Cotton laser topping machine based on coordinate robot

Abstract

The cotton laser topping machine based on the coordinate robot comprises a bottom frame, supporting legs are arranged at the four corners of the bottom of the bottom frame respectively, walking wheels are installed at the bottoms of the supporting legs respectively, grain lifters are installed on the walking wheels respectively, a base plate is arranged in the middle of the interior of the bottom frame, and the grain lifters are arranged on the base plate. Three rectangular openings are formed in the upper surface of the base plate, and three coordinate topping mechanisms distributed in one-to-one correspondence with the rectangular openings are arranged on the base plate. The base plate provided with the laser and the battery is connected through the shock absorber, most of the weight of the chassis of the machine is concentrated together, the stability of the chassis is greatly improved, and large-amplitude inclination during topping is prevented.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural equipment, and particularly relates to a cotton laser topping machine based on a coordinate robot. Background Technique

[0002] Cotton is an important industrial foundation and strategic material in China. At the same time, it is an economic crop with a relatively high status in agricultural production and occupies a strong economic position. In the whole process of cotton production and planting, mechanization has been basically realized. From deep loosening and sowing to cotton harvesting, only mechanical topping is still in the experimental research stage where it cannot be widely promoted. Cotton topping is one of the key links for increasing cotton yield. Timely topping can eliminate the apical dominance of cotton and increase cotton yield. Abroad, chemical topping is generally used, using some crop growth inhibitors to control the growth of cotton plants and make their tops naturally wither. In China, due to the strong technicality of chemical control, the susceptibility of diverse cotton varieties to chemicals varies significantly. At the same time, it pollutes the environment and affects the quality of cotton, making it difficult to be widely promoted on a large scale; manual topping is time-consuming and laborious. Against the background of labor shortage, mechanized topping technology has become inevitable.

[0003] The ground clearance of the existing agricultural topping machine's power chassis is relatively small. During the process of agricultural topping, it may touch the plants due to the small ground clearance of the chassis. In view of the deficiencies of the existing technology, the utility model provides a cotton laser topping machine based on a coordinate robot. Content of the Utility Model

[0004] The purpose of the utility model is to provide a cotton laser topping machine based on a coordinate robot to solve the technical problems raised in the background technique.

[0005] To achieve the above purpose, the specific technical solution of the utility model is as follows: A cotton laser topping machine based on a coordinate robot includes a chassis. Support legs are arranged at the four corners of the bottom of the chassis. A traveling wheel is installed at the bottom of each support leg, and a lifter is installed on each traveling wheel. A substrate is arranged in the middle of the interior of the chassis. Three rectangular openings are arranged on the upper surface of the substrate, and three coordinate topping mechanisms corresponding to the rectangular openings one by one are arranged on the substrate. Vertical rods are arranged at the four corners of the upper surface of the substrate. The tops of the vertical rods at both ends of the long side of the substrate are connected by a cross bar. The two ends of the two cross bars are fixedly connected by a longitudinal bar, and the bottom of the end of the longitudinal bar is connected to the upper surface of the chassis through a shock absorber.

[0006] Preferably, a servo motor and a DC steering motor for driving the traveling wheel to travel and turn are arranged in the support leg, and the DC steering motor controls the turning of the traveling wheel through a worm and gear reducer.

[0007] Preferably, a lidar is provided at the top of the front side wall of the cotton lifter, and a camera is provided on the front side wall of the support leg.

[0008] Preferably, a sunshade is provided between the support legs at both ends of the short side of the chassis.

[0009] Preferably, the bottom of the shock absorber is fixedly connected to the upper surface of the chassis through a bracket.

[0010] Preferably, the coordinate topping mechanism includes two first sliding rails distributed in parallel. First synchronous belts are arranged on both of the two first sliding rails, and a synchronous driving mechanism is used to drive the two first synchronous belts to move simultaneously between the two first sliding rails. First sliders slidably connected to the first sliding rails are connected to both of the two first synchronous belts through connecting blocks. The two first sliders are connected through a second sliding rail. A second synchronous belt is arranged on the second sliding rail. A second slider slidably connected to the second sliding rail is connected to the second synchronous belt through a connecting block. A laser is connected to the front side wall of the second slider through a laser plate. A fixing seat is arranged at the bottom of the second slider, and a vision sensor is arranged at the bottom of the fixing seat.

[0011] Preferably, a plurality of equally spaced batteries are arranged on the upper surface of the substrate at the rear side of the three rectangular openings, and the batteries are fixedly connected to the upper surface of the substrate through battery holders.

[0012] The cotton laser topping machine based on a coordinate robot of the present invention has the following advantages:

[0013] 1. In the present invention, the hub motor is directly used to drive the traveling wheel 3 to travel, and the structure is relatively compact. At the same time, the four-wheel drive has a large driving force and can run stably in the farmland. At the same time, a DC steering motor is used in cooperation with a 63 worm and worm reducer above each traveling wheel 3 to directly control the steering of the traveling wheel 3, and the turning radius is small. By using a shock absorber to connect the substrate equipped with a laser and batteries, most of the weight of the chassis of the machine is concentrated together, greatly improving the stability of the chassis and preventing large tilting during topping.

