Front suspension type modularized linear guide rail cotton topping machine

Abstract

The utility model discloses a front suspension type modularized linear guide rail cotton topping machine for cotton field operation in the technical field of agricultural machinery. The front suspension type modularized linear guide rail cotton topping machine comprises a front suspension module, a topping execution module, a visual identification module, a control module, a rack and a power supply, the front suspension module is connected to the front end of a tractor chassis through bolts, the rack is in three-point connection with the front suspension module through cylindrical pins, the topping execution module is fixedly installed on a second cross beam of the rack through bolts, the visual recognition module is installed on a third cross beam of the rack, the control module and the power source are installed above the rack, and the topping machine is integrally located at the front end of a tractor. The multi-degree-of-freedom topping execution module is provided with a visual recognition function and a multi-degree-of-freedom topping execution mechanism, modular design is adopted, the topping rate can be effectively improved, mounting, dismounting and maintenance are convenient, and the topping execution module can be expanded and adjusted according to different cotton planting modes.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field especially relates to a front suspension type modular linear guide rail cotton topping machine for cotton field operation. BACKGROUND

[0002] Cotton topping refers to removing the terminal bud of cotton plant during the growth of cotton according to the agricultural requirements. Cotton topping helps to increase the number of bolls and improve the yield and quality of cotton. The common topping methods currently include manual topping, chemical topping and mechanical topping. Manual topping has large labor intensity and low efficiency, and chemical topping is easy to pollute the environment.

[0003] The Chinese invention patent with the application number CN201510383053.0 discloses a cotton topping machine and a topping control method thereof, which comprises a cutter device, a lifting device and an automatic control device arranged on a rack. The cutter device comprises a pair of cutters, the cutter shaft and the gear form a circumferential constraint axial movement pair. The lifting servo motor of the lifting device is engaged with the vertical rack through the lifting drive gear, and the upper end of the vertical rack is fixedly connected with the horizontal connecting plate at the top of the cutter shaft. The invention can simultaneously top multiple cotton plants at different heights, but the cutter device cannot move left and right, the topping effect of the terminal bud deviating from the cutter feeding inlet is not good, the design of double cutters increases the working range of the cutter topping, which is easy to cause accidental injury to the leaves around the terminal bud, and the cotton topping machine adopts a rear suspension installation method, so that the cotton plant is easy to be disturbed by the tractor and shake, which affects the topping effect.

[0004] The Chinese invention patent with the application number CN201811377360.8 discloses a cotton intelligent topping mechanism, which comprises a lifting system, a position detection device, a control system and a topping device. The lifting system comprises a whole machine lifting device and a topping lifting device, the topping lifting device is arranged on the whole machine lifting device, and the topping device is slidingly connected on the topping lifting device. The whole machine lifting device is a parallel four-bar linkage mechanism, the parallel four-bar linkage mechanism is provided with a hydraulic system, and the position detection device is arranged on the topping device. The adjustment accuracy of the whole machine lifting device, the topping lifting device, the hydraulic system and the topping device is high, but the topping device can only move up and down, and the position detection device is an ultrasonic detection, so that the topping process is easy to cause missed topping and over-topping.

[0005] Therefore, the utility model designs a front suspension type modular linear guide rail cotton topping machine suitable for cotton topping operation to solve the above problems. UTILITY MODEL CONTENTS

[0006] The utility model discloses a front suspension type modular linear guide rail cotton topping machine for cotton field operation, which has visual identification function, multi-degree-of-freedom topping execution mechanism and modular design.

[0007] To achieve the above object, the utility model provides the following technical scheme:

[0008] The front suspension type modular linear guide rail cotton topping machine has the advantages that the front suspension module is connected to the front end of the tractor chassis through bolts, the rack is connected to the front suspension module through cylindrical pin three-point connection, the topping execution module is fixedly installed on the second cross beam of the rack through bolts, the visual identification module is installed on the third cross beam of the rack, the control module and the power supply are installed above the rack, and the whole topping machine is located at the front end of the tractor.

