An end effector with damage and medicine applying functions

Abstract

The application discloses a cage type end effector with damage and medicine applying functions, which comprises a transmission device, a connecting device and a cage type weeding mechanism. The transmission device is a hollow gear which is connected with a motor through a transmission shaft to obtain the rotating power of the weeding device. The connecting device is a conical hollow device which is connected with the transmission device and the weeding device, and is divided into two sides, the outer layer of which is smooth, and the inner layer of which is provided with six inverted triangular channels with a width of 1.5 mm and a depth of 1 mm. The hollow structure ensures the smooth transmission of the pesticide. The cage type weeding structure is provided with six hollow weeding pipes, and the outer surfaces of the weeding pipes are uniformly provided with miniature curved knife type weeding barbs. When the end effector works, the weeding cage rotates at a high speed, and the weeds are grabbed by the miniature inverted barbs on the surfaces of the weeding pipes to achieve the damage effect. At the same time, the pesticide enters the weeding pipes through the hollow connecting device, and enters the damaged parts of the weeds through the grooves on the inverted barbs to achieve the medicine applying effect.

Description

Technical Field

[0001] This invention relates to the field of farmland weed control, specifically to a cage-type end effector with damage and pesticide application functions. Background Technology

[0002] Current research on field weed management mainly focuses on manual weeding, chemical weeding, and mechanical weeding. Manual weeding, the earliest method, is primarily used in smaller planting areas. While effective, it requires a large labor force, increasing production costs and causing chronic overwork-related illnesses that seriously threaten workers' health. Mechanical weeding machines primarily use three physical techniques to control weeds: burying, cutting, and uprooting. However, they are less effective against weeds that are difficult to remove within rows, and may not completely eliminate them. Furthermore, removed weeds may regrow due to their resilience. While the advent of chemical herbicides has significantly improved the efficiency of field weed management, frequent application has increased weed resistance and herbicide drift. Research on weed biology indicates that resistance arises because weeds are becoming increasingly resistant to herbicide penetration and translocation; only a small amount of herbicide can penetrate the cuticle. Damaging the outer wall of weeds creates a hydrophobic layer, exposing conductive substances that enhance the penetration and conductive killing properties of pesticides. Furthermore, trace amounts of pesticide that penetrate directly into the weeds can exert a significant effect.

[0003] Therefore, it is necessary to design a new end effector capable of simultaneously cutting weed stems and wiping the cut surfaces of weeds, and applying chemicals to the weed tissue. Summary of the Invention

[0004] The purpose of this invention is to invent a novel cage-type end effector with damage and application functions to solve the problems mentioned in the above-mentioned technical background: low weeding efficiency and weeds regenerating after death; and chemical weeding: pesticide drift and weed resistance.

[0005] To achieve the above objectives, this invention proposes the following solution: An end effector with damage and application functions includes a transmission device, a connecting device, and a cage-type weeding mechanism. The transmission device is a hollow gear that can be connected to a motor via a transmission shaft to obtain rotational power for the weeding device. The connecting device is a conical hollow device, connecting the transmission device above and the weeding device below. It has inner and outer sides; the outer inner wall is smooth, and the inner inner wall has an inverted triangular groove. The cage-type weeding mechanism has a hollow weeding tube, and micro-curved grooved weeding spikes are evenly distributed on the outer surface of the hollow weeding tube.

[0006] Preferably, the transmission device is a hollow concentric ring structure with an outer ring gear diameter of 8cm and an inner ring iron wall diameter of 7cm. The 1cm wide hollow structure between the two ensures that pesticides can pass through smoothly.

[0007] Preferably, the connecting device is a conical hollow device, connected to the transmission device at the top and the weeding device at the bottom. The outer ring at the top has a diameter of 8cm and the inner ring has a diameter of 7cm. The outer ring at the bottom has a diameter of 16cm and the inner ring has a diameter of 15cm. The thickness of both the inner and outer walls is 10mm. The inner walls of the outer layer on both sides are smooth, and the inner wall of the inner layer has 6 inverted triangular grooves with a side length of 1mm extending to the six hollow weeding tubes of the cage-type weeding mechanism.

[0008] Preferably, the cage-type weeding mechanism has six hollow weeding tubes with a diameter of 1 cm, and the included angle between adjacent tubes is 60°. The interior of the hollow weeding tube has an inverted triangular groove (7) with a side length of 1 mm, which communicates with the groove on the inner wall of the connecting device. A row of arc-shaped blades is evenly distributed on the outside of the hollow weeding tube.

