CN108633343A - A kind of broom type paddy field weed-killer robot - Google Patents
A kind of broom type paddy field weed-killer robot Download PDFInfo
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- CN108633343A CN108633343A CN201810598179.3A CN201810598179A CN108633343A CN 108633343 A CN108633343 A CN 108633343A CN 201810598179 A CN201810598179 A CN 201810598179A CN 108633343 A CN108633343 A CN 108633343A
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- shaft
- vertical plate
- supporting vertical
- weeder
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- 239000004009 herbicide Substances 0.000 title claims abstract description 18
- YZHUMGUJCQRKBT-UHFFFAOYSA-M sodium chlorate Chemical compound [Na+].[O-]Cl(=O)=O YZHUMGUJCQRKBT-UHFFFAOYSA-M 0.000 title claims abstract description 15
- 244000007853 Sarothamnus scoparius Species 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 230000003137 locomotive effect Effects 0.000 claims abstract description 26
- 230000008878 coupling Effects 0.000 claims abstract description 18
- 238000010168 coupling process Methods 0.000 claims abstract description 18
- 238000005859 coupling reaction Methods 0.000 claims abstract description 18
- 230000009467 reduction Effects 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 27
- 238000007789 sealing Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 235000007164 Oryza sativa Nutrition 0.000 abstract description 20
- 235000009566 rice Nutrition 0.000 abstract description 20
- 241000196324 Embryophyta Species 0.000 abstract description 7
- 230000036541 health Effects 0.000 abstract description 3
- 230000002363 herbicidal effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 240000007594 Oryza sativa Species 0.000 abstract 1
- 241000209094 Oryza Species 0.000 description 19
- 238000010586 diagram Methods 0.000 description 14
- 238000009333 weeding Methods 0.000 description 10
- 238000005286 illumination Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241000526657 Microchloa Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000000515 tooth Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The present invention relates to a kind of broom type paddy field weed-killer robots, belong to agricultural mechanical field.The present invention includes single brush weeder, running gear；Single brush weeder is connect with running gear, and running gear includes flexible axle, flexible-shaft coupling sleeve, oscillating motor holder, oscillating motor, rear lighting lamp, rearview camera, driving motor cover, crawler belt, power wheel, pressure bearing wheels, directive wheel, supporting vertical plate, driving motor, drag reducting cowling, chain guard, high-speed electric expreess locomotive, drive sprocket, transmission chain, driven sprocket, power wheel shaft, guide wheel shaft, forward sight camera, front lamp, power bin；It can also be by running gear, parallel weeder；Parallel weeder is connect with running gear.The present invention can be realized removes operation to weeds in rice terrace, removes the use of herbicide, environmental protection and human health from；It is simple in structure, reduction cost of manufacture can be put forward；Device is easy to use, convenient for promoting.
Description
Technical field
The present invention relates to a kind of broom type paddy field weed-killer robots, belong to agricultural mechanical field.
Background technology
At present during Rice Production, largely go to cut weeds using herbicide, bring huge pollution, influence ecological environment and
Human health.In existing rice terrace device, a kind of 200520113356.2 small weeding machine for rice field are the need for people behaviour
The hand-held weeding apparatus of work, efficiency is low, low precision；201210052394.6 a kind of small-sized inter-row weeding robot for paddy fields uses
Cutting disc cutting grass, walking mechanism is paddle wheel, can not carry out weeding between strain；201210192704.4 a kind of paddy field center of gravity is adjustable
Formula weed-eradicating robot is a kind of device of flexible walking mechanism, without weeder；201720201054.3 a kind of easy to remove
Rice terrace step-by-step movement weeder be a kind of telescoping movement mechanism, using blade weeding.There is presently no feasible rice terraces
Weeder, to realize that a kind of broom type paddy field weed-killer device is designed in the automatic weeding in paddy field, the present invention.
Invention content
It can adopted in the small-sized broom type weed-eradicating robot that rice is in the ranks walked the object of the present invention is to provide a kind of
Walked in the rice terrace of rice transplanting transplanting, realize rice strain between and weeding in the ranks.
