A cage type cotton topping end effector

Abstract

The application discloses a cover cage type cotton topping end effector, which comprises a posture adjusting module, a topping execution module, a bud cover, a bud suction pipe cover and a sensor module. The posture adjusting module comprises a mechanical arm connecting block connected with a mechanical arm, a rotating servo motor fixedly connected with the mechanical arm connecting block, a pitching servo motor fixed seat bolted with the rotating servo motor, a pitching servo motor connected with the pitching servo motor fixed seat and a bud cover connecting block. The topping execution module comprises an upper side plate connected with the bud cover, a linear screw mechanism fixedly connected with the upper side plate, a topping cutter and a lower cover plate. The bud cover is connected with the posture adjusting module, the topping execution module and the bud suction pipe cover through bolts. The application has novel and compact structure, high modular degree, can accurately and reliably remove and recycle the bud, and reduces the damage of the topping to the lateral branches, lateral leaves and flower buds of the cotton plant.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery equipment, in particular to a cover cage type cotton topping end effector. BACKGROUND

[0002] In order to ensure the yield of cotton, cotton topping is an indispensable management measure. At present, there are three ways of cotton topping, namely manual topping, chemical topping and mechanical topping. The traditional mechanical topping mainly uses disc knives and roller knives to cut the top buds in one cut, which causes the phenomenon of overcutting and missing cutting of cotton top buds and the misinjury of lateral branch lateral leaf buds, resulting in the decrease of cotton yield.

[0003] The existing invention patent (CN108370740B) discloses a topping end effector and a topping machine containing the same, which realizes the removal and recovery of top buds through shearing and air suction, but the top bud recovery device of the patent is in an open state, which may face the problem of difficult top bud recovery, and the modular degree of the device has a large space for improvement.

[0004] The existing invention patent (CN114568142B) discloses a topping cutter, a topping effector and a topping method, which realizes the removal of top buds by driving multiple blades to rotate to form an opening and closing surface to surround and shear the top buds, but the top bud recovery needs to move the topping effector to a designated top bud recovery position, which may face the technical problem of low topping efficiency. SUMMARY

[0005] To solve the above technical problems, the present application provides a cover cage type cotton topping end effector to realize the precision of cotton topping operation and the efficiency of top bud recovery.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] A cover cage type cotton topping end effector, characterized in that it comprises a posture adjustment module, a topping execution module, a top bud cover, a bud suction pipe cover and a sensor module; the posture adjustment module is installed on the top surface of the top bud cover through bolt connection, the topping execution module is symmetrically installed on the left and right side surfaces of the top bud cover through bolt connection, and the bud suction pipe cover is installed on the front side surface of the top bud cover through bolt connection.

[0008] The posture adjusting module comprises a mechanical arm connecting block, a rotating servo motor, a pitching servo motor fixing seat, a pitching servo motor, a flange bearing and a top bud cover connecting block. The upper part of the mechanical arm connecting block is provided with a bolt hole for connecting the mechanical arm, and the bottom of the mechanical arm connecting block is processed with a bolt hole matched with the rotating servo motor for mounting and fixing the rotating servo motor; the shaft of the rotating servo motor is connected with the pitching servo motor fixing seat through a bolt; the pitching servo motor fixing seat is in a U-shaped structure, and the left and right sides of the fixing seat are provided with bolt holes for connecting the pitching servo motor and the top bud cover connecting block respectively; the pitching servo motor is fixedly mounted on one side of the pitching servo motor fixing seat through a bolt, the shaft of the pitching servo motor is connected with the top bud cover connecting block through a bolt, and the other side of the pitching servo motor fixing seat is connected with the top bud cover connecting block through the flange bearing and a bolt; the top bud cover connecting block is also in a U-shaped structure, and the left and right sides thereof are connected with the shaft of the pitching servo motor and the pitching servo motor fixing seat through bolts respectively, and the bottom surface of the top bud cover connecting block is connected with the top bud cover through a bolt; the posture adjusting module can drive the top bud cover to realize horizontal rotation and vertical pitching movement.

