CN214757919U - Movable obstacle-avoiding weeding mechanism - Google Patents
Movable obstacle-avoiding weeding mechanism Download PDFInfo
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- CN214757919U CN214757919U CN202121124060.6U CN202121124060U CN214757919U CN 214757919 U CN214757919 U CN 214757919U CN 202121124060 U CN202121124060 U CN 202121124060U CN 214757919 U CN214757919 U CN 214757919U
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- weeding
- obstacle avoidance
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Abstract
The utility model discloses a movable obstacle-avoiding weeding mechanism, which comprises a supporting and fixing plate and is detachably arranged on a weeding robot main body; the movable obstacle avoidance mechanism comprises a front obstacle avoidance plate, an upper obstacle avoidance plate and a lower obstacle avoidance plate, the rear end surfaces of the upper obstacle avoidance plate and the lower obstacle avoidance plate are hinged with the supporting and fixing plate, and the upper end and the lower end of the front obstacle avoidance plate are respectively hinged with the upper obstacle avoidance plate and the lower obstacle avoidance plate; each obstacle avoidance plate and each supporting and fixing plate form a parallelogram; the weeding mechanism is arranged on the front end surface of the front obstacle avoidance plate and moves up and down along with the change of the included angle of the parallelogram; and the upper end and the lower end of the limiting spring are respectively connected with the supporting and fixing plate and the weeding mechanism. The utility model discloses, the activity is kept away barrier mechanism and is constituteed parallelogram with supporting fixed plate, and the contained angle change control weeding mechanism through parallelogram moves from top to bottom, receives the damage when avoiding weeding mechanism to meet the barrier, the utility model discloses, simple structure, convenient operation has practiced thrift weeding mechanism's running cost, has realized weeding mechanism's automation and has kept away the barrier, has improved weeding efficiency.
Description
Technical Field
The utility model relates to a weeding technical field, concretely relates to movable obstacle-avoiding weeding mechanism.
Background
The mountain land of China accounts for 70% of the area of the land, and belongs to the world of mountain land. The hilly and mountain land in China mainly comprises 11 provinces which are respectively as follows: the area proportion of hills in Hunan, Fujian, Jiangxi, Zhejiang, Guangxi, Guangdong, Sichuan, Chongqing, Guizhou and Yunnan exceeds 60 percent. Crops such as fruit trees and the like are planted on hilly mountains, and an essential link is weeding in the planting process; however, the orchard terrain on hilly and mountainous areas is mostly rugged and uneven, the gradient change range is large, the common weeding machine has no special consideration in the design of the cutter cutting depth and the obstacle avoidance device, many weeding machines are manually adjusted in real time through an operator, namely, the machine is lifted up after seeing stones, the machine is directly and freely operated according to the comfortable height of the user without seeing the stone, and the mode is difficult to realize the good weeding effect actually. On one hand, the effective weeding rate is not high because the weeding machine can not be well adapted to the terrain, and on the other hand, the blade of the weeding machine is easy to hit stones or ground, so that the blade is easy to damage.
Therefore, the Chinese utility model patent CN211152641U provides a self-propelled intelligent obstacle-avoiding weeding robot, which comprises a crawler chassis, wherein a control box is arranged on the crawler chassis, and the control box is wirelessly connected with a remote controller; the crawler chassis front end is equipped with the ejector pin, installs on the ejector pin and keeps away barrier module, image forming module, keeps away barrier module, image forming module and is connected with the control box electricity, weeding mechanism is all installed to the ejector pin both sides, and weeding mechanism hangs mechanism and electronic weeding wheel including imitating ground, and electronic weeding wheel is installed in the front end that imitates ground and hangs the mechanism, and this scheme has played the effect of keeping away the barrier automatically and improving weeding efficiency to a certain extent.