The present invention is realized by following technical scheme：A kind of broom type paddy field weed-killer robot, including single brush weeder 1,
Running gear 2；Single brush weeder 1 is connect with running gear 2, single brush weeder 1 relatively fewer, rice seedling for paddy land weed
Smaller occasion, running gear 2 include flexible axle 12, flexible-shaft coupling sleeve 13, oscillating motor holder 17, oscillating motor 18, back lighting
Lamp 19, rearview camera 20, driving motor cover 21, crawler belt 31, power wheel 32, pressure bearing wheels 33, directive wheel 34, supporting vertical plate 35,
Driving motor 36, drag reducting cowling 37, chain guard 38, high-speed electric expreess locomotive 39, drive sprocket 40, transmission chain 41, driven sprocket 42, power wheel
Axis 43, guide wheel shaft 44, forward sight camera 45, front lamp 46, power bin 47；Drag reducting cowling 37 is mounted on 47 end of power bin,
Supporting vertical plate 35 is mounted on 47 both sides of power bin, and guide wheel shaft 44 is mounted on 35 lower part of supporting vertical plate, the connection installation of directive wheel 34
On guide wheel shaft 44, power wheel shaft 43 is mounted on 35 lower part of supporting vertical plate, and the connection of power wheel 32 is mounted on power wheel shaft 43 1
On end, pressure bearing wheels 33 are mounted on 35 lower part of supporting vertical plate, and crawler belt 31 is on power wheel 32, directive wheel 34, driving motor 36
Mounted on 35 outer upper of supporting vertical plate, the connection of drive sprocket 40 is located at supporting vertical plate on the output shaft of driving motor 36
35 inside upper parts, driven sprocket 42 are mounted on 43 other end of power wheel shaft, and transmission chain 41 is mounted on drive sprocket 40, driven chain
On wheel 42, chain guard 38 is mounted on 35 inside of supporting vertical plate, and driving motor cover 21 is mounted on 35 outer upper of supporting vertical plate, swings
Electric machine support 17 is mounted in supporting vertical plate 35, and oscillating motor 18 is mounted on oscillating motor holder 17, and high-speed electric expreess locomotive 39 is installed
On oscillating motor holder 17,12 one end of flexible axle is connect with high-speed electric expreess locomotive 39,12 other end of flexible axle by flexible-shaft coupling sleeve 13 with
Single brush weeder 1 connects, and rear lighting lamp 19, rearview camera 20 are mounted on driving motor cover 21, forward sight camera 45, preceding
Headlamp 46 is mounted on drag reducting cowling 37, and rear lighting lamp 19 is used for providing night illumination, and rearview camera 20 shoots scene below,
Picture is provided to control system, for calculating weeder position, forward sight camera 45 is used for shooting the paddy field feelings of direction of advance
Condition is supplied to control system to calculate progress path, and front lamp 46 provides the illumination at night, and high-speed electric expreess locomotive 39 provides weeding
Active force, driving motor 36 provide onward impulse, and power bin 47 is for installing control panel and battery, and running gear 2 is in rice seedling 4
Traveling in the ranks, single brush weeder 1 include round brush 5, sealing ring cover 6, clamping buckle 7, pedestal 8, clamp arm 9, swing rod 10, rotation
Pin 11, rotating seal ring 14, bearing 15, swinging disc 16；The connection of swinging disc 16 is on the output shaft of oscillating motor 18, swing rod
10 one end are mounted on swinging disc 16, and 9 one end of clamp arm is connect by rotational pin 11 with 10 other end of swing rod, and 8 middle part of pedestal is opened
Equipped with pedestal hole 51,8 top of pedestal is installed on neck axis 52, and 9 other end of clamp arm is connected by the neck axis 52 of clamping buckle 7 and pedestal 8
It connects, brush holder support 53 is installed on 5 front of round brush, roller brush shaft 54 is installed on 5 rear portion of round brush, roller brush shaft 54 passes through axis by bearing 15
The pedestal hole 51 of frame 8, sealing ring cover 6 are mounted on 8 both ends of pedestal, and rotating seal ring 14, which is mounted in sealing ring cover 6, is located at round brush
On axis 54,12 other end of flexible axle is connected to by flexible-shaft coupling sleeve 13 on roller brush shaft 54, and the rotation axis of round brush 5 is parallel to paddy field
The neck axis 52 of horizontal plane, pedestal 8 is freely rotatable in the circular space that clamping buckle 7 and clamp arm 9 are formed, swing rod 10 and folder
It is connected using rotational pin 11 between tight arm 9 so that clamp arm 9 can be around 11 axial-movement of rotational pin, and then makes round brush 5 in any feelings
It under condition, all can contact to the surface of paddy field mud, the power of high-speed electric expreess locomotive 39 is passed to round brush 5 by flexible axle 12, and swinging disc 16 exists
Under the drive of oscillating motor 18, horizontal hunting, and then with 10 horizontal hunting of driven fork, rotation direction and the swing rod 10 of round brush 5
Swaying direction cooperates, and keeps the power that oscillating motor 18 exports minimum, the resistance that both swing rod 10 had been subject to is minimum.
