Four-wheel drive intelligent high-efficiency sugarcane loading carrier

Abstract

The utility model discloses a four -wheel drive intelligence high -efficient loading sugarcane carrier, including walking mechanism, frame, cab, car, it is installed in the rear side of frame, snatchs and carries the mechanism, it is installed on the frame, snatchs and carries the mechanism and includes rotating mechanism, mechanical arm, mechanical arm and hydraulic grab, and hydraulic grab is used for snatching sugarcane, drive arrangement, it is installed on the frame, is used for driving snatchs and carries the mechanism work, image device, it is used for obtaining sugarcane image information, and information processing system, it is installed on the frame, and image device and drive arrangement all with information processing system data connection, information processing system can obtain the sugarcane image information that image device transports, and according to this sugarcane image information control drive arrangement's work. Adopt the carrier of the utility model, can automatically snatch and carry sugarcane to the car, and the degree of automation is high, reduces manual labor intensity, avoids missing and wrong snatching, improves work efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of sugarcane handling technology, and in particular to a four-wheel drive intelligent and efficient sugarcane loading and handling machine. Background Technology

[0002] In China, the transportation of sugarcane after harvesting traditionally relies mainly on manual handling or sugarcane transport machines. Manual handling requires people to move the sugarcane onto the transport vehicle, which is labor-intensive and inefficient. In most plantations, labor costs account for over 50% of total costs, and the efficiency is only one-third that of mechanized operations. Furthermore, fatigue can easily lead to decreased work efficiency or safety accidents. To reduce labor intensity and improve efficiency, sugarcane transport machines are commonly used. Existing sugarcane transport machines are equipped with robotic arms that can move sugarcane onto the truck bed. However, the operation of these robotic arms is primarily manual; workers must both drive the transport machine and operate the robotic arms to pick up and move the sugarcane onto the truck bed. This results in low automation, and the repetitive nature of the work over long periods can easily lead to worker fatigue, potentially causing missed or incorrect picks, or slower movements, affecting work quality and efficiency. Utility Model Content

[0003] The purpose of this invention is to provide a four-wheel drive intelligent and efficient sugarcane loading and handling machine, thereby overcoming the shortcomings of existing sugarcane transport machines that require manual operation of robotic arms for sugarcane grabbing and handling, and have a low degree of automation.

[0004] To achieve the above objectives, this utility model provides a four-wheel drive intelligent and efficient sugarcane loading and handling machine, comprising: a walking mechanism; a frame mounted on the walking mechanism; a cab mounted on the front side of the frame; a cargo box mounted on the rear side of the frame, the cargo box having an opening at the top; and a gripping and handling mechanism mounted on the frame, the gripping and handling mechanism including a rotating mechanism, a mechanical boom, a mechanical arm, and a hydraulic gripper, the rotating mechanism being located at the front side of the cargo box and connected to the frame, the lower end of the mechanical boom being hinged to the rotating mechanism in a way that allows it to swing up and down; the front end of the mechanical arm being... The system includes: a hydraulic gripper hinged to the upper end of the large mechanical arm, capable of swinging up and down; a hydraulic gripper hinged to the front end of the small mechanical arm, also capable of swinging up and down, for gripping sugarcane; a drive unit mounted on the frame, for driving the gripping and transporting mechanism; an image device for acquiring sugarcane image information; and an information processing system mounted on the frame, with both the image device and the drive unit connected to the information processing system. The information processing system acquires the sugarcane image information transmitted by the image device and controls the drive unit based on this image information.

[0005] Preferably, in the above technical solution, the traveling mechanism includes: a steering drive front axle, which is mounted on the front side of the bottom of the vehicle frame; a drive rear axle, which is mounted on the rear side of the bottom of the vehicle frame; four traveling wheels, with two traveling wheels symmetrically distributed on the steering drive front axle and two traveling wheels symmetrically distributed on the drive rear axle; an engine and transmission assembly, which is mounted on the vehicle frame, and both the steering drive front axle and the drive rear axle are connected to the engine and transmission assembly; and a steering mechanism, which is mounted in the driver's cab, and the steering mechanism is connected to the traveling wheels.

[0006] Preferably, in the above technical solution, the rotating mechanism is a rotating gear disk structure.

