Movable hayrick pickup arm

Abstract

The utility model provides a movable hayrick picks up mechanical arm belongs to mechanical arm technical field, this movable hayrick picks up mechanical arm includes mechanical arm body, two left and right interval arrangement's clamping plate and two left and right interval arrangement's upper compression plate, clamping plate installs in the clamping end of mechanical arm body, and upper compression plate installs in the compression end of mechanical arm body, mechanical arm body drives L -shaped gripper to carry out the capture to hayrick, and upper compression plate tightens hayrick on L -shaped gripper, and cutting member carries out cutting to the rope on hayrick, and clamping piece carries out clamping to the rope after cutting, and after hayrick moves to the appropriate position, clamping piece pulls out the rope after cutting from hayrick, thereby completes the unbinding operation to hayrick, improves work efficiency, and does not need manual operation.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a mobile hay bale picking robotic arm. Background Technology

[0002] Planting and harvesting are the most important agricultural operations, and mechanized planting and harvesting have long been a focus of agricultural research. However, straw recycling is a new environmental requirement for agriculture. How to avoid environmental pollution caused by straw burning is a hot research topic. Since straw cannot be burned, it must be centrally processed. However, the collection and processing of straw greatly increases the workload for farmers and requires equipment.

[0003] The application of robotic arms for picking up straw bales is particularly important in the centralized processing of straw. Their efficient and convenient design not only reduces the burden on farmers but also improves straw recycling efficiency, effectively resolving the conflict between environmental protection and agricultural production. However, existing robotic arms for picking up straw bales can only perform simple picking and moving of the bales. After moving the bales, manual removal of the ropes binding them is still required, resulting in low work efficiency and increased labor costs. Utility Model Content

[0004] The purpose of this invention is to provide a mobile hay bale picking robotic arm, which aims to solve the problem in the prior art that manual removal of the ropes binding the hay bales is still required after they have been moved.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a movable hay bale picking robot arm, comprising: a robot arm body, two clamping plates spaced apart on the left and right, and two upper pressure plates spaced apart on the left and right. The clamping plates are installed at the clamping end of the robot arm body, and the upper pressure plates are installed at the compression end of the robot arm body.

[0006] Two L-shaped grippers are installed at opposite ends of the two clamping plates, spaced back to back. The gripping ends of the two adjacent L-shaped grippers are positioned opposite each other. Fixed plates are spaced back to back at opposite ends of the two clamping plates. A cutting component is provided at the bottom of the fixed plate on one clamping plate, and a clamping component is provided at the bottom of the fixed plate on the other clamping plate. The cutting component and the clamping component can be used to untie the straw bale rope.

[0007] As a movable hay bale picking robotic arm of this utility model, preferably, the bottom of the fixed plate is provided with a connecting rod structure, and the cutting part and the clamping part are arranged at one end of the connecting rod structure facing the hay bale. The connecting rod structure can drive the cutting part and the clamping part to move relative to each other or in opposite directions.

[0008] As a movable hay bale picking robotic arm of this utility model, preferably, the linkage structure includes two linkages hinged to the bottom of the fixed plate, a hinge shaft is rotatably installed at the overlapping part of the two linkages, the two linkages are hinged to the bottom of the fixed plate through the hinge shaft, a fixing block is installed at the end of the two linkages facing the hay bale, and a connecting block is installed at the end of the two linkages away from the hay bale.

[0009] As a movable hay bale picking robotic arm of this utility model, preferably, the cutting component is a cutting blade installed on one side of two fixed blocks at opposite ends, and the cutting edges of the cutting blade are arranged facing each other.

[0010] As a movable hay bale picking robotic arm of this utility model, preferably, the clamping member is a clamping block installed on one end of two fixed blocks on the other side, and the opposite ends of the two clamping blocks are provided with anti-slip texture.

[0011] As a mobile hay bale picking robotic arm of this utility model, preferably, the bottom of the connecting block is provided with a drive shaft, which is sleeved on the drive component, and the drive component can drive the two drive shafts to move relative to each other or in opposite directions.

[0012] As a movable hay bale picking robotic arm of this utility model, preferably, the driving component is a driving plate set at the bottom of the connecting block. The driving plate has driving grooves arranged symmetrically front and back, and the driving grooves are arranged vertically. The driving shaft is sleeved inside the driving groove. The bottom of the clamping plate is provided with a telescopic component, which is connected to the driving plate.