[0009] The front suspension module comprises a connecting plate, a suspension frame, a hydraulic cylinder and a pull rod, the suspension frame, the hydraulic cylinder and the pull rod are all connected through pins, the suspension frame is connected to the connecting plate through bolts, the inlet and outlet oil ports of the hydraulic cylinder are connected to the hydraulic quick connector of the tractor through a hydraulic oil pipe, the overall adjustment of the ground clearance of the topping machine is completed, and the connecting plate is connected to the front end of the tractor chassis through bolts.

[0010] The rack comprises a center connecting block, a pull plate, a plane frame and a U-shaped clamp, the plane frame is composed of connecting ears, a first cross beam, a second cross beam, a third cross beam, a camera support frame fixing block and multiple longitudinal beams, the first cross beam is symmetrically welded with two connecting ears to be connected to the suspension frame through pins, the center connecting block is fixed to the central position of the first cross beam of the plane frame through the U-shaped clamp, a round hole is arranged at the upper portion of the center connecting block and connected to the pull rod through a pin, and the pull plate is connected to the center connecting block and the plane frame through bolts.

[0011] The control module comprises a control box, a guide rail motor controller, a guide rail motor driver, a rotary knife motor speed regulator and a display screen, the guide rail motor controller, the guide rail motor driver and the rotary knife motor speed regulator are all installed in the control box, the control box is connected to the first cross beam and the second cross beam of the plane frame of the rack through bolts, and the display screen is installed on the top surface of the control box.

[0012] The topping execution module comprises a longitudinal guide rail module, a transverse guide rail module, a guide rail connecting block and an end effector, the longitudinal guide rail module is composed of a longitudinal driving motor, an upper photoelectric sensor, a longitudinal light shield, a longitudinal sliding block, a longitudinal guide rail and a lower photoelectric sensor, the longitudinal light shield is fixedly installed on the longitudinal sliding block, the transverse guide rail module is composed of a transverse driving motor, a left photoelectric sensor, a transverse light shield, a transverse sliding block, a transverse guide rail and a right photoelectric sensor, the transverse light shield is fixedly installed on the transverse sliding block, the longitudinal guide rail module and the transverse guide rail module are connected through the longitudinal sliding block and the transverse sliding block, the longitudinal guide rail module drives the longitudinal sliding block to move through a ball screw transmission, and the transverse guide rail module drives the transverse sliding block to move through a synchronous belt transmission, the transverse guide rail module is bolted to a second cross beam of the rack through the guide rail connecting block, the end effector is bolted to the longitudinal guide rail, the left and right photoelectric sensors and the upper and lower photoelectric sensors are symmetrically installed on the left and right sides of the transverse guide rail and the upper and lower ends of the longitudinal guide rail respectively, and the topping execution module can be quickly adjusted and expanded through the guide rail connecting block.

[0013] The control module and the power supply are symmetrically arranged on the two sides of the rack, the power supply is a storage battery, is installed in a power supply fixing frame, and the power supply fixing frame is connected with the first cross beam and the second cross beam of the rack plane frame through bolts.

[0014] The end effector of the topping execution module comprises an L plate, a rotary knife motor, a motor cover, a connecting shaft sleeve, a rotary knife and a nut, the L plate is bolted to the lower part of the longitudinal guide rail, the bottom surface of the L plate is provided with a circular hole, the bottom surface is located directly below the lower end surface of the longitudinal guide rail, the motor cover is installed on the bottom surface of the L plate through bolts, the rotary knife motor is fixedly installed in the motor cover through bolts, the circular hole end of the connecting shaft sleeve is connected with the motor shaft, and the rotary knife is installed on the threaded end of the connecting shaft sleeve and is fastened through the nut.

[0015] Each topping execution module is separately provided with a visual identification module, and the topping execution module, the visual identification module, the control module and the power supply can also be installed and fixed on the agricultural intelligent trolley and other agricultural walking devices to realize cotton topping operation.

