CN111869417A

CN111869417A - Bionic sugarcane harvesting method and device

Info

Publication number: CN111869417A
Application number: CN202010789390.0A
Authority: CN
Inventors: 胡珊珊; 朱昌炜; 凌有侨
Original assignee: Guangxi University
Current assignee: Guangxi University
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2020-11-03

Abstract

The invention discloses a bionic sugarcane harvesting device which comprises a clamping part, a mechanical arm, a walking part and a harvesting part, wherein the walking part comprises a vehicle body, wheels below the vehicle body and a driving device, the driving device is fixed at the bottom of the vehicle body to drive the wheels to rotate, the harvesting part is fixed at the front end of the vehicle body and provided with a harvesting cutter, a meshing gear set is arranged above the vehicle body, the meshing gear set is connected with a first motor and drives the meshing gear set to rotate through the first motor, the mechanical arm is rotatably fixed above the meshing gear set, the mechanical arm comprises a large arm and a small arm, a rotating base is arranged at the bottom of the large arm and fixed on the meshing gear set, the small arm is rotatably connected to the upper end of the large arm, the clamping part is rotatably connected to the tail end of the small arm, and a telescopic rod is arranged at the. The invention has small floor area, convenient movement, simple structure, low cost and simple implementation method, and is suitable for small and medium farmers who plant in small area.

Description

Bionic sugarcane harvesting method and device

Technical Field

The invention relates to the technical field of agricultural equipment, in particular to a bionic sugarcane harvesting method and a bionic sugarcane harvesting device.

Background

Along with the popularization and development of agricultural production mechanization in China, the agricultural automation level is greatly improved, and various sugarcane harvesters emerge endlessly. However, the sugarcane harvester cannot be well popularized all the time, on one hand, most of the sugarcane harvesters are relatively complex in structure, large in occupied area and relatively large in investment, are relatively suitable for large-area sugarcane planting areas, and are not suitable for small and medium-sized farmers; on the other hand, the problems of uneven stubble cutting, high head breaking rate, large cutting loss and the like of the harvested sugarcane generally exist. Compared with the existing mechanical harvester, the traditional manual sugarcane chopping machine has the advantages of low breakage rate, regular cut, less loss, low efficiency and high labor intensity.

Therefore, a new harvesting method and a new harvesting device are urgently needed, which not only can meet the requirements of middle-small-scale farmers for use and reduce the cost, but also can replace manual harvesting and ensure the harvesting quality of the sugarcane and reduce the breakage rate.

Disclosure of Invention

The invention aims to provide a bionic sugarcane harvesting method and a bionic sugarcane harvesting device.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a bionical sugarcane reaping apparatus, includes clamping part, arm, walking portion and reaps the portion, the walking portion includes wheel and drive arrangement of automobile body, automobile body below, drive arrangement fixes and drives the wheel rotation in the automobile body bottom, reap the portion and fix at the automobile body front end and be equipped with and reap the cutter, the automobile body top is equipped with the meshing gear train, and this meshing gear train connects first motor and drives the rotation of meshing gear train through this first motor, the arm is rotatable to be fixed in meshing gear train top, and this arm includes big arm and forearm, the bottom of big arm sets up rotates the base, should rotate the base and fix on the meshing gear train, the forearm rotates the upper end of connecting at big arm, clamping part rotatable coupling is at the end of forearm, and this clamping part and forearm junction are equipped with the telescopic link.

Further, the automobile body is below open-ended cavity square shell, the wheel transversely sets up the both sides in the automobile body below, and the wheel that the both sides are relative passes through the cross axle and connects, drive arrangement includes second motor and drive gear group, and this second motor is fixed in the automobile body bottom, drive gear group is including driving gear and first driven gear, the driving gear is connected with the second motor, first driven gear is the toper and follows the second motor with the driving gear cooperation and rotate, thereby this first driven gear fixes the rotation that drives the wheel on last cross axle, and other cross axles are connected through setting up the rotating chain and are driven synchronous walking.

Further, the wheel is an anti-skid wheel, and a plurality of bulges are arranged on the surface of the wheel.