Broom type paddy field weed-killer robot can be also made of running gear 2, parallel weeder 3；Parallel weeding dress
It sets 3 to connect with running gear 2, parallel weeder 3 is more for paddy land weed, uses in the case that rice seedling is larger, walking dress
Set 2 include flexible axle 12, flexible-shaft coupling sleeve 13, oscillating motor holder 17, oscillating motor 18, rear lighting lamp 19, rearview camera
20, driving motor cover 21, crawler belt 31, power wheel 32, pressure bearing wheels 33, directive wheel 34, supporting vertical plate 35, driving motor 36, drag reduction
Cover 37, chain guard 38, high-speed electric expreess locomotive 39, drive sprocket 40, transmission chain 41, driven sprocket 42, power wheel shaft 43, guide wheel shaft
44, forward sight camera 45, front lamp 46, power bin 47；Drag reducting cowling 37 is mounted on 47 end of power bin, and supporting vertical plate 35 is installed
In 47 both sides of power bin, guide wheel shaft 44 is mounted on 35 lower part of supporting vertical plate, and the connection of directive wheel 34 is mounted on guide wheel shaft 44,
Power wheel shaft 43 is mounted on 35 lower part of supporting vertical plate, and the connection of power wheel 32 is mounted on 43 one end of power wheel shaft, and pressure bearing wheels 33 are pacified
Mounted in 35 lower part of supporting vertical plate, for crawler belt 31 on power wheel 32, directive wheel 34, driving motor 36 is mounted on supporting vertical plate 35
Outer upper, the connection of drive sprocket 40 is located at 35 inside upper part of supporting vertical plate on the output shaft of driving motor 36, driven
Sprocket wheel 42 is mounted on 43 other end of power wheel shaft, and transmission chain 41 is on drive sprocket 40, driven sprocket 42, chain guard 38
Mounted on 35 inside of supporting vertical plate, driving motor cover 21 is mounted on 35 outer upper of supporting vertical plate, and oscillating motor holder 17 is installed
In supporting vertical plate 35, oscillating motor 18 is mounted on oscillating motor holder 17, and high-speed electric expreess locomotive 39 is mounted on oscillating motor holder
On 17,12 one end of flexible axle is connect with high-speed electric expreess locomotive 39, and 12 other end of flexible axle is connected by flexible-shaft coupling sleeve 13 with parallel weeder 3
It connects, rear lighting lamp 19, rearview camera 20 are mounted on driving motor cover 21, and forward sight camera 45, front lamp 46 are mounted on
On drag reducting cowling 37, parallel weeder 3 includes round brush 5, transmission case 22, transmission box cover 23, transmission case connecting plate 24, hinge
25, swing arm 26, driving lever 27, driven gear 28, driving gear shaft 29, driving gear 30；26 one end of swing arm and oscillating motor holder
17 connections, 25 one end of hinge are connect by rotational pin 11 with 26 other end of swing arm, and transmission case connecting plate 24 is mounted on transmission case 22
Side, transmission case 22 are connect by transmission case connecting plate 24 with 25 other end of hinge, and transmission box cover 23 is mounted on transmission case 22
Top, driving gear shaft 29 are mounted in transmission case 22, and driving gear 30 is mounted on driving gear shaft 29,12 other end of flexible axle
By being connect with driving gear shaft 29 by flexible-shaft coupling sleeve 13, brush holder support 53 is installed on 5 front of round brush, round brush is pacified on 5 rear portion
Equipped with roller brush shaft 54, the roller brush shaft 54 of round brush 5 is placed in transmission case 22, and driven gear 28, which is located in transmission case 22, is mounted on rolling
On brush axis 54, driving gear 30 is engaged with driven gear 28, and driving lever 27 includes driving lever arm 48, shift lever axis 49, driving lever set 50；Driving lever
48 one end of arm connects shift lever axis 49, and 48 other end of driving lever arm connects driving lever set 50, and 50 connection of driving lever set is mounted on oscillating motor 18
Output shaft on, swing arm elongated slot 55 is offered in swing arm 26, shift lever axis 49 is placed in the swing arm elongated slot 55 of swing arm 26, flexible axle 12
The power that high-speed electric expreess locomotive 39 exports is transmitted to driving gear 30, driving gear 30 drives driven gear 28 so that is connected to two
5 direction of rotation of round brush on a driven gear 28 is consistent, and the power of oscillating motor 18 passes to swing arm 26 by driving lever 27 so that
26 horizontal hunting of swing arm, swing arm 26 constitute parallelogram lindage, 26 horizontal pendulum of swing arm with transmission case 22 and oscillating motor holder 17
When dynamic, axis of the round brush 5 in different location is parallel always.
