CN102696294B - Weeding robot with adjustable center of gravity for paddy fields - Google Patents
Weeding robot with adjustable center of gravity for paddy fields Download PDFInfo
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- CN102696294B CN102696294B CN201210192704.4A CN201210192704A CN102696294B CN 102696294 B CN102696294 B CN 102696294B CN 201210192704 A CN201210192704 A CN 201210192704A CN 102696294 B CN102696294 B CN 102696294B
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Abstract
The invention relates to a weeding robot with the adjustable center of gravity for paddy fields. The weeding robot comprises a hub driving type caterpillar track device, a caterpillar track lifting device, an extension movement device and a slider balance device. The hub driving type caterpillar track device is used for driving a hub through a hub motor, thereby driving caterpillar tracks to run, enabling the robot to walk between rice seedling lines, pressing weeds into mud and even cutting off or pulling out weeds; the caterpillar track lifting device and the extension movement device are used for realizing the lifting and extension of the caterpillar track device so that line changing walking and field ridge crossing walking can be carried out; the slider balance device is matched with the caterpillar track lifting device and the extension movement device and is used for adjusting the center of gravity of the robot and realizing the self balance of the whole body of the robot in the line changing process and the field ridge crossing process and the self-restoring function after the robot sinks into a pit in a paddy field environment with pits; and the weeding robot has the advantages of simple structure, small volume, light weight, convenience in carrying and high universality.
Description
Technical field
The present invention relates to agriculture weed-eradicating robot technical field, be specifically related to a kind of paddy field adjustable center of gravity weed-eradicating robot.
Background technology
At present, farmland weeding mode has artificial weeding, chemical weed control, weeding by machine etc., and artificial weeding and chemical weed control remain the major way of domestic and international agriculture weeding, and wherein chemical weed control has artificial atomizing weeding and the accurate weeding of smart spraying formula.Along with scientific and technical progress, mechanization and the intellectuality of weeder more and more come into one's own.Present stage chemical weed control mode is popularized, but the pollution of herbicide environment that uses in this weeding system, and spoiled soil even threatens people's health.Weed-eradicating robot utilizes artificial intelligence technology to control associated mechanisms and automatically removes farmland weed, has had relevant research at home and abroad.
Agricultural weed-eradicating robot is not yet popularized at home, and the agricultural robot of research and development is used for farmland harvesting, smart spraying weeding, nonirrigated farmland weeding etc. both at home and abroad at present.The technology relating to and mechanism comprise autonomous navigation technology, Technique for Identification of Weed, mechanical arm and special-purpose end effector, weeding mechanism etc.A lot of agriculture weed-eradicating robots all adopt human assistance to drive, and the very high agriculture weed-eradicating robot of automaticity is used for nonirrigated farmland weeding.In China, Rice Production area is large, and the research and development of the existing paddy field weed-killer robot that is correlated with at home, as laser weeding robot, utilize the fuel factor of laser that grass is burnt to death at present; High-efficiency weeding robot, can remove simultaneously crops in the ranks with row in weeds; A kind of hexa-claw executing mechanism of weed-eradicating robot, paddy field power Herbicidal rotovator etc., these weed-eradicating robots can reach weeding object, but all exist weeding machine in paddy field etc. adverse circumstances walking unstable, during line feed operation, damage crops, need special weeds identification camera head, control system is complicated, volume is also larger, and cost is high, is unfavorable for popularizing in rice seedling bed.Therefore, develop a kind of volume little, line feed is convenient, can realize self-healing paddy field and will be conducive to extensively promote in paddy field with adjustable center of gravity weed-eradicating robot in paddy field.
Summary of the invention
In order to overcome the shortcoming and defect of above-mentioned prior art, the object of the present invention is to provide that a kind of volume is little, walking self-balancing and certainly recover, independently line feed and realize the adjustable center of gravity paddy field weed-killer robot of zero radius of turn, solve existing weed-eradicating robot volume large, cost is high, the unstable and unfavorable universal difficult problem of adverse circumstances walking.
