Hoe-shovel type end effector and working method thereof

Abstract

The invention relates to a hoe-shovel type end effector and a working method thereof. The hoe-shovel type end effector comprises a rack, two rotating shafts are vertically arranged on the rack in a penetrating mode and are a driving shaft and a driven shaft respectively, a driving gear and a driven gear which are meshed together are arranged on the driving shaft and the driven shaft respectively, transmission mechanisms are arranged on the driving shaft and the driven shaft respectively, the transmission mechanisms drive lower cutter shafts to rotate, weeding cutters are fixedly arranged at the lower ends of the cutter shafts, the cutter shafts are connected with the rack through adjusting shaft sleeves, the top ends of the cutter shafts are connected with the transmission mechanisms in a driving mode, limiting swing plates are fixedly connected to the rotating shafts between the driving gear and the transmission mechanism and between the driven gear and the transmission mechanism, the outer ends of the limiting swing plates are provided with springs facilitating resetting of the limiting swing plates after the limiting swing plates rotate through the rotating shafts, and the outer ends of the springs are fixedly connected to the rack. The hoe-shovel type end effector is simple in structure, convenient, fast and efficient, and can achieve two different types of movement including weeding and plant avoiding.

Description

technical field [0001] The invention relates to a shovel-type end effector and a working method thereof. Background technique [0002] The hoe-type end effector is suitable for use in light, stone-free farmland, where the surface of the farmland is covered more, and the weeds grow densely and small. The hoe-type end effector's penetration depth (plowing depth) is controlled between 1-5cm, which has a better control effect on adult weeds or perennial weeds. The specific working principle is to cut weeds through the blade during the travel process. . When the hoe-type end effector is used to remove weeds in the area between crop plants, it can be seen from its working principle that it will hoe and shovel all the crop seedlings it encounters, and there is a possibility of injury to the seedlings. When carrying out weeding operations for a long time, the hoe-type end effector is required to have a precise trajectory. In order to prevent the soil shoveled up by the hoe from b...

AI Technical Summary

Problems solved by technology

In order to avoid burying crop seedlings in the soil scooped up by hoes, corresponding baffles can be appropriately added, but the operation is cumbersome, and there is an urgent need for a device and operation method that can keep the weeding knife away from the plants in time during operation

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