Mechanical arm device for grabbing, bundling and carrying high-stalk crops

Abstract

The utility model provides a grabbing, bundling and carrying mechanical arm device for high-stalk crops. The grabbing, bundling and carrying mechanical arm device comprises a creel and a mechanical arm packaging mechanism. The creel comprises a bottom plate and vertical guide plates, and transverse openings are formed in the two vertical guide plates; the mechanical arm packaging mechanism comprises a fixing frame, a multi-connecting-rod mechanism, a gripper, a connecting rod driving mechanism and a gripper driving mechanism, one end of the multi-connecting-rod mechanism is in sliding connection with the fixing frame, the connecting rod driving mechanism is connected with the multi-connecting-rod mechanism, and the multi-connecting-rod mechanism is driven by the connecting rod driving mechanism to slide on the fixing frame; the gripper is horizontally installed at the other end of the multi-connecting-rod mechanism in a rotating mode, the gripper driving mechanism is connected with the gripper, the gripper driving mechanism drives the gripper to horizontally rotate and stretch into the transverse opening of the vertical guide plate, and a knotter is installed on the gripper. Long-stalked crops are collected in a centralized mode through the bundling frame, the mechanical arm packaging mechanism is used for grabbing the long-stalked crops collected by the bundling frame and packaging the long-stalked crops, and the automation degree is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to an automatic mechanical device for crops, in particular to a high-stalk crop grabbing, bundling and carrying mechanical arm device. BACKGROUND

[0002] High-stalk crops refer to plant types with a stem height usually above 2 meters, significantly higher than conventional crops such as wheat and rice. Typical representatives include corn, sorghum, sugarcane, etc. Due to the thick and fibrous stems, these crops generally exhibit a 3-6 meter upright growth form during the mature stage.

[0003] Currently, there are some automatic harvesting devices for high-stalk crops that use front-end cutting equipment to cut the high-stalk crops and then transport them backward. However, after being transported backward, the crops still need to be manually bundled, which is inefficient. SUMMARY

[0004] The utility model provides a high-stalk crop grabbing, bundling and carrying mechanical arm device, aiming to solve the problem of bundling and transferring cut high-stalk crops to improve harvesting efficiency and reduce manual involvement. The mechanical arm device includes a flexible mechanical arm structure that can accurately grab cut high-stalk crops and automatically bundle them through an internal bundling mechanism. In addition, the multi-link mechanical arm can transport the bundled crops to a designated location, achieving automation of the entire harvesting, bundling and transporting process. The mechanical arm device of the utility model can significantly improve the harvesting efficiency of high-stalk crops, reduce the labor intensity of farmers and enhance the intelligent level of agricultural production. The specific scheme is as follows:

[0005] A high-stalk crop grabbing, bundling and carrying mechanical arm device is installed at the outlet of a crop conveying device. The device includes a bunching frame and a mechanical arm packaging mechanism.

[0006] The bunching frame includes a bottom plate and two vertical guide plates symmetrically distributed above the bottom plate. The two vertical guide plates are arranged in a "V" shape to form a tapered opening. The front opening of the tapered opening is wider than the rear opening. The front opening of the tapered opening is connected to the outlet of the crop conveying device. The two vertical guide plates are provided with a horizontal opening that extends horizontally to the rear side of the vertical guide plate to guide the gripper to insert and hold the crops.

[0007] The mechanical arm packaging mechanism includes a fixed frame, a multi-link mechanism, a gripper, a link driving mechanism and a gripper driving mechanism.

[0008] One end of the multi-link mechanism is slidingly connected to the fixed frame. The link driving mechanism is connected to the multi-link mechanism, and the multi-link mechanism slides on the fixed frame driven by the link driving mechanism.

[0009] The grabber rotating level is rotatably installed at the other end of the multi-link mechanism, the grabber driving mechanism is connected with the grabber, the grabber is driven to rotate level by the grabber driving mechanism and extends into the transverse opening of the vertical guide plate, and the knotter is installed on the grabber.

[0010] Further, the multi-link mechanism is a parallel four-link structure, the parallel four-link structure is composed of two parallel short rods and two long rods connected between the two short rods;

[0011] The rotating shaft of the first short rod is slidably connected with the fixed frame, and the grabber is rotatably installed on the second short rod;

[0012] One end of the connecting rod driving mechanism is rotatably connected with the fixed frame, and the other end of the connecting rod driving mechanism is rotatably connected with one of the long rods.