The present invention is achieved through the following technical solutions:
A paddy field adjustable center of gravity weed-eradicating robot, is characterized in that: comprise hub driving crawler attachment, crawler belt lifting device, telescopic moving device, slipper block balancing device and body; Described hub driving crawler attachment is connected with crawler belt lifting device by left and right supporting leg; Described crawler belt lifting device is threaded with the left and right slide block of telescopic moving device respectively by two translator screw mandrels; Two slide rails arranging before and after being provided with in described body chamber; Described left and right slide block is arranged on described two slide rails by the chute of both sides before and after self; Described slipper block balancing device is connected with body by four support bars.
Further, described hub driving crawler attachment comprises left driver element and right driver element; Described left driver element comprises left crawler belt, left wheel hub motor, left wheel hub, left chain wheel group, revolver group connecting rod and left strainer; Described right driver element comprises right-hand track chiain, right wheel hub motor, right wheel hub, right pulley group, right wheels connecting rod and right strainer; Described left wheel hub motor is arranged on revolver group connecting rod; Described left wheel hub is arranged on left wheel hub rotor, coordinates with left crawler belt; Described revolver group connecting rod bottom is connected with left chain wheel group; Described left chain wheel group comprises 12 pulleys; Described left strainer comprises left tensioning regulating part, left tensioning nut and left-hand rotation moving part; Described left tensioning regulating part head is fixed by left fixed bolt and left hold-down nut and left connecting rod, and afterbody is connected with revolver group connecting rod by left-hand rotation moving part; Described left tensioning nut and left tensioning regulating part pass through threaded engagement; Described right wheel hub motor is arranged on right wheels connecting rod; Described right wheel hub is arranged on right wheel hub motor rotor, coordinates with right-hand track chiain; Described right wheels connecting rod bottom is connected with right pulley group; Described right pulley group comprises 12 pulleys; Described right strainer comprises right tensioning regulating part, right tensioning nut, right-hand rotation moving part; Described right tensioning regulating part head is fixed by right fixed bolt and right hold-down nut and right connecting rod, and afterbody is connected with right wheels connecting rod by right-hand rotation moving part; Described right tensioning nut and right tensioning regulating part threaded engagement.
Further, described right wheel hub motor, right wheel hub, right pulley group, right wheels connecting rod and right strainer are arranged on right-hand track chiain inside; Described left crawler belt and right-hand track chiain outer surface are covered with spaced grouser, and inner surface is provided with the tooth matching with left and right wheel hub.
Further, described crawler belt lifting device comprises left lift unit and right lift unit; Described left lift unit comprises left screw mandrel, left support leg, the first guide rod and the second guide rod; Described left support leg lower end is arranged on left wheel hub motor shaft; Described left support leg left side is slidably matched with the first guide rod, and right side and the second guide rod are slidably matched; Described the first guide rod and the second guide rod are arranged on left slider; The drive motors of described left screw mandrel is arranged on left support leg upper end; The drive motors of described left screw mandrel is connected with left screw mandrel by motor coupler; Described left screw mandrel is threaded with left slider; Described right lift unit comprises right screw mandrel, right support leg, the 3rd guide rod and the 4th guide rod; Described right support leg lower end is arranged on right wheel hub motor axle; Described right support leg left side is slidably matched with the 3rd guide rod, and right side and the 4th guide rod are slidably matched; Described the 3rd guide rod and the 4th guide rod are arranged on right slide block; The drive motors of described right screw mandrel is arranged on right support leg upper end; The drive motors of described right screw mandrel is connected with right screw mandrel by motor coupler; Described right screw mandrel is threaded with right slide block.
