Tool posture adjustment mechanism and method based on flexible platform

Abstract

The present invention relates to a tool posture adjustment mechanism and method based on a flexible platform, the mechanism comprises a flexible posture adjustment mechanism, four electromagnetic valves, a controller and an air pump, the flexible posture adjustment mechanism comprises a tool, an inertial sensor, a tool mounting platform, four sealed flexible tubes and a fixed mounting plate, the tool and the inertial sensor are mounted on the tool mounting platform, the tool mounting platform is mounted on the fixed mounting plate via the four sealed flexible tubes, the air pump is respectively connected to the air inlet ends of the four electromagnetic valves, the air outlet ends of the four electromagnetic valves are respectively connected to the four sealed flexible tubes, the controller is respectively electrically connected to the control ends of the four electromagnetic valves to control the on and off of the four-way electromagnetic valves, and the extension of the sealed flexible tubes is controlled by controlling the air pressure in the sealed flexible tubes, thereby controlling the tool mounting platform and the posture of the tool thereon. The mechanism and method are conducive to flexibly adjusting the posture of the tool.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to a tool posture adjustment mechanism and method based on a flexible platform. Background Art

[0002] Weeding is an essential operation in agricultural production. Removing weeds can promote the growth of crops and increase crop yields. The weeds in the farmland grow very close to the crops, and often even hide under the crops. For such weeds, ordinary weeding mechanisms without posture adjustment cannot remove them because they will damage the crops. Therefore, it is necessary to design a mechanism that can adjust the posture of the weeding tool, so that the weeds hidden under the crops can be removed by avoiding the crops. Summary of the invention

[0003] The object of the present invention is to provide a tool posture adjustment mechanism and method based on a flexible platform, which is conducive to flexible adjustment of the tool posture.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a tool posture adjustment mechanism based on a flexible platform, including a flexible posture adjustment mechanism, four solenoid valves, a controller and an air pump, the flexible posture adjustment mechanism is composed of a tool, an inertial sensor, a tool mounting platform, four sealed flexible tubes and a fixed mounting plate, the tool and the inertial sensor are installed on the tool mounting platform, the tool mounting platform is installed on the fixed mounting plate through the four sealed flexible tubes, the air pump is respectively connected to the air inlet ends of the four solenoid valves, the air outlet ends of the four solenoid valves are respectively connected to the four sealed flexible tubes, the controller is respectively electrically connected to the control ends of the four solenoid valves to control the on and off of the four-way solenoid valves, and the extension of the sealed flexible tubes is controlled by controlling the air pressure in the sealed flexible tubes, thereby controlling the posture of the tool mounting platform and the tool thereon.

[0005] Furthermore, the sealing flexible tube is a corrugated hose, and four sealing flexible tubes are evenly distributed between the tool mounting platform and the fixed mounting plate, with one end mounted on the tool mounting platform and the other end mounted on the fixed mounting plate.

[0006] Furthermore, four ventilation holes which are sealed and connected to the sealed flexible tubes are respectively opened on the fixed mounting plate, and the air outlet ends of the four solenoid valves are respectively connected to the four ventilation holes through air guide tubes; the four solenoid valves control the switches of the air flow in the four sealed flexible tubes, and determine whether the four sealed flexible tubes are filled with gas and the amount of gas filled.

[0007] Furthermore, the fixed mounting plate is fixedly mounted on the corresponding working mechanism.

[0008] Furthermore, the installation direction of the inertial sensor is consistent with the axial direction of the tool, so that the posture data acquired by the inertial sensor is the posture of the tool; the inertial sensor is connected to the controller to transmit the acquired posture data to the controller.

[0009] Furthermore, the controller is connected to the control ends of the four solenoid valves via copper cable conductors to transmit electrical signals to control the switches of the solenoid valves.

[0010] Furthermore, the sealing flexible tube is provided with an air venting hole at one side portion close to the tool mounting platform, and the air venting hole is blocked and sealed by a sealing member.

[0011] The present invention also provides a tool posture adjustment method based on the above mechanism, comprising the following steps:

[0012] 1) Given the target posture data TH1 and the allowable error e;

[0013] 2) Obtain the current posture data TH2 of the tool through the inertial sensor;

[0014] 3) Determine whether |TH1-TH2|>e is satisfied. If yes, go to the next step. Otherwise, end the tool posture adjustment.

[0015] 4) Calculate the inflation volume of the four sealed flexible tubes, and then control the on and off of the four control valves respectively to fill the four sealed flexible tubes with corresponding amounts of gas;

[0016] 5) Update the attitude data TH2 obtained by the inertial sensor and return to step 3).