[0013] Further, the second short rod is rotatably connected with a movable connecting rod and the grabber driving mechanism,

[0014] The outer side of the grabber is provided with two rotating shafts, and the first rotating shaft and the second rotating shaft are rotatably connected with the movable connecting rod and the grabber driving mechanism respectively.

[0015] Further, the two vertical guide plates are arranged in at least one transverse opening staggered in the vertical direction;

[0016] The grabber is provided with two groups of horizontally opposite opening and closing transverse clamps, the two groups of transverse clamps are staggered in the vertical direction, the two groups of transverse clamps are rotatably extended into the transverse openings of the two vertical guide plates, the two groups of transverse clamps are rotatably connected through a third rotating shaft, one of the transverse clamps is connected with the clamp driving mechanism, and the clamp driving mechanism is an electric push rod or a hydraulic push rod.

[0017] Further, the vertical guide plate is provided with a pin shaft at the front end, and the top of the pin shaft is rotatably connected with an upper fixed plate located at the top of the vertical guide plate;

[0018] The vertical guide plate is fixed with a baffle, and a torsion spring is installed on the pin shaft between the baffle and the upper fixed plate, and two bottom feet of the torsion spring are fixedly connected with the upper fixed plate and the baffle respectively.

[0019] Further, the two vertical guide plates are inwardly bent at one end of the rear end opening.

[0020] Further, the connecting rod driving mechanism and the grabber driving mechanism are electric push rods or hydraulic push rods.

[0021] The advantages of the utility model lie in:

[0022] 1. The high-stalk crops are collected in the cluster frame by the cluster frame, the mechanical arm packaging mechanism drives the gripper to move to the cluster frame and grasps the high-stalk crops collected in the cluster frame, and the high-stalk crops grasped are bundled by the knotter on the gripper, so that the degree of automation is high, and the harvesting efficiency is improved, and the cluster frame and the mechanical arm packaging mechanism cooperatively realize automatic collection, clamping, bundling and carrying of the high-stalk crops, without manual intervention in the whole process, so that the degree of automation is high, and the harvesting efficiency is improved.

[0023] 2. The taper opening design realizes automatic centering and dense arrangement of the crop stems through the tapering structure of the V-shaped guide plate, and the staggered distribution design of the transverse opening cooperates with the staggered clamping of the gripper, so that the bundling stability is significantly improved.

[0024] 3. The parallel four-bar linkage structure realizes large-range moving track while maintaining the horizontal posture of the gripper through the hinged configuration of the double short rods and the double long rods.

[0025] 4. The innovative double-rotating shaft driving system decouples the rotation and clamping actions of the gripper, and through the linkage cooperation of the movable connecting rod and the driving mechanism, the accurate positioning of the clamping plate in the transverse opening is ensured, and the clamping positioning and knotting operations are simultaneously completed. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0027] Figure 1 A structural diagram of the high-stalk crop grabbing, bundling and carrying mechanical arm device is provided.

[0028] Figure 2 For Figure 1 In another perspective view;

[0029] Figure 3 A schematic view of the cluster frame containing a bottom plate and two vertical guide plates;

[0030] Figure 4 A structural diagram of the mechanical arm packaging mechanism;

[0031] Figure 5 A top view of the high-stalk crop grabbing, bundling and carrying mechanical arm device of the present application;

[0032] Figure 6 A schematic view of the gripper driving mechanism driving the gripper to rotate before and after;

[0033] Figure 7This is a schematic diagram of a linkage drive mechanism driving a gripper to approach the cluster frame. Detailed Implementation

[0034] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0035] To fully understand this utility model, detailed steps and structures will be presented in the following description to illustrate the technical solution of this utility model. Preferred embodiments of this utility model are described in detail below; however, in addition to these detailed descriptions, this utility model may have other embodiments.

[0036] Reference Figures 1-5 As shown, this utility model provides a tall crop baling device, which is installed at the outlet of the crop conveying device. The tall crop baling device includes a bundle frame 100 and a robotic arm baling mechanism 200.

[0037] Cluster rack 100

[0038] like Figures 1-3 As shown, the cluster frame 100 includes a base plate 110 and two vertical guide plates 120 located above the base plate 110. The two vertical guide plates 120 are arranged in a "V" shape to form a conical opening 121. The front opening width of the conical opening 121 is greater than the rear opening width. The front opening of the conical opening 121 is connected to the outlet of the crop conveying device (not shown in the figure).

