A hood-cutting corn inter-row weeding robot end effector

Abstract

The present invention discloses a cover-cutting type corn row weeding robot end effector, comprising a seedling cover and anti-cutting mechanism, a rotary cutting mechanism, a weeding drive mechanism, and an end effector fixing frame. The seedling cover and anti-cutting mechanism is fixed inside the end effector fixing frame, the rotary cutting mechanism is installed on the outside of the end effector fixing frame, and one side of the end effector fixing frame is connected to the weeding drive mechanism. The seedling cover and anti-cutting mechanism comprises a seedling cover and anti-cutting motor, a rotary cover connecting piece, an anti-cutting rotary cover, an anti-cutting fixed disc, an anti-cutting rotary disc, and a telescopic opening and closing mechanism. The present invention adopts the above-mentioned cover-cutting type corn row weeding robot end effector, which can realize the weed cleaning work between corn rows through one operation or one action, reduces unnecessary energy loss, improves weed cleaning efficiency, and is beneficial to crop yield increase; reduces the possibility of adjacent corn plants being damaged by the weeding knife, and reduces the seedling injury rate.

Description

Technical Field

[0001] The present invention relates to the field of agricultural robots, in particular to an end effector of a hood-cutting corn inter-row weeding robot. Background Art

[0002] Agricultural production has long been severely impacted by weeds, which compete with crops for sunlight, water, and nutrients, leading to reduced crop yield and quality, and significant losses to the agricultural economy. Corn, a globally important food crop, is particularly susceptible to weed disruption during its growing season. Traditional weed control methods require significant manpower, are inefficient, and can cause crop damage. Consequently, the development of robotic corn weeders has become a highly sought-after topic. These robots can autonomously perform weeding operations in confined corn fields, reducing manual labor, improving weed control efficiency, and reducing reliance on pesticides, all in line with the requirements of sustainable agricultural development.

[0003] Compared to traditional manual and chemical weeding, mechanical weeding is more efficient, capable of completing large-scale weeding operations in a short period of time. It also reduces reliance on pesticides, helps reduce environmental pollution, and meets the requirements of sustainable agricultural development. However, the design of a corn weeding robot faces numerous challenges. First, the robot must precisely perform weeding operations in the confined corn field, ensuring effective weed removal while minimizing damage to the corn plants. This places high demands on the robot's operational performance. Second, existing end-effectors struggle to simultaneously weed between rows and plants, increasing the number of repetitive operations required of the weeding robot. Therefore, a rationally designed end-effector for a corn weeding robot is crucial. An optimized end-effector design ensures precise weeding in the confined corn field, ensuring effective weed removal while minimizing damage to the corn plants. Such an optimized design can effectively improve weeding operations in corn fields, increase agricultural production efficiency, reduce labor intensity, and mitigate negative environmental impacts, thereby promoting the advancement of agricultural mechanization. Summary of the Invention

[0004] The purpose of the present invention is to provide a hood-cutting corn row weeding robot end effector, which can complete the weeding work between corn rows in one operation or one action, reducing unnecessary energy loss, improving weed cleaning efficiency, and facilitating crop yield increase; reducing the possibility of adjacent corn plants being damaged by the weeding blade, and reducing the seedling injury rate.

[0005] The present invention provides an end effector of a cover-and-cut type corn row weeding robot, comprising a seedling cover and anti-cutting mechanism, a rotary cutting mechanism, a weeding drive mechanism and an end effector fixing frame. The seedling cover and anti-cutting mechanism is fixed inside the end effector fixing frame, the rotary cutting mechanism is installed on the outside of the end effector fixing frame, and one side of the end effector fixing frame is connected to the weeding drive mechanism. The seedling cover and anti-cutting mechanism comprises a seedling cover and anti-cutting mechanism, a rotary cover connecting piece, an anti-cutting rotary cover, an anti-cutting fixed disc, an anti-cutting rotary disc and a telescopic opening and closing mechanism. The seedling cover and anti-cutting drive motor are connected to the anti-cutting rotary cover through the rotary cover connecting piece. The anti-cutting rotary cover and the anti-cutting rotary disc are integrally formed. The anti-cutting fixed disc is located at the bottom end of the seedling cover and anti-cutting mechanism, and the telescopic opening and closing mechanism is limited between the anti-cutting fixed disc and the anti-cutting rotary disc.

