CN112913462A

CN112913462A - Mechanical arm for pulling stalks

Info

Publication number: CN112913462A
Application number: CN201911244135.1A
Authority: CN
Inventors: 王志水; 邢存平
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2021-06-08

Abstract

The invention relates to a farmland stalk pulling mechanical device arranged at the front end of a power machine such as a tractor. The device comprises a reel, a collecting box and a mechanical holding and pulling mechanism. The mechanical grabbing and poking mechanism is modularly integrated and designed into a mechanical arm component. The "robot" component comprises: a "gripper" similar to a function of grasping by a human hand, "a" chain drive "similar to a function of lifting and pulling an arm, and a" clutch "similar to a function of collecting and judging human brain information. See the abstract attached drawings: the machine moves forward according to the arrow direction of a graph 23, the reel 1 rotates according to the arrow direction of a graph 21, the upper part of the stem 2 is pulled to the rear part, the clamp 3 clamps the lower part of the stem 2 when the lower part of the stem 2 touches the clamp 3, meanwhile, the clutch 6 starts to be closed, the chain 7 drives the clamp 3 to move according to the arrow direction of a graph 22 to pull up the stem 2, the stem is thrown into the collecting box 4 under the resultant force action of the reel 1, and the non-return mechanism 5 limits the chain 7 to move in a single direction to avoid misoperation. The device dials the stem stalk accurately and reliably, and the modularization is convenient for maintain and change, with low costs, efficient.

Description

Mechanical arm for pulling stalks

Technical Field

The invention relates to a farmland stalk pulling machine, and belongs to the technical field of agricultural field operation machines.

Background

After crops such as cotton and the like are harvested, the stalks are retained in the field, and influence is brought to the next round of planting. The existing treatment mode is usually completed by adopting a rotary tillage stubble cleaning mode or a direct ploughing soil turning mode, and has poor effect and large power consumption. Particularly, under the condition that the straws and the plastic films are mixed and detained, the straws and the plastic films are mixed and buried under the soil by the method, so that the serious influence is brought to the next round of planting, and the next round of planting is difficult to clean. An effective method for removing the stalks is urgently needed.

Disclosure of Invention

The invention aims to design a farmland stalk shifting mechanical device arranged at the front end of a power machine such as a tractor and the like, which comprises a stalk shifting wheel, a collecting box and a mechanical holding and shifting mechanism, wherein the mechanical holding and shifting mechanism is integrally designed into a modularized mechanical arm component. The "robot" component comprises: a "gripper" similar to a function of grasping by a human hand, "a" chain drive "similar to a function of lifting and pulling an arm, and a" clutch "similar to a function of collecting and judging human brain information.

The device can accurately pull out the stalks left in the field; clearing obstacles for cleaning plastic films in the next procedure and the like.

The structural principle of the invention is as follows: the reel is arranged at the front upper part of the whole device, and the reel rotates a reel plate below the reel to pull the stalks to the rear part; a plurality of mechanical arms are transversely distributed below the reel and aligned with the standing stalk rows; the collecting box is arranged in the rear middle part of the device; the mechanical arm pulls the stalks away from the soil and then the stalks are put into the collecting box by matching with the reel.

The method comprises the following steps: when the stalks queued in the field touch the front end of the manipulator, the gripper at the front end of the manipulator grips the stalks and gradually clamps the stalks, meanwhile, the chain wheel starts to rotate to drive the chain and the gripper on the chain to move upwards to pull up the stalks, the stalks are thrown to the collecting box under the combined action of the reel, and after the gravity center of the stalks is moved into the collecting box, the gripper moves along with the chain to cross the highest point descending gripper to loosen the stalks; after one cycle is finished, the other gripper is stopped at the position to be gripped, and the prepared stalks are contacted again to repeat the cycle.

The mechanical arm component consists of the following three parts:

a holder: two disks with circular holes are arranged in the sawtooth shape at the outer edge, the middle holes are respectively in clearance fit with the left pin shaft and the right pin shaft of the fixing frame, a certain included angle is formed between the two pin shafts, so that the two disks form an included angle smaller than 180 degrees, and the minimum clearance between the two disks is about 2/3 stem diameters; and an included angle smaller than 90 degrees is formed between the left pin shaft and the right pin shaft and the running direction of the chain, resultant force formed by the two included angles is beneficial to reliably clamping the stalks when the stalks are pulled, and the minimum clearance system ensures that the stalks are not clamped and broken.

The chain transmission consists of three chain wheels, a large chain wheel, a small chain wheel, a tensioning chain wheel and a chain with lugs. The number of the chain sections is integral multiple of the number of teeth of the large chain wheel; two or more than two holders are fixed on the lug chain lug, the number of the chain links between the front holder and the rear holder is equal to the number of the chain teeth on the excircle of the large chain wheel, thus ensuring that the rear holder is filled in the position to be clamped where the front holder originally stays after the large chain wheel rotates for a circle. The grippers stop at positions to be gripped in turn, and the positions to be gripped are positions with an included angle of about 30 degrees between the front lower part of the small chain wheel and the horizontal plane. The large chain wheel is internally provided with a clutch and a non-return structure, namely a ratchet mechanism, wherein the ratchet mechanism is characterized in that a ratchet groove is formed in the excircle of one end of the large chain wheel and is propped against a pawl on a support frame, so that the large chain wheel is restrained from rotating in one direction, and the purpose is to prevent the rotation of a chain transmission system from causing disordered working procedures. The gripper moves with the movement of the lug chain.

