CN209731948U - Joint crawler type orchard weeding robot - Google Patents

Joint crawler type orchard weeding robot Download PDF

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Publication number
CN209731948U
CN209731948U CN201920219819.5U CN201920219819U CN209731948U CN 209731948 U CN209731948 U CN 209731948U CN 201920219819 U CN201920219819 U CN 201920219819U CN 209731948 U CN209731948 U CN 209731948U
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CN
China
Prior art keywords
rocker
vehicle body
crawler
body frame
rocker arm
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Active
Application number
CN201920219819.5U
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Chinese (zh)
Inventor
鲍秀兰
李善军
陈红
彭紫晗
涂秀
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Huazhong Agricultural University
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Huazhong Agricultural University
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Abstract

The utility model discloses a joint crawler-type orchard weeding robot, including slide rail, cell type bottom plate, electric putter, weeding motor, blade disc. The weeding motor is suspended and fixed on the groove-shaped bottom plate, the cutter head is driven by a rotating shaft of the weeding motor, electric push rods are symmetrically arranged on two sides of the motor, the bottom surface of each electric push rod is installed on the chassis of the vehicle body, the movable end of each electric push rod is connected with the groove-shaped bottom plate in a transition mode through a support, the supports are pushed by the electric push rods to enable the groove-shaped bottom plates to move up and down, the slide rails are installed on the inner side of the frame of the vehicle body. The joint crawler type orchard weeding robot can adapt to complex terrains of an orchard, and has certain obstacle crossing and cutter protection mechanisms.