Further, reap the portion and fix the front end at the automobile body through setting up the cutter mounting panel, be equipped with third motor and conical gear group on this cutter mounting panel, reap the below at the cutter mounting panel of cutter fixing, and reap the center of cutter and set up the pivot and pass the cutter mounting panel and be connected with conical gear group.

Further, conical gear group includes stirring gear and second driven gear, stirring gear is the toper and connects the pivot of third motor and follows the third motor and rotate, second driven gear is the toper rotatable setting on the cutter mounting panel and pierces through the cutter mounting panel and be connected with the reaping cutter of bottom.

Further, the meshing gear set comprises a large gear and a small gear, the large gear is rotatably arranged above the vehicle body, the small gear is matched with the large gear, the small gear extends out of the vehicle body, and a first motor is connected below the small gear.

Further, the rotating base is fixed on the gear wheel, the rotating base is a machine seat plate with two faces standing on the same side, the lower end of the large arm is rotatably arranged between the two base plates, a fourth motor is arranged on the outer side of the machine seat plate, penetrates through the base plate, is connected with the lower end of the large arm and is connected with the large arm to drive the large arm to rotate.

Furthermore, the big arm is connected with the forearm in a hinged mode, a fifth motor is arranged in a hinged mode, the forearm is driven to rotate through the fifth motor, and the tail end of the forearm is in a right-angled triangle shape.

Further, the clamping part includes anchor clamps, connecting rod, sixth motor, meshing gear pair and branch, branch supports whole clamping part and extends away and articulates at the terminal angle of forearm, the one end of telescopic link articulates at the terminal another angle of forearm, and the telescopic link other end articulates at the middle part of branch, meshing gear pair fixes the well upper portion at the connecting rod, sixth motor links a gear connection of centering with meshing gear, and this meshing gear pair sets up side by side and interlock each other, drives another gear and rotates to opposite direction when making one of them gear rotate, the connecting rod has two sets and for the articulated setting of a plurality of festivals, and a gear in the meshing gear pair is connected respectively to the lower extreme of two sets of connecting rods, and other end rotatable coupling is terminal at branch, anchor clamps are fixed at the middle part of connecting rod, be equipped with tiger's mouth on the anchor clamps.

A bionic sugarcane harvesting method comprises the following steps:

(1) the sugarcane is clamped in the tiger mouth by controlling the stretching of the mechanical arm and pushing the clamp by the telescopic rod to form a certain angle, and the middle upper part of the sugarcane is fixed;

(2) the cutter is driven to rotate by controlling the rotation of the third motor, and the sugarcane is cut by walking forwards at the lower part of the sugarcane to finish the harvesting of the sugarcane;

(3) after the sugarcane is harvested, the motors are controlled again to enable the mechanical arms and the clamping parts to move, the clamping parts are loosened, the sugarcane falls down naturally, and meanwhile, the vehicle body moves forward to continue to complete the next harvesting.

The invention has the beneficial effects that:

1. the method of the invention is to simulate the action of manually harvesting the sugarcane, complete the action of manually supporting the sugarcane through the clamping part and the mechanical arm part, complete the action of manually cutting the sugarcane through the harvesting part, and simultaneously the walking part is responsible for the movement operation. The invention belongs to the technical field of agricultural equipment, and the method utilizes a bionic principle, can ensure that single sugarcane is harvested, reduces the loss of the quantity of the sugarcane in the harvesting process, can ensure that the cut is smooth when the single sugarcane is harvested, and reduces the breakage rate of the harvested sugarcane.

2. The device has the advantages of small floor area, convenient movement, suitability for small-area planting of medium and small farmers, simple structure, easy realization, low cost and simple implementation method.

3. Through anchor clamps centre gripping sugarcane, the action of fixed sugarcane with the hand when having imitated the human body and reaped the sugarcane can be guaranteed to reap single sugarcane, has reduced the loss of the sugarcane quantity among the reaping process.

4. The sugarcane harvester cuts through the cutter below the harvester body, simulates the action of cutting the sugarcane by the cutter when a human body harvests the sugarcane, can ensure the cut to be flat when cutting the single sugarcane, and reduces the head breaking rate of harvesting the sugarcane.

5. The device has the advantages of small floor area, convenient movement, suitability for small-area planting of medium and small farmers, simple structure, easy realization, low cost and simple implementation method.

