Pepper gantry topping mechanical car

Abstract

The present application relates to the technical field of agricultural machinery, and discloses a mechanical vehicle for topping of capsicumannum ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma ganoderma

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a mechanical vehicle for topping pepper plants with a portal frame. BACKGROUND

[0002] At present, small-sized pepper accounts for 11.3% of the vegetable planting area in China, mainly concentrated in southern regions, especially in Hunan, Sichuan and Guizhou, etc. The planting area in Guizhou reaches 300,000 mu.

[0003] Among them, during the planting and harvesting process of small-sized pepper, the harvesting operation only accounts for 30% of the entire workload, and most of the labor is concentrated in manual management and planting. Conventional pepper management work includes fertilization, watering and pesticide application, etc. In order to further improve the yield and quality of pepper fruits, most growers will choose to top small-sized pepper in recent years. The existing topping operation is mostly manual work, which is labor-intensive and difficult to standardize. The existing mechanical equipment for topping may cause damage to the pepper plants, affecting the quality of pepper fruits.

[0004] In addition, the current topping of cluster pepper is mainly done manually, i.e. the growing point of the plant is pinched off with fingers. This method not only consumes a lot of time and labor, but also requires the operator to bend over or crouch down constantly, increasing the labor intensity of the operator. Long-term operation may cause certain damage to the operator's waist and knees.

[0005] Therefore, it is of great significance to design a full-automatic pepper topping device that can efficiently top and standardize, reduce the labor intensity of pepper planting, improve the work efficiency and quality, and promote the development of agricultural modernization. SUMMARY

[0006] The purpose of the present application is to overcome the above technical deficiencies, and to provide a mechanical vehicle for topping pepper plants with a portal frame, which reduces labor intensity, realizes topping operation of peppers with different row distances, different plant spacings and different soil environments, improves work efficiency, and improves the yield and quality of small-sized peppers such as bell peppers.

[0007] To achieve the above purpose, the mechanical vehicle for topping pepper plants with a portal frame according to the present application comprises a support module with a portal frame structure, which moves between ridges in the field through a movement module. A topping module is arranged inside the support module, and the topping module moves up and down through a position adjusting module arranged on the support module.

[0008] Preferably, the topping module comprises a topping platform, below which a plurality of groups of rollers are arranged in parallel, each group of rollers comprising two parallel rollers movably mounted below the topping platform by L-shaped supporting rods, a gap being left between the two rollers for the plants to pass through, in each group of rollers, one of the rollers is provided with a first chain wheel on one side of the topping platform to drive the roller to rotate, and the other roller is provided with a second chain wheel on the other side of the topping platform to drive the roller to rotate, one side of the topping platform is provided with a first chain matched with the first chain wheel and a first motor driving the first chain wheel to rotate, the other side of the topping platform is provided with a second chain matched with the second chain wheel and a second motor driving the second chain wheel to rotate, the two rollers in the group of rollers are driven to rotate in opposite directions by the first motor and the second motor, and the friction winding effect of the group of rollers is achieved by transmitting the opposite rotating motions, and meanwhile the lateral branches can be discharged in opposite directions to avoid cutting injury to the plants.

[0009] Preferably, a fixed blade corresponding to each group of rollers is arranged below the topping platform and above the group of rollers, the fixed blade is arranged in the same length direction as the rollers, the fixed blade is arranged above one of the rollers in the group of rollers with its cutting edge facing the gap between the two rollers in the group of rollers, and at least one moving blade parallel to the fixed blade is further arranged below the fixed blade, both ends of the moving blade are movably mounted on two parallel guide rails, each moving blade is provided with a third motor driving the moving blade to move, the moving blade and the fixed blade above the rollers are coincident in different planes to achieve shearing.

[0010] Preferably, the motion module comprises a motion chassis arranged below both ends of the supporting module, each motion chassis is provided with two traveling wheels below, and each traveling wheel is provided with a stepping motor driving the traveling wheel to rotate.

[0011] Preferably, the motion chassis comprises an upper bottom plate mounted on the bottom of the supporting module and a lower bottom plate mounted above the two traveling wheels, a one-way freewheel and a limiting plate limiting the rotation direction of the one-way freewheel are arranged between the upper bottom plate and the lower bottom plate, a plurality of vertical limiting grooves are arranged on the limiting plate, the limiting plate is mounted below the upper bottom plate, the one-way freewheel is mounted on a sleeve base through a freewheel sleeve, and the sleeve base is mounted on the lower bottom plate through a load bearing swivel, when the device turns, one side is braked and the other side is driven by the one-way freewheel and the limiting plate, so that the device rotates in one direction.