Description

joint crawler type orchard weeding robot
Technical Field
The utility model relates to an agricultural robot design field specifically is a joint crawler-type orchard weeding robot.
Background
The fruit industry in China is large in scale, the regional distribution is extremely uneven, and a certain part of the fruit industry is concentrated in mountainous and hilly areas. Weeds in the orchard are one of the main factors influencing the growth and development of fruit trees in the orchard. Traditional weed control methods rely on artificial weeding or the use of chemical agents to kill weeds. The labor intensity of manual weeding is large, the time and the labor are wasted, and the operation efficiency is low. The residual toxicity of the chemical herbicide causes certain chemical pollution and environmental pollution to crops and soil. The existing weeding mechanisms for orchards are mostly flat orchard and field weeding machines, and cannot cope with complex terrain in the orchard. In recent years, with the popularization of orchard grass growing cultivation technology, the development of weeding machines suitable for small orchards in China is urgently needed.
According to the method, an orchard weeding robot with strong climbing capability and anti-overturning capability is constructed for complex landform environment in an orchard, the cutting mechanism and technological parameters of the orchard weeding robot are researched based on the mechanical characteristics of orchard grass seeds, the movement control among ridges in the orchard is realized, and the method has important significance for the development of orchard mechanized equipment.
The orchard weeding machine matched with China at present has the following problems: (1) the designed weeding machine is lack of innovative structure, has insufficient profiling capability and is not suitable for complex terrain in China; (2) the body material of the weeder is unreasonable in selection, the weight of the whole weeder is heavy, walking and turning in an orchard are difficult, and energy consumption is high. At present, most intelligent weeding robots developed in China are only suitable for lawn mowing, and orchard weeding machines suitable for mountainous and hilly lands are still very challenging tasks.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem in the above-mentioned background art, the utility model aims to provide a joint crawler-type orchard weeding robot can adapt to the complicated topography in orchard, has certain obstacle and cutter protection mechanism of crossing.
In order to realize the purpose, the utility model adopts the technical scheme that: the utility model provides a joint crawler-type orchard weeding robot, includes the cell type bottom plate, and cell type bottom plate middle part hangs fixed weeding motor through the connecting rod, and this weeding motor shaft drive is accepted to the blade disc, an electric putter is respectively arranged to the motor both sides, and the electric putter bottom surface is installed on automobile body chassis, and electric putter's expansion end passes through support transitional coupling with the cell type bottom plate, and the electric putter promotion is accepted to the support, makes cell type bottom plate elevating movement, cell type bottom plate both ends are kept away from one side bending down of weeding motor from electric putter and are extended to form the riser, deviate from the slide rail that weeding motor side-arrangement is on a parallel with cell type bottom plate direction of rise at the riser.
Furthermore, two driving shafts and two driven shafts which are rotatably connected relative to the vehicle body frame are arranged on the opposite corners of the vehicle body frame, the driving shafts and the driven shafts are rotatably connected with the vehicle body frame through bearing seats,
The crawler wheel, the rocker arm big wheel and the rocker arm sequentially penetrate through the same driving shaft or driven shaft from outside to inside, the crawler wheel and the rocker arm big wheel are driven by the synchronous shaft of the driving shaft or driven shaft, and the rocker arm is connected with the driving shaft or driven shaft in a rotating way; a rocker large gear integrally connected with the rocker and provided with a driven shaft penetrating through a shaft pivot is arranged between the rocker of the driven shaft and the vehicle body frame, the rocker large gear penetrates through the vehicle body frame and is positioned on one side of the driving shaft, which is far away from the crawler wheel, the driving shaft is driven by the first driving device through shaft rotation, the peripheral side of the rocker large gear is meshed with the rocker small gear, and the rocker small gear is driven by the second driving device through shaft rotation;
The rocker arms are respectively arranged towards the front end and the rear end of the vehicle body frame, a plurality of placing holes are formed in one side of the rocker arms, which is far away from the vehicle body frame, rod pieces penetrate through the placing holes of the pair of rocker arms, which are arranged at the front end or the rear end of the vehicle body frame, and are in rotating connection with the small rocker arm wheels or the first tensioning wheels, and the small rocker arm wheels, the first tensioning wheels and the large rocker arm wheels on the same side of the rocker arms are wound on the rocker arm crawler belts;
The crawler wheels on the same side of the vehicle body frame are wound on the driving crawler belt together to rotate synchronously.
Further, the first driving device comprises a coupling assembly, a speed reducer and a motor, and the second driving device comprises a bearing seat, a speed reducer and a motor.
Furthermore, the rocker arm is in a cross shape, the small rocker arm wheel and the large rocker arm wheel are arranged along the same pair of supporting arms of the rocker arm, and the first tensioning wheel is arranged at the end part of the supporting arm of the rocker arm close to the ground.
Furthermore, a second tension wheel is arranged between the crawler wheels on the same side of the vehicle body frame, the driving crawler is attached to the periphery of the second tension wheel, and the second tension wheel is further rotatably connected with the vehicle body frame.