[0016] Compared with the prior art, the utility model has the advantages that:

[0017] (1) The utility model discloses a tractor as walking device, and the topping machine is designed as the carrier convenient to load and unload, and the whole topping machine is installed at the front end of the tractor, which can effectively avoid the influence of the walking device on the cotton plant during the topping process, improve the accuracy of the topping, and the topping machine is designed as the hanging machine tool production, which is lower in production cost and easier to realize, and has higher universality.

[0018] (2) The utility model discloses a straight line guide rail as the execution mechanism, which can drive the end effector to move at any point in the vertical plane, and the end effector adopts a small-diameter single rotary cutter, which can avoid the injury of the leaves around the terminal bud, and the topping execution module adopts the modular design and can realize quick disassembly and quick assembly, and can be expanded and adjusted according to the planting mode of the cotton plant.

[0019] (3) The utility model discloses a modular design, and the topping execution module, visual identification module, control module and power supply can realize quick disassembly and quick assembly, and each module can be installed and fixed on the agricultural intelligent trolley and other agricultural walking devices to realize the cotton topping operation. BRIEF DESCRIPTION OF DRAWINGS

[0020] The application will be further described below with reference to the drawings.

[0021] Figure 1 It is the schematic diagram of the installation and hanging of the utility model.

[0022] Figure 2 It is the schematic diagram of the whole machine of the utility model.

[0023] Figure 3 It is the schematic diagram of the rack structure of the utility model.

[0024] Figure 4 It is the schematic diagram of the topping execution module structure of the utility model.

[0025] Figure 5 It is the schematic diagram of the end effector structure of the utility model Figure 1 .

[0026] Figure 6 It is the schematic diagram of the end effector structure of the utility model Figure 2 .

[0027] EXPLANATION OF DRAWINGS:

[0028] 1. Tractor

[0029] 2. Front suspension module; 21. Connecting plate; 22. Suspension frame; 23. Hydraulic cylinder; 24. Drawbar

[0030] 3. Frame; 31. Center connecting block; 32. Pull plate; 33. Planar frame; 331. Connecting lug; 332. First crossbeam; 333. Second crossbeam; 334. Third crossbeam; 335. Camera support bracket fixing block; 34. U-shaped clip;

[0031] 4. Control module;

[0032] 5. Power supply;

[0033] 6. Top-tapping execution module; 61. Longitudinal guide rail module; 611. Longitudinal drive motor; 612. Upper photoelectric sensor; 613. Longitudinal light shield; 614. Longitudinal slider; 615. Longitudinal guide rail; 616. Lower photoelectric sensor; 62. Transverse guide rail module; 621. Transverse drive motor; 622. Left photoelectric sensor; 623. Transverse light shield; 624. Transverse slider; 625. Transverse guide rail; 626. Right photoelectric sensor; 63. Guide rail connecting block; 64. End effector; 641. L-plate; 642. Rotary cutter motor; 643. Motor cover; 644. Connecting bushing; 645. Rotary cutter; 646. Nut;

[0034] 7. Visual recognition module; 71. Depth camera; 72. Camera mount; Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0036] This embodiment features a front-suspended modular linear guide cotton topping machine, as shown in the example. Figures 1 to 6 As shown, it includes a front suspension module 2, a frame 3, a control module 4, a power supply 5, a topping execution module 6, and a vision recognition module 7. The front suspension module 2 is bolted to the front end of the tractor 1 chassis. The frame 3 is connected to the front suspension module 2 at three points via cylindrical pins. The topping execution module 6 is bolted to the second crossbeam 333 of the frame. The vision recognition module 7 is installed on the third crossbeam 334 of the frame. The control module 4 and the power supply 5 are installed on top of the frame 3. The entire topping machine is located at the front end of the tractor 1.

[0037] like Figure 2 and Figure 1As shown, the front suspension module 2 includes a connecting plate 21, a suspension bracket 22, a hydraulic cylinder 23, and a pull rod 24. The suspension bracket 22 is connected to the hydraulic cylinder 23 and the pull rod 24 by a pin, and the suspension bracket 22 is bolted to the connecting plate 21. The inlet and outlet of the hydraulic cylinder 23 are connected to the hydraulic quick connector of the tractor 1 through a hydraulic oil pipe, thereby completing the overall adjustment of the off-ground height of the topping machine. The connecting plate 21 is bolted to the front end of the chassis of the tractor 1.