[0006] Preferably, the seedling cover drive motor is a forward and reverse reduction motor, and the anti-cut rotating cover rotates as the output shaft of the seedling cover drive motor rotates.

[0007] Preferably, the telescopic opening and closing mechanism consists of an opening and closing mechanism connecting shaft, a cotter pin, an opening and closing mechanism baffle and three sliding flange bearings; the top of the telescopic opening and closing mechanism is formed by the flange edge of the uppermost sliding flange bearing cooperating with the groove of the anti-cut rotating disc, the cotter pin limits the axial position of the flange edge, and the bottom end of the telescopic opening and closing mechanism is limited axially by the shaft head below the opening and closing mechanism connecting shaft and the anti-cut fixed disc.

[0008] Preferably, the opening and closing mechanism connecting shaft of the telescopic opening and closing mechanism cooperates with the eccentric notches on the anti-cutting fixed disc and the anti-cutting rotating disc to form a translation and rotation pair.

[0009] Preferably, the notches on the anti-cutting fixed disc and the anti-cutting rotating disc are linear notches or curved notches.

[0010] Preferably, the inner diameters of the anti-cutting fixed disc and the anti-cutting rotating disc are designed to be 50 to 300 mm.

[0011] Preferably, the rotary cutting mechanism includes a weeding driven gear, a gear fixed bearing, a driving rotary connector, an umbrella-shaped support connecting pipe, a square tube connector, a driving rotary wheel and a segmented telescopic weeding knife. The segmented telescopic weeding knife is in the form of a single-segment knife or a multi-segment knife. The segmented telescopic weeding knife is divided into a fixed weeding knife and a telescopic weeding knife.

[0012] Preferably, the weeding drive mechanism includes a weeding motor fastener, a weeding drive gear, and a weeding drive motor. The weeding drive motor is fixed to the weeding motor fastener through a bolt group, the drive gear connecting shaft is fixed to the weeding drive gear through a bolt group, and the output shaft of the weeding drive motor is connected to the drive gear connecting shaft through a coupling.

[0013] Preferably, the end effector fixing frame includes a mechanical arm end fastener, a seedling cover motor fixing housing, a seedling cover and anti-cutting mechanism housing, a contoured cam connector, a row-plant gap contoured cam and a weeding knife limiting slide.

[0014] Therefore, the present invention adopts the above-mentioned hood-cutting corn row weeding robot end effector, which can complete the weeding work between corn rows through one operation or one action, reducing unnecessary energy loss, improving weed cleaning efficiency, and being beneficial to crop yield increase; reducing the possibility of adjacent corn plants being damaged by the weeding knife, and reducing the seedling injury rate.

[0015] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural schematic diagram showing the positions of key components of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0017] Figure 2 This is a structural schematic diagram of a seedling shielding and anti-cutting mechanism of an end effector of a shielding and cutting type corn inter-row weeding robot according to the present invention;

[0018] Figure 2 (a) is a schematic diagram of the structure and expansion limit of the seedling shielding and anti-cutting mechanism of the end effector of a shielding and cutting corn inter-row weeding robot according to the present invention;

[0019] Figure 2 (b) is a partial cross-sectional view of the contraction process of the seedling shielding and anti-cutting mechanism of the end effector of the shielding and cutting type corn inter-row weeding robot of the present invention;

[0020] Figure 2 (c) is a schematic diagram of the structure and contraction limit of the seedling shielding and anti-cutting mechanism of the end effector of a shielding and cutting corn inter-row weeding robot according to the present invention;

[0021] Figure 3 This is a schematic structural diagram of the telescopic opening and closing mechanism of the end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0022] Figure 3 (a) is a schematic structural diagram of a telescopic opening and closing mechanism of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0023] Figure 3 (b) is a side view of the telescopic opening and closing mechanism of the end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0024] Figure 4This is a schematic diagram of the rotary cutting mechanism of the end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0025] Figure 4 (a) is a schematic structural diagram of a rotary cutting mechanism of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0026] Figure 4 (b) is a front view of the rotary cutting mechanism of the end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0027] Figure 5 This is a schematic structural diagram of a segmented telescopic weeding blade of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0028] Figure 5 (a) is a schematic diagram of the structure of a segmented telescopic weeding blade and its elongation limit of the end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0029] Figure 5 (b) is a schematic diagram of the structure and shortening limit of the segmented telescopic weeding blade of the end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0030] Figure 5 (c) is a schematic structural diagram of a segmented telescopic weeding blade telescopic unit of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0031] Figure 6 A partial cross-sectional view of a weeding drive mechanism of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0032] Figure 7 This is a schematic structural diagram of an end effector fixing frame of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0033] Figure 7 (a) is a schematic structural diagram of an end effector fixing frame of an end effector of a hood-cutting corn inter-row weeding robot according to the present invention;

