CN209017403U - A kind of weed-eradicating robot for orchard weeding - Google Patents
A kind of weed-eradicating robot for orchard weeding Download PDFInfo
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- CN209017403U CN209017403U CN201821686649.3U CN201821686649U CN209017403U CN 209017403 U CN209017403 U CN 209017403U CN 201821686649 U CN201821686649 U CN 201821686649U CN 209017403 U CN209017403 U CN 209017403U
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- weed
- motor
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Abstract
A kind of weed-eradicating robot for orchard weeding, rear-wheel (1) are connected by wheel fork (2) with car body (4), and hub motor (3), which is bolted on wheel fork, drives rear wheel to drive complete machine walking；Steering motor (6) the tip of the axis is equipped with tooth sector (51) and engages with steering rack (52), steering link (7) one end connects with steering rack (52), the other end connects with the steering keyhole of knuckle (81), suspension fork mechanism (8) includes knuckle (81), lower swing arm (82) and damping spring (83), slide block guide rail (19) and screw slide (18) are fixed on the front of car body (4), crane (10) are installed thereon, angle electrical machinery (17) are installed on crane (10), corner plate (12) and lanar four rod mechanism (16), cutting mechanism includes dish-style cutter (11), nearside divider (13), gear-box (14), cutting motor (15).
Description
Technical field
The utility model relates to robot technology, specifically plough the wheeled mobile robot of function with weeding.
Background technique
Orchard planting industry has become the important channel for promoting rural development and improving farmers' income, the excessive mistake of orchard weed
The loss that will cause fruit tree nutrition substance and moisture greatly, affects fruit tree growth and fruit quality.What therefore orchard weeding became is outstanding
To be important, present weeding system mainly has artificial weeding, weeding by machine and a chemical weed control, and the artificial weeding amount of labour is big, efficiency
It is low, it is also possible to farming season to be delayed, environment is not only polluted in long-term chemical weeding, also will cause the problem of orchard soil is degenerated.Currently,
External existing weed-eradicating robot is chiefly used in farm work, and the orchard weeding machine that field weeding robot develops is used for reference in part
People remains big structure, powerful form, at high price, and is not suitable for the operating environment of domestic short anvil orchard；It is domestic
Most of weed-eradicating robot is all only applicable to the lawn operation in relatively flat, does not also have function of digging.
Summary of the invention
The purpose of the utility model is to provide a kind of weed-eradicating robots for orchard weeding.
The utility model is a kind of weed-eradicating robot for orchard weeding, including rear-wheel 1, front-wheel 9, and hub motor 3 turns
To motor 5, mowing motor 13 and angle electrical machinery 16, car body 4, dish-style cutter 11, screw slide 18, rear-wheel 1 passes through wheel fork 2 and vehicle
Body 4 is connected, and hub motor 3, which is bolted on wheel fork, drives rear wheel to drive complete machine walking；6 the tip of the axis of steering motor is equipped with
Tooth sector 51 is engaged with steering rack 52, and 7 one end of steering link connects with steering rack 52, turn of the other end and knuckle 81
Connect to keyhole, steering motor 6 drives the movement of tooth sector rack gear 5 that steering link 7 is driven to realize and turns to；Suspension fork mechanism 8 includes
Knuckle 81, lower swing arm 82 and damping spring 83, which is connected front-wheels 9 and car body 4, are able to maintain vehicle body and stablize；Slide block guide rail
19 and screw slide 18 be fixed on the front of car body 4, crane 10 is installed thereon, angle electrical machinery is installed on the crane 10
17, corner plate 12 and lanar four rod mechanism 16, angle electrical machinery 17 drive lanar four rod mechanism 16 to drive corner plate 12
Rotation；Cutting mechanism is fixed on corner plate 12, including dish-style cutter 11, nearside divider 13, gear-box 14, cutting motor 15,
The cutting motor 15 drives swivel knife shaft and gear train that dish-style cutter 11 is driven to rotate, and nearside divider 13 can be by two disc cutterbars
Weeds at intermediate gaps press to both sides；Battery pack 20 is installed on inside car body 4.
The benificial effect of the utility model is to can be suitable for short anvil orchard cultivation mode, it is compact-sized, it is low at
This, not only can be carried out ground weeds and cut off, be adjustable cutting height, work of ploughing can also be carried out while cutting off ground weeds
Industry；Solve that current orchard is artificial and the limitation of weeding by machine.Power source is provided using battery, and use cost is low, saves energy
Source, maintenance is simple, time saving, saves trouble, and environmental pollution is small.