Further, described telescopic moving device comprises left slider, right slide block, left linear electric motors and right linear electric motors; Described left slider and body are slidably matched by the endoceliac slide rail of machine; Described right slide block and body are slidably matched by the endoceliac slide rail of machine; Described left linear electric motors and right linear electric motors are fixed on respectively body upper center; The push rod end of described left linear electric motors is fixedly connected with by fixture with left slider; The push rod end of described right linear electric motors is fixedly connected with by fixture with right slide block.
Further, described left linear electric motors and right linear electric motors are symmetrically arranged.
Further, described slipper block balancing device comprises balance slide block, motor, steel wire rope, reel, front slide rail, aft ramp, the first support bar, the second support bar, the 3rd support bar, the 4th support bar, camera, camera support bar and camera bearing; Described front slide rail is fixedly connected with body by the first support bar, the second support bar, the 3rd support bar and the 4th support bar with aft ramp; Described balance slide block and front slide rail and aft ramp are slidably matched; Described motor drives steel wire rope by reel; Described reel is arranged on motor shaft; The truckle that described steel wire rope is walked around front slide rail two ends is connected with balance slide block; Described balance slide block is built-in with battery, master control borad and weight equalizer; Described camera is arranged on camera support bar; Described camera support bar is arranged on the embedded motor shaft of camera bearing; Described camera bearing is fixed in balance slide block.
Further, described motor is arranged on body upper; Described the second support bar and the 3rd support bar arrange respectively an aperture; A truckle is respectively installed at described front slide rail two ends; Described steel wire rope is connected reel and the balance slide block on motor with truckle by aperture; Described front slide rail is fixed on body upper end by the second support bar and the 3rd support bar; Described aft ramp is fixed on body upper end by the first support bar and the 4th support bar.
Further, described front slide rail and aft ramp is equal in length and symmetrical; Described left wheel hub motor equates with right wheel hub motor ground clearance; Described left slider moves helical pitch with right slide block and equates; Described hub driving crawler attachment drives left and right crawler belt by left and right wheel hub motor and the left and right wheel hub with external tooth; Described crawler belt lifting device drives left and right screw mandrel to realize lifting and the decline of left and right crawler belt by motor; Described telescopic moving device promotes left and right slide block by left linear electric motors and right linear electric motors and realizes flexible; Described slipper block balancing device is connected with motor by steel wire rope, realizes balance slide block and moves left and right; The embedded motor of described camera bearing drives camera support bar to rotate, and realizes camera and rotates.
Described crawler belt lifting device comprises left lift unit and right lift unit; Described left lift unit comprises left screw mandrel, left support leg, the first guide rod and the second guide rod; Described left support leg lower end is arranged on left wheel hub motor shaft; Described left support leg left side is slidably matched with the first guide rod, and right side and the second guide rod are slidably matched; Described the first guide rod and the second guide rod are arranged on left slider; The drive motors of described left screw mandrel is arranged on left support leg upper end; The drive motors of described left screw mandrel is connected with left screw mandrel by motor coupler; Described left screw mandrel is threaded with left slider; Described right lift unit comprises right screw mandrel, right support leg, the 3rd guide rod and the 4th guide rod; Described right support leg lower end is arranged on right wheel hub motor axle; Described right support leg left side is slidably matched with the 3rd guide rod, and right side and the 4th guide rod are slidably matched; Described the 3rd guide rod and the 4th guide rod are arranged on right slide block; The drive motors of described right screw mandrel is arranged on right support leg upper end; The drive motors of described right screw mandrel is connected with right screw mandrel by motor coupler; Described right screw mandrel is threaded with right slide block.
