CN210310623U

CN210310623U - Crawler walking device for paddy field weeding robot

Info

Publication number: CN210310623U
Application number: CN201921000607.4U
Authority: CN
Inventors: 孙阳
Original assignee: Nanjing Rbs Biotechnology Co ltd
Current assignee: Nanjing Rbs Biotechnology Co ltd
Priority date: 2019-06-29
Filing date: 2019-06-29
Publication date: 2020-04-14
Anticipated expiration: 2029-06-29

Abstract

The utility model discloses a crawler travel unit for paddy field weeding robot, the utility model belongs to the intelligent robot field, a crawler travel unit for paddy field weeding robot, through set up triangle crawler traveling wheel in crawler travel unit's below, and set up the locating wheel on triangle crawler traveling wheel, six crawler wheels simultaneously, divide into two sets ofly, connect by the connecting plate respectively, structurally simplify weeding robot, the box volume has further been reduced, and then make weeding robot's whole weight alleviate, adopt the heightened crawler gear of heightening, make the crawler gear teeth of a cogwheel have enough height, can overcome the silt influence, heighten in the inserting silt that crawler gear can be dark, contact with harder soil, make the robot can normally walk, and not skid.

Description

Crawler walking device for paddy field weeding robot

Technical Field

The utility model belongs to intelligent robot field, especially a crawler attachment for paddy field weeding robot.

Background

The environment in paddy fields is complex, with foot prints in the silt, accompanying windy weather, and the like, in addition to water and silt. The traditional weeding robot is limited by conditions such as movement, application places, functions and the like, and compared with the prior art, the crawler-type traveling mechanism is most suitable for traveling in a paddy field environment, so that the weeding robot selects the crawler-type traveling mechanism.

However, in the prior art, the crawler traveling device mostly adopts a four-wheel type crawler belt mechanism, two crawler wheels are respectively arranged on the left side and the right side, and every two crawler wheels form one group, so that the weeding robot travels in a paddy field. At this time, the four tires may increase the weight of the weeding robot due to an excessive volume. On the other hand, in the conventional four-wheel system scheme, a method of simultaneously driving four wheels is required, otherwise, after the weeding robot finishes line changing, the weeding robot does not have enough driving force due to the change of front and rear driving wheels, and cannot advance due to the difficulty in overcoming the resistance of paddy field silt.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: provides a crawler traveling device for a paddy field weeding robot, which solves the problems existing in the prior art.

The technical scheme is as follows: a crawler traveling device for a paddy field weeding robot comprises;

the crawler traveling device comprises a control box, a transmission box arranged at one end of the control box, and triangular crawler traveling wheels arranged below the transmission box;

the triangular crawler traveling wheels are arranged in a triangular position, a driving wheel is arranged on the uppermost part, driven wheels are arranged below the driving wheel and positioned on two sides of the driving wheel, crawlers surround the driving wheel and the driven wheels, positioning wheels are arranged on the crawlers, and connecting plates are arranged on the transmission case;

every three crawler wheels are in one group and share one crawler belt, and the crawler belt is a barbed crawler belt, and the crawler belt barbs are irregularly arranged on the crawler belt.

In a further example, the track is provided with a plurality of engaging holes.

In a further example, a mud removing groove is arranged on the driving wheel.

In a further example, the driven wheel is provided with heightened gear teeth in the axial direction, and the heightened gear teeth are matched with the meshing holes of the crawler.

In a further example, the connection plates are designed in a triangular shape, while the connection plates are made of a road alloy material.

Has the advantages that: the utility model provides a crawler travel unit for paddy field weeding robot, the below through going the device at the track sets up triangle crawler travel wheel, and set up the locating wheel on triangle crawler travel wheel, six crawler wheels simultaneously, divide into two sets ofly, connect by the connecting plate respectively, structurally simplify weeding robot, the box volume has further been reduced, and then make weeding robot's whole weight alleviate, adopt the heightened crawler gear of increase, make the crawler gear teeth have enough height, can overcome the silt influence, increase in the inserting silt that crawler gear can be dark, contact with harder soil, make the robot can normally walk, and do not skid.

Drawings

Fig. 1 is a schematic structural diagram in the present application.

Fig. 2 is a front view of the present invention.

Fig. 3 is a front view of the triangular track road wheel in the present application.

The reference numerals are; the crawler traveling device 6, a control box 101, a transmission box 102, a triangular crawler traveling wheel 104, a connecting plate 105, a driving wheel 106, a driven wheel 107, a heightened crawler gear 108, a positioning wheel 109, a mud removing groove 1010, a meshing hole 1011 and a crawler 1012.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present application.

