Novel corn castration machine

Abstract

The invention discloses a novel corn castration machine, which comprises a power chassis and a castration execution mechanism, the power chassis comprises a walking mechanism and a steering mechanism, the walking mechanism adopts a multi-motor independent driving structure, and each wheel is independently driven by a motor; an electric push rod of the steering mechanism is linked with a steering arm and a steering shaft through a steering connecting rod so as to push wheels to steer; the castration executing mechanism is accurately positioned through the tassel recognition device, and the clamping mechanism is driven by the electric telescopic mechanism to complete tassel grabbing. According to the novel corn castration machine, each wheel is driven by an independent motor, the rotating speed of each wheel is adjusted in real time according to the steering angle during steering, the minimum turning radius is reduced, and the turning flexibility is improved; the tassel recognition device of the castration executing mechanism can accurately position tassel positions, is high in grabbing stability, can adapt to tassels in various forms, effectively reduces damage to corn plants, can continuously work, effectively reduces labor cost and improves castration work efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of seed corn detasseling machines, and specifically relates to a novel corn detasseling machine with an automatic detasseling function, which can accurately identify male ears and operate efficiently. Background Art

[0002] Detasseling seed corn is a critical step in ensuring seed quality. For a long time, manual detasseling has been the primary method in domestic seed corn production. However, due to the limited effective duration of detasseling, manual work efficiency in high-temperature environments was very low, resulting in high labor intensity and labor shortages. Mechanized detasseling of corn not only reduces labor intensity, frees up labor, lowers production costs, improves efficiency, and enhances working conditions, but also enhances product quality and competitiveness in the international market. In recent years, domestic and international experts and scholars have invested heavily in the research and development of corn detasseling machines, applying them to corn detasseling technology. Traditional detasseling machines primarily use cutting and extraction methods. These methods can damage corn plants, incompletely remove tassels, are poorly adapted to crop varieties and growth stages, and incur high maintenance costs. Furthermore, traditional self-propelled corn detasseling machines often rely on hydraulic systems to control their travel and steering mechanisms. The seals in these systems are prone to wear, leading to oil leakage and crop contamination. Furthermore, installation is complex and maintenance is difficult. Therefore, a new corn detasseling machine is urgently needed to address these issues. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems of high labor intensity and low efficiency of traditional manual detasseling, as well as damage to plants, poor adaptability, and many disadvantages of the hydraulic system of traditional mechanical detasseling, and to provide a new corn detasseling machine that can achieve precise detasseling, reduce damage, improve work efficiency and equipment stability.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A novel corn detasseling machine comprises a frame, a cab, a power chassis, a detasseling actuator, a control system and a power supply system;

[0006] The frame is frame-shaped and has a front crossbeam and a rear crossbeam for carrying various functional components;

[0007] The cab is located above the frame, and an operating unit is provided in the cab for operating the detasseling machine to travel, turn and detassel operations;

[0008] The power chassis is located at the bottom of the frame and includes a walking mechanism and a steering mechanism; the walking mechanism includes multiple groups of independent motors and wheels, the motors are connected to the reducers through transmission shafts, the reducers are connected to the wheel keys, the multiple groups of independent motors drive the corresponding wheels respectively, and a lower support plate is provided on the top of the reducer; the steering mechanism includes a steering arm, an electric push rod, a steering link and a steering shaft, there are four steering arms, and the four steering arms are respectively slidably connected to the two ends of the front and rear cross beams of the frame, the electric push rod is hinged between the steering arm and the corresponding cross beam, the steering link pin is connected between the two steering arms on the left and right sides, the steering shaft is fixedly connected to the lower end of the steering arm, and the lower end of the steering shaft is fixed to the lower support plate. The steering arm is driven by the electric push rod to achieve linkage steering, which can realize front-wheel steering, four-wheel steering or crab steering, and when steering, each wheel adjusts the rotation speed in real time according to the steering angle of the vehicle body, so that the rotation speed of each wheel conforms to the steering movement state of the emasculation machine at that time.

