CN113068502B - Hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot - Google Patents
Hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot Download PDFInfo
- Publication number
- CN113068502B CN113068502B CN202110219113.0A CN202110219113A CN113068502B CN 113068502 B CN113068502 B CN 113068502B CN 202110219113 A CN202110219113 A CN 202110219113A CN 113068502 B CN113068502 B CN 113068502B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- weeding
- wheel
- wheel independent
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/81—Casings; Housings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
Abstract
The invention discloses a hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot, which comprises a power cabin system, a multifunctional chassis system, an intelligent weeding structure system, a control system and a navigation system, wherein the power cabin system is connected with the multifunctional chassis system; the power cabin system provides clean energy power for the functions of steering, walking, distance adjustment, depth limitation and the like of the weeding robot and ensures the low-speed movement performance of the robot; the multifunctional chassis system realizes the functions of four-wheel independent driving walking, wheel track adjustment and 360-degree independent steering so as to adapt to various working conditions in the field; the intelligent weeding structural system realizes intelligent weeding; the hydraulic driving type weeding device has a simple and reasonable structure and good low-speed movement performance, utilizes hydraulic driving to reduce weight and enhance the working performance of the vehicle, and compared with other large and heavy vehicles, the hydraulic driving type weeding device reduces the influence of the weight of the vehicle on the compactibility of soil, reduces the influence of the weeding device on crops, and is better suitable for complex road conditions in the field.
Description
Technical Field
The invention relates to a hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot, belongs to the technical field of intelligent weeding equipment, and particularly relates to a hydraulic drive type four-wheel independent drive weeding robot which integrates the functions of four-wheel independent drive, four-wheel independent steering, adjustable wheel track and intelligent weeding devices.
Background
Weed control is an important measure for ensuring the increase of both production and income of agriculture, and crop yield reduction caused by weeds is up to $ 204 billion in the past in 1972 all over the world. For example, in the United states, annual losses due to disease, insect and weed damage can reach more than $ 120 billion, with 27% disease, 28% insect damage, 3% nematode and 42% weed. Crop yield loss caused by weeds in China is calculated by hundreds of millions of jin every year, and farmland weeds refer to plants growing in farmlands and cultivated unconsciously. Their survival is a result of long-term adaptation. Damage of farmland weeds: 1) absorbing a large amount of water; 2) the fertilizer absorbing capacity of the root of the weed is strong; 3) interfering with crop growth: the weed growth not only occupies the ground space, but also occupies the underground space, and the downward binding and the expansion of crop roots are seriously hindered; 4) increase the reproduction and spread of diseases: many weeds in the field are intermediate hosts of crop pests and diseases; 5) the labor cost and the production cost for management are increased; 6) reduced yield and quality; 7) directly causing harm to human and livestock. Therefore, effective prevention and treatment of harmful farmland weeds plays a crucial role in reducing loss.
Disclosure of Invention
In order to overcome the defects of the prior art, particularly aiming at complex field road conditions and narrow and small ground, the invention relates to a hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot, in particular to a hydraulic drive type four-wheel independent drive, four-wheel independent steering, adjustable wheel track and intelligent weeding device multifunctional integrated weeding robot.
In order to solve the technical problems, the invention adopts the technical scheme that:
a hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot comprises a vehicle body, wherein a hydraulic pump, a direct current servo motor, an oil tank and a battery box are arranged in the vehicle body;
the connecting rod mechanism comprises an upper connecting rod, a lower connecting rod, a weeding device cross beam, a depth limiting oil cylinder and a longitudinal connecting rod, wherein the upper connecting rod and the lower connecting rod are parallel to the running direction of the vehicle; one end of the depth-limiting oil cylinder is hinged to the middle of the cross beam frame, and the other end of the depth-limiting oil cylinder is hinged to the middle of the upper connecting rod; the beam of the weeding device is provided with a front frame, and the front frame is provided with a weeding cutter and a guide wheel.
