Iridian envelope cyclone impurity removal device and method

Abstract

The application discloses an iris type envelope rotary vibration weeding device and method, and belongs to the field of weeding end actuators. The device comprises a power source module, a planetary gear differential mechanism and an iris clamping mechanism mounted on a rack assembly. A single power source is used to drive the sun gear input. The planet carrier is connected to the iris clamping mechanism below through a connecting rod, and serves as a primary output end to realize clamping action. The outer circle of the gear ring is designed with a continuous sinusoidal wave trajectory, which serves as a secondary output end and cooperates with a fixed bearing. By utilizing the difference in internal and external damping of the mechanism, the system can realize the composite motion logic of clamping weeds-rotary vibration-soil liquefaction-low resistance pulling out through a single motor without the need for complex sensors. The device can effectively reduce the resistance of weed pulling out, destroy the root-soil bonding force, and solve the problems of broken roots and large amount of soil in traditional rigid weeding. The device is particularly suitable for weed removal (weeding) operations in complex farmland environments such as hybrid rice production and breeding.

Description

Technical Field

[0001] This invention belongs to the field of impurity removal end effectors, specifically relating to an iris-type envelope rotary vibration impurity removal device and method. Background Technology

[0002] As the core of modern agricultural production systems, the genetic purity of seeds is a key indicator determining the heterosis and final yield of hybrid rice. In the open field production environment of hybrid rice seed production, due to a combination of factors such as cross-pollination, seed shattering, and genetic variation, plants with non-target genotypes (i.e., hybrids) inevitably mix into the seed production field. Hybrids not only compete with the target parent plants for resources such as light, temperature, water, and fertilizer, leading to a decrease in population yield, but also cause irreversible genetic contamination through cross-pollination. When the proportion of hybrids causes the seed purity to fail to meet national standards, it will directly lead to the failure of the entire batch of seed production and cause serious economic losses. Therefore, efficient and thorough removal of hybrids from the field is a necessary procedure to ensure the safety of hybrid rice seed production.

[0003] In mechanized weeding operations in complex farmland environments such as hybrid rice seed production, how to efficiently remove weeds (such as mutants and hybrids) without damaging the target crop is a key issue in the field of agricultural robotics. Mechanical weeding faces a contradiction between the strong root-soil bond and the fragile stems of weeds. Traditional rigid grippers typically use a clamping and pulling motion, which often requires a large axial pulling force to overcome soil resistance. When the required pulling force exceeds the tensile strength limit of the weed stem, it can easily lead to direct stem breakage, leaving the roots in the soil and causing them to regenerate in a short period, seriously affecting the purity and yield of hybrid rice seeds.

[0004] Currently, there is no dedicated robotic end effector in the industry capable of successfully completing high-throughput, non-destructive weed removal tasks in complex, densely planted, muddy environments such as hybrid rice seed production. While similar end effectors exist in other agricultural harvesting or dryland weeding scenarios, their direct application to rice paddy weed removal generally reveals the following insurmountable technical shortcomings, specifically: 1) The extraction mechanism is simplistic and cannot overcome the problem of stem breakage and root retention. Existing agricultural machinery grippers generally employ a rigid clamping-straight-pulling action logic. Saturated paddy soil exhibits typical thixotropic fluid characteristics, with extremely high root-soil adhesion and shear strength. The pulling force required for straight-line hard pulling often instantaneously exceeds the tensile yield limit of the brittle stems of weeds, easily leading to stem breakage. Existing mechanisms lack sophisticated mechanical designs that can actively release root-soil adhesion and reduce extraction resistance, resulting in rapid regeneration of residual roots in the soil, rendering the weed removal operation completely ineffective.

[0005] 2) The cumbersome and intolerant mechanism easily leads to mechanical damage and missed grasping. Existing end effectors, in order to achieve complex gripping actions, typically employ a multi-degree-of-freedom series drive configuration with one motor per action, resulting in a large size and redundant mechanical components. Hybrid rice seed production fields are characterized by narrow row spacing, dense plant spacing, and severe canopy interweaving. When the large existing grippers penetrate the high-density canopy, they lack effective physical rejection and protection structures, inevitably causing severe mechanical interference and abrasion with surrounding healthy parent plants, resulting in irreversible yield losses. Furthermore, existing grippers are mostly two-point or translational rigid grippers. Faced with lodging of hybrid plants due to wind and rain or visual positioning deviations, they lack physical adaptive envelope and fault-correction capabilities, easily leading to missed grasping or positioning failure by only grasping vulnerable lateral branches.