[0007] Preferably, in the above technical solution, the driving device includes: a hydraulic reducer connected to the rotating gear disk; a boom cylinder, the lower end of which is hinged to the rotating gear disk, and the upper end of which is hinged to the middle of the mechanical boom; a forearm cylinder, the front end of which is hinged to the middle of the mechanical boom, and the rear end of which is hinged to the front end of the mechanical forearm; a gripper cylinder, the upper end of which is hinged to the middle of the mechanical forearm, and the lower end of which is hinged to the upper end of the hydraulic gripper; and an oil tank mounted on the frame. The oil tank has an oil pump installed at its outlet; an electro-hydraulic multi-way valve mounted on the frame, with its inlet connected to the oil tank's outlet; and a hydraulic distributor mounted on the frame, with its inlet connected to the electro-hydraulic multi-way valve's outlet. The hydraulic reducer, boom cylinder, forearm cylinder, gripper cylinder, and hydraulic gripper are all connected to the hydraulic distributor's outlet. The electro-hydraulic multi-way valve is connected to the information processing system.

[0008] Preferably, in the above technical solution, the imaging device includes a first camera and a second camera. The first camera is mounted on the robotic arm, and the second camera is mounted on the top of the front side of the vehicle frame. Both the first camera and the second camera are connected to the information processing system for data processing.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] 1. The transport machine of this utility model allows workers to drive it from the cab across the sugarcane field. An imaging device acquires real-time images of the sugarcane on the ground and sends this information to an information processing system. Upon receiving the images, the system analyzes the sugarcane's posture and position, and controls the drive unit accordingly. This drives the gripping and transporting mechanism to move the hydraulic gripper above the sugarcane and grab it. The gripper is then moved into the truck bed, where the sugarcane is placed. Through the coordinated operation of the imaging device, information processing system, drive unit, and gripping and transporting mechanism, the transport machine automatically acquires information about the sugarcane's posture and position, automatically grabs it, and transports it into the truck bed. This high degree of automation reduces manual labor intensity, avoids missed or incorrect grabs, and improves work efficiency and quality.

[0011] 2. The imaging device of this utility model includes a first camera and a second camera. The first camera is used to monitor the position information of the object being captured during operation, and the second camera is used to monitor the position information of the sides and inside of the carriage. Attached Figure Description

[0012] Figure 1 This is a structural schematic diagram of a four-wheel drive intelligent and efficient sugarcane loading and handling machine according to the present invention.

[0013] Explanation of key figure labels:

[0014] 1-Chassis, 2-Steering drive front axle, 3-Drive rear axle, 4-Carriage box, 5-Cab, 6-Steering mechanism, 7-Engine and gearbox assembly, 8-Electro-hydraulic multi-way valve, 9-Hydraulic distributor, 10-Information processing system, 11-Second camera, 12-Rotating mechanism, 13-Boom cylinder, 14-Mechanical boom, 15-Boom cylinder, 16-Mechanical boom, 17-First camera, 18-Hydraulic gripper. Detailed Implementation

[0015] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, it should be understood that the scope of protection of this utility model is not limited to the specific embodiments.

[0016] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0017] Figure 1The diagram shows a structural schematic of a four-wheel drive intelligent and efficient sugarcane loading and handling machine according to a preferred embodiment of the present invention. The handling machine includes a walking mechanism, a frame 1, a cab 5, a cargo box 4, a gripping and handling mechanism, a drive device, an imaging device, and an information processing system 10.

[0018] refer to Figure 1 The frame 1 is mounted on the traveling mechanism to facilitate vehicle movement and thus sugarcane transport. The cab 5 is mounted on the front of the frame 1 for easy operation of the transporter. The cargo box 4 is mounted on the rear of the frame 1, with an opening at the top for placing sugarcane. A gripping and transporting mechanism is mounted on the top of the front of the frame 1 to grip the sugarcane and place it into the cargo box 4. The gripping and transporting mechanism includes a rotating mechanism 12, a mechanical boom 14, a mechanical arm 16, and a hydraulic gripper 18. The rotating mechanism 12 is located at the front of the cargo box 4 and connected to the frame 1, facilitating the horizontal rotation of the gripping and transporting mechanism and adjusting its horizontal position. The lower end of the mechanical boom 14 is hinged to the rotating mechanism 12 in a way that allows it to swing up and down, facilitating height adjustment. The front end of the mechanical arm 16 is hinged to the upper end of the mechanical boom 14 in a way that allows it to swing up and down, facilitating height adjustment. The upper end of the hydraulic gripper 18 is hinged to the front end of the mechanical arm 16 in a way that allows it to swing up and down, facilitating adjustment of the height and angle of the hydraulic gripper 18. The hydraulic gripper 18 is used to grip sugarcane, thereby transporting the sugarcane into the carriage 4. A drive unit is mounted on the frame 1 to drive the gripping and transporting mechanism. An image device is used to acquire sugarcane image information. An information processing system 10 is mounted on the frame 1, and both the image device and the drive unit are data-connected to the information processing system 10. The information processing system 10 can acquire the sugarcane image information transmitted by the image device and control the operation of the drive unit based on the sugarcane image information. In operation, a worker drives the transporter from the cab 5 across the sugarcane field. The imaging device acquires real-time images of the sugarcane on the ground and sends these images to the information processing system 10. Upon receiving the images, the information processing system 10 analyzes the sugarcane's posture and position, and controls the drive unit based on this information. This drives the gripping and transporting mechanism to move the hydraulic gripper 18 above the sugarcane and grab it. The hydraulic gripper 18 is then moved into the carriage 4, where the sugarcane is placed. Through the coordinated operation of the imaging device, information processing system 10, drive unit, and gripping and transporting mechanism, the transporter automatically acquires information about the sugarcane's posture and position, automatically grabs it, and transports it into the carriage 4. This high degree of automation reduces manual labor intensity, avoids missed or incorrect grabbing, and improves work efficiency and quality.