[0009] The top cutting executing module comprises a lead screw motor, a lead screw, a lead screw fixing block, a lead screw sliding table, a cutter, an upper side plate and a lower cover plate. The upper side plate is fixedly connected to the left and right sides of the top bud cover. The lead screw motor and the lead screw fixing block are bolted to the upper side plate. The lead screw is connected with the motor shaft to rotate. The lead screw sliding table is installed on the lead screw and moves linearly under the driving of the lead screw. The cutter is bolted to the lead screw sliding table to move linearly synchronously.

[0010] The sensor module comprises a photoelectric proximity switch and a rectangular optical fiber sensor. The photoelectric proximity switch is installed on the front side of the lower cover plate of the top cutting executing module, and the rectangular optical fiber sensor is installed on the front and rear sides of the top bud cover.

[0011] As a preferred, the top bud cover is a shell similar to a hollow cuboid with the bottom surface removed. The top surface, the left side surface and the right side surface of the top bud cover are rectangular, and the left and right side surfaces have the same size. The front and rear side surfaces are pentagons composed of a rectangle and an isosceles triangle. The bottom side of the isosceles triangle is connected with the lower side line of the front and rear side surfaces, and the front and rear side surfaces have the same size. The front side surface of the top bud cover is provided with an opening and a bolt hole, and the front side surface of the top bud cover is bolted with the bud suction pipe cover. The rear side surface of the top bud cover is provided with circular holes with the same size and uniformly distributed. The top surface and the left and right side surfaces of the top bud cover are provided with bolt holes. With the above structure, the circular holes on the rear side surface of the top bud cover and the opening on the front side surface form an air column when the top bud is recovered, so that the cut top bud can be reliably and stably sucked into the bud suction pipe cover. The modules can be quickly replaced during operation and maintenance, and the cutter and the top bud cover form a sealed space.

[0012] As preferred: the bud suction pipe cover is a funnel-shaped pipe, the top bud suction pipe cover inlet opening area is larger than the top bud outlet opening area; the top bud suction pipe cover and the top bud cover connection surface are provided with bolt holes, and are installed on the front side surface of the top bud cover. By using the above structure, the top bud can be efficiently and smoothly recovered.

[0013] As preferred: the top bud cover is connected with the topping execution module and the posture adjustment module by using countersunk bolts, the bolts are installed from inside to outside, and the rod part of the bolt faces the outer side surface of the top bud cover. By using the above structure, the top bud can be prevented from being wound with the inner bolt of the top bud cover, and the recovery efficiency of the top bud is affected.

[0014] As preferred: the bottom surface of the left and right side top bud execution module lower cover plates is parallel to the left and right two cutting surfaces of the top bud cover bottom opening, and the left and right side top bud execution module lower cover plates are symmetrically distributed in V shape and are located on the two sides of the top bud cover. By using the above structure, when the topping operation is performed, the V-shaped distributed top bud execution module lower cover plates can press and bend the highest side leaf and the second highest side leaf of the cotton to separate the top bud, so that the top bud is located at the highest point of the cotton plant, the precise topping can be implemented, and the side branches, side leaves and flower buds are prevented from being damaged.

[0015] As preferred: the left and right side top bud execution module cutters form a closed space with the top bud cover when the top bud is cut. By using the above structure, the cut top bud can be reliably and stably sucked into the top bud suction pipe cover, and the top bud recovery is completed.

[0016] As preferred: the top bud execution module upper side plate is provided with a cutter sliding groove. By using the above structure, the stability and reliability of the cutter in the movement process can be ensured.

[0017] As preferred: the top bud execution module screw rod motor is provided with a built-in Hall AB phase encoder and a planetary reduction box. By using the above structure, the output torque of the motor can be increased, and the control of the screw rod motor is facilitated.