[0009] The detasseling actuator includes an electric telescopic mechanism and a clamping mechanism; the electric telescopic mechanism is installed at the front lower part of the roof of the cab, the telescopic end of the electric telescopic mechanism is elastically connected to the clamping mechanism, and a tassel recognition device is provided at the front end of the clamping mechanism. The tassel recognition device has plant height detection and image acquisition functions, is used to accurately identify corn tassels, and feeds back the signal to the control system to control the telescopic drive mechanism to drive the clamping mechanism to accurately locate the tassel, and grasp it after identification, thereby achieving the detasseling function;

[0010] The control system comprises a central controller, a motor controller and a DC motor speed regulator, and is used for controlling the walking, steering and detasseling of the detasseling machine.

[0011] The present invention utilizes a multi-motor independent drive structure, connecting the wheels to the motors via drive shafts. Upon receiving a travel command, a central controller activates the motors through motor controllers, transmitting power via the drive shafts to the reducers, which in turn drive the wheels at a predetermined speed. An electric push rod drives the steering arm in conjunction with the steering, enabling front-wheel steering, four-wheel steering, or crab-steering. The tassel recognition device has a feedback control function. During field operation, the tassel recognition device detects the height of the corn plant and captures tassel images. This image is then processed and analyzed to determine the position of the corn tassels. The plant height and tassel position signals are then fed back to the central controller, which controls the expansion and contraction of an electric telescopic mechanism to precisely position the clamping mechanism above the tassels. The electric telescopic mechanism is controlled by the central controller. Upon receiving a signal from the tassel recognition device, the central controller activates the downward extension of the electric telescopic mechanism. As the electric telescopic mechanism extends downward, the clamping mechanism opens and, based on the identification of the tassel recognition device, positions the clamping mechanism above the tassels. The clamping mechanism then closes, clamping the tassels. The central controller controls the upward contraction of the electric telescopic mechanism to remove the tassels.

[0012] Preferably, an electric rotary motor is provided at the bottom of the rotating cab, which can rotate 360°, so that the detasseling machine does not need to turn around when changing rows in the field. It only needs to rotate the cab 180°, change the rear end of the vehicle to the front end, and then cooperate with the steering mechanism to perform crab steering to easily change rows.

[0013] Preferably, the steering mechanism further comprises a rotary encoder mounted on the rotating shaft of the steering arm for monitoring the steering angle of the rubber wheel and the steering speed of the rubber wheel during steering to prevent steering out of control due to excessive steering angular velocity.

[0014] Preferably, a wheel height profiling electric push rod is installed on the lower support plate, and the lower end of the steering shaft is connected to the wheel height profiling electric push rod, which is used to adjust the height of the detasseling machine at any time according to the growth of seed corn to perform detasseling operations.

[0015] Preferably, the clamping mechanism is a mechanical five-claw clamping mechanism, which realizes the grasping and pulling out of the tassel through the telescopic action of the telescopic drive mechanism.

[0016] Preferably, it also includes an automatic navigation device, which is arranged above the front of the roof of the cab and has precise positioning and path planning capabilities. It can perform precise navigation and operation according to a predetermined path to avoid the detasseling machine from offsetting when operating in the field.

[0017] Preferably, the power supply system adopts a hybrid power mode of a battery and a range extender. The range extender and the battery are used in conjunction to form a power supply mode in which the battery is the main power supply and the range extender is the auxiliary power supply mode. When the battery power is sufficient, the battery is used to supply power. When the battery power is insufficient and cannot meet the requirements for continuing operation, the range extender is started to charge the battery to extend the battery life, which can not only increase the working time of the detasseling machine but also prevent emergencies when the battery power is exhausted.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention uses an electric push rod to replace the traditional hydraulic system to control steering, which has the advantages of precise control, easy installation, low cost, easy maintenance, and low pollution. It can unify the power source, simplify the overall machine structure, reduce production costs, and improve the driving stability, steering performance and production efficiency of the detasseling machine; each wheel is driven by an independent motor. When turning, each wheel adjusts the speed in real time according to the steering angle, reducing the minimum turning radius and improving turning maneuverability, effectively alleviating the problems of oil leakage contaminating crops, poor steering flexibility, and seedling crushing during corn detasseling operations.

[0020] 2. The electric telescopic mechanism and clamping mechanism are used to replace the traditional cutting and extraction detasseling methods. It has a simple structure, good adaptability, can accurately locate the male ears, has high grasping stability, is easy to operate and maintain, can significantly reduce the damage rate to corn plants, effectively reduce labor intensity and production costs, and improve work efficiency.