As a further preferable scheme, two vehicle frames are respectively arranged at the front and the rear of the vehicle body, the vehicle frames are of long-strip structures, the middle positions of the vehicle frames are connected with the vehicle body through rotating shafts, distance-adjusting fixed gears are mounted on the rotating shafts and fixedly connected with the vehicle body, distance-adjusting motors are fixedly arranged at the inner side ends of the distance-adjusting fixed gears, power output ends of the distance-adjusting motors are provided with gears which are meshed with the distance-adjusting fixed gears, and wheel mechanisms are mounted at the outer side ends of the distance-adjusting fixed gears.
As a further preferable mode, a steering adjustment motor, a large gear and a small gear are arranged at the outer side end of the distance-adjusting fixed gear, a gear is arranged at the power output end of the steering adjustment motor, the gear is meshed with the large gear, the small gear is also meshed with the large gear, a wheel mounting plate is fixedly arranged at the center position of the lower portion of the small gear, and a tire is arranged on the mounting plate.
As a further preferable mode, the side portion of the wheel mounting plate is provided with a wheel-side travel motor for driving the tire to rotate.
As a further preferable mode, a distance detecting device for detecting the distance from the ground is installed on the longitudinal connecting rod.
As a further preferred scheme, the cross beam frame is provided with a soil collection and supply detection device, the soil collection and supply detection device comprises a vertical guide rail, the upper end of the guide rail is provided with a motor, the output end of the motor is provided with a lead screw parallel to the guide rail, the guide rail is also provided with a sliding seat, the sliding seat is provided with a through threaded hole, the lead screw penetrates through the threaded hole and is matched with the threaded hole, and the lower part of the sliding seat is provided with a claw used for grabbing soil.
As a further preferred scheme, the vehicle body is provided with a shield and a GPS antenna.
Compared with the prior art, the hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot is simple and reasonable in structure and good in low-speed movement performance; the hydraulic drive is utilized, the working performance of the vehicle is enhanced while the weight is reduced, the influence of the weight of the vehicle on the compactibility of soil is reduced compared with other large and heavy vehicles, the influence of the weeding device on crops is reduced, and the weeding device is better suitable for complex road conditions in the field.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a front view of the present invention;
in the above drawings, 1, a GPS antenna, 2, a shield, 3, a hydraulic pump, 4, a direct current servo motor, 5, a beam frame, 6, a battery box, 7, a soil collection and detection device, 8, a link mechanism, 9, a steering adjustment motor 10, a pinion, 11, a bull gear, 12, a distance detection device, 13, a depth-limiting cylinder, 14, a weeding cutter, 15, a guide wheel, 16, a wheel-side travel motor, 17, a tire, 18, a frame, 19, a distance adjustment motor, 20, an oil tank, 21, and a weeding device beam.
Detailed Description
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1, 2 and 3, the invention comprises a power cabin system, a multifunctional chassis system, an intelligent weeding structure system, a control system and a navigation system.
The power cabin system comprises a shield 2, a battery box 6, a direct current servo motor 4, a power management system, a hydraulic pump 3, an electro-hydraulic proportional control valve, a pinion 10 and a bull gear 11.
The multifunctional chassis system comprises a frame 18, a wheel track adjusting device, a four-wheel independent steering device and a four-wheel independent driving device.
The intelligent weeding structure system comprises a support frame, an intelligent depth limiting device, a depth limiting oil cylinder 13, a weeding cutter 14 and a guide wheel 15.
The control system comprises a controller, a control box, a tilt angle sensor, a distance detection device 12 and software.
The navigation system comprises a satellite receiver, an antenna and a mobile base station.
The power cabin system comprises a shield 2, a battery, a direct current servo motor 4, a power management system, a hydraulic pump 3, an electro-hydraulic proportional control valve, a hydraulic motor, a hydraulic cylinder, a pinion 10 and a bull gear 11; the power cabin system utilizes a battery to provide green energy for the direct current servo motor 4, the direct current servo motor 4 drives the driving hydraulic pump 3 to provide an oil source for the whole hydraulic system, clean energy power is provided for the functions of steering, walking, distance adjustment, depth limitation and the like of the weeding robot, and the low-speed motion performance of the robot is ensured.