The beneficial effects of the utility model reside in that: compared with the prior art, the motors for driving the driving wheels are symmetrically distributed relative to the center of the vehicle body frame, and can drive the gear trains on two sides to advance and retreat and turn in place through differential operation. The motors driving the rocker gears are symmetrically distributed relative to the center of the vehicle body frame, the rocker tracks in the front and the back of the vehicle body frame can move up and down through the rocker arms, and the rocker arms of the tracks in the two sides of the vehicle body frame are connected through the rod piece and synchronously swing to realize climbing and obstacle crossing. The utility model discloses an adopt joint crawler-type running gear can adapt to complicated topography, according to topography up-and-down motion, the chassis that can be fine when meeting the barrier.
the weeding motor and the cutter head fixed on the groove-shaped bottom plate move up and down under the driving of the electric push rod according to the terrain, and the cutter can be well protected when meeting obstacles.
drawings
fig. 1 is an internal three-dimensional structure diagram of the joint crawler type orchard weeding robot of the utility model;
FIG. 2 is a plan structure view of the inner part of the joint crawler type orchard weeding robot of the utility model;
Fig. 3 is a structural diagram of a weeding assembly of the joint crawler type orchard weeding robot;
fig. 4 is the utility model relates to a 3 structure charts of body frame of joint crawler-type orchard weeding robot.
Detailed Description
the technical solution in the embodiment of the present invention is clearly and completely described below with reference to the drawings in the embodiment of the present invention, and for convenience of description, the following terms "front", "back", "left", "right", "up", "down" are consistent with the front, back, left, right, up and down directions of the drawings, but do not limit the structure of the present invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The present invention will be further described with reference to the accompanying drawings 1-4. The utility model provides a joint crawler-type orchard weeding robot, includes cell type bottom plate 12, and cell type bottom plate 12 middle part is hung fixed weeding motor 25 through connecting rod 28, and this weeding motor 25 pivot drive is accepted to blade disc 26, an electric putter 24 is respectively arranged to weeding motor 25 both sides, and the 24 bottom surfaces of electric putter are installed on automobile body frame 3's chassis 31, and electric putter 24's expansion end passes through support 29 transitional coupling with cell type bottom plate 12, and support 29 accepts electric putter 24 and promotes, makes cell type bottom plate 12 elevating movement, cell type bottom plate 12 both ends are from electric putter 24 one side downwardly bent extension that keeps away from weeding motor 25 and are formed riser 30, deviate from weeding motor 25 side arrangement at riser 30 and are on a parallel with cell type bottom plate 12 lifting direction's slide rail 27, slide rail 27 and 3 sliding connection of automobile body frame. The periphery of the chassis 31 is connected with the vehicle body frame 3, the chassis 31 is provided with a through hole 32 for the end part of the weeding motor 25 to pass through, and the battery 1 is used for supplying power to the electric push rod 24, the weeding motor 25 and the motor 11.
Two driving shafts 20 and two driven shafts 21 which are rotatably connected relative to the car body frame 3 are arranged on the car body frame 3 in opposite angles, the driving shafts 20 and the driven shafts 21 are rotatably connected with the car body frame 3 through a bearing seat 9, a crawler wheel 16, a rocker big wheel 2 and a rocker 5 sequentially penetrate through the same driving shaft 20 from outside to inside, or the rocker 5 sequentially penetrates through the same driven shaft 21 from outside to inside, the crawler wheel 16 and the rocker big wheel 2 are driven by the synchronous shaft of the driving shaft 20, or the crawler wheel 16 and the rocker big wheel 2 are driven by the synchronous shaft of the driven shaft 21, and the rocker 5 is rotatably connected with the driving shaft 20 or the driven shaft 21; a rocker large gear 4 integrally connected with the rocker 5 and provided with a shaft pivot with the same driven shaft 21 is arranged between the rocker 5 of the driven shaft 21 and the vehicle body frame 3, the rocker large gear penetrates through the vehicle body frame 3 and is positioned on one side of the driving shaft 20, which is far away from the crawler wheel 16, the driving shaft 20 is driven by the shaft rotation of the first driving device 7, the peripheral side of the rocker large gear 4 is meshed with the rocker small gear 6, and the rocker small gear 6 is driven by the shaft rotation of the second driving device 8;
The rocker arms 5 are respectively arranged towards the front end and the rear end of the vehicle body frame 3, a plurality of placing holes are formed in one side, far away from the vehicle body frame 3, of the rocker arms 5, rod pieces 23 and 22 penetrate through the placing holes of the pair of rocker arms 5 in the front end or the rear end of the vehicle body frame 3 and are in rotating connection with the rocker arm small wheels 14 or the first tensioning wheels 19, and the rocker arm small wheels 14, the first tensioning wheels 19 and the rocker arm large wheels 2 on the same side of the rocker arms 5 are wound on the rocker arm crawler 13 to rotate synchronously;
the crawler wheels 16 on the same side of the body frame 3 are wound around the driving crawler 15 together to rotate synchronously.
The first driving device 7 comprises a coupling assembly 18, a speed reducer 10 and a motor 11, and the second driving device 8 comprises a bearing seat 9, a speed reducer 10 and a motor 11.
The rocker arm 5 is in a cross shape, the rocker arm small wheel 14 and the rocker arm large wheel 2 are arranged along the same pair of supporting arms of the rocker arm 5, and the first tensioning wheel 19 is arranged at the end part of the supporting arm of the rocker arm 5 close to the ground.
A second tension wheel 17 is further arranged between the track wheels 16 on the same side of the vehicle body frame 3, the driving track 15 is attached to the periphery of the second tension wheel 17, and the second tension wheel 17 is further rotatably connected with the vehicle body frame 3.
although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims (5)