[0021] 3. The rotating cab rotates 360°, eliminating the need for U-turns when changing rows in the field. Combined with crab-like steering, operation is even more convenient. Automatic navigation prevents the machine from drifting during field operations. The wheel-height contouring electric push rod adjusts height according to corn growth, ensuring smooth detasseling operations.

[0022] 4. The hybrid power mode of battery plus range extender can not only increase the working time of the detasseling machine, but also prevent emergencies when the battery is exhausted. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the drawings required for the specific implementation will be briefly introduced below.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the emasculation execution mechanism in the present invention.

[0026] Figure 3 It is a structural schematic diagram of the five-claw manipulator clamping mechanism in the present invention.

[0027] Figure 4 Schematic diagram of the structure of the tassel identification device in the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of the rotating cab in the present invention.

[0029] Figure 6 It is a structural schematic diagram of the steering arm in the present invention.

[0030] Reference numerals:

[0031] 1. Frame; 2. Brushless DC motor; 3. Reducer; 4. Drive shaft; 5. Rubber wheel; 6. Rotary encoder; 7. Electric push rod; 8. Steering link; 9. Steering arm; 10. Steering shaft; 11. Wheel-height contouring electric push rod; 12. Electric telescopic mechanism; 13. Five-claw manipulator clamping mechanism; 14. Tassel identification device; 15. Rotating cab; 16. Control system; 17. Battery; 18. Range extender; 19. Automatic navigation device; 20. Electric slewing motor; 21. Base; 22. Linkage connector; 23. Gripper; 24. Articulated shaft. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0033] Reference Figure 1 — Figure 6 A new type of corn detasseling machine includes a frame 1, a power chassis, a rotating cab 15, a detasseling actuator, a control system 16, a power supply system and an automatic navigation device 19.

[0034] The frame 1 is formed by the front and rear crossbeams and the left and right crossbeams, and is frame-shaped and used to carry various functional components;

[0035] The power chassis, located below the frame 1, includes a running mechanism and a steering mechanism. The running mechanism comprises a brushless DC motor 2, a reducer 3, a drive shaft 4, and rubber wheels 5. The brushless DC motor 2 is connected to the reducer 3 via the drive shaft 4, which is in turn keyed to the rubber wheels 5. This embodiment includes four rubber wheels 5, each driven by four independent brushless DC motors 2. A support tube is provided around the drive shaft 4, with an upper support plate at the top for mounting the brushless DC motor 2. A lower support plate is provided on top of the reducer 3, to which the bottom of the support tube is fixed. The steering mechanism includes a rotary encoder 6, an electric push rod 7, a steering link 8, a steering arm 9 and a steering shaft 10. There are four steering arms 9, and the four steering arms 9 are respectively slidably connected to the two ends of the front and rear crossbeams of the frame 1. The rotary encoder 6 is installed on the rotating shaft of the steering arm 9 to monitor the steering angle of the rubber wheel 5 and the steering speed when the rubber wheel 5 turns to prevent the steering angular velocity from being too large and causing the steering to lose control. The electric push rod 7 is hinged between the left steering arm 9 and the front and rear crossbeams of the frame 1. The steering link 8 is pin-connected between the steering arms 9 on the left and right sides. The steering shaft 10 is arranged at the lower end of the steering arm 9. The lower end of the steering shaft 10 is connected to the wheel height profiling electric push rod 11. The lower end of the wheel height profiling electric push rod 11 is fixed to the lower support plate for adjusting the height of the emasculating machine at any time according to the growth of corn. When turning, each rubber wheel 5 adjusts the rotation speed in real time according to the steering angle of the vehicle body so that the rotation speed of each rubber wheel 5 conforms to the steering motion state of the emasculating machine at that time.

[0036] A rotating cab 15 is mounted on the upper surface of a fixed plate in the center of the frame 1. An electric slewing motor 20 is mounted at the bottom of the rotating cab 15, enabling 360-degree rotation. This allows the detasseling machine to easily change rows in the field without turning around. The cab can simply be rotated 180 degrees, with the rear end of the vehicle being replaced by the front, to perform a crab turn. In this embodiment, the distance between the rear end of the rotating cab 15 and the rear end of the frame 1 is 805 mm.

