CN108370740B - A topping end effector and a topping machine containing the same - Google Patents

A topping end effector and a topping machine containing the same Download PDF

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CN108370740B
CN108370740B CN201810431497.0A CN201810431497A CN108370740B CN 108370740 B CN108370740 B CN 108370740B CN 201810431497 A CN201810431497 A CN 201810431497A CN 108370740 B CN108370740 B CN 108370740B
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topping
end effector
unit
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CN108370740A (en
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马蓉
李俊杰
张垚鑫
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Shihezi University
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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
    • 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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Abstract

The present invention provides a topping end effector comprising: the device comprises a mechanical arm butt joint block, a pose adjusting unit, an executing unit, a sensing unit and a control unit. The execution unit and the mechanical arm butt joint block are connected with the pose adjusting unit; the terminal bud recovery device is fixed at the joint of the execution unit and the pose adjustment unit and is positioned above the execution unit. The topping end effector provided by the invention has the advantages of novel structure, small and compact device structure, high reliability and simple mechanism scheme design, and can realize accurate topping of main branches and side branches of each plant of crops, and avoid the phenomena of missed topping or overedging.

Description

一种打顶末端执行器以及含有该执行器的打顶机A topping end effector and a topping machine containing the same

技术领域technical field

本发明涉及机械技术领域，尤其涉及一种打顶末端执行器以及含有该执行器的打顶机。The invention relates to the field of mechanical technology, in particular to a topping end effector and a topping machine containing the same.

背景技术Background technique

在我国棉花和烟草种植生产中，为了抑制作物顶端优势，要对棉花和烟草顶芽进行打顶作业，打顶即摘心，是对预留的干枝、基本枝或侧枝进行处理的工作。作物的打顶作业是比较耗时费力的作业环节，长期以来人们想要用机械打顶来代替人工作业。但目前我国大部分的棉花打顶机是大型的悬挂式打顶机，通常采用“一刀切”方法，打顶精确度不高，漏打顶、过打顶现象严重。部分打顶机可以进行单株仿形作业，但是仿形效果差，从而降低了打顶的精确度。目前的棉花打顶机对棉花管理种植有较高的要求，高的要求势必会增加棉花生产成本，也不利于植棉全程机械化发展。In the production of cotton and tobacco in my country, in order to suppress the dominance of the top of the crops, it is necessary to perform topping operations on the top buds of cotton and tobacco. The topping operation of crops is a time-consuming and laborious operation. For a long time, people want to use mechanical topping instead of manual work. But at present most of the cotton topping machines in our country are large hanging topping machines, which usually adopt the "one size fits all" method, the topping accuracy is not high, and the phenomenon of missing topping and over topping is serious. Some topping machines can perform single-plant profiling operations, but the profiling effect is poor, thereby reducing the accuracy of topping. The current cotton topping machine has high requirements for cotton management and planting, which will inevitably increase the cost of cotton production and is not conducive to the mechanization of cotton planting.

综上，目前打顶机存在以下缺陷：In summary, there are the following defects in the topping machine at present:

(1)植株识别不够精确造成打顶机的仿形效果差，不能根据作物个体长势差异实时做出调整，从而降低了打顶的精确度，漏打顶、过打顶现象仍然存在；(1) Insufficient plant recognition results in poor profiling effect of the topping machine, which cannot be adjusted in real time according to individual crop growth differences, thereby reducing the accuracy of topping, and the phenomena of missing topping and overtopping still exist;

(2)打顶机械其打顶方式为水平甩刀式或线刀水平滚动式，在作业幅宽内作业高度一样，一般只能对主枝打顶,无法对侧枝精准打顶。(2) The topping method of the topping machine is the horizontal knife throwing type or the line knife horizontal rolling type. The working height is the same within the working width. Generally, it can only top the main branches, but cannot accurately top the side branches.

发明内容Contents of the invention

本发明的目的在于解决上述现有技术存在的缺陷，提供一种打顶末端执行器以及含有该执行器的打顶机，该末端执行器对顶尖进行切除，不仅能解决目前打顶机存在的问题和不足，而且也促进了农作物生产全程机械化的发展The purpose of the present invention is to solve the above-mentioned defects in the prior art, and provide a topping end effector and a topping machine containing the topping machine. problems and deficiencies, and also promoted the development of the mechanization of crop production

另外，大型悬挂打顶机一般无顶尖回收装置，无法将打掉的棉花顶尖及时回收，使原带有病虫害的叶芽在割刀离心力的作用下在田地四处散播，不利于棉花生长。In addition, large-scale suspension topping machines generally do not have a top recovery device, and cannot promptly recover the knocked-off cotton tops, so that the original leaf buds with diseases and insect pests are scattered around the field under the action of the centrifugal force of the cutter, which is not conducive to the growth of cotton.

一种打顶末端执行器，包括：位姿调整单元，执行单元、感知单元、控制单元；A topping end effector, comprising: a pose adjustment unit, an execution unit, a perception unit, and a control unit;

所述位姿调整单元包括伺服电机、减速器、双杆导向气缸；伺服电机的输出端与减速器连接，减速器的输出端与双杆导向气缸连接；The posture adjustment unit includes a servo motor, a reducer, and a double-rod guided cylinder; the output end of the servo motor is connected to the reducer, and the output end of the reducer is connected to the double-rod guided cylinder;

所述执行单元包括：安装板、单杆双作用气缸、连接件、连杆；所述双杆导向气缸驱动安装板前后水平移动，单杆双作用气缸固定在安装板上，连接件与单杆双作用气缸的活塞杆固连，随活塞杆前后移动；连杆包括左连杆与右连杆，所述左连杆与右连杆的一端分别左右对称活动连接在连接件上，左连杆与右连杆的另一端分别与左刀架和右刀架铰接连接，所述左刀架和右刀架的中段分别有一个拐点，该两个拐点也分别活动连接在安装板上；在左刀架和右刀架的前端上侧分别设置有刀片；在左刀架和右刀架的端部分别安装有磁铁和电磁开关；The execution unit includes: a mounting plate, a single-rod double-acting cylinder, a connecting piece, and a connecting rod; the double-rod guiding cylinder drives the mounting plate to move horizontally back and forth, the single-rod double-acting cylinder is fixed on the mounting plate, and the connecting piece and the single-rod The piston rod of the double-acting cylinder is fixedly connected, and moves forward and backward with the piston rod; the connecting rod includes a left connecting rod and a right connecting rod, and one end of the left connecting rod and the right connecting rod are respectively symmetrically connected to the connecting piece left and right, and the left connecting rod The other end of the right connecting rod is hingedly connected with the left knife rest and the right knife rest respectively, and the middle section of the left knife rest and the right knife rest has an inflection point respectively, and these two inflection points are also flexibly connected to the mounting plate respectively; Blades are respectively arranged on the front upper sides of the knife rest and the right knife rest; magnets and electromagnetic switches are respectively installed at the ends of the left knife rest and the right knife rest;

所述感知单元包括：安装在末端执行器不同位置上的伺服电机编码器、距离传感器、红外传感器和霍尔传感器；所述伺服电机编码器用于检测电机的旋转方向，步进角度，位置，转速并反馈给驱动器；所述距离传感器用于感知执行器与目标顶芽的相对位置；所述红外传感器用于感知用于检测顶芽是否进入两指式末端执行器执行单元剪切范围；所述霍尔传感器用于检测末端执行器中各自由度的传动机构是否处于初始位置，对末端执行器各单元进行复位；The sensing unit includes: servo motor encoders, distance sensors, infrared sensors and Hall sensors installed at different positions of the end effector; the servo motor encoders are used to detect the rotation direction, step angle, position, and speed of the motor And feed back to the driver; the distance sensor is used to perceive the relative position of the actuator and the target bud; the infrared sensor is used to sense and detect whether the bud enters the cutting range of the two-finger end effector execution unit; the The Hall sensor is used to detect whether the transmission mechanism of each degree of freedom in the end effector is in the initial position, and reset each unit of the end effector;

控制单元，用于根据感知单元反馈的信息来驱动位姿调整单元和执行单元进行相应的动作来打顶。The control unit is used to drive the posture adjustment unit and the execution unit to perform corresponding actions according to the information fed back by the perception unit to perform topping.

进一步地，如上所述的打顶末端执行器，包括安装在左刀架和右刀架正中上方的顶芽回收装置，所述顶芽回收装置包括吸头罩和软管，所述吸头罩固定在软管的一端，软管的另一端连接顶尖收集装置，所述顶芽回收装置能够随着安装板的前后移动而移动。Further, the above-mentioned topping end effector includes a bud recovery device installed above the middle of the left and right tool rests, the bud recovery device includes a suction head cover and a hose, and the suction head cover It is fixed at one end of the flexible pipe, and the other end of the flexible pipe is connected with the top bud collection device, and the top bud recovery device can move along with the front and back movement of the mounting plate.

进一步地，如上所述的打顶末端执行器，所述吸头罩通过伸出板的一端固定，伸出板的另一端固定在安装板上。Further, for the above-mentioned topping end effector, the tip cover is fixed by one end of the extension plate, and the other end of the extension plate is fixed on the installation plate.

进一步地，如上所述的打顶末端执行器，所述双杆导向气缸的端部设置有推板，所述安装板与该推板固定连接。Further, in the above-mentioned topping end effector, the end of the double-rod guiding cylinder is provided with a push plate, and the mounting plate is fixedly connected to the push plate.

进一步地，如上所述的打顶末端执行器，包括机械臂对接块，所述机械臂对接块的端部固定连接板，连接板下方设置有电机座，所述伺服电机固定在该连接板上。Further, the topping end effector as described above includes a docking block of the mechanical arm, a connecting plate is fixed at the end of the docking block of the mechanical arm, a motor seat is arranged under the connecting plate, and the servo motor is fixed on the connecting plate .

本发明还提供一种包含如上任一所述打顶末端执行器的打顶机。The present invention also provides a topping machine comprising any one of the above topping end effectors.

有益效果：Beneficial effect:

本发明提供的打顶末端执行器，结构新颖，装置结构小巧紧凑，可靠性高，机构方案设计简洁，可实现对每株作物主枝和侧枝的精确打顶，避免漏打或过打现象的发生；The topping end effector provided by the present invention has a novel structure, small and compact device structure, high reliability, simple mechanism scheme design, and can realize accurate topping of main branches and side branches of each crop, avoiding the phenomenon of missing or overshooting. occur;

本发明增加位姿调整单元，通过位姿调整单元来调整执行器的位置，以适应目标顶芽位置由于生长位置不同，从而避免导致部分顶芽不在执行单元切割范围内的情况。The present invention adds a posture adjustment unit, and adjusts the position of the actuator through the posture adjustment unit to adapt to the different growth positions of the target terminal buds, thereby avoiding the situation that some terminal buds are not within the cutting range of the execution unit.

本发明根据多种传感器的信息感知，可以有效地控制末端执行器精确、有效地进行打顶作业，极大程度上降低了作物在打顶过程中受破坏的程度；According to the information perception of various sensors, the present invention can effectively control the end effector to perform topping operations accurately and effectively, greatly reducing the degree of crop damage during the topping process;

本发明采用气压和电机混合驱动,结构简单运动迅速，避障性能好。The invention adopts air pressure and electric motor hybrid drive, has simple structure and rapid movement, and has good obstacle avoidance performance.

附图说明Description of drawings

图1为本发明打顶末端执行器结构示意图一；Fig. 1 is a structural schematic diagram 1 of the topping end effector of the present invention;

图2为本发明打顶末端执行器结构示意图二；Fig. 2 is a structural schematic diagram II of the topping end effector of the present invention;

图3为本发明感知单元再打顶末端执行器上的设置位置示意图。Fig. 3 is a schematic diagram of the installation position of the sensing unit on the topping end effector of the present invention.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚，下面本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the following technical solutions in the present invention are clearly and completely described. Apparently, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

如图1-图2所示，本发明提供一种打顶末端执行器，包括：位姿调整单元2，执行单元3、感知单元、控制单元；As shown in Figures 1-2, the present invention provides a topping end effector, including: a pose adjustment unit 2, an execution unit 3, a perception unit, and a control unit;

所述位姿调整单元2包括伺服电机23、减速器24、双杆导向气缸25；伺服电机23的输出端与减速器24连接，减速器24的输出端与双杆导向气缸25连接；The posture adjustment unit 2 includes a servo motor 23, a speed reducer 24, and a double-rod guiding cylinder 25; the output end of the servo motor 23 is connected with the speed reducer 24, and the output end of the speed reducer 24 is connected with the double-rod guiding cylinder 25;

所述执行单元3包括：安装板31、单杆双作用气缸32、连接件33、连杆34；所述双杆导向气缸25驱动安装板31前后水平移动，单杆双作用气缸32固定在安装板31上，连接件33与单杆双作用气缸32的活塞杆固连，随活塞杆前后移动；连杆34包括左连杆与右连杆，所述左连杆与右连杆的一端分别左右对称活动连接在连接件33上，左连杆与右连杆的另一端分别与左刀架35和右刀架36铰接连接，所述左刀架35和右刀架36的中段分别有一个拐点，该两个拐点也分别活动连接在安装板31上；在左刀架35和右刀架36的前端上侧分别设置有刀片37；在左刀架35和右刀架36的端部分别安装有磁铁38和电磁开关39；The execution unit 3 includes: a mounting plate 31, a single-rod double-acting cylinder 32, a connecting piece 33, and a connecting rod 34; the double-rod guiding cylinder 25 drives the mounting plate 31 to move horizontally back and forth, and the single-rod double-acting cylinder 32 is fixed on the installation On the plate 31, the connecting piece 33 is fixedly connected with the piston rod of the single-rod double-acting cylinder 32, and moves forward and backward with the piston rod; the connecting rod 34 includes a left connecting rod and a right connecting rod, and one end of the left connecting rod and the right connecting rod are respectively The left and right symmetrical movable connections are connected on the connector 33, and the other ends of the left connecting rod and the right connecting rod are hingedly connected with the left knife rest 35 and the right knife rest 36 respectively, and the middle section of the left knife rest 35 and the right knife rest 36 has a Inflection points, these two inflection points are also flexibly connected on the mounting plate 31 respectively; blades 37 are respectively arranged on the front end upper sides of the left knife rest 35 and the right knife rest 36; A magnet 38 and an electromagnetic switch 39 are installed;

如图3所示，所述感知单元包括：安装在末端执行器不同位置上的伺服电机编码器7、距离传感器9、红外传感器8和霍尔传感器6；所述伺服电机编码器用于检测电机的旋转方向，步进角度，位置，转速并反馈给驱动器；所述距离传感器用于感知执行器与目标顶芽的相对位置；所述红外传感器用于感知用于检测顶芽是否进入两指式末端执行器执行单元剪切范围；所述霍尔传感器用于检测末端执行器中各自由度的传动机构是否处于初始位置，对末端执行器各单元进行复位；As shown in Figure 3, the sensing unit includes: a servo motor encoder 7, a distance sensor 9, an infrared sensor 8 and a Hall sensor 6 installed at different positions of the end effector; the servo motor encoder is used to detect the The direction of rotation, stepping angle, position, and speed are fed back to the driver; the distance sensor is used to sense the relative position of the actuator and the target bud; the infrared sensor is used to detect whether the bud enters the two-finger end The cutting range of the actuator execution unit; the Hall sensor is used to detect whether the transmission mechanism of each degree of freedom in the end effector is in the initial position, and reset each unit of the end effector;

机械臂对接块1，所述机械臂对接块1的端部固定连接板21，连接板21下方设置有电机座22，所述伺服电机23固定在该连接板21上。The mechanical arm docking block 1, the end of the mechanical arm docking block 1 is fixed with a connecting plate 21, a motor seat 22 is arranged under the connecting plate 21, and the servo motor 23 is fixed on the connecting plate 21.

控制单元，用于根据感知单元反馈的信息来驱动位姿调整单元2和执行单元3进行相应的动作来打顶。The control unit is used to drive the posture adjustment unit 2 and the execution unit 3 to perform corresponding actions to make the top according to the information fed back by the sensing unit.

本发明提供的打顶末端执行器，其工作原理如下：The working principle of the topping end effector provided by the present invention is as follows:

a、初始状态下，左刀架35和右刀架36处于张开状态，位姿调整单元中双杆导向气缸25和伺服电机23处于静止状态，机械臂1带动末端执行器到达指定位置，使末端执行器的执行单元垂直于作物顶芽，机械臂带动末端执行器沿垂直于顶芽方向运动，从而实现了对应高低不平的植株顶芽，都可以实现精确打顶的目的；a. In the initial state, the left tool rest 35 and the right tool rest 36 are in the open state, the double-rod guide cylinder 25 and the servo motor 23 in the pose adjustment unit are in a static state, and the mechanical arm 1 drives the end effector to reach the designated position, so that The execution unit of the end effector is perpendicular to the top bud of the crop, and the mechanical arm drives the end effector to move in the direction perpendicular to the top bud, so that the top bud of the corresponding uneven plant can be achieved, and the purpose of precise topping can be achieved;

b、运动过程中末端执行器的距离传感器对执行单元与目标顶芽的相对位置进行检测，以避免漏打顶的状况发生；当红外传感器检测到顶芽已进入两指式末端执行器执行单元剪切范围时，此时，控制单元通过感知单元的反馈已经获知末端执行器已经到达工作位，执行单元开始工作，单杆双作用气缸启动，活塞杆做回程运动，通过连杆连接带动左右刀架闭合，刀片随刀架闭合进而切断目标顶芽，完成剪切作业，从而进一步实现精确打顶的目的；b. During the movement, the distance sensor of the end effector detects the relative position between the execution unit and the target bud to avoid the situation of missed topping; when the infrared sensor detects that the top bud has entered the two-finger end effector execution unit shear When cutting the range, at this time, the control unit has learned that the end effector has reached the working position through the feedback of the sensing unit, the execution unit starts to work, the single-rod double-acting cylinder starts, the piston rod makes a return movement, and the left and right tool holders are driven by connecting rods Closed, the blade closes with the knife holder and then cuts off the target bud to complete the cutting operation, so as to further achieve the purpose of precise topping;

c、若目标顶芽位置由于生长位置不同，导致部分顶芽不在执行单元切割范围内，则可以通过位姿调整单元来调整执行单元的位置，使目标顶芽调整到执行单元切割范围内,具体地，所述位姿调整单元中，伺服电机带动减速器运行，减速器带动和双杆导向气缸实现前后移动或者左右移动，双杆导向气缸前后移动或者左右移动实现执行单元前后移动水平左右移动，从而实现伺服电机控制执行单元实现进行前后移动和左右移动，进而实现执行单元的位姿调整，进行精准打顶作业。c. If the position of the target terminal bud is different from the growth position, resulting in part of the terminal bud is not within the cutting range of the execution unit, the position of the execution unit can be adjusted through the pose adjustment unit, so that the target terminal bud can be adjusted within the cutting range of the execution unit. Specifically, in the posture adjustment unit, the servo motor drives the reducer to run, the reducer drives the double-rod guiding cylinder to move back and forth or left and right, and the double-rod guiding cylinder moves back and forth or left and right to realize the horizontal movement of the execution unit. In this way, the servo motor controls the execution unit to move back and forth and left and right, and then realizes the adjustment of the pose of the execution unit to perform precise topping operations.

优选地，如上所述的打顶末端执行器，还包括安装在左刀架35和右刀架36正中上方的顶芽回收装置4，所述顶芽回收装置4包括吸头罩43和软管44，所述吸头罩43固定在软管44的一端，软管44的另一端连接顶尖收集装置，所述顶芽回收装置4能够随着安装板31的前后移动而移动。Preferably, the above-mentioned topping end effector also includes a bud recovery device 4 installed above the middle of the left knife rest 35 and the right knife rest 36, and the top bud recovery device 4 includes a suction head cover 43 and a hose 44, the tip cover 43 is fixed on one end of the hose 44, and the other end of the hose 44 is connected to the tip collection device, and the top bud recovery device 4 can move along with the front and rear movement of the mounting plate 31.

具体地，由于大型悬挂打顶机一般无顶尖回收装置，无法将打掉的棉花顶尖及时回收，使原带有病虫害的叶芽在割刀离心力的作用下在田地四处散播，不利于棉花生长。而本发明提供的执行单元和顶尖回收装置集成到一个末端执行器上，机械手一次动作可以实现作物顶尖的聚拢、剪切、回收作业，对顶尖的回收可以有效的防止病虫害通过顶尖在田地四处散播。Specifically, because large-scale suspension topping machines generally do not have a top recovery device, the tops of the knocked cotton cannot be recovered in time, so that the original leaf buds with diseases and insect pests are scattered around the field under the centrifugal force of the cutter, which is not conducive to the growth of cotton. However, the execution unit and the top recovery device provided by the present invention are integrated into one end effector, and the manipulator can realize the gathering, cutting, and recovery operations of the crop tops in one action, and the recovery of the tops can effectively prevent diseases and insect pests from spreading around the field through the tops .

其工作原理如下：It works as follows:

当执行单元中左右刀架闭合时，安装在刀架上的磁铁和电磁开关接触，电磁开关被触发，顶尖回收装置开始工作，安装在机器人上的风机启动，软管内产生吸力，被剪切掉的顶尖被吸入吸头罩内，随空气流动通过软管被运输到顶尖收集装置中，至此，末端执行器完成了对顶芽打顶收集作业的全部过程。末端执行器各单元返回到初始位置，准备下一次打顶收集作业。When the left and right tool holders in the execution unit are closed, the magnet installed on the tool holder contacts the electromagnetic switch, the electromagnetic switch is triggered, the top recovery device starts to work, the fan installed on the robot starts, suction is generated in the hose, and it is cut The dropped tops are sucked into the suction head cover, and transported to the top collection device through the hose along with the air flow. So far, the end effector has completed the whole process of topping and collecting the top buds. Each unit of the end effector returns to the initial position, ready for the next topping collection operation.

优选地，如上所述的打顶末端执行器，为了实现顶芽回收装置随着执行单元前后移动而移动地稳固运行，所述吸头罩43通过伸出板42的一端固定，伸出板42的另一端固定在安装板31上。Preferably, for the above-mentioned topping end effector, in order to realize the stable operation of the top bud recovery device as the execution unit moves back and forth, the suction head cover 43 is fixed by one end of the extension plate 42, and the extension plate 42 The other end is fixed on the mounting plate 31.

优选地，如上所述的打顶末端执行器，为了使执行器整个装置结构紧凑稳固，所述双杆导向气缸25的端部设置有推板，所述安装板31与该推板固定连接。Preferably, for the above-mentioned topping end effector, in order to make the whole device of the actuator compact and stable, the end of the double-rod guiding cylinder 25 is provided with a push plate, and the mounting plate 31 is fixedly connected with the push plate.

本发明还提供一种含有所述打顶末端执行器的打顶机。The invention also provides a topping machine including the topping end effector.

本发明在末端执行器上增加顶尖回收装置，直接对执行单元剪切下的顶尖进行吸收，通过软管运送至收集盒中，对顶尖的回收作业可以有效的防止病虫害通过顶尖在田地四处散播；The present invention adds a top recovery device on the end effector, directly absorbs the top cut by the execution unit, and transports it to the collection box through a hose, and the recovery operation of the top can effectively prevent the spread of diseases and insect pests in the field through the top;

此外，本发明为增强末端执行器的灵活性和避障性能，增加位姿调整单元，通过位姿调整单元来调整执行单元的位置，以适应目标顶芽位置由于生长位置不同，导致部分顶芽不在执行单元切割范围内的情况，也可避免在打顶过程中对作物其他部分损伤。位姿调整单元主要靠伺服电机和双杆导向气缸进行水平移动和水平转动，进而实现执行单元的位姿调整，进行精准打顶作业。根据多种传感器的信息感知，可以有效地控制末端执行器精确、有效地进行打顶作业。In addition, in order to enhance the flexibility and obstacle avoidance performance of the end effector, the present invention adds a posture adjustment unit, and adjusts the position of the execution unit through the posture adjustment unit to adapt to the position of the target terminal bud. Due to the different growth positions, some terminal buds If it is not within the cutting range of the execution unit, it can also avoid damage to other parts of the crop during the topping process. The pose adjustment unit mainly relies on the servo motor and the double-rod guide cylinder to perform horizontal movement and horizontal rotation, thereby realizing the pose adjustment of the execution unit and performing precise topping operations. According to the information perception of various sensors, the end effector can be effectively controlled to carry out the topping operation accurately and effectively.

最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (5)

1. A topping end effector, comprising: the device comprises a pose adjusting unit (2), an executing unit (3), a sensing unit and a control unit;
the pose adjusting unit (2) comprises a servo motor (23), a speed reducer (24) and a double-rod guide cylinder (25); the output end of the servo motor (23) is connected with a speed reducer (24), and the output end of the speed reducer (24) is connected with a double-rod guide cylinder (25);
the execution unit (3) comprises: the device comprises a mounting plate (31), a single-rod double-acting cylinder (32), a connecting piece (33) and a connecting rod (34); the double-rod guide cylinder (25) drives the mounting plate (31) to horizontally move forwards and backwards, the single-rod double-acting cylinder (32) is fixed on the mounting plate (31), and the connecting piece (33) is fixedly connected with a piston rod of the single-rod double-acting cylinder (32) and moves forwards and backwards along with the piston rod; the connecting rod (34) comprises a left connecting rod and a right connecting rod, one ends of the left connecting rod and the right connecting rod are respectively and symmetrically movably connected to the connecting piece (33), the other ends of the left connecting rod and the right connecting rod are respectively and hingedly connected with the left tool rest (35) and the right tool rest (36), the middle sections of the left tool rest (35) and the right tool rest (36) are respectively provided with an inflection point, and the two inflection points are also respectively and movably connected to the mounting plate (31); blades (37) are respectively arranged on the upper sides of the front ends of the left tool rest (35) and the right tool rest (36); a magnet (38) and an electromagnetic switch (39) are respectively arranged at the end parts of the left knife rest (35) and the right knife rest (36);
the sensing unit includes: servo motor encoders, distance sensors, infrared sensors and hall sensors mounted at different positions of the end effector; the servo motor encoder is used for detecting the rotation direction of the motor, stepping the angle, the position and the rotating speed and feeding back the rotation direction, the position and the rotating speed to the driver; the distance sensor is used for sensing the relative position of the end effector and the target terminal bud; the infrared sensor is used for sensing whether the terminal bud enters the shearing range of the end effector executing unit; the Hall sensor is used for detecting whether transmission mechanisms of the degrees of freedom in the end effector are at initial positions or not and resetting all units of the end effector;
the control unit is used for driving the pose adjusting unit (2) and the executing unit (3) to perform corresponding actions to perform topping according to the information fed back by the sensing unit;
including installing terminal bud recovery unit (4) in left knife rest (35) and right knife rest (36) centre top, terminal bud recovery unit (4) are including suction head cover (43) and hose (44), suction head cover (43) are fixed in the one end of hose (44), and top collection device is connected to the other end of hose (44), terminal bud recovery unit (4) can be along with the back-and-forth movement of mounting panel (31).
2. The topping end effector according to claim 1, wherein the tip cover (43) is fixed by one end of an extension plate (42), and the other end of the extension plate (42) is fixed to the mounting plate (31).
3. The topping end effector as claimed in claim 1, wherein a push plate is provided at an end of the double rod guide cylinder (25), and the mounting plate (31) is fixedly connected to the push plate.
4. The topping end effector as claimed in claim 1, comprising a mechanical arm butt joint block (1), wherein a connecting plate (21) is fixed at the end of the mechanical arm butt joint block (1), a motor base (22) is arranged below the connecting plate (21), and the servo motor (23) is fixed on the connecting plate (21).
5. A topping machine comprising the topping end effector of any one of claims 1-4.
CN201810431497.0A 2018-05-08 2018-05-08 A topping end effector and a topping machine containing the same Expired - Fee Related CN108370740B (en)

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