train and a laterally extending swing frame are rotatably mounted on the lower end of the rotating shaft. An upper eccentric wheel and a lower eccentric wheel are mounted on the planetary gear train. The swing frame is equipped with wedge-shaped elastic blocks and a rotation block to limit the rotation range of the upper and lower eccentric wheels. A damping block that rubs against the rotating shaft mounting seat is mounted on the swing frame. The swing frame is equipped with a fixed gripper, a movable gripper, a cutter, and a lateral positioning device for driving the rotation block. The upper eccentric wheel is connected to the movable gripper via a movable gripper telescopic link, and the lower eccentric wheel is connected to the cutter via a cutter cutting link. The rotation of the lower eccentric wheel controls the cutter to cut the sugarcane via the cutter cutting link.

[0016] Further preferred embodiment: The swing frame includes an upper support and a lower support. The rear end of the upper support is rotatably connected to the rotating shaft via an upper support rotating seat. A damping block is installed on the upper support rotating seat. The rear end of the lower support is rotatably connected to the rotating shaft via a lower support rotating seat. An upwardly extending wedge-shaped elastic stop is provided at the rear end of the lower support rotating seat. A rotating stop is provided between the upper and lower supports on the side of the rotating shaft away from the wedge-shaped elastic stop. The rotating stop is rotatably installed between the upper and lower supports via a third pin. Fixed clamps are respectively provided at the front ends of the upper and lower supports. The lateral positioning device includes a lateral positioning swing rod and a connecting rod. The lateral positioning swing rod is rotatably installed between the front ends of the upper and lower supports via a first pin. The lateral positioning swing rod is hinged to the rotating stop via the connecting rod. The planetary gear train is installed on the rotating shaft located between the upper and lower support rotating seats. The planetary gear train includes a gear ring, a sun gear, and planet gears. The sun gear is connected to the rotating shaft via a key pin. The planet gears are connected to the rotating shaft via a planet carrier. The planet carrier mounts the planet gears via an optical axis. The planet carrier and the rotating shaft are rotatably connected via planet carrier bearings. The bottom of the structure is eccentrically mounted via a lower eccentric wheel bearing. A cutter active push rod is located on the outer circumference of the lower eccentric wheel, connected to the cutter via a cutter cutting linkage. A first protrusion is located on the outer circumference of the planetary carrier. The gear ring is rotatably connected to the rotating shaft via a gear ring bearing. An upper eccentric wheel is eccentrically mounted on the upper part of the gear ring via an upper eccentric wheel bearing. A movable clamp active push rod is located on the outer circumference of the upper eccentric wheel, connected to the movable clamp via a movable clamp telescopic linkage. A second protrusion is located on the outer circumference of the gear ring. A wedge-shaped elastic stop and a rotating stop are used to interact with the first protrusion. In conjunction with protrusion two, the rotation of the planetary carrier and the gear ring is restricted. When the swing frame swings and the lateral positioning swing rod is squeezed by the sugarcane, a spring is provided on the swing frame to reset the lateral positioning swing rod. The lateral positioning swing rod rotates around the first pin, thereby driving the rotating stop to rotate around the third pin through the connecting rod. The rotating stop does not obstruct the passage of protrusion one and protrusion two. The upper support is also connected to the gear ring in one direction through a one-way bearing, so that the gear ring and the swing support can only rotate in one direction, avoiding elastic impact during operation and affecting working performance.

[0017] A further preferred embodiment: the wedge-shaped elastic stop includes a crossbeam, one end of which is fixedly connected to the lower support rotating seat, and the other end of which is hinged upwards to a swing stop. A return spring is diagonally stretched between the crossbeam and the swing stop. The upper end of the swing stop extends to the gear ring, and the upper part of the swing stop is provided with a wedge-shaped protrusion that facilitates the passage of protrusion two and blocks the passage of protrusion one. When protrusion one on the planetary carrier rotates to the swing stop, it is blocked by the swing stop, and the planetary carrier cannot rotate temporarily. When protrusion two on the gear ring rotates to the swing stop, due to the wedge-shaped surface at the upper end of the swing stop... The second protrusion opens the swing stop and separates it from the first protrusion. The first protrusion passes through the wedge-shaped protrusion, allowing the planetary carrier to continue rotating. After the second protrusion leaves the swing stop, the return spring resets the swing stop to its original position, again restricting the passage of the first protrusion. The movable clamp telescopic linkage includes a movable clamp passive push rod, a first connecting rod, a limiting sleeve, and a second connecting rod. The middle part of the movable clamp passive push rod is hinged to the swing frame via a first pin. One end of the movable clamp passive push rod is hinged to the middle position of the movable clamp, and the other end of the movable clamp passive push rod is hinged to the movable clamp active push rod via the first and second connecting rods. The rear end of the movable clamp is hinged... A movable clamping hinged link is connected to the swing frame via a second pin. One end of the second link has a limiting step, and a limiting sleeve extends from the other end of the second link and fits onto it. The second link has a sliding groove extending from the limiting step end to the end of the limiting sleeve. The limiting sleeve has an inner groove. One end of the first link has a limiting protrusion. The limiting protrusion of the first link extends from the sliding groove at the limiting step end of the second link, passes through the inner groove of the limiting sleeve, and then engages with the end of the limiting sleeve. The limiting sleeve has features to restrict its rotation direction. The limiting block has a torsion spring installed on the limiting sleeve to rotate and reset the limiting sleeve. The limiting sleeve has an upwardly extending lever. The bottom of the mounting base has a toggle stop to block the lever. When the lever of the limiting sleeve is not blocked by the toggle stop, the limiting protrusion of the first link is engaged with the end of the limiting sleeve, and the connection length between the first link and the second link cannot be extended. When the lever of the limiting sleeve is blocked by the toggle stop, the limiting sleeve rotates. After the inner groove is aligned with the limiting protrusion, the limiting protrusion is no longer restricted by the end of the limiting sleeve, and the connection length between the first link and the second link can be extended.

[0018] A further preferred embodiment: the power unit includes a motor, the motor shaft is connected to a reducer, the output shaft of the reducer is connected to the shaft via a coupling, the reducer and the motor can be fixedly mounted on a mounting base, and the power output by the motor is transmitted to the shaft after passing through the reducer to drive the shaft to rotate.

[0019] A further preferred embodiment: The longitudinal positioning sensing device includes a longitudinal positioning rod and a longitudinal positioning sensor. The longitudinal positioning rod extends forward through a sliding sleeve and is slidably mounted on the mounting base. A compression return spring is installed on the longitudinal positioning rod. The longitudinal positioning sensor is fixedly mounted on the mounting base and is triggered by the sliding of the longitudinal positioning rod. When the rotary gripper-type single sugarcane harvester moves forward, the longitudinal positioning rod first touches the sugarcane and is squeezed back by the sugarcane. Then, the longitudinal positioning rod triggers the longitudinal positioning sensor, which transmits a signal to the controller. The controller controls the motor to work according to the set program. When the sugarcane is cut and clamped away, the longitudinal positioning rod returns to its original position under the action of the compression return spring.

[0020] A further preferred embodiment: the cutting link includes a passive push rod for the cutting blade, which is fixedly connected to the cutting blade. The passive push rod is hinged to the swing frame via a first pin, and the passive push rod is hinged to the active push rod for the cutting blade via a cutting blade link.

[0021] A further preferred embodiment: the connection end between the cutter connecting rod and the cutter active push rod is also hinged to the swing frame via a third pin, making the reciprocating motion of the cutter connecting rod more stable.

[0022] The third structure of the rotary gripper-type single sugarcane harvester includes a mounting base 1. The mounting base 1 is vertically extended and rotatably mounted on a rotating shaft 1 via a rotating shaft mounting base 1 and bearings. The mounting base 1 is equipped with a power unit for driving the rotation of the rotating shaft 1 and a forward-extending longitudinal positioning sensor. The longitudinal positioning sensor can also be installed in other suitable positions, as long as it can touch the sugarcane during operation. A planetary gear system and a laterally extending rotating frame 1 are rotatably mounted on the rotating shaft 1. The planetary gear system is equipped with a moving clamp eccentric wheel 1 and a cutting eccentric wheel 1. The moving clamp eccentric wheel 1 is connected to a sun gear 1, and the cutting eccentric wheel 1 is connected to a gear ring 1. Two... The solar limiting platform is used to limit rotation. The gear ring is equipped with an inner limiting platform and a recessed platform for limiting rotation. The rotating frame is equipped with a rotary brake that controls frictional contact with the rotating shaft mounting seat through the gear ring. The rotating frame is equipped with a fixed clamp, a movable clamp, a cutter, and a lateral positioning device for releasing the rotation of the gear ring. The movable clamp eccentric wheel is connected to the movable clamp through a movable clamp push rod device. The cutter eccentric wheel is connected to the cutter through a cutter push rod device. The top of the mounting seat is hinged to the whole machine connecting seat through a mounting lug. The whole machine connecting seat is also connected to the mounting lug through a mounting lug tension spring. The mounting lug is equipped with a limiting bolt for contacting the top of the whole machine connecting seat.

[0023] A further preferred embodiment includes an electric push rod hinged between the machine connecting seat and the mounting lug for adjusting the tilt angle of the machine.

[0024] A further preferred embodiment: the rear end of the rotating frame 1 is rotatably connected to the rotating shaft 1. The planetary gear system is located within the rear end of the rotating frame 1. The planetary gear system includes a ring gear 1, a sun gear 1, and planet gears 1. The planet carrier 1 of the planet gears 1 is connected to the rotating shaft 1 via a key pin. The planet gears 1 and the planet carrier 1 are connected by an optical shaft, which supports the planet gears 1 and enables relative rotation between them. The sun gear 1 is rotatably connected to the rotating shaft 1 via a bearing. The sun gear 1 is also connected to the rotating frame 1 via a one-way bearing. The sun gear 1 is allowed to rotate clockwise in one direction relative to the rotating frame 1. The gear ring 1 and the rotating shaft 1 are also rotatably connected through corresponding bearings. The planet gear 1 meshes with the sun gear 1 and the gear ring 1. The bottom of the gear ring 1 is eccentrically mounted with the cutter eccentric wheel 1 through the eccentric wheel bearing. The outer circumference of the cutter eccentric wheel 1 is connected to the cutter push rod 1 device for controlling the cutting of the cutter 1. The upper part of the sun gear 1 is eccentrically mounted with the movable clamp eccentric wheel 1 through the eccentric wheel bearing. The outer circumference of the movable clamp eccentric wheel 1 is connected to the movable clamp push rod device for controlling the opening and closing of the movable clamp 1.