The present invention is relative, and prior art tool has the following advantages and beneficial effect:
Hub driving crawler attachment is in the ranks walked at paddy field rice shoot by crawler belt, inter-row weed is rolled, weeds can be pressed in mud, even cut off its root system and destroy its growth, stir the muddy environmental energy that mud causes during crawler travel simultaneously and suppress the photosynthesis of weeds under water, hinder its normal growth, sludgd deposition is got off and weeds between the strain that could not roll can be covered, and can reach equally the object of weeding between strain.This method has overcome the shortcoming that technology enforcement body of existing weeding by machine is complicated, operating efficiency is low and control system is loaded down with trivial details effectively.Adopt crawler travel, many pulleys are embedded in crawler belt, have both made machine-walking steady, can not skid, and have also increased and have rolled area; The tightness of the adjustable crawler belt of track tension device in crawler belt, is convenient to dismantle crawler belt; The grouser of track surface can increase the earth-grasping force of robot, and plays the effect that rolls weeds.By crawler belt lifting device, telescopic moving device and slipper block balancing device, realize zero radius of turn and enter a new line, while having solved existing weeding machine line feed operation, radius of turn is large, the shortcoming of infringement crops.With two rhizoid bars, promote crawler belt, the ingenious space that utilized, makes apparatus structure compact, by reasonable control, not only can reduce the whole center of gravity of robot in normal walking process, and can not produce mechanism's interference.Camera bearing is fixed on balance slide block upper end, camera support bar is arranged on the embedded motor of camera bearing, make camera energy Real-Time Monitoring rice shoot distribution situation, utilize machine vision to regulate the course of robot, the feature of arranging to adapt to paddy field rice strain plantation lines, prevent from occurring rolling in irregular place, rice growth position the phenomenon of rice seedling, also can to whether entering a new line, judge according to the place ahead scene simultaneously.The balance slide block being connected with camera transverse shifting on slide rail, can regulate the center of gravity of robot, robot is promoted during entering a new line and can not turn on one's side during flexible crawler belt, and self-balancing and self-recovering function can realize robot and cross over field and roll time, make robot be suitable for paddy field walking.Master control borad and battery are placed in balance slide block inside, utilize dexterously the space of balance slide block, have not only saved space but also have increased the weight of balance slide block.By Steel rope drive balance slide block, can make motor be fixed on body upper, save complicated transmission mechanism.The mechanism of whole robot is simple, easy and simple to handle, small volume, and weight is lighter, strong to environmental suitability.
Accompanying drawing explanation
Fig. 1 is the front view that in embodiment, adjustable center of gravity weed-eradicating robot is used in paddy field.
Fig. 2 is the left view of weed-eradicating robot shown in Fig. 1.
Fig. 3 is the right view of weed-eradicating robot shown in Fig. 1.
Fig. 4 is the vertical view of weed-eradicating robot shown in Fig. 1.
Fig. 5 a～5h be weed-eradicating robot shown in Fig. 1 line feed strategy schematic diagram.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but protection scope of the present invention and embodiment are not limited to this.
As shown in Fig. 1 ~ 4, a kind of paddy field adjustable center of gravity weed-eradicating robot, comprises hub driving crawler attachment I, crawler belt lifting device II, telescopic moving device III, slipper block balancing device IV and body 4; Described hub driving crawler attachment I is connected with crawler belt lifting device II by left and right supporting leg (2,9); Described crawler belt lifting device II is threaded with the left and right slide block (3,8) of telescopic moving device III respectively by two translator screw mandrels (5,7); Two slide rails arranging before and after being provided with in described body 4 chambeies; Described left and right slide block (3,8) is arranged on described two slide rails by the chute of both sides before and after self; Described slipper block balancing device IV is connected with body 4 by four support bars; Described slipper block balancing device is connected with motor 29 by steel wire rope 30, realizes balance slide block 6 and moves left and right.