A kind of operation principle of broom type paddy field weed-killer robot is：First robot in artificial setting regions into walking along the street
Diameter is planned, and carries out part traveling planning, then in the course of work of paddy field weed-killer robot, pendulum by forward sight camera 45
Rotating motor 18 drives swing rod 10 or 26 horizontal direction of swing arm to swing, and the angle of rotation is controlled by program, and program is according to paddy field
The location of weed-eradicating robot determines rotation angle；While swing rod 10 or swing arm 26 are swung, high-speed electric expreess locomotive 39 drives
5 high speed rotation of round brush gets the small grass in mud, if encountering rice seedling 4, yaw motor 18 avoids damaging by amplitude of fluctuation is reduced
Hinder rice seedling 4, the continual operation round the clock of paddy field weed-killer robot is periodically charged.
The invention has the advantages that：
1, it can realize and operation is removed to weeds in rice terrace, remove the use of herbicide, environmental protection and human health from；
2, simple in structure, reduction cost of manufacture can be put forward；
3, device is easy to use, convenient for promoting.
Description of the drawings
Fig. 1 is the structural schematic diagram when present invention uses single brush weeder；
Fig. 2 is the structural schematic diagram when present invention uses parallel weeder；
Fig. 3 is that the present invention singly brushes careless apparatus structure schematic diagram；
Fig. 4 is round brush mounting structure schematic diagram of the present invention；
Fig. 5 is single brush weeder of the invention and running gear connecting installation structure schematic diagram；
Fig. 6 is the parallel weeder structural schematic diagram of the present invention；
Fig. 7 is the parallel weeder transmission case internal structure schematic diagram of the present invention；
Fig. 8 is running gear structural schematic diagram of the present invention；
Fig. 9 is running gear partial structural diagram of the present invention；
Figure 10 is before running gear of the present invention to structural schematic diagram；
Figure 11 is deflector rod structure schematic diagram of the present invention；
Figure 12 is pedestal design schematic diagram of the present invention；
Figure 13 is roller brushes structure schematic diagram of the present invention；
Figure 14 is swing arm structure schematic diagram of the present invention.
In figure respectively marked as：1：Single brush weeder, 2：Running gear, 3：Parallel weeder, 4：Rice seedling, 5：Rolling
Brush, 6：Sealing ring cover, 7：Clamping buckle, 8：Pedestal, 9：Clamp arm, 10：Swing rod, 11：Rotational pin, 12：Flexible axle, 13：Flexible axle connects
Set, 14：Rotating seal ring, 15：Bearing, 16：Swinging disc, 17：Oscillating motor holder, 18：Oscillating motor, 19：Rear lighting lamp,
20：Rearview camera, 21：Driving motor cover, 22：Transmission case, 23：It is driven box cover, 24：Transmission case connecting plate, 25：Hinge,
26：Swing arm, 27：Driving lever, 28：Driven gear, 29：Driving gear shaft, 30：Driving gear, 31：Crawler belt, 32：Power wheel, 33：It holds
Pinch roller, 34：Directive wheel, 35：Supporting vertical plate, 36：Driving motor, 37：Drag reducting cowling, 38：Chain guard, 39：High-speed electric expreess locomotive, 40：It is main
Movable sprocket, 41：Transmission chain, 42：Driven sprocket, 43：Power wheel shaft, 44：Guide wheel shaft, 45：Forward sight camera, 46：Front lit
Lamp, 47：Power bin, 48：Driving lever arm, 49：Shift lever axis, 50：Driving lever set, 51：Pedestal hole, 52：Neck axis, 53：Brush holder support, 54：Round brush
Axis, 55：Swing arm elongated slot.
Specific implementation mode
With reference to the accompanying drawings and examples, the invention will be further described, but present disclosure be not limited to it is described
Range.