[0025] A further preferred embodiment: The rotating frame includes an upper support and a lower support, which are connected as a whole. A fixed clamp is provided at the front end of each support. The rear end of the upper support is rotatably connected to a rotating shaft via an upper support rotating seat. The rear end of the lower support is rotatably connected to the rotating shaft via a lower support rotating seat. A rotary brake is mounted on the upper support rotating seat via a connecting arm. The rotary brake includes a limiting wedge and a rotating mounting seat. The rotating mounting seat is fixedly connected to the connecting arm. A brake rotating shaft is fixedly connected to the bottom of the limiting wedge. The brake rotating shaft is rotatably mounted in the rotating mounting seat via a bearing. A limiting nut is installed at the lower end of the brake rotating shaft. A brake reset torsion spring is installed on the brake rotating shaft. A brake lever for friction braking between the limiting wedge and the rotating shaft mounting seat is also fixedly connected to the bottom of the limiting wedge. A pulley for contacting a gear ring is rotatably mounted at the lower end of the brake lever.

[0026] A further preferred embodiment: The movable clamp push rod device includes a linear bearing housing, which is located on a rotating frame one behind the movable clamp one. A linear bearing is installed inside the linear bearing housing, and a movable clamp push rod one passes through the linear bearing. One end of the movable clamp push rod one is connected to the movable clamp one via a movable clamp push connecting rod one. The movable clamp one is hinged to the rotating frame one via a hinge shaft one. The other end of the movable clamp push rod one is hinged to the movable clamp eccentric wheel one via a movable clamp release snap-opening seat. A limiting seat for actuating the movable clamp release snap-opening seat is installed at the bottom of the mounting base one. The rotation of the movable clamp eccentric wheel one drives the movable clamp push rod one to move in a straight line... The reciprocating motion within the linear bearing housing enables the movable clamp to open and close in tandem with the fixed clamp to clamp or release the sugarcane. At this time, the movable clamp push rod is linearly connected to the movable clamp release stop. When sugarcane is clamped, the movable clamp cannot reach the upper stop point, and the linear connection restricts the movable clamp eccentric wheel from continuing to rotate. When the movable clamp release stop hits the limit seat, the movable clamp push rod and the movable clamp release stop deflect, and the movable clamp eccentric wheel can continue to rotate. After reaching the highest point, it pulls back the release stop, causing the movable clamp push rod to retract within the linear bearing housing. The movable clamp opens, and the clamped sugarcane is released.

[0027] A further preferred embodiment: The movable clamp release and impact-opening seat includes a hinged rod. One end of the hinged rod is hinged to a movable clamp push rod. A baffle for limiting the movable clamp push rod is provided on the clockwise rotation side of the hinged rod. The other end of the hinged rod is hinged to a movable clamp eccentric wheel. The counterclockwise rotation side of the hinged rod is connected to the movable clamp eccentric wheel via a tension spring and a tension spring mounting lug. An upwardly extending impact-opening lever is connected to the hinged end of the hinged rod and the movable clamp push rod. A universal ball is installed on the impact-opening lever for touching the limiting seat. When the rotating frame continues to rotate clockwise, after the universal ball touches the limiting seat, the movable clamp release and impact-opening seat and the movable clamp push rod deflect. The movable clamp eccentric wheel can continue to rotate, causing the movable clamp push rod to retract within the linear bearing seat. The movable clamp opens, and the clamped sugarcane is released.

[0028] A further preferred embodiment: The cutter push rod device includes a linear bearing housing, which is located on a rotating frame behind the cutter. A linear bearing is installed inside the linear bearing housing, and a cutter push rod passes through the linear bearing. One end of the cutter push rod is connected to the cutter via a cutter push linkage. The cutter is hinged to the rotating frame via a hinge shaft. The other end of the cutter push rod is hinged to a cutter eccentric wheel. The rotation of the cutter eccentric wheel causes the cutter push rod to extend and retract within the linear bearing housing, thereby enabling the cutter to open and close to cut sugarcane.

[0029] A further preferred embodiment: The power unit includes a motor, a reducer connected to the shaft of the motor, and the output shaft of the reducer connected to the shaft via a coupling. The reducer and motor can be fixedly mounted on a mounting base. The power output from the motor is transmitted to the shaft after passing through the reducer to drive the shaft to rotate. The longitudinal positioning sensor includes a longitudinal positioning rod and a proximity switch. The longitudinal positioning rod extends forward and slides on the mounting base via a sliding sleeve. A compression return spring is mounted on the longitudinal positioning rod. The proximity switch is fixedly mounted on the mounting base and is activated by sliding the longitudinal positioning rod to start the motor. When the device moves forward, the longitudinal positioning rod first touches the sugarcane and is squeezed back by the sugarcane. Then, the longitudinal positioning rod triggers the proximity switch, which transmits a signal to the controller. The controller controls the motor to work according to the set program. After the sugarcane is cut and clamped away, the longitudinal positioning rod returns to its original position under the action of the compression return spring.

[0030] A further preferred embodiment: The lateral positioning device includes a lateral positioning clamp and a positioning clamp push rod. The lateral positioning clamp is hinged to a rotating frame via a hinge shaft. A linear bearing seat is provided on the rotating frame behind the lateral positioning clamp. A linear bearing is installed inside the linear bearing seat, and a lateral positioning clamp push rod passes through the linear bearing. One end of the lateral positioning clamp push rod is connected to the lateral positioning clamp via the positioning clamp push rod. The rotation of the lateral positioning clamp pulls the positioning clamp push rod to slide within the linear bearing seat. The other end of the lateral positioning clamp push rod is connected to a limit wheel seat. A limit wheel for limiting the rotation of the gear ring is installed on the limit wheel seat. A lateral positioning return spring is installed on the lateral positioning clamp push rod between the limit wheel seat and the linear bearing seat. When the rotating frame rotates, the lateral positioning clamp first touches the sugarcane, causing it to rotate under pressure. This pulls the positioning clamp push rod, causing the limit wheel seat and the limit wheel to extend forward, creating space for the gear ring to rotate. The lateral positioning return spring is then compressed.

[0031] A further preferred embodiment includes a positioning proximity switch installed at the bottom of the mounting base one, which triggers and shuts down the motor one when the rotating frame one rotates to the desired position. When the rotating frame one rotates to the starting position, the positioning proximity switch is triggered, and the positioning proximity switch transmits a signal to the controller, which then shuts down the motor one.

[0032] The technology of this application has the following advantages: the single sugarcane harvesting device has an ingenious structure. A planetary gear system and a laterally extending rotating frame are mounted on a rotating shaft. The planetary gear system is equipped with a moving clamp eccentric wheel for driving the opening and closing of the moving clamp and a cutting blade eccentric wheel for driving the cutting blade. The moving clamp eccentric wheel is connected to the moving clamp through a moving clamp push rod device. The rotation of the moving clamp eccentric wheel controls the opening and closing of the moving clamp and its cooperation with the fixed clamp to clamp the sugarcane through the moving clamp push rod device. The cutting blade eccentric wheel is connected to the cutting blade through a cutting blade push rod device. The rotation of the cutting blade eccentric wheel controls the cutting blade to cut the sugarcane through the cutting blade push rod device. After the rotating frame rotates to the appropriate position, the moving clamp releases the sugarcane. The rotating frame continues to rotate to the initial position and then stops working. The longitudinal positioning sensor is triggered again to achieve the purpose of rotating to touch the sugarcane, gripping the sugarcane, cutting the sugarcane, and rotating to transport the sugarcane. This facilitates the automatic clamping of the sugarcane by the clamp before cutting, and thus also achieves the orderly harvesting of single sugarcane. Attached Figure Description

[0033] Figure 1 This is a first-view three-dimensional structural diagram of the rotary gripper-type single sugarcane harvesting device in Embodiment 1; Figure 2 This is a second-view three-dimensional structural diagram of the rotary gripper-type single sugarcane harvesting device in Embodiment 1; Figure 3 This is a first-view planar structural diagram of the rotary gripper-type single sugarcane harvester in Embodiment 1. Figure 4 This is a second-view planar structural schematic diagram of the rotary gripper-type single sugarcane harvesting device in Embodiment 1; Figure 5 This is a schematic diagram of the shaft transmission relationship in Example 1; Figure 6 yes Figure 5 A schematic diagram of direction AA; Figure 7 This is a first-view perspective three-dimensional structural diagram of the rotary gripper-type single sugarcane harvesting device in Embodiment 2; Figure 8 This is a second-view three-dimensional structural diagram of the rotary gripper-type single sugarcane harvesting device in Embodiment 2; Figure 9 This is a third-view perspective three-dimensional structural diagram of the rotary gripper-type single sugarcane harvesting device in Embodiment 2; Figure 10 This is a schematic diagram of the shaft transmission relationship in Example 2; Figure 11 This is a first-person perspective schematic diagram of the three-dimensional connection structure of the first link, the limiting sleeve, and the second link; Figure 12 This is a second-view schematic diagram of the three-dimensional connection structure of the first link, the limiting sleeve, and the second link; Figure 13 This is a cross-sectional structural diagram of the first connecting rod, the limiting sleeve, and the second connecting rod; Figure 14 This is a schematic diagram of the connection structure of the movable clamp, the passive push rod of the movable clamp, and the hinged connecting rod of the movable clamp. Figure 15 This is a schematic diagram of the rotary gripper-type single sugarcane harvesting device in Example 3; Figure 16 yes Figure 15 Schematic diagram of a partial cross-section of the structure; Figure 17 This is a schematic diagram of the rotating gripper-type single sugarcane harvester in Example 3 cutting the sugarcane and sending it to the release position. Figure 18 yes Figure 15 A cross-sectional top view of the central sun gear; Figure 19 This is a schematic diagram of the connection structure of the cutter; Figure 20 This is a schematic diagram of the rotary brake. Figure 21 yes Figure 20 A top-down view; Figure 22 This is a schematic diagram of the structure of the movable clamp release and impact release seat; The names corresponding to the serial numbers in the figure are: 1. Rotating shaft; 2. Lower support rotating seat; 3. Stop block one; 4. Lower eccentric wheel; 5. Planetary carrier; 6. Gear ring; 7. Upper eccentric wheel; 8. Damping block; 9. Upper support rotating seat; 10. Rotating shaft mounting seat; 11. Mounting seat; 12. Reducer; 13. Motor; 14. Compression return spring; 15. Longitudinal positioning rod; 16. Upper support; 17. Longitudinal positioning sensor; 18. Fixed chuck; 19. Moving clamp; 20. Lateral positioning swing rod; 21. Lateral positioning sensor; 22. Cutting blade; 23. Moving clamp passive push rod; 24. Lower support; 25. First pin shaft; 26. Moving clamp hinge connecting rod; 27. Stop block two; 28. Cutting blade passive push rod; 29. ​​Cutting blade connecting rod; 30. Cutting blade active push rod; 31. Protrusion one; 32. Moving clamp 33. Active push rod; 34. Movable clamping link; 35. Protrusion 2; 36. Planetary carrier bearing; 37. Lower eccentric wheel bearing; 38. Sun gear; 39. Upper eccentric wheel bearing; 40. Gear ring bearing; 41. Planetary gear; 42. Sugarcane; 43. Second pin; 44. Third pin; 45. Movable clamp telescopic link; 46. Crossbar; 47. Return spring; 48. Swing stop; 49. Linkage; 50. Rotation stop; 51. Actuating stop; 52. First link; 53. Sliding groove; 54. Limiting step; 55. Limiting block; 56. Torsion spring; 57. Limiting sleeve; 58. Actuating rod; 59. Limiting protrusion; 60. Second link; 61. Inner slot; 62. One-way bearing; 63. Motor 1; 64. Reducer 1; 65. Rotating shaft mounting 65. Mounting base; 66. Rotary brake; 67. Connecting arm; 68. Upper support rotating seat; 69. Moving clamp eccentric wheel; 70. Sun gear; 71. Gear ring; 72. Cutter eccentric wheel; 73. Lower support rotating seat; 74. Rotating shaft; 75. Rotating frame; 76. Gear ring inner locking limit platform; 77. Cutter push rod; 78. Linear bearing seat; 79. Cutter push connecting rod; 80. Hinge shaft; 81. Cutter; 82. Fixed clamp; 83. Lateral positioning clamp; 84. Positioning clamp push connecting rod; 85. Moving clamp; 86. Moving clamp push connecting rod; 87. Lateral positioning clamp push rod; 88. Longitudinal positioning rod; 89. Compression return spring; 90. Moving clamp push rod; 91. Connecting arm; 92. Proximity switch; 93. Electric push rod; 94. Unit connection seat; 95. Mounting lug spring; 96. Limit bolt; 97. Mounting lug; 98. Movable clamp release snap-open seat; 99. Sun limit platform; 100. Tension spring; 101. Tension spring mounting lug; 102. Limit seat; 103. Positioning proximity switch; 104. Planetary gear one; 105. Planetary gear carrier one; 106. Lateral positioning return spring; 107. Limit wheel seat; 108. Limit wedge; 109. Rotary mounting seat one; 110. Bearing one; 111. Brake shaft one; 112. Brake return torsion spring; 113. Brake lever; 114. Limit nut; 115. Pulley; 116. Recessed platform; 117. Hinge rod; 118. Snap-open lever;119. Universal ball bearing. Detailed Implementation