[0006] 3) High reliance on electronic sensors, resulting in extremely poor robustness under harsh paddy field conditions. Existing weed removal or harvesting grippers typically rely on built-in thin-film pressure sensors, torque sensors, or complex electronic control networks to determine the gripping state and switch action sequences. However, in the harsh realities of hybrid rice seed production fields—characterized by splashing mud and water, high humidity, and vibration—these sophisticated electronic sensor networks are highly susceptible to signal distortion, contact failure, or short-circuit damage. Once a sensor malfunctions, the entire control chain immediately collapses, leading to extremely low reliability and stability of the system in actual field operations.

[0007] While existing technologies have improved end effector design to some extent, traditional weed removal mechanisms and their adjustment methods still present numerous problems for scenarios such as weeding in paddy fields, which require handling root-soil bonding forces and simulating complex movements. Existing weed removal devices are mostly linear rigid pullers, applying continuous and rigid unidirectional tension to weed stems, which easily causes root breakage. Furthermore, equipping each degree of freedom with an independent drive unit to simulate a complex sequence of clamping-rotation-shaking-pulling movements would result in a large, complex, and costly system, unsuitable for agricultural robots. Existing mechanisms also exhibit significant deficiencies in robustness to harsh environments: on the one hand, they rely excessively on sensor data and the number of motors for the timing of movements during the pulling process; on the other hand, existing mechanisms generally lack the ability to induce soil liquefaction using dynamic characteristics, leading to excessive pulling resistance in highly viscous soils. This lack of functionality makes agricultural robots prone to high root breakage rates and low operational efficiency in actual operations. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an iris-type envelope rotary vibration impurity removal device and method. This invention can solve the problems of high root breakage rate, complex and redundant structure, cumbersome control logic, and poor environmental adaptability in existing impurity removal devices. This device utilizes introduced rigid constraints and a wave-shaped cam trajectory, driven by a single power source, to achieve logical switching of motion sequences using only the dynamic characteristics of the mechanism itself. It achieves multiple degrees of freedom without the need for complex sensor control, and uses high-frequency reciprocating displacement to generate a local liquefaction effect to disrupt the root-soil bonding force.

[0009] The specific technical solution adopted in this invention is as follows: In a first aspect, the present invention provides an iris-type envelope rotary vibration impurity removal device, including a power source module, a planetary gear differential mechanism and an iris clamping mechanism mounted on a frame assembly; The planetary gear differential mechanism includes a sun gear shaft, planetary gears meshing with the sun gear shaft, a planet carrier carrying the planetary gears, and a gear ring meshing with all the planetary gears. The ball spline includes a ball spline shaft and a ball spline sleeve that are rolled together. The output shaft of the power source module transmits power through an interference fit and key connection between the ball spline sleeve and the inner side of the sun gear shaft. Simultaneously, due to the characteristic of the ball spline mechanism allowing the load to rotate while sliding up and down, the sun gear shaft can rotate around its axis and move axially. The iris clamping mechanism is located at the bottom of the frame assembly, and its top circumferentially connects to the planetary carrier via several long-distance screws arranged axially, forming a primary power output that enables the synchronous centripetal contraction of each iris blade, used for non-destructive gathering and clamping of target weeds. The outer circumferential surface of the gear ring is machined with a continuous wave-shaped cam trajectory. The wave-shaped cam is circumferentially constrained by a V-bearing mounted on the frame assembly, converting the rotational motion of the gear ring into axial reciprocating motion, driving the iris clamping mechanism to generate axial vibration, forming a secondary power output.

[0010] Preferably, the frame assembly includes support links and intermediate support plates; a plurality of intermediate support plates are arranged parallel to each other along the axial direction, and adjacent intermediate support plates are connected by a plurality of support links to form a whole.

[0011] Preferably, the power source module includes a brushless DC motor; the brushless DC motor is fixed to the top of the frame assembly via a motor mounting plate, and the motor mounting plate is also provided with connecting angle irons for connecting to an external frame.

[0012] Preferably, the output shaft of the power source module is fixedly connected to one end of the ball spline shaft, the ball spline sleeve is interference-fitted with the inner side of the sun gear shaft and keyed for transmitting torque; the limiting cover is located below the sun gear shaft to prevent the ball spline sleeve from loosening or coming off under vibration, impact or abnormal collision.

[0013] Preferably, the iris clamping mechanism includes an iris drive ring and a stationary chassis arranged coaxially, and a plurality of iris blades arranged between the two. Each iris blade is rotatably engaged with the stationary chassis via a rotating shaft on the blade, and engages with a drive pin on the iris drive ring via a guide groove on the blade. When the iris drive ring rotates relative to the stationary chassis under the drive of the planetary carrier, the drive pin moves along the corresponding guide groove, thereby driving each iris blade to rotate synchronously, causing the central clamping aperture formed by the plurality of iris blades to change.

