CN202857243U - Gravity center adjustable weeding robot for irrigated field - Google Patents
Gravity center adjustable weeding robot for irrigated field Download PDFInfo
- Publication number
- CN202857243U CN202857243U CN 201220275971 CN201220275971U CN202857243U CN 202857243 U CN202857243 U CN 202857243U CN 201220275971 CN201220275971 CN 201220275971 CN 201220275971 U CN201220275971 U CN 201220275971U CN 202857243 U CN202857243 U CN 202857243U
- Authority
- CN
- China
- Prior art keywords
- wheel hub
- slide block
- motor
- guide rod
- screw mandrel
- 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.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Soil Working Implements (AREA)
Abstract
The utility model discloses a gravity center adjustable weeding robot for irrigated field, which comprises a hub-driving pedrail device, a pedrail lifting device, an extension moving device and a sliding block balancing device, wherein in the hub-driving pedrail device, a hub motor drives a hub, and further drives a pedrail to operate, so that the robot walks in the irrigated field, and presses weed into mud or removes the weed; the pedrail lifting device and the extension moving device realize lifting and extension of the pedrail device to enable the robot to walk in another line and cross the field ridge; the sliding block balancing device is cooperated with the pedrail lifting device and the extension moving device to adjust the gravity of the robot, so that the robot can keep balance during the process of walking in another line and cross the field ridge and the robot can automatically recover after being sunk into a pit in the irrigated field. The utility model has the advantages of simple structure, small size, light weight, convenience in carrying, and high popularization performance.
Description
Technical field
The utility model relates to agriculture weed-eradicating robot technical field, is specifically related to a kind of paddy field adjustable center of gravity weed-eradicating robot.
Background technology
At present, the 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 the progress of science and technology, 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, spoiled soil, even threaten people's health.Weed-eradicating robot then utilizes artificial intelligence technology control associated mechanisms automatically to remove farmland weed, and relevant research has at home and abroad been arranged.
The agricultural weed-eradicating robot is not yet popularized at home, and the agricultural robot of research and development is multiplex in farmland harvesting, smart spraying weeding, nonirrigated farmland weeding etc. both at home and abroad at present.The technology that relates 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 multiplex in the nonirrigated farmland weeding.In China, the Rice Production area is large, and the at home research and development of existing relevant paddy field weed-killer robot such 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 the 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 both reach the weeding purpose, but all exist weeding machine unstable in the walking of the adverse circumstances such as paddy field, infringement crops during the line feed operation 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 that in the paddy field self-healing paddy field will be conducive to extensively promote in the paddy field with the adjustable center of gravity weed-eradicating robot.
The utility model content
In order to overcome the shortcoming and defect of above-mentioned prior art, the purpose of this utility model is to provide that a kind of volume is little, the 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 utility model is achieved through the following technical solutions:
A kind of 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 the crawler belt lifting device by left and right sides supporting leg; Described crawler belt lifting device is threaded with the left and right sides slide block of telescopic moving device respectively by two translator screw mandrels; Two slide rails arranging before and after being equipped with in the described body chamber; Described left and right sides slide block is installed 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 installed on the revolver group connecting rod; Described left wheel hub is installed on the left wheel hub rotor, cooperates with left crawler belt; Described revolver group connecting rod bottom is connected with the 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 the left-hand rotation moving part; Described left tensioning nut and left tensioning regulating part pass through threaded engagement; Described right wheel hub motor is installed on the right wheels connecting rod; Described right wheel hub is installed on the right wheel hub motor rotor, cooperates with right-hand track chiain; Described right wheels connecting rod bottom is connected with the 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 the 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 installed in 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 that matches with left and right sides 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 installed on the left wheel hub motor shaft; Described left support leg left side is slidingly matched with the first guide rod, and right side and the second guide rod are slidingly matched; Described the first guide rod and the second guide rod are installed on the left slider; The drive motors of described left screw mandrel is installed in 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 installed on the right wheel hub motor axle; Described right support leg left side is slidingly matched with the 3rd guide rod, and right side and the 4th guide rod are slidingly matched; Described the 3rd guide rod and the 4th guide rod are installed on the right slide block; The drive motors of described right screw mandrel is installed in 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 slidingly matched by the endoceliac slide rail of machine; Described right slide block and body are slidingly matched by the endoceliac slide rail of machine; Described left linear electric motors and right linear electric motors are fixed on respectively the body upper center; The push rod of described left linear electric motors is terminal to be fixedly connected with by fixture with left slider; The push rod of described right linear electric motors is terminal to be 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 slidingly matched; Described motor drives steel wire rope by reel; Described reel is installed on the 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 installed on the camera support bar; Described camera support bar is installed on the embedded motor shaft of camera bearing; Described camera bearing is fixed on the balance slide block.