However, the above solution has the following disadvantages:
the obstacle avoidance module is a laser radar ranging module, the obstacle avoidance module and the image forming module are electrically connected with the control box, the operation of the weeding robot needs to be remotely guided by matching with a monitoring system, and the operation cost of the robot is high; when there are roadblocks such as stone in weeding robot's vision blind area, weeding robot can't the quick response or handle, causes the damage of weeder blade easily.
In view of this, it is urgently needed to improve an obstacle avoidance structure of an existing weeding robot, so as to reduce the obstacle avoidance cost of the weeding robot and improve the protection strength of a weeding mechanism.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that current weeding robot keeps away the problem that the barrier weeding running cost is high, keep away that the barrier effect is poor, cause weeding structure blade damage easily.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts as follows:
a movable obstacle-avoiding weeding mechanism comprises:
a support fixing plate detachably mounted on the main body of the weeding robot;
the movable obstacle avoidance mechanism comprises a front obstacle avoidance plate, an upper obstacle avoidance plate and a lower obstacle avoidance plate, the upper obstacle avoidance plate and the lower obstacle avoidance plate are arranged up and down, the rear end surfaces of the upper obstacle avoidance plate and the lower obstacle avoidance plate are hinged with the supporting and fixing plate, and the upper end and the lower end of the front obstacle avoidance plate are respectively hinged with the upper obstacle avoidance plate and the lower obstacle avoidance plate; the front obstacle avoidance plate, the upper obstacle avoidance plate, the lower obstacle avoidance plate and the supporting and fixing plate form a parallelogram;
the weeding mechanism is arranged on the front end surface of the front obstacle avoidance plate and moves up and down along with the change of the included angle of the parallelogram;
and the upper end and the lower end of the limiting spring are respectively arranged on the supporting and fixing plate and the weeding mechanism.
In the above aspect, preferably, the weeding mechanism includes:
the rear end face of the motor mounting plate is provided with a connecting part, and the motor mounting plate is mounted on the front obstacle avoidance plate through the connecting part;
the weeding motor is arranged on the top surface of the motor mounting plate, and a motor shaft of the weeding motor penetrates out of the motor mounting plate downwards;
and the weeding knife assembly is arranged on the motor shaft and rotates along with the motor shaft.
In the above aspect, preferably, the weeding blade assembly includes:
the weeding knife mounting seat comprises a blade mounting seat and a motor shaft connecting part arranged on the top surface of the blade mounting seat; the side surface of the motor shaft connecting part is provided with a pin hole, the motor shaft connecting part is sleeved on the motor shaft and is arranged on the motor shaft through a pin shaft and the pin hole;
a weeding blade detachably mounted on the blade mounting seat.
In the above scheme, preferably, an anti-winding protective sleeve is arranged on the motor shaft connecting part.
In the above scheme, preferably, the upper end and the lower end of the limiting spring are respectively arranged on the supporting and fixing plate and the motor mounting plate.
In the above scheme, preferably, the upper portion of the supporting and fixing plate is provided with a spring mounting portion in an outward protruding manner, and the upper end of the limiting spring is mounted on the spring mounting portion.
In the above scheme, it is preferred that the weeding motor passes through the motor flange seat to be installed on the motor mounting panel, be equipped with the motor mounting groove on the top surface of motor flange seat, be equipped with the motor shaft hole in the motor mounting groove, downthehole retainer plate and the combination bearing of being equipped with of motor shaft.
In the above scheme, preferably, the front obstacle avoidance plate, the upper obstacle avoidance plate, the lower obstacle avoidance plate and the support fixing plate are hinged through hinges.