Embodiment 1：As represented in figures 1 through 14, a kind of broom type paddy field weed-killer robot, including single brush weeder 1, walking
Device 2；Single brush weeder 1 is connect with running gear 2, and single brush weeder 1 is relatively fewer for paddy land weed, rice seedling is smaller
Occasion, running gear 2 include flexible axle 12, flexible-shaft coupling sleeve 13, oscillating motor holder 17, oscillating motor 18, rear lighting lamp
19, rearview camera 20, driving motor cover 21, crawler belt 31, power wheel 32, pressure bearing wheels 33, directive wheel 34, supporting vertical plate 35, drive
Dynamic motor 36, drag reducting cowling 37, chain guard 38, high-speed electric expreess locomotive 39, drive sprocket 40, transmission chain 41, driven sprocket 42, power wheel shaft
43, guide wheel shaft 44, forward sight camera 45, front lamp 46, power bin 47；Drag reducting cowling 37 is mounted on 47 end of power bin, branch
It supports riser 35 and is mounted on 47 both sides of power bin, guide wheel shaft 44 is mounted on 35 lower part of supporting vertical plate, and the connection of directive wheel 34 is mounted on
On guide wheel shaft 44, power wheel shaft 43 is mounted on 35 lower part of supporting vertical plate, and the connection of power wheel 32 is mounted on 43 one end of power wheel shaft
On, pressure bearing wheels 33 are mounted on 35 lower part of supporting vertical plate, and crawler belt 31 on power wheel 32, directive wheel 34, pacify by driving motor 36
Mounted in 35 outer upper of supporting vertical plate, the connection of drive sprocket 40 is located at supporting vertical plate 35 on the output shaft of driving motor 36
Inside upper part, driven sprocket 42 are mounted on 43 other end of power wheel shaft, and transmission chain 41 is mounted on drive sprocket 40, driven sprocket
On 42, chain guard 38 is mounted on 35 inside of supporting vertical plate, and driving motor cover 21 is mounted on 35 outer upper of supporting vertical plate, swings electricity
Machine support 17 is mounted in supporting vertical plate 35, and oscillating motor 18 is mounted on oscillating motor holder 17, and high-speed electric expreess locomotive 39 is mounted on
On oscillating motor holder 17,12 one end of flexible axle is connect with high-speed electric expreess locomotive 39, and 12 other end of flexible axle passes through flexible-shaft coupling sleeve 13 and list
Brush weeder 1 connects, and rear lighting lamp 19, rearview camera 20 are mounted on driving motor cover 21, forward sight camera 45, preceding photograph
Bright lamp 46 is mounted on drag reducting cowling 37, and rear lighting lamp 19 is used for providing night illumination, and rearview camera 20 shoots scene below, gives
Control system provides picture, and for calculating weeder position, forward sight camera 45 is used for shooting the paddy field situation of direction of advance,
It is supplied to control system to calculate progress path, front lamp 46 provides the illumination at night, and high-speed electric expreess locomotive 39 provides the master of weeding
Power, driving motor 36 provide onward impulse, and power bin 47 is for installing control panel and battery, and running gear 2 is in rice seedling 4
It in the ranks advances, single brush weeder 1 includes round brush 5, sealing ring cover 6, clamping buckle 7, pedestal 8, clamp arm 9, swing rod 10, rotational pin
11, rotating seal ring 14, bearing 15, swinging disc 16；The connection of swinging disc 16 is on the output shaft of oscillating motor 18, swing rod 10
One end is mounted on swinging disc 16, and 9 one end of clamp arm is connect by rotational pin 11 with 10 other end of swing rod, and 8 middle part of pedestal opens up
There are pedestal hole 51,8 top of pedestal to be installed on neck axis 52,9 other end of clamp arm is connect by clamping buckle 7 with the neck axis 52 of pedestal 8,
It is installed on brush holder support 53 on 5 front of round brush, roller brush shaft 54 is installed on 5 rear portion of round brush, roller brush shaft 54 passes through pedestal 8 by bearing 15
Pedestal hole 51, sealing ring cover 6 be mounted on 8 both ends of pedestal, rotating seal ring 14 be mounted on sealing ring cover 6 in be located at roller brush shaft 54
On, 12 other end of flexible axle is connected to by flexible-shaft coupling sleeve 13 on roller brush shaft 54, and the rotation axis of round brush 5 is parallel to paddy field level
The neck axis 52 in face, pedestal 8 is freely rotatable in the circular space that clamping buckle 7 and clamp arm 9 are formed, swing rod 10 and clamp arm 9
Between connected using rotational pin 11 so that clamp arm 9 can be around 11 axial-movement of rotational pin, and then makes round brush 5 under any circumstance,
It all can contact to the surface of paddy field mud, the power of high-speed electric expreess locomotive 39 is passed to round brush 5 by flexible axle 12, and swinging disc 16 is swinging electricity
Under the drive of machine 18, horizontal hunting, and then with 10 horizontal hunting of driven fork, the swing side of the rotation direction and swing rod 10 of round brush 5
To mutual cooperation, keep the power that oscillating motor 18 exports minimum, the resistance that both swing rod 10 had been subject to is minimum.