[0013] As a mobile hay bale picking robotic arm of this utility model, preferably, the telescopic component is a telescopic cylinder fixedly installed at the bottom of the clamping plate, and the telescopic end of the telescopic cylinder is equipped with a clamping plate, the top of the clamping plate being connected to the bottom of the drive plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] This mobile hay bale picking robotic arm uses an L-shaped gripper to pick up hay bales. An upper pressure plate presses the hay bale firmly onto the L-shaped gripper. A cutting component cuts the ropes on the hay bale, and a clamping component holds the cut ropes. Once the hay bale is moved to the appropriate position, the clamping component pulls the cut ropes off the hay bale, thus completing the untying operation. This improves work efficiency and eliminates the need for manual operation. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 This is a three-dimensional structural diagram of a specific embodiment of the present utility model;

[0018] Figure 2 This is a three-dimensional structural diagram of the gripping end of the robotic arm in a specific embodiment of this utility model;

[0019] Figure 3 This is a three-dimensional structural diagram of the clamping plate in a specific embodiment of the present utility model;

[0020] Figure 4 This is a three-dimensional structural diagram of the cutting component in a specific embodiment of this utility model;

[0021] Figure 5 This is a three-dimensional structural diagram of the connecting rod structure in a specific embodiment of this utility model.

[0022] In the diagram: 10. Robotic arm body; 11. Clamping plate; 12. Upper pressure plate; 13. L-shaped gripper; 14. Fixing plate; 15. Linkage rod; 16. Hinge shaft; 161. Fixing block; 17. Connecting block; 18. Cutting blade; 19. Clamping block; 20. Drive shaft; 21. Drive plate; 22. Drive groove; 23. Telescopic cylinder; 231. Clamping plate. Detailed Implementation

[0023] 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.

[0024] Please see Figure 1-5 The present invention provides the following technical solution: a movable hay bale picking robot arm, comprising: a robot arm body 10, two clamping plates 11 spaced apart from left to right, and two upper pressure plates 12 spaced apart from left to right. The clamping plates 11 are installed on the clamping end of the robot arm body 10. Two L-shaped grippers 13 spaced apart from front to back are installed on the opposite end of the two clamping plates 11. The gripping ends of the two adjacent L-shaped grippers 13 are arranged opposite to each other. The upper pressure plate 12 is installed on the compression end of the robot arm body 10.

[0025] The gripping end of the robotic arm body 10 can drive the gripping plate 11 to move relative to or towards each other. The gripping plate 11 can drive the L-shaped gripper 13 to clamp and release the haystack to achieve the picking and handling effect. The compression end of the robotic arm body 10 can drive the upper pressure plate 12 to extend and retract. When the L-shaped gripper 13 grabs the haystack, the upper pressure plate 12 can press the haystack onto the L-shaped gripper 13 to prevent the haystack from shifting during the picking process. This type of operation is existing technology and will not be described in detail here.

[0026] Please see Figure 3 and Figure 5 Two clamping plates 11 are provided with fixing plates 14 at intervals at opposite ends. The bottom of the fixing plate 14 on one clamping plate 11 is provided with a cutting element, and the bottom of the fixing plate 14 on the other clamping plate 11 is provided with a clamping element. The cutting element and the clamping element can be used to untie the ropes of the haystack. After the haystack is moved, the cutting element cuts the ropes on the haystack, and the clamping element removes the cut ropes from the haystack, thereby completing the untying operation of the telescopic mechanism.

[0027] The bottom of the fixed plate 14 is provided with a connecting rod structure. The cutting part and the clamping part are located at the end of the connecting rod structure facing the haystack. The connecting rod structure can drive the cutting part and the clamping part to move relative to each other or in opposite directions, thereby completing the cutting and clamping of the rope.

[0028] The linkage structure includes two connecting rods 15 hinged to the bottom of the fixed plate 14. A hinge shaft 16 is rotatably mounted on the overlapping part of the two connecting rods 15. The two connecting rods 15 are hinged to the bottom of the fixed plate 14 through the hinge shaft 16. A fixing block 161 is installed at the end of the two connecting rods 15 facing the haystack, and a connecting block 17 is installed at the end of the two connecting rods 15 away from the haystack. A drive shaft 20 is rotatably mounted at the bottom of the connecting block 17. The drive shaft 20 is sleeved on the drive component. The drive component can drive the two drive shafts 20 to move relative to or towards each other. The two drive shafts 20 drive the connecting rods 15 to move relative to or towards each other at the end facing the haystack through the connecting block 17.

[0029] The driving component is a driving plate 21 located at the bottom of the connecting block 17. The driving plate 21 has driving grooves 22 arranged symmetrically front and back, and the driving grooves 22 are arranged vertically. The driving shaft 20 is sleeved inside the driving grooves 22. The bottom of the clamping plate 11 is provided with a telescopic component, which is connected to the driving plate 21. The telescopic component is a telescopic cylinder 23 fixedly installed at the bottom of the clamping plate 11. The telescopic end of the telescopic cylinder 23 is equipped with a clamping plate 231, and the top of the clamping plate 231 is connected to the bottom of the driving plate 21.

[0030] The telescopic cylinder 23 drives the clamping plate 231 to move toward the haystack, and the drive plate 21 moves accordingly. The drive groove 22 on the drive plate 21 enables the two drive shafts 20 to move relative to each other. The two drive shafts 20 drive the connecting rod 15 to move relative to one end of the haystack, thereby realizing the precise operation of the cutting and clamping parts, ensuring that the rope cutting and clamping are carried out synchronously, and improving the untying efficiency.