The multifunctional chassis system comprises a frame 18, a wheel track adjusting device, a four-wheel independent steering device and a four-wheel independent driving device; the multifunctional chassis system is characterized in that the proportional control valve is used for controlling the walking, steering and distance-adjusting hydraulic motors so as to realize the functions of four-wheel independent driving walking, wheel track adjustment and 360-degree independent steering and adapt to various working conditions in the field. The realization of the four-wheel independent steering function can reduce the turning radius of a vehicle when the weeding robot works in a narrow field, solve the problem that the field of the weeding robot is difficult to steer, and reduce the damage to crops; various crops need vehicles with different distances to work due to different line distances, the distance adjusting function can adapt to farmlands with different line distances, multiple purposes of one vehicle can be realized, and the vehicle purchasing cost can be greatly reduced; in this kind of complicated topography in farmland, it is higher to the drive performance requirement of vehicle, and it has more bold field walking ability to compare with traditional forerunner or rear-drive vehicle.
The front and the rear of the vehicle body are respectively provided with two frames 18, the middle position of each frame 18 is connected with the vehicle body through a rotating shaft, the rotating shaft is provided with a distance adjusting fixed gear 22, the distance adjusting fixed gear 22 is fixedly connected with the vehicle body, the inner side end of the distance adjusting fixed gear 22 is fixedly provided with a distance adjusting motor 19, the power output end of the distance adjusting motor 19 is provided with a gear, the gear is meshed with the distance adjusting fixed gear 22, and the outer side end of the distance adjusting fixed gear 22 is provided with a wheel mechanism; the distance adjusting motor 19 rotates, and the gear at the power output end of the distance adjusting motor 19 moves around the distance adjusting fixed gear 22, so that the frame 18 can be driven to rotate, the position of the wheel mechanism at the outer side end is changed, the distance between the two wheel mechanisms is adjusted, and the device is suitable for different road widths.
The outer side end of the distance-adjusting fixed gear 22 is provided with a steering adjusting motor 9, a large gear 11 and a small gear 10, the power output end of the steering adjusting motor 9 is provided with a gear which is meshed with the large gear 11, the small gear 10 is also meshed with the large gear 11, the center position of the lower part of the small gear 10 is fixedly provided with a wheel mounting plate, and a tire 17 is arranged on the wheel mounting plate; the steering adjusting motor 9 drives the large gear 11 to rotate, the large gear 11 drives the small gear 10 to rotate, and the small gear 10 drives the wheel mounting plate to adjust the angle, so that the steering of the wheel is realized.
The intelligent weeding structure system comprises a support frame, an intelligent depth limiting device, a depth limiting oil cylinder 13, a weeding cutter 14, a guide wheel 15 and a soil collection and detection device 7; the intelligent weeding structural system realizes that the intelligent weeding device can reduce the damage to the growth of root systems of different crops when meeting different soil qualities and different crops by controlling the depth limiting oil cylinder 13 by using the hydraulic proportional hydraulic valve; soil collection integrated on the intelligent weeding device is supplied to the detection device 7 to different crop fields, and data is provided for laboratories to detect soil quality and provide soil related parameters for depth limiting mechanisms. The traditional weeding device generally utilizes the self weight of the device to complete the depth of a cutter as a map, the depth of the traditional weeding device cannot be adjusted, poor weeding capability exists when complex field terrain is encountered, and the intelligent depth limiting device can enhance the field adaptability of weeding of the weeding robot; soil collection and detection device can take back soil in the farmland of preliminary study or not study and need study for the researcher, provides indispensable function for aspects such as the good or bad influence of research crops' adaptability and soil to crops.