[0034] The technical solutions of the invention will be clearly and completely described below with reference to the embodiments. The described embodiments are only a part of the present invention, and not all of the embodiments. Example 1

[0035] The rotary gripper-type single sugarcane harvester includes a mounting base 11. The mounting base 11 is vertically mounted on a rotating shaft 1 via a rotating shaft mounting base 10 and a bearing. The bearing is installed inside the rotating shaft mounting base 10. The mounting base 11 is equipped with a power unit for driving the rotating shaft 1 and a forward-extending longitudinal positioning sensor. The longitudinal positioning sensor can also be installed in other suitable positions, as long as it can touch the sugarcane during operation. A planetary gear train and a laterally extending swing frame are rotatably mounted on the lower end of the rotating shaft 1. An upper eccentric wheel 7 and a lower eccentric wheel 4 are mounted on the planetary gear train, and the swing frame is equipped with… Stop 1 3 and stop 27 are used to limit the rotation range of the upper eccentric wheel 7 and the lower eccentric wheel 4. The swing frame is equipped with a damping block 8 that rubs against the rotating shaft mounting seat 10. The swing frame is equipped with a fixed clamp 18, a movable clamp 19, a lateral positioning device and a cutter 22. The upper eccentric wheel 7 is connected to the movable clamp 19 through the movable clamp opening and closing linkage. The rotation of the upper eccentric wheel 7 controls the opening and closing of the movable clamp 19 through the movable clamp opening and closing linkage to cooperate with the fixed clamp 18 to clamp the sugarcane 41. The lower eccentric wheel 4 is connected to the cutter 22 through the cutter cutting linkage. The rotation of the lower eccentric wheel 4 controls the cutter 22 to cut the sugarcane 41 through the cutter cutting linkage.

[0036] The power unit includes a motor 13, and a reducer 12 is connected to the shaft of the motor 13. The output shaft of the reducer 12 is connected to the shaft 1 through a coupling. The reducer 12 and the motor 13 can be fixedly installed on the mounting base 11. The power output by the motor 13 is transmitted to the shaft 1 after passing through the reducer 12, and is used to drive the shaft 1 to rotate.

[0037] The longitudinal positioning sensing device includes a longitudinal positioning rod 15 and a longitudinal positioning sensor 17. The longitudinal positioning rod 15 extends forward through a sliding sleeve and is slidably mounted on the mounting base 11. A compression return spring 14 is installed on the longitudinal positioning rod 15. The longitudinal positioning sensor 17 is fixedly mounted on the mounting base 11 and is triggered by sliding along the longitudinal positioning rod 15. When the rotary gripper-type single sugarcane harvester moves forward, the longitudinal positioning rod 15 first touches the sugarcane 41 and is squeezed back by the sugarcane 41. Then, the longitudinal positioning rod 15 triggers the longitudinal positioning sensor 17, which transmits a signal to the controller. The controller controls the motor 13 to work according to the set program.

[0038] The rear end of the swing frame is rotatably connected to the rotating shaft 1. The planetary gear train is located inside the rear end of the swing frame. The planetary gear train includes a gear ring 6, a sun gear 37, and planet gears 40. The sun gear 37 is connected to the rotating shaft 1 via a key pin. The planet gears 40 are connected to the rotating shaft 1 via a planet carrier 5. The planet carrier 5 mounts the planet gears 40 via an optical axis. The planet carrier 5 and the rotating shaft 1 are rotatably connected via a planet carrier bearing 35. The bottom of the planet carrier 5 is eccentrically mounted with a lower eccentric wheel 4 via a lower eccentric wheel bearing 36. A cutter active push rod 30 is provided on the outer periphery of the lower eccentric wheel 4. The cutter active push rod 30 cuts through the cutter. The cutting link and the cutting blade 22 are connected. The outer periphery of the planetary carrier 5 is provided with a protrusion 31. The gear ring 6 is rotatably connected to the rotating shaft 1 through the gear ring bearing 39. The upper part of the gear ring 6 is eccentrically mounted on the upper eccentric wheel 7 through the upper eccentric wheel bearing 38. The outer periphery of the upper eccentric wheel 7 is provided with a moving clamp active push rod 32. The moving clamp active push rod 32 is connected to the moving clamp 19 through the moving clamp opening and closing link. The outer periphery of the gear ring 6 is provided with a protrusion 34. The first stop block 3 and the second stop block 27 are provided on the swing frame and are used to cooperate with the first protrusion 31 and the second protrusion 34 to restrict the planetary carrier 5 and the gear ring 6 to rotate only within the range of 0-180 degrees.

[0039] The movable clamp opening and closing linkage includes a movable clamp passive push rod 23. The middle part of the movable clamp passive push rod 23 is hinged to the swing frame through a first pin 25. One end of the movable clamp passive push rod 23 is hinged to the middle position of the movable clamp 19. The other end of the movable clamp passive push rod 23 is hinged to the movable clamp active push rod 32 through a movable clamp connecting rod 33. The rear end of the movable clamp 19 is hinged to a movable clamp hinge connecting rod 26. The movable clamp hinge connecting rod 26 is hinged to the swing frame through a second pin 42.

[0040] The connection end of the moving clamp connecting rod 33 and the moving clamp active push rod 32 is also hinged to the swing frame through the third pin 43.

[0041] The cutting link includes a passive push rod 28, which is fixedly connected to the cutter 22. The passive push rod 28 is hinged to the swing frame via a first pin 25, and the passive push rod 28 is hinged to the active push rod 30 via a connecting rod 29.

[0042] The connection end between the cutter connecting rod 29 and the cutter active push rod 30 is also hinged to the swing frame via a third pin 43.

[0043] The lateral positioning device includes a lateral positioning swing rod 20 and a lateral positioning sensor 21. The lateral positioning swing rod 20 is hinged to the mounting base 11 via a pin 25. The lateral positioning sensor 21 is fixedly mounted on the mounting base 11 and is triggered by the rotation of the lateral positioning swing rod 20. When the swing frame swings, the lateral positioning swing rod 20 first touches the sugarcane 41. The lateral positioning swing rod 20 is squeezed by the sugarcane 41, triggering the lateral positioning sensor 21. The lateral positioning sensor 21 transmits a signal to the controller, and the controller controls the motor 13 to work according to the set program.

[0044] The swing frame includes an upper support 16 and a lower support 24. The rear end of the upper support 16 is rotatably connected to the rotating shaft 1 via an upper support rotating seat 9. A damping block 8 is installed on the upper support rotating seat 9. The rear end of the lower support 24 is rotatably connected to the rotating shaft 1 via a lower support rotating seat 2. A stop block 3 is provided at the rear end of the lower support rotating seat 2. A stop block 27 is provided between the upper support 16 and the lower support 24 on the side of the rotating shaft 1 away from the stop block 3. Fixed clamps 18 are respectively provided at the front ends of the upper support 16 and the lower support 24. The front ends of the upper support 16 and the lower support 24 are connected by a fixed plate. A lateral positioning sensor 21 is installed on the fixed plate. A first pin 25, a second pin 42, and a third pin 43 are respectively provided between the upper support 16 and the lower support 24 to connect them.