[0014] Furthermore, through the aforementioned linkage mechanism, the iris clamping mechanism can gradually transition from an open state to a retracted state, circumferentially gathering the dispersed plant stems and forming an enveloping clamp. A limit structure is provided between the iris drive ring and the stationary chassis to limit their relative rotation range and ensure the stability of the leaf opening and closing process. Furthermore, the planetary carrier extends downwards through several long-distance screws penetrating the frame assembly, circumferentially connecting to the iris drive ring.

[0015] Preferably, the wavy cam trajectory has a sinusoidal profile, and its expansion equation satisfies ;in, The gear ring rotation angle is The axial position corresponding to the wave-shaped cam trajectory. As the reference axial position, This represents the axial vibration amplitude. The number of sinusoidal wave cycles set in the circumferential direction of the gear ring. Let be the angle of rotation of the gear ring around its central axis. The initial phase angle is denoted as θ. When the gear ring rotates around the axis under the drive of the planetary gear, the wave-shaped cam trajectory slides over the V-bearing. Under the axial rigid constraint of the V-bearing, the rotational motion of the gear ring is converted into a high-frequency reciprocating motion along the axial direction, thereby driving the iris clamping mechanism to generate axial vibration.

[0016] Furthermore, during axial vibration, the wave-shaped cam trajectory can drive the iris clamping mechanism to generate an adjustable alternating acceleration with a frequency of 2Hz-5Hz.

[0017] Preferably, the critical starting resistance torque of the gear ring circuit is greater than the resistance torque of the iris clamping mechanism during the unloaded closing phase. This allows the power source module to preferentially transmit power to the planetary carrier to perform the first-level power output for clamping during the initial stage of operation. When the iris clamping mechanism clamps the weeds, causing the load torque to exceed the critical value, the planetary carrier speed decreases, and the power is forced to drive the gear ring to rotate, thereby triggering the second-level power output of the rotational vibration coupling mode.

[0018] Secondly, the present invention provides a method for operating the iris-type envelope rotary vibration impurity removal device according to any one of the first aspects, as follows: The iris-type envelope rotary vibration impurity removal device is lowered to directly above the target plant stem via an external lifting module, where the clamping aperture formed by the encircling of each iris leaf is at its maximum and is in a fully open state. The power source module starts and drives the sun gear shaft of the planetary gear differential mechanism to rotate through the ball spline shaft. Since the iris clamping mechanism is in an unloaded state, the motion resistance torque of the planetary carrier is much smaller than the critical starting torque required for the outer wavy cam trajectory of the gear ring to overcome the V-type bearing constraint. The gear ring remains stationary under constraint. The sun gear shaft drives the planetary carrier to rotate through meshing with the planetary gears. The planetary carrier drives the iris blades of the iris clamping mechanism to synchronously contract centripetally through a long-distance screw to gather the scattered weed stems together until each iris blade abuts against the target plant stem and clamps it tightly. When the iris blades press against the target plant stem, the rotational resistance torque of the planetary carrier increases to the point that the planetary carrier stops rotating. The differential characteristic of the planetary gear differential mechanism is activated, and the sun gear shaft continues to rotate under the drive of the power source module. However, the input rotational power is forced to change its transmission path to overcome the resistance of the wavy cam track on the outer side of the gear ring sliding along the V-bearing, causing the gear ring to rotate circumferentially. The rotation of the gear ring causes the wavy cam track on its outer edge to continuously slide over the fixed V-bearing. Since the V-bearing is rigidly fixed in the axial position, the rotational motion of the gear ring is forced into high-frequency reciprocating motion along the axial direction. At this time, due to the axial sliding permission of the ball spline shaft, the entire lower iris clamping mechanism enters the rotational vibration coupling mode. The generated high-frequency axial oscillation can effectively trigger the local liquefaction effect of saturated paddy soil, which significantly reduces the root-soil binding force of the target plant. While the iris clamping mechanism maintains a high-frequency rotational vibration state, the external lifting module drives the iris-type envelope rotational vibration impurity removal device to move upward along the central axis, so that the target plant can be removed by the roots while protecting the stem diameter from breakage to the greatest extent.

[0019] Compared with the prior art, the present invention has the following advantages: 1. By using planetary gear differential design, the logical switching of motion sequence is achieved by utilizing only a single motor and the dynamic characteristics of the mechanism itself, without the need for complex sensor control and multi-motor drive, which significantly reduces the size, complexity and cost of the system.