[0039] A pin 123 is provided at the front end of the vertical guide plate 120. The top of the pin 123 is rotatably connected to an upper fixed plate (not shown in the figure) located at the top of the vertical guide plate. A baffle 124 is fixed to the top of the vertical guide plate. A torsion spring 125 is installed on the pin 123 between the baffle 124 and the upper fixed plate. The two bottom feet of the torsion spring 125 are fixedly connected to the upper fixed plate and the baffle 124, respectively. Under the action of the torsion spring force, the two vertical guide plates 120 open as... Figure 1 As shown.

[0040] Two vertical guide plates 120 are provided with at least one horizontal opening 122 that is staggered in the vertical direction, and the horizontal opening extends laterally to the rear side of the vertical guide plate 120.

[0041] Both vertical guide plates 120 are bent inward at the rear end opening, such as Figure 5As shown, the two vertical guide plates 120 form a stepped pile opening at the rear end, avoiding crops such as sugarcane from escaping between the vertical guide plates 120 during the collection stage.

[0042] Mechanical arm packaging mechanism 200

[0043] As shown in Figures 1-2 and Figure 4 The mechanical arm packaging mechanism 200 includes a fixed frame 210, a multi-link mechanism 220, a gripper 230, a link driving mechanism 240, a gripper driving mechanism 250, and a clamping plate driving mechanism (not shown).

[0044] The multi-link mechanism 220 includes a parallel four-bar linkage structure composed of two parallel short rods and two long rods rotatably connected between the two short rods: the first short rod 223 is slidably connected to the fixed frame 210, and the second short rod 224 is rotatably installed with the gripper 230. One end of the link driving mechanism 240 is rotatably connected to the fixed frame 210, and the other end of the link driving mechanism 240 is rotatably connected to one of the long rods 225, and the parallel four-bar linkage structure is driven by the link driving mechanism 240 to rotate horizontally at one end.

[0045] The gripper 230 is connected to the second short rod 224 by an active link 226, and the gripper 230 is designed with two rotating shafts, the first rotating shaft 232 and the second rotating shaft 233 are rotatably connected to the active link 226 and the gripper driving mechanism 250 respectively, that is, the gripper 230, the active link 226, the second short rod 224, and the gripper driving mechanism 250 also constitute a parallel four-bar linkage mechanism.

[0046] The gripper 230 is provided with two groups of horizontally opening and closing transverse clamping plates 231, and the two groups of transverse clamping plates 231 are fixed clamping plates and movable clamping plates, which are rotatably connected by a third rotating shaft 234. The movable clamping plate is connected to the clamping plate driving mechanism, and the movable clamping plate is driven to rotate around the third rotating shaft 234 by the clamping plate driving mechanism (not shown). Among them, the first rotating shaft and the second rotating shaft are arranged on the fixed clamping plate. The two groups of transverse clamping plates 231 are staggered in the vertical direction and correspond to the transverse openings of the two vertical guide plates one by one, so that the two groups of transverse clamping plates 231 can respectively extend into the transverse openings of the two vertical guide plates, and the two groups of transverse clamping plates 231 at different heights clamp the high-stalk crops in the vertical guide plate openings.

[0047] The clamping plate driving mechanism, the link driving mechanism, and the gripper driving mechanism described above are electric push rods or hydraulic push rods, and preferably hydraulic push rods.

[0048] A knotter is installed on the gripper 230. The knotter is fixed to the end of the gripper transverse clamping plate by bolts, and its rope feeding mechanism moves synchronously with the clamping plate. When the clamping plate is closed, the rope feeding wheel of the knotter wraps the rope around the crop stem for one turn, and then the cutter cuts the rope and completes the knotting. The knotter is a prior art, which is not described here.

[0049] The working process of the utility model is as follows:

[0050] 1) The crop conveying device continuously conveys high-stalk crops such as sugarcane to the conical opening 121 of the vertical guide plate 120 on both sides, and the increasing number of high-stalk crops in the conical opening 121 gradually spread the vertical guide plate 120, thereby accommodating more high-stalk crops.

[0051] 2) When the number of high-stalk crops between the vertical guide plates 120 reaches a certain number, the continuous conveying is stopped. The parallel four-bar linkage structure is controlled by the connecting rod driving mechanism 240, and the gripper 230 is controlled by the gripper driving mechanism 250, so that the transverse clamping plates 231 on both sides of the gripper 230 respectively extend into the transverse openings 122 of the two vertical guide plates 120, as shown in the step. Figures 6-7

[0052] 3) The clamping plate driving mechanism drives the transverse clamping plates 231 to close, clamping all the high-stalk crops in the vertical guide plates 120 on both sides, and then the knotter on the gripper 230 starts to work. The knotter sends out the rope to wrap around the outer diameter of the high-stalk crops clamped by the transverse clamping plates 231, and then the knotter cuts the rope.

[0053] 4) The gripper 230 is driven away from the vertical guide plates 120 again by the connecting rod driving mechanism 240 and the gripper driving mechanism 250, and then the clamping plate driving mechanism drives the transverse clamping plates 231 to open, and places the bundled high-stalk crops at the designated position.

[0054] The preferred embodiments of the utility model are described above. It should be understood that the utility model is not limited to the above specific embodiments, and the devices and structures not described in detail should be understood as being implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the utility model by using the disclosed methods and technical contents without departing from the scope of the technical solutions of the utility model, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the utility model. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model, which does not depart from the content of the technical solutions of the utility model, still belongs to the scope of protection of the technical solutions of the utility model.​

Claims

1. A high stalk crop grabbing and bundling handling robot device, said high stalk crop grabbing and bundling handling robot device is installed at the outlet of a crop conveying device, characterized in that, The high stalk crop grabbing and bundling carrying mechanical arm device comprises a cluster frame and a mechanical arm packing mechanism; The cluster frame comprises a bottom plate and two vertical guide plates symmetrically distributed above the bottom plate, the two vertical guide plates are distributed in a "V" shape to form a tapered opening, the front opening width of the tapered opening is larger than the rear opening width, the front opening of the tapered opening is connected with the outlet of the crop conveying device, and the two vertical guide plates are provided with transverse openings extending to the rear side of the vertical guide plates, which are used for guiding the gripper to extend into the crops; The mechanical arm packing mechanism comprises a fixed frame, a multi-link mechanism, a gripper, a link driving mechanism and a gripper driving mechanism, One end of the multi-link mechanism is slidably connected with the fixed frame, the link driving mechanism is connected with the multi-link mechanism, and the multi-link mechanism is driven by the link driving mechanism to slide on the fixed frame; The gripper is horizontally rotatably installed at the other end of the multi-link mechanism, the gripper driving mechanism is connected with the gripper, and the gripper is driven by the gripper driving mechanism to make horizontal rotation and extend into the transverse opening of the vertical guide plate, and a knotter is installed on the gripper.

2. A high-stalk crop picking, bundling and carrying robot arm device as claimed in claim 1, characterized in that, The multi-link mechanism is a parallel four-link structure, which is composed of two parallel short rods and two long rods connected between the two short rods; The first short rod is slidably connected with the fixed frame, and the second short rod is rotatably installed with the gripper; One end of the link driving mechanism is rotatably connected with the fixed frame, and the other end of the link driving mechanism is rotatably connected with one of the long rods.

3. A high-stalk crop picking, bundling and carrying robot arm device as claimed in claim 2, characterized in that, The second short rod is rotatably connected with an active link and the gripper driving mechanism, The gripper is provided with two rotating shafts, and the first rotating shaft and the second rotating shaft are rotatably connected with the active link and the gripper driving mechanism respectively.

4. A high-stalk crop picking, bundling and carrying robot arm device as claimed in claim 3, characterized in that, The two vertical guide plates are provided with at least one transverse opening staggered in the vertical direction; The gripper is provided with two groups of horizontally opposite opening and closing transverse clamps, the two groups of transverse clamps are staggered in the vertical direction, the two groups of transverse clamps are rotatably extended into the transverse openings of the two vertical guide plates, the two groups of transverse clamps are rotatably connected through a third rotating shaft, one of the transverse clamps is connected with a clamp driving mechanism, and the clamp driving mechanism is an electric push rod or a hydraulic push rod.

5. A high-stalk crop picking, bundling and carrying robot arm device as claimed in claim 1, characterized in that, The vertical guide plate is provided with a pin shaft at the front end, and the top of the pin shaft is rotatably connected with an upper fixed plate located at the top of the vertical guide plate; The vertical guide plate is fixed with a baffle at the top, and a torsion spring is installed on the pin shaft between the baffle and the upper fixed plate, and the two bottom feet of the torsion spring are fixedly connected with the upper fixed plate and the baffle respectively.

6. A high-stalk crop picking, bundling and carrying robot arm apparatus as claimed in claim 1, characterized in that, The two vertical guide plates are inwardly bent at one end of the rear opening.

7. A high-stalk crop picking, bundling and carrying robot arm device as claimed in claim 1, characterized in that, The link driving mechanism and the gripper driving mechanism are electric push rods or hydraulic push rods.

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