Drawings

FIG. 1 is a schematic view of the construction of the integrated apparatus of the present invention;

FIG. 2 is a schematic bottom view of the present invention;

FIG. 3 is a schematic view of the structure of the harvesting section of the present invention;

in the specific embodiment, the clamping part 1, the clamp 11, the connecting rod 12, the sixth motor 13, the meshing gear pair 14, the support rod 15, the mechanical arm 2, the large arm 21, the small arm 22, the rotating base 23, the large gear 24, the small gear 25, the fourth motor 26, the fifth motor 27, the walking part 3, the vehicle body 31, the wheel 32, the driving device 33, the first motor 34, the telescopic rod 35, the transverse shaft 36, the second motor 37, the driving gear 38, the first driven gear 39, the harvesting part 4, the cutter mounting plate 41, the third motor 42, the toggle gear 43, the second driven gear 44 and the harvesting cutter 5.

Detailed Description

The present invention will be described in further detail in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be noted, however, that these embodiments are provided merely to provide a more thorough and complete understanding of the present invention, and that many of the details set forth in the specification are merely set forth to provide a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.

As shown in fig. 1, a bionic sugarcane harvesting device comprises a clamping part 1, a mechanical arm 2, a walking part 3 and a harvesting part 4, wherein the walking part 3 comprises a vehicle body 31, wheels 32 and a driving device 33 which are arranged below the vehicle body 31, the driving device 33 is fixed at the bottom of the vehicle body 31 to drive the wheels 32 to rotate, the harvesting part 4 is fixed at the front end of the vehicle body 31 and is provided with a harvesting cutter 5, a meshing gear set is arranged above the vehicle body 31 and is connected with a first motor 34 and drives the meshing gear set to rotate through the first motor 34, the mechanical arm 2 is rotatably fixed above the meshing gear set, the mechanical arm 2 comprises a large arm 21 and a small arm 22, a rotating base 23 is arranged at the bottom of the large arm 21, the rotating base 23 is fixed on the meshing gear set, the small arm 22 is rotatably connected at the upper end of the large arm 21, the clamping part 1 is rotatably connected at, the telescopic rod 35 is arranged at the joint of the clamping part 1 and the small arm 22, and the angle of the clamping part can be adjusted through pushing of the telescopic rod 35, so that the clamping part 1 can clamp sugarcane conveniently.

As shown in fig. 1 and 2, the vehicle body 31 is a hollow square shell with an opening at the lower part, the wheels 32 are transversely arranged at two sides below the vehicle body 31, the wheels at two opposite sides are connected through a cross shaft 36, the driving device 33 comprises a second motor 37 and a driving gear set, the second motor 37 is fixed at the bottom of the vehicle body, the driving gear set comprises a driving gear 38 and a first driven gear 39, the driving gear 38 is connected with the second motor 37, the first driven gear 39 is conical and is matched with the driving gear 38 to rotate along with the second motor 37, the first driven gear 39 is fixed on the last cross shaft to drive the wheels to rotate, the other cross shafts 36 are driven to synchronously walk through a rotating chain connection, the driving gear 38 is driven to rotate through the rotation of the second motor 37, the first driven gear 39 is driven to rotate through the cooperation of the driving gear 38, so as to drive the wheels to, the other cross shafts are provided with gears and are matched with a rotating chain to be connected to drive all wheels to rotate, the wheels 32 are anti-skid wheels, and the surfaces of the wheels are provided with a plurality of bulges, so that the wheels are convenient to walk in the field.

As shown in fig. 3, the harvesting part 4 is fixed at the front end of the vehicle body by arranging a cutter mounting plate 41, a third motor 42 and a bevel gear set are arranged on the cutter mounting plate 41, the harvesting cutter 5 is fixed below the cutter mounting plate, and a rotating shaft arranged at the center of the harvesting cutter 5 penetrates through the cutter mounting plate 41 to be connected with the bevel gear set.