[0020] 2. The rotating vibration coupling trajectory generated by this mechanism incorporates high-frequency axial oscillations in circular motion, significantly expanding the three-dimensional interaction area between the root system and the soil. The generated continuous alternating acceleration can induce local liquefaction effects in saturated paddy soil, effectively disrupting the root-soil bond, thereby solving the problems of easy root breakage and large soil load associated with traditional rigid removal methods.

[0021] 3. The periodic loading and unloading process avoids the continuous accumulation of axial tensile stress, fundamentally reducing the risk of weed stem breakage. Furthermore, analysis of parameter sensitivity and robustness demonstrates that this underactuated logic maintains a large safety margin when facing complex field disturbances, ensuring that the timing of actions remains consistent. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention in a preferred embodiment; Figure 2 This is a schematic diagram of a preferred embodiment of the sun axis assembly; Figure 3 This is a schematic diagram of an iris clamping mechanism in a preferred configuration. Figures 4-6 All of these are flowcharts of the operation of the device of the present invention; wherein, Figure 4 A structural diagram illustrating the clamping preparation and no-load transmission stages. Figure 5 This is a structural diagram of the clamping and gathering stage. Figure 6 This is a structural diagram illustrating the stages of soil loosening and local liquefaction using rotary vibration. Figure 7 This is a schematic diagram of a planetary gear differential mechanism in a preferred configuration; Figure 8 An exploded view of an iris clamping mechanism in a preferred embodiment; In the diagram: 1. Brushless DC motor, 2. Connecting angle iron, 3. Sun shaft assembly, 4. Motor mounting plate, 5. Planetary carrier, 6. V-bearing, 7. Support rod, 8. Long-distance screw, 9. Iris clamping mechanism, 10. Intermediate support plate, 301. Sun gear shaft, 302. Ball spline, 303. Limiting cover, 901. Iris drive ring, 902. Stationary chassis, 903. Iris blade. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Technical features in various embodiments of the present invention can be combined accordingly without mutual conflict.

[0024] like Figure 1As shown, this invention provides an iris-type envelope rotary vibration impurity removal device. This device is an end effector with an overall underactuated structure design. Specifically, it includes a power source module mounted on a frame assembly, a planetary gear differential mechanism, and an iris clamping mechanism 9 located at the bottom. The device uses a single power source to drive the sun gear shaft 301 as input. The planetary carrier is connected to the iris clamping mechanism below via a connecting rod, serving as the first-stage output to achieve the clamping action. The outer circumference of the gear ring is designed with a continuous sinusoidal wave trajectory, serving as the second-stage output and engaging with the V-bearing 6. Utilizing the damping difference between the inside and outside of the planetary gear differential mechanism, the system can achieve a composite motion logic of clamping impurities, rotary vibration, soil liquefaction, and low-resistance removal using a single motor without the need for complex sensors.

[0025] The specific structure and operation of the device of the present invention will be described in detail below.

[0026] In the device of the present invention, such as Figure 7 As shown, the planetary gear differential mechanism mainly includes a sun gear shaft 301, planet gears meshing with the sun gear shaft 301, a planet carrier 5 supporting the planet gears, and a gear ring meshing with all the planet gears. The ball spline 302 includes a ball spline shaft and a ball spline sleeve that are rolled together, wherein the outer circumference of the ball spline shaft is rolled into the inside of the ball spline sleeve by several balls. The output shaft of the power source module is fixedly connected to the sun gear shaft 301 through the ball spline sleeve, allowing the sun gear shaft 301 to rotate around the ball spline shaft and move axially along the ball spline shaft.

[0027] In a preferred embodiment of the present invention, the frame assembly mainly includes a support link 7 and an intermediate support plate 10. For example... Figure 1 As shown, there are multiple intermediate support plates 10, which are arranged parallel to each other along the axial direction and the plate surfaces are horizontal. Adjacent intermediate support plates 10 are connected by multiple vertically arranged support rods 7, thus forming an overall frame structure.

[0028] In a preferred embodiment of the present invention, the power source module mainly refers to the brushless DC motor 1. The brushless DC motor 1 serves as the single power input source for the entire end effector, and is fixed to the top of the frame assembly via a motor mounting plate 4. To ensure the overall rigidity of the device and facilitate docking with an external frame, a connecting angle iron 2 is also locked and fixed to the upper surface of the motor mounting plate 4.