The link mechanism 8 comprises a combined mechanism of two upper connecting rods 81, a lower connecting rod 82 and a longitudinal connecting rod 83, the stability is stronger, one end of each upper connecting rod 81 is hinged to the upper part of the cross beam frame 5, one end of each lower connecting rod 82 is hinged to the lower part of the cross beam frame 5, the other end of each upper connecting rod 81 is hinged to the upper end of the longitudinal connecting rod 83, the other end of each lower connecting rod 82 is hinged to the weeding device cross beam 21, and the lower end of each longitudinal connecting rod 83 is hinged to the weeding device cross beam 21;
wherein, a connecting rod is arranged between the two upper connecting rods 81, one end of the depth-limiting oil cylinder 13 is hinged in the middle of the cross beam frame 5, and the other end is hinged in the connecting rod.
The control system comprises an operation controller, a control box, a tilt angle sensor, a distance detection device 12 and software.
Power source management scheme for the present apparatus: the weeding robot is powered by the battery to the motor, and the motor drives the hydraulic pump, so that the hydraulic pump can absorb oil from the hydraulic oil tank and then transmit the hydraulic oil to each execution element through the hydraulic pipeline. The walking driving function of the weeding robot is realized by transmitting hydraulic oil to a walking hydraulic motor to convert hydraulic energy into mechanical energy to drive a wheel set; the steering and distance adjusting functions of the weeding robot are realized by transmitting hydraulic oil to a steering hydraulic motor and a distance adjusting hydraulic motor to convert hydraulic energy into mechanical energy; the depth limiting function is that hydraulic oil is transmitted to the depth limiting oil cylinder, and the vertical displacement adjustment of the weeding device is realized by driving the connecting rod mechanism through the extension of the oil cylinder.
In the weeding robot, a controller is arranged in a control box, and control instructions are sent out according to various actions of the weeding robot by control software; the software is a program code written according to the function of the weeding robot, and the robot is controlled by the controller.
The navigation system comprises a satellite receiver, an antenna and a mobile base station. The satellite receiver receives positioning information of the satellite positioning system, decodes and operates to determine the position of the robot, and can calculate the yaw angle of the vehicle to adjust the posture of the vehicle when the vehicle runs, so that the damage of the vehicle to crops is reduced; the antenna is used for enhancing the positioning signal intensity of the satellite positioning system, so that a satellite receiver can accurately receive positioning information conveniently; the mobile base station is used for providing revised positioning reference for the positioning system.
The working principle of the invention is as follows: the hydraulic drive type weeding robot can adapt to complex field road conditions; the weeding robot can independently steer four wheels, so that the weeding robot can solve the problem of difficult field heading steering with a smaller steering radius; the influence of the vehicle weight on the compactibility of the soil is reduced. The weeding robot is mainly divided into two parts, the first part is a multifunctional chassis part, and a proportional control valve is used for controlling a walking hydraulic motor, a steering hydraulic motor and a distance-adjusting hydraulic motor so as to realize the functions of four-wheel independent driving walking, wheel track adjustment and 360-degree independent steering and adapt to various working conditions in the field; the second part is an intelligent weeding mechanism part, and the depth limiting oil cylinder 13 is controlled by an electro-hydraulic proportional hydraulic valve to realize that the intelligent weeding device can reduce the damage to the growth of the root systems of different crops when meeting different soil qualities and different crops; soil collection integrated on the intelligent weeding device is supplied to the detection device 7 to different crop fields, and data is provided for laboratories to detect soil quality and provide soil related parameters for depth limiting mechanisms.