CN108370740A - A kind of topping end effector and the topping machine containing the actuator - Google Patents
A kind of topping end effector and the topping machine containing the actuator Download PDFInfo
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- CN108370740A CN108370740A CN201810431497.0A CN201810431497A CN108370740A CN 108370740 A CN108370740 A CN 108370740A CN 201810431497 A CN201810431497 A CN 201810431497A CN 108370740 A CN108370740 A CN 108370740A
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- topping
- end effector
- knife rest
- unit
- connecting rod
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Cultivation Of Plants (AREA)
Abstract
The present invention provides a kind of topping end effector, including：Mechanical arm docks block, pose adjustment unit, execution unit, perception unit, control unit.The execution unit and mechanical arm docking block are connected with pose adjustment unit；The terminal bud retracting device is fixed on execution unit and pose adjustment unit junction, is located above execution unit.Topping end effector provided by the invention, structure novel, apparatus structure compact, reliability are high, and mechanism scheme design is succinct, it can be achieved that accurate topping to every plant of crop major branch and side shoot, avoids no marking or cross the generation for beating phenomenon.
Description
Technical field
The present invention relates to field of mechanical technique more particularly to a kind of topping end effector and beating containing the actuator
Top machine.
Background technology
In Cotton in China and tobacco planting production, in order to inhibit crop apical dominance, to cotton and tobacco terminal bud into
Row topping operation, topping is pinching, is the work handled reserved dry branch, basic branch or side shoot.The topping of crop is made
Industry is to compare the cargo handling operation of time and effort consuming, and people want to replace manual work with machinery topping for a long time.But at present I
The most cotton top-cutting machine of state is the suspension type topping machine of large size, and generally use clean cut method, topping accuracy is not high,
No marking top, topping phenomenon excessively are serious.Part topping machine can carry out single plant profiling operation, but profiling effect is poor, to reduce
The accuracy of topping.Current cotton top-cutting machine is implanted with higher requirement to cotton management kind, and high requirement will certainly increase
Cotton Production cost is also unfavorable for planting the development of cotton entire mechanization.
To sum up, topping machine has the following defects at present：
(1) plant identifies that the inaccurate profiling effect for causing topping machine is poor, cannot be real according to crop individual growing way difference
When adjust, to reduce the accuracy of topping, no marking top is crossed topping phenomenon and is still had；
(2) its mode of pinching of topping machinery is horizontal flail knife formula or line knife horizontal rolling formula, and operation is high in working width
Degree is the same, can only generally pinch, can not precisely be pinched to side shoot to major branch.
Invention content
It is an object of the invention to solve the problems of the above-mentioned prior art, provide a kind of topping end effector and
Topping machine containing the actuator, the end effector are cut off to top, can not only solve to ask existing for current topping machine
Topic and deficiency, and also promote the development of production estimation entire mechanization
In addition, large-scale suspension topping machine can not make the top timely recycling of the cotton destroyed generally without top retracting device
Original tape has the leaf bud of pest and disease damage to be disseminated everywhere in field under the action of cutter centrifugal force, is unfavorable for cotton growth.
A kind of topping end effector, including：Pose adjustment unit, execution unit, perception unit, control unit；
The pose adjustment unit includes servo motor, retarder, double rod guide cylinder；The output end of servo motor with subtract
Fast device connection, the output end of retarder are connect with double rod guide cylinder；
The execution unit includes：Mounting plate, single pole double-acting cylinder, connector, connecting rod；The double rod guide cylinder drives
Dynamic mounting plate horizontal shifting, single pole double-acting cylinder are fixed on a mounting board, the work of connector and single pole double-acting cylinder
Stopper rod is connected, and is moved forward and backward with piston rod；Connecting rod includes left connecting rod and right connecting rod, one end difference of the left connecting rod and right connecting rod
Symmetrical to be movably connected on connector, the other end of left connecting rod and right connecting rod hingedly connects with left knife rest and right knife rest respectively
It connects, respectively there are one inflection point, which is also respectively and movably connected on mounting plate in the stage casing of the left knife rest and right knife rest；
It is respectively arranged with blade on the upside of the front end of left knife rest and right knife rest；It is separately installed with magnet in the end of left knife rest and right knife rest
And electromagnetic switch；
The perception unit includes：Encoder for servo motor, Distance-sensing on end effector different location
Device, infrared sensor and Hall sensor；Direction of rotation of the encoder for servo motor for detecting motor, step angle,
Position, rotating speed simultaneously feed back to driver；The range sensor is used to perceive the relative position of actuator and target terminal bud；It is described
Infrared sensor is for perceiving for detecting whether terminal bud enters two finger formula end effector execution units shearing ranges；It is described suddenly
Whether the transmission mechanism that your sensor is used to detect each degree of freedom in end effector is in initial position, each to end effector
Unit is resetted；
Control unit, for driving pose adjustment unit and execution unit to carry out phase according to perception unit feedack
The action answered is pinched.
