Single-plant wheat shearing and clamping integrated end effector

Abstract

The utility model discloses a single-plant wheat shearing and clamping integrated end effector, which relates to the field of harvesting equipment and comprises a shearing and clamping head, and the shearing and clamping head comprises a first shearing body, a second shearing body, a first fixing block, a second fixing block, a first clamping head, an adjusting nut, an adjusting stud, an adjusting spring and a second clamping head. The first scissor body and the second scissor body are matched with each other to form a scissor structure, the second fixing block is fixedly connected to the first scissor body, and the first chuck is fixedly connected with the second fixing block. The first fixing block is fixedly connected to the second scissor body, the adjusting stud is fixedly connected to the second chuck and movably penetrates through the first fixing block, the adjusting spring is arranged on the periphery of the adjusting stud in a sleeving mode, the two ends of the adjusting spring abut against the second chuck and the first fixing block respectively, and the adjusting nut locks the adjusting stud on the first fixing block. The wheat harvester has the advantages of realizing accurate harvesting of a single plant of wheat and adapting to wheat stalks in different growth states.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of harvesting equipment, especially to a single wheat shearing and clamping integrated end effector. BACKGROUND

[0002] As a widely planted food crop in the world, wheat plays a vital role in improving yield, quality and stress resistance. In the process of wheat breeding, the accurate collection of single wheat is a time-consuming and labor-intensive work with high technical requirements. Most of the wheat harvesting equipment on the market is designed for large-scale commercial planting and is not suitable for the accurate collection of single wheat in breeding work.

[0003] The patent document with publication number CN119318268A discloses a shearing and clamping integrated citrus harvesting end effector based on bionics, which includes a shearing and clamping device. The shearing and clamping device includes a movable shear, a fixed shear, a clamping block one, and a clamping block two. The clamping block one and the clamping block two are fixed together with the movable shear and the fixed shear, respectively. The existing harvesting equipment performs shearing and clamping simultaneously, which cannot clamp the wheat stem first and then cut it from the back end of the wheat stem. It is difficult to achieve accurate collection of single wheat and cannot adapt to wheat stems in different growth states. SUMMARY

[0004] The technical problem to be solved by the utility model is how to achieve accurate collection of single wheat and adapt to wheat stems in different growth states.

[0005] The utility model solves the above technical problems through the following technical means: a single wheat shearing and clamping integrated end effector, which includes a main body and a shearing and clamping head. The shearing and clamping head is installed at one end of the main body. The shearing and clamping head includes a first shear body, a second shear body, a first fixed block, a second fixed block, a first clamping head, an adjusting nut, an adjusting stud, an adjusting spring, and a second clamping head. The first shear body and the second shear body form a shear structure in cooperation. The second fixed block is fixedly connected to the first shear body, and the first clamping head is fixedly connected to the second fixed block. The first fixed block is fixedly connected to the second shear body, and the adjusting stud is fixedly connected to the second clamping head and movably penetrates through the first fixed block. The adjusting spring is sleeved on the outer periphery of the adjusting stud and abuts against the second clamping head and the first fixed block at both ends, respectively. The adjusting nut locks the adjusting stud on the first fixed block.

[0006] When the scissor structure is closed, the first clamp head and the second clamp head are first clamped to each other under the action of the adjusting spring, and then the blades of the first scissor body and the second scissor body start to cut, realizing the function of clamping the wheat stalk first and then cutting the rear end of the wheat stalk, so as to realize the accurate harvesting of single wheat plant. The clamping force between the first clamp head and the second clamp head can be adjusted by adjusting the nut to adapt to the wheat stalks in different growth states.

[0007] As an optimized technical solution, the single wheat plant shearing and clamping integrated end effector further comprises a main body, the main body comprises a shearing and clamping head mounting bracket, a push rod and a first connecting pin, the telescopic rod body of the push rod is movably penetrated through the shearing and clamping head mounting bracket; the shearing and clamping head further comprises a push rod head connecting bracket, a second connecting pin, a first connecting rod, a second connecting rod, a third connecting pin, a fourth connecting pin and a fifth connecting pin; the handle end of the first scissor body is hinged to one end of the first connecting rod through the fourth connecting pin, the handle end of the second scissor body is hinged to one end of the second connecting rod through the fifth connecting pin, the other ends of the first connecting rod and the second connecting rod are hinged to one end of the push rod head connecting bracket through the third connecting pin, the other end of the push rod head connecting bracket is hinged to the telescopic rod body of the push rod through the second connecting pin, and the overlapping parts of the first scissor body and the second scissor body are hinged to the shearing and clamping head mounting bracket through the first connecting pin. When the push rod is elongated, the scissor structure is opened, and when the push rod is shortened, the scissor structure is closed. The opening and closing actions of the scissor structure can be completed through the extension and contraction actions of the push rod, so as to ensure that the shearing and clamping head can stably clamp and shear.