As Fig. 2, Fig. 3, described hub driving crawler attachment I comprises left driver element and right driver element; Described left driver element comprises left crawler belt 1, left chain wheel group 11, revolver group connecting rod 15, left wheel hub motor 12, left wheel hub 33 and left strainer; Described right driver element comprises right-hand track chiain 10, right pulley group 16, right wheels connecting rod 20, right wheel hub motor 17, right wheel hub 34 and right strainer; Described left wheel hub motor 12 is arranged on revolver group connecting rod 15; Described left wheel hub 33 is arranged on the rotor of left wheel hub motor 12, and coordinates with left crawler belt 1; Described revolver group connecting rod 15 is connected with left chain wheel group 11; Described left chain wheel group 11 comprises 12 pulleys; Described left strainer comprises left tensioning regulating part 31, left tensioning nut 40, left-hand rotation moving part 41; It is fixing that described left tensioning regulating part 31 heads pass through left fixed bolt and left hold-down nut and left connecting rod 39, and afterbody is connected with revolver group connecting rod 15 by left-hand rotation moving part 41; Described left tensioning nut 40 passes through threaded engagement with left tensioning regulating part 31; Described right wheel hub motor 17 is arranged on right wheels connecting rod 20; Described right wheel hub 34 is arranged on the rotor of right wheel hub motor 17, and coordinates with right-hand track chiain 10; Described right wheels connecting rod 20 is connected with right pulley group 16; Described right pulley group 16 comprises 12 pulleys.Described right strainer comprises right tensioning regulating part 32, right tensioning nut 43, right-hand rotation moving part 44; It is fixing that described right tensioning regulating part 32 heads pass through right fixed bolt and right hold-down nut and right connecting rod 42, and afterbody is connected with right wheels connecting rod 20 by right-hand rotation moving part 44; Described right tensioning nut 43 passes through threaded engagement with right tensioning regulating part 32; Described left wheel hub motor 12 drives left wheel hub 33, drives left crawler belt 1 to rotate, and described right wheel hub motor 17 drives right wheel hub 34, drives right-hand track chiain 10 to rotate, thereby realizes the walking action of robot; The securable left crawler belt 1 of described left strainer, is convenient to dismounting; The securable right-hand track chiain 10 of described right strainer, is convenient to dismounting.
Described crawler belt lifting device II comprises left lift unit and right lift unit, and described left lift unit comprises left screw mandrel 5, left support leg 2, the first guide rod 25 and the second guide rod 26; Described left support leg 2 lower ends are arranged on left wheel hub motor shaft; The two ends, left and right of described left support leg 2 are slidably connected with the first guide rod 25 and the second guide rod 26 respectively; Described the first guide rod 25 and the second guide rod 26 are fixed on left slider 3; The motor that drives screw mandrel is installed in described left support leg 2 upper ends; Described motor is connected with left screw mandrel 5 by motor coupler; Described left screw mandrel 5 is threaded with left slider 3; Described right lift unit comprises right screw mandrel 7, right support leg 9, the 3rd guide rod 27 and the 4th guide rod 28; Described right support leg 9 lower ends are arranged on right wheel hub motor axle; The two ends, left and right of described right support leg 9 are slidably connected with the 3rd guide rod 27 and the 4th guide rod 28 respectively; Described the 3rd guide rod 27 and the 4th guide rod 28 are fixed on right slide block 8; The motor that drives screw mandrel is installed in described right support leg 9 upper ends; Described motor is connected with right screw mandrel 7 by motor coupler; Described right screw mandrel 7 is threaded with right slide block 8; Described left screw mandrel 5 and right screw mandrel 7 are driven by screw thread transmission by motor, promote hub driving crawler attachment.
As Fig. 4, described telescopic moving device III comprises left slider 3, right slide block 8, left linear electric motors 22 and right linear electric motors 24; Described left slider 3 is slidably matched by the endoceliac slide rail of machine with body 4; Described right slide block 8 is slidably matched by the endoceliac slide rail of machine with body 4; Described left linear electric motors 22 and right linear electric motors 24 are separately fixed at body 4 upper center; The push rod end of described left and right linear electric motors (22,24) is fixedly connected with left and right slide block (3,8) respectively; Described left linear electric motors 22 promote left slider 3 and move back and forth along the endoceliac slide rail of machine; Described right linear electric motors 24 promote right slide block 8 and move back and forth along the endoceliac slide rail of machine.