[0019] refer to Figure 1The running gear can be either wheeled or tracked. Preferably, the running gear includes a steering drive front axle 2, a drive rear axle 3, four wheels, an engine and gearbox assembly 7, and a rotating mechanism 12. The steering drive front axle 2 is mounted on the front side of the bottom of the frame 1, facilitating the movement and steering of the frame 1; the drive rear axle 3 is mounted on the rear side of the bottom of the frame 1. The steering drive front axle has two symmetrically distributed wheels, and the drive rear axle 3 also has two symmetrically distributed wheels, employing a four-wheel drive wheel structure to adapt to complex field terrain and ensure stable movement. The engine and gearbox assembly 7 is mounted on the frame 1 to provide power. Both the steering drive front axle 2 and the drive rear axle 3 are connected to the engine and gearbox assembly 7 to facilitate vehicle movement. The steering mechanism 6 is installed inside the cab 5 and is connected to the wheels, facilitating vehicle steering control.

[0020] refer to Figure 1 Preferably, the rotating mechanism 12 is a rotating toothed disc structure, which can drive the robotic arm to rotate by the meshing rotation of the inner and outer teeth of the rotating toothed disc.

[0021] refer to Figure 1 Preferably, the drive unit includes a hydraulic reducer, a boom cylinder 13, a forearm cylinder 15, a gripper cylinder, an oil tank, an electro-hydraulic multi-way valve 8, and a hydraulic distributor 9. The hydraulic reducer is connected to a rotating gear to drive the rotating gear to rotate. The lower end of the boom cylinder 13 is hinged to the rotating gear, and the upper end of the boom cylinder 13 is hinged to the middle of the mechanical boom 14. The extension and retraction of the boom cylinder 13 drives the mechanical boom 14 to swing up and down. The front end of the forearm cylinder 15 is hinged to the middle of the mechanical boom 14, and the rear end of the forearm cylinder 15 is hinged to the front end of the mechanical forearm 16. The extension and retraction of the forearm cylinder 15 drives the mechanical forearm 16 to swing up and down. The upper end of the gripper cylinder is hinged to the middle of the mechanical forearm 16, and the lower end of the gripper cylinder is hinged to the upper end of the hydraulic gripper 18. The extension and retraction of the gripper cylinder drives the hydraulic gripper 18 to swing up and down, thereby adjusting the angle and height of the hydraulic gripper 18. The oil tank is mounted on the frame 1, and an oil pump is installed at the oil outlet of the tank to deliver hydraulic oil from the tank to the subsequent oil circuit. An electro-hydraulic multi-way valve 8 is mounted on the frame 1, and its inlet is connected to the oil outlet of the oil tank. A hydraulic distributor 9 is mounted on the frame 1, and its inlet is connected to the outlet of the electro-hydraulic multi-way valve 8. The hydraulic reducer, boom cylinder 13, forearm cylinder 15, gripper cylinder, and hydraulic gripper 18 are all connected to the outlet of the hydraulic distributor 9. The electro-hydraulic multi-way valve 8 is connected to the information processing system 10. After receiving a signal from the information processing system 10, the electro-hydraulic multi-way valve 8 can control the operation of subsequent corresponding components according to the signal.

[0022] refer to Figure 1The imaging device can be a single camera or multiple camera structures. Preferably, the imaging device includes a first camera 17 and a second camera 11. The first camera 17 is mounted on the robotic arm 16, and the second camera 11 is mounted on the top of the front side of the frame 1. The first camera is used to monitor the position information of the object being grasped during operation, and the second camera is used to monitor the position information of the sides and inside of the carriage.