Broom type paddy field weed-killer robot can be also made of running gear 2, parallel weeder 3；Parallel weeder 3 with
Running gear 2 connects, and parallel weeder 3 is more for paddy land weed, is used in the case that rice seedling is larger, and running gear 2 wraps
Include flexible axle 12, flexible-shaft coupling sleeve 13, oscillating motor holder 17, oscillating motor 18, rear lighting lamp 19, rearview camera 20, driving
Motor cover 21, crawler belt 31, power wheel 32, pressure bearing wheels 33, directive wheel 34, supporting vertical plate 35, driving motor 36, drag reducting cowling 37, chain
Item cover 38, high-speed electric expreess locomotive 39, drive sprocket 40, transmission chain 41, driven sprocket 42, power wheel shaft 43, guide wheel shaft 44, forward sight are taken the photograph
As head 45, front lamp 46, power bin 47；Drag reducting cowling 37 is mounted on 47 end of power bin, and supporting vertical plate 35 is mounted on power bin
47 both sides, guide wheel shaft 44 are mounted on 35 lower part of supporting vertical plate, and the connection of directive wheel 34 is mounted on guide wheel shaft 44, power wheel shaft
43 are mounted on 35 lower part of supporting vertical plate, and the connection of power wheel 32 is mounted on 43 one end of power wheel shaft, and pressure bearing wheels 33 are mounted on support
35 lower part of riser, on power wheel 32, directive wheel 34, driving motor 36 is mounted on 35 outside of supporting vertical plate crawler belt 31
Portion, the connection of drive sprocket 40 are located at 35 inside upper part of supporting vertical plate, driven sprocket 42 on the output shaft of driving motor 36
On 43 other end of power wheel shaft, on drive sprocket 40, driven sprocket 42, chain guard 38 is mounted on transmission chain 41
35 inside of supporting vertical plate, driving motor cover 21 are mounted on 35 outer upper of supporting vertical plate, and oscillating motor holder 17 is mounted on support
On riser 35, oscillating motor 18 is mounted on oscillating motor holder 17, and high-speed electric expreess locomotive 39 is mounted on oscillating motor holder 17, soft
12 one end of axis is connect with high-speed electric expreess locomotive 39, and 12 other end of flexible axle is connected by flexible-shaft coupling sleeve 13 with parallel weeder 3, rear to shine
Bright lamp 19, rearview camera 20 are mounted on driving motor cover 21, and forward sight camera 45, front lamp 46 are mounted on drag reducting cowling 37
On, parallel weeder 3 include round brush 5, transmission case 22, transmission box cover 23, transmission case connecting plate 24, hinge 25, swing arm 26,
Driving lever 27, driven gear 28, driving gear shaft 29, driving gear 30；26 one end of swing arm is connect with oscillating motor holder 17, hinge
25 one end are connect by rotational pin 11 with 26 other end of swing arm, and transmission case connecting plate 24 is mounted on 22 side of transmission case, transmission case
22 are connect by transmission case connecting plate 24 with 25 other end of hinge, and transmission box cover 23 is mounted on 22 top of transmission case, driving tooth
Wheel shaft 29 is mounted in transmission case 22, and driving gear 30 is mounted on driving gear shaft 29, and 12 other end of flexible axle passes through by soft
Axis connection set 13 is connect with driving gear shaft 29, brush holder support 53 is installed on 5 front of round brush, round brush is installed on roller brush shaft on 5 rear portion
54, the roller brush shaft 54 of round brush 5 is placed in transmission case 22, and driven gear 28, which is located in transmission case 22, to be mounted on roller brush shaft 54,
Driving gear 30 is engaged with driven gear 28, and driving lever 27 includes driving lever arm 48, shift lever axis 49, driving lever set 50；48 one end of driving lever arm
Shift lever axis 49 is connected, 48 other end of driving lever arm connects driving lever set 50, output shaft of 50 connection of driving lever set mounted on oscillating motor 18
On, swing arm elongated slot 55 is offered in swing arm 26, shift lever axis 49 is placed in the swing arm elongated slot 55 of swing arm 26, and flexible axle 12 will high speed electricity
The power that machine 39 exports is transmitted to driving gear 30, and driving gear 30 drives driven gear 28 so that is connected to two driven tooths
5 direction of rotation of round brush on wheel 28 is consistent, and the power of oscillating motor 18 passes to swing arm 26 by driving lever 27 so that 26 water of swing arm
Flat pendulum is dynamic, and swing arm 26 and transmission case 22 and oscillating motor holder 17 constitute parallelogram lindage, when 26 horizontal hunting of swing arm, round brush
5 axis in different location is parallel always.