[0008] As an optimized technical solution, the main body further comprises a main body connecting bracket and a push rod mounting bracket; one end of the main body connecting bracket is provided with a flange, the other end of the main body connecting bracket is fixedly connected with one end of the push rod mounting bracket, and the other end of the push rod mounting bracket is fixedly connected with one end of the shearing and clamping head mounting bracket; the push rod mounting bracket is a hollow structure, the push rod is mounted in the push rod mounting bracket, and the two ends of the main body of the push rod are respectively abutted against the end faces of the main body connecting bracket and the shearing and clamping head mounting bracket. The structure is compact, occupies small space, and can effectively avoid the interference of adjacent wheat plants during harvesting.

[0009] As an optimized technical solution, the main body connecting bracket, the push rod mounting bracket and the shearing and clamping head mounting bracket are in a split structure. The processing difficulty is reduced, and the processing cost is reduced.

[0010] As an optimized technical solution, the main body connecting bracket is fixedly connected with the push rod mounting bracket through a plurality of screws, and the push rod mounting bracket is fixedly connected with the shearing and clamping head mounting bracket through a plurality of screws. The stability of the connection is ensured, and it is ensured that the push rod can be stably mounted on the main body.

[0011] As the optimized technical scheme, the first connecting pin passes through two pin holes of the shearing chuck mounting bracket and is fixedly connected with the shearing chuck mounting bracket through a shaft clasp spring. The shearing chuck is stably connected on the main body.

[0012] As the optimized technical scheme, the first shearing body and the second shearing body are completely closed with the blade parts overlapping. The wheat stalks can be cut more labor-savingly.

[0013] As the optimized technical scheme, the opposite sides of the first chuck and the second chuck are provided with teeth and the teeth are engaged with each other after the first chuck and the second chuck are completely closed. The wheat stalks can be clamped better.

[0014] As the optimized technical scheme, the first fixed block is welded on the second shearing body and the second fixed block is welded on the first shearing body. Stable support is provided for the first chuck and the second chuck.

[0015] As the optimized technical scheme, the shearing chuck further comprises fixed screws, and the first chuck is fixedly connected with the second fixed block through the fixed screws. Stable support is provided for the first chuck.

[0016] The utility model discloses the advantages are in:

[0017] 1. when the scissors structure is closed, the first chuck and the second chuck are engaged with each other under the action of the adjusting spring first, and then the blades of the first shearing body and the second shearing body start to cut, realizing the function of clamping the wheat stalks first and then cutting the wheat stalks from the rear end, so that the accurate harvesting of single wheat is realized, and the clamping force between the first chuck and the second chuck can be adjusted through the adjusting nut to adapt to the wheat stalks in different growth states.

[0018] 2. compact structure, small space occupation, can effectively avoid the interference of adjacent wheat plants during harvesting.

[0019] 3. the main body connecting bracket, the push rod mounting bracket and the shearing chuck mounting bracket are of a split structure, which reduces the processing difficulty and the processing cost.

[0020] 4. the blades of the first shearing body and the second shearing body overlap after being completely closed, so that the wheat stalks can be cut more labor-savingly.

[0021] 5. the opposite sides of the first chuck and the second chuck are provided with tooth structures and the teeth are engaged with each other after the first chuck and the second chuck are completely closed, so that the wheat stalks can be clamped better. DETAILED DESCRIPTION

[0022] Figure 1 It is an isometric view of the single wheat shearing and chuck integrated end effector.

[0023] Figure 2 Axonometric view of the main body of the embodiment of the present application.

[0024] Figure 3 Axonometric view of the connection support of the main body of the embodiment of the present application.

[0025] Figure 4 Axonometric view of the push rod installation support of the embodiment of the present application.

[0026] Figure 5 Axonometric view of the shearing chuck installation support of the embodiment of the present application.

[0027] Figure 6 Axonometric view of the shearing chuck of the embodiment of the present application.

[0028] Figure 7 Axonometric view of the shearing structure of the embodiment of the present application.

[0029] Figure 8 Axonometric view of the first shearing body of the embodiment of the present application.

[0030] Figure 9 Axonometric view of the second shearing body of the embodiment of the present application.

[0031] Figure 10 Cross-sectional view of the shearing structure after complete closure of the embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0033] As shown in Figures 1 to 10 the embodiment of the present application discloses a single wheat shearing and chuck integrated end effector, which comprises a main body 1 and a shearing chuck 2, and the shearing chuck 2 is installed at one end of the main body 1.

[0034] The main body 1 comprises a main body connecting support 101, a push rod mounting support 102, a shearing chuck mounting support 103, a push rod 104 and a first connecting pin 105; the main body connecting support 101, the push rod mounting support 102 and the shearing chuck mounting support 103 are of a split structure, which reduces the processing difficulty and the processing cost; one end of the main body connecting support 101 is provided with a flange for fixed connection with external equipment, the other end of the main body connecting support 101 is fixedly connected with one end of the push rod mounting support 102 through four screws, the other end of the push rod mounting support 102 is fixedly connected with one end of the shearing chuck mounting support 103 through four screws, which ensures the stability of the connection and guarantees that the push rod 104 can be stably mounted on the main body 1; the push rod mounting support 102 is of a hollow structure, the push rod 104 is mounted inside the push rod mounting support 102, the main body of the push rod 104 is abutted against the end faces of the main body connecting support 101 and the shearing chuck mounting support 103 respectively, the telescopic rod body of the push rod 104 is movably penetrated through the shearing chuck mounting support 103, and the push rod 104 is an electric push rod; the first connecting pin 105 is penetrated through two pin holes of the shearing chuck mounting support 103 and is fixedly connected with the shearing chuck mounting support 103 through a shaft clasp spring, which ensures that the shearing chuck 2 is stably connected on the main body 1.

[0035] The cutting head 2 comprises a push rod head connecting support 201, a second connecting pin 202, a first connecting rod 203, a second connecting rod 204, a third connecting pin 205, a fourth connecting pin 206, a fifth connecting pin 207, a first scissor body 208, a second scissor body 209, a first fixed block 210, a second fixed block 211, a fixed screw 212, a first clamp 213, an adjusting nut 214, an adjusting stud 215, an adjusting spring 216 and a second clamp 217; the first scissor body 208 and the second scissor body 209 form a scissor structure in cooperation with each other, the handle end of the first scissor body 208 is hinged to one end of the first connecting rod 203 through the fourth connecting pin 206, the handle end of the second scissor body 209 is hinged to one end of the second connecting rod 204 through the fifth connecting pin 207, the other ends of the first connecting rod 203 and the second connecting rod 204 are hinged to one end of the push rod head connecting support 201 through the third connecting pin 205, the other end of the push rod head connecting support 201 is hinged to the telescopic rod body of the push rod 104 through the second connecting pin 202, the overlapping parts of the first scissor body 208 and the second scissor body 209 are hinged to the cutting head mounting support 103 through the first connecting pin 105, and the opening and closing actions of the scissor structure can be completed through the telescopic action of the push rod 104, so that the cutting head 2 can stably clamp and cut; the first fixed block 210 is welded on the second scissor body 209, the second fixed block 211 is welded on the first scissor body 208, and the first clamp 213 and the second clamp 217 are provided with stable support; the first clamp 213 is fixedly connected with the second fixed block 211 through two fixed screws 212; the adjusting stud 215 is fixedly connected on the second clamp 217 and movably penetrates through the first fixed block 210, the adjusting spring 216 is sleeved on the outer periphery of the adjusting stud 215 and abuts against the second clamp 217 and the first fixed block 210 at both ends respectively, and the adjusting nut 214 locks the adjusting stud 215 on the first fixed block 210; after the first scissor body 208 and the second scissor body 209 are completely closed, the blade parts overlap, and the wheat stalks can be cut more labor-savingly; the opposite sides of the first clamp 213 and the second clamp 217 are provided with toothed structures, and the teeth of the two clamps are engaged with each other after the two clamps are completely closed, so that the wheat stalks can be clamped better.