[0014] 2. In the present invention, through the cooperation between the first sliding rail, the first synchronous belt, the second sliding rail and the second synchronous belt, the laser is enabled to move in a plane, and accurate laser topping is achieved through the vision sensor. The coordinate topping mechanism has a larger working space and a lower overall weight compared with mechanisms such as a parallel robotic arm, and can perform high-precision, efficient and stable motion control driven by high-precision motors.

[0015] 3. Through the setting of the cotton lifter, the phenomenon that the device presses the cotton during walking can be effectively prevented, and the main stem at the lower part of the cotton can be identified by using the lidar and the camera to achieve the purpose of automatic row alignment. Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0017] Figure 1 Schematic diagram of the overall structure of the present utility model;

[0018] Figure 2 Connection diagram of the shock absorber and the chassis in the present utility model;

[0019] Figure 3 Schematic diagram of the structure of the substrate in the present utility model;

[0020] Figure 4 Schematic diagram of the structure of the coordinate topping mechanism in the present utility model.

[0021] Explanation of the markings in the figure: 1. Chassis; 2. Support leg; 3. Traveling wheel; 4. Reaping aid; 5. Lidar; 6. Camera; 7. Substrate; 8. Sunshade; 9. Shock absorber; 10. Battery; 11. Rectangular opening; 12. Coordinate topping mechanism; 13. Longitudinal rod; 14. Vertical rod; 15. Cross bar; 16. Bracket; 17. First slide rail; 18. First synchronous belt; 19. Synchronous drive mechanism; 20. Second slide rail; 21. First slider; 23. Second synchronous belt; 24. Second slider; 25. Laser plate; 26. Laser; 27. Fixed seat; 28. Vision sensor. Specific embodiments

[0022] In the following text, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the embodiments of the present utility model. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0023] In the description of the embodiments of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "length", "vertical", "horizontal", "top", "bottom", etc. are based on the orientation or positional relationships shown in the drawings. It is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the embodiments of the present utility model.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present utility model, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0025] In the embodiments of the present utility model, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal connection of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0026] The following disclosure provides many different embodiments or examples for implementing different structures of the embodiments of the present utility model. To simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0027] To better understand the purpose, structure and function of the present utility model, the following further describes in detail a cotton laser topping machine based on a coordinate robot of the present utility model with reference to the drawings.

[0028] As Figures 1-4 shown, a cotton laser topping machine based on a coordinate robot of the present utility model includes a chassis 1. Support legs 2 are provided at the four corners of the bottom of the chassis 1. A sunshade 8 is provided between the support legs 2 at both ends of the short side of the chassis 1. By providing the sunshade 8, sunlight can be effectively prevented from shining into the bottom of the chassis 1. A traveling wheel 3 is installed at the bottom of each support leg 2. A servo motor and a DC steering motor for driving the traveling wheel 3 to travel and turn are provided inside the support leg 2. The DC steering motor controls the turning of the traveling wheel 3 through a worm and worm gear reducer. The hub motor is directly used to drive the traveling wheel 3 to travel. The structure is relatively compact. At the same time, the four-wheel drive has a large driving force and can run stably in the farmland. At the same time, above each traveling wheel 3, the DC steering motor cooperates with a 63 worm and worm gear reducer to directly control the turning of the traveling wheel 3, and the turning radius is small.

[0029] Each walking wheel 3 is equipped with a lifter 4. At the top of the front side wall of the lifter 4, a lidar 5 is provided. On the front side wall of the support leg 2, a camera 6 is provided. Through the setting of the lifter 4, the phenomenon that the device presses the cotton during walking can be effectively prevented, and the lidar 5 and the camera 6 can be used to identify the main stem at the lower part of the cotton to achieve the purpose of automatic row alignment.