[0034] Figure 7 (b) is a top view of the end effector fixing frame of the end effector of the hood-cutting corn row-to-row weeding robot of the present invention;

[0035] Figure 8 (a) and (b) are cross-sectional views of the positions and assembly relationships between the seedling shielding and anti-cutting mechanism, the rotary cutting mechanism, and the end effector fixing frame of the end effector of a shielding and cutting corn inter-row weeding robot of the present invention;

[0036] Figure 9 (a), (b), (c), and (d) are schematic diagrams of the motion process of the end effector of a hood-cutting corn row-to-row weeding robot according to the present invention.

[0037] Reference numerals

[0038] 1. Seedling cover anti-cutting mechanism; 2. Rotating cutting mechanism; 3. Weeding drive mechanism; 4. End effector fixing frame; 101. Seedling cover drive motor; 102. Rotating cover connector; 103. Anti-cut rotating cover; 104. Anti-cut fixed disc; 105. Anti-cut rotating disc; 106. Telescopic opening and closing mechanism; 107. Opening and closing mechanism connecting shaft; 108. Split pin; 109. Sliding flange bearing; 110. Opening and closing mechanism baffle; 201. Weeding driven gear; 202. Gear fixing bearing; 203. Driving rotating connector; 204. Umbrella-shaped support connecting pipe; 205. Square tube connector; 206. Driving rotary disc; 207. Segmented telescopic Weeding blade; 208, telescopic single-unit control optical axis; 209, telescopic blade body; 210, telescopic single-unit limit slider; 211, fixed hollow blade body; 212, blade body fixing column; 213, wheel disc fixing nut; 214, wheel disc fixing bolt; 215, rolling flange bearing; 301, drive gear connecting shaft; 302, weeding drive gear; 303, coupling; 304, weeding drive motor; 305, weeding motor fastener; 401, mechanical arm end fastener; 402, seedling cover motor fixing housing; 403, seedling cover anti-cutting mechanism housing; 404, profiling cam connector; 405, weeding blade limit slide; 406, row-plant gap profiling cam; DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0040] Unless otherwise defined, technical or scientific terms used in the present invention shall have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0041] Example 1

[0042] like Figures 1-9 As shown, the present invention provides an end effector of a hood-cutting type corn row-to-row weeding robot, comprising a seedling-covering and anti-cutting mechanism 1, a rotary cutting mechanism 2, a weeding drive mechanism 3 and an end effector fixing frame 4. The seedling-covering and anti-cutting mechanism 1 is fixed inside the end effector fixing frame 4, the rotary cutting mechanism 2 is installed on the outside of the end effector fixing frame 4, and one side of the end effector fixing frame 4 is connected to the weeding drive mechanism 3.

[0043] The seedling covering and anti-cutting mechanism 1 includes a seedling covering drive motor 101, a rotating cover shell connector 102, an anti-cutting rotating cover shell 103, an anti-cutting fixed disc 104, an anti-cutting rotating disc 105 and a telescopic opening and closing mechanism 106. The seedling covering drive motor 101 is connected to the anti-cutting rotating cover shell 103 through the rotating cover shell connector 102. The anti-cutting rotating cover shell 103 and the anti-cutting rotating disc 105 are integrally formed. The anti-cutting fixed disc 104 is located at the bottom end of the seedling covering and anti-cutting mechanism 1, and the telescopic opening and closing mechanism 106 is limited between the anti-cutting fixed disc 104 and the anti-cutting rotating disc 105.