[0037] The emasculation actuator includes an electric telescopic mechanism 12, a five-claw robot clamping mechanism 13 and a male tassel identification device 14. The electric telescopic mechanism 12 is fixedly connected to the front and lower part of the ceiling of the rotating cab 15. The tail of the piston rod of the electric telescopic mechanism 12 is elastically connected to the five-claw robot clamping mechanism 13. The male tassel identification device 14 is arranged at the front end of the five-claw robot clamping mechanism 13, which is used to accurately identify the corn male tassel. According to the identification situation, the mechanical five-claw robot clamping mechanism 13 is placed at the specified position, and after identification, it is grabbed to realize the emasculation function.

[0038] The mechanical five-claw gripping mechanism 13 comprises a base 21, a linkage connector 22, and a gripper 23. The gripper 23 is connected to the base 21 via a hinge 24, and the linkage connector 22 enables opening and closing. The extension and retraction of the electric retractable mechanism 12 drives the linkage connector 22, causing the gripper 23 to rotate about the hinge 24, enabling precise positioning, grasping, and removal of crop tassels. In this embodiment, the distance between the electric retractable mechanism 12 and the rear end surface below the ceiling of the rotating cab 15 is 1600 mm.

[0039] The control system 16 includes a central controller, a motor controller, and a DC motor speed regulator. The power supply system includes a battery 17 and a range extender 18. When the battery 17 is fully charged, power is supplied by the battery 17. When the battery 17 is insufficiently charged and cannot continue operation, the range extender 18 activates, charging the battery 17 and providing power to the power chassis. The entire power chassis is primarily powered by the battery 17, supplemented by the range extender 18. This increases the detasseling machine's operating time and prevents unexpected failures due to battery depletion. The control system 16, battery 17, and range extender 18 are arranged side by side, in order from left to right, behind the revolving cab 15.

[0040] The automatic navigation device 19 is located in the center of the upper front portion of the rotating cab 15's ceiling. It possesses precise positioning and path planning capabilities, enabling precise navigation and operation along a predetermined path to prevent the detasseling machine from drifting during field operations. In this embodiment, the distance between the automatic navigation device 19 and the rear end surface of the rotating cab 15's ceiling is 1900 mm.

[0041] The working principle of the novel corn detasseling machine of the present invention is as follows:

[0042] When the emasculating machine is moving, the central controller receives a signal and starts the brushless DC motor 2 through the motor controller, which transmits power to the reducer 3 through the transmission shaft 4. The reducer 3 then drives the rubber wheel 5 to travel at a certain speed.

[0043] When the detasseling machine turns, the central controller activates the electric push rod 7 through the DC motor speed regulator, and the electric push rod 7 extends or retracts. As the screw of the electric push rod 7 moves, the steering angle is adjusted by the steering link 8 and the steering arms 9 on the left and right sides, and the rubber wheel 5 is driven to turn through the steering shaft 10. When turning, the rotary encoder 6 will feed back the detected steering angle to the central controller, and the central controller adjusts the forward speed of each rubber wheel 5 to be consistent with the steering state. When the front wheel of the emasculating machine is turned, the central controller starts the electric push rod 7 at the front by the DC motor speed regulator. When the electric push rod 7 at the front stretches out, the control front steering mechanism turns to the right. At this moment, the electric push rod 7 at the rear is not working, and the rear wheel does not participate in steering and does not deflect. The steering angle of the rear steering mechanism is always 0 °, so that the front wheel of the emasculating machine can be turned; When the four-wheel steering of the emasculating machine is turned, the central controller starts the front and rear electric push rods 7 at the same time by the DC motor speed regulator. When the electric push rod 7 at the front stretches out, the control front steering mechanism turns to the right. When the electric push rod 7 at the rear shrinks inwards, the control rear steering mechanism turns to the left, so that the four-wheel steering of the emasculating machine can be turned; When the crab-walk steering of the emasculating machine is turned, the central controller starts the front and rear electric push rods 7 at the same time by the DC motor speed regulator. When the electric push rod 7 at the front stretches out or shrinks inwards simultaneously, the control front and rear wheels turn to the right or turn to the left simultaneously, so that the crab-walk steering of the emasculating machine can be turned The four rubber wheels 5 are driven by four independent brushless DC motors 2. When turning, each rubber wheel 5 adjusts its rotation speed in real time according to the steering angle of the vehicle body, so that the rotation speed of each rubber wheel 5 is consistent with the steering motion state of the detasseling machine at that time.