Further, it pinches as described above end effector, includes mounted on left knife rest and right knife rest center top
Terminal bud retracting device, the terminal bud retracting device include suction nozzle cover and hose, and the suction nozzle cover is fixed on one end of hose, hose
The other end connect top collection device, the terminal bud retracting device can be moved with the back-and-forth motion of mounting plate.
Further, it pinches as described above end effector, the suction nozzle cover is fixed by stretching out one end of plate, is stretched out
The other end of plate is fixed on a mounting board.
Further, it pinches as described above end effector, the end set of the double rod guide cylinder has push plate, institute
Mounting plate is stated to be fixedly connected with the push plate.
Further, it pinches as described above end effector, including mechanical arm docks block, the mechanical arm docking block
End fixed connecting plate, connecting plate lower section are provided with motor cabinet, and the servo motor is fixed on the connecting plate.
The present invention also provides a kind of topping machines including as above any topping end effector.
Advantageous effect：
Topping end effector provided by the invention, structure novel, apparatus structure compact, reliability is high, mechanism side
Case design is succinct, it can be achieved that accurate topping to every plant of crop major branch and side shoot, avoids no marking or cross the generation for beating phenomenon；
The present invention increases pose adjustment unit, the position of actuator is adjusted by pose adjustment unit, to adapt to target
Terminal bud position is due to growth position difference, to avoid result in situation of the part terminal bud not in execution unit cut coverage.
The present invention according to the information Perceptions of multiple sensors, can efficiently control end effector accurately, effectively into
Row topping operation, largely reduces the degree that crop is damaged in the process in topping；
The present invention uses air pressure and motor combination drive, and movement simple in structure is rapid, and avoidance performance is good.
Description of the drawings
Fig. 1 is present invention topping end effector structures schematic diagram one；
Fig. 2 is present invention topping end effector structures schematic diagram two；
Fig. 3 is that present invention perception unit is pinched the installation position schematic diagram on end effector again.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, the technical solution below in the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
As Figure 1-Figure 2, the present invention provides a kind of topping end effector, including：Pose adjustment unit 2, executes list
Member 3, perception unit, control unit；
The pose adjustment unit 2 includes servo motor 23, retarder 24, double rod guide cylinder 25；Servo motor 23
Output end is connect with retarder 24, and the output end of retarder 24 is connect with double rod guide cylinder 25；
The execution unit 3 includes：Mounting plate 31, single pole double-acting cylinder 32, connector 33, connecting rod 34；The double rod
25 drive installation plate of guide cylinder, 31 horizontal shifting, single pole double-acting cylinder 32 are fixed on mounting plate 31, connector 33
It is connected with the piston rod of single pole double-acting cylinder 32, is moved forward and backward with piston rod；Connecting rod 34 includes left connecting rod and right connecting rod, described
One end of left connecting rod and right connecting rod is symmetrical respectively to be movably connected on connector 33, the other end point of left connecting rod and right connecting rod
It is not articulated and connected with left knife rest 35 and right knife rest 36, there are one inflection points respectively in the stage casing of the left knife rest 35 and right knife rest 36, should
Two inflection points are also respectively and movably connected on mounting plate 31；It is respectively arranged with knife on the upside of the front end of left knife rest 35 and right knife rest 36
Piece 37；It is separately installed with magnet 38 and electromagnetic switch 39 in the end of left knife rest 35 and right knife rest 36；
As shown in figure 3, the perception unit includes：Encoder for servo motor on end effector different location
7, range sensor 9, infrared sensor 8 and Hall sensor 6；The encoder for servo motor is used to detect the rotation side of motor
To, step angle, position, rotating speed simultaneously feeds back to driver；The range sensor is used to perceive actuator and target terminal bud
Relative position；The infrared sensor for perceive for detect terminal bud whether enter two finger formula end effector execution units cut
Cut range；Whether the transmission mechanism that the Hall sensor is used to detect each degree of freedom in end effector is in initial position,
End effector each unit is resetted；
Mechanical arm docks block 1, the end fixed connecting plate 21 of the mechanical arm docking block 1, and 21 lower section of connecting plate is provided with
Motor cabinet 22, the servo motor 23 are fixed on the connecting plate 21.
Control unit, for driving pose adjustment unit 2 and execution unit 3 to carry out according to perception unit feedack
It is corresponding to act to pinch.
Topping end effector provided by the invention, operation principle are as follows：
A, under original state, left knife rest 35 and right knife rest 36 are in open configuration, and double rod is oriented to gas in pose adjustment unit
Cylinder 25 and servo motor 23 remain static, and mechanical arm 1 drives end effector to reach designated position, makes end effector
For execution unit perpendicular to crop terminal bud, mechanical arm drives end effector along being moved perpendicular to terminal bud direction, to realize pair
Rugged plant terminal bud is answered, can realize the purpose accurately pinched；
B, the range sensor of end effector carries out the relative position of execution unit and target terminal bud in motion process
Detection occurs to avoid the situation on no marking top；When infrared sensor detects that terminal bud has been enter into two finger formula end effectors and executes
When unit shears range, at this point, control unit has learned that end effector has arrived at work by perceiving the feedback of unit
Position, execution unit are started to work, and single pole double-acting cylinder starts, and piston rod does drawback movement, are connected by connecting rod and are driven left and right
Knife rest is closed, and blade is closed with knife rest and then cuts off target terminal bud, completes shearing work, accurately pinches to further realize
Purpose；
If c, target terminal bud position causes part terminal bud not in execution unit cut coverage due to growth position difference,
The position that execution unit can be then adjusted by pose adjustment unit, makes target terminal bud be adjusted to execution unit cut coverage
Interior, specifically, in the pose adjustment unit, servo motor drives retarder operation, and retarder drives and double rod guide cylinder
It realizes to be moved forward and backward either to move left and right the back-and-forth motion of double rod guide cylinder or move left and right and realizes that execution unit is moved forward and backward
Level moves left and right, and to realize that the realization of Serve Motor Control execution unit is moved forward and backward and is moved left and right, and then realizes
The pose of execution unit adjusts, and carries out precisely topping operation.
Preferably, it pinches as described above end effector, further includes in left knife rest 35 and the center of right knife rest 36
The terminal bud retracting device 4 of side, the terminal bud retracting device 4 include suction nozzle cover 43 and hose 44, and the suction nozzle cover 43 is fixed on soft
The other end of one end of pipe 44, hose 44 connects top collection device, and the terminal bud retracting device 4 can be with mounting plate 31
It is moved forward and backward and moves.
It specifically, can not be top in time by the cotton destroyed since large size suspension topping machine is generally without top retracting device
Recycling, makes the leaf bud that original tape has pest and disease damage be disseminated everywhere in field under the action of cutter centrifugal force, is unfavorable for cotton growth.And
Execution unit provided by the invention and top retracting device are integrated on an end effector, and manipulator one-off can be real
Now crop is top gathers, shears, recycling operation, can effectively prevent pest and disease damage by top in field to top recycling
It disseminates everywhere.
Its operation principle is as follows：
When left and right knife rest is closed in execution unit, magnet and the electromagnetic switch contact being mounted on knife rest, electromagnetic switch
It is triggered, top retracting device is started to work, and the wind turbine being mounted in robot starts, and suction is generated in hose, is cut away
It is top be inhaled into suction nozzle cover, flowing through hose with air is transported in top collection device, so far, end effector
It completes to pinch to terminal bud and collects all processes of operation.End effector each unit returns to initial position, prepares next time
Operation is collected in topping.
Preferably, it pinches as described above end effector, before and after realizing terminal bud retracting device with execution unit
Mobile and movably consolidate operation, the suction nozzle cover 43 is fixed by stretching out one end of plate 42, and the other end for stretching out plate 42 is fixed
On mounting plate 31.
Preferably, it pinches as described above end effector, it is described in order to keep actuator whole device compact-sized firm
The end set of double rod guide cylinder 25 has push plate, the mounting plate 31 to be fixedly connected with the push plate.
The present invention also provides a kind of topping machines containing the topping end effector.
The present invention increases top retracting device on end effector, and top under directly being sheared to execution unit inhales
It receives, is transported in collection box by hose, pest and disease damage can effectively prevent by top in field to top recycling operation
It disseminates everywhere；
In addition, the present invention is to enhance flexibility and the avoidance performance of end effector, increases pose adjustment unit, pass through position
Appearance adjustment unit adjusts the position of execution unit, to adapt to target terminal bud position due to growth position difference, part is caused to be pushed up
The bud not situation in execution unit cut coverage also can avoid damaging the other plant parts during topping.Pose tune
Whole unit is moved horizontally and is horizontally rotated mainly by servo motor and double rod guide cylinder, and then realizes the position of execution unit
Appearance adjusts, and carries out precisely topping operation.According to the information Perception of multiple sensors, end effector essence can be efficiently controlled
Really, topping operation is effectively performed.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (6)
1. a kind of topping end effector, which is characterized in that including：Pose adjustment unit (2), execution unit (3), perception are single
Member, control unit；
The pose adjustment unit (2) includes servo motor (23), retarder (24), double rod guide cylinder (25)；Servo motor
(23) output end is connect with retarder (24), and the output end of retarder (24) is connect with double rod guide cylinder (25)；
The execution unit (3) includes：Mounting plate (31), single pole double-acting cylinder (32), connector (33), connecting rod (34)；Institute
Double rod guide cylinder (25) drive installation plate (31) horizontal shifting is stated, single pole double-acting cylinder (32) is fixed on mounting plate
(31) on, connector (33) and the piston rod of single pole double-acting cylinder (32) are connected, and are moved forward and backward with piston rod；Connecting rod (34) wraps
Including left connecting rod and right connecting rod, one end of the left connecting rod and right connecting rod is symmetrical respectively to be movably connected on connector (33),
The other end of left connecting rod and right connecting rod is articulated and connected with left knife rest (35) and right knife rest (36) respectively, the left knife rest (35) and the right side
Respectively there are one inflection point, which is also respectively and movably connected on mounting plate (31) in the stage casing of knife rest (36)；In left knife rest
(35) and on the upside of the front end of right knife rest (36) it is respectively arranged with blade (37)；In the end part of left knife rest (35) and right knife rest (36)
Magnet (38) and electromagnetic switch (39) are not installed；
The perception unit includes：It is encoder for servo motor, range sensor on end effector different location, red
Outer sensor and Hall sensor；Direction of rotation of the encoder for servo motor for detecting motor, step angle, position,
Rotating speed simultaneously feeds back to driver；The range sensor is used to perceive the relative position of actuator and target terminal bud；It is described infrared
Sensor is for perceiving for detecting whether terminal bud enters two finger formula end effector execution units shearing ranges；The Hall passes
Whether the transmission mechanism that sensor is used to detect each degree of freedom in end effector is in initial position, to end effector each unit
It is resetted；
Control unit, for driving pose adjustment unit (2) and execution unit (3) to carry out according to perception unit feedack
It is corresponding to act to pinch.
2. topping end effector according to claim 1, which is characterized in that including being mounted on left knife rest (35) and right knife
The terminal bud retracting device (4) of frame (36) center top, the terminal bud retracting device (4) includes suction nozzle cover (43) and hose (44),
The suction nozzle cover (43) is fixed on one end of hose (44), and the other end of hose (44) connects top collection device, the terminal bud
Retracting device (4) can be moved with the back-and-forth motion of mounting plate (31).
3. topping end effector according to claim 2, which is characterized in that the suction nozzle cover (43) is by stretching out plate
(42) one end is fixed, and the other end for stretching out plate (42) is fixed on mounting plate (31).
4. topping end effector according to claim 1, which is characterized in that the end of the double rod guide cylinder (25)
It is provided with push plate, the mounting plate (31) is fixedly connected with the push plate.
5. topping end effector according to claim 1, which is characterized in that including mechanical arm docking block (1), the machine
Tool arm docks the end fixed connecting plate (21) of block (1), and motor cabinet (22), the servo motor are provided with below connecting plate (21)
(23) it is fixed on the connecting plate (21).
6. a kind of topping machine including any topping end effectors of claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810431497.0A CN108370740B (en) | 2018-05-08 | 2018-05-08 | Topping end effector and topping machine comprising same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810431497.0A CN108370740B (en) | 2018-05-08 | 2018-05-08 | Topping end effector and topping machine comprising same |
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| Publication Number | Publication Date |
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| CN108370740A true CN108370740A (en) | 2018-08-07 |
| CN108370740B CN108370740B (en) | 2023-06-27 |
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Cited By (3)
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| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
| CN114271118A (en) * | 2021-12-27 | 2022-04-05 | 广州极飞科技股份有限公司 | Array type crop processing device, crop processing equipment and crop processing method |
| CN114375711A (en) * | 2021-12-27 | 2022-04-22 | 广州极飞科技股份有限公司 | Polar coordinate type crop processing device, crop processing equipment and crop processing method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
| CN114271118A (en) * | 2021-12-27 | 2022-04-05 | 广州极飞科技股份有限公司 | Array type crop processing device, crop processing equipment and crop processing method |
| CN114375711A (en) * | 2021-12-27 | 2022-04-22 | 广州极飞科技股份有限公司 | Polar coordinate type crop processing device, crop processing equipment and crop processing method |
| CN114375711B (en) * | 2021-12-27 | 2024-08-30 | 广州极飞科技股份有限公司 | Polar coordinate type crop treatment device, crop treatment equipment and crop treatment method |
| CN114271118B (en) * | 2021-12-27 | 2024-10-18 | 广州极飞科技股份有限公司 | Array type crop treatment device, crop treatment equipment and crop treatment method |
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| Publication number | Publication date |
|---|---|
| CN108370740B (en) | 2023-06-27 |
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