1. the utility model provides a joint crawler-type orchard weeding robot, its characterized in that, including the cell type bottom plate, cell type bottom plate middle part hangs fixed weeding motor through the connecting rod, and this weeding motor shaft drive is accepted to the blade disc, an electric putter is respectively arranged to the motor both sides, and the electric putter bottom surface is installed on automobile body chassis, and electric putter's expansion end passes through support transitional coupling with the cell type bottom plate, and the electric putter promotes is accepted to the support, makes cell type bottom plate elevating movement, cell type bottom plate both ends are kept away from one side bending downward extension that the weeding motor was kept away from electric putter and are formed the riser, deviates from the slide rail that weeding motor side-arrangement is on a parallel with cell type bottom.
2. The articulated crawler-type orchard weeding robot according to claim 1, wherein: two driving shafts and two driven shafts which are rotatably connected relative to the vehicle body frame are arranged on the vehicle body frame in opposite angles, the driving shafts and the driven shafts are rotatably connected with the vehicle body frame through bearing seats, a crawler wheel, a rocker arm large wheel and a rocker arm sequentially penetrate through the same driving shaft or driven shaft from outside to inside to form a shaft pivot, the crawler wheel and the rocker arm large wheel are driven by the synchronous shaft of the driving shaft or driven shaft, and the rocker arm is rotatably connected with the driving shaft or driven shaft; a rocker large gear integrally connected with the rocker and provided with a driven shaft penetrating through a shaft pivot is arranged between the rocker of the driven shaft and the vehicle body frame, the rocker large gear penetrates through the vehicle body frame and is positioned on one side of the driving shaft, which is far away from the crawler wheel, the driving shaft is driven by the first driving device through shaft rotation, the peripheral side of the rocker large gear is meshed with the rocker small gear, and the rocker small gear is driven by the second driving device through shaft rotation;
The rocker arms are respectively arranged towards the front end and the rear end of the vehicle body frame, a plurality of placing holes are formed in one side of the rocker arms, which is far away from the vehicle body frame, rod pieces penetrate through the placing holes of the pair of rocker arms, which are arranged at the front end or the rear end of the vehicle body frame, and are in rotating connection with the small rocker arm wheels or the first tensioning wheels, and the small rocker arm wheels, the first tensioning wheels and the large rocker arm wheels on the same side of the rocker arms are wound on the rocker arm crawler belts;
the crawler wheels on the same side of the vehicle body frame are wound on the driving crawler belt together to rotate synchronously.
3. The articulated crawler-type orchard weeding robot according to claim 2, wherein: the first driving device comprises a coupling assembly, a speed reducer and a motor, and the second driving device comprises a bearing seat, a speed reducer and a motor.
4. The articulated crawler-type orchard weeding robot according to claim 2, wherein: the rocker arm is in a cross shape, the small rocker arm wheel and the large rocker arm wheel are arranged along the same pair of supporting arms of the rocker arm, and the first tensioning wheel is arranged at the end part of the supporting arm of the rocker arm close to the ground.
5. The articulated crawler-type orchard weeding robot according to claim 2, wherein: and a second tension wheel is further arranged between the crawler wheels on the same side of the vehicle body frame, the periphery of the second tension wheel is attached to the driving crawler belt, and the second tension wheel is further rotatably connected with the vehicle body frame.
CN201920219819.5U 2019-02-21 2019-02-21 Joint crawler type orchard weeding robot Active CN209731948U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920219819.5U CN209731948U (en) 2019-02-21 2019-02-21 Joint crawler type orchard weeding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920219819.5U CN209731948U (en) 2019-02-21 2019-02-21 Joint crawler type orchard weeding robot

Publications (1)

Publication Number Publication Date
CN209731948U true CN209731948U (en) 2019-12-06

Family

ID=68707455

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920219819.5U Active CN209731948U (en) 2019-02-21 2019-02-21 Joint crawler type orchard weeding robot

Country Status (1)

Country Link
CN (1) CN209731948U (en)

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