[0017] Compared with the prior art, the present invention has the following beneficial effects: a tool posture adjustment mechanism and method based on a flexible platform is provided, which adjusts the posture of the tool mounting platform on the fixed platform by controlling the maximum of different sealed flexible tubes on the fixed platform, thereby realizing a flexible platform with flexible posture adjustment, and installing the tool on it to realize flexible adjustment of the tool posture. In addition, the mechanism has a simple structure and is easy to implement. Therefore, the present invention has strong practicality and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the mechanism of an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of posture adjustment of the flexible posture adjustment mechanism in an embodiment of the present invention;

[0020] Figure 3 It is a flow chart of the method implementation of the embodiment of the present invention.

[0021] In the figure: 1-tool; 2-inertial sensor; 3-tool mounting platform; 4-sealed flexible tube; 5-fixed mounting plate; 6-air guide PU tube; 7-solenoid valve; 8-copper cable conductor; 9-controller; 10-air pump. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] like Figure 1 , 2 As shown, this embodiment provides a tool posture adjustment mechanism based on a flexible platform, including a flexible posture adjustment mechanism, four solenoid valves 7, a controller 9 and an air pump 10. The flexible posture adjustment mechanism consists of a tool 1, an inertial sensor 2, a tool mounting platform 3, four sealed flexible tubes 4 and a fixed mounting plate 5. The tool 1 and the inertial sensor 2 are mounted on the tool mounting platform 3, and the tool mounting platform 3 is mounted on the fixed mounting plate 5 via the four sealed flexible tubes 4. The air pump 10 is used to provide air pressure to the entire mechanism. The air pump 10 is respectively connected to the air inlet ends of the four solenoid valves 7, and the air outlet ends of the four solenoid valves 7 are respectively connected to the four sealed flexible tubes 4. The controller 9 is respectively electrically connected to the control ends of the four solenoid valves 7 to control the on and off of the four-way solenoid valves, and controls their extension by controlling the air pressure in the sealed flexible tubes, thereby controlling the posture of the tool mounting platform and the tool thereon.

[0026] In this embodiment, the sealing flexible tube 4 is a corrugated hose, and four sealing flexible tubes 4 are evenly distributed between the tool mounting platform 3 and the fixed mounting plate 5, with one end mounted on the tool mounting platform 3 and the other end mounted on the fixed mounting plate 5.

[0027] In this embodiment, the fixed installation plate 5 is provided with four vents which are sealed and connected to the sealed flexible tube 4, and the air outlet ends of the four solenoid valves 7 are connected to the four vents through the air guide PU tube 6; the four solenoid valves 7 control the switch of the air flow in the four sealed flexible tubes 4, and determine whether the four sealed flexible tubes are filled with gas and the amount of gas filled. The fixed installation plate 5 is fixedly installed on the corresponding working mechanism.

[0028] In this embodiment, the sealed flexible tube is provided with a vent hole on one side near the tool mounting platform for releasing gas. When the mechanism is working, the vent hole is sealed and blocked by a seal. Before the air pressure of the sealed flexible tube reaches the critical value, the posture of the mechanism can be changed multiple times by changing the air pressure of the four sealed flexible tubes. When the air pressure in the sealed flexible tube reaches the critical position that causes the hose to be fully extended, the vent hole can be opened manually to discharge the gas. Since weeds in farmland mainly grow vertically, the need to adjust the tool posture is not very frequent, and the same posture can remove weeds in the same situation located in the same row of crops, so frequent human intervention is not necessary during weeding.

[0029] In this embodiment, the installation direction of the inertial sensor 2 is consistent with the axial direction of the tool 1, so that the posture data obtained by the inertial sensor is the posture of the tool. In order to measure the position and posture of the tool, the inertial sensor must be installed on the tool, but since the tool is a rotating component and the contact area is small, it is inconvenient to install. Therefore, the tool mounting platform is designed to be fixedly connected to the tool by screws. It has a larger plane for installing the inertial sensor, thereby ensuring that their postures are consistent. The inertial sensor 2 is connected to the controller 9 to transmit the acquired posture data to the controller 9. The controller 9 is connected to the control ends of the four solenoid valves 7 via copper cable conductors 8 to transmit electrical signals to control the switches of the solenoid valves.