[0029] In actual use, the output power of the brushless DC motor 1 is first transmitted downwards to the sun axis assembly 3. For example... Figure 2As shown, the sun shaft assembly 3 is internally composed of a sun gear shaft 301, a ball spline 302, and a limiting cap 303 working together. The output torque of the brushless DC motor 1 is transmitted to the central sun gear shaft 301 through the ball spline 302. The ball spline sleeve is interference-fitted with the inner bore of the sun gear shaft 301. The limiting cap 303 is located below the sun gear shaft 301 and serves as an auxiliary anti-disengagement structure to prevent the ball spline sleeve from loosening or disengaging under vibration, impact, or abnormal collision.

[0030] The introduction of the ball spline 302 is one of the core mechanical designs of this invention. Its characteristic is that while ensuring stable transmission of high-torque rotational power, it allows the lower gear ring and iris clamping mechanism 9 to move as a whole, performing high-speed axial free sliding reciprocating motion along the motor output axis. This axial decoupling ensures that the axial vibration generated by the gear ring can be transmitted to the bottom iris clamping mechanism 9 without loss, without causing axial impact on the motor shaft. The sun gear shaft 301 inputs power to the planetary gears and planet carrier 5. This differential module constitutes the power distribution center of the device of this invention and derives independent but interconnected primary and secondary power outputs.

[0031] In the device of the present invention, the iris clamping mechanism 9 is located at the bottom of the frame assembly, and is rigidly connected to the planetary frame 5 by a plurality of long-distance screws 8 arranged along the axial direction at the top circumference, forming a primary power output that enables each iris blade 903 to contract synchronously in the centripetal direction, for non-destructive gathering and clamping of target weeds.

[0032] As a preferred embodiment of the present invention, such as Figure 3 and Figure 8 As shown, the iris clamping mechanism 9 mainly includes an iris drive ring 901, a stationary chassis 902, and multiple iris blades 903. During the no-load closing phase, the motion resistance torque of this mechanism is mainly composed of the overlapping friction between the iris blades 903 and the meshing loss of the gear train, resulting in minimal resistance. The structure of the iris clamping mechanism 9 can adopt existing technology, which will be briefly described below: The iris clamping mechanism 9 includes an iris drive ring 901, a stationary base 902, and several iris blades 903. The iris drive ring 901 is located above the stationary base 902 and the two are coaxially arranged. Several iris blades 903 are arranged between the iris drive ring 901 and the stationary base 902, and are evenly distributed circumferentially around the axis of the stationary base 902. Each iris blade 903 is provided with a rotating shaft, one end of which is connected to a rotating hole in the stationary base 902, and the other end of which engages with an arc-shaped groove in the iris drive ring 901 to provide guidance. The driving pin on the lower side of the iris drive ring 901 engages with the arc-shaped groove in the iris blade 903. It plays a driving role; when the planetary carrier 5 drives the iris drive ring 901 to rotate relative to the stationary chassis 902 through the long-distance screw 8, the drive pin and the arc groove can drive each iris blade 903 to pivot around its corresponding pivot axis, so as to change the size of the clamping hole formed by the iris blades 903; the stationary chassis 902 is also provided with multiple limiting parts distributed in the circumferential direction, and the iris drive ring 901 is provided with abutting parts corresponding to the limiting parts; when the iris drive ring 901 rotates to the limit position, the abutting part abuts against the limiting part to limit the rotation stroke of the iris drive ring 901.

[0033] In a preferred embodiment of the present invention, the planetary carrier 5 extends downward through multiple long-distance screws 8 penetrating the frame assembly and is circumferentially connected to the iris drive ring 901.

[0034] In the device of the present invention, the outer circumferential surface of the gear ring is machined with a continuous wave-shaped cam trajectory. The wave-shaped cam is circumferentially constrained by a V-type bearing 6 mounted on the frame assembly. The rollers of the V-type bearing 6 are precisely engaged in the wave-shaped cam trajectory to circumferentially limit the gear ring, so that the rotational motion of the gear ring is converted into axial reciprocating motion, which drives the iris clamping mechanism 9 to generate axial vibration and form a secondary power output.

[0035] In a preferred embodiment of the present invention, the wavy cam trajectory has a sinusoidal profile, and its expansion equation satisfies ;in, The gear ring rotation angle is The axial position corresponding to the wave-shaped cam trajectory. As the reference axial position, This represents the axial vibration amplitude. The number of sinusoidal wave cycles set in the circumferential direction of the gear ring. Let be the angle of rotation of the gear ring around its central axis. The initial phase angle is denoted as . When the gear ring rotates around the axis under the drive of the planetary gears, the wave-shaped cam trajectory slides over the V-bearing 6. Under the axial rigid constraint of the V-bearing 6, the rotational motion of the gear ring is converted into a high-frequency reciprocating motion along the axial direction, thereby causing the iris clamping mechanism 9 to generate axial vibration.