[0018] Compared with the prior art, the present application has the following advantages:

[0019] This invention provides a cage-type cotton topping end actuator with a novel and compact structure, high modularity, and a simple and easy-to-implement design. It can accurately remove and reliably recover the top buds of cotton plants. The top bud cover, suction tube cover, posture adjustment module, and topping execution module of this invention are all fixedly connected by bolts, allowing for quick replacement and maintenance of each component during the topping operation, shortening maintenance time and improving the efficiency of the actuator. When cutting and removing the top bud, the blade and the top bud cover can form a sealed space. The round hole on the rear side of the top bud cover and the opening on the front side can form an airflow column, which can reliably and stably suck the cut top bud into the suction tube cover for top bud recovery. The V-shaped distribution of the topping execution module can separate the highest and second-highest lateral branches from the top bud when the actuator approaches the top bud, improving the accuracy of topping and avoiding damage to lateral branches, leaves, and buds. The posture adjustment module of this invention, driven by a rotary servo motor and a pitch servo motor, can achieve horizontal rotation and vertical pitch movement, enabling precise topping of top buds in various postures. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is an isometric view of the front view of the hood of the present invention.

[0022] Figure 3 This is an isometric view of the top cover of the present invention.

[0023] Figure 4 This is an isometric view of the budding tube cover of the present invention.

[0024] Figure 5 This is an isometric drawing of the top-hitting execution module of the present invention.

[0025] Figure 6 This is a bottom view of the top-hitting execution module of the present invention.

[0026] Figure 7 This is the main view of the attitude adjustment module of the present invention.

[0027] Figure 8 This is a schematic diagram of the topping process of the present invention. Figure 1

[0028] Figure 9 This is a schematic diagram of the topping process of the present invention. Figure 2

[0029] Figure 10 This is a schematic diagram of the topping process of the present invention. Figure 3

[0030] Figure 11 This is a schematic diagram of the topping process of the present invention. Figure 4

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] 1. Top bud cover

[0033] 2. Bud suction tube cover

[0034] 31. Upper side plate; 32. Screw motor; 33. Lower cover plate; 34. Knife; 35. Screw rod; 36. Screw rod sliding table; 37. Screw rod fixing block

[0035] 41. Mechanical arm connecting block; 42. Rotary servo motor; 421. Rotary servo motor shaft; 43. Pitch servo motor fixing seat; 44. Pitch servo motor; 441. Pitch servo motor shaft; 45. Flange bearing; 46. Top bud cover connecting block;

[0036] 51. Photoelectric proximity switch; 52. Rectangular optical fiber sensor; DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0038] As shown in Figure 1 A cage type cotton topping end effector, characterized in that: comprising a posture adjusting module, a topping execution module, a top bud cover 1, a bud suction tube cover 2, and a sensor module; the posture adjusting module is installed on the top surface of the top bud cover 1 through bolt connection, the topping execution module is symmetrically installed on the left and right side surfaces of the top bud cover 1 through bolt connection, and the bud suction tube cover 2 is connected to the front side surface of the top bud cover 1 through bolt connection.

[0039] As shown in Figure 7As shown, the posture adjustment module includes a mechanical arm connecting block 41, a rotating servo motor 42, a pitch servo motor fixing seat 43, a pitch servo motor 44, a flange bearing 45, and a top bud cover connecting block 46. The upper portion of the mechanical arm connecting block 41 is provided with a bolt hole for connecting a mechanical arm, and the bottom of the mechanical arm connecting block 41 is processed with a bolt hole matched with the rotating servo motor 42 for mounting and fixing the rotating servo motor 42; the rotating servo motor shaft 421 is connected with the pitch servo motor fixing seat 43 through a bolt; the pitch servo motor fixing seat 43 is in a U-shaped structure, and the left and right sides thereof are provided with bolt holes for connecting the pitch servo motor 44 and the top bud cover connecting block 46, respectively; the pitch servo motor 44 is fixedly installed on one side of the pitch servo motor fixing seat 43 through a bolt, the pitch servo motor shaft 441 is connected with the top bud cover connecting block 46 through a bolt, and the other side of the pitch servo motor fixing seat 43 is connected with the top bud cover connecting block 46 through the flange bearing 45 and a bolt; the top bud cover connecting block 46 is also in a U-shaped structure, and the left and right sides thereof are connected with the pitch servo motor shaft 441 and the pitch servo motor fixing seat 43 through bolts, respectively; the bottom surface of the top bud cover connecting block 46 is bolted with the top bud cover 1; by adopting the above structure, the posture adjustment module can drive the top bud cover 1 to realize horizontal rotation and vertical pitch movement.