Claims (2)
1. a kind of broom type paddy field weed-killer robot, it is characterised in that：Including single brush weeder（1）, running gear（2）；It is single
Brush weeder（1）With running gear（2）Connection, running gear（2）Including flexible axle（12）, flexible-shaft coupling sleeve（13）, swing electricity
Machine support（17）, oscillating motor（18）, rear lighting lamp（19）, rearview camera（20）, driving motor cover（21）, crawler belt（31）、
Power wheel（32）, pressure bearing wheels（33）, directive wheel（34）, supporting vertical plate（35）, driving motor（36）, drag reducting cowling（37）, chain guard
（38）, high-speed electric expreess locomotive（39）, drive sprocket（40）, transmission chain（41）, driven sprocket（42）, power wheel shaft（43）, guide wheel shaft
（44）, forward sight camera（45）, front lamp（46）, power bin（47）；Drag reducting cowling（37）Mounted on power bin（47）End, branch
Support riser（35）Mounted on power bin（47）Both sides, guide wheel shaft（44）Mounted on supporting vertical plate（35）Lower part, directive wheel（34）
Connection is mounted on guide wheel shaft（44）On, power wheel shaft（43）Mounted on supporting vertical plate（35）Lower part, power wheel（32）Connection peace
Mounted in power wheel shaft（43）On one end, pressure bearing wheels（33）Mounted on supporting vertical plate（35）Lower part, crawler belt（31）Mounted on power wheel
（32）, directive wheel（34）On, driving motor（36）Mounted on supporting vertical plate（35）Outer upper, drive sprocket（40）Connection installation
In driving motor（36）Output shaft on be located at supporting vertical plate（35）Inside upper part, driven sprocket（42）Mounted on power wheel shaft
（43）On the other end, transmission chain（41）Mounted on drive sprocket（40）, driven sprocket（42）On, chain guard（38）Mounted on support
Riser（35）Inside, driving motor cover（21）Mounted on supporting vertical plate（35）Outer upper, oscillating motor holder（17）It is mounted on
Supporting vertical plate（35）On, oscillating motor（18）Mounted on oscillating motor holder（17）On, high-speed electric expreess locomotive（39）It is electric mounted on swinging
Machine support（17）On, flexible axle（12）One end and high-speed electric expreess locomotive（39）Connection, flexible axle（12）The other end passes through flexible-shaft coupling sleeve（13）
With single brush weeder（1）Connection, rear lighting lamp（19）, rearview camera（20）Mounted on driving motor cover（21）On, forward sight
Camera（45）, front lamp（46）Mounted on drag reducting cowling（37）On, single brush weeder（1）Including round brush（5）, sealing ring cover
（6）, clamping buckle（7）, pedestal（8）, clamp arm（9）, swing rod（10）, rotational pin（11）, rotating seal ring（14）, bearing（15）、
Swinging disc（16）；Swinging disc（16）Connection is mounted on oscillating motor（18）Output shaft on, swing rod（10）One end, which is mounted on, to be swung
Disk（16）On, clamp arm（9）One end passes through rotational pin（11）With swing rod（10）The other end connects, pedestal（8）Middle part offers axis
Frame aperture（51）, pedestal（8）Top is installed on neck axis（52）, clamp arm（9）The other end passes through clamping buckle（7）With pedestal（8）Neck
Axis（52）Connection, round brush（5）Brush holder support is installed on front（53）, round brush（5）Roller brush shaft is installed on rear portion（54）, roller brush shaft
（54）Pass through bearing（15）Across pedestal（8）Pedestal hole（51）, sealing ring cover（6）Mounted on pedestal（8）Both ends, rotatory sealing
Circle（14）Mounted on sealing ring cover（6）In be located at roller brush shaft（54）On, flexible axle（12）The other end passes through flexible-shaft coupling sleeve（13）Even
It is connected on roller brush shaft（54）On.