[0044] During emasculation, the tassel recognition device 14 first has a feedback adjustment function. During the field operation of the emasculation machine, the tassel recognition device 14 detects the height of the corn plant and collects the tassel image, and then processes and analyzes it to obtain the position of the corn tassel. Then, the corn plant height and tassel position signal are fed back to the central controller. After receiving the signal, the central controller starts the electric telescopic mechanism 12 to extend downward, pushing the linkage connection 22 of the five-mechanical five-claw clamping mechanism 13 to move, so that the claw 23 rotates around the hinge shaft 24, the claw 23 opens, and the claw 23 is placed on the upper part of the tassel according to the recognition situation of the tassel recognition function device 14. Then the piston rod of the electric telescopic mechanism 12 retracts upward, and the linkage connection 22 drives the claw 23 to close, clamping the tassel, and clamping out the tassel while the central controller controls the electric telescopic mechanism 12 to continue to retract upward.

[0045] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, they can still adjust the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A new type of corn detasseling machine, characterized by: It includes a frame, a cab, a power chassis, a detasseling actuator, a control system and a power supply system; The frame is frame-shaped and has a front crossbeam and a rear crossbeam for carrying various functional components; The cab is located above the frame, and a control unit is provided in the cab for controlling the movement, steering and detasseling operation of the detasseling machine; The power chassis includes a walking mechanism and a steering mechanism; the walking mechanism includes multiple groups of motors and wheels, the motors are connected to the reducers through transmission shafts, the reducers are connected to the wheel keys, each motor independently drives a wheel to walk, and a lower support plate is provided on the top of the reducer; the steering mechanism includes a steering arm, an electric push rod, a steering link and a steering shaft, there are four steering arms, the four steering arms are respectively slidably connected to the two ends of the front and rear cross beams of the frame, the electric push rod is hinged between the steering arm and the corresponding cross beam, the steering link pin is connected between the two steering arms on the left and right sides, the steering shaft is fixedly connected to the lower end of the steering arm, and the lower end of the steering shaft is fixed to the lower support plate; The detasseling actuator includes an electric telescopic mechanism and a clamping mechanism; the electric telescopic mechanism is installed at the front lower part of the roof of the cab, the telescopic end of the electric telescopic mechanism is elastically connected to the clamping mechanism, and the front end of the clamping mechanism is provided with a male ear recognition device for accurately identifying the male ears of corn; The control system comprises a central controller, a motor controller and a DC motor speed regulator, and is used for controlling the walking, steering and detasseling of the detasseling machine.

2. The novel corn detasseling machine according to claim 1, characterized in that: An electric rotary motor is installed at the bottom of the cab, which is used to achieve row changing operations without turning around by rotating the cab and coordinating with the steering mechanism when changing rows in the field.

3. The novel corn detasseling machine according to claim 1, characterized in that: The steering mechanism further comprises a rotary encoder which is mounted on the rotating shaft of the steering arm and is used to monitor the steering angle and steering speed of the wheels.

4. The novel corn detasseling machine according to claim 1, characterized in that: A wheel height profiling electric push rod is installed on the lower support plate, and the lower end of the steering shaft is connected to the wheel height profiling electric push rod for adjusting the height of the detasseling machine according to the growth of corn.

5. The novel corn detasseling machine according to claim 1, characterized in that: The clamping mechanism adopts a five-claw hand structure, and the tassel is grasped and pulled out through the telescopic action of the telescopic drive mechanism.

6. The novel corn detasseling machine according to any one of claims 1 to 5, characterized in that: It also includes an automatic navigation device, which is arranged above the front of the roof of the cab.

7. The novel corn detasseling machine according to claim 6, characterized in that: The power supply system adopts a hybrid power mode of battery and range extender, which is used to start the range extender to charge the battery when the battery power is insufficient to extend the driving range.

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