[0040] As shown in Figure 5 and Figure 6 , the top cutting execution module includes a lead screw motor 32, a lead screw 35, a lead screw fixing block 37, a lead screw sliding table 36, a cutter 34, an upper side plate 31, and a lower cover plate 33; the upper side plate 31 is fixedly connected to the left and right sides of the top bud cover 1 through bolts; the lead screw motor 32 is bolted with the lead screw fixing block 37 on the upper side plate 31; the lead screw 35 is connected with the rotating shaft of the lead screw motor 32 to make rotation; the lead screw sliding table 36 is installed on the lead screw 35 and makes linear motion under the driving of the lead screw 35; and the cutter 34 is bolted with the lead screw sliding table 36 to make linear motion synchronously.

[0041] As shown in Figure 1 and Figure 5 , the sensor module includes a photoelectric proximity switch 51 and a rectangular optical fiber sensor 52; the photoelectric proximity switch 51 is installed on the front side of the lower cover plate 33 of the top cutting execution module; and the rectangular optical fiber sensor 52 is installed on the front and rear side surfaces of the top bud cover 1.

[0042] As shown in Figure 2 and Figure 3As shown, the bud cover 1 is a shell similar to a hollow cuboid with its bottom surface removed. Its top, left, and right sides are all rectangular, with the left and right sides having the same dimensions. The front and rear sides are pentagons composed of rectangles and isosceles triangles pieced together vertically. The base of the isosceles triangles connects to the bottom edges of the rectangles on the front and rear sides, which also have the same dimensions. The front side of the bud cover 1 has openings and bolt holes, and is bolted to the suction tube cover 2. The rear side of the bud cover 1 has evenly distributed, uniformly sized circular holes. Bolt holes are also provided on the top and left and right sides of the bud cover 1. This structure facilitates the formation of an airflow column from the circular holes on the rear side of the bud cover 1 and the openings on the front side during bud retrieval, reliably and stably drawing the sheared bud into the suction tube cover 2. This also facilitates quick replacement of modules during maintenance and allows the cutter 34 to form a sealed space with the bud cover 1.

[0043] like Figure 4 As shown, the bud suction tube hood 2 is a funnel-shaped pipe, with the opening area of ​​the bud suction end of the bud suction tube hood 2 being larger than the opening area of ​​the bud output end; bolt holes are provided on the connecting surface between the bud suction tube hood 2 and the bud suction tube hood 1, and it is installed on the front side of the bud suction tube hood 1. This structure facilitates efficient and smooth bud collection.

[0044] like Figure 1 As shown, the bud cover 1 is connected to the budding execution module and the attitude adjustment module using countersunk bolts. The bolts are installed from the inside out, with the shank facing the outer side of the bud cover. This structure avoids the bud from getting tangled with the bolts inside the bud cover 1, thus preventing the bud from being affected by the bud recovery efficiency.

[0045] like Figure 10 As shown, the bottom surfaces of the lower cover plates 33 of the top-pruning execution modules on both sides are parallel to the left and right cut surfaces of the bottom opening of the top bud cover 1, respectively. The top-pruning execution modules are symmetrically distributed in a V-shape on both sides of the top bud cover 1. With this structure, during the top-pruning operation, the V-shaped distribution of the lower cover plates 33 of the top-pruning execution modules can bend the highest and second-highest lateral leaves of the cotton and separate them from the top bud, so that the top bud is at the highest point of the cotton plant, which facilitates precise top-pruning and avoids accidental damage to lateral branches, leaves, and buds. When the cutters 34 of the top-pruning execution modules on both sides are cutting the closed top bud, they can form a sealed space with the top bud cover 1. With this structure, the cut top bud can be reliably and stably sucked into the bud suction tube cover, completing the top bud recovery.