The clutch consists of a power hub, a radial key groove and a round key in the large chain wheel and an inner cam on the control web plate; key grooves are uniformly distributed on the outer edge of the power hub; the inner cam can control the round key to do radial centripetal displacement and centrifugal displacement, the round key is matched with and separated from the key groove of the power hub to be combined and separated from power, and whether the inner cam deflects or not is controlled by the fact that the stalks touch the clamp holder.

The gripper is similar to the hand holding, the chain drives the gripper to move, the arm lifting is similar to the arm lifting, and the time point when the clutch controls the lifting to start and end is similar to the human brain command; therefore, the name is: stalk poking mechanical arm.

Drawings

The stalk pulling mechanism for farmland will be further explained with reference to the attached drawings.

Fig. 1 is a schematic diagram of the principle of the present invention.

FIG. 2 is a structural view of a holder of the present invention

FIG. 3 is an internal structure view of the hidden chain part of the manipulator for removing the left control web

Fig. 4 is a layout view of the robot of the present invention in a machine installation position.

See fig. 1: the reel 1 rotates according to the direction 21 shown in the figure, the upper part of the stem is pulled to the right of the figure, the machine moves forwards according to the direction 23 shown in the figure, the stem 2 touches the clamp holder 3, the clamp holder 3 clamps the stem 2, meanwhile, the manipulator rotates around the transmission shaft anticlockwise to deflect the clutch 6 and starts to close, the chain 7 drives the clamp holder 3 to move according to the direction 22 shown in the figure to pull up the stem 2, and the stem is thrown into the collection box 4 under the resultant force action of the reel 1, and the non-return mechanism 5 limits the rotation of the large chain wheel chain 7 to avoid misoperation.

See FIG. 2: serrated tooth grooves are distributed on the outer edges of the two disks 18, the middle holes are in clearance fit with the pin shafts 20, the two disks can rotate freely, the pin shafts 20 and the fixing frames 19 are welded into a whole, the fixing frames 19 are installed on the chain with the lugs, an included angle a between the two disks and an included angle b between the disks and the moving direction of the chain are beneficial to clamping the stalks by the clamp in the moving process, and a clearance c between the two disks is ensured to prevent the stalks from being clamped and broken.

See FIG. 3: the power hub 11 is coaxially connected with the large chain wheel 13 through a bearing, the two holders 3 are fixed on the chain 7 with the lugs, the circular key 12 is controlled by the inner cam 9 to radially shift to realize power transmission and cutting off of the power hub 11 and the large chain wheel 13, the large chain wheel 13 rotates to drive the small chain wheel 15 to tension the chain wheel 14 to rotate through the chain 7 with the lugs, the tension screws on the two sides of the tension chain wheel can adjust the tightness of the chain, and the spring 8 can help the manipulator to return after being pressed by the stem to deflect around the axis of the power hub.

See FIG. 4: the reel 1 is arranged at the front upper part of the device, and a plurality of mechanical hands 16 are transversely distributed at the front lower part of the device and are transmitted to power by a hexagonal shaft 17. The collecting box 4 is arranged in the rear middle part of the device, and the spring 8 is used for pushing the mechanical arm 16 to return. The gripper 3 is in a position to be gripped in the front lower part of the manipulator, and the stalk guide 25 guides the stalks into the gripper opening.

The invention has the complete working process that:

the power hub 11 rotates under the drive of the hexagonal shaft 17 (which can also be a spline shaft), the round key 12 in the initial clutch stays at the bulge of the cam 9 in the control web plate, the key groove of the power hub 11 is removed, the power transmission is cut off, and the large chain wheel 13 is in a stop state under the action of the non-return mechanism 5. The machine moves forward, the stalk 2 enters the opening of the clamp holder 3 under the guidance of the guide device 25 and touches the disc 18 on the clamp holder 3, and the disc 18 rotates along with the relative displacement of the cotton stalk until the cotton stalk is contacted with the disc 18 on the other side and is gradually clamped; meanwhile, the clamp 3 is pushed by cotton stalks, the control web is driven to press the return spring 8 to rotate around the axis of the large chain wheel 13, the large chain wheel 13 is under the action of the rotation stopping mechanism 5, the control web and the inner cam 9 on the control web and the large chain wheel 13 deflect relative to the radial key groove on the large chain wheel 13, the inner cam presses the round key 12 to move towards the axis, the round key groove is matched with the key groove at the outer edge of the power hub 11, power transmission is combined, the large chain wheel 13 rotates along with the power hub 11 to drive the chain 7 and the clamp 3 on the chain to move, the stalks 2 clamped by the clamp 3 are pulled out of soil, and the upper parts of the stalks 2 are stirred by the reel 1 to be thrown; after the gravity center of the stalks 2 is transferred to the collecting box 4, the clamper 3 starts to descend after reaching the highest point, the clamped parts of the stalks 2 relatively move upwards to stir the disc 18, and the disc 18 rotates to loosen the stalks 2. The large chain wheel 13 continues to rotate until the circular key 12 falls into the bulge of the control web plate inner cam 9 again to cut off the power, the large chain wheel 13 stops rotating, the large chain wheel 13 rotates for a circle, and the rear clamp holder is repaired and stopped at the position to be clamped at the lower part of the front end of the machine; during which the manipulator completes the return under the combined action of the rotating force of the transmission shaft 17 and the spring 8. Completing a work cycle.

