Parallel mechanical arm auxiliary leveling device on safflower picking machine

Abstract

The utility model discloses a parallel mechanical arm auxiliary leveling device on a safflower picking machine, and particularly relates to the technical field of safflower picking machines, the parallel mechanical arm auxiliary leveling device comprises a leveling device table, and an adjusting mechanism is arranged at the bottom of the leveling device table; the adjusting mechanism comprises a fixing shaft, the fixing shaft is fixedly installed at the bottom of the leveling device table, a rotating shaft is hinged to the bottom of the fixing shaft, and a balance aluminum frame is fixedly connected to the bottom of the rotating shaft. By arranging the adjusting mechanism and the air pressure control mechanism, air pressure in each air cylinder is adjusted, damage to petals and stalks caused by shaking or inclining of the mechanical arm is avoided, the picking precision and quality are greatly improved, damage to safflower carthamus caused by improper picking is reduced, the picking quality and economic benefits of safflower carthamus are improved, and the picking efficiency of safflower carthamus is improved. By flexibly adjusting the air pressure of each air cylinder, unbalance caused by inclination and unevenness of the terrain is compensated, so that the picking machine can stably work under various severe terrain conditions.

Description

Technical Field

[0001] This utility model relates to the field of safflower harvesting machine technology, and more specifically, to a parallel robotic arm auxiliary leveling device for a safflower harvesting machine. Background Technology

[0002] Safflower harvesting requires high precision, especially the harvesting of the stamens, which requires minimizing damage to the flowers. When harvesting safflower, the end effector of the safflower harvester must be positioned horizontally or at a specific angle to avoid damaging the petals or stems.

[0003] Currently, during the harvesting process of safflower, due to the steep incline and potential unevenness of some mountainous terrains, the mechanical arm of traditional safflower harvesters is prone to reduced operational accuracy due to the tilt of the machine body. This can cause the end effector to fail to accurately locate the flowers, resulting in damage to petals or stems during harvesting, reducing the quality of safflower and causing significant economic losses. In addition, when the harvester moves, the vibrations and bumps caused by uneven ground are directly transmitted to the mechanical arm, seriously affecting its stability and thus the harvesting effect. Utility Model Content

[0004] In order to overcome the problems and defects in the prior art, this utility model provides a parallel robotic arm-assisted leveling device for a safflower picking machine to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a parallel robotic arm auxiliary leveling device for a safflower harvester, comprising a leveling platform, wherein an adjustment mechanism is provided at the bottom of the leveling platform; the adjustment mechanism includes a fixed shaft, which is fixedly installed at the bottom of the leveling platform, a rotating shaft is hinged to the bottom of the fixed shaft, a balancing aluminum frame is fixedly connected to the bottom of the rotating shaft, a plurality of cylinders are evenly fixedly installed around the bottom of the leveling platform, a first fixed pipe is fixedly connected to one side of each cylinder, a second fixed pipe is fixedly connected to the bottom of one side of each cylinder away from the first fixed pipe, a first connecting pipe is connected to one end of the first fixed pipe, a second connecting pipe is connected to one end of the second fixed pipe, and a pneumatic control mechanism is provided at the top of the leveling platform.

[0006] Preferably, a first vent valve is fixedly installed between the first fixed pipe and the first connecting pipe, and a second vent valve is fixedly installed between the second fixed pipe and the second connecting pipe.

[0007] Preferably, the air pressure control mechanism includes a differential pressure controller, which is fixedly installed on the top of the leveling device platform, and an air pump connecting pipe is fixedly connected to one side of the differential pressure controller.

[0008] Preferably, one side of the differential pressure controller is fixedly connected to the second connecting pipe.

[0009] Preferably, a tee pipe is fixedly installed at one end of the air pump connecting pipe, and a main pipeline is fixedly connected to one end of the tee pipe.

[0010] Preferably, a pressure gauge is fixedly installed at the top of the main pipeline, and an air pump is fixedly installed at one end of the main pipeline. The air pump is fixedly installed on the top of the leveling device platform.

[0011] Preferably, an air pump connecting pipe is fixedly installed on the front side of the differential pressure controller, and the air pump connecting pipe is electrically connected to the differential pressure controller, the air pump, the first vent valve, and the second vent valve.

[0012] The technical effects and advantages of this utility model are as follows:

[0013] By incorporating adjustment and air pressure control mechanisms, when the harvester travels on uneven terrain causing the leveling platform to tilt, the differential pressure controller quickly detects the pressure difference changes between the air circuits of each cylinder. It precisely controls the air pump to pump air or the vent valve to release air, rapidly equalizing the air pressure in each cylinder and allowing the leveling platform to quickly regain balance. This ensures that the parallel robotic arm maintains a stable posture during harvesting, and its end effector can accurately position the safflower flowers, preventing damage to petals and stems caused by the robotic arm's swaying or tilting. This significantly improves harvesting accuracy and quality, reduces damage to safflowers due to improper harvesting, and enhances the harvest quality and economic benefits. By flexibly adjusting the air pressure of each cylinder to compensate for imbalances caused by terrain tilt and unevenness, the harvester can operate stably under various harsh terrain conditions. The precise air pressure control mechanism further enhances the harvester's stability. The pressure regulation function ensures the stability of the robotic arm even when the harvester vibrates and bumps during operation. This not only reduces additional wear caused by shaking and extends the service life of the robotic arm, but also improves the overall stability of the equipment during operation, reduces the risk of equipment failure, and ensures the continuity and reliability of harvesting operations. The electrical connection between the differential pressure controller and the air pump and vent valve enables automated control of the entire leveling process. Operators only need to start the harvester, and the device can automatically detect the tilt of the leveling platform and make adjustments without complex manual intervention. The pressure gauge displays the air pressure in the main pipeline in real time, making it easy for operators to monitor the equipment's operating status and promptly identify potential problems. This further improves the convenience and safety of operation, reduces the professional skills required of operators, and makes the equipment easier to promote and apply. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a bottom view of the structure of this utility model.

[0016] Figure 3 This is a side view of the present invention.

[0017] Figure 4 This is a top view of the structure of this utility model.

[0018] Figure 5 For the present utility model Figure 1 Enlarged structural diagram at point A in the middle.

[0019] The attached diagram is labeled as follows: 1. Leveling device platform; 2. Fixed shaft; 3. Rotating shaft; 4. Balance aluminum frame; 5. Cylinder; 6. First fixed pipe; 7. Second fixed pipe; 8. First vent valve; 9. First connecting pipe; 10. Second connecting pipe; 11. Second vent valve; 12. Differential pressure controller; 13. Air pump connecting pipe; 14. T-connector; 15. Pressure gauge; 16. Air pump; 17. PLC controller; 18. Main pipeline. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] As attached Figure 1-5 The parallel robotic arm auxiliary leveling device shown is used on a safflower harvester. It includes a leveling platform 1 with an adjustment mechanism at the bottom. The adjustment mechanism includes a fixed shaft 2, which is fixedly installed at the bottom of the leveling platform 1. A rotating shaft 3 is hinged to the bottom of the fixed shaft 2. A balance aluminum frame 4 is fixedly connected to the bottom of the rotating shaft 3. Multiple cylinders 5 are evenly fixedly installed around the bottom of the leveling platform 1. A first fixed pipe 6 is fixedly connected to one side of each cylinder 5. A second fixed pipe 7 is fixedly connected to the bottom of one side of each cylinder 5 away from the first fixed pipe 6. A first connecting pipe 9 is connected to one end of the first fixed pipe 6, and a second connecting pipe 10 is connected to one end of the second fixed pipe 7. A pneumatic control mechanism is provided at the top of the leveling platform 1.

[0022] As attached Figure 1-4 As shown, a first vent valve 8 is fixedly installed between the first fixed pipe 6 and the first connecting pipe 9, and a second vent valve 11 is fixedly installed between the second fixed pipe 7 and the second connecting pipe 10, so as to facilitate the depressurization of the two pipes.

[0023] As attached Figure 1 , 3As shown in Figures 4 and 5, the air pressure control mechanism includes a differential pressure controller 12. The differential pressure controller 12 is fixedly installed on the top of the leveling device platform 1. An air pump connecting pipe 13 is fixedly connected to one side of the differential pressure controller 12. The differential pressure controller 12 is fixedly connected to the second connecting pipe 10, so that the differential pressure controller 12 can detect the pressure difference inside the cylinders 5 at both ends.

[0024] As attached Figure 1-5 As shown, a three-way pipe 14 is fixedly installed at one end of the air pump connecting pipe 13. A main pipe 18 is fixedly connected to one end of the three-way pipe 14. A pressure gauge 15 is fixedly installed at the top of the main pipe 18. An air pump 16 is fixedly installed at one end of the main pipe 18. The air pump 16 is fixedly installed on the top of the leveling device platform 1. The air pump connecting pipe 13 is fixedly installed in front of the differential pressure controller 12. The air pump connecting pipe 13 is electrically connected to the differential pressure controller 12, the air pump 16, the first vent valve 8, and the second vent valve 11. This facilitates the monitoring of the internal air pressure of the cylinders 5 at both ends through the air pump connecting pipe 13, thereby facilitating the adjustment of the internal air pressure of the cylinders 5.