[0045] The harvesting process of this rotary gripper-type single sugarcane harvester is as follows: When the harvester carrying the harvester moves, the longitudinal positioning rod 15 touches the sugarcane 41 and is pressed back. The compression return spring 14 is compressed, and the longitudinal positioning rod 15 also triggers the longitudinal position sensor 17. The harvester stops, and the control center controls the drive motor 13 to rotate clockwise. The power output by the motor 13 is transmitted to the rotating shaft 1 through the reducer 12 and the coupling, causing the rotating shaft 1 to rotate. The sun gear 37 is connected to the rotating shaft 1 by a flat key, so the rotating shaft 1 drives the rotation. When the sun gear 37 rotates clockwise, the damping block 8 presses against the rotating shaft mounting seat 10, creating significant resistance. This causes the sun gear 37 to drive the planet gear 40 to rotate counter-clockwise, causing the gear ring 6 to rotate counter-clockwise until the second protrusion 34 on it touches the second stop 27. Because the gear ring 6 is eccentrically mounted with an eccentric wheel 7, when the gear ring 6 rotates, the moving clamp active push rod 32 and the moving clamp connecting rod 33 connected to the upper eccentric wheel 7 will push the moving clamp passive push rod 23 to swing clockwise, pushing the moving clamp 19 backward to its maximum position. Simultaneously, the planet gear 40 drives the planet carrier 5 to rotate clockwise until the first protrusion 31 on it touches the first stop 3. Because the planet carrier 5 is eccentrically mounted with a lower eccentric wheel 4, when the planet carrier 5 rotates, the cutter active push rod 30 and the cutter connecting rod 29 connected to the lower eccentric wheel 4 will push the cutter passive push rod 28 to swing clockwise, swinging the cutter 22 backward to its maximum position. After the second protrusion 34 on the gear ring 6 and the first protrusion 31 on the planetary carrier 5 both hit the corresponding second stop 27 and first stop 3, the rotating shaft 1, the sun gear 37, the planetary carrier 5, and the gear ring 6 can no longer move relative to each other and become a single unit. The sun gear 37 drives the swing frame to overcome the resistance of the damping block 8 and rotate clockwise until the lateral positioning swing rod 20 presses against the sugarcane 41, triggering the lateral positioning sensor 21 to send a contact signal. The control center controls the drive motor 13 to reverse counterclockwise. At this time, because the damping block 8 is pressed on the rotating shaft mounting seat 10, the resistance is large and the swing frame cannot rotate temporarily. The rotating shaft 1 drives the sun gear 37 to drive the planetary carrier 5 and the lower eccentric wheel 4 to rotate counterclockwise through the planetary gear 40. The cutter active push rod 30 and the cutter connecting rod 29 connected to the lower eccentric wheel 4 will push the cutter passive push rod 28 to swing counterclockwise until the cutter 22 presses against the sugarcane 41.Simultaneously, the sun gear 37 drives the upper eccentric wheel 7 to rotate counterclockwise via the planetary gear 40 and the gear ring 6. The moving clamp active push rod 32 and the moving clamp connecting rod 33 connected to the upper eccentric wheel 7 will push the moving clamp passive push rod 23 to swing counterclockwise, pressing the moving clamp 19 onto the sugarcane 41 and clamping the sugarcane 41 with the fixed clamp head 18. After the moving clamp 19 can no longer swing, the sugarcane 41 is also stuck to the ground and cannot move. All the torque of the drive motor 13 is pressed onto the cutter 22. The cutter 22 continues to swing, and after cutting the sugarcane 41, the planetary carrier 5 continues to swing until the sugarcane 41 is cut off. After the first protrusion 31 hits the second stop 27, it can no longer rotate. At this time, the rotating shaft 1, the sun gear 37, the planetary carrier 5, and the gear ring 6 can no longer move relative to each other and are connected as one. The sun gear 37 drives the swing frame to swing counterclockwise against the resistance of the damping block 8. The swing frame and the clamped sugarcane 41 are driven by the drive motor 13 to rotate counterclockwise. After reaching the specified position, the drive motor 13 reverses clockwise and repeats the first step. The moving clamp 19 is opened, the sugarcane is released, the cutter is retracted and the rotation stops. It waits for the longitudinal position sensor to send a contact signal before rotating clockwise again. Example 2

[0046] The rotary gripper-type single sugarcane harvester includes a mounting base 11. A rotating shaft 1 is vertically rotatably mounted on the mounting base 11 via a rotating shaft mounting base 10 and bearings. The mounting base 11 is equipped with a power unit for driving the rotating shaft 1 and a forward-extending longitudinal positioning sensor. A planetary gear train and a laterally extending swing frame are rotatably mounted on the lower end of the rotating shaft 1. An upper eccentric wheel 7 and a lower eccentric wheel 4 are mounted on the planetary gear train. The swing frame is equipped with features to limit the rotation of the upper eccentric wheel 7 and the lower eccentric wheel 4. The swing frame has a wedge-shaped elastic stop and a rotating stop 49 with a range of motion. A damping block 8 is installed on the swing frame to rub against the rotating shaft mounting seat 10. The swing frame is equipped with a fixed clamp 18, a movable clamp 19, a cutter 22, and a lateral positioning device for driving the rotating stop 49 to rotate. The upper eccentric wheel 7 is connected to the movable clamp 19 through the movable clamp telescopic link 44. The lower eccentric wheel 4 is connected to the cutter 22 through the cutter cutting link. The rotation of the lower eccentric wheel 4 controls the cutter 22 to cut the sugarcane 41 through the cutter cutting link.

[0047] The power unit includes a motor 13, the shaft of which is connected to a reducer 12, and the output shaft of the reducer 12 is connected to the shaft 1 via a coupling; the longitudinal positioning sensing device includes a longitudinal positioning rod 15 and a longitudinal positioning sensor 17, the longitudinal positioning rod 15 is slidably mounted on the mounting base 11 by extending forward through a sliding sleeve, a compression return spring 14 is mounted on the longitudinal positioning rod 15, and the longitudinal positioning sensor 17 is fixedly mounted on the mounting base 11 and is triggered by sliding through the longitudinal positioning rod 15.

[0048] The cutting link includes a passive push rod 28, which is fixedly connected to the cutter 22. The passive push rod 28 is hinged to the swing frame via a first pin 25. The passive push rod 28 is also hinged to the active push rod 30 via a connecting rod 29. The connection end between the connecting rod 29 and the active push rod 30 is also hinged to the swing frame via a third pin 43.

[0049] The swing frame includes an upper support 16 and a lower support 24. The rear end of the upper support 16 is rotatably connected to the rotating shaft 1 via an upper support rotating seat 9. A damping block 8 is installed on the upper support rotating seat 9. The rear end of the lower support 24 is rotatably connected to the rotating shaft 1 via a lower support rotating seat 2. An upwardly extending wedge-shaped elastic stop is provided at the rear end of the lower support rotating seat 2. A rotating stop 49 is provided between the upper support 16 and the lower support 24 on the side of the rotating shaft 1 away from the wedge-shaped elastic stop. The rotating stop 49 is rotatably installed between the upper support 16 and the lower support 24 via a third pin 43. Fixed clamps 18 are respectively provided at the front ends of the upper support 16 and the lower support 24. The lateral positioning device includes a lateral positioning swing rod 20 and a connecting rod 48. The lateral positioning swing rod 20 is rotatably mounted between the front ends of the upper bracket 16 and the lower bracket 24 via a first pin 25. The lateral positioning swing rod 20 is hinged to the rotating stop 49 via the connecting rod 48. The planetary gear train is mounted on a rotating shaft 1 located between the upper bracket rotating seat 9 and the lower bracket rotating seat 2. The planetary gear train includes a gear ring 6, a sun gear 37, and planet gears 40. The sun gear 37 is connected to the rotating shaft 1 via a key pin. The planet gears 40 are connected to the rotating shaft 1 via a planet carrier 5. The planet carrier 5 mounts the planet gears 40 via an optical axis. The planet carrier 5 is connected to the rotating shaft. 1. The planetary carrier 5 is rotatably connected via planetary carrier bearing 35. The bottom of the planetary carrier 5 is eccentrically mounted on the lower eccentric wheel 4 via the lower eccentric wheel bearing 36. The outer circumference of the lower eccentric wheel 4 is provided with a cutter active push rod 30. The cutter active push rod 30 is connected to the cutter cutting link and the cutter 22 via the cutter cutting link. The outer circumference of the planetary carrier 5 is provided with a protrusion 31. The gear ring 6 is rotatably connected to the rotating shaft 1 via gear ring bearing 39. The upper part of the gear ring 6 is eccentrically mounted on the upper eccentric wheel 7 via the upper eccentric wheel bearing 38. The outer circumference of the upper eccentric wheel 7 is provided with a movable clamp active push rod 32. The movable clamp active push rod 32 is connected to the movable clamp 19 via the movable clamp telescopic link 44. The outer circumference of the gear ring 6 is... The upper support 16 is equipped with a second protrusion 34, a wedge-shaped elastic stop, and a rotating stop 49 to cooperate with the first protrusion 31 and the second protrusion 34 to restrict the rotation of the planetary carrier 5 and the gear ring 6. When the swing frame swings and the lateral positioning swing rod 20 is squeezed by the sugarcane 41, a spring is provided on the swing frame to reset the lateral positioning swing rod 20. The lateral positioning swing rod 20 rotates around the first pin 25 as the fulcrum, thereby driving the rotating stop 49 to rotate around the third pin 43 as the fulcrum through the connecting rod 48. The rotating stop 49 does not block the passage of the first protrusion 31 and the second protrusion 34. The upper support 16 is also unidirectionally rotatably connected to the gear ring 6 through a one-way bearing 61.

[0050] The wedge-shaped elastic stop includes a crossbeam 45, one end of which is fixedly connected to the lower support rotating seat 2. The other end of the crossbeam 45 is hinged upwards to a swing stop 47. A return spring 46 is diagonally stretched between the crossbeam 45 and the swing stop 47. The upper end of the swing stop 47 extends to the gear ring 6. The upper part of the swing stop 47 is provided with a wedge-shaped protrusion that facilitates the passage of protrusion 2 34 and blocks the passage of protrusion 1 31. When protrusion 1 31 on the planetary carrier 5 rotates to the swing stop 47, it is blocked by the swing stop 47, and the planetary carrier 5 cannot rotate temporarily. When protrusion 2 34 on the gear ring 6 rotates to the swing stop 47, due to the wedge-shaped surface at the upper end of the swing stop 47, protrusion 2 34 pushes the swing stop 47 apart. When protrusion 31 separates, it passes through the wedge-shaped protrusion, allowing the planetary carrier 5 to continue rotating. After protrusion 34 leaves the swing stop 47, the return spring 46 returns the swing stop 47 to its original position, again restricting the passage of protrusion 31. The movable clamp telescopic link 44 includes a movable clamp passive push rod 23, a first link 51, a limiting sleeve 56, and a second link 59. The middle part of the movable clamp passive push rod 23 is hinged to the swing frame via a first pin 25. One end of the movable clamp passive push rod 23 is hinged to the middle position of the movable clamp 19, and the other end of the movable clamp passive push rod 23 is hinged to the movable clamp active push rod 32 via the first link 51 and the second link 59. The rear end of the movable clamp 19 is hinged to a movable clamp hinge link 26. Link 26 is hinged to the swing frame via a second pin 42; one end of the second link 59 is provided with a limiting step 53, and a limiting sleeve 56 extends from the other end of the second link 59 and fits onto the second link 59; the second link 59 is provided with a sliding groove 52 extending from the end of the limiting step 53 to the end of the limiting sleeve 56; the limiting sleeve 56 is provided with an inner groove 60; one end of the first link 51 is provided with a limiting protrusion 58; the end of the limiting protrusion 58 of the first link 51 extends from the sliding groove 52 at the end of the limiting step 53 of the second link 59, passes through the inner groove 60 of the limiting sleeve 56, and then engages with the end of the limiting sleeve 56; the limiting sleeve 56 is provided with a limiting block 54 for limiting the rotation direction of the limiting sleeve 56. A torsion spring 55 is installed on the retaining sleeve 56 to rotate and reset the retaining sleeve 56. The retaining sleeve 56 is provided with an upwardly extending lever 57. The bottom of the mounting base 11 is provided with a toggle stop 50 to block the lever 57. When the lever 57 of the retaining sleeve 56 is not blocked by the toggle stop 50, the limiting protrusion 58 of the first connecting rod 51 is engaged with the end of the retaining sleeve 56, and the connection length of the first connecting rod 51 and the second connecting rod 59 cannot be extended. When the lever 57 of the retaining sleeve 56 is blocked by the toggle stop 50, the retaining sleeve 56 rotates, and after the inner groove 60 is aligned with the limiting protrusion 58, the limiting protrusion 58 is no longer restricted by the end of the retaining sleeve 56, and the connection length of the first connecting rod 51 and the second connecting rod 59 can be extended.