As shown in fig. 3, the bevel gear set includes a shifting gear 43 and a second driven gear 44, the shifting gear 43 is conical and connected to the rotating shaft of the third motor 42 and rotates along with the third motor 42, the second driven gear 44 is conical and rotatably disposed on the cutter mounting plate 41 and penetrates through the cutter mounting plate 41 to be connected with the harvesting cutter 5 at the bottom, the harvesting cutter 5 is a circular blade, and the side edge of the circular blade is serrated.

As shown in fig. 1, the meshing gear set includes a gearwheel 24 and a pinion 25, the gearwheel 24 is rotatably disposed above the vehicle body, the pinion 25 is adapted to the gearwheel 24, the pinion 25 extends outside the vehicle body, a first motor 34 is connected below the pinion 25, the pinion 25 is driven by the first motor 34 to rotate, the gearwheel is driven by the rotation of the pinion 25 and the gearwheel 24, and the angle and direction of the whole mechanical arm can be adjusted.

As shown in fig. 1, the rotating base 23 is fixed on the large gear 24, the rotating base 23 is a base plate with two sides standing on the same side, the lower end of the large arm 21 is rotatably arranged between the two base plates, a fourth motor 26 is arranged on the outer side of the base plate, and the fourth motor 26 passes through the base plates to be connected with the lower end of the large arm 21 and is connected with the large arm 21 to drive the large arm 21 to rotate; big arm 21 and forearm 22 are connected for articulated, and articulated out to be equipped with fifth motor 27, drive forearm 22 through fifth motor 27 and rotate, the end of forearm 22 is right triangle shape, sets up the motion that third motor 42, fourth motor 26 can control the different sections of arm, makes arm 2 can adjust front and back angle and length etc. be convenient for snatch the sugarcane of different positions.

As shown in fig. 1, the clamping portion 1 includes a clamp 11, a connecting rod 12, a sixth motor 13, a pair of engaging gears 14 and a supporting rod 15, the supporting rod 15 supports the whole clamping portion to extend out and is hinged to one corner of the end of the small arm 22, one end of a telescopic rod 35 is hinged to the other corner of the end of the small arm 22, the other end of the telescopic rod 35 is hinged to the middle of the supporting rod, the pair of engaging gears 14 is fixed to the middle upper portion of the connecting rod, the sixth motor 13 is connected with one gear of the pair of engaging gears 14, the pair of engaging gears 14 are arranged side by side and are meshed with each other, so that when one gear rotates, the other gear rotates in the opposite direction, the connecting rod 12 has two sets and is hinged with a plurality of sections, the lower ends of the two sets of connecting rods are respectively connected with one gear of the pair of engaging gears 14, the free end of the first festival of gear fixed connection of meshing gear pair 14 rotates between first festival and the second festival to be connected, rotates between the second festival and the third festival to be connected, and furniture is fixed on the tie point between second festival and the third festival, and the third festival is turned back and the end is rotatable to be fixed at the branch end, anchor clamps 11 are fixed in the middle part of connecting rod, be equipped with the tiger's mouth on the anchor clamps.

The whole harvesting device is also provided with a control system, the control system is prior art and can be a PLC control system, the control system controls the rotation of the first motor 34, the second motor 37, the third motor 42, the fourth motor 26, the fifth motor 27 and the sixth motor 13 to realize walking, cutting and stretching of mechanical arms of the whole device, clamping and loosening of the clamp and the like, and the rotation of each motor controls the movement of different parts to realize the harvesting of the sugarcane.

The working principle is as follows: when the sugarcane is required to be harvested, the control system controls and drives the second motor 37 to enable the whole device to walk to the front of the sugarcane to be harvested, the second motor 37 stops rotating, the fourth motor 26, the fifth motor 27 and the sixth motor 13 are started to control the clamping tool to be adjusted to a proper position to clamp the upper portion of the sugarcane, the third motor 42 is controlled to enable the harvesting cutter to rotate to cut the sugarcane, and then the sugarcane naturally drops after the furniture is controlled to be loosened to achieve harvesting.

Example 2

A bionic sugarcane harvesting method comprises the following steps:

The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.