[0036] Working principle: when the push rod 104 is elongated, the scissor structure is opened, when the push rod 104 is shortened, the scissor structure is closed, when the scissor structure is closed, the first clamp 213 and the second clamp 217 are first engaged with each other under the action of the adjusting spring 216, and then the blades of the first scissor body 208 and the second scissor body 209 start to cut, so that the function of clamping the wheat stalks first and then cutting the wheat stalks from the rear end is realized, thereby realizing the accurate harvesting of single wheat, and the clamping force between the first clamp 213 and the second clamp 217 can be adjusted through the adjusting nut 214 to adapt to the wheat stalks in different growth states.

[0037] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A single wheat shearing and gripping integrated end effector, characterized by: The shearing and clamping head comprises a first shearing body, a second shearing body, a first fixed block, a second fixed block, a first clamping head, an adjusting nut, an adjusting stud, an adjusting spring and a second clamping head; the first shearing body and the second shearing body are mutually matched to form a shearing structure, the second fixed block is fixedly connected to the first shearing body, and the first clamping head is fixedly connected to the second fixed block; the first fixed block is fixedly connected to the second shearing body, the adjusting stud is fixedly connected to the second clamping head and movably penetrates through the first fixed block, the adjusting spring is sleeved on the outer periphery of the adjusting stud and abuts against the second clamping head and the first fixed block at two ends respectively, and the adjusting nut locks the adjusting stud on the first fixed block.

2. The single wheat shearing and gripping integrated end effector of claim 1, wherein: The single wheat shearing and clamping integrated end effector further comprises a main body, the main body comprises a shearing and clamping head mounting bracket, a push rod and a first connecting pin, and the telescopic rod body of the push rod movably penetrates through the shearing and clamping head mounting bracket; the shearing and clamping head further comprises a push rod head connecting bracket, a second connecting pin, a first connecting rod, a second connecting rod, a third connecting pin, a fourth connecting pin and a fifth connecting pin; the handle end of the first shearing body is hinged to one end of the first connecting rod through the fourth connecting pin, the handle end of the second shearing body is hinged to one end of the second connecting rod through the fifth connecting pin, and the other ends of the first connecting rod and the second connecting rod are hinged to one end of the push rod head connecting bracket through the third connecting pin; the other end of the push rod head connecting bracket is hinged to the telescopic rod body of the push rod through the second connecting pin; and the overlapping parts of the first shearing body and the second shearing body are hinged to the shearing and clamping head mounting bracket through the first connecting pin.

3. The single wheat shearing and gripping integrated end effector of claim 2, wherein: The main body further comprises a main body connecting bracket and a push rod mounting bracket; one end of the main body connecting bracket is provided with a flange, the other end of the main body connecting bracket is fixedly connected to one end of the push rod mounting bracket, and the other end of the push rod mounting bracket is fixedly connected to one end of the shearing and clamping head mounting bracket; the push rod mounting bracket is a hollow structure, the push rod is mounted in the push rod mounting bracket, and the main body of the push rod abuts against the end faces of the main body connecting bracket and the shearing and clamping head mounting bracket respectively.

4. The single wheat shearing and gripping integrated end effector of claim 3, wherein: The main body connecting bracket, the push rod mounting bracket and the shearing and clamping head mounting bracket are in a split structure.

5. The single wheat shearing and gripping integrated end effector of claim 4, wherein: The main body connecting bracket is fixedly connected to the push rod mounting bracket through a plurality of screws, and the push rod mounting bracket is fixedly connected to the shearing and clamping head mounting bracket through a plurality of screws.

6. The single wheat shearing and gripping integrated end effector of claim 2, wherein: The first connecting pin penetrates through two pin holes of the shearing and clamping head mounting bracket and is fixedly connected to the shearing and clamping head mounting bracket through a shaft circlip.

7. The single wheat shearing and gripping integrated end effector of claim 1, wherein: The cutting edges of the first shearing body and the second shearing body are partially overlapped when the first shearing body and the second shearing body are completely closed.

8. The single wheat shearing and clipping integrated end effector of claim 1, wherein: The opposite sides of the first clamping head and the second clamping head are provided with teeth, and the teeth of the first clamping head and the second clamping head are engaged with each other when the first clamping head and the second clamping head are completely closed.

9. The single wheat shearing and clipping integrated end effector of claim 1, wherein: The first fixed block is welded to the second shearing body, and the second fixed block is welded to the first shearing body.

10. The single wheat shearing and clipping integrated end effector of claim 1, wherein: The shearing and clamping head further comprises a fixed screw, and the first clamping head is fixedly connected to the second fixed block through a plurality of fixed screws.

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