[0046] The upper side plate 31 of the top-feeding execution module is equipped with a tool slide groove. This structure ensures the smooth and reliable movement of the tool 34. The lead screw motor 32 of the top-feeding execution module incorporates a Hall AB phase encoder and a planetary gearbox. This structure increases the motor's output torque and facilitates control of the lead screw motor.

[0047] The working process of this invention is as follows:

[0048] The end effector is connected with the cotton topping robot arm through the mechanical arm connecting block 41. Figure 1 The end effector is driven by the mechanical arm to move above the cotton bud, as shown in Figure 8 The cotton bud is randomly distributed in the cotton field, and the posture of the cotton bud is different. The end effector needs to be adjusted in posture under the drive of the rotating motor 42 and the pitching motor 44, so that the bud cover 1 is opposite to the cotton bud, the bud cover 1 is in the opening range of the cotton bud, and the lower cover plate 33 of the two side topping execution modules is opposite to the highest side branch and the second highest side branch of the cotton plant, so as to avoid damage to the cotton leaves and flower buds near the cotton bud, so as to realize accurate and effective topping operation. After the posture adjustment is completed, the state of the end effector is as shown in Figure 9 Then, the operation is performed as shown in Figure 10 The end effector is driven by the mechanical arm to move towards the cotton bud, the cotton bud enters the bud cover, and the highest side branch and the second highest side branch of the cotton plant are bent and deformed under the action of the lower cover plate 33 of the topping execution module. When the rectangular optical fiber sensor 52 detects that the cotton bud enters the bud cover 1, the detection information is fed back to the cotton topping robot control module, the control module controls the synchronous start of the screw rod motor 32 of the two side topping execution modules to drive the screw rod 35 to rotate, the screw rod sliding table 36 is driven by the screw rod 35 to move linearly, and the cutter 34 fixed on the screw rod sliding table 36 also moves linearly to approach the bud. When the left and right cutters 34 meet and close to complete the shearing of the cotton bud, the closed cutter 34 forms a closed space with the bud cover 1, and under the suction of the suction pipe cover 2, the circular hole on the rear side of the bud cover 1 and the opening on the front side of the bud cover 1 form an air column to suck the bud into the suction pipe cover 2 to complete the recovery of the bud. When the left and right cutters 34 are closed, the screw rod sliding table 36 moves to the corresponding position to trigger the photoelectric proximity switch 51, and the photoelectric proximity switch 51 feeds back the sensing signal to the cotton topping robot control module. The control module controls the screw rod motor 32 to rotate reversely, and the cutter 34 is retracted into the space formed by the upper side plate 31 and the lower cover plate 33. After the shearing and recovery of the bud are completed, the end effector is driven by the mechanical arm to move away from the cotton plant, and continues to top other cotton plants. Figure 11

[0049] The above examples are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.​