[0030] In the middle part inside the chassis 1, a base plate 7 is provided. On the upper surface of the base plate 7, three rectangular openings 11 are provided. At the rear side of the three rectangular openings 11 on the upper surface of the base plate 7, a plurality of equally spaced batteries 10 are provided. The batteries 10 are fixedly connected to the upper surface of the base plate 7 through battery holders. On the base plate 7, three coordinate topping mechanisms 12 corresponding to the rectangular openings 11 are provided. The coordinate topping mechanism 12 includes two first slide rails 17 distributed in parallel. On both of the two first slide rails 17, a first synchronous belt 18 is provided. And between the two first slide rails 17, two first synchronous belts 18 are driven to move simultaneously through a synchronous drive mechanism 19. And on both of the two first synchronous belts 18, a first slider 21 slidably connected to the first slide rail 17 is connected through a connecting block. The synchronous drive mechanism 19 is connected to the pulleys of the two first synchronous belts 18 by a motor and a connecting shaft, so that the two first synchronous belts 18 move simultaneously. Between the two first sliders 21, they are connected by a second slide rail 20. On the second slide rail 20, a second synchronous belt 23 is provided. The second synchronous belt 23 is connected through a connecting block with a second slider 24 slidably connected to the second slide rail 20. On the upper surface of one end of the second slide rail 20, a motor connected to one of the pulleys of the second synchronous belt 23 is installed. The front side wall of the second slider 24 is connected with a laser 26 through a laser plate 25. At the bottom of the second slider 24, a fixing seat 27 is provided. At the bottom of the fixing seat 27, a vision sensor 28 is provided. Through the cooperation between the first slide rail 17, the first synchronous belt 18 and the second slide rail 20 and the second synchronous belt 23, the laser 26 is enabled to move in a plane. Through the vision sensor 28, precise laser topping is realized. And compared with mechanisms such as parallel robotic arms, the coordinate topping mechanism 12 has a larger working space and a lower overall machine weight. Driven by a high-precision motor, it can perform high-precision, high-efficiency and stable motion control. At the four corners of the upper surface of the base plate 7, vertical rods 14 are provided. Between the tops of the vertical rods 14 at both ends of the long side of the base plate 7, they are connected by a cross bar 15. Between both ends of the two cross bars 15, they are fixedly connected by longitudinal rods 13. And at the bottom of the end of the longitudinal rod 13, it is connected with the upper surface of the chassis 1 through a shock absorber 9. The bottom of the shock absorber 9 is fixedly connected with the upper surface of the chassis 1 through a bracket 16. The shock absorber 9 is connected to the base plate 7 equipped with the laser 26 and the batteries 10, concentrating most of the weight of the chassis of the machine together, greatly improving the stability of the chassis and preventing large tilting during topping.

[0031] It can be understood that the present utility model is described through some embodiments. Those skilled in the art know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present utility model. Additionally, under the teaching of the present utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present utility model.

Claims

1. A cotton laser topping machine based on a coordinate robot, characterized in that: The invention comprises a base frame (1), wherein support legs (2) are arranged at the four corners of the bottom of the base frame (1), a walking wheel (3) is installed at the bottom of each support leg (2), and a straw support device (4) is installed on each walking wheel (3); a base plate (7) is arranged at the middle part of the inner part of the base frame (1), three rectangular openings (11) are arranged on the upper surface of the base plate (7), and three coordinate topping mechanisms (12) distributed one-to-one corresponding to the rectangular openings (11) are arranged on the base plate (7); vertical poles (14) are arranged at the four corners of the upper surface of the base plate (7), the top ends of the vertical poles (14) located at the two ends of the long side of the base plate (7) are connected by a cross bar (15), the two ends of the two cross bars (15) are fixedly connected by a longitudinal bar (13), and the bottom of the end of the longitudinal bar (13) is connected to the upper surface of the base frame (1) through a shock absorber (9).

2. The cotton laser topping machine based on a coordinate robot according to claim 1, characterized in that: A servo motor and a DC steering motor for driving the walking wheel (3) to move and turn are arranged in the support leg (2); the DC steering motor controls the steering of the walking wheel (3) via a worm gear reducer.

3. The cotton laser topping machine based on a coordinate robot according to claim 1, characterized in that: A laser radar (5) is arranged at the top end of the front side wall of the crop support (4), and a camera (6) is arranged at the front side wall of the support leg (2).

4. The cotton laser topping machine based on a coordinate robot according to claim 1, characterized in that: A sunshade (8) is provided between the support legs (2) at both ends of the short sides of the base frame (1).

5. The cotton laser topping machine based on a coordinate robot according to claim 1, characterized in that: The bottom of the shock absorber (9) is fixedly connected to the upper surface of the base frame (1) via a bracket (16).

6. The cotton laser topping machine based on a coordinate robot according to claim 1, characterized in that: The coordinate topping mechanism (12) comprises two first slide rails (17) arranged in parallel, each of the two first slide rails (17) being provided with a first synchronous belt (18), and the two first slide rails (17) being driven by a synchronous driving mechanism (19) to move simultaneously, and each of the two first synchronous belts (18) being connected to a first slider (21) slidably connected to the first slide rail (17) via a connecting block, and the two first sliders (21) being connected via a second slide rail (20), and the second slide rail (20) being provided with a second synchronous belt (23), and the second synchronous belt (23) being connected to a second slider (24) slidably connected to the second slide rail (20) via a connecting block, and the front side wall of the second slider (24) being connected to a laser (26) via a laser plate (25), and a fixing seat (27) being provided at the bottom of the second slider (24), and a visual sensor (28) being provided at the bottom of the fixing seat (27).

7. The cotton laser topping machine based on a coordinate robot according to claim 1, characterized in that: A plurality of batteries (10) distributed at equal intervals are arranged on the upper surface of the substrate (7) behind the three rectangular openings (11); the batteries (10) are fixedly connected to the upper surface of the substrate (7) via a battery seat.

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