[0044] The seedling cover drive motor 101 is a forward and reverse reduction motor, and the anti-cut rotating cover shell 103 rotates as the output shaft of the seedling cover drive motor 101 rotates. n1 is the output speed of the motor shaft of the seedling cover drive motor 101. Since the anti-cut fixed disc 104 is fixed in space and rotation direction, under the action of the rotation of the anti-cut rotating disc 105, the telescopic opening and closing mechanism 106 will make a predetermined movement along the skewed notches on the anti-cut fixed disc 104 and the anti-cut rotating disc 105, that is: when the seedling cover drive motor 101 rotates counterclockwise, the telescopic opening and closing mechanism 106 will contract along the notch toward the center, and the surrounding area will decrease; conversely, when the seedling cover drive motor 101 rotates clockwise, the telescopic opening and closing mechanism 106 will expand outward along the notch, and the surrounding area will increase, thereby realizing the movement of surrounding and protecting the corn plants and separating from the corn plants.

[0045] The telescopic opening and closing mechanism 106 consists of an opening and closing mechanism connecting shaft 107, a cotter pin 108, an opening and closing mechanism baffle 110 and three sliding flange bearings 109; the top of the telescopic opening and closing mechanism 106 is matched with the flange edge of the topmost sliding flange bearing 109 and the notch of the anti-cut rotating disc 105, and the flange edge of the flange bearing 109 is axially limited by the cotter pin 108, and the bottom end of the telescopic opening and closing mechanism 106 is axially limited by the shaft head below the opening and closing mechanism connecting shaft 107 and the anti-cut fixed disc 104, and the opening and closing mechanism connecting shaft 107 of the telescopic opening and closing mechanism 106 and the eccentric notches on the anti-cut fixed disc 104 and the anti-cut rotating disc 105 form a translational and rotational pair.

[0046] The notches on the anti-cutting fixed disc 104 and the anti-cutting rotating disc 105 are linear notches or curved notches.

[0047] The number of notches on the telescopic opening and closing mechanism 106, the anti-cutting fixed disc 104 and the anti-cutting rotating disc 105 is equal, which is m (m≥3).

[0048] Taking into account the average morphological dimensions of corn plants in the three to five-leaf stage, that is, the average values ​​of length, width, height, volume, etc., the height H of the seedling cover and anti-cutting mechanism 1 is designed to be 80 to 300 mm, and the inner diameter d of the anti-cutting fixed disc 104 and the anti-cutting rotating disc 105 is designed to be 50 to 300 mm.

[0049] The rotary cutting mechanism 2 comprises a driven weeding gear 201, a fixed gear bearing 202, a driving rotary connector 203, an umbrella-shaped support connecting tube 204, a square tube connector 205, a driving rotary disc 206, and a segmented telescopic weeding blade 207. At the top, two opposed fixed gear bearings 202 sandwich the driven weeding gear 201 in the middle. Below the lower fixed gear bearing 202 is the driving rotary connector 203. These are secured together by bolts running from bottom to top and fitted onto the end fastener 401 of the robotic arm. The segmented telescopic weeding blade 207 at the bottom is secured to the driving rotary disc 206 via a blade body fixing column 212 and a nut pair. The driving rotary wheel 206 is clamped between two upper and lower opposing rolling flange bearings 215 by the tightening action of the wheel fixing nut 213 and the wheel fixing bolt 214. Moreover, the driving rotary wheel 206 is clamped vertically above the seedling protection mechanism housing 403 and below the protection fixing disc 104 by the clamping action of the flange edge structure of multiple sets of opposing rolling flange bearings 215 over the entire circumference. Figure 4 As shown, a plurality of square tube connectors 205 are fixedly connected to the driving rotary disc 206, and the square tube connectors 205 are used to fix the rib-shaped support connecting tube 204 and the driving rotary disc 206 together. The connector above the rib-shaped support connecting tube 204 is fixedly connected to the connector below the driving rotating connector 203, thus achieving an integral connection. When the rotary cutting mechanism 2 rotates counterclockwise, the segmented telescopic weeding blade 207 rotates, and the telescopic unit control optical axis 208 slides along the weeding blade limit slide 405 on the row-to-plant gap profiling cam 406. The telescopic blade body 209 of the segmented telescopic weeding blade 207 passively retracts and retracts, enabling the weeds around the corn plants to be profiled and cut, thus achieving the weed clearing function between rows.

[0050] The segmented telescopic weeding knife 207 is in the form of a single-segment knife or a multi-segment knife. The segmented telescopic weeding knife 207 is divided into a fixed weeding knife and a telescopic weeding knife.