Detailed description of the invention
Fig. 1 is the utility model orchard weed-eradicating robot and its structure diagram, and Fig. 2 is the utility model tooth sector rack gear
Structural scheme of mechanism, Fig. 3 are the utility model suspension fork mechanism schematic diagrames, and Fig. 4 is that the utility model corner plate rotates by a certain angle
Status diagram afterwards, Fig. 5 are the utility model adjustment for cutting height schematic diagrames, and Fig. 6 is the utility model dish-style cutter
Structural representation, Fig. 7 are status diagrams when the utility model dish-style cutter is only mowed, and Fig. 8 is the utility model dish-style cutter
Status diagram when not only mowing but also ploughing except root.Appended drawing reference and title are as follows: 1- rear-wheel, 2- wheel fork, 3- hub motor, 4- vehicle
Body, 5- tooth sector rack gear, 6- steering motor, 7- steering link, 8- suspension fork mechanism, 9- front-wheel, 10- crane, 11- dish-style are cut
Knife, 12- corner plate, 13- nearside divider, 14- gear-box, 15- cutting motor, 16- lanar four rod mechanism, 17- angle electrical machinery,
18- screw slide, 19- slide block guide rail, 20- battery pack.
Specific embodiment
As shown in Fig. 1 ~ Fig. 8, the utility model is a kind of weed-eradicating robot for orchard weeding, including rear-wheel 1, front-wheel
9, hub motor 3, steering motor 5, mowing motor 13 and angle electrical machinery 16, car body 4, dish-style cutter 11, screw slide 18, rear-wheel
1 is connected by wheel fork 2 with car body 4, and hub motor 3, which is bolted on wheel fork, drives rear wheel to drive complete machine walking；Steering motor 6
The tip of the axis is equipped with tooth sector 51 and engages with steering rack 52, and 7 one end of steering link connects with steering rack 52, the other end
Connect with the steering keyhole of knuckle 81, steering motor 6 drives the movement of tooth sector rack gear 5 that steering link 7 is driven to realize and turns to；
Suspension fork mechanism 8 includes knuckle 81, lower swing arm 82 and damping spring 83, and which is connected front-wheels 9 and car body 4, are able to maintain vehicle body
Stablize；Slide block guide rail 19 and screw slide 18 are fixed on the front of car body 4, thereon installation crane 10, on the crane 10
Angle electrical machinery 17, corner plate 12 and lanar four rod mechanism 16 are installed, angle electrical machinery 17 drives lanar four rod mechanism 16
Corner plate 12 is driven to rotate；Cutting mechanism is fixed on corner plate 12, including dish-style cutter 11, nearside divider 13, gear-box
14, cutting motor 15, the cutting motor 15 drive swivel knife shaft and gear train that dish-style cutter 11 is driven to rotate, 13 energy of nearside divider
It is enough that weeds at two disc cutterbar intermediate gaps are pressed into both sides；Battery pack 20 is installed on inside car body 4.
As shown in Figure 1, the rear-wheel 1 is driving wheel, front-wheel 9 is driven wheel and steering wheel, robot generally Three-wheel type knot
Structure.
As shown in Fig. 1, Fig. 6, there are two the dish-style cutteves 11, is mounted side by side under corner plate 12, dish-style cutter 11
It is made of blade 111 and cutterhead 112, blade 111 is bolted on cutterhead 112, replacement easy to disassemble, blade 111 and 112 bottom of cutterhead
Facial planes forms an angle.
As shown in Figure 1, Figure 4, Figure 5, the crane 10 can be along slide block guide rail 19 under the driving of screw slide 18
Lower movement adjusts the terrain clearance of dish-style cutter 11.
As shown in Figure 1, it is mutual to install the identical spur gear wheel of four sizes in the gear-box 14 on the same line
Engagement, can make the center of two 11 disks of dish-style cutter on the same line and be able to achieve synchronized reverse rotation.
The working principle of the utility model are as follows: as shown in Fig. 1 ~ Fig. 8, battery pack 20 provides robot ambulation, turns to, cuts
The power cut, before robot starts to work, in a state of nature, cutterhead bottom surface is parallel to the ground for two 11 disks of dish-style cutter, if
It only needs to cut off ground weeds, then angle electrical machinery 17 is failure to actuate, and dish-style cutter 11 keeps original state, is wanted according to cutting height
It asks, adjusts crane 10 to suitable position using screw slide 18, start hub motor 3 and robot is driven to start weeding work；
If desired it ploughs while cutting off ground weeds except root, then starts dynamic angle electrical machinery 17 and drive lanar four rod mechanism band turn
Angle plate 12 rotates by a certain angle α, makes that dish-style cutter 11 tries to get to the heart of a matter face and ground forms an angle α, at this time before dish-style cutter 11
Half part is parallel to the ground, carries out ground weeds and cuts off, latter half and ground are ploughed except root operation, often at 2 α angles
After the completion of row weeding operation, steering motor 6 drives tooth sector rack gear 5 that steering link 7 and two front-wheels 9 is driven to turn to, can be real
Existing operation is carried out continuously.
The target of the utility model is to cut off orchard weed and plough except root, as Fig. 1 ~ Fig. 8 show the utility model fruit
Garden weed-eradicating robot and part body schematic diagram, the course of work be as follows: the angle and crane 10 of adjustment dish-style cutter 11
Highly, confirm and power on after it reaches accurate position；Firstly, the movement of cutting motor 15 driving cutter shaft and gear train band
The dynamic rotation of dish-style cutter 11 implements weeding and ploughs, secondly, the movement driving rear-wheel 1 of hub motor 3 drives complete machine in the ranks to go in fruit tree
It walks, when robot ambulation to every row end, steering motor 6, which is connected, simultaneously drives tooth sector rack gear 5 to drive steering link 7 and front-wheel
9 turn to, and achieve the purpose that robot continuous work.