Claims

1. The utility model provides a bionical sugarcane reaping apparatus, its characterized in that includes clamping part, arm, walking part and reaps the portion, the walking part includes wheel and drive arrangement of automobile body, automobile body below, drive arrangement fixes and drives the wheel rotation in the automobile body bottom, reap the portion and fix at the automobile body front end and be equipped with and reap the cutter, the automobile body top is equipped with the meshing gear train, and this meshing gear train connects first motor and drives the rotation of meshing gear train through this first motor, the rotatable fixing of arm is in meshing gear train top, and this arm includes big arm and forearm, the bottom of big arm sets up the rotation base, and this rotation base is fixed on the meshing gear train, the upper end at big arm is rotated to the forearm, clamping part rotatable coupling is at the end of forearm, and this clamping part and forearm junction are equipped with the telescopic link.

2. The bionic sugarcane harvesting device as claimed in claim 1, wherein the vehicle body is a hollow square shell with an opening at the lower part, the wheels are transversely arranged on two sides below the vehicle body, the wheels opposite to each other on the two sides are connected through a cross shaft, the driving device comprises a second motor and a driving gear set, the second motor is fixed at the bottom of the vehicle body, the driving gear set comprises a driving gear and a first driven gear, the driving gear is connected with the second motor, the first driven gear is conical and is matched with the driving gear to rotate along with the second motor, the first driven gear is fixed on the last cross shaft to drive the wheels to rotate, and other cross shafts are connected through a rotating chain to drive synchronous walking.

3. A biomimetic sugarcane harvesting apparatus according to claim 2, wherein the wheels are anti-skid wheels, and a plurality of protrusions are provided on the surface of the wheels.

4. The bionic sugarcane harvesting device according to claim 1, wherein the harvesting part is fixed at the front end of the vehicle body through a cutter mounting plate, a third motor and a bevel gear set are arranged on the cutter mounting plate, the harvesting cutter is fixed below the cutter mounting plate, and a rotating shaft is arranged at the center of the harvesting cutter and penetrates through the cutter mounting plate to be connected with the bevel gear set.

5. A bionic sugarcane harvesting device according to claim 4, wherein the conical gear set comprises a stirring gear and a second driven gear, the stirring gear is conical and is connected with a rotating shaft of the third motor and rotates along with the third motor, and the second driven gear is conical and is rotatably arranged on the cutter mounting plate and penetrates through the cutter mounting plate to be connected with a harvesting cutter at the bottom.

6. The bionic sugarcane harvesting device as claimed in claim 1, wherein the meshing gear set comprises a gearwheel which is rotatably arranged above the vehicle body and a pinion which is matched with the gearwheel and extends out of the vehicle body, and a first motor is connected below the pinion.

7. A bionic sugarcane harvesting device as claimed in claim 6, wherein the rotary base is fixed on a gearwheel, the rotary base is a base plate with two sides standing on the same side, the lower end of the large arm is rotatably arranged between the two base plates, and a fourth motor is arranged on the outer side of the base plate, penetrates through the base plate, is connected with the lower end of the large arm and is connected with the large arm to drive the large arm to rotate.

8. The bionic sugarcane harvesting device according to claim 7, wherein the large arm is hinged to the small arm, a fifth motor is hinged to the small arm, the small arm is driven to rotate through the fifth motor, and the tail end of the small arm is in a right-angled triangle shape.

9. A bionic sugarcane harvesting method and apparatus as claimed in claim 8, wherein the clamping part includes a clamp, a connecting rod, a sixth motor, a pair of meshing gears and a supporting rod, the supporting rod supports the whole clamping part to extend out and is hinged to one corner of the end of the small arm, one end of the telescopic rod is hinged to the other corner of the end of the small arm, the other end of the telescopic rod is hinged to the middle of the supporting rod, the pair of meshing gears is fixed to the middle upper part of the connecting rod, the sixth motor is connected with one gear of the pair of meshing gears, the pair of meshing gears are arranged side by side and are meshed with each other, when one gear rotates, the other gear is driven to rotate in the opposite direction, the two sets of connecting rods are hinged to each other by a plurality of sections, the lower ends of the two sets of connecting rods are respectively connected with one gear of the pair of, the fixture is fixed in the middle of the connecting rod, and a tiger's mouth is arranged on the fixture.

10. A biomimetic sugarcane harvesting method using the harvesting apparatus of claims 1-9, comprising the steps of: