CN216775560U - Topping device and mobile device - Google Patents

Abstract

The utility model discloses a topping device and mobile equipment, and relates to the technical field of topping; the topping device comprises a mounting seat, a driving mechanism, a bias connecting piece and a topping mechanism; the driving mechanism comprises a driving component and an installation platform, wherein the driving component is arranged on the installation seat, is connected with the installation platform and can drive the installation platform to move; one end of the offset connecting piece is rotatably arranged on the mounting platform, and the other end deviates from the mounting platform along the direction forming an included angle with the rotating axis; the topping mechanism is arranged on the offset connecting piece. Compared with the roof-topping device which is arranged on the mounting platform, the roof-topping range of the roof-topping mechanism on any position point is changed from a point to a circle which takes the axis as the center and takes the offset distance as the radius, so that the roof-topping space range is obviously enlarged, and the roof-topping efficiency is obviously improved. And the topping range is changed by adding the offset connecting piece with simple structure and low cost, and the problems of volume increase and cost increase of the device can be relieved.

Description

Topping device and mobile device

Technical Field

The utility model relates to the technical field of topping, in particular to a topping device and mobile equipment.

Background

The topping of the plants is an important link in the production of crops such as cotton and the like, the top advantages of the plants can be removed, the lateral buds can be promoted to grow out, the plant types can be more dense, the branch expansion can be promoted, the lodging caused by vigorous growth can be prevented, and the improvement of the plant yield is facilitated.

In the prior art, in order to improve the topping efficiency of plants, a driving mechanism is adopted to drive a topping mechanism to topping the plants. However, the driving mechanism has a limited space range for driving the topping mechanism to move, so that the topping space range is limited, and if the topping range is increased, a driving mechanism with a larger size needs to be adopted, which results in increase of the device volume and cost.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a topping device and mobile equipment which can effectively increase the topping space range on the premise of not changing the structure and the occupied space of a driving mechanism, and can improve the topping efficiency so as to ensure the plant yield.

The embodiment of the utility model is realized by the following steps:

in a first aspect, the present invention provides a topping device comprising:

a mounting seat;

the driving mechanism comprises a driving component and an installation platform, wherein the driving component is arranged on the installation seat, is connected with the installation platform and can drive the installation platform to move;

one end of the offset connecting piece is rotatably arranged on the mounting platform, and the other end of the offset connecting piece deviates from the mounting platform along the direction forming an included angle with the rotating axis;

and the topping mechanism is arranged at a position of the offset connecting piece far away from the mounting platform and is used for carrying out topping operation.

In an optional embodiment, the topping device further comprises a rotating motor, and the rotating motor is arranged on the mounting platform;

one end of the offset connecting piece is in transmission connection with an output shaft of the rotating motor, and the other end of the offset connecting piece deviates from the rotating motor along a preset direction forming an included angle with the axis of the output shaft.

In an alternative embodiment, the offset connector is an offset plate, and a plurality of mounting holes are arranged on the offset plate at intervals along the extension direction of the offset plate, and the topping mechanism is matched with any one of the plurality of mounting holes.

In an alternative embodiment, the direction of extension of the offset connector is perpendicular to the axis of rotation of the offset connector.

In an optional embodiment, the driving assembly includes three driving motors, three driving arms and three driven arms, the three driving motors are arranged on the mounting base at intervals, one end of each driving arm is in transmission connection with one driving motor, the other end of each driving arm is in rotation connection with one driven arm, and one end of each driven arm far away from the corresponding driving arm is in rotation connection with the mounting platform.

In an alternative embodiment, the driven arm comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are in hinged fit in sequence in a tail-ending manner; the first connecting rod and the third connecting rod are arranged in parallel, and the second connecting rod and the fourth connecting rod are arranged in parallel; and the first connecting rod is rotatably connected with the corresponding driving arm, and the third connecting rod is rotatably connected with the mounting platform.

In an optional embodiment, the second connecting rod and the fourth connecting rod are the same and each include a main connecting rod and two sub-connecting rods which are in threaded connection with the two ends of the main connecting rod, and the two sub-connecting rods are respectively pivoted with the first connecting rod and the third connecting rod; and the screw thread at connecting mobile jib both ends still overlaps respectively outward and is equipped with a nut, the nut with the tip butt of the branch pole of being connected that corresponds, and the nut is configured to can with the screw-thread fit along the different positions of connecting mobile jib to adjust the length of the branch pole of being connected that corresponds and connecting mobile jib screw-thread fit.

In an alternative embodiment, the topping mechanism comprises a topping motor and a topping blade; the topping motor is arranged on the offset connecting piece, the topping blade is in transmission connection with a shaft body of the topping motor, and the topping motor is used for driving the topping blade to rotate so as to carry out topping operation.

In an optional embodiment, the topping mechanism further comprises a topping cover, the topping cover is connected with a housing of the topping motor, and the cover is arranged on the periphery of the topping blade.

In an alternative embodiment, the periphery of the ejector shroud has at least one debris ejection window formed therein.

In an optional embodiment, the topping blade comprises a mounting plate and two blades, the mounting plate is in transmission connection with a shaft body of the topping motor, the two blades are obliquely arranged on two sides of the mounting plate respectively, and the two blades are arranged in a centrosymmetric manner by taking an intersection point of an axis where the shaft body of the topping motor is located and the mounting plate as a center.

In an optional embodiment, the topping device further comprises a camera, and the camera is arranged on the mounting seat and used for identifying a topped target plant.

In a second aspect, the present invention provides a mobile device comprising the topping device of any one of the preceding embodiments.

The embodiment of the utility model has at least the following advantages or beneficial effects:

the embodiment of the utility model provides a topping device, which comprises a mounting seat, a driving mechanism, a bias connecting piece and a topping mechanism; the driving mechanism comprises a driving assembly and an installation platform, wherein the driving assembly is arranged on the installation base, is connected with the installation platform and can drive the installation platform to move; one end of the offset connecting piece is rotatably arranged on the mounting platform, and the other end of the offset connecting piece deviates from the mounting platform along the direction forming an included angle with the rotating axis; the topping mechanism is arranged at a position of the offset connecting piece far away from the mounting platform and used for topping.

This device of pinching top passes through biasing connecting piece and mounting platform rotatable coupling, and set up biasing connecting piece self to the skew mounting platform of direction to deviating the axis of rotation, make mechanism of pinching top also can deviate mounting platform after biasing connecting piece, thereby compare in directly will the mechanism of pinching top install in mounting platform, the scope of pinching top of mechanism on the optional position point has become by the point around using the axis as the center to use offset distance to be the circular of radius, thereby make the space scope of pinching top obviously increase, efficiency of pinching top obviously improves. Meanwhile, compared with the situation that the structure of the driving mechanism is changed to increase the topping area, the topping range is changed by adding the offset connecting piece which is simple in structure and low in cost, and the problems of size increase and cost increase of the device can be solved.

The embodiment of the utility model also provides mobile equipment which comprises the topping device. Therefore, the mobile equipment also has the advantage of high topping efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a topping device according to an embodiment of the present invention;

FIG. 2 is an exploded view of a topping device according to an embodiment of the present invention;

FIG. 3 is a schematic partial structural view of a topping device according to an embodiment of the present invention;

FIG. 4 is a comparison of the topping workspaces before and after biasing of the topping device provided by embodiments of the present invention;

fig. 5 is a schematic structural diagram of a topping mechanism of a topping device according to an embodiment of the present invention;

FIG. 6 is an exploded view of a topping mechanism of the topping device according to the embodiment of the present invention;

fig. 7 is a schematic structural diagram of a blade of a topping device according to an embodiment of the present invention.

Icon 100-topping device; 101-a mounting seat; 103-a first mount; 105-a second mount; 107-support column; 109-a drive mechanism; 111-a drive assembly; 113-a mounting platform; 115-a drive motor; 117 — the master arm; 119-a follower arm; 120-a first connecting rod; 121-a second connecting rod; 122-a third connecting rod; 123-a fourth connecting rod; 124-a shaft part; 125-connecting sleeve; 127-connecting branch rods; 129-nut; 131-a threaded pin; 133-an offset connector; 135-mounting holes; 137-rotating electrical machines; 139-topping mechanism; 141-a topping motor; 143-topping cover; 145-topping blade; 147-screws; 149-riveting a joint; 151-chip removal window; 153-a mounting plate; 155-blade; 157-mounting rods; 159-camera; 161-installation space.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the description refers must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the related art, in order to improve the topping efficiency of plants, a driving mechanism is adopted to drive a topping mechanism to topping the plants. However, the driving mechanism has a limited space range for driving the topping mechanism to move, so that the topping space range is limited, and if the topping range is increased, a driving mechanism with a larger size needs to be adopted, which results in increase of the device volume and cost.

In view of this, the present embodiment provides a mobile device, a topping device of which can effectively increase the topping space range without changing the structure of the driving mechanism and the occupied space, and a mobile device of which can improve the topping efficiency, thereby ensuring the plant yield. The structure of the mobile device is described in detail below.

Fig. 1 is a schematic structural diagram of a topping device 100 according to the present embodiment; fig. 2 is an exploded schematic view of the topping device 100 according to the present embodiment. The embodiment provides a mobile device, which comprises a device body and a topping device 100 shown in fig. 1 and 2. The equipment body can be unmanned vehicle, also can be operation equipment such as general vehicle, unmanned aerial vehicle. The topping device 100 is installed on the equipment body to carry out topping operation under the driving of the equipment body, so as to ensure topping efficiency, ensure normal growth of plants and ensure the yield of the plants. Of course, in other embodiments, the user may also hold the topping device 100 by hand to perform topping without adding an additional device body, which is not limited in this embodiment.

Referring to fig. 1 and fig. 2 again, in the present embodiment, the topping device 100 specifically includes a mounting base 101, a driving mechanism 109, an offset connector 133, and a topping mechanism 139.

In detail, the mounting seat 101 is a main structure of the topping device 100, and the mounting seat 101 may be mounted on the equipment body through a mounting structure such as a flange, so as to ensure that the topping operation is normally performed under the driving of the equipment body.

The drive mechanism 109 includes a drive assembly 111 and a mounting platform 113. The driving assembly 111 is disposed on the mounting base 101, and is connected to the mounting platform 113, and can drive the mounting platform 113 to move, so as to drive the offset connector 133 and the topping mechanism 139 to move, so as to perform topping operation within a certain range.

The offset connector 133 is a plate-shaped structure, and one end of the offset connector 133 is rotatably disposed on the mounting platform 113, and the other end of the offset connector 133 deviates from the mounting platform 113 along a direction forming an included angle with the axis of rotation. That is, the offset connector 133 extends at an angle to its axis of rotation and does not extend axially along the axis of rotation.

A topping mechanism 139 is provided at a location of the offset linkage 133 remote from the mounting platform 113 for topping operations. For example, when topping operation of plants is required, the device body can be operated to a destination needing topping, and then the drive mounting platform 113 of the drive mechanism 109 is used for driving the offset connecting piece 133 to move, so that the topping mechanism 139 can be driven to move through the offset connecting piece 133, so that topping operation can be performed in a certain range, and topping efficiency is ensured.

This top-cutting device 100 passes through offset connector 133 and mounting platform 113 rotatable coupling, and sets up offset connector 133 itself to the direction skew mounting platform 113 to deviating from the axis of rotation, make top-cutting mechanism 139 install also can deviate from mounting platform 113 behind offset connector 133, thereby compare in directly installing top-cutting mechanism 139 in mounting platform 113, the range of top-cutting mechanism 139 on arbitrary position point has become around using the axis as the center with the circle of offset distance as the radius from the point, thereby make the workspace scope of top-cutting obviously increase, the efficiency of top-cutting obviously improves. Meanwhile, compared with the increase of the topping area by changing the structure of the driving mechanism 109, the problem of the increase of the volume and the cost of the device can be alleviated by changing the topping range by adding the offset connecting piece 133 with simple structure and low cost.

As an alternative, referring to fig. 1 and fig. 2 again, in the present embodiment, the topping device 100 further includes a rotating motor 137, and the rotating motor 137 is mounted on the mounting platform 113 through a flange. And, the offset connector 133 is an offset plate, and one end of the offset plate is in transmission connection with the output shaft of the rotating electrical machine 137, and the other end of the offset plate is offset from the rotating electrical machine 137 along a preset direction forming an included angle with the axis of the output shaft. On one hand, through the arrangement of the rotating motor 137, the offset plate is convenient to drive to rotate around the output shaft of the rotating motor 137, so that the topping mechanism 139 can perform circular motion around the output shaft as a center by taking the linear distance between the topping mechanism 139 and the output shaft as a radius, and when the driving mechanism 109 drives the mounting platform 113 to move to any position, the topping mechanism 139 can perform circular topping motion on the position, so that the topping space range can be ensured, and the topping efficiency is improved; on the other hand, the offset connector 133 is configured as an offset plate, which has low cost and occupies a small space, and does not add additional cost and space burden, thereby sufficiently ensuring the compactness of the top-cutting device 100 and the cost controllability.

Further alternatively, in this embodiment, the extending direction of the biasing plate is perpendicular to the rotation axis of the biasing link 133. That is, if the axial direction of the output shaft of the rotating electric machine 137 is the vertical direction, the extending direction of the offset plate is the horizontal direction. By the arrangement, the offset distance is longer, so that the topping working space range of the topping mechanism 139 after offset is wider, and the topping efficiency can be improved. Of course, in other embodiments, the extending direction of the offset plate may also be other directions inclined relative to the horizontal direction, which may effectively improve the range of the topping working space, and this embodiment is not described in detail again.

Further, in the present embodiment, a plurality of mounting holes 135 are provided at intervals on the bias plate along the extending direction of the bias plate, and the topping mechanism 139 is engaged with any one of the plurality of mounting holes 135. The offset plate is provided with a plurality of mounting holes 135, so that the offset distance of the topping mechanism 139 can be adjusted, and the mounting position of the topping mechanism 139 on the offset plate can be adjusted according to topping requirements, so as to meet various topping requirements.

It should be noted that, in this embodiment, the mounting holes 135 are all round holes, and the cooperation of the topping mechanism 139 and the mounting holes 135 may be directly through fastening and matching of fasteners, or may be provided with a plurality of small holes at intervals in the circumferential direction of the mounting holes 135, and the plurality of fasteners are adopted to pass through the plurality of small holes to fasten and connect the offset plate and the topping mechanism 139, so as to ensure the stability and reliability of the topping mechanism 139 after installation, which is not limited in this embodiment.

Fig. 3 is a schematic partial structure diagram of the topping device 100 according to the present embodiment; fig. 4 is a comparative diagram of the topping working space before and after the topping device 100 provided in this embodiment is offset. Referring to fig. 1 to 4, in the present embodiment, the driving assembly 111 is specifically selected as a three-axis parallel manipulator, and the three-axis parallel manipulator is arranged to make the working space range of the topping mechanism 139 before offset as the hexagon of the inner circle in fig. 4, and make the working space range of the topping mechanism 139 after offset distance L (the perpendicular distance between the topping mechanism 139 and the axis of the output shaft of the rotating motor 137) as the hexagon of the arc chamfer of the outer circle in fig. 4, so that the working space range of the topping mechanism 139 is significantly increased, and thus the topping efficiency can be fully improved. Of course, in other embodiments, the driving assembly 111 may also be a multi-axis parallel manipulator, such as a four-axis manipulator and a six-axis manipulator, which can ensure the efficiency and quality of the topping operation, where the cost and technology allow, and this embodiment is not limited.

In detail, referring to fig. 1 to fig. 3 again, in the present embodiment, the mounting base 101 specifically includes a first mounting element 103, a second mounting element 105 and a plurality of supporting columns 107 disposed between the first mounting element 103 and the second mounting element 105. The first mounting part 103 and the second mounting part 105 are both arranged in a plate-shaped structure, and a mounting space 161 is formed between the first mounting part and the second mounting part. A plurality of support columns 107 are arranged between the first mounting part 103 and the second mounting part 105 at intervals to ensure the strength of the whole mounting seat 101, improve the stability of the mounting seat 101 and ensure the reliability and safety of topping operation.

The three-axis parallel manipulator specifically comprises three driving motors 115, three driving arms 117 and three driven arms 119, the three driving motors 115 are arranged in the installation space 161 of the installation seat 101 at intervals and are arranged in a substantially triangular shape, the upper part of the housing of each driving motor 115 is connected with the first installation part 103, and the lower part of the housing of each driving motor 115 is connected with the second connection part. One end of each of the three driving arms 117 is connected with one driving motor 115 in a transmission manner, the other end of each of the three driving arms 117 is connected with one driven arm 119 in a rotating manner, and one end of each of the driven arms 119, which is far away from the corresponding driving arm 117, is connected with the mounting platform 113 in a rotating manner. Through the arrangement, the rotating force output to the driving arm 117 by each driving motor 115 can be decomposed to the driven arm 119, so that the whole structure is in a three-axis parallel structure, and the hexagonal top-cutting working space shown in fig. 4 can be achieved, and the top-cutting efficiency can be fully ensured.

In more detail, in this embodiment, the driven arm 119 specifically includes a first connecting rod 120, a second connecting rod 121, a third connecting rod 122, and a fourth connecting rod 123 that are in end-to-end hinged fit in sequence, and each adjacent connecting rod is hinged through a threaded pin 131 in sequence, and an axis of the threaded pin 131 is always arranged at an included angle with an axis of an output shaft of the driving motor 115. Moreover, the first connecting rod 120 and the third connecting rod 122 are arranged in parallel and have the same structure, and the second connecting rod 121 and the fourth connecting rod 123 are arranged in parallel and have the same structure, so that the whole driven arm 119 is similar to a four-bar linkage. The first connecting rod 120 is rotatably connected to the corresponding driving arm 117, and the third connecting rod 122 is rotatably connected to the mounting platform 113. The driven arm 119 is configured in such a way that the rotation driving force of the driving arm 117 can be decomposed by the driven arm 119, so that a certain degree of freedom of the mounting platform 113 can be ensured, and the topping mechanism 139 can be driven to carry out topping operation within the hexagonal range shown in fig. 4.

It should be noted that, in order to ensure the stability and reliability of each hinge fitting position and the rotation fitting position, one or more bearings may be disposed at the rotation fitting position and the hinge fitting position according to the requirement, so as to ensure the smoothness and reliability of the operation of the entire driving mechanism 109.

Alternatively, referring to fig. 3 again, in the present embodiment, the lengths of the second connecting rod 121 and the fourth connecting rod 123 are the same and are longer than the lengths of the first connecting rod 120 and the third connecting rod 122. Meanwhile, the second connecting rod 121 and the fourth connecting rod 123 each include a main connecting rod and two sub-connecting rods 127 threadedly connected to both ends of the main connecting rod. The connecting main rod comprises a rod portion 124 and two connecting sleeves 125 coaxially sleeved at two ends of the rod portion 124, the rod portion 124 is a carbon fiber connecting rod, and the connecting sleeves 125 are carbon fiber connecting sleeves 125. One end of each of the two connecting branch rods 127 is in threaded connection with the two connecting sleeves 125, and the other end of each of the two connecting branch rods is pivotally connected with the first connecting rod 120 and the third connecting rod 122 through a threaded pin shaft 131.

Meanwhile, the two ends of the main connecting rod are respectively sleeved with a nut 129, the nut 129 is abutted against the end of the corresponding branch connecting rod 127, and the nut 129 is configured to be matched with the threads at different positions along the connecting sleeve 125 so as to adjust the length of the corresponding branch connecting rod 127 matched with the main connecting rod threads. That is, when the two sides of the nut 129 abut against the connecting sleeve 125 and the connecting branch 127, the nut 129 has a function of a gasket, so that the stability and reliability of the matching of the connecting sleeve 125 and the connecting branch 127 are ensured. When the length of the whole second connecting rod 121 or the whole fourth connecting rod 123 needs to be adjusted in a micro-scale mode, the nut 129 can be adjusted to be in threaded fit with the connecting sleeve 125 at different positions, the length of the connecting branch rod 127 in threaded fit with the connecting sleeve 125 is increased or reduced, the length of the whole second connecting rod 121 or the length of the fourth connecting rod 123 is increased or reduced, and the topping requirements of different environments and different working conditions can be met.

It should be noted that, in this embodiment, the distance of fine adjustment of the nut 129 is approximately 3-5mm, and in other embodiments, the length of the threaded portion of each structure and the size of the nut 129 may also be adjusted as required, which is not described in detail in this embodiment.

Fig. 5 is a schematic structural diagram of a topping mechanism 139 of the topping device 100 according to the present embodiment;

fig. 6 is an exploded schematic view of a topping mechanism 139 of the topping device 100 according to the present embodiment. Referring to fig. 5 and 6, in the present embodiment, the topping mechanism 139 includes a topping motor 141 and a topping blade 145. The topping motor 141 is disposed on the offset plate, and an extending direction of a shaft body of the topping motor 141 is the same as an extending direction of an output shaft of the rotating motor 137, and both the extending directions are vertical downward. Meanwhile, the topping blade 145 is in transmission connection with a shaft of the topping motor 141, and the topping motor 141 is used for driving the topping blade 145 to rotate so as to carry out topping operation.

On one hand, the topping motor 141 is arranged on the offset plate, so that the topping blade 145 can work in a larger space range under the driving of the topping motor 141, and the topping efficiency can be improved; on the other hand, the extending direction of the shaft body of the topping motor 141 is the same as the extending direction of the output shaft of the rotating motor 137, so that the topping range is wider, and the topping efficiency and the topping quality are higher.

As an optional scheme, referring to fig. 5 and fig. 6 again, in the present embodiment, the topping mechanism 139 further includes a topping cover 143, and the topping cover 143 is connected to the housing of the topping motor 141 and covers the periphery of the topping blade 145. The side cover of the top cutting blade 145 is provided with a top cutting cover 143, which can protect the blade 155, ensure the accuracy of top cutting, avoid hurting other plants by mistake, and improve the yield of the plants to a certain extent.

Further optionally, in this embodiment, at least one chip ejection window 151 is opened on the peripheral side of the topping cover 143. The arrangement of the chip discharge window 151 can reduce the weight of the topping mechanism 139, and can discharge the tops of crops from the chip discharge window 151 when the topping motor 141 drives the topping blade 145 to rotate, so that accumulation in the topping cover 143 can be reduced, normal operation of topping operation is guaranteed, and topping efficiency is guaranteed.

It should be noted that, in this embodiment, three chip removal windows 151 are disposed at intervals on the circumferential side of the topping cover 143, and each chip removal window 151 is substantially in a parallelogram shape, so as to ensure that the top of the topped plant can be effectively discharged, thereby ensuring the topping efficiency. Of course, in other embodiments, the number of the chip windows 151 on the topping cover 143 may be increased or decreased according to requirements, and the efficiency of topping operation may be ensured, which is not limited in this embodiment.

Fig. 7 is a schematic structural diagram of a blade 155 of the topping device 100 according to the embodiment of the present invention. Referring to fig. 5 to 7, in the present embodiment, a rivet joint 149 is sleeved outside a shaft of the topping motor 141, the topping blade 145 includes a mounting plate 153 and two blades 155, the mounting plate 153 is riveted with the rivet joint 149, and is fastened and connected by two screws 147. The two blades 155 are obliquely disposed on both sides of the mounting plate 153, respectively, and are disposed in central symmetry with respect to an intersection point of an axis where the shaft of the topping motor 141 is located and the mounting plate 153. Set up two blades 155 into central symmetry, can guarantee the effect of pinching, realize accurate pinching, all set up two blades 155 into the slope form, still do benefit to the top of the plant after will pinching and derive for the top can be followed chip removal window 151 and discharged smoothly, thereby further guarantees efficiency and the quality of pinching.