[0012] Preferably, the position adjusting module comprises a double-shaft stepping motor arranged at the top, the output shafts at both ends of the double-shaft stepping motor are connected with a belt through synchronous pulleys, the other end of the belt is installed on a synchronous pulley which is installed on the lower part of the support module through a movable rod, and the both ends of the topping module are fixed on the belt to drive the topping module to move up and down, the belt transmission structure ensures the smooth up-and-down movement of the topping module, and the position control capacity is good, so that the topping module can be accurately lifted to the required height and positioned.

[0013] Preferably, the four corners of the topping module are installed on the portal column of the support module through four sliding tables.

[0014] Preferably, the portal column of the support module is further provided with a blocking rod for placing the topping and falling of the topping module.

[0015] Preferably, the intelligent control and recognition module is further included, the chili is recognized through the recognition detection part, and the operation of the topping mechanical vehicle is controlled through the control part.

[0016] Preferably, the width of the portal frame of the support module is matched with the ridge width of the chili planting, and the height is higher than the height of the chili seedlings in different topping periods, and the topping operation of the chili seedlings with different heights is realized by adjusting the position adjusting module.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] 1. The traditional portal frame structure is applied to the chili topping device, the working environment adaptability of the device is improved, different planting modes in different regions of China can be adapted, and the topping operation of small chilies in different heights, different row distances and different plant distances can be realized;

[0019] 2. The chain wheel and the roller are combined to design the topping module, and high efficiency cutting is realized;

[0020] 3. The one-way steering mechanism is designed by combining the one-way flywheel and the limiting plate, so that the device can continuously perform the topping operation between different ridges;

[0021] 4. The friction winding effect in the roller group is realized by transmitting the opposite rotating motion, and the lateral branches can also be discharged in the opposite direction to avoid cutting injury to the plants;

[0022] 5. The labor intensity of manual operation is reduced, the topping efficiency is improved, and the development of agricultural mechanization is promoted. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a structure schematic view of the present application;

[0024] Figure 2 is a front view of Figure 1 ;

[0025] Figure 3 is a right view of Figure 1 ;

[0026] Figure 4 is a bottom view of Figure 1 ;

[0027] Figure 5 is a structural schematic view of the support module and the motion module in Figure 1 ;

[0028] Figure 6 is a structural schematic view of the motion chassis in Figure 1 ;

[0029] Figure 7 is a structural schematic view of the support module and the position adjusting module in Figure 1 ;

[0030] Figure 8 is a structural schematic view of the topping module in Figure 1 ;

[0031] Figure 9 is a structural schematic view of the moving blade in the topping mechanical vehicle of the gantry frame of the

[0032] Figure 10 is a flowchart used by the present application.

[0033] The component labels in the figure are as follows:

[0034] Support module 1, gantry column 11, blocking rod 12, motion module 2, motion chassis 21, traveling wheel 22, stepping motor 23, upper bottom plate 24, lower bottom plate 25, one-way freewheel 26, limit plate 27, freewheel sleeve 28, sleeve base 29, load bearing rotary table 291, topping module 3, topping platform 31, roller group 32, roller 33, support rod 34, first chain wheel 35, second chain wheel 36, first chain 37, first motor 38, second chain 39, second motor 391, fixed blade 392, moving blade 393, guide rail 394, sliding table 395, third motor 396, position adjusting module 4, double-shaft stepping motor 41, belt 42, movable rod 43. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below with reference to the drawings and specific examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0036] As shown in Figures 1-9 , a mechanical car for topping pepper gantry, including support module 1 of gantry structure, support module 1 moves between the ridge of the field through movement module 2, support module 1 is internally provided with topping module 3, and the upward and downward movement of the topping module 3 is realized through the position adjusting module 4 provided on the support module 1. In the present embodiment, the width of the gantry of the support module 1 is matched with the ridge width of the pepper planting, and the height is higher than the height of the pepper seedlings at different heights in the topping period.