[0051] The harvesting process of this rotary gripper-type single sugarcane harvester is as follows: When the harvester carrying the harvester moves, the longitudinal positioning rod 15 touches the sugarcane 41 and is pressed back. The compression return spring 14 is compressed, and the longitudinal positioning rod 15 also triggers the longitudinal position sensor 17. The harvester stops, and the control center controls the drive motor 13 to rotate clockwise. The power output by the motor 13 is transmitted to the rotating shaft 1 through the reducer 12 and the coupling, causing the rotating shaft 1 to rotate. The sun gear 37 is connected to the rotating shaft 1 by a flat key, so the rotating shaft 1 drives the rotation of the sugarcane. When the sun gear 37 rotates clockwise, the damping block 8 presses against the rotating shaft mounting seat 10, creating significant resistance. This causes the sun gear 37 to drive the planet gear 40 to rotate counter-clockwise, causing the gear ring 6 to rotate counter-clockwise until the second protrusion 34 on it touches the rotating stop block 49. Because the upper eccentric wheel 7 is eccentrically mounted on the gear ring 6, when the gear ring 6 rotates, the moving clamp active push rod 32 and the moving clamp telescopic connecting rod connected to the upper eccentric wheel 7 will push the moving clamp passive push rod 23 to swing clockwise, pushing the moving clamp 19 backward to its maximum position. Simultaneously, the planet gear 40 drives the planet carrier 5 to rotate clockwise until the first protrusion 31 on it touches the swing stop block 47. Because the lower eccentric wheel 4 is eccentrically mounted on the planet carrier 5, when the planet carrier 5 rotates, the cutter active push rod 30 and the cutter connecting rod 29 connected to the lower eccentric wheel 4 will push the cutter passive push rod 28 to swing clockwise, swinging the cutter 22 backward to its maximum position.After the second protrusion 34 on the gear ring 6 and the first protrusion 31 on the planet carrier 5 contact the corresponding rotating stop 49 and swing stop 47, the rotating shaft 1, the sun gear 37, the planet carrier 5, and the gear ring 6 can no longer move relative to each other and become a single unit. The sun gear 37 drives the swing frame to rotate clockwise over the resistance of the damping block 8 until the lateral positioning swing rod 20 presses against the sugarcane 41. The lateral positioning swing rod 20 rotates around the first pin 25, driving the connecting rod 48 to pull the rotating stop 49 to rotate. After the rotating stop 49 rotates, it avoids the second protrusion 34. Due to the swing of the swing frame, the lever 57 will contact the lever stop 50. The limiting sleeve 56 and the second connecting rod 59 will rotate relative to each other. After the inner slot 60 is aligned with the limiting protrusion 58, the limiting protrusion 58 is no longer restricted by the end of the limiting sleeve 56. The connection length of the first connecting rod 51 and the second connecting rod 59 can be extended, so that when the gear ring 6 rotates, it can drive the upper eccentric wheel 7 to rotate, driving the moving clamp 1. 9 and the fixed clamp 18 clamp the sugarcane 41. At this time, due to the resistance of the sugarcane 41 and the damping block 8, the sun gear 37 drives the gear ring 6 to rotate counterclockwise through the planetary gear 40. When the second protrusion 34 passes the swing stop 47, due to the wedge-shaped surface of the upper end of the swing stop 47, the second protrusion 34 opens the swing stop 47 and separates it from the first protrusion 31. The first protrusion 31 passes through the wedge-shaped surface protrusion, and the planetary carrier 5 can continue to rotate. Through the cutter active push rod 30, the cutter connecting rod 29 and the cutter passive push rod 28 are driven to rotate and cut the sugarcane. When the second protrusion 34 and the first protrusion 31 rotate to the rotating stop 49, they are blocked, and the planetary carrier 5 and the gear ring 6 cannot rotate. The swing frame continues to rotate and transports the sugarcane to a certain position. The sugarcane is transported away. When the swing frame rotates to a certain position, it touches the limit switch, the motor 13 stops working, the swing frame stops, and waits for the longitudinal positioning sensor to send a signal again, then repeats the above operation. Example 3

[0052] The rotary gripper-type single sugarcane harvester includes a mounting base 65. The mounting base 65 extends vertically downwards and rotatably to mount a rotating shaft 74 via a rotating shaft mounting base 64 and bearings. The mounting base 65 is equipped with a power unit for driving the rotating shaft 74 and a forward-extending longitudinal positioning sensor. The longitudinal positioning sensor can also be installed in other suitable locations, as long as it can touch the sugarcane during operation. A planetary gear system and a laterally extending rotating frame 75 are rotatably mounted on the rotating shaft 74. The planetary gear system is equipped with a moving clamp eccentric wheel 8 and a cutter eccentric wheel 72. The moving clamp eccentric wheel 8 is connected to a sun gear 70, and the cutter eccentric wheel 72 is connected to a gear ring 71. Two sun limiters 98 are provided on the outer periphery of the sun gear 70 to limit rotation. Ring 71 is equipped with a gear ring inner locking limit platform 76 and a recessed platform 116 for limiting rotation. Rotating frame 75 is equipped with a rotary brake 66 that controls frictional contact with rotating shaft mounting seat 64 via gear ring 71. Rotating frame 75 is equipped with a fixed clamp 82, a movable clamp 85, a cutter 81, and a lateral positioning device for releasing the rotation of gear ring 71. Movable clamp eccentric wheel 8 is connected to movable clamp 85 via movable clamp push rod device. Cutter eccentric wheel 72 is connected to cutter 81 via cutter push rod device. The top of mounting seat 65 is hinged to machine connecting seat 93 via mounting lug 96. Machine connecting seat 93 is also connected to mounting lug 96 via mounting lug tension spring 94. Mounting lug 96 is equipped with a limiting bolt 95 for abutting against machine connecting seat 93.

[0053] An electric push rod 92 for adjusting the tilt angle of the whole machine is also hinged between the whole machine connecting seat 93 and the mounting lug 96.

[0054] The rear end of the rotating frame 75 is rotatably connected to the rotating shaft 74. The planetary gear train is located inside the rear end of the rotating frame 75. The planetary gear train includes a gear ring 71, a sun gear 70, and planet gears 103. The planet carrier 104 of the planet gears 103 is connected to the rotating shaft 74 via key pins. The planet gears 103 and the planet carrier 104 are connected by an optical axis, which supports the planet gears 103 and enables relative rotation between the planet gears 103 and the planet carrier 104. The sun gear 70 is connected to the rotating shaft 74 via a bearing. The gear ring 71 and the rotating shaft 74 are also rotatably connected through corresponding bearings. The planetary gear 103 meshes with the sun gear 70 and the gear ring 71. The bottom of the gear ring 71 is eccentrically mounted with the cutter eccentric wheel 72 through the eccentric wheel bearing. The outer circumference of the cutter eccentric wheel 72 is connected to the cutter push rod device for controlling the cutting of the cutter 81. The upper part of the sun gear 70 is eccentrically mounted with the movable clamp eccentric wheel 8 through the eccentric wheel bearing. The outer circumference of the movable clamp eccentric wheel 8 is connected to the movable clamp push rod device for controlling the opening and closing of the movable clamp 85.

[0055] The rotating frame 75 includes an upper support and a lower support, which are connected as a whole. Fixed clamps 82 are respectively installed at the front ends of the upper and lower supports. The rear end of the upper support is rotatably connected to the rotating shaft 74 via an upper support rotating seat 68, and the rear end of the lower support is rotatably connected to the rotating shaft 74 via a lower support rotating seat 73. The sun gear 70 is also connected to the upper support rotating seat 68 via a one-way bearing. A rotary brake 66 is mounted on the upper support rotating seat 68 via a connecting arm 67. The rotary brake 66 includes a limiting wedge 108 and a rotating mounting seat 109. 109 is fixedly connected to connecting arm 67. The bottom of the limiting wedge 108 is fixedly connected to a brake shaft 111. The brake shaft 111 is rotatably mounted in the rotating mounting seat 109 via bearing 110. A limiting nut 114 is installed at the lower end of the brake shaft 111. A brake reset torsion spring 112 is installed on the brake shaft 111. The bottom of the limiting wedge 108 is also fixedly connected to a brake lever 113 for friction braking between the limiting wedge 108 and the rotating mounting seat 64. A pulley 115 for contacting the gear ring 71 is rotatably mounted at the lower end of the brake lever 113.

[0056] The described movable clamp push rod device includes a linear bearing seat 78, which is located on a rotating frame 75 behind the movable clamp 85. A linear bearing is installed inside the linear bearing seat 78, and a movable clamp push rod 90 passes through the linear bearing. One end of the movable clamp push rod 90 is connected to the movable clamp 85 via a movable clamp push connecting rod 86. The movable clamp 85 is hinged to the rotating frame 75 via a hinge shaft 80. The other end of the movable clamp push rod 90 is hinged to the movable clamp eccentric wheel 8 via a movable clamp release snap-opening seat 97. A limiting seat 101 for actuating the movable clamp release snap-opening seat 97 is installed at the bottom of the mounting base 65. The rotation of the movable clamp eccentric wheel 8 drives the movable clamp push rod 90 to move linearly... The reciprocating motion within the bearing housing 78 enables the movable clamp 85 to open and close in coordination with the fixed clamp 82 to clamp or release the sugarcane 102. At this time, the movable clamp push rod 90 is linearly connected to the movable clamp release stop 97. When the sugarcane is clamped, the movable clamp cannot reach the upper stop point, and the linear connection restricts the movable clamp eccentric wheel 8 from continuing to rotate. When the movable clamp release stop 97 hits the limit seat 101, the movable clamp push rod 90 and the movable clamp release stop 97 deflect, and the movable clamp eccentric wheel 8 can continue to rotate. After reaching the highest point, it pulls back the release stop 97, causing the movable clamp push rod 90 to retract within the linear bearing housing 78, the movable clamp 85 opens, and the clamped sugarcane 102 is released.

[0057] The movable clamp release and impact-opening seat 97 includes a hinge rod 117. One end of the hinge rod 117 is hinged to the movable clamp push rod 90. A baffle for limiting the movable clamp push rod 90 is provided on the clockwise rotation side of the hinge rod 117. The other end of the hinge rod 117 is hinged to the movable clamp eccentric wheel 8. The counterclockwise rotation side of the hinge rod 117 is connected to the movable clamp eccentric wheel 8 through a tension spring 99 and a tension spring mounting lug 100. An upwardly extending impact-opening lever is connected to the hinge end of the hinge rod 117 and the movable clamp push rod 90. 118. The push lever 118 is equipped with a universal ball bearing 119 for contacting the limit seat 101. When the rotating frame 75 continues to rotate clockwise, after the universal ball bearing 119 contacts the limit seat 101, the movable clamp release push seat 97 and the movable clamp push rod 90 deflect. The movable clamp eccentric wheel 8 can continue to rotate. After reaching the highest point, it pulls back the release push seat 97, causing the movable clamp push rod 90 to retract in the linear bearing seat 78. The movable clamp 85 opens, and the clamped sugarcane 102 is released.