Further, described motor is installed in 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 balance slide block on the motor by aperture with truckle; Described front slide rail is fixed on the body upper end by the second support bar and the 3rd support bar; Described aft ramp is fixed on the body upper end by the first support bar and the 4th support bar.
Further, equal in length and the left-right symmetry of described front slide rail and aft ramp; 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 sides crawler belt by left and right sides wheel hub motor with the left and right sides wheel hub of external tooth; Described crawler belt lifting device is realized lifting and the decline of left and right sides crawler belt by motor-driven left and right sides screw mandrel; Described telescopic moving device promotes left and right sides 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 the balance slide block move left and right; The embedded motor-driven camera of described camera bearing support bar rotates, and realizes that camera 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 installed on the left wheel hub motor shaft; Described left support leg left side is slidingly matched with the first guide rod, and right side and the second guide rod are slidingly matched; Described the first guide rod and the second guide rod are installed on the left slider; The drive motors of described left screw mandrel is installed in 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 installed on the right wheel hub motor axle; Described right support leg left side is slidingly matched with the 3rd guide rod, and right side and the 4th guide rod are slidingly matched; Described the 3rd guide rod and the 4th guide rod are installed on the right slide block; The drive motors of described right screw mandrel is installed in 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 relative prior art of the utility model has following advantage and beneficial effect:
The hub driving crawler attachment is in the ranks walked at the paddy field rice shoot by crawler belt, inter-row weed is rolled, weeds can be pressed in the mud, even cut off its root system and destroy its growth, stir simultaneously the muddy environmental energy that mud causes during crawler travel and suppress the photosynthesis of weeds under water, hinder its normal growth, sludgd deposition is got off and then weeds between the strain of failing to roll can be covered, and can reach equally the purpose 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, both so that machine-walking is steady, can not skid, and have also increased and have rolled area; Track tension device in the crawler belt can be regulated the tightness of 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.Realize zero radius of turn line feed by crawler belt lifting device, telescopic moving device and slipper block balancing device, radius of turn is large when having solved existing weeding machine line feed operation, the shortcoming of infringement crops.Promote crawler belt with two rhizoid bars, 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.The camera bearing is fixed on the balance slide block upper end, the camera support bar is installed 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 characteristics 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 judge whether entering a new line according to the place ahead scene simultaneously.The balance slide block that is connected with camera is laterally mobile 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 can realize that field is crossed over by robot and self-balancing and self-recovering function when rolling, make robot be suitable for the paddy field walking.Master control borad and battery place balance slide block inner, utilize dexterously the space of balance slide block, have not only saved the space but also have increased the weight of balance slide block.By the 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, and is easy and simple to handle, small volume, and weight is lighter, and is strong to environmental suitability.
Description of drawings
Fig. 1 is the front view that the adjustable center of gravity weed-eradicating robot is used in the paddy field in the embodiment.
Fig. 2 is the left view of weed-eradicating robot shown in Figure 1.
Fig. 3 is the right view of weed-eradicating robot shown in Figure 1.
Fig. 4 is the vertical view of weed-eradicating robot shown in Figure 1.
Fig. 5 a～5h be weed-eradicating robot shown in Figure 1 line feed strategy schematic diagram.
Embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described in further detail, but protection domain of the present utility model and embodiment are not limited to this.
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 sides supporting leg (2,9); Described crawler belt lifting device II is threaded with the left and right sides 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 equipped with in described body 4 chambeies; Described left and right sides slide block (3,8) is installed 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 move left and right.
Such 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 installed on the revolver group connecting rod 15; Described left wheel hub 33 is installed on the rotor of left wheel hub motor 12, and cooperates 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 installed on the right wheels connecting rod 20; Described right wheel hub 34 is installed on the rotor of right wheel hub motor 17, and cooperates 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 and rotates, and described right wheel hub motor 17 drives right wheel hub 34, drives right-hand track chiain 10 rotations, 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 installed on the left wheel hub motor shaft; The two ends, the left and right sides of described left support leg 2 are slidingly 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 the 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 installed on the right wheel hub motor axle; The two ends, the left and right sides of described right support leg 9 are slidingly 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 the 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 by the screw thread transmission, promote the hub driving crawler attachment by motor-driven.
Such 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 slidingly matched by the endoceliac slide rail of machine with body 4; Described right slide block 8 is slidingly 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 sides linear electric motors (22,24) is fixedly connected with left and right sides 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 installed on the camera bearing 38 on balance slide block 6 tops; Described camera (36) is installed on the camera support bar (37); Described front slide rail 21 is fixed on the 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 installed in body 4 tops, drives steel wire rope 30, and band dynamic balance slide block 6 is along front and back slide rail 21,23 move left and right.