The invention has the following beneficial effects:

(1) the clutch is controlled by the stems to touch the clamp holder, so that idling and mis-dialing can be avoided; but also can prevent the position of the clamping device for clamping the stalks from being disordered and unstable in the idling process of the clamping device.

(2) The number of the chain joints is integral multiple of the number of teeth of the large chain wheel, the rotation of the large chain wheel for one circle is a stalk poking cycle, the grippers are guaranteed to stop at a relative fixed position in turn, and the position for gripping the stalks is close to the root of the stalks, accurate and stable; the probability of the stalks falling can be reduced, the stalks can be conveniently thrown into the collecting box, and the accuracy and the reliability of the stalk poking operation are improved.

(3) The chain transmission can ensure that the motion track of the clamp holder meets the requirements of the operation process as much as possible, ensure the effective stroke of the stem poking and shorten the ineffective stroke. This is done: a clamping point is close to the root of the stem; the upward moving tracks of the two clampers incline from bottom to top and back to reduce the influence of displacement generated by the forward movement of the machine, and the failure of stalk shifting caused by the fact that the machine moves forward to resist the stalks or to resist the stalks during the stalk shifting stroke is avoided; the gravity center of the stalks at the three loosening points is moved into the collecting box, so that the stalks are ensured not to fall off.

(4) The two included angles and the gap of the clamping device can ensure the reliable clamping of the stalks and prevent the stalks from being clamped and broken until the stalks are pulled out.

And (3) practical use: a plurality of manipulators are arranged at the front end of the stalk poking device and are respectively aligned with the rows of the stalks, and the installation positions of the manipulators with line spacing change can be adapted along with adjustment; the two sides in front of each manipulator are provided with stalk guide devices which guide stalks to enter an opening between the two disks of the holder and are used for guiding the slightly deviated stalks in; the reel above the front of the collecting table prevents forward movement of the machine and forward lodging of the stalks and can be matched with the clamp to throw the stalks into the collecting box, and the power of each manipulator is supplied by a transverse hexagonal shaft (or a spline shaft). The specific design of the invention can ensure that the time for pulling the stalks for one cycle is shorter than the time for the machine to move forward for one plant spacing distance by changing the rotating speed of the transmission shaft, thus avoiding the mutual interference caused by the arrival of the next stalk before the previous stalk pulling cycle is not finished.

The invention is not limited to the above embodiments, and any technical solutions formed by equivalent substitutions fall within the scope of the claims of the invention.

Claims

1. A farmland stalk shifting mechanical device comprises a stalk shifting wheel, a collecting box and a mechanical holding and shifting mechanism; the method is characterized in that: the mechanical holding and pulling mechanism adopts a modularized mechanical hand component and consists of a clamp holder, a clutch and a chain transmission.

2. The mechanical device for pulling stalks in farmland according to claim 1, characterized in that: the gripper of the manipulator consists of two disks with circular holes in sawtoothed outer edges, a fixing frame fixed on the chain and a left pin shaft and a right pin shaft on the fixing frame, wherein the disks can freely rotate on the pin shafts, and the included angle a is less than 180 degrees, the included angle b is less than 90 degrees, and the gap c is about 2/3 degrees.

3. The farmland stalk pulling machine as claimed in claim 1, which is characterized in that: the clutch of the manipulator consists of a power hub, a large chain wheel, an inner cam and a round key, wherein key grooves are uniformly distributed on the outer edge of the power hub, the round key is arranged in a radial key groove of the large chain wheel, and two ends of the round key are inserted into inner cam grooves; the inner cam is fixed on the control web plate and rotates along with the rotation of the control web plate, so that the radial position of the round key is controlled; the radial displacement of the round keys can realize the separation or combination of the power transmission of the power hub and the large chain wheel.

4. The farmland stalk pulling machine according to claim 3, characterized in that: the large chain wheel is restrained by a one-way check mechanism to limit the large chain wheel from rotating.

5. The farmland stalk pulling machine as claimed in claim 1, which is characterized in that: the chain transmission of the manipulator consists of a large chain wheel, a small chain wheel, a tensioning chain wheel and a chain with lugs, wherein whether the large chain wheel rotates or not is controlled by a clutch, the lugs of the chain with lugs are provided with a clamp holder, and the number of the sections of the chain is integral multiple of the number of teeth of the large chain wheel.