[0037] Among them, as shown in Figure 4 , Figure 8 and Figure 9 , the topping module 3 includes a topping platform 31, and a plurality of groups of roller groups 32 are arranged in parallel below the topping platform 31. Each roller group 32 includes two parallel rollers 33, and the rollers 33 are movably installed below the topping platform 31 through L-shaped supporting rods 34. A gap is left between the two rollers 33 for the plant to pass through. In each roller group 32, one roller 33 is provided with a first sprocket 35 on one side of the topping platform 31 to drive the roller 33 to rotate, and the other roller 33 is provided with a second sprocket 36 on the other side of the topping platform 31 to drive the roller 33 to rotate. A first chain 37 matched with the first sprocket 35 and a first motor 38 driving the first sprocket 35 to rotate are arranged on one side of the topping platform 31, and a second chain 39 matched with the second sprocket 36 and a second motor 391 driving the second sprocket 36 to rotate are arranged on the other side of the topping platform 31. The first motor 38 and the second motor 391 make the two rollers 33 in the roller group 32 rotate in opposite directions, and the friction winding effect in the roller group 32 is realized by transmitting opposite rotating motion, and the lateral branches can also be discharged in the opposite direction to avoid cutting damage to the plant. Specifically, the rollers 33 start to rotate under the drive of the chain wheels staggered on both sides, and the adjacent two rollers 33 rotate in different directions, thereby generating an upward winding movement trend between the two rollers 33.

[0038] A fixed blade 392 corresponding to each roller 33 is arranged below the topping platform 31 and above the roller group 32. The fixed blade 392 is installed on the support rod 34 and has the same length direction as the roller 33. The fixed blade 392 is arranged above one roller 33 in the roller group 32 and has a blade edge facing the gap between two rollers 33 in the roller group 32. Two movable blades 393 parallel to the fixed blade 392 are arranged below the fixed blade 392. The two ends of the movable blade 393 are movably installed on two parallel guide rails 394. Each movable blade 393 is provided with a third motor 396 for driving the movable blade 393 to move back and forth. The movable blade 393 and the fixed blade 392 above the roller 33 are coincident in different planes, and the shearing force generated thereby can cut off the pepper seedlings.

[0039] In combination Figure 5 and Figure 6 As shown in Figs. 1-3, the movement module 2 includes movement chassis 21 arranged below both ends of the support module 1. Each movement chassis 21 is provided with two traveling wheels 22 below. Each traveling wheel 22 is provided with a stepping motor 23 for driving the rotation thereof. The movement module 2 in combination with the frame structure of the gantry realizes the movement of the device between the ridges in the field. In this embodiment, considering the torque required during movement, the stepping motor 23 is selected as a 57BYGH82H stepping motor provided with a closed-loop control driving module. The stepping angle is 1.8°, the holding torque is 230 N·cm, the maximum output torque is 2.7 N·m, and the output torque meets the requirements of the device. At the same time, the stepping motor 23 is driven by a closed-loop control module to ensure the accuracy of operation. The traveling wheel 22 is selected as a solid rubber load wheel with an outline diameter of 180 mm. The traveling wheel 22 is coupled to the output shaft of the stepping motor 23 by a key groove top pin fixing method. The maximum load is 200 kg, which meets the requirements of the device.

[0040] The moving chassis 21 comprises an upper bottom plate 24 installed at the bottom of the support module 1 and a lower bottom plate 25 installed above the two traveling wheels 22, a one-way freewheel 26 and a limiting plate 27 capable of limiting the rotation direction of the one-way freewheel 26 are arranged between the upper bottom plate 24 and the lower bottom plate 25, the limiting plate 27 is provided with a plurality of vertical limiting grooves, the limiting plate 27 is installed below the upper bottom plate 24, the one-way freewheel 26 is installed on a sleeve base 29 through a freewheel sleeve 28, the sleeve base 29 is installed on the lower bottom plate 25 through a bearing rotary table 291, which plays an auxiliary steering function and controls the one-way steering and the overall bearing function of the upper device, in this embodiment, the overall weight of the upper device is about 25 Kg, the upper bottom plate 24 and the lower bottom plate 25 with a thickness of 3 mm and the bearing rotary table 291 between the two bottom plates, a single one can bear 25 Kg, one is installed on each side, the rotary table adopts a simulated cloud table structure and can rotate freely. In use, the device as a whole adopts four-wheel drive control, the four traveling wheels 22 are driven by closed-loop 57 stepping motors, and the steering process is as follows: when the device moves to the top of the ridge, one side of the traveling wheel 22 is braked, and the other side of the traveling wheel 22 keeps moving until the device completes 180° steering, the braking side is bearing and passively rotating, at the same time, through the engagement of the positioning groove on the limiting plate 27 of the upper bottom plate 24 and the one-way freewheel 26, stable rotation and one-way rotation are realized, which avoids the route deviation caused by backstroke due to resistance in subsequent straight-line movement. Specifically, when the device steers, one side is braked and the other side is driven, the upper bottom plate 24 rotates relative to the lower bottom plate 25 on the braking side, the positioning groove on the limiting plate 27 is engaged with the one-way freewheel 26, the braking side one-way freewheel 26 is rotated, and the driving side one-way freewheel 26 is limited to avoid the relative rotation of the lower bottom plate 25 and the upper bottom plate 24 on the driving side, when rotating 180°, straight-line movement is performed, at this time, due to the limitation of the one-way freewheel 26, the upper and lower bottom plates on both sides can avoid the straight-line movement deviation caused by backstroke.