[0031] Please see Figure 1-3 The cutting element consists of a cutting blade 18 mounted on one side of two fixed blocks 161 at opposite ends, with the cutting edges of the blades 18 facing each other. The clamping element consists of clamping blocks 19 mounted on the other side of two fixed blocks 161 at opposite ends. The opposite ends of the two clamping blocks 19 are provided with anti-slip textures, which increase the friction between the clamping blocks 19 and the rope, ensuring that the rope will not slip during cutting and improving operational stability and safety. The cutting blade 18 is made of high-hardness material, with a sharp blade that can quickly cut the rope, reducing operation time.

[0032] Please see Figure 1-5 Working principle: When in use, the operator starts the robotic arm body 10, which moves the L-shaped grippers 13 to the position of the haystack. The two L-shaped grippers 13 retract inward to clamp the haystack. At the same time, the robotic arm body 10 drives the upper pressure plate 12 to press down and fix the haystack. The telescopic cylinder 23 is activated, which drives the clamping plate 231 to move. The drive plate 21 moves accordingly. The two drive shafts 20 move relative to each other through the drive groove 22. The two drive shafts 20 drive the connecting rod 15 to move relative to one end of the haystack through the connecting block 17. The connecting rod 15 drives the fixing block 161 to move relative to each other. The fixing block 161 drives the cutting blade 18 and the clamping block 19 to move synchronously. The cutting blade 18 precisely cuts the rope, and the clamping block 19 firmly clamps it, ensuring that the untying process is efficient and stable.

[0033] After the robotic arm 10 moves the haystack to the designated position, it retracts the L-shaped gripper 13, and the upper pressure plate 12 lifts to release the haystack. The telescopic cylinder 23 located on one side of the cutting blade 18 resets, the drive plate 21 returns to its original position, and the drive shaft 20 drives the two cutting blades 18 to move towards each other via the connecting rod 15. The telescopic cylinder 23 located on one side of the clamping block 19 maintains its current state, ensuring that the clamping block 19 continues to hold the rope, thereby completely separating the cut rope from the haystack and preventing the cut rope from remaining on the haystack and affecting subsequent operations. The entire untying process is highly automated, easy to operate, greatly improves work efficiency, and reduces manual labor intensity.

[0034] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims and not by the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mobile hay bale picking robotic arm, comprising: The robotic arm consists of a main body, two clamping plates spaced apart on the left and right, and two upper pressure plates spaced apart on the left and right. The clamping plates are installed at the clamping end of the robotic arm main body, and the upper pressure plates are installed at the compression end of the robotic arm main body. The invention is characterized by having two L-shaped grippers spaced apart at the front and back on opposite ends of the two clamping plates, with the gripping ends of the two adjacent L-shaped grippers facing each other, and fixing plates spaced apart at the front and back on opposite ends of the two clamping plates. A cutting component is provided at the bottom of the fixing plate on one clamping plate, and a clamping component is provided at the bottom of the fixing plate on the other clamping plate. The cutting component and the clamping component enable the untying operation of the straw bale rope.

2. The mobile hay bale picking robotic arm according to claim 1, characterized in that: The bottom of the fixing plate is provided with a connecting rod structure. The cutting component and the clamping component are located at one end of the connecting rod structure facing the haystack. The connecting rod structure can drive the cutting component and the clamping component to move relative to each other or in opposite directions.

3. The movable hay bale picking robotic arm according to claim 2, characterized in that: The linkage structure includes two linkages hinged to the bottom of the fixed plate. A hinge shaft is rotatably mounted on the overlapping part of the two linkages. The two linkages are hinged to the bottom of the fixed plate through the hinge shaft. A fixing block is installed at the end of the two linkages facing the haystack, and a connecting block is installed at the end of the two linkages away from the haystack.

4. The mobile hay bale picking robotic arm according to claim 3, characterized in that: The cutting component is a cutting blade mounted on one side of two fixed blocks at opposite ends, with the cutting edges of the cutting blade facing each other.

5. A mobile hay bale picking robotic arm according to claim 3, characterized in that: The clamping component is a clamping block installed on one end of two fixed blocks on the other side, and the opposite ends of the two clamping blocks are provided with anti-slip texture.

6. A mobile hay bale picking robotic arm according to claim 3, characterized in that: The bottom of the connecting block is rotatably equipped with a drive shaft, which is sleeved on the drive component. The drive component can drive the two drive shafts to move relative to each other or in opposite directions.

7. A movable hay bale picking robotic arm according to claim 6, characterized in that: The driving component is a driving plate located at the bottom of the connecting block. The driving plate has driving slots that are symmetrically arranged front and back and are vertically connected. The driving shaft is sleeved inside the driving slots. The bottom of the clamping plate is provided with a telescopic component that is connected to the driving plate.

8. A mobile hay bale picking robotic arm according to claim 7, characterized in that: The telescopic component is a telescopic cylinder fixedly installed at the bottom of the clamping plate. The telescopic end of the telescopic cylinder is equipped with a clamping plate, and the top of the clamping plate is connected to the bottom of the drive plate.

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