[0036] In a preferred embodiment of the present invention, during axial vibration, the wave-shaped cam trajectory can drive the iris clamping mechanism 9 to generate an adjustable alternating acceleration with a frequency of 2Hz-5Hz. This vibration frequency range is configured to induce a local liquefaction effect in saturated paddy soil, significantly damaging the root-soil bond by reducing soil shear strength.

[0037] As a preferred embodiment of the present invention, the device has an automatic timing control logic based on damping difference: the critical starting resistance torque of the gear ring circuit is greater than the resistance torque of the iris clamping mechanism 9 in the no-load closing stage, so that in the initial stage of operation, the power of the power source module is preferentially transmitted to the planetary carrier to perform the first-level power output for clamping action. When the iris clamping mechanism 9 clamps the weeds and causes the load torque to exceed the critical value, the speed of the planetary carrier decreases, and the power is forced to drive the gear ring to rotate, thereby triggering the second-level power output of the rotational vibration coupling mode.

[0038] Based on the above-mentioned iris-type envelope rotational vibration impurity removal device, the present invention also provides an operating method. For example... Figures 4-6 As shown, the underactuated logic switching process under single-power drive is intuitively illustrated through color differentiation. The yellow portions in the diagram represent the mechanical components that actually rotate or displace during each operational stage. The specific working process and automatic logic switching steps of the device of this invention are as follows: S1. Clamping preparation and no-load transmission stage: When weeds need to be removed, the iris-type envelope vibration weed removal device of the present invention is guided down to directly above the target plant stem by an external lifting module. At this time, the clamping hole formed by the encirclement of each iris leaf 903 is at its maximum and is in a fully open state.

[0039] The power source module starts, driving the sun gear shaft 301 of the planetary gear differential mechanism to rotate via the ball spline 302. At this time, because the iris clamping mechanism 9 is in an unloaded state, the motion resistance torque of the planetary carrier is much smaller than the critical starting torque required for the outer wavy cam trajectory of the gear ring to overcome the constraint of the V-bearing 6, and the gear ring remains stationary under constraint. Figure 4 As shown, the power of the device of the present invention flows entirely to the primary power output according to the principle of minimum damping. The planetary carrier 5, the long-distance screw 8 and the iris drive ring 901 shown in yellow in the figure rotate synchronously to drive the iris blades 903 to contract rapidly toward the center.

[0040] S2, Gathering and Clamping Stage: The sun gear shaft 301 drives the planetary carrier 5 to rotate via meshing with the planetary gears. The planetary carrier 5, through a long-distance screw 8, drives the iris drive ring 901 at its bottom to rotate. The rotation of the iris drive ring 901 forces multiple iris blades 903 to contract towards the center along a predetermined track, gathering the scattered weed stems until each iris blade 903 comes into contact with the target plant stem and clamps it tightly. Figure 4 and5 As shown, as the iris blade 903 gradually cuts into the weeds and generates clamping pressure, the load resistance torque of the planetary carrier side component shown in yellow in the figure begins to increase sharply until it exceeds the critical starting torque of the gear ring circuit.

[0041] S3, Automatic Switching Stage for Underdriven Logic: When the load torque exceeds a critical value, the rotational motion of the planetary carrier 5 tends to stop due to obstruction. That is, when the iris leaf presses against the target plant stem, the rotational resistance torque of the planetary carrier 5 increases to the point that it stops rotating. The differential characteristic of the planetary gear differential mechanism is activated, and the sun gear shaft 301 continues to rotate under the drive of the power source module. However, the input rotational power is forced to change its transmission path to overcome the resistance of the wavy cam trajectory sliding along the V-bearing 6 on the outer side of the gear ring, causing the gear ring to rotate circumferentially. This invention's device automatically and smoothly switches from clamping mode to rotational vibration mode using mechanical damping difference without requiring any external sensors. Figure 6 As shown, at this time, the planetary carrier 5 side stops rotating and turns gray; the power automatically switches to the secondary power output to drive the gear ring to rotate, turning yellow.