[0041] In combination Figure 7As shown, the position adjusting module 4 includes a double-shaft stepper motor 41 arranged at the top, the output shafts at both ends of the double-shaft stepper motor 41 are connected with a belt 42 through synchronous pulleys, the other end of the belt 42 is installed on a synchronous pulley which is installed on the lower part of the supporting module 1 through a movable rod 43, both ends of the topping module 3 are fixed on the belt 42, the topping module 3 is driven to move up and down through the belt 42, the belt transmission structure ensures the smooth up-and-down movement of the topping module 3, and has good position control capability, so that the topping module 3 can be accurately lifted to the required height and positioned, in the embodiment, a two-stage reducer is added to the output shaft ends of the double-shaft stepper motor 41, and it is calculated that a reducer with a reduction ratio of 16 can meet the requirements, specifically, the output shafts at both ends of the double-shaft stepper motor 41 are connected with the input ends of the two-stage reducers through clamping type fixed couplings, the output shafts of the two-stage reducers are connected with extension shafts through couplings, the two ends of the shafts are supported by bearing seats, the synchronous pulleys are installed on the extension shafts, the synchronous pulleys are fixed on the shafts by fastening screws, and the other synchronous pulley is installed directly below, and the belt 42 is connected between the two synchronous pulleys.

[0042] In addition, in the embodiment, the four corners of the topping module 3 are installed on the portal column 11 of the supporting module 1 through four sliding tables 395, the guiding effect cooperates with the belt 42 to realize the stability of the up-and-down movement of the topping module 3, and the portal column 11 of the supporting module 1 is also provided with a blocking rod 12 for placing the topping and falling of the topping module 3.

[0043] Finally, the embodiment also includes an intelligent control and recognition module, which recognizes the peppers through the recognition detection part and controls the operation of the topping mechanical vehicle through the control part, specifically, in the embodiment, the control part adopts a Mega2560 main control board, which is used for controlling the whole device, and the Arduino Mega 2560 is an open source hardware platform based on the ATmega2560 microcontroller, including the following hardware:

[0044] Rich I / O ports: The Mega 2560 has 54 digital I / O ports (of which 15 can be used as PWM output), 16 analog inputs, and 4 hardware serial ports. This makes the Mega 2560 very suitable for complex projects that require a large number of I / O ports;

[0045] More memory: The Mega 2560 has 256KB of flash memory, 8KB of SRAM, and 4KB of EEPROM. This is more memory than many other Arduino boards (such as the Uno) provide, allowing the Mega 2560 to run larger and more complex code;

[0046] Compatibility: The Mega 2560 is compatible with most Arduino Uno shields and libraries, meaning you can leverage a large amount of existing open-source code and hardware extensions;

[0047] USB Interface: The Mega 2560 has a built-in USB interface that can be used for programming and serial communication, making it easy to connect and communicate with a computer.

[0048] Therefore, using the Mega 2560 can achieve efficient and simple control of the entire device.

[0049] The recognition and detection part connects a depth camera (Intel RealSense) to the Raspberry Pi 5, and on the Raspberry Pi, libraries are installed to process images and depth data, including OpenCV and RealSense SDK, which are used to obtain and process depth data. Next, machine learning is used to recognize the top buds of the bell pepper, and a deep learning model (convolutional neural network) is trained to recognize the pepper. By collecting some pictures of peppers as training data, the model is then trained using these data, and finally a weight file is obtained.