[0058] The aforementioned cutter push rod device includes a linear bearing seat 78, which is located on a rotating frame 75 behind the cutter 81. A linear bearing is installed inside the linear bearing seat 78, and a cutter push rod 77 passes through the linear bearing. One end of the cutter push rod 77 is connected to the cutter 81 via a cutter push connecting rod 79. The cutter 81 is hinged to the rotating frame 75 via a hinge shaft 80. The other end of the cutter push rod 77 is hinged to a cutter eccentric wheel 72. The rotation of the cutter eccentric wheel 72 causes the cutter push rod 77 to extend and retract within the linear bearing seat 78, thereby enabling the cutter 81 to open and close to cut sugarcane.

[0059] The power unit includes a motor 62, and a reducer 63 is connected to the shaft of the motor 62. The output shaft of the reducer 63 is connected to the shaft 74 via a coupling. The reducer 63 and the motor 62 can be fixedly mounted on the mounting base 65. The power output by the motor is transmitted to the shaft after passing through the reducer to drive the shaft to rotate. The longitudinal positioning sensing device includes a longitudinal positioning rod 88 and a proximity switch 91. The longitudinal positioning rod 88 extends forward through a sliding sleeve and is slidably mounted on the mounting base 65. A compression return spring 89 is installed on the longitudinal positioning rod 88. The proximity switch 91 is fixedly mounted on the mounting base 65 and is activated by sliding the longitudinal positioning rod 88 to start the motor 62. When the device moves forward, the longitudinal positioning rod 88 first touches the sugarcane 102 and is squeezed and retracted by the sugarcane 102. Then, the longitudinal positioning rod 88 triggers the proximity switch 91, which transmits a signal to the controller. The controller controls the motor 62 to work according to the set program. After the sugarcane 102 is cut off and clamped away, the longitudinal positioning rod 88 returns to its original position under the action of the compression return spring 89.

[0060] The lateral positioning device includes a lateral positioning clamp 83 and a positioning clamp push rod 84. The lateral positioning clamp 83 is hinged to a rotating frame 75 via a hinge shaft 80. A linear bearing seat 78 is provided on the rotating frame 75 behind the lateral positioning clamp 83. A linear bearing is installed in the linear bearing seat 78, and a lateral positioning clamp push rod 87 passes through the linear bearing. One end of the lateral positioning clamp push rod 87 is connected to the lateral positioning clamp 83 via the positioning clamp push rod 84. The rotation of the lateral positioning clamp 83 pulls the positioning clamp push rod 84 to slide within the linear bearing seat 78. The other end of the lateral positioning clamp push rod 87 is connected to a limit wheel seat 106. A limit wheel 107 for limiting the rotation of the gear ring 71 is installed on the limit wheel seat 106. A lateral positioning return spring 105 is installed on the lateral positioning clamp push rod 87 between the limit wheel seat 106 and the linear bearing seat 78. When the rotating frame 75 rotates, the transverse positioning clamp 83 first touches the sugarcane. The transverse positioning clamp 83 is squeezed and rotated, which pulls the positioning clamp to push the connecting rod 84 to drive the limit wheel seat 106 and the limit wheel 107 to extend forward, making room for the gear ring 71 to rotate. The transverse positioning return spring 105 is compressed.

[0061] The mounting base 65 is equipped with a positioning proximity switch 102 that triggers the shutdown of motor 62 when the rotating frame 75 rotates to the desired position. When the rotating frame 75 rotates to the starting position, the positioning proximity switch 102 is triggered, and the positioning proximity switch 102 transmits a signal to the controller, which then shuts down motor 62.

[0062] The harvesting process of this rotary clamp-type single sugarcane harvesting method is as follows: The whole machine connecting seat 93 is fixedly connected to the harvester, and the harvester carries the harvesting device. Before operation, the tilt angle of the harvesting device is adjusted by the electric push rod 92, and the extension length of the limit bolt 95 is adjusted to limit the forward swing position of the mounting lug 96; the rotating frame 75 is in the initial position, the moving clamp 85 is open, the inner locking limit platform 76 of the gear ring is limited by the limit wheel 107, and one of the sun limit platforms 98 on the outer circumference of the sun wheel 70 is stuck by the inner locking limit platform 76 of the gear ring. The gear ring 71 and the sun wheel 70 cannot rotate clockwise, the pulley 115 is lifted by the outer circumference of the gear ring 71, and the limit wedge 108 of the rotary brake 66 does not contact the rotating shaft mounting seat 64 and is in a non-braking state. When the harvester is moving, the longitudinal positioning rod 88 touches the sugarcane 102 and is pushed back, compressing the return spring 89. The longitudinal positioning rod 88 also triggers the proximity switch 91, stopping the harvester. The control center controls the drive motor 62 to rotate clockwise. The power output from motor 62 is transmitted to the rotating shaft 74 via a coupling after passing through the reducer 63, causing the shaft to rotate. The planetary gear carrier 104 of the planetary gear 103 is connected to the rotating shaft 74 via a key pin. The planetary gear 103 and the planetary gears... The wheel carrier 104 is connected by an optical shaft, which supports the planetary gear 103 and enables the planetary gear 103 to rotate relative to the planetary gear carrier 104. The sun gear 70 is rotatably connected to the shaft 74 through a bearing, and the gear ring 71 is also rotatably connected to the shaft 74 through a corresponding bearing. The planetary gear 103 meshes with the sun gear 70 and the gear ring 71. Since the sun gear 70 and the gear ring 71 are restricted from rotating clockwise, the shaft 74 drives the rotating frame 75 to rotate clockwise as a whole.When the sugarcane 102 rotates to the point where it touches and presses against the transverse positioning clamp 83, the transverse positioning clamp 83 rotates around the hinge shaft 80 as a fulcrum and pulls the positioning clamp to push the connecting rod 84, causing the limiting wheel seat 106 and the limiting wheel 107 to extend forward, making room for the gear ring 71 to rotate. The gear ring's inner retaining platform 76 is not restricted by the limiting wheel 107, so the gear ring 71 can rotate. The sun retaining platform 98 is not restricted by the gear ring's inner retaining platform 76, so the sun gear 70 can also rotate. The driving force of the rotating shaft 74 passes through the planetary gears. Driven gear ring 71 and sun gear 70 rotate by drive gear ring 71 and sun gear 70. After the gear ring 71 and sun gear 70 rotate, pulley 115 falls into the outer ring recess between the recessed platform 116 on the outer circumference of gear ring 71 and the inner retaining platform 76 of gear ring, providing space for inward rotation. Under the action of brake reset torsion spring 112, the retaining wedge block 108 is driven to make frictional contact with the rotating shaft mounting seat 64 for braking, and the rotating frame 75 is not driven and stops rotating. The rotation of sun gear 70 drives the moving clamp eccentric wheel 8 to rotate accordingly, through the hinge The connecting rod 117 drives the movable clamp push rod 90 to extend forward, causing the movable clamp 85 to rotate around the hinge shaft 80 as the fulcrum, cooperating with the fixed clamp 82 to clamp the sugarcane 102. Because the movable clamp 85 cannot reach its maximum clamping position when it is clamping the sugarcane 102, the baffle of the hinge rod 117 and the tension spring 99 keep the hinge rod 117 and the movable clamp push rod 90 in a straight-line connection position. The eccentric wheel 8 of the movable clamp cannot reach its top dead center, and the sun gear 70 is restricted from rotating. The drive shaft 74... Power is transmitted through planetary gear 103 to drive gear ring 71 to rotate, thereby driving cutter eccentric wheel 72 to rotate, causing cutter push rod 77 to extend forward. Through cutter push link 79, cutter 81 is driven to rotate and cut sugarcane 102. After gear ring 71 rotates more than 180 degrees, sugarcane 102 has been cut. Gear ring 71's inner locking limit platform 76 also lifts pulley 115. The limit wedge block 108 of rotary brake 66 does not contact the rotating shaft mounting seat 64 and is in a non-braking state.When the inner retaining platform 76 of the gear ring 71 rotates to the other sun retaining platform 98 of the sun gear 70, it is restricted by the sun retaining platform 98, which prevents the gear ring 71 from rotating. Since neither the gear ring 71 nor the sun gear 70 can rotate, the power output by the motor 62 drives the rotating frame 75 to continue to rotate clockwise through the rotating shaft 74. When the universal ball bearing 119 on the push-open lever 118 touches the limit seat 101, the sugarcane 102 is also clamped and conveyed into position. A clockwise force is applied to the universal ball bearing 119, causing the push-open lever 118 to deflect. The moving clamp eccentric wheel 8 continues to rotate. After reaching its highest point, the sun gear 70 drives the moving clamp eccentric wheel 8 to continue rotating, pulling back the push-open seat 97 via the hinge rod 117. This causes the moving clamp push rod 90 to retract backward, opening the moving clamp 85. The sugarcane 102 falls off and is conveyed by other mechanisms of the harvester for leaf removal. Without the pressure of the sugarcane 102, under the action of the lateral positioning and return spring 105, the positioning clamp pushes the connecting rod 84, the limit wheel seat 106, and the limit wheel 107 to retract and reset. At this time, the universal ball bearing 119 on the lever 118 is still blocked by the limit seat 101, the swing frame 75 has a large rotational resistance and cannot rotate, while the gear ring 71 and the sun gear 70 have a small rotational resistance and can rotate. When the gear ring inner retaining limit platform 76 of the gear ring 71 rotates to the limit wheel 107, it is limited by the limit wheel 107 and cannot continue to rotate. The moving clamp 85 opens, and the sun limit platform 98 of the sun gear 70 gets stuck when it rotates to the gear ring inner retaining limit platform 76. The cutter opens; the gear ring 71 and the sun gear 70 cannot continue to rotate clockwise, and the pulley 115 is blocked by the outer of the gear ring 71. From the top of the circle, the limiting wedge 108 is not in contact with the rotating shaft mounting seat 64 and is in a non-braking state; the limiting seat 101 is an elastic element, and its elastic resistance can push the hinge rod 117 and the moving clamp push rod 90 to deflect when pressed. However, when the rotating shaft 74 drives the rotating frame 75 to rotate with a large torque, the universal ball 119 can press down the limiting seat 101 to continue rotating clockwise. When the positioning proximity switch 102 is triggered, the controller controls the motor 62 to stop working. At this time, it is in the initial position, waiting for the proximity switch 91 to send a signal again, and then repeats the above operation.

[0063] The above description is not intended to limit the present invention, nor is the present invention limited to the above examples. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should be protected by the present invention.