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot which characterized in that: the hydraulic control system comprises a vehicle body, wherein a hydraulic pump (3), a direct-current servo motor (4), an oil tank (20) and a battery box (6) are arranged in the vehicle body, a cross beam frame (5) is arranged at the front end of the vehicle body, and a connecting rod mechanism (8) is arranged on the cross beam frame (5); the connecting rod mechanism (8) comprises an upper connecting rod (81), a lower connecting rod (82), a weeding device cross beam (21), a depth limiting oil cylinder (13) and a longitudinal connecting rod (83), the upper connecting rod (81) and the lower connecting rod (82) are parallel to the running direction of the vehicle, one end of the upper connecting rod (81) is hinged to the upper part of the cross beam frame (5), one end of the lower connecting rod (82) is hinged to the lower part of the cross beam frame (5), the other end of the upper connecting rod (81) is hinged to the upper end of the longitudinal connecting rod (83), the other end of the lower connecting rod (82) is hinged to the weeding device cross beam (21), and the lower end of the longitudinal connecting rod (83) is hinged to the weeding device cross beam (21); one end of the depth-limiting oil cylinder (13) is hinged to the middle part of the cross beam frame (5), and the other end of the depth-limiting oil cylinder (13) is hinged to the middle position of the upper connecting rod (81); a front frame is arranged on a beam (21) of the weeding device, and a weeding cutter (14) and a guide wheel (15) are arranged on the front frame;
the front and the back of the vehicle body are respectively provided with two vehicle frames (18), the vehicle frames (18) are of long-strip structures, the middle positions of the vehicle frames (18) are connected with the vehicle body through rotating shafts, distance-adjusting fixed gears (22) are mounted on the rotating shafts, the distance-adjusting fixed gears (22) are fixedly connected with the vehicle body, distance-adjusting motors (19) are fixedly arranged at the inner side ends of the distance-adjusting fixed gears (22), power output ends of the distance-adjusting motors (19) are provided with gears, the gears are meshed with the distance-adjusting fixed gears (22), and wheel mechanisms are mounted at the outer side ends of the distance-adjusting fixed gears (22);
the outer side end of the distance-adjusting fixed gear (22) is provided with a steering adjusting motor (9), a large gear (11) and a small gear (10), the power output end of the steering adjusting motor (9) is provided with a gear, the gear is meshed with the large gear (11), the small gear (10) is also meshed with the large gear (11), the center of the lower portion of the small gear (10) is fixedly provided with a wheel mounting plate, and a tire (17) is arranged on the wheel mounting plate.
2. The hydraulic drive type four-wheel independent drive four-wheel independent steering herbicidal robot as claimed in claim 1, characterized in that: the side portion of the wheel mounting plate is provided with a wheel side traveling motor (16) for driving a tire (17) to rotate.
3. The hydraulic drive type four-wheel independent drive four-wheel independent steering herbicidal robot as claimed in claim 1, characterized in that: and a distance detection device (12) for detecting the distance from the ground is arranged on the longitudinal connecting rod (83).
4. The hydraulic drive type four-wheel independent drive four-wheel independent steering herbicidal robot as claimed in claim 1, characterized in that: be equipped with soil collection on crossbeam frame (5) and supply detection device (7), soil collection supplies detection device (7) including vertical guide rail, and the guide rail upper end has the motor, and the motor output end has the lead screw that is on a parallel with the guide rail, still is equipped with the slide on the guide rail, and the slide has the screw hole that runs through, and the lead screw runs through this screw hole and mutually supports, and the slide lower part has the claw that is used for snatching soil.