[0051] The fixed weeding knife is composed of a fixed hollow knife body 211 and a knife body fixed column 212. The top of the knife body fixed column 212 is connected to the driving rotary wheel 206, and the bottom end is welded to the fixed hollow knife body 211; the telescopic weeding knife is composed of a cotter pin 108, a sliding flange bearing 109, a telescopic monomer control optical axis 208, a telescopic knife body 209 and a telescopic monomer limiting slider 210. The top of the telescopic monomer control optical axis 208 passes through the linear notch on the driving rotary wheel 206 from bottom to top through the limiting effect of the cotter pin 108 and the sliding flange bearing 109, and is installed on the weeding knife limiting slide 405 of the row plant gap profiling cam 406. The bottom end of the telescopic monomer control optical axis 208 is welded to the telescopic knife body 209, and the telescopic monomer limiting slider 210 is welded below the telescopic knife body 209. The telescopic monomer limiting slider 210 mainly plays the role of limiting the maximum and minimum cutting lengths of the segmented telescopic weeding knife 207.

[0052] The blade fixing column 212 and the telescopic unit control optical axis 208 are movable in the vertical direction, that is, in the axial direction. The fixed aperture on the driving rotary wheel 206 is slightly larger than the axial diameter of the blade fixing column 212, and the two are clearance-fitted.

[0053] When the end effector is in the non-operating state, the blade fixing column 212 and the telescopic unit control optical axis 208 will slide to the bottom under the action of gravity. However, when the entire end effector moves downward, that is, the seedling shielding and anti-cutting mechanism performs the seedling shielding operation, the segmented telescopic weeding blade will first touch the ground, and then the blade fixing column 212 and the telescopic unit control optical axis 208 will pass through the hole of the drive rotary wheel 206 and move upward in a horizontal direction. In order to not hinder the seedling shielding and anti-cutting mechanism from shielding the seedlings in the vertical direction;

[0054] After the seedling operation, the entire end effector needs to move upward. At this time, the blade fixing column 212 and the telescopic monomer control optical axis 208 will naturally droop. At this time, the seedling operation has been completed, and the drooping will not affect the rotary grass cutting operation.

[0055] The segmented telescopic weeding blade 207 is designed as a single-segment blade or a multi-segment blade (number of segments N ≥ 2). Taking into account the different situations of the weeding blade being inserted into the soil or not, and the different compactness of the soil, different blades are used for weeding operations. The segmented telescopic weeding blade 207 is designed in various forms such as a straight blade, an L-shaped blade, a V-shaped blade, an arc blade, a spiral blade, or a curve / curved surface blade. The rotary cutting mechanism 2 is equipped with p (p ≥ 1) segmented telescopic weeding blades 207.

[0056] The diameter r1 of the inscribed circle of the fixed hollow blade body 211 is 0 to 300 mm, the vertical distance h between the segmented telescopic weeding blade 207 and the driving rotary wheel 206 is 0 to 300 mm, the length l1 of the fixed hollow blade body 211 is designed to be 50 to 500 mm, and the length l2 of the telescopic blade body 209 is designed to be 50 to 500 mm.

[0057] The weeding drive mechanism 3 includes a weeding motor fastener 305, a weeding drive gear 302, and a weeding drive motor 304. The weeding drive motor 304 is fixedly connected to the weeding motor fastener 305 via a bolt assembly. The drive gear connecting shaft 301 is fixedly connected to the weeding drive gear 302 via a bolt assembly. The output shaft of the weeding drive motor 304 is connected to the drive gear connecting shaft 301 via a coupling 303. The direction and speed of the weeding drive gear 302 are ensured to be consistent with the direction and output speed of the output shaft of the weeding drive motor 304.

[0058] The end effector mounting bracket 4 includes a mechanical arm end fastener 401, a seedling shielding motor fixing housing 402, a seedling shielding and anti-cutting mechanism housing 403, a contoured cam connector 404, a row-to-plant gap contoured cam 406, and a weeding blade limiting slide 405. The weeding drive motor 304 and the weeding drive gear 302 can also be matched by machining the shaft head of the drive gear connecting shaft 301 into a sleeve and directly fitting it onto the output shaft of the weeding drive motor 304, or by machining the weeding drive gear 302 into a gear sleeve and forming a new matching relationship with the motor shaft of the weeding drive motor 304.