[0038] As shown in Figure 3 and Figure 2 , the rack 3 includes a center connecting block 31, a pull plate 32, a planar frame 33, and a U-shaped clamp 34. The planar frame 33 is composed of a connecting lug 331, a first cross beam 332, a second cross beam 333, a third cross beam 334, a camera support bracket fixing block 335, and multiple longitudinal beams. The first cross beam 332 is symmetrically welded with two connecting lugs 331 and is connected to the suspension bracket 22 by a pin. The center connecting block 31 is fixed to the first cross beam 332 of the planar frame 33 by the U-shaped clamp 34. A round hole is provided on the upper part of the center connecting block 31 to connect with the pull rod 24 by a pin. The pull plate 32 is bolted to the center connecting block 31 and the planar frame 33.

[0039] The control module 4 includes a control box, a guide rail motor controller, a guide rail motor driver, a rotary knife motor speed regulator, and a display screen. The guide rail motor controller, the guide rail motor driver, and the rotary knife motor speed regulator are all installed in the control box. As shown in Figure 2 , the control box is connected to the first cross beam 332 and the second cross beam 333 of the planar frame 33 of the rack 3 by bolts. The display screen is installed on the top surface of the control box. As shown in Figure 4 and Figure 2As shown, the topping execution module 6 includes a longitudinal guide rail module 61, a transverse guide rail module 62, a guide rail connecting block 63, and an end effector 64. The longitudinal guide rail module 61 is composed of a longitudinal drive motor 611, an upper photoelectric sensor 612, a longitudinal light shield 613, a longitudinal sliding block 614, a longitudinal guide rail 615, and a lower photoelectric sensor 616. The longitudinal light shield 613 is fixedly installed on the longitudinal sliding block 614. The transverse guide rail module 62 is composed of a transverse drive motor 621, a left photoelectric sensor 622, a transverse light shield 623, a transverse sliding block 624, a transverse guide rail 625, and a right photoelectric sensor 626. The transverse light shield 623 is fixedly installed on the transverse sliding block 624. The longitudinal guide rail module 61 and the transverse guide rail module 62 are connected through the longitudinal sliding block 614 and the transverse sliding block 624. The longitudinal guide rail module 61 drives the longitudinal sliding block 614 to move through ball screw transmission. The transverse guide rail module 62 drives the transverse sliding block 624 to move through synchronous belt transmission. The transverse guide rail module 62 is bolted to the second cross beam 333 of the rack through the guide rail connecting block 63. The end effector 64 is bolted to the longitudinal guide rail 615. The left and right photoelectric sensors 622 and 626, and the upper and lower photoelectric sensors 612 and 616 are symmetrically installed on the left and right sides of the transverse guide rail 625 and the upper and lower ends of the longitudinal guide rail 615, respectively. The topping execution module 6 can be quickly adjusted and expanded through the guide rail connecting block 63.

[0040] As shown in Figure 2 and Figure 3 , the visual recognition module 7 includes a depth camera 71 and a camera fixing frame 72. The depth camera 71 is connected to the camera fixing frame 72 by screws. The camera fixing frame 72 is connected to the camera support frame fixing block 335 welded on the third cross beam 334 of the rack 3 by a pin. The camera fixing frame 72 is uniformly processed with a round hole.

[0041] As shown in Figure 5 and Figure 6 , the end effector 64 of the topping execution module 6 includes an L plate 641, a motor 642, a motor cover 643, a connecting shaft sleeve 644, a rotary knife 645, and a nut 646. The L plate 641 is bolted to the lower part of the longitudinal guide rail 615. The bottom surface of the L plate 641 is provided with a round hole, which is located directly below the lower end surface of the longitudinal guide rail 615. The motor cover 643 is installed on the bottom surface of the L plate 641 by bolts. The motor 642 is fixedly installed in the motor cover by bolts. The round hole end of the connecting shaft sleeve 644 is connected to the rotating shaft of the motor 642. The rotary knife 645 is installed on the threaded end of the connecting shaft sleeve 644 and is fastened by the nut 646.