[0009] Preferably, the blade tapers in a ring shape from the tip to the tail, with a length of 3 to 4 cm and an inner and outer arc of approximately 40° to 60°. A leaf vein-shaped groove is provided in the center of the upper surface of the blade. The main vein groove is arc-shaped, with a depth of 1 mm and a width of 2 mm, extending outward to the blade tip and inward to connect with the internal groove of the hollow weeding tube through a cavity. In addition, four branch vein grooves are evenly distributed on the inner side of the arc-shaped groove 8. The branch vein grooves 9 are arc-shaped, with a depth of 1 mm and a width of 1 mm. The branch vein grooves 9 are connected by herringbone-shaped small vein grooves, each 1 mm deep. The bottom of the herringbone shape is 1 mm wide, connecting to the branch vein grooves, and the top of the herringbone shape is 1 mm wide, extending to the blade.

[0010] The beneficial effects of this invention are as follows:

[0011] In this invention, a cage-type end effector is provided, which has both damage and drug delivery functions:

[0012] (1) The cage-like design can fully entangle the stems and leaves of weeds in the field, causing tearing damage. In addition, the micro-blades designed on the outside of the hollow weeding tube can increase the weeding cage's ability to grab weeds, and the sharp blades can also cut and damage the weeds. Both of these factors work together to damage the weeds.

[0013] (2) The hollow design of the transmission and connecting devices ensures the delivery of pesticides. When the cage-type weeding mechanism is working, the pesticide flows into the six hollow weeding tubes through the inverted triangular grooves in the connecting device. Under the action of centrifugal force, the pesticide solution eventually flows through the holes in the weeding tubes into the grooves on the surface of the micro blades. Finally, under the action of centrifugal force, it is evenly applied to the damaged areas of weeds through the leaf vein grooves on the blade surface.

[0014] (3) The end effector can break the outer wall of the weed to form a hydrophobic layer, exposing conductive materials, which improves the penetration and conduction killing performance of the pesticide. Moreover, the pesticide can directly enter the weed through the vein-like grooves on the blade surface, allowing a small amount of pesticide to play a huge role. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main view structure of the present invention patent;

[0016] Figure 2 This is a top view of the structure of the present invention.

[0017] Figure 3 This is a schematic diagram of the blade structure of the present invention.

[0018] Figure 4 This is a schematic diagram of the weeding tube of the present invention.

[0019] In the diagram: 1. Transmission device; 2. Connecting device; 3. Cage-type weeding mechanism; 5. Hollow weeding tube; 6. Scimitar-shaped grooved weeding bar; 7. Ditch; 8. Main vein groove; 9. Branch vein groove; 10. Herringbone-shaped small vein groove; 11. Semi-circular channel. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] This invention provides, for example Figure 1-4 The diagram illustrates an end effector with both damage and pesticide application functions. This cage-type end effector includes a transmission device 1, a connecting device 2, and a cage-type weeding mechanism 3. The transmission device 1 is a hollow gear that can be connected to a motor via a drive shaft to obtain rotational power for the weeding device. The connecting device 2 is a conical hollow device, connecting the transmission device 1 above and the cage-type weeding mechanism 3 below. It has inner and outer sides; the outer inner wall is smooth, and the inner inner wall has six inverted triangular grooves 7. The cage-type weeding mechanism 3 has six hollow weeding tubes 5, and micro-curved grooved weeding spikes 6 are evenly distributed on the outer surface of the hollow weeding tubes 5.

[0022] The transmission device is a hollow concentric ring structure. The outer ring gear has a diameter of 8cm, the inner ring iron wall has a diameter of 7cm, and there is a 1cm wide hollow structure between them. The outer ring gear structure is the power transmission structure, enabling the cage-type weeding mechanism 3 to rotate normally. The hollow structure is the pesticide delivery channel, ensuring that it is transported to the blade.

[0023] The connecting device 2 is a conical hollow device, connected to the transmission device 1 above and the cage-type weeding mechanism 3 below. The outer ring diameter of the upper part is 8cm, and the inner ring iron wall diameter is 7cm; the outer ring diameter of the lower part is 16cm, and the inner ring diameter is 15cm. The thickness of both the inner and outer walls is 10mm. The inner walls of the outer layer on both the inner and outer sides are smooth. The inner wall of the inner layer has 6 inverted triangular grooves 7 with a side length of 1mm extending to the six hollow rods of the cage-type weeding mechanism 3. The inverted triangular grooves 7 inside are the channels for pesticide transportation. Pesticides can flow accurately into the hollow weeding tube 5 through the grooves.