Described paddy field is identified crop by vision and control system with the adjustable center of gravity weed-eradicating robot; determine crop protection zone and the zone of weeding in the ranks; weeding is carried out in the zone in the ranks; the line space of determining the weeding zone during line feed from; utilize crawler belt lifting device II to promote left and right sides crawler belt (1,10); auxiliary lower left and right sides 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 that has needed when having solved existing weeding machine line feed operation is large, the problem of infringement crops.
The paddy field is described below with the course of work of adjustable center of gravity weed-eradicating robot:
Described slipper block balancing device IV along front and back slide rail (21,23) move left and right, plays balance and stability by motor-driven steel wire rope 30 band dynamic balance slide blocks 6 when line feed; On the balance slide block 6 visual identifying system is arranged, video camera carries out identifying processing with the image transmitting that is 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 sides slide block of described telescopic moving device III (3,8) is slidingly matched with body 4, and passes through threaded engagement with left and right sides screw mandrel (5,7).When entering a new line, the instruction of telescopic moving device III receiving control system is started working.
Enter a new line left as example take robot.The robot initial state is shown in Fig. 5 a.
At first, support left crawler belt 1 line feed with right-hand track chiain 10.Left lead screw motor is received the instruction of control system, driving left screw mandrel 5 rotates, left screw mandrel 5 moves upward along the screw thread of left slider 3, drive the left support leg 2 on the left side and the hub driving crawler attachment on the left side and move upward to together certain altitude, the first guide rod 25 and the second guide rod 26 can limit the path that left crawler belt 1 promotes.After left crawler belt rises to certain height, quit work in instruction control bottom left lead screw motor, 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 by the first guide rod 25 and the second guide rod 26 and laterally moves, shown in Fig. 5 b.In the process of left crawler belt lifting and telescopic moving, control system is adjusted the position of balance slide block 6 in real time by sensor senses robot poised state, realizes dynamic balancing.
Transverse shifting finishes, and left lead screw motor is started working again under instruction control, 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.Left crawler belt 1 is with after ground contacts, and left linear electric motors 22 shrink, and right linear electric motors 24 elongations promote main body 4 transverse shifting left, until left linear electric motors 22 shrink fully, main body 4 stops movement.Simultaneously, balance slide block 6 also is moved to the left under control system control.Then, take left crawler belt 1 as supporting, right-hand track chiain 10 begins line feed, and shown in Fig. 5 c, the course of work is the same similar.
State after right-hand track chiain 10 line feed are finished is shown in Fig. 5 d.Then, shown in Fig. 5 e to Fig. 5 h, after through 1 line feed of left crawler belt and right-hand track chiain 10 line feed, robot finishes from the row of the weeding not row of weeding that enters a new line.After the line feed, the former direction of advance of Robot is advanced in the other direction, continues the weeding operation.
The course of work that robot enters a new line to the right is similar with line feed left.
Can realize preferably the utility model as mentioned above.
Above-described embodiment is embodiment of the present utility model; but embodiment of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification made under Spirit Essence of the present utility model and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within the protection domain of the present utility model.
Claims (6)
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 sides supporting leg (2,9); Described crawler belt lifting device (II) is threaded with the left and right sides 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 equipped with in described body (4) chamber; Described left and right sides slide block (3,8) is installed 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).
2. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, it is characterized in that: 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 installed on the revolver group connecting rod (15); Described left wheel hub (33) is installed on left wheel hub motor (12) rotor, cooperates 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 installed on the right wheels connecting rod (20); Described right wheel hub (34) is installed on right wheel hub motor (17) rotor, cooperates 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.
3. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, it 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 installed on the left wheel hub motor shaft; Described left support leg (2) left side is slidingly matched with the first guide rod (25), and right side and the second guide rod (26) are slidingly matched; Described the first guide rod (25) and the second guide rod (26) are installed on the left slider (3); The drive motors of described left screw mandrel (5) is installed in 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 installed on the right wheel hub motor axle; Described right support leg (9) left side is slidingly matched with the 3rd guide rod (27), and right side and the 4th guide rod (28) are slidingly matched; Described the 3rd guide rod (27) and the 4th guide rod (28) are installed on the right slide block (8); The drive motors of described right screw mandrel (7) is installed in 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).
4. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, it 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 slidingly matched by the endoceliac slide rail of machine with body (4); Described right slide block (8) is slidingly 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 of described left linear electric motors (22) is terminal to be fixedly connected with by fixture with left slider (3); The push rod of described right linear electric motors (24) is terminal to be fixedly connected with by fixture with right slide block (8).
5. paddy field according to claim 1 adjustable center of gravity weed-eradicating robot, it 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 slidingly 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 installed 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 installed on the camera support bar (37); Described camera support bar (37) is installed on the embedded motor shaft of camera bearing (38); Described camera bearing (38) is fixed on the balance slide block (6).