[0042] As shown in Figure 4 and Figure 2As shown, each topping execution module 6 is separately configured with a visual recognition module 7, and the topping execution module 6, the visual recognition module 7, the control module 4 and the power supply 5 can be installed and fixed on the agricultural intelligent trolley and other agricultural walking devices to realize the cotton topping operation.

[0043] The specific working process of the utility model is as follows:

[0044] Before starting the cotton field topping operation, the tractor 1 is started to adjust the ground clearance of the rack 3 through the front suspension module 2, so that the ground clearance of the rack 3 is higher than the average plant height of the cotton plants, and the rack 3 is in a horizontal state. The power supply 5 is connected to supply power to the control module 4, the topping execution module 6 and the visual recognition module 7, the longitudinal guide rail module 61 of the topping execution module 6 is adjusted so that the end effector 64 is above the cotton plant terminal bud; during the topping operation, the depth camera 71 collects the cotton plant top image in real time, identifies and classifies the cotton plant terminal bud, and obtains the three-dimensional coordinates of the terminal bud in space, the control module 4 processes the information fed back by the depth camera 71, converts the three-dimensional coordinates of the terminal bud into electrical signals, under the action of the guide rail motor driver, controls the movement of the horizontal guide rail module 62 and the longitudinal guide rail module 61 to make the end effector 64 reach the original position of the terminal bud in space, the rotary knife motor 642 drives the rotary knife 645 to rotate at high speed, completes the removal operation of the terminal bud, and realizes the cotton field topping operation. In addition, the horizontal guide rail module 62 is provided with photoelectric sensors on the left and right sides and the longitudinal guide rail module 61 is provided with photoelectric sensors on the upper and lower ends, so that the guide rail overstroke phenomenon of the topping execution module in the working process is avoided.