[0059] The gear ratio z1:z2 between the weeding drive gear 302 and the weeding driven gear 201 is 10:1 to 1:10.

[0060] The seedling shielding drive motor 101 is fixed inside the seedling shielding motor fixed housing 402, and the anti-cutting fixed disc 104 is fixed below the row-plant gap profiling cam 406, so that the seedling shielding and anti-cutting mechanism 1 itself is fixed inside the end effector fixing frame 4.

[0061] The end effector fixing frame 4 mainly plays the role of fixing the internal seedling cover anti-cutting mechanism 1 and connecting and carrying the external rotary cutting mechanism 2. Among them, the end fastener 401 of the robot arm and the seedling cover motor fixing housing 402 are connected by bolts, such as Figure 7 As shown, the seedling covering motor fixed housing 402, the seedling covering anti-cutting mechanism housing 403 and the row-plant gap profiling cam 406 are integrally formed, and the row-plant gap profiling cams 406 on the left and right sides of the weeding knife limiting slide 405 are fixed together by multiple groups of profiling cam connectors.

[0062] The horizontal spacing L between the weeding blade limiting slide 405 on the row-plant gap profiling cam 406 CD, which also corresponds to the shortening limit position of the segmented telescopic weeding knife 207. The size parameter design mainly depends on the planting distance L of the corn plants. z , that is, L CD =k1×L z , L z The longitudinal spacing L of the weeding blade limiting slide 405 on the row-plant gap profiling cam 406 is 50-500 mm. AB The size parameter design mainly depends on the planting row distance Lh of corn plants, that is, L AB =k2×L h , L h 300~1000mm. Among them, 0≤k2≤5, k2 is the row spacing difference coefficient; the diagonal spacing L of the weeding blade limiting slide 405 on the row-plant gap profiling cam 406 EF , which also corresponds to the extension limit position of the segmented telescopic weeding knife 207. The design of its size parameters needs to take into account the planting distance L of the corn plants. z and planting row spacing L h ,Right now Where, 0≤k3≤5, k3 is the diagonal spacing difference coefficient.

[0063] According to the different agronomic conditions of corn planting in different regions, that is, different row and plant spacings, the structure and size parameters of the row-to-plant spacing spinning cam 406 suitable for the corresponding region can be designed in combination with the above parameters and calculation formula.

[0064] During the operation of the end effector of the hood-cutting corn row weeding robot, the line segment CD on the row-to-row gap profiling cam 406 always remains parallel to the line connecting the corn plants in the same row, and the line segment AB always remains perpendicular to the line connecting the corn plants in the same row.

[0065] The weeding blade limiting slideway 405 on the row-to-plant gap profiling cam 406 limits the telescopic unit control optical axis 208 of the segmented telescopic weeding blade 207 according to the slideway's trajectory. As the drive rotary disc 206 rotates, the telescopic unit control optical axis 208 rotates according to the slideway shape of the weeding blade limiting slideway 405 and reciprocates within the linear slot of the drive rotary disc 206, ensuring that the weeding blade does not contact or damage adjacent corn plants during weeding.

[0066] Therefore, the present invention adopts the above-mentioned hood-cutting corn row weeding robot end effector, which can complete the weeding work between corn rows through one operation or one action, reducing unnecessary energy loss, improving weed cleaning efficiency, and being beneficial to crop yield increase; reducing the possibility of adjacent corn plants being damaged by the weeding knife, and reducing the seedling injury rate.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A hood-cutting corn inter-row weeding robot end effector, characterized in that: The invention comprises a seedling cover and anti-cutting mechanism, a rotary cutting mechanism, a weeding drive mechanism and an end effector fixing frame. The seedling cover and anti-cutting mechanism is fixed inside the end effector fixing frame, the rotary cutting mechanism is installed on the outside of the end effector fixing frame, and one side of the end effector fixing frame is connected to the weeding drive mechanism. The seedling cover and anti-cutting mechanism comprises a seedling cover and anti-cutting drive motor, a rotary cover connecting piece, an anti-cutting rotary cover, an anti-cutting fixed disc, an anti-cutting rotary disc and a telescopic opening and closing mechanism. The seedling cover and anti-cutting drive motor are connected to the anti-cutting rotary cover through the rotary cover connecting piece. The cover shell and the anti-cut rotating disc are integrally formed, the anti-cut fixed disc is located at the bottom end of the cover seedling anti-cut mechanism, and the telescopic opening and closing mechanism is limited between the anti-cut fixed disc and the anti-cut rotating disc; the telescopic opening and closing mechanism is composed of an opening and closing mechanism connecting shaft, a cotter pin, an opening and closing mechanism baffle, and three sliding flange bearings; the top of the telescopic opening and closing mechanism is formed by the flange edge of the top sliding flange bearing cooperating with the notch of the anti-cut rotating disc, the cotter pin axially limits the flange edge, and the bottom of the telescopic opening and closing mechanism is axially limited by the shaft head below the opening and closing mechanism connecting shaft and the anti-cut fixed disc; The opening and closing mechanism connecting shaft of the telescopic opening and closing mechanism cooperates with the eccentric notches on the anti-cutting fixed disc and the anti-cutting rotating disc to form a translation and rotation pair.