6. each described paddy field adjustable center of gravity weed-eradicating robot according to claim 1-5 is characterized in that: equal in length and the left-right symmetry of described front slide rail (21) and aft ramp (23); Described left wheel hub motor (12) equates with right wheel hub motor (17) ground clearance; Described left slider (21) equates with the mobile helical pitch of right slide block (22); Described hub driving crawler attachment (I) drives left and right sides crawler belt (1,10) by left and right sides wheel hub motor (12,17) with the left and right sides wheel hub (33,34) of external tooth; Described crawler belt lifting device (II) is realized lifting and the decline of left and right sides crawler belt (1,10) by motor-driven left and right sides screw mandrel (5,7); Described telescopic moving device (III) promotes left and right sides 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) move left and right; Described camera bearing (38) embedded motor-driven camera support bar (37) rotates, and realizes that camera (36) rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220275971 CN202857243U (en) | 2012-06-13 | 2012-06-13 | Gravity center adjustable weeding robot for irrigated field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220275971 CN202857243U (en) | 2012-06-13 | 2012-06-13 | Gravity center adjustable weeding robot for irrigated field |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202857243U true CN202857243U (en) | 2013-04-10 |
Family
ID=48024020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220275971 Withdrawn - After Issue CN202857243U (en) | 2012-06-13 | 2012-06-13 | Gravity center adjustable weeding robot for irrigated field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202857243U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102696294A (en) * | 2012-06-13 | 2012-10-03 | 华南理工大学 | Weeding robot with adjustable center of gravity for paddy fields |
| CN104798760A (en) * | 2015-04-21 | 2015-07-29 | 浙江海洋学院 | Mechanical weeding device of intelligent weeding machine |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN111296050A (en) * | 2020-03-29 | 2020-06-19 | 金华职业技术学院 | Intelligent recognition self-propelled paddy field weeding robot |
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
-
2012
- 2012-06-13 CN CN 201220275971 patent/CN202857243U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102696294A (en) * | 2012-06-13 | 2012-10-03 | 华南理工大学 | Weeding robot with adjustable center of gravity for paddy fields |
| CN104798760A (en) * | 2015-04-21 | 2015-07-29 | 浙江海洋学院 | Mechanical weeding device of intelligent weeding machine |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN111296050A (en) * | 2020-03-29 | 2020-06-19 | 金华职业技术学院 | Intelligent recognition self-propelled paddy field weeding robot |
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102696294B (en) | Weeding robot with adjustable center of gravity for paddy fields | |
| CN202857243U (en) | Gravity center adjustable weeding robot for irrigated field | |
| CN203457509U (en) | Intelligent all-dimensional mechanical weeding machine of orchards | |
| CN103329878B (en) | New-concept intelligent multifunctional spaying machine chassis | |
| CN206602838U (en) | A kind of automatic clipping device of multifunctional lawn | |
| CN103329653B (en) | A kind of intelligent comprehensive weeding by machine in orchard machine | |
| CN209572524U (en) | A kind of intelligence branch pruning machine people | |
| LU503171B1 (en) | Terrain self-adaption unmanned weeding robot for hillside orchard | |
| CN103416251A (en) | Plant cultivation trolley and control method thereof | |
| CN109533845B (en) | Self-propelled electric track transporter with remote control and obstacle avoidance functions for nursery farmland | |
| CN109430225B (en) | Fork type inter-row pesticide spraying machine for greenhouse overhead crops | |
| CN106034541A (en) | Four-wheel driven remote control mower | |
| CN207644507U (en) | A kind of intelligent weed-eradicating robot being applicable in complicated landform | |
| CN107509399A (en) | A kind of green intelligent weed-eradicating robot | |
| CN207269304U (en) | A kind of green intelligent weed-eradicating robot | |
| CN210841314U (en) | Novel automatic whiteflower hogfennel root weeder | |
| CN217217457U (en) | Unmanned hybrid power intercross sugarcane harvester | |
| CN202197631U (en) | Rural irrigation device with adjustable wheel tread | |
| CN215421520U (en) | Inter-row inter-plant weeding device | |
| CN211149280U (en) | Multi-span greenhouse land track dual-purpose multifunctional transport vehicle | |
| CN114868480A (en) | Multipurpose agricultural intelligent robot | |
| CN111103888A (en) | Multi-span greenhouse land track dual-purpose multifunctional transport vehicle and control method | |
| CN110447374B (en) | Special electronic induction inter-plant mowing machine for medlar | |
| CN217217458U (en) | Intercrossing sugarcane harvester | |
| CN115119644B (en) | Field management device based on bionic travelling mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130410 Effective date of abandoning: 20140910 |
|
| RGAV | Abandon patent right to avoid regrant |