Claims

1. A front suspension type modular linear guide cotton topping machine, characterized in that: The device comprises a front suspension module (2), a frame (3), a control module (4), a power supply (5), a topping execution module (6), and a visual identification module (7); the front suspension module (2) is connected to the front end of the chassis of the tractor (1) by bolts; the frame (3) is connected to the front suspension module (2) by a cylindrical pin three-point connection; the topping execution module (6) is fixedly installed on the second cross beam (333) of the frame by bolts; the visual identification module (7) is installed on the third cross beam (334) of the frame; the control module (4) and the power supply (5) are installed above the frame (3); and the whole topping machine is located at the front end of the tractor (1). The front suspension module (2) comprises a connecting plate (21), a suspension frame (22), a hydraulic cylinder (23), and a pull rod (24); the suspension frame (22), the hydraulic cylinder (23), and the pull rod (24) are all connected by pins; the suspension frame (22) is connected to the connecting plate (21) by bolts; the inlet and outlet of the hydraulic cylinder (23) are connected to the hydraulic quick connector of the tractor (1) by a hydraulic oil pipe, thereby completing the overall adjustment of the ground clearance of the topping machine; and the connecting plate (21) is connected to the front end of the chassis of the tractor (1) by bolts. The frame (3) comprises a center connecting block (31), a pull plate (32), a plane frame (33), and a U-shaped clamp (34); the plane frame (33) is composed of connecting ears (331), a first cross beam (332), a second cross beam (333), a third cross beam (334), a camera support frame fixing block (335), and multiple longitudinal beams; the first cross beam (332) is symmetrically welded with two connecting ears (331) to connect the suspension frame (22) by pins; the center connecting block (31) is fixed to the center position of the first cross beam (332) of the plane frame (33) by the U-shaped clamp (34); the upper part of the center connecting block (31) is provided with a round hole to connect the pull rod (24) by a pin; and the pull plate (32) is connected to the center connecting block (31) and the plane frame (33) by bolts. The control module (4) comprises a control box, a guide rail motor controller, a guide rail motor driver, a rotary knife motor speed regulator, and a display screen; the guide rail motor controller, the guide rail motor driver, and the rotary knife motor speed regulator are all installed in the control box; the control box is connected to the first cross beam (332) and the second cross beam (333) of the plane frame (33) of the frame (3) by bolts; and the display screen is installed on the top surface of the control box. The topping execution module (6) comprises a longitudinal guide rail module (61), a transverse guide rail module (62), a guide rail connecting block (63) and an end effector (64), the longitudinal guide rail module (61) is composed of a longitudinal driving motor (611), an upper photoelectric sensor (612), a longitudinal light shield (613), a longitudinal sliding block (614), a longitudinal guide rail (615) and a lower photoelectric sensor (616), the longitudinal light shield (613) is fixedly installed on the longitudinal sliding block (614), the transverse guide rail module (62) is composed of a transverse driving motor (621), a left photoelectric sensor (622), a transverse light shield (623), a transverse sliding block (624), a transverse guide rail (625) and a right photoelectric sensor (626), the transverse light shield (623) is fixedly installed on the transverse sliding block (624), the longitudinal guide rail module (61) and the transverse guide rail module (62) are connected through the longitudinal sliding block (614) and the transverse sliding block (624), the longitudinal guide rail module (61) drives the longitudinal sliding block (614) to move through ball screw transmission, the transverse guide rail module (62) drives the transverse sliding block (624) to move through synchronous belt transmission, the transverse guide rail module (62) is bolted to the second cross beam (333) of the rack through the guide rail connecting block (63), the end effector (64) is bolted to the longitudinal guide rail (615), the left photoelectric sensor (622) and the right photoelectric sensor (626), the upper photoelectric sensor (612) and the lower photoelectric sensor (616) are symmetrically installed on the left and right sides of the transverse guide rail (625) and the upper and lower ends of the longitudinal guide rail (615) respectively, and the topping execution module (6) can be quickly adjusted and expanded through the guide rail connecting block (63). The visual identification module (7) comprises a depth camera (71) and a camera fixing frame (72), the depth camera (71) is connected with the camera fixing frame (72) through screws, the camera fixing frame (72) is connected with the camera support frame fixing block (335) welded on the third cross beam (334) of the rack (3) through a pin, and round holes are uniformly processed on the camera fixing frame (72).

2. The front suspension type modular linear guide cotton topping machine according to claim 1, characterized in that: The control module (4) and the power supply (5) are symmetrically distributed on both sides of the rack (3), the power supply (5) is a storage battery installed in a power supply fixing frame, and the power supply fixing frame is connected with the first cross beam (332) and the second cross beam (333) of the planar frame (33) of the rack (3) through bolts.

3. The front suspension type modular linear guide cotton topping machine according to claim 1, characterized in that: The end effector (64) of the topping execution module (6) comprises an L plate (641), a rotary knife motor (642), a motor cover (643), a connecting shaft sleeve (644), a rotary knife (645), and a nut (646). The L plate (641) is bolted to the lower part of the longitudinal guide rail (615), and the bottom surface of the L plate (641) is provided with a round hole, which is located directly below the lower end surface of the longitudinal guide rail (615). The motor cover (643) is bolted to the bottom surface of the L plate (641). The rotary knife motor (642) is fixedly installed in the motor cover by bolts. The round hole end of the connecting shaft sleeve (644) is connected with the rotating shaft of the rotary knife motor (642). The rotary knife (645) is installed on the threaded end of the connecting shaft sleeve (644) and is fastened by the nut (646).

4. The front suspension type modular linear guide cotton topping machine according to claim 1, characterized in that: Each topping execution module (6) is separately configured with a visual identification module (7). The topping execution module (6), the visual identification module (7), the control module (4), and the power supply (5) can also be installed and fixed on an agricultural intelligent trolley and other agricultural walking devices to realize cotton topping work.

Images