[0025] The working principle of this utility model is as follows: When the harvester is not in operation or is on a flat surface, the multiple cylinders 5 evenly installed around the bottom of the leveling device platform 1 are in a balanced state, with equal internal air pressure and consistent push rod extension lengths. At this time, the fixed shaft 2 and the rotating shaft 3 maintain a relatively stable connection, and the balancing aluminum frame 4 supports the entire leveling device platform 1. The differential pressure controller 12 in the air pressure control mechanism detects that the pressure difference between the air circuits connected to each cylinder 5 is zero, the air pump 16 is in standby mode, and both the first vent valve 8 and the second vent valve 11 are closed. When the harvester moves in the field, and the leveling device platform 1 tilts due to terrain undulations, the leveling device platform 1... The pressure on cylinders 5 at different positions on the bottom of the flat platform 1 changes. For example, the pressure on one side of cylinder 5 increases, and its internal air pressure rises, while the pressure on the other side of cylinder 5 decreases, and its air pressure drops. At this time, a pressure difference appears at both ends of the air circuit system connected by the first fixed pipe 6, the second fixed pipe 7, the first connecting pipe 9, and the second connecting pipe 10. The differential pressure controller 12 can detect this pressure difference in real time. Since the differential pressure controller 12 is connected to the first connecting pipe 9 and the second connecting pipe 10, it processes the detected pressure difference signal. At the same time, the air pump connecting pipe 1 is fixedly installed on the front side of the differential pressure controller 12. 3 is electrically connected to the air pump 16, the first vent valve 8, and the second vent valve 11. The differential pressure controller 12 transmits processed signals to the air pump 16, the first vent valve 8, and the second vent valve 11. Based on the received signals, the air pump 16 starts working. If the air pressure in a certain cylinder 5 is low, the air pump 16 pumps air into the air passage on that side through the air pump connecting pipe 13, the three-way pipe 14, and the main pipe 18, increasing the air pressure in that cylinder 5 and pushing the cylinder push rod out. If the air pressure in a certain cylinder 5 is too high, the first vent valve 8 or the second vent valve 11 opens to release excess gas, reducing the air pressure in that cylinder 5 and causing the cylinder push rod to retract. During the process, the pressure gauge 15 displays the air pressure in the main pipeline 18 in real time, which is convenient for operators to monitor. As the air pump 16 pumps air or the vent valve vents air, the air pressure in each cylinder 5 gradually becomes consistent, and the pressure difference detected by the differential pressure controller 12 gradually decreases. When the pressure difference decreases to the set balance range, the air pump 16 stops working, the first vent valve 8 and the second vent valve 11 close, and the leveling device platform 1 returns to a balanced state. At this time, the balance aluminum frame 4, with the cooperation of the rotating shaft 3, adapts to the new balance position of the leveling device platform 1, ensuring that the entire device stably supports the parallel robotic arm of the harvester, enabling it to accurately carry out safflower harvesting operations.

[0026] In conclusion, the above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A parallel robotic arm-assisted leveling device for a safflower harvester, comprising a leveling device platform (1), characterized in that: The leveling device platform (1) is provided with an adjustment mechanism at its bottom; the adjustment mechanism includes a fixed shaft (2), which is fixedly installed at the bottom of the leveling device platform (1), and a rotating shaft (3) is hinged to the bottom of the fixed shaft (2). A balance aluminum frame (4) is fixedly connected to the bottom of the rotating shaft (3). Multiple cylinders (5) are evenly fixedly installed around the bottom of the leveling device platform (1). A first fixed pipe (6) is fixedly connected to one side of the cylinder (5), and a second fixed pipe (7) is fixedly connected to the bottom of the cylinder (5) away from the first fixed pipe (6). A first connecting pipe (9) is connected to one end of the first fixed pipe (6), and a second connecting pipe (10) is connected to one end of the second fixed pipe (7). A pneumatic control mechanism is provided at the top of the leveling device platform (1).

2. The parallel robotic arm-assisted leveling device on the safflower harvester according to claim 1, characterized in that: A first vent valve (8) is fixedly installed between the first fixed pipe (6) and the first connecting pipe (9), and a second vent valve (11) is fixedly installed between the second fixed pipe (7) and the second connecting pipe (10).

3. The parallel robotic arm-assisted leveling device on the safflower harvester according to claim 1, characterized in that: The air pressure control mechanism includes a differential pressure controller (12), which is fixedly installed on the top of the leveling device platform (1), and an air pump connecting pipe (13) is fixedly connected to one side of the differential pressure controller (12).

4. The parallel robotic arm-assisted leveling device on the safflower harvester according to claim 3, characterized in that: The differential pressure controller (12) is fixedly connected to the second connecting pipe (10) on one side.

5. The parallel robotic arm-assisted leveling device on the safflower harvester according to claim 3, characterized in that: One end of the air pump connecting pipe (13) is fixedly installed with a three-way pipe (14), and the other end of the three-way pipe (14) is fixedly connected to the main pipe (18).

6. The parallel robotic arm-assisted leveling device on the safflower harvester according to claim 5, characterized in that: A pressure gauge (15) is fixedly installed on the top of the main pipe (18), and an air pump (16) is fixedly installed at one end of the main pipe (18). The air pump (16) is fixedly installed on the top of the leveling device platform (1).

7. The parallel robotic arm-assisted leveling device on the safflower harvester according to claim 3, characterized in that: The differential pressure controller (12) is fixedly installed with an air pump connecting pipe (13) on the front side. The air pump connecting pipe (13) is electrically connected to the differential pressure controller (12), the air pump (16), the first vent valve (8), and the second vent valve (11).

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