5. The hydraulic drive type four-wheel independent drive four-wheel independent steering herbicidal robot as claimed in claim 1, characterized in that: the vehicle body is provided with a shield (2) and a GPS antenna (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110219113.0A CN113068502B (en) | 2021-02-26 | 2021-02-26 | Hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110219113.0A CN113068502B (en) | 2021-02-26 | 2021-02-26 | Hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113068502A CN113068502A (en) | 2021-07-06 |
| CN113068502B true CN113068502B (en) | 2022-05-27 |
Family
ID=76609972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110219113.0A Active CN113068502B (en) | 2021-02-26 | 2021-02-26 | Hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113068502B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114514806B (en) * | 2022-01-25 | 2022-07-15 | 金华市农业科学研究院(浙江省农业机械研究院) | Adjustable weeding device of transplanter |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109511356A (en) * | 2019-01-08 | 2019-03-26 | 安徽农业大学 | A kind of intelligent weed-eradicating robot system and control method based on deep vision |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3528263B2 (en) * | 1994-09-12 | 2004-05-17 | 井関農機株式会社 | Crawler type farm work machine |
| CN203279475U (en) * | 2013-04-28 | 2013-11-13 | 现代农装科技股份有限公司 | Steering device, high crop clearance chassis comprising same, and sprayer |
| CN105766878A (en) * | 2016-04-30 | 2016-07-20 | 富锦市立兴植保机械制造有限公司 | Mechanical transmission type four-wheeled steering and two-wheeled driving wheel-span-variable high-ground-clearance insecticide sprayer |
| CN107637203A (en) * | 2016-07-20 | 2018-01-30 | 姜丹宁 | Compound extirpator |
| CN107161002A (en) * | 2017-04-17 | 2017-09-15 | 燕山大学 | A kind of four-bar mechanism regulates and controls the ground gap adjustable sprayer chassis of wheelspan |
| CN107409503A (en) * | 2017-05-19 | 2017-12-01 | 东北农业大学 | The seedling band weeding monomer of ultrasonic ranging auto-control weeding depth |
-
2021
- 2021-02-26 CN CN202110219113.0A patent/CN113068502B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109511356A (en) * | 2019-01-08 | 2019-03-26 | 安徽农业大学 | A kind of intelligent weed-eradicating robot system and control method based on deep vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113068502A (en) | 2021-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109177676B (en) | But high ground clearance plant protection machine's leveling frame | |
| CN106965627B (en) | Road clearance adjustable multifunctional tractor chassis | |
| CN113068502B (en) | Hydraulic drive type four-wheel independent drive four-wheel independent steering weeding robot | |
| CA2857955A1 (en) | Agricultural implements having a folding scraper blade | |
| LU503171B1 (en) | Terrain self-adaption unmanned weeding robot for hillside orchard | |
| WO2021250696A1 (en) | An all-terrain utility vehicle and methods thereof | |
| CN103814633A (en) | Miniature four-wheel drive seat type cultivator | |
| Wang et al. | Design and testing of a small remote-control hillside tractor | |
| CN112056031A (en) | Farmland management robot suitable for different ridge widths | |
| CN204907175U (en) | Self -propelled round is dragged sugarcane to cut machine of shop | |
| CN204316972U (en) | Shoveling mini-size tillage machine chassis structure | |
| US2347373A (en) | Ridge burster | |
| CN209983048U (en) | Single-track self-propelled deep-loosening fertilizer applicator | |
| CN201207797Y (en) | Micro tri-wheel intertillage plant protection device | |
| RU171500U1 (en) | Hydraulic presser | |
| CN202958170U (en) | Wheeled ridge-crossing transplanter with single-person disc refilling and seedling box angle regulating | |
| CN218805174U (en) | Wheel structure and four-wheel four-turn agricultural robot with same | |
| CN216994593U (en) | Agricultural machinery operation platform | |
| CN2588771Y (en) | Farmland automatic flush coater | |
| CN215454068U (en) | Chassis structure of mowing robot and mowing robot | |
| CN219182017U (en) | Power transmission device of agricultural implement | |
| CN213035896U (en) | Agricultural multifunctional tractor | |
| KR102566841B1 (en) | Furrow weed removal robot | |
| CN110053678B (en) | Hydraulic wheel-track chassis of combine harvester | |
| CN213735252U (en) | Multipurpose crawler tractor for paddy field and dry field |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220921 Address after: 241000 room 8153, complex building, electronic industrial park, Wuhu District, Wuhu pilot Free Trade Zone, Anhui Province Patentee after: Anhui Haozhi Technology Co.,Ltd. Address before: 221000 c-401, science and technology venture building, 21-6 Yangshan Road, Xuzhou Economic Development Zone, Jiangsu Province Patentee before: XUZHOU YANDA TRANSMISSION AND CONTROL TECHNOLOGY CO.,LTD. |