Described slipper block balancing device IV comprises balance slide block 6, motor 29, reel 35, steel wire rope 30, front slide rail 21, aft ramp 23, the first support bar 13, the second support bar 14, the 3rd support bar 18, the 4th support bar 19, camera 36, camera support bar 37 and camera bearing 38; Described balance slide block 6 comprises cavity, camera 36, camera support bar 37, camera bearing 38, robot master board, weight equalizer and battery; Described motor 29 drives reel 35; Described steel wire rope 30 connects truckle and the balance slide block 6 at reel 35, front slide rail 21 two ends; Described camera 36 and camera support bar 37 are arranged on the camera bearing 38 on balance slide block 6 tops; Described camera (36) is arranged on camera support bar (37); Described front slide rail 21 is fixed on body upper end by the second support bar 14 and the 3rd support bar 18; Described aft ramp 23 is fixed on body 4 upper ends by the first support bar 13 and the 4th support bar 19; Described motor 29 is arranged on body 4 tops, drives steel wire rope 30, and band dynamic balance slide block 6 moves left and right along front and back slide rail 21,23.
Described paddy field is identified crop by vision and control system with adjustable center of gravity weed-eradicating robot; determine crop protection region and weeding region in the ranks; in the ranks, weeding is carried out in region; the line space of determining weeding region during line feed from; utilize crawler belt lifting device II to promote left and right crawler belt (1,10); auxiliary lower left and right expanding pulley hub driving type crawler attachment I at telescopic moving device III and slipper block balancing device IV; thereby realize line feed; the radius of turn having needed while having solved existing weeding machine line feed operation is large, the problem of infringement crops.
Paddy field is described below by the course of work of adjustable center of gravity weed-eradicating robot:
Described slipper block balancing device IV drives steel wire rope 30 band dynamic balance slide blocks 6 to move left and right along front and back slide rail (21,23) by motor, plays balance and stability when line feed; In balance slide block 6, there is visual identifying system, video camera carries out identifying processing by the image transmitting being filmed to image processing system, control system sends control instruction to each motor, realizes that hub driving crawler attachment I moves up and down, the synkinesia of the III side-to-side movement of telescopic moving device and balance slide block 6.
The left and right slide block of described telescopic moving device III (3,8) is slidably matched with body 4, and passes through threaded engagement with left and right screw mandrel (5,7).While entering a new line, the instruction of telescopic moving device III receiving control system is started working.
Take robot enters a new line left as example.Robot initial state as shown in Figure 5 a.
First, with right-hand track chiain 10, support left crawler belt 1 line feed.Left lead screw motor is received the instruction of control system, drive left screw mandrel 5 to rotate, left screw mandrel 5 moves upward along the screw thread of left slider 3, together with the drive left support leg 2 on the left side and the hub driving crawler attachment on the left side, move upward to certain altitude, the first guide rod 25 and the second guide rod 26 can limit the path that left crawler belt 1 promotes.Left crawler belt rises to after certain height, in instruction, controlling bottom left lead screw motor quits work, left linear electric motors 22 promote the left slider 3 certain distance of transverse shifting left, and left slider 3 drives left crawler belt 1 to laterally move by the first guide rod 25 and the second guide rod 26, as shown in Figure 5 b.In the process of left crawler belt lifting and telescopic moving, control system, by sensor senses robot poised state, is adjusted the position of balance slide block 6 in real time, realizes dynamic balancing.
Transverse shifting finishes, and left lead screw motor is started working again under instruction is controlled, and makes left crawler belt 1 follow left screw mandrel 5 and reduces downwards until left crawler belt 1 contacts with ground, and crawler belt 1 line feed in the left side finishes.After left crawler belt 1 contacts with ground, left linear electric motors 22 shrink, and right linear electric motors 24 extend, and promote main body 4 transverse shifting left, until left linear electric motors 22 shrink completely, main body 4 stops mobile.Meanwhile, balance slide block 6 is also moved to the left under control system is controlled.Then, take left crawler belt 1 as supporting, right-hand track chiain 10 starts line feed, and as shown in Figure 5 c, the course of work is the same similar.