As shown in figures 1 to 3, the crawler 1012 walking device 6 for the paddy field weeding robot comprises a control box 101, a transmission box 102, a triangular crawler 1012 walking wheel 104, a connecting plate 105, a driving wheel 106, a driven wheel 107, a heightened crawler 1012 gear 108, a positioning wheel 109, a mud removing groove 1010, a meshing hole 1011 and a crawler 1012. The control box 101 is arranged below the sliding block 304, the transmission box 102 is fixedly arranged below the control box 101, and the triangular crawler 1012 road wheels 104 are arranged below the transmission box 102. The triangular crawler 1012 road wheels 104 are arranged in a triangular position, and each triangular crawler 1012 road wheel 104 comprises a driving wheel 106, a driven wheel 107, a crawler 1012, a positioning wheel 109 and a connecting plate 105. The driving wheel 106 is arranged on the connecting plate 105, the driving wheel 106 is arranged at the uppermost part, the driven wheels 107 are arranged below the driving wheel 106 and are positioned at two sides of the driving wheel 106, the tracks 1012 surround the driving wheel 106 and the driven wheels 107, the positioning wheels 109 are arranged on the tracks 1012 and are positioned between the two driven wheels 107, at least four positioning wheels 109 are arranged, the connecting plate 105 is arranged on the transmission case 102, every three tracks 1012 form a group and share one track 1012, the tracks 1012 are barbed tracks 1012, and the tracks 1012 are barbed tracks 1012 which are irregularly arranged on the tracks 1012.

In a further example, a mud shedding groove 1010 is arranged on the driving wheel 106.

In a further example, the driven wheel 107 is provided with raised gear teeth in the axial direction, which cooperate with engagement holes 1011 of the track 1012.

In a further example, when weeding robot walked in the field, when the front row track 1012 thorn did not detach weeds, the weeds were detached to "benefit position" of accessible back row track 1012 thorn, and had taken up aquatic earth more easily behind the track 1012 thorn, reached better weeding effect, just use the triangle wheel structure, change into six track 1012 wheels by four track 1012 wheels, this track 1012 wheel divide into two sets ofly, connect by a connecting plate 105 respectively, structurally simplified weeding robot, the box volume has further been reduced, and then make weeding robot's whole weight alleviate. Meanwhile, the transmission case 102 of the weeding robot is connected to the connection plate 105, so that the weeding robot can avoid damaging seedlings when in operation.

The connecting plate 105 is designed in a triangular shape, and the connecting plate 105 is made of a road alloy material

In further examples, the environment in paddy fields is complex, with the exception of water and silt, footprints in silt, accompanying windy weather, and the like. Considering the conditions of movement, application places, functions and the like of the weeding robot, the weeding robot selects the crawler 1012 type travelling mechanism because the crawler 1012 type travelling mechanism is most suitable for travelling in the paddy field environment. Meanwhile, in order to prevent the weeding robot from touching seedlings in the paddy field, enough height space is reserved below the transmission case 102, because three crawler 1012 wheels are arranged in a triangular position, the traditional conventional crawler 1012 gears are parallel and level with the crawler 1012, the weeding robot cannot smoothly walk in the field, and as the running environment is the paddy field, sludge can adhere between the teeth of the crawler 1012 and the holes of the crawler 1012 in the motion process of the crawler 1012, so that the weeding robot can have a lubricating effect, relative sliding between the gears is easy to occur, and further the weeding robot cannot move forward, in order to solve the problem of slipping, the crawler 1012 gears 108 are heightened, so that the teeth of the crawler 1012 have enough height, the influence of the sludge can be overcome, and the heightened crawler 1012 gears 108 can be deeply inserted into the sludge and are in contact with harder soil, so that the weeding robot can normally walk and cannot slip.

In a further example, the positioning wheels 109 are disposed above the tracks 1012 and intermediate the two driven wheels 107, the positioning wheels 109 being provided with at least four. In order to prevent the situation that the middle of the track 1012 is high and the two sides are low due to the fact that the middle of the driven wheel 107 is arched in the movement of the triangular track 1012 travelling wheel 104, so that the original place of the weeding robot is easy to slip, at least four positioning wheels 109 are arranged for solving the problem, the middle of the track 1012 is not easy to arch upwards with the help of the positioning wheels 109, the track 1012 can be always kept in a state of being fully contacted with the ground, and the original place of the weeding robot is prevented from slipping.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.

Claims

1. A crawler attachment for paddy field weeding robot, characterized by comprising

2. A crawler belt unit for a paddy field weeding robot as claimed in claim 1, wherein said crawler belt is provided with a plurality of engaging holes.

3. A crawler belt unit for a paddy field weeding robot as claimed in claim 1, wherein said driving wheel is provided with a mud-shedding groove.

4. A crawler belt unit for a paddy field weeding robot according to claim 1, wherein the driven wheel is provided with heightened gear teeth in an axial direction, the heightened gear teeth engaging with the engaging hole of the crawler belt.

5. A crawler belt unit for a paddy field weeding robot as claimed in claim 1, wherein said link plates are formed in a triangular shape while said link plates are made of a road alloy material.