Claims

1. A method for harvesting single sugarcane stalks using a rotary gripper, characterized in that: This process involves using a rotary gripper-type single sugarcane harvester to grip and cut sugarcane stalks one by one. The rotary gripper-type single sugarcane harvester includes a longitudinal positioning device, a transverse positioning device, a rotating frame, a braking assembly, a rotating shaft, and a moving clamp / cutter driven by a planetary gear set. Initially, the cutter and moving clamp are open, the controller keeps the motor in a standby position, and the harvester moves forward. When the longitudinal positioning device collides with the sugarcane, the harvester stops moving forward and triggers the rotating shaft to rotate, causing the rotating frame to rotate. This causes the transverse positioning device to collide with the sugarcane, allowing the planetary gear set to rotate, causing the moving clamp to clamp the sugarcane with the fixed clamp on the rotating frame, driving the cutter to cut the sugarcane. Then, the rotating frame rotates to transport the sugarcane to a designated position. After the moving clamp releases the sugarcane, the rotating frame returns to its initial position, completing the harvesting of one sugarcane stalk. The same operation can be repeated to harvest the next sugarcane stalk.

2. The rotary gripper-type single sugarcane harvesting method according to claim 1, characterized in that: The rotary gripper-type single sugarcane harvesting device includes a mounting base (11). The mounting base (11) is vertically mounted on a rotating shaft (1) via a rotating shaft mounting base (10) and a bearing. The mounting base (11) is equipped with a power device for driving the rotating shaft (1) to rotate and a forward-extending longitudinal positioning sensor. A planetary gear system and a laterally extended swing frame are rotatably mounted on the lower end of the rotating shaft (1). An upper eccentric wheel (7) and a lower eccentric wheel (4) are mounted on the planetary gear system. The frame is equipped with a stop block 1 (3) and a stop block 2 (27) to limit the rotation range of the upper eccentric wheel (7) and the lower eccentric wheel (4). The swing frame is equipped with a damping block (8) that rubs against the rotating shaft mounting seat (10). The swing frame is equipped with a fixed clamp (18), a movable clamp (19), a transverse positioning device and a cutter (22). The upper eccentric wheel (7) is connected to the movable clamp (19) through the movable clamp opening and closing linkage, and the lower eccentric wheel (4) is connected to the cutter (22) through the cutter cutting linkage.

3. The rotary gripper-type single sugarcane harvesting method according to claim 2, characterized in that: The rear end of the swing frame is rotatably connected to the rotating shaft (1). The planetary gear system is located inside the rear end of the swing frame. The planetary gear system includes a gear ring (6), a sun gear (37), and planetary gears (40). The sun gear (37) is connected to the rotating shaft (1) via a key pin. The planetary gears (40) are connected to the rotating shaft (1) via a planet carrier (5). The planet carrier (5) is equipped with the planetary gears (40) via an optical axis. The planet carrier (5) and the rotating shaft (1) are rotatably connected via a planet carrier bearing (35). The bottom of the planet carrier (5) is eccentrically mounted with a lower eccentric wheel (4) via a lower eccentric wheel bearing (36). A cutter active push rod (30) is provided on the outer periphery of the lower eccentric wheel (4). The cutter active push rod (30) cuts through the cutter. The connecting rod and the cutter (22) are connected. The outer periphery of the planetary carrier (5) is provided with a protrusion (31). The gear ring (6) is rotatably connected to the rotating shaft (1) through the gear ring bearing (39). The upper part of the gear ring (6) is eccentrically mounted with an upper eccentric wheel (7) through an upper eccentric wheel bearing (38). The outer periphery of the upper eccentric wheel (7) is provided with a moving clamp active push rod (32). The moving clamp active push rod (32) is connected to the moving clamp (19) through a moving clamp opening and closing connecting rod. The outer periphery of the gear ring (6) is provided with a protrusion (34). The first stop (3) and the second stop (27) are set on the swing frame to cooperate with the first stop (31) and the second stop (34) to restrict the planetary carrier (5) and the gear ring (6) to rotate only within the range of 0-180 degrees.

4. The rotary gripper-type single sugarcane harvesting method according to claim 2 or 3, characterized in that: The moving clamp opening and closing linkage includes a moving clamp passive push rod (23). The middle part of the moving clamp passive push rod (23) is hinged to the swing frame through a first pin (25). One end of the moving clamp passive push rod (23) is hinged to the middle position of the moving clamp (19). The other end of the moving clamp passive push rod (23) is hinged to the moving clamp active push rod (32) through the moving clamp connecting rod (33). The rear end of the moving clamp (19) is hinged to a moving clamp hinge connecting rod (26). The moving clamp hinge connecting rod (26) is hinged to the swing frame through a second pin (42). The connection end of the moving clamp connecting rod (33) and the moving clamp active push rod (32) is also hinged to the swing frame through a third pin (43).

5. The rotary gripper-type single sugarcane harvesting method according to claim 2, characterized in that: The swing frame includes an upper support (16) and a lower support (24). The rear end of the upper support (16) is rotatably connected to the rotating shaft (1) through the upper support rotating seat (9). A damping block (8) is installed on the upper support rotating seat (9). The rear end of the lower support (24) is rotatably connected to the rotating shaft (1) through the lower support rotating seat (2). A stop block 1 (3) is provided at the rear end of the lower support rotating seat (2). A stop block 2 (27) is provided between the upper support (16) and the lower support (24) on the side of the rotating shaft (1) away from the stop block 1 (3). A fixed clamp (18) is provided at the front end of the upper support (16) and the lower support (24) respectively. The front ends of the upper support (16) and the lower support (24) are connected by a fixed plate. A lateral positioning sensor (21) is installed on the fixed plate.

6. The rotary gripper-type single sugarcane harvesting method according to claim 1, characterized in that: The rotary gripper-type single sugarcane harvesting device includes a mounting base (11). The mounting base (11) is vertically mounted on a rotating shaft (1) via a rotating shaft mounting base (10) and a bearing. The mounting base (11) is equipped with a power device for driving the rotating shaft (1) to rotate and a forward-extending longitudinal positioning sensor. A planetary gear system and a laterally extended swing frame are rotatably mounted on the lower end of the rotating shaft (1). An upper eccentric wheel (7) and a lower eccentric wheel (4) are mounted on the planetary gear system. The swing frame is provided with a mechanism to limit the rotation range of the upper eccentric wheel (7) and the lower eccentric wheel (4). The frame is equipped with a wedge-shaped elastic stop and a rotating stop (49). The swing frame is equipped with a damping block (8) that rubs against the rotating shaft mounting seat (10). The swing frame is equipped with a fixed clamp (18), a moving clamp (19), a cutter (22), and a transverse positioning device for driving the rotating stop (49) to rotate. The upper eccentric wheel (7) is connected to the moving clamp (19) through the moving clamp telescopic link (44). The lower eccentric wheel (4) is connected to the cutter (22) through the cutter cutting link. The rotation of the lower eccentric wheel (4) controls the cutter (22) to cut the sugarcane (41) through the cutter cutting link.

7. The rotary gripper-type single sugarcane harvesting method according to claim 2 or 7, characterized in that: The power unit includes a motor (13), the shaft of the motor (13) is connected to a reducer (12), and the output shaft of the reducer (12) is connected to the shaft (1) through a coupling; the longitudinal positioning sensing device includes a longitudinal positioning rod (15) and a longitudinal positioning sensor (17). The longitudinal positioning rod (15) extends forward through a sliding sleeve and is slidably mounted on the mounting base (11). A compression return spring (14) is mounted on the longitudinal positioning rod (15). The longitudinal positioning sensor (17) is fixedly mounted on the mounting base (11) and is triggered by sliding through the longitudinal positioning rod (15).

8. The rotary gripper-type single sugarcane harvesting method according to any one of claims 2, 3 or 7, characterized in that: The cutting link includes a passive push rod (28), which is fixedly connected to the cutter (22). The passive push rod (28) is hinged to the swing frame via a first pin (25). The passive push rod (28) is hinged to the active push rod (30) via a connecting rod (29). The connection end between the connecting rod (29) and the active push rod (30) is also hinged to the swing frame via a third pin (43).

9. The rotary gripper-type single sugarcane harvesting method according to claim 7, characterized in that: The swing frame includes an upper support (16) and a lower support (24). The rear end of the upper support (16) is rotatably connected to the rotating shaft (1) via an upper support rotating seat (9). A damping block (8) is installed on the upper support rotating seat (9). The rear end of the lower support (24) is rotatably connected to the rotating shaft (1) via a lower support rotating seat (2). An upwardly extending wedge-shaped elastic stop is provided at the rear end of the lower support rotating seat (2). A rotating stop (49) is provided between the upper support (16) and the lower support (24) on the side of the rotating shaft (1) away from the wedge-shaped elastic stop. The rotating stop (49) is rotatably mounted on the upper support via a third pin (43). Between the upper bracket (16) and the lower bracket (24), the front ends of the upper bracket (16) and the lower bracket (24) are respectively provided with fixed clamps (18); the lateral positioning device includes a lateral positioning swing rod (20) and a connecting rod (48). The lateral positioning swing rod (20) is rotatably installed between the front ends of the upper bracket (16) and the lower bracket (24) through the first pin (25). The lateral positioning swing rod (20) is hinged to the rotating stop (49) through the connecting rod (48); the planetary gear system is installed on the rotating shaft (1) between the upper bracket rotating seat (9) and the lower bracket rotating seat (2). The planetary gear system includes a gear ring (6), a gear... The sun gear (37) and planetary gear (40) are connected to the rotating shaft (1) via a key pin. The planetary gear (40) is connected to the rotating shaft (1) via a planetary carrier (5). The planetary carrier (5) is mounted on the planetary gear (40) via a light shaft. The planetary carrier (5) and the rotating shaft (1) are rotatably connected via a planetary carrier bearing (35). The bottom of the planetary carrier (5) is eccentrically mounted on the lower eccentric wheel (4) via a lower eccentric wheel bearing (36). The outer circumference of the lower eccentric wheel (4) is provided with a cutter active push rod (30). The cutter active push rod (30) is connected to the cutter (22) via a cutter cutting linkage. The planetary carrier ( 5) has a protrusion 1 (31) on its outer periphery. The gear ring (6) and the rotating shaft (1) are rotatably connected by the gear ring bearing (39). The upper part of the gear ring (6) is eccentrically mounted on the upper eccentric wheel (7) through the upper eccentric wheel bearing (38). The outer periphery of the upper eccentric wheel (7) is provided with a moving clamp active push rod (32). The moving clamp active push rod (32) is connected to the moving clamp (19) through the moving clamp telescopic connecting rod (44). The outer periphery of the gear ring (6) is provided with a protrusion 2 (34). The wedge-shaped elastic stop and the rotating stop (49) are used to cooperate with the protrusion 1 (31) and the protrusion 2 (34) to restrict the rotation of the planetary carrier (5) and the gear ring (6).