State after right-hand track chiain 10 has entered a new line is as shown in Fig. 5 d.Then,, as shown in Fig. 5 e to Fig. 5 h, after 1 line feed of left crawler belt and right-hand track chiain 10 line feed, robot completes from the row of the weeding not row of weeding that enters a new line.After line feed, the former direction of advance of Robot is advanced in the other direction, continues weeding operation.
The course of work that robot enters a new line is to the right similar with line feed left.
Can realize preferably the present invention as mentioned above.
Above-described embodiment is embodiments of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification made under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (5)
1. a paddy field adjustable center of gravity weed-eradicating robot, is characterized in that: comprise hub driving crawler attachment (I), crawler belt lifting device (II), telescopic moving device (III), slipper block balancing device (IV) and body (4); Described hub driving crawler attachment (I) is connected with crawler belt lifting device (II) by left and right supporting leg (2,9); Described crawler belt lifting device (II) is threaded with the left and right slide block (3,8) of telescopic moving device (III) respectively by two translator screw mandrels (5,7); Two slide rails arranging before and after being provided with in described body (4) chamber; Described left and right slide block (3,8) is arranged on described two slide rails by the chute of both sides before and after self; Described slipper block balancing device (IV) is connected with body (4) by four support bars (13,14,18,19);
Described hub driving crawler attachment (I) comprises left driver element and right driver element; Described left driver element comprises left crawler belt (1), left wheel hub motor (12), left wheel hub (33), left chain wheel group (11), revolver group connecting rod (15) and left strainer; Described right driver element comprises right-hand track chiain (10), right wheel hub motor (17), right wheel hub (34), right pulley group (16), right wheels connecting rod (20) and right strainer; Described left wheel hub motor (12) is arranged on revolver group connecting rod (15); Described left wheel hub (33) is arranged on left wheel hub motor (12) rotor, coordinates with left crawler belt (1); Described revolver group connecting rod (15) bottom is connected with left chain wheel group (11); Described left chain wheel group (11) comprises 12 pulleys; Described left strainer comprises left tensioning regulating part (31), left tensioning nut (40) and left-hand rotation moving part (41); It is fixing that described left tensioning regulating part (31) head passes through left fixed bolt and left hold-down nut and left connecting rod (39), and afterbody is connected with revolver group connecting rod (15) by left-hand rotation moving part (41); Described left tensioning nut (40) passes through threaded engagement with left tensioning regulating part (31); Described right wheel hub motor (17) is arranged on right wheels connecting rod (20); Described right wheel hub (34) is arranged on right wheel hub motor (17) rotor, coordinates with right-hand track chiain (10); Described right wheels connecting rod (20) bottom is connected with right pulley group (16); Described right pulley group (16) comprises 12 pulleys; Described right strainer comprises right tensioning regulating part (32), right tensioning nut (43), right-hand rotation moving part (44); It is fixing that described right tensioning regulating part (32) head passes through right fixed bolt and right hold-down nut and right connecting rod (42), and afterbody is connected with right wheels connecting rod (20) by right-hand rotation moving part (44); Described right tensioning nut (43) and right tensioning regulating part (32) threaded engagement.
2. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, is characterized in that: described crawler belt lifting device (II) comprises left lift unit and right lift unit; Described left lift unit comprises left screw mandrel (5), left support leg (2), the first guide rod (25) and the second guide rod (26); Described left support leg (2) lower end is arranged on left wheel hub motor shaft; Described left support leg (2) left side is slidably matched with the first guide rod (25), and right side and the second guide rod (26) are slidably matched; Described the first guide rod (25) and the second guide rod (26) are arranged on left slider (3); The drive motors of described left screw mandrel (5) is arranged on left support leg (2) upper end; The drive motors of described left screw mandrel (5) is connected with left screw mandrel (5) by motor coupler; Described left screw mandrel (5) is threaded with left slider (3); Described right lift unit comprises right screw mandrel (7), right support leg (9), the 3rd guide rod (27) and the 4th guide rod (28); Described right support leg (9) lower end is arranged on right wheel hub motor axle; Described right support leg (9) left side is slidably matched with the 3rd guide rod (27), and right side and the 4th guide rod (28) are slidably matched; Described the 3rd guide rod (27) and the 4th guide rod (28) are arranged on right slide block (8); The drive motors of described right screw mandrel (7) is arranged on right support leg (9) upper end; The drive motors of described right screw mandrel (7) is connected with right screw mandrel (7) by motor coupler; Described right screw mandrel (7) is threaded with right slide block (8).
3. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, is characterized in that: described telescopic moving device (III) comprises left slider (3), right slide block (8), left linear electric motors (22) and right linear electric motors (24); Described left slider (3) is slidably matched by the endoceliac slide rail of machine with body (4); Described right slide block (8) is slidably matched by the endoceliac slide rail of machine with body (4); Described left linear electric motors (22) and right linear electric motors (24) are separately fixed at body (4) upper center; The push rod end of described left linear electric motors (22) is fixedly connected with by fixture with left slider (3); The push rod end of described right linear electric motors (24) is fixedly connected with by fixture with right slide block (8).
4. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, is characterized in that: described slipper block balancing device (IV) comprises balance slide block (6), motor (29), steel wire rope (30), reel (35), front slide rail (21), aft ramp (23), the first support bar (13), the second support bar (14), the 3rd support bar (18), the 4th support bar (19), camera (36), camera support bar (37) and camera bearing (38); Described front slide rail (21) is fixedly connected with body (4) by the first support bar (13), the second support bar (14), the 3rd support bar (18) and the 4th support bar (19) with aft ramp (23); Described balance slide block (6) is slidably matched with front slide rail (21) and aft ramp (23); Described motor (29) drives steel wire rope (30) by reel (35); Described reel (35) is arranged on motor (29) axle; The truckle that described steel wire rope (30) is walked around front slide rail (21) two ends is connected with balance slide block (6); Described balance slide block (6) is built-in with battery, master control borad and weight equalizer; Described camera (36) is arranged on camera support bar (37); Described camera support bar (37) is arranged on the embedded motor shaft of camera bearing (38); Described camera bearing (38) is fixed in balance slide block (6).
5. paddy field according to claim 4 adjustable center of gravity weed-eradicating robot, is characterized in that: described front slide rail (21) is equal in length and symmetrical with aft ramp (23); Described left wheel hub motor (12) equates with right wheel hub motor (17) ground clearance; Described left slider (3) equates with the mobile helical pitch of right slide block (8); Described hub driving crawler attachment (I) drives left and right crawler belt (1,10) by left and right wheel hub motor (12,17) with the left and right wheel hub (33,34) of external tooth; Described crawler belt lifting device (II) drives left and right screw mandrel (5,7) to realize lifting and the decline of left and right crawler belt (1,10) by motor; Described telescopic moving device (III) promotes left and right slide block (3,8) by left linear electric motors (22) and right linear electric motors (24) and realizes flexible; Described slipper block balancing device (IV) is connected with motor (29) by steel wire rope (30), realizes balance slide block (6) and moves left and right; The embedded motor of described camera bearing (38) drives camera support bar (37) to rotate, and realizes camera (36) and rotates.
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| CN201210192704.4A CN102696294B (en) | 2012-06-13 | 2012-06-13 | Weeding robot with adjustable center of gravity for paddy fields |
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| CN201210192704.4A CN102696294B (en) | 2012-06-13 | 2012-06-13 | Weeding robot with adjustable center of gravity for paddy fields |
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| US11789453B2 (en) | 2017-08-25 | 2023-10-17 | The Board Of Trustees Of The University Of Illinois | Apparatus and method for agricultural data collection and agricultural operations |
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