2. The end effector of a hood-cutting corn row weeding robot according to claim 1, characterized in that: The seedling cover driving motor is a forward and reverse reduction motor, and the anti-cutting rotating cover shell rotates along with the rotation of the output shaft of the seedling cover driving motor.

3. The end effector of a hood-cutting corn inter-row weeding robot according to claim 1, characterized in that: The notches on the anti-cutting fixed disc and the anti-cutting rotating disc are straight-line notches or curved-line notches.

4. The end effector of a hood-cutting corn inter-row weeding robot according to claim 3, characterized in that: The inner diameter of the anti-cut fixed disc and the anti-cut rotating disc is designed to be 50~300mm.

5. The end effector of a hood-cutting corn row weeding robot according to claim 1, characterized in that: The rotary cutting mechanism includes a weeding driven gear, a gear fixing bearing, a driving rotary connecting piece, an umbrella-shaped support connecting pipe, a square tube connecting piece, a driving rotary disc and a segmented telescopic weeding blade. Two gear fixing bearings clamp the weeding driven gear in the middle, and the driving rotary connecting piece is located below the gear fixing bearing; the segmented telescopic weeding blade is fixed to the driving rotary disc through the cooperation of the blade body fixing column and the nut pair; the driving rotary disc is fastened by the disc fixing nut and the disc fixing bolt, and a plurality of square tube connecting pieces are fixed to the driving rotary disc; the square tube connecting piece connects the umbrella-shaped support connecting pipe and the driving rotary disc The rotary disc is fixed; the top of the umbrella-shaped support connecting tube is fixed to the connecting piece below the drive rotating connecting piece; the segmented telescopic weeding knife is a single-segment knife or a multi-segment knife, and the segmented telescopic weeding knife is divided into a fixed weeding knife and a telescopic weeding knife; the fixed weeding knife is composed of a fixed hollow knife body and a knife body fixed column, and the top of the knife body fixed column is connected to the drive rotary disc. The telescopic weeding knife is composed of a cotter pin, a sliding flange bearing, a telescopic monomer control optical axis, a telescopic knife body and a telescopic monomer limit slider. The bottom end of the telescopic monomer control optical axis is welded to the telescopic knife body, and the telescopic monomer limit slider is welded below the telescopic knife body.

6. The end effector of a hood-cutting corn row weeding robot according to claim 1, characterized in that: The weeding drive mechanism includes a weeding motor fastener, a weeding drive gear, and a weeding drive motor. The weeding drive motor is fixed to the weeding motor fastener through a bolt group, the drive gear connecting shaft is fixed to the weeding drive gear through a bolt group, and the output shaft of the weeding drive motor is connected to the drive gear connecting shaft through a coupling.

7. The end effector of a hood-cutting corn inter-row weeding robot according to claim 1, characterized in that: The end effector fixing frame includes the end fasteners of the robotic arm, the seedling covering motor fixing housing, the seedling covering and anti-cutting mechanism housing, the profiling cam connector, the row-plant gap profiling cam and the weeding knife limiting slide; the end fasteners of the robotic arm and the seedling covering motor fixing housing are connected by bolts, and the seedling covering motor fixing housing, the seedling covering and anti-cutting mechanism housing and the row-plant gap profiling cam are formed in one piece; the row-plant gap profiling cams on the left and right sides of the weeding knife limiting slide are fixed together by multiple groups of profiling cam connectors.

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