Claims

1. A caged cotton topping end effector, characterized by: It includes a posture adjustment module, a topping execution module, a top bud cover (1), a bud suction pipe cover (2), and a sensor module. The posture adjustment module is installed on the top surface of the top bud cover (1) through bolt connection, the topping execution module is symmetrically installed on the left and right side surfaces of the top bud cover (1) through bolt connection, and the bud suction pipe cover (2) is installed on the front side surface of the top bud cover (1) through bolt connection. The posture adjustment module comprises a mechanical arm connecting block (41), a rotating servo motor (42), a pitch servo motor fixing seat (43), a pitch servo motor (44), a flange bearing (45) and a top bud cover connecting block (46). The upper part of the mechanical arm connecting block (41) is provided with a bolt hole for connecting a mechanical arm, and the bottom part of the mechanical arm connecting block (41) is provided with a bolt hole matched with the rotating servo motor (42) for fixing the rotating servo motor (42). The rotating servo motor shaft (421) is connected with the pitch servo motor fixing seat (43) through a bolt. The pitch servo motor fixing seat (43) has a U-shaped structure, and the left and right sides thereof are provided with bolt holes for connecting the pitch servo motor (44) and the top bud cover connecting block (46) respectively. The pitch servo motor (44) is fixedly installed on one side of the pitch servo motor fixing seat (43) through a bolt, the pitch servo motor shaft (441) is connected with the top bud cover connecting block (46) through a bolt, and the other side of the pitch servo motor fixing seat (43) is connected with the top bud cover connecting block (46) through the flange bearing (45) and a bolt. The top bud cover connecting block (46) also has a U-shaped structure, and the left and right sides thereof are connected with the pitch servo motor shaft (441) and the pitch servo motor fixing seat (43) respectively through bolts. The bottom surface of the top bud cover connecting block (46) is connected with the top bud cover (1) through a bolt. The posture adjustment module can drive the top bud cover (1) to realize horizontal rotation and vertical pitch movement. The topping execution module comprises a lead screw motor (32), a lead screw (35), a lead screw fixing block (37), a lead screw sliding table (36), a cutter (34), an upper side plate (31) and a lower cover plate (33). The upper side plate (31) is fixedly connected to the left and right sides of the top bud cover (1). The lead screw motor (32) and the lead screw fixing block (37) are bolted to the upper side plate (31). The lead screw (35) is connected with the rotating shaft of the lead screw motor (32) to rotate. The lead screw sliding table (36) is installed on the lead screw (35) and moves linearly under the driving of the lead screw (35). The cutter (34) is bolted to the lead screw sliding table (36) to move linearly synchronously. The bottom surface of the lower cover plate (33) is parallel to the left and right side surfaces of the top bud cover (1) respectively. The left and right symmetric V-shaped distribution of the topping execution module is on the two sides of the top bud cover (1). The cutter (34) forms a closed space with the top bud cover (1) when shearing the top bud. The sensor module comprises a photoelectric proximity switch (51) and a rectangular optical fiber sensor (52). The photoelectric proximity switch (51) is installed on the front side surface of the lower cover plate (33) of the topping execution module, and the rectangular optical fiber sensor (52) is installed on the front and rear side surfaces of the top bud cover (1).

2. A caged cotton topping end effector according to claim 1, characterized in that: The top bud cover (1) is a shell similar to a hollow cuboid with the bottom surface removed, the top surface, the left side surface and the right side surface are rectangular, the left and right side surfaces have the same size, the front and back side surfaces are pentagons composed of a rectangle and an isosceles triangle spliced up and down, the base of the isosceles triangle is connected with the lower edge line of the rectangle of the front and back side surfaces, and the front and back side surfaces have the same size; the front side surface of the top bud cover (1) is provided with an opening and a bolt hole, the front side surface of the top bud cover (1) is bolted with the bud suction pipe cover (2), the back side surface of the top bud cover (1) is provided with circular holes with the same size and uniformly distributed; the top surface and the left and right side surfaces of the top bud cover (1) are provided with bolt holes.

3. A caged cotton topping end effector according to claim 1, wherein: The bud suction pipe cover (2) is a funnel type pipe, the opening area of the top bud suction end of the bud suction pipe cover (2) is larger than that of the top bud output end; the connecting surface of the bud suction pipe cover (2) and the top bud cover (1) is provided with bolt holes and is installed on the front side surface of the top bud cover (1).

4. A capping tip end effector according to claim 1, wherein: The top bud cover (1) is connected with the top pruning execution module and the posture adjusting module by using countersunk head bolts, the bolts are installed from inside to outside, and the rod part of the bolt faces the outer side surface of the top bud cover (1).

5. A capping tip end effector according to claim 1, wherein: The top pruning execution module upper side plate (31) is provided with a cutter sliding groove.

6. A caged cotton topping end effector as claimed in claim 1, wherein: The top pruning execution module lead screw motor (32) is provided with a built-in Hall AB phase encoder and a planetary reduction box.

Images