[0042] S4, Vibratory loosening and localized liquefaction stage: The rotation of the gear ring causes its outer edge to continuously slide along a wavy cam trajectory over the fixed V-bearing 6. Since the V-bearing 6 is rigidly fixed in the axial position, the rotational motion of the gear ring is forcibly converted into a high-frequency reciprocating motion along the axial direction. Figure 6 As shown, thanks to the axial sliding permission of the ball spline 302, the entire lower iris clamping mechanism 9 enters the rotational vibration coupling mode. The high-frequency axial oscillation generated can effectively trigger the local liquefaction effect of saturated paddy soil, which significantly reduces the root-soil binding force of the target plant.

[0043] S5, Low-resistance safe removal stage: While the iris clamping mechanism 9 maintains high-frequency rotational vibration, the external lifting module drives the entire iris-type envelope rotational vibration weed removal device upward along the central axis. Due to the soil liquefaction effect and the presence of high-frequency vibration, the weed stems undergo periodic loading and unloading, effectively avoiding the continuous accumulation of axial tensile stress during traditional rigid weeding. This ensures that the entire weed can be removed by the roots with extremely low resistance while protecting the weed stems from breakage to the greatest extent possible.

[0044] The device of this invention can effectively reduce the resistance to removing weeds, destroy the root-soil bond, and solve the problems of easy root breakage and large soil load in traditional rigid weed removal. It is particularly suitable for weed removal operations in complex farmland environments such as hybrid rice seed production.

[0045] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. An iris-type envelope rotary vibration impurity removal device, characterized in that, Includes a power source module, a planetary gear differential mechanism, and an iris clamping mechanism (9) mounted on the rack assembly; The planetary gear differential mechanism includes a sun gear shaft (301), planetary gears meshing with the sun gear shaft (301), a planet carrier (5) supporting the planetary gears, and a gear ring meshing with all the planetary gears; the ball spline (302) includes a ball spline shaft and a ball spline sleeve that are rolled together; the output shaft of the power source module is connected to the sun gear shaft (301) through the ball spline sleeve, so that the sun gear shaft (301) can rotate around the ball spline shaft and / or move axially along the ball spline shaft; the iris clamping mechanism (9) is located in the frame assembly. The bottom and top are connected to the planetary frame (5) by several long-distance screws (8) arranged along the axial direction, forming a primary power output that enables each iris blade (903) to contract synchronously in the centripetal direction, which is used to non-destructively gather and clamp the target weeds; the outer circumferential surface of the gear ring is machined with a continuous wave-shaped cam trajectory, and the wave-shaped cam is circumferentially constrained by a V-type bearing (6) installed on the frame assembly, so that the rotational motion of the gear ring is converted into reciprocating motion along the axial direction, which drives the iris clamping mechanism (9) to generate axial vibration, forming a secondary power output.

2. The iris-type envelope rotary vibration impurity removal device according to claim 1, characterized in that, The frame assembly includes support links (7) and intermediate support plates (10); a number of intermediate support plates (10) are arranged parallel to each other along the axial direction, and adjacent intermediate support plates (10) are connected by a number of support links (7) to form a whole.

3. The iris-type envelope rotary vibration impurity removal device according to claim 1, characterized in that, The power source module includes a brushless DC motor (1); the brushless DC motor (1) is fixed to the top of the frame assembly by a motor mounting plate (4), and the motor mounting plate (4) is also provided with a connecting angle iron (2) for connecting to an external frame.

4. The iris-type envelope rotary vibration impurity removal device according to claim 1, characterized in that, The output shaft of the power source module is fixedly connected to the ball spline shaft, and the ball spline sleeve is interference-fitted with the inner side of the sun gear shaft (301); the limiting cover (303) is located below the sun gear shaft (301) to prevent the ball spline sleeve from loosening or falling out under vibration, impact or abnormal collision.

5. The iris-type envelope rotary vibration impurity removal device according to claim 1, characterized in that, The iris clamping mechanism (9) includes an iris drive ring (901), a stationary base (902), and a plurality of iris blades (903); the iris drive ring (901) is located above the stationary base (902) and the two are coaxially arranged; the plurality of iris blades (903) are arranged between the iris drive ring (901) and the stationary base (902) and are evenly distributed around the axis of the stationary base (902); the iris blades (903) are provided with a rotating shaft, one end of which is connected to the rotating hole of the stationary base (902), and the other end is engaged with the arc groove of the iris drive ring (901) to play a guiding role; the driving pin on the lower side of the iris drive ring (901) is engaged with the arc groove in the iris blade (903) to play a driving role; When the planetary carrier (5) drives the iris drive ring (901) to rotate relative to the stationary chassis (902) through the long-distance screw (8), the drive pin and the arc groove can drive each iris blade (903) to pivot around their respective pivot axis, so as to change the size of the clamping hole formed by the enclosed by each iris blade (903). The stationary chassis (902) is also provided with a plurality of limiting parts distributed circumferentially, and the iris drive ring (901) is provided with abutting parts corresponding to the limiting parts; when the iris drive ring (901) rotates to the limit position, the abutting parts abut against the limiting parts to limit the rotation stroke of the iris drive ring (901).