[0050] The depth camera can provide depth information for each pixel, and by using this information, the distance of the pepper can be calculated. By finding the depth values of the pixels identified as peppers, the average or median of these depth values is calculated to obtain the approximate distance of the pepper.

[0051] Finally, the Raspberry Pi communicates with the Mega 2560 through the serial port, and the pepper recognition data and detection distance data are transmitted to the main control board, which processes the data and controls the overall device to perform precise topping work.

[0052] At present, small-sized peppers are mainly planted in ridges, with a ridge width of 600-650mm and two rows planted per ridge. The height of the small-sized pepper seedlings is less than 500mm, and in this embodiment, the height of the gantry of the support module 1 is 1000mm, the side width is 170mm, and the distance between the two sides is 650mm. This embodiment is mainly aimed at peppers planted in a standard manner in a greenhouse, and the planting row spacing of peppers in a greenhouse is generally 0.7-1.2m, and the planting plant spacing is within the range of 0.2-0.4m.

[0053] When this embodiment is working, it is combined with Figure 10As shown, the left and right traveling wheels 22 of the movement module 2 are respectively in the furrows between the two ridges, driving the whole device to move forward, at this time, the one-way freewheel 26 in motion restricts the two traveling wheels 22 to rotate in one direction only, preventing the direction from being deflected during operation. The depth camera detects the distance between the top of the pepper seedling and the height of the topping module 3 in real time, and after the device travels a working distance, the control part of the device drives the position adjusting module 4 to control the topping module 3 above the device to descend to an appropriate height according to the distance data fed back by the depth camera in real time.

[0054] When the topping module 3 descends to a certain distance, the first motor 38 and the second motor 391 drive the chain wheel transmission system, and the roller 33 starts to rotate, the two side chain wheels rotate in the same direction, so that the adjacent two rollers 33 rotate in opposite directions, and then the friction between the two rollers 33 and the leaves forms an upward rolling trend. At the same time, the third motor 396 drives the moving blade 393 to make reciprocating motion above the roller 33. When the topping module 3 descends to the point where the roller 33 contacts the top of the pepper seedling, the friction between the gap of the roller 33 and the leaves of the pepper seedling will roll the top of the pepper seedling into the gap, and the side branches will be repelled by the rotation of the roller 33. With the further descent of the topping module 3, the moving blade 393 and the fixed blade 392 will cut off the top of the pepper seedling passing through the gap of the roller 33, realizing the topping operation of the pepper seedling. Then the roller 33 is reversed, the position adjusting module 4 controls the topping module 3 to rise, and the movement module 2 continues to move forward.

[0055] Repeat the above steps until the topping operation of the pepper seedlings in one ridge is completed. When the device completes the topping operation of the pepper seedlings in one ridge, the one-way freewheel 26 on one side of the device is locked at the end of the ridge, and the other side continues to move forward, thereby realizing the steering and ridge changing operation of the device.

[0056] The present application is a pepper gantry topping mechanical vehicle, which applies the traditional gantry structure to the pepper topping device, improves the working environment adaptability of the device, can adapt to different planting modes in various parts of the country, realizes the topping operation of small peppers with different heights, different row spacings and different plant spacings, combines the chain wheel with the roller 33, designs a topping module, realizes high-efficiency cutting, combines the one-way freewheel 26 and the limiting plate 27, designs a one-way steering mechanism, so that the device can continuously perform the topping operation between different ridges, realizes the friction rolling effect in the roller group 32 through the transmission of opposite rotating motions, and also can discharge the side branches in the opposite direction, avoiding cutting injury to the plants, reduces the labor intensity of manual operation, improves the topping efficiency, and promotes the development of agricultural mechanization.

[0057] It should be noted that the description of the technical solutions set forth above is exemplary, the present specification can be embodied in different forms, and should not be interpreted as being limited to the technical solutions set forth herein. On the contrary, providing these descriptions will make the present disclosure be thorough and complete, and will fully convey the scope disclosed by the present specification to those skilled in the art. In addition, the technical solutions of the present application are only limited by the scope of the claims.

[0058] For those skilled in the art to which the present application belongs, without departing from the concept of the present application, a number of simple deductions or substitutions can also be made, and the above structures should be regarded as belonging to the protection scope of the present application.