[0030] In this embodiment, the controller 9 has an independent microprocessor for processing the posture data transmitted by the inertial sensor, and can accept the specified posture data transmitted from the outside. In addition, the microprocessor is embedded with the corresponding calculation and adjustment algorithm to calculate the inflation amount of each sealed flexible tube required to adjust the tool posture. The controller has four relays that can be used to independently control the switching of four electromagnetic valves. After the data of the inertial sensor is transmitted to the controller, its internal microprocessor compares and calculates the acquired posture data with the target posture of the given tool, controls the switch of the electromagnetic valve to control whether the sealed flexible tube is inflated, and then changes the tool posture.

[0031] like Figure 3 As shown, this embodiment also provides a tool posture adjustment method based on the above mechanism, comprising the following steps:

[0032] 1) The host computer sends the target posture data TH1 and the allowable error e to the controller;

[0033] 2) The controller obtains the current posture data TH2 of the tool through the inertial sensor;

[0034] 3) The controller compares the data obtained by the sensor with the data given by the host computer, that is, determines whether |TH1-TH2|>e is satisfied. If yes, it goes to the next step, otherwise, the tool posture adjustment ends;

[0035] 4) The controller calculates the inflation volume of the four sealed flexible tubes, and then controls the on and off of the four control valves through the relays to fill the four sealed flexible tubes with corresponding amounts of gas;

[0036] 5) Update the attitude data TH2 obtained by the inertial sensor and return to step 3).

[0037] When the tool posture is adjusted to the right position, the tool motor is started to make the tool start to rotate. The weeding machine platform drives the tool with the adjusted posture to move to the weeds to remove the weeds hidden under the crops that cannot be directly removed.

[0038] After the weeds are removed, the machine avoids the crops and returns to its initial position, waiting for the next instruction.

[0039] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A tool posture adjustment mechanism based on a flexible platform, characterized in that: It comprises a flexible posture adjustment mechanism, four solenoid valves, a controller and an air pump, wherein the flexible posture adjustment mechanism is composed of a tool, an inertial sensor, a tool mounting platform, four sealed flexible tubes and a fixed mounting plate, the tool and the inertial sensor are mounted on the tool mounting platform, the tool mounting platform is mounted on the fixed mounting plate via the four sealed flexible tubes, the air pump is respectively connected to the air inlet ends of the four solenoid valves, the air outlet ends of the four solenoid valves are respectively connected to the four sealed flexible tubes, the controller is respectively electrically connected to the control ends of the four solenoid valves to control the on and off of the four-way solenoid valves, and the extension of the sealed flexible tubes is controlled by controlling the air pressure in the sealed flexible tubes, thereby controlling the tool mounting platform and the posture of the tool thereon; The fixed mounting plate is respectively provided with four vent holes which are in sealed communication with the sealing flexible tube, and the air outlet ends of the four solenoid valves are respectively connected to the four vent holes via air guide tubes; Four solenoid valves control the switch of the air flow in the four sealed flexible tubes, and determine whether the four sealed flexible tubes are filled with gas and the amount of gas filled; The installation direction of the inertial sensor is consistent with the axial direction of the tool, so that the posture data acquired by the inertial sensor is the posture of the tool; the inertial sensor is connected to the controller to transmit the acquired posture data to the controller; The sealing flexible tube is provided with an air release hole at one side portion close to the tool installation platform, and the air release hole is blocked and sealed by a sealing member.

2. The tool posture adjustment mechanism based on a flexible platform according to claim 1, characterized in that: The sealing flexible tube is a corrugated hose. Four sealing flexible tubes are evenly distributed between the tool mounting platform and the fixed mounting plate, one end of which is mounted on the tool mounting platform and the other end is mounted on the fixed mounting plate.

3. The tool posture adjustment mechanism based on a flexible platform according to claim 1, characterized in that: The fixed installation plate is fixedly installed on the corresponding working mechanism.

4. The tool posture adjustment mechanism based on a flexible platform according to claim 1, characterized in that: The controller is connected to the control ends of the four solenoid valves via copper cable conductors to transmit electrical signals to control the switches of the solenoid valves.

5. A tool posture adjustment method based on the tool posture adjustment mechanism according to any one of claims 1 to 4, characterized in that: The following steps are involved: 1) Given the target posture data TH1 and the allowable error e; 2) Obtain the current posture data TH2 of the tool through the inertial sensor; 3) Determine whether |TH1-TH2|>e is satisfied. If yes, go to the next step. Otherwise, end the tool posture adjustment. 4) Calculate the inflation volume of the four sealed flexible tubes, and then control the on and off of the four control valves respectively to fill the four sealed flexible tubes with corresponding amounts of gas; 5) Update the attitude data TH2 obtained by the inertial sensor and return to step 3).

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