The beneficial effects of the utility model are: novel orchard weed-eradicating robot outer dimension is small, and it is compact-sized, mesh can be applicable in
The short orchard cultivation mode of preceding tree crown can effectively improve orchard weeding ratio and reduce injury of the weeding process to fruit tree；
It solves the problems, such as that existing weeding machine cannot meet the weeding in clear cultivated orchard and sward orchard simultaneously, and will mow and turn over
Ground concentrates on a cutter except the function of root, and structure is more succinct；
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent substitution, improvement and etc. done should be included in the utility model
Within the scope of protection.
Claims (5)
1. a kind of weed-eradicating robot for orchard weeding, including rear-wheel (1), front-wheel (9), hub motor (3), steering motor
(6), cutting motor (15) and angle electrical machinery (17), car body (4), dish-style cutter (11), screw slide (18), it is characterised in that after
Wheel (1) is connected by wheel fork (2) with car body (4), and hub motor (3), which is bolted on wheel fork, drives rear wheel to drive complete machine row
It walks；Steering motor (6) the tip of the axis is equipped with tooth sector (51) and engages with steering rack (52), steering link (7) one end with
Steering rack (52) connects, and the other end connects with the steering keyhole of knuckle (81), and steering motor (6) drives tooth sector rack gear
(5) movement drives steering link (7) to realize and turns to；Suspension fork mechanism (8) includes knuckle (81), lower swing arm (82) and damping spring
(83), which is connected front-wheels (9) and car body (4), are able to maintain vehicle body and stablize；Slide block guide rail (19) and screw slide (18) are connected
In the front of car body (4), crane (10) are installed thereon, angle electrical machinery (17), corner are installed flat on the crane (10)
Plate (12) and lanar four rod mechanism (16), angle electrical machinery (17) drive lanar four rod mechanism (16) to drive corner plate (12)
Rotation；Cutting mechanism is fixed on corner plate (12), including dish-style cutter (11), nearside divider (13), gear-box (14), cutting
Motor (15), cutting motor (15) the driving swivel knife shaft and gear train drive dish-style cutter (11) rotation, nearside divider (13)
Weeds at two disc cutterbar intermediate gaps can be pressed to both sides；It is internal that battery pack (20) is installed on car body (4).
2. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that: based on the rear-wheel (1)
Driving wheel, front-wheel (9) are driven wheel and steering wheel, robot generally Three-wheel type structure.
3. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that: the dish-style cutter (11)
There are two, it is mounted side by side under corner plate (12), dish-style cutter (11) is made of blade (111) and cutterhead (112), blade
(111) it is bolted on cutterhead (112), replacement easy to disassemble, blade (111) forms an angle with cutterhead (112) bottom plane.
4. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that the crane (10) exists
It can be moved up and down along slide block guide rail (19) under the driving of screw slide (18), adjust the terrain clearance of dish-style cutter (11).
5. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that in the gear-box (14)
The identical spur gear wheel intermeshing of four sizes is installed on the same line, can be made in two dish-style cutter (11) disks
The heart on the same line and is able to achieve synchronized reverse rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821686649.3U CN209017403U (en) | 2018-10-18 | 2018-10-18 | A kind of weed-eradicating robot for orchard weeding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821686649.3U CN209017403U (en) | 2018-10-18 | 2018-10-18 | A kind of weed-eradicating robot for orchard weeding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209017403U true CN209017403U (en) | 2019-06-25 |
Family
ID=66906665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821686649.3U Expired - Fee Related CN209017403U (en) | 2018-10-18 | 2018-10-18 | A kind of weed-eradicating robot for orchard weeding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209017403U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110435784A (en) * | 2019-07-04 | 2019-11-12 | 湖北商贸学院 | A kind of robot of full landform mobile platform and its composition |
| CN112616420A (en) * | 2020-12-09 | 2021-04-09 | 上海电机学院 | Double-station type weeding machine |
| CN112616329A (en) * | 2020-12-09 | 2021-04-09 | 上海电机学院 | Automatic weeder of angularly adjustable |
-
2018
- 2018-10-18 CN CN201821686649.3U patent/CN209017403U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110435784A (en) * | 2019-07-04 | 2019-11-12 | 湖北商贸学院 | A kind of robot of full landform mobile platform and its composition |
| CN112616420A (en) * | 2020-12-09 | 2021-04-09 | 上海电机学院 | Double-station type weeding machine |
| CN112616329A (en) * | 2020-12-09 | 2021-04-09 | 上海电机学院 | Automatic weeder of angularly adjustable |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190625 Termination date: 20211018 |
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| CF01 | Termination of patent right due to non-payment of annual fee |