2. a kind of broom type paddy field weed-killer robot, it is characterised in that：The paddy field weed-killer robot can also be by running gear（2）
With parallel weeder（3）Composition；Parallel weeder（3）With running gear（2）Connection, running gear（2）Including flexible axle
（12）, flexible-shaft coupling sleeve（13）, oscillating motor holder（17）, oscillating motor（18）, rear lighting lamp（19）, rearview camera
（20）, driving motor cover（21）, crawler belt（31）, power wheel（32）, pressure bearing wheels（33）, directive wheel（34）, supporting vertical plate（35）, drive
Dynamic motor（36）, drag reducting cowling（37）, chain guard（38）, high-speed electric expreess locomotive（39）, drive sprocket（40）, transmission chain（41）, driven chain
Wheel（42）, power wheel shaft（43）, guide wheel shaft（44）, forward sight camera（45）, front lamp（46）, power bin（47）；Drag reduction
Cover（37）Mounted on power bin（47）End, supporting vertical plate（35）Mounted on power bin（47）Both sides, guide wheel shaft（44）Installation
In supporting vertical plate（35）Lower part, directive wheel（34）Connection is mounted on guide wheel shaft（44）On, power wheel shaft（43）Mounted on support
Riser（35）Lower part, power wheel（32）Connection is mounted on power wheel shaft（43）On one end, pressure bearing wheels（33）Mounted on supporting vertical plate
（35）Lower part, crawler belt（31）Mounted on power wheel（32）, directive wheel（34）On, driving motor（36）Mounted on supporting vertical plate（35）
Outer upper, drive sprocket（40）Connection is mounted on driving motor（36）Output shaft on be located at supporting vertical plate（35）On inside
Portion, driven sprocket（42）Mounted on power wheel shaft（43）On the other end, transmission chain（41）Mounted on drive sprocket（40）, driven chain
Wheel（42）On, chain guard（38）Mounted on supporting vertical plate（35）Inside, driving motor cover（21）Mounted on supporting vertical plate（35）Outside
Upper lateral part, oscillating motor holder（17）Mounted on supporting vertical plate（35）On, oscillating motor（18）Mounted on oscillating motor holder
（17）On, high-speed electric expreess locomotive（39）Mounted on oscillating motor holder（17）On, flexible axle（12）One end and high-speed electric expreess locomotive（39）Connection, it is soft
Axis（12）The other end passes through flexible-shaft coupling sleeve（13）With parallel weeder（3）Connection, rear lighting lamp（19）, rearview camera
（20）Mounted on driving motor cover（21）On, forward sight camera（45）, front lamp（46）Mounted on drag reducting cowling（37）On, it is parallel
Weeder（3）Including round brush（5）, transmission case（22）, transmission box cover（23）, transmission case connecting plate（24）, hinge（25）, pendulum
Arm（26）, driving lever（27）, driven gear（28）, driving gear shaft（29）, driving gear（30）；Swing arm（26）One end and swing electricity
Machine support（17）Connection, hinge（25）One end passes through rotational pin（11）With swing arm（26）The other end connects, transmission case connecting plate
（24）Mounted on transmission case（22）Side, transmission case（22）Pass through transmission case connecting plate（24）With hinge（25）The other end connects,
It is driven box cover（23）Mounted on transmission case（22）Top, driving gear shaft（29）Mounted on transmission case（22）It is interior, driving gear
（30）Mounted on driving gear shaft（29）On, flexible axle（12）The other end is by passing through flexible-shaft coupling sleeve（13）With driving gear shaft
（29）Connection, round brush（5）Brush holder support is installed on front（53）, round brush（5）Roller brush shaft is installed on rear portion（54）, round brush（5）'s
Roller brush shaft（54）It is placed in transmission case（22）It is interior, driven gear（28）Positioned at transmission case（22）It is interior to be mounted on roller brush shaft（54）On,
Driving gear（30）With driven gear（28）Engagement, driving lever（27）Including driving lever arm（48）, shift lever axis（49）, driving lever set（50）；
Driving lever arm（48）One end connects shift lever axis（49）, driving lever arm（48）The other end connects driving lever set（50）, driving lever set（50）Connection peace
Mounted in oscillating motor（18）Output shaft on, swing arm（26）On offer swing arm elongated slot（55）, shift lever axis（49）It is placed in swing arm
（26）Swing arm elongated slot（55）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598179.3A CN108633343A (en) | 2018-06-12 | 2018-06-12 | A kind of broom type paddy field weed-killer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598179.3A CN108633343A (en) | 2018-06-12 | 2018-06-12 | A kind of broom type paddy field weed-killer robot |
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| Publication Number | Publication Date |
|---|---|
| CN108633343A true CN108633343A (en) | 2018-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810598179.3A Pending CN108633343A (en) | 2018-06-12 | 2018-06-12 | A kind of broom type paddy field weed-killer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113692789A (en) * | 2021-08-31 | 2021-11-26 | 农业农村部南京农业机械化研究所 | Weeder between rice field trunk |
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