[0023] The transporter of this invention integrates intelligent identification and grasping, automated loading, and four-wheel drive functions, thereby improving the automation efficiency of sugarcane harvesting and transportation. During operation, after the vehicle arrives at the sugarcane field, the camera acquires real-time images of the sugarcane, obtaining information such as its location, posture (e.g., diameter, distribution density), and environmental data (e.g., terrain slope). This information is then transmitted to the information processing system 10, which analyzes the data, generates the optimal grasping path plan, and controls the grasping and transporting mechanism. When controlling the grasping and transporting mechanism, the information processing system 10 sends commands to the electro-hydraulic multi-way valve 8, which adjusts the flow rate through the hydraulic distributor 9 to control the force and speed of the hydraulic reducer, boom cylinder 13, arm cylinder 15, gripper cylinder, and hydraulic gripper 18. This moves the hydraulic gripper 18 to the sugarcane grasping point, achieving precise positioning of the target location. The hydraulic gripper 18 is then driven to grasp the sugarcane. After the sugarcane is grasped, the grasping and transporting mechanism is controlled to transfer it into the truck compartment 4, achieving automated loading without the need for manual assistance. During this process, the information processing system 10 records error data under different working conditions (such as sugarcane position, posture, terrain slope, etc.), predicts error trends through machine learning models, and automatically adjusts the grasping path parameters to improve operational accuracy.

[0024] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the present invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the present invention, as well as various different choices and variations. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A four-wheel drive intelligent and efficient sugarcane loading and handling machine, characterized in that, include: Walking mechanism; A frame, which is mounted on the traveling mechanism; The driver's cab is mounted on the front side of the vehicle frame; A carriage, which is installed on the rear side of the frame, has an opening at the top; A gripping and handling mechanism is mounted on the vehicle frame. The gripping and handling mechanism includes a rotating mechanism, a mechanical upper arm, a mechanical lower arm, and a hydraulic gripper. The rotating mechanism is located at the front of the vehicle body and connected to the vehicle frame. The lower end of the mechanical upper arm is hinged to the rotating mechanism in a way that allows it to swing up and down. The front end of the mechanical lower arm is hinged to the upper end of the mechanical upper arm in a way that allows it to swing up and down. The upper end of the hydraulic gripper is hinged to the front end of the mechanical lower arm in a way that allows it to swing up and down. The hydraulic gripper is used to grip sugarcane. A drive unit, which is mounted on the frame, is used to drive the gripping and handling mechanism. An imaging device for acquiring image information of sugarcane; as well as An information processing system is installed on the vehicle frame, and both the image device and the drive device are connected to the information processing system via data. The information processing system is able to acquire sugarcane image information transmitted by the image device and control the operation of the drive device based on the sugarcane image information.

2. The four-wheel drive intelligent and efficient sugarcane loading and handling machine according to claim 1, characterized in that, The walking mechanism includes: A steering drive front axle is mounted on the front side of the bottom of the frame; The rear drive axle is mounted on the rear side of the bottom of the frame; The vehicle has four wheels, with two wheels symmetrically distributed on the front steering axle and two wheels symmetrically distributed on the rear steering axle. An engine and transmission assembly mounted on the vehicle frame, wherein the steering drive front axle and the drive rear axle are both connected to the engine and transmission assembly; and A steering mechanism is installed in the driver's cab and is connected to the wheels.

3. The four-wheel drive intelligent and efficient sugarcane loading and handling machine according to claim 1, characterized in that, The rotating mechanism is a rotating gear disk structure.

4. The four-wheel drive intelligent and efficient sugarcane loading and handling machine according to claim 3, characterized in that, The driving device includes: A hydraulic reducer is connected to the rotating gear disc; The upper end of the boom cylinder is hinged to the rotating gear plate, and the upper end of the boom cylinder is hinged to the middle of the mechanical boom. The forearm cylinder has its front end hinged to the middle of the mechanical arm, and its rear end hinged to the front end of the mechanical arm. The upper end of the gripper cylinder is hinged to the middle of the mechanical arm, and the lower end of the gripper cylinder is hinged to the upper end of the hydraulic gripper. A fuel tank is mounted on the vehicle frame, and a fuel pump is provided at the fuel outlet of the fuel tank; An electro-hydraulic multi-way valve is mounted on the vehicle frame, and the inlet of the electro-hydraulic multi-way valve is connected to the outlet of the oil tank; and A hydraulic distributor is mounted on the vehicle frame. The oil inlet of the hydraulic distributor is connected to the oil outlet of the electro-hydraulic multi-way valve. The hydraulic reducer, the boom cylinder, the arm cylinder, the gripper cylinder, and the hydraulic gripper are all connected to the oil outlet of the hydraulic distributor. The electro-hydraulic multi-way valve is connected to the information processing system for data transmission.

5. The four-wheel drive intelligent and efficient sugarcane loading and handling machine according to claim 1, characterized in that, The imaging device includes a first camera and a second camera. The first camera is mounted on the robotic arm, and the second camera is mounted on the top of the front side of the vehicle frame. Both the first camera and the second camera are connected to the information processing system for data processing.

Images