Claims

1. A gantry crane for topping up chili peppers, characterized in that: The support module (1) includes a gantry structure. The support module (1) moves between the ridges in the field through a motion module (2). The support module (1) is equipped with a topping module (3). The topping module (3) moves up and down through a position adjustment module (4) located on the support module (1). The topping module (3) includes a topping platform (31). Several sets of roller groups (32) are arranged parallel below the topping platform (31). Each roller group (32) includes two parallel rollers (33). The rollers (33) are movably installed below the topping platform (31) via L-shaped support rods (34). A gap is left between the two rollers (33) for the plant to pass through. In each roller group (32), one roller (33) is provided with a first sprocket (35) on one side of the topping platform (31) to drive the roller (33) to rotate. The other roller (33) is located on the side of the topping platform (31). The top-mounting platform (31) is provided with a second sprocket (36) on the other side to drive the roller (33) to rotate. The top-mounting platform (31) is provided with a first chain (37) matching the first sprocket (35) and a first motor (38) driving the first sprocket (35) to rotate on one side. The top-mounting platform (31) is provided with a second chain (39) matching the second sprocket (36) and a second motor (391) driving the second sprocket (36) to rotate on the other side. The first motor (38) and the second motor (391) make the two rollers (33) in the roller group (32) rotate in opposite directions. Below the top-applying platform (31) and above the roller group (32), there is a fixed blade (392) corresponding to the roller group (32). The fixed blade (392) is in the same length direction as the roller (33). The fixed blade (392) is located above one of the rollers (33) in the roller group (32), and its blade edge faces the gap between the two rollers (33) in the roller group (32). Below the top-applying platform (31) and above the fixed blade (392), there is also at least one movable blade (393) parallel to the fixed blade (392). The two ends of the movable blade (393) are respectively movably mounted on two parallel guide rails (394). Each movable blade (393) is provided with a third motor (396) to drive its movement.

2. The chili pepper gantry top-mounting machine as described in claim 1, characterized in that: The motion module (2) includes a motion chassis (21) located below both ends of the support module (1). Each motion chassis (21) has two traveling wheels (22) below it, and each traveling wheel (22) is equipped with a stepper motor (23) that drives it to rotate.

3. The chili pepper gantry top-mounting machine as described in claim 2, characterized in that: The motion chassis (21) includes an upper base plate (24) installed at the bottom of the support module (1) and a lower base plate (25) installed above the two travel wheels (22). A one-way flywheel (26) and a limiting plate (27) that can limit the rotation direction of the one-way flywheel (26) are provided between the upper base plate (24) and the lower base plate (25). The limiting plate (27) has several vertical limiting grooves. The limiting plate (27) is installed below the upper base plate (24). The one-way flywheel (26) is installed on the sleeve base (29) through the flywheel sleeve (28). The sleeve base (29) is installed on the lower base plate (25) through the load-bearing rotating platform (291).

4. The chili pepper gantry top-mounting machine as described in claim 1, characterized in that: The position adjustment module (4) includes a dual-axis stepper motor (41) located at the top. The output shafts at both ends of the dual-axis stepper motor (41) are connected to a belt (42) via a synchronous pulley. The other end of the belt (42) is mounted on the synchronous pulley, which is mounted on the lower part of the support module (1) via a movable rod (43). Both ends of the top-mounting module (3) are fixed on the belt (42), and the top-mounting module (3) is driven to move up and down by the belt (42).

5. The chili pepper gantry top-mounting machine as described in claim 4, characterized in that: The four corners of the top-mounting module (3) are mounted on the gantry column (11) of the support module (1) via four sliding tables (395).

6. The chili pepper gantry top-mounting machine as described in claim 4, characterized in that: The gantry column (11) of the support module (1) is also provided with a barrier bar (12) for placing the top-hitting module (3) to hit the top and fall.

7. The chili pepper gantry top-mounting machine as described in claim 1, characterized in that: It also includes an intelligent control and recognition module, which identifies chili peppers through the recognition and detection part and controls the operation of the topping machine through the control part.

8. The chili pepper gantry top-mounting machine as described in claim 1, characterized in that: The width of the support module (1) is matched with the width of the ridge for chili planting, and its height is higher than the height of chili seedlings of different heights during the topping period.

Images