[0024] The cage-type weeding mechanism 3 has six hollow weeding tubes 5 with a diameter of 1 cm. The included angle between two adjacent tubes is 60°. The hollow weeding tube 5 has an inverted triangular groove 7 with a side length of 1 mm inside, which is connected to the inner wall groove of the connecting device 2. There is a row of 5 arc-shaped blades evenly distributed on the outside of the hollow weeding tube 5. The blades are connected to the grooves on the surface of the blades through semi-circular holes 11. Pesticides can flow into the blade surface through the semi-circular holes 11 to achieve the application effect.

[0025] The blade narrows in a ring shape from the tip to the tip, with a length of 3 to 4 cm. The inner and outer sides have an arc of approximately 40° to 60°. A leaf vein-shaped groove is provided in the center of the upper surface of the blade. The main vein groove 8 is arc-shaped, with a depth of 1 mm and a width of 2 mm, extending outward to the tip of the blade and connecting inward to the internal groove 7 of the hollow weeding tube 5 through a hole. In addition, there are four branch vein grooves 9 on the inner side of the arc-shaped groove, evenly distributed on the inner side of the blade. The branch vein grooves 9 are arc-shaped, with a depth of 1 mm and a width of 1 mm. The branch vein grooves 9 are connected by herringbone-shaped small vein grooves 10, with a depth of 1 mm. The bottom width of the herringbone-shaped small vein grooves 10 is 1 mm, connecting to the branch vein grooves 9. The top width of the herringbone-shaped small vein grooves 10 is 1 mm, extending to the blade. The blade achieves the damage effect by cutting, wrapping, pulling, and tearing weeds. The grooves on the blade surface allow the pesticide to be evenly applied to the blade and diffused to the damaged parts of the plant to achieve the application effect.

[0026] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An end effector with damage and pesticide application functions, comprising a transmission device (1), a connecting device (2), and a cage-type weeding mechanism (3), characterized in that: The transmission device (1) is a hollow gear, which is connected to the motor through a transmission shaft to obtain the rotational power of the weeding device. The connecting device (2) is a conical hollow device, which is connected to the transmission device (1) above and the cage-type weeding mechanism (3) below. It is divided into inner and outer sides. The outer inner wall is smooth, and the inner inner wall has 6 inverted triangular grooves (7). The cage-type weeding mechanism (3) has 6 hollow weeding tubes (5), and micro-curved grooved weeding thorns (6) are evenly distributed on the outer surface of the hollow weeding tubes (5). The included angle between adjacent hollow weeding tubes (5) is 60°. The interior of each hollow weeding tube (5) has an inverted triangular groove (7) with a side length of 1 mm, which is connected to the inner wall groove of the connecting device (2). The exterior of each hollow weeding tube (5) has a row of 5 miniature curved grooved weeding thorns (6) evenly distributed, which are connected to the groove on the blade surface through a semi-circular channel (11). The blade narrows in a ring shape from the head end to the tail end, with a length of 3 to 4 cm and an arc of 40 to 60 degrees on both the inner and outer sides. °, the blade has a leaf vein-shaped groove in the center of the upper surface. The main vein groove (8) is arc-shaped with a depth of 1 mm and a width of 2 mm, extending outward to the blade tip and inward to the groove inside the hollow weeding tube (5) through a hole. In addition, there are four branch vein grooves (9) on the inner side of the arc-shaped groove, which are evenly distributed on the inner side of the blade. The branch vein grooves (9) are arc-shaped with a depth of 1 mm and a width of 1 mm. The branch vein grooves (9) are connected by herringbone-shaped small vein grooves (10) with a depth of 1 mm. The bottom width of the herringbone-shaped small vein grooves (10) is 1 mm, connecting the branch vein grooves (9). The top width of the herringbone-shaped small vein grooves (10) is 1 mm, extending to the blade.

2. An end effector with damage and drug delivery functions according to claim 1, characterized in that: The transmission device (1) is a hollow concentric ring structure with an outer ring gear diameter of 8cm and an inner ring iron wall diameter of 7cm. The hollow structure between the two is 1cm wide to ensure that pesticides can pass through smoothly.

3. An end effector with damage and drug delivery functions according to claim 1, characterized in that: The upper outer ring of the connecting device (2) has a diameter of 8cm and an inner iron wall diameter of 7cm; the lower outer ring has a diameter of 16cm and an inner ring has a diameter of 15cm. The thickness of both the inner and outer walls is 10mm. The inner walls of the outer and inner sides are smooth, and the inner walls of the inner layer have 6 inverted triangular grooves (7) with a side length of 1mm extending to the six hollow weeding tubes (5) of the cage-type weeding mechanism.

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