10. The rotary gripper-type single sugarcane harvesting method according to any one of claims 7 or 10, characterized in that: The wedge-shaped elastic stop includes a crossbeam (45), one end of which is fixedly connected to the lower support rotating seat (2), and the other end of which is hinged upward to a swing stop (47). A return spring (46) is diagonally pulled between the crossbeam (45) and the swing stop (47). The swing stop (47) is provided with a wedge-shaped protrusion that facilitates the passage of protrusion two (34) and blocks the passage of protrusion one (31). The moving clamp telescopic link (44) includes a moving clamp passive push rod (23) and a first link ( 51) Limit sleeve (56) and second link (59), the middle part of the moving clamp passive push rod (23) is hinged to the swing frame through the first pin (25), one end of the moving clamp passive push rod (23) is hinged to the middle position of the moving clamp (19), the other end of the moving clamp passive push rod (23) is hinged to the moving clamp active push rod (32) through the first link (51) and the second link (59), the rear end of the moving clamp (19) is hinged to the moving clamp hinge link (26), and the moving clamp hinge link (26) is hinged to the swing frame through the second pin (42); A limiting step (53) is provided at one end of the second connecting rod (59). A limiting sleeve (56) extends from the other end of the second connecting rod (59) and is fitted onto the second connecting rod (59). A sliding groove (52) is provided on the second connecting rod (59) extending from the end of the limiting step (53) to the end of the limiting sleeve (56). The limiting sleeve (56) is provided with an inner groove (60). A limiting protrusion (58) is provided at one end of the first connecting rod (51). The end of the limiting protrusion (58) of the first connecting rod (51) extends from the limiting step (53) of the second connecting rod (59) to the end of the limiting step (53). After the sliding groove (52) at the end of the limiting sleeve (56) extends into the inner groove (60) of the limiting sleeve (56), the limiting protrusion (58) is engaged with the end of the limiting sleeve (56). The limiting sleeve (56) is provided with a limiting block (54) for limiting the rotation direction of the limiting sleeve (56). The limiting sleeve (56) is provided with a torsion spring (55) for resetting the rotation of the limiting sleeve (56). The limiting sleeve (56) is provided with an upwardly extending lever (57). The bottom of the mounting base (11) is provided with a toggle stop (50) for blocking the lever (57).

11. The rotary gripper-type single sugarcane harvesting method according to claim 1, characterized in that: The rotary gripper-type single sugarcane harvesting device includes a mounting base (65). The mounting base (65) is vertically extended and rotatably mounted on a rotating shaft (74) via a rotating shaft mounting base (64) and a bearing. The mounting base (65) is equipped with a power device for driving the rotating shaft (74) to rotate and a longitudinal positioning sensor extending forward. The rotating shaft (74) is rotatably mounted with a planetary gear system and a laterally extended rotating frame (75). The planetary gear system is equipped with a moving clamp eccentric wheel (69) and a cutter eccentric wheel (72). The moving clamp eccentric wheel (69) is connected to a sun gear (70), and the cutter eccentric wheel (72) is connected to a gear ring (71). The outer periphery of the sun gear (70) is provided with two sun limiting platforms (98) for limiting rotation. The gear ring (71) is provided with a gear ring inner locking limiting platform for limiting rotation. 76) and the sinking platform (116), the rotating frame (75) is equipped with a rotary brake (66) that controls frictional contact with the rotating shaft mounting seat (64) through the gear ring (71), the rotating frame (75) is equipped with a fixed clamp (82), a movable clamp (85), a cutter (81) and a transverse positioning device for releasing the gear ring (71) to rotate, the movable clamp eccentric wheel (69) is connected to the movable clamp (85) through the movable clamp push rod device, the cutter eccentric wheel (72) is connected to the cutter (81) through the cutter push rod device; the top of the mounting seat (65) is hinged to the whole machine connecting seat (93) through the mounting lug (96), the whole machine connecting seat (93) is also connected to the mounting lug (96) through the mounting lug tension spring (94), and the mounting lug (96) is equipped with a limiting bolt (95) for abutting with the whole machine connecting seat (93).

12. The rotary gripper-type single sugarcane harvesting method according to claim 12, characterized in that: The rear end of the rotating frame 1 (75) is rotatably connected to the rotating shaft 1 (74). The planetary gear system is located inside the rear end of the rotating frame 1 (75). The planetary gear system includes a gear ring 1 (71), a sun gear 1 (70), and planet gears 1 (103). The planet carrier 1 (104) of planet gear 1 (103) is connected to the rotating shaft 1 (74) via a key pin. Planet gear 1 (103) and planet carrier 1 (104) are connected by an optical axis. The sun gear 1 (70) and rotating shaft 1 (74) are rotatably connected by a bearing. The gear ring 1 (71) and rotating shaft 1 (74) are also connected by a bearing. Through the corresponding bearing rotation connection, planetary gear one (103) meshes with sun gear one (70) and gear ring one (71). The bottom of gear ring one (71) is eccentrically mounted with cutter eccentric wheel one (72) through eccentric wheel bearing. The outer periphery of cutter eccentric wheel one (72) is connected to cutter push rod one device for controlling cutter one (81) to cut. The upper part of sun gear one (70) is eccentrically mounted with moving clamp eccentric wheel one (69) through eccentric wheel bearing. The outer periphery of moving clamp eccentric wheel one (69) is connected to moving clamp push rod device for controlling moving clamp one (85) to open and close.

13. The rotary gripper-type single sugarcane harvesting method according to claim 12 or 13, characterized in that: The rotating frame 1 (75) includes an upper support and a lower support, which are connected as a whole. The rear end of the upper support is rotatably connected to the rotating shaft 1 (74) through the upper support rotating seat 1 (68), and the rear end of the lower support is rotatably connected to the rotating shaft 1 (74) through the lower support rotating seat 1 (73). The sun gear 1 (70) is also connected to the upper support rotating seat 1 (68) through a one-way bearing. The upper support rotating seat 1 (68) is equipped with a rotary brake 1 (66) through a connecting arm 1 (67). The rotary brake 1 (66) includes a limiting wedge block (108) and a rotating mounting seat 1 (109). The rotating mounting seat 1 (109) is connected to the connecting arm 1 (67). The bottom of the limiting wedge (108) is fixedly connected to a brake shaft (111). The brake shaft (111) is rotatably mounted in the rotating mounting seat (109) via a bearing (110). A limiting nut (114) is installed at the lower end of the brake shaft (111). A brake reset torsion spring (112) is installed on the brake shaft (111). The bottom of the limiting wedge (108) is also fixedly connected to a brake lever (113) for friction braking between the limiting wedge (108) and the rotating mounting seat (64). A pulley (115) for contacting the gear ring (71) is rotatably mounted at the lower end of the brake lever (113).

14. The rotary gripper-type single sugarcane harvesting method according to claim 12 or the method described above, characterized in that: The movable clamp push rod device includes a linear bearing seat (78), which is located on a rotating frame (75) behind the movable clamp (85). A linear bearing is installed inside the linear bearing seat (78), and a movable clamp push rod (90) passes through the linear bearing. One end of the movable clamp push rod (90) is connected to the movable clamp (85) via a movable clamp push link (86). The movable clamp (85) is hinged to the rotating frame (75) via a hinge shaft (80). The other end of the movable clamp push rod (90) is hinged to the movable clamp eccentric wheel (69) via a movable clamp release snap seat (97). A limiting seat (101) for actuating the movable clamp release snap seat (97) is installed at the bottom of the mounting base (65). The movable clamp eccentric wheel (69) rotates and drives the movable clamp push rod (90). The moving clamp (85) reciprocates within the linear bearing housing (78), thereby enabling the moving clamp (85) to open and close in coordination with the fixed clamp (82) to clamp or release the sugarcane (102). At this time, the moving clamp push rod (90) is linearly connected to the moving clamp release impact seat (97). When the sugarcane is clamped, the moving clamp cannot reach the upper stop point, and the linear connection restricts the moving clamp eccentric wheel (69) from continuing to rotate. When the moving clamp release impact seat (97) hits the limit seat (101), the moving clamp push rod (90) and the moving clamp release impact seat (97) deflect, and the moving clamp eccentric wheel (69) can continue to rotate. After reaching the highest point, it pulls back the release impact seat (97), causing the moving clamp push rod (90) to retract within the linear bearing housing (78), the moving clamp (85) opens, and the clamped sugarcane (102) is released.

15. The rotary gripper-type single sugarcane harvesting method according to claim 15, characterized in that: The movable clamp release and impact seat (97) includes a hinge rod (117). One end of the hinge rod (117) is hinged to the movable clamp push rod (90). A baffle for limiting the movable clamp push rod (90) is provided on the clockwise rotation side of the hinge rod (117). The other end of the hinge rod (117) is hinged to the movable clamp eccentric wheel (69). The counterclockwise rotation side of the hinge rod (117) is connected to the movable clamp eccentric wheel (69) through a tension spring (99) and a tension spring mounting lug (100). The hinge end of the hinge rod (117) is connected to the movable clamp push rod (90). A push-open lever (118) extends upwards. A universal ball bearing (119) is installed on the push-open lever (118) to touch the limit seat (101). When the rotating frame (75) continues to rotate clockwise, the universal ball bearing (119) touches the limit seat (101), causing the movable clamp to release the push-open seat (97) and the movable clamp push rod (90) to deflect. The movable clamp eccentric wheel (69) can continue to rotate, causing the movable clamp push rod (90) to retract in the linear bearing seat (78). The movable clamp (85) opens, and the sugarcane (102) being clamped is released.

16. The rotary gripper-type single sugarcane harvesting method according to claim 12 or 13, characterized in that: The cutting push rod device includes a linear bearing seat (78), which is located on a rotating frame (75) behind the cutting blade (81). A linear bearing is installed in the linear bearing seat (78), and a cutting push rod (77) is installed inside the linear bearing. One end of the cutting push rod (77) is connected to the cutting blade (81) through the cutting blade push connecting rod (79). The cutting blade (81) is hinged to the rotating frame (75) through the hinge shaft (80). The other end of the cutting push rod (77) is hinged to the cutting blade eccentric wheel (72). The rotation of the cutting blade eccentric wheel (72) drives the cutting push rod (77) to extend and retract within the linear bearing seat (78), thereby realizing the opening and closing of the cutting blade (81) to cut sugarcane.

17. The rotary gripper-type single sugarcane harvesting method according to claim 12, characterized in that: The power unit includes a motor (62), and a reducer (63) is connected to the shaft of the motor (62). The output shaft of the reducer (63) is connected to the shaft (74) via a coupling. The longitudinal positioning sensing device includes a longitudinal positioning rod (88) and a proximity switch (91). The longitudinal positioning rod (88) extends forward through a sliding sleeve and is slidably mounted on the mounting base (65). A compression reset spring (89) is mounted on the longitudinal positioning rod (88). The proximity switch (91) is fixedly mounted on the mounting base (65) and is triggered by sliding the longitudinal positioning rod (88) to start the motor (62) to work.

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