Of course, in other embodiments, the structure and shape of the blade 155 may also be adjusted as required, for example, the blade may be set as a plurality of spiral blades 155 that are circumferentially stepped around a cylindrical structure, so as to ensure topping efficiency and quality, and this embodiment is not described again.

Referring to fig. 1 and fig. 2 again, in the present embodiment, the topping device 100 further includes a camera 159, and the camera 159 may be a camera structure capable of accurately identifying a target plant such as a binocular or a multi-view camera. And a camera 159 is provided on the mounting 101, for example above the first mount 103, for identifying the target plant being topped. Through the setting of camera 159, can utilize camera 159 to carry out accurate discernment to the top of plant earlier before the operation of pinching, after the discernment is accomplished, control actuating mechanism 109 and drive mechanism 139 accurately and move to the top of plant in order to carry out the operation of pinching. That is, by setting the camera 159, the topping accuracy can be improved, and the topping efficiency and quality can be ensured.

In this embodiment, the topping device 100 further includes a mounting rod 157, one end of the mounting rod 157 is connected to the first mounting element 103, and the other end extends away from the first mounting element 103. The end of the mounting bar 157 remote from the first mount 103 is used to mount a camera 159. The camera 159 is installed through the installation rod 157, so that the camera 159 is far away from the installation seat 101, the shielding of the visual field of the camera 159 is reduced, the accuracy and the reliability of visual identification are ensured, and the efficiency and the quality of topping operation are ensured.

Of course, in other embodiments, the camera 159 may also be disposed on the device body, for example, when the mobile device is an unmanned vehicle, the camera 159 may also be disposed on the body of the unmanned vehicle to accurately identify the top of the plant, so as to ensure the identification efficiency, and thus ensure the topping efficiency and accuracy, which is not limited in this embodiment.

The following describes in detail the installation process, the working principle and the beneficial effects of the mobile device provided by the embodiment of the present invention:

when the mobile device is installed, the installed knockout punch 100 may be flange-mounted to the device body. When the topping device 100 is installed, the mounting base 101 can be assembled firstly, then the three driving motors 115 are installed on the mounting base 101, the three driving arms 117 and the three driven arms 119 are sequentially arranged to form a three-axis parallel manipulator, and then the installation platform 113 is installed below the three-axis parallel manipulator and hinged to the three driven arms 119; then, the rotating motor 137 is installed below the installation platform 113, one end of the offset plate is pivoted with the output shaft of the rotating motor 137, and the other end of the offset plate deviates to the axial direction far away from the output shaft of the rotating motor 137; finally, the topping mechanism 139 is mounted to the offset plate.

When the mobile equipment needs to carry out the topping operation of plants, the mobile equipment can move to the position needing topping, then the camera 159 is used for identifying and positioning target plants, and after the camera 159 accurately identifies the tops of the plants, the three-axis parallel manipulator is controlled to drive the topping mechanism 139 to move to the tops of the plants, and the topping motor 141 is used for driving the topping blade 145 to rotate so as to carry out the topping operation.

In the above process, the topping device 100 is rotatably connected with the mounting platform 113 through the offset connector 133, and the offset connector 133 is set to deviate from the mounting platform 113 in the direction of deviating from the rotation axis, so that the topping mechanism 139 can deviate from the mounting platform 113 after being mounted on the offset connector 133, and compared with the direct mounting of the topping mechanism 139 on the mounting platform 113, the topping range of the topping mechanism 139 at any position point is changed from a point to a circle which is centered around the axis and takes the offset distance as a radius, so that the topping space range is obviously enlarged, and the topping efficiency is obviously improved. Meanwhile, compared with the increase of the topping area by changing the structure of the driving mechanism 109, the problem of the increase of the volume and the cost of the device can be alleviated by changing the topping range by adding the offset connecting piece 133 with simple structure and low cost.