6. The iris-type envelope rotary vibration impurity removal device according to claim 5, characterized in that, The planetary carrier (5) extends downward through several long-distance screws (8) that pass through the frame assembly and is circumferentially connected to the iris drive ring (901).

7. The iris-type envelope rotary vibration impurity removal device according to claim 1, characterized in that, The wavy cam trajectory has a sinusoidal profile, and its expansion equation satisfies ;in, The gear ring rotation angle is The axial position corresponding to the wave-shaped cam trajectory. As the reference axial position, This represents the axial vibration amplitude. The number of sinusoidal wave cycles set in the circumferential direction of the gear ring. Let be the angle of rotation of the gear ring around its central axis. The initial phase angle is ; when the gear ring rotates around the axis under the drive of the planetary gear, the wave-shaped cam trajectory slides over the V-type bearing (6), and under the axial rigid constraint of the V-type bearing (6), the rotational motion of the gear ring is converted into a high-frequency reciprocating motion along the axial direction, thereby driving the iris clamping mechanism (9) to generate axial vibration.

8. The iris-type envelope rotary vibration impurity removal device according to claim 7, characterized in that, During axial vibration, the wave-shaped cam trajectory can drive the iris clamping mechanism (9) to generate an adjustable alternating acceleration with a frequency of 2Hz-5Hz.

9. The iris-type envelope rotary vibration impurity removal device according to claim 1, characterized in that, The critical starting resistance torque of the gear ring circuit is greater than the resistance torque of the iris clamping mechanism (9) during the no-load closing stage, so that in the initial stage of operation, the power of the power source module is preferentially transmitted to the planetary carrier to perform the first-level power output of clamping action. When the iris clamping mechanism (9) clamps the weeds and causes the load torque to exceed the critical value, the speed of the planetary carrier decreases, and the power is forced to drive the gear ring to rotate, thereby triggering the second-level power output of the rotational vibration coupling mode.

10. A method for operating the iris-type envelope rotary vibration impurity removal device according to any one of claims 1 to 9, characterized in that, Specifically as follows: The iris-type envelope rotary vibration impurity removal device is lowered to directly above the target plant stem via an external lifting module, where the clamping aperture formed by the enclosed iris leaves (903) is at its maximum and is in a fully open state. The power source module starts and drives the sun gear shaft (301) of the planetary gear differential mechanism to rotate through the ball spline (302); since the iris clamping mechanism (9) is in an unloaded state, the motion resistance torque of the planetary carrier is much smaller than the critical starting torque required for the outer wave-shaped cam trajectory of the gear ring to overcome the constraint of the V-type bearing (6), and the gear ring remains stationary under the constraint; the sun gear shaft (301) drives the planetary carrier (5) to rotate through the meshing transmission with the planetary gear, and the planetary carrier (5) drives the iris blades (903) of the iris clamping mechanism (9) to synchronously contract centripetally through the long-distance screw (8) to gather the scattered weed stems until each iris blade (903) abuts against the target plant stem and clamps it tightly; When the iris blades press against the target plant stem, the rotational resistance torque of the planetary frame (5) increases to the point that the planetary frame (5) stops rotating. The differential characteristic of the planetary gear differential mechanism is activated. The sun gear shaft (301) continues to rotate under the drive of the power source module, but the input rotational power is forced to change the transmission path to overcome the resistance of the outer wave-shaped cam track of the gear ring sliding along the V-type bearing (6), so that the gear ring rotates circumferentially. The rotation of the gear ring causes the wave-shaped cam track on its outer edge to slide continuously across the fixed V-type bearing (6). Since the V-type bearing (6) is rigidly fixed in the axial position, the rotational motion of the gear ring is forced to be converted into high-frequency reciprocating motion along the axial direction. At this time, due to the axial sliding permission of the ball spline (302), the entire lower iris clamping mechanism (9) enters the rotational vibration coupling mode. The high-frequency axial oscillation generated can effectively trigger the local liquefaction effect of saturated paddy soil, which significantly reduces the root-soil binding force of the target plant. While the iris clamping mechanism (9) maintains a high-frequency rotational vibration state, the external lifting module drives the iris-type envelope rotational vibration impurity removal device to move upward along the central axis, so that the target plant can be removed by the roots while protecting the stem diameter from breakage to the greatest extent.

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