In summary, the embodiments of the present invention provide a topping device 100 and a mobile device, which can effectively increase the topping space range without changing the structure and the occupied space of the driving mechanism 109, and can improve the topping efficiency, thereby ensuring the plant yield.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (13)

1. A topping device, comprising:

a mounting seat;

the driving mechanism comprises a driving component and an installation platform, wherein the driving component is arranged on the installation seat, is connected with the installation platform and can drive the installation platform to move;

one end of the offset connecting piece is rotatably arranged on the mounting platform, and the other end of the offset connecting piece deviates from the mounting platform along the direction forming an included angle with the rotating axis;

and the topping mechanism is arranged at the position of the offset connecting piece far away from the mounting platform and is used for carrying out topping operation.

2. The topping device of claim 1, wherein:

the topping device further comprises a rotating motor, and the rotating motor is arranged on the mounting platform;

one end of the offset connecting piece is in transmission connection with an output shaft of the rotating motor, and the other end of the offset connecting piece deviates from the rotating motor along a preset direction forming an included angle with the axis of the output shaft.

3. The topping device of claim 1 wherein:

the offset connecting piece is an offset plate, a plurality of mounting holes are formed in the offset plate at intervals along the extending direction of the offset plate, and the topping mechanism is matched with any one of the mounting holes.

4. The topping device of claim 1 wherein:

the extending direction of the offset connector is perpendicular to the rotating axis of the offset connector.

5. A topping device according to any one of claims 1 to 4, characterized in that:

the drive assembly comprises three drive motors, three driving arms and three driven arms, the three drive motors are arranged on the mounting seat at intervals and are three, in each driving arm, one end of each driving arm is connected with one of the drive motors in a transmission mode, the other end of each driving arm is connected with one of the driven arms in a rotating mode, and the driven arms are far away from the corresponding ends of the driving arms and are connected with the mounting platform in a rotating mode.

6. The topping device of claim 5 wherein:

the driven arm comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially in end-to-end hinged fit; the first connecting rod and the third connecting rod are arranged in parallel, and the second connecting rod and the fourth connecting rod are arranged in parallel; and the first connecting rod is rotatably connected with the corresponding driving arm, and the third connecting rod is rotatably connected with the mounting platform.

7. The topping device of claim 6 wherein:

the second connecting rod and the fourth connecting rod are the same and respectively comprise a main connecting rod and two sub-connecting rods in threaded connection outside two ends of the main connecting rod, and the two sub-connecting rods are respectively pivoted with the first connecting rod and the third connecting rod; and the screw thread at connecting main jib both ends still overlaps respectively outward and is equipped with a nut, the nut with the tip butt of the branch pole of being connected that corresponds, just the nut is configured into can with follow the screw-thread fit of the different positions of connecting main jib to the regulation is corresponding connect the branch pole with connecting main jib screw-thread fit's length.

8. A topping device according to any one of claims 1 to 4, characterized in that:

the topping mechanism comprises a topping motor and a topping blade; the topping motor is arranged on the offset connecting piece, the topping blade is in transmission connection with a shaft body of the topping motor, and the topping motor is used for driving the topping blade to rotate so as to carry out topping operation.

9. The topping device of claim 8 wherein:

the topping mechanism further comprises a topping cover, the topping cover is connected with the casing of the topping motor, and the topping cover is arranged on the periphery of the topping blade.

10. The topping device of claim 9 wherein:

at least one chip removal window is arranged on the peripheral side of the top cover.

11. The topping device of claim 8 wherein:

the topping blade comprises a mounting plate and two blades, the mounting plate is in transmission connection with a shaft body of the topping motor, the two blades are obliquely arranged on two sides of the mounting plate respectively, and the two blades are arranged in a centrosymmetric manner by taking the axis where the shaft body of the topping motor is located and the crossed intersection point of the mounting plate as the center.

12. A topping device according to any one of claims 1 to 4, characterized in that:

the topping device further comprises a camera, and the camera is arranged on the mounting seat and used for identifying a topped target plant.

13. A mobile device, characterized in that it comprises a topping device according to any one of claims 1 to 12.

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