Compared with the prior art, the utility model provides a movable obstacle-avoiding weeding mechanism, weeding mechanism keep away through the activity that obstacle-avoiding mechanism is connected with supporting fixed plate, and the activity is kept away obstacle-avoiding mechanism and is become parallelogram with supporting fixed plate, meets obstacles such as stone when weeding robot weeding operation in-process, and parallelogram takes place deformation automatically, makes weeding mechanism lifting upwards, avoids obstacles such as stone to damage weeding mechanism's blade, has improved weeding mechanism's life. The utility model discloses, need not to carry out manual adjustment to weeding mechanism, also need not to be equipped with laser radar ranging module and image forming module etc. for weeding robot, practiced thrift weeding robot's running cost, improved weeding robot's weeding efficiency, prolonged weeding mechanism's on the weeding robot life.
Drawings
FIG. 1 is a perspective view of the movable obstacle-avoiding and weeding mechanism of the utility model;
fig. 2 is a perspective view of another angle of the movable obstacle-avoiding and weeding mechanism of the present invention;
fig. 3 is a schematic structural view of the weeding motor and the weeding motor mounting seat in the utility model;
fig. 4 is a schematic structural view of the weeding knife assembly of the utility model.
The correspondence between the names and reference numbers of the components in fig. 1 to 4 is as follows:
supporting fixed plate 1, preceding obstacle avoidance plate 2, go up obstacle avoidance plate 3, keep away obstacle 4 down, motor mounting panel 5, weeding motor 6, connecting portion 51, motor flange seat 7, motor mounting groove 71, motor shaft hole 72, motor shaft 71, retainer plate 73, combination bearing 74, weeding sword mount pad 8, weeding blade 9, blade mount pad 81, motor shaft connecting portion 82, pinhole 83, spacing spring 10, spring mounting portion 11.
Detailed Description
The utility model provides a movable obstacle-avoiding weeding mechanism keeps away obstacle mechanism and supports the fixed plate articulated through the activity, and control weeding mechanism moves about, realizes keeping away the obstacle automatically and weeds, avoids obstacles such as stone to cause the damage to weeding mechanism. The invention is described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1 and 2, the utility model provides a movable obstacle-avoiding weeding mechanism, keep away obstacle mechanism and weeding mechanism including supporting fixed plate 1, activity, supporting fixed plate 1 detachably installs in weeding robot main part, through the mounting height of adjustment supporting fixed plate 1 on weeding robot, can adjust weeding mechanism's weeding height.
The movable obstacle avoidance mechanism comprises a front obstacle avoidance plate 2, an upper obstacle avoidance plate 3 and a lower obstacle avoidance plate 4, the upper obstacle avoidance plate 3 and the lower obstacle avoidance plate 4 are arranged up and down, the rear end faces of the upper obstacle avoidance plate 3 and the lower obstacle avoidance plate 4 are hinged to the front end face of the supporting and fixing plate 1, and the rear end face of the front obstacle avoidance plate 2 is hinged to the front end face of the upper obstacle avoidance plate 3 and the front end face of the lower obstacle avoidance plate 4. The front obstacle avoidance plate 2, the upper obstacle avoidance plate 3, the lower obstacle avoidance plate 4 and the supporting and fixing plate 1 are hinged through hinges, and a parallelogram with a variable angle is formed by the hinge.
The weeding mechanism is arranged on the front end surface of the front obstacle avoidance plate 2 and moves up and down along with the change of the included angle of the parallelogram. Weeding mechanism includes motor mounting panel 5, weeding motor 6 and weeding sword assembly, is equipped with connecting portion 51 on motor mounting panel 5's the rear end face, and motor mounting panel 5 passes through connecting portion 51 and installs on front obstacle avoidance board 2.
As shown in fig. 3, the weeding motor 6 is arranged on the top surface of the motor mounting plate 5, the motor flange seat 7 is arranged between the weeding motor 6 and the motor mounting plate 5, the motor mounting groove 71 is arranged on the top surface of the motor flange seat 7, the motor shaft hole 72 is arranged in the motor mounting groove 71, the weeding motor 6 is arranged in the motor mounting groove 71, and the motor shaft 71 of the weeding motor 6 penetrates out of the motor shaft hole 72 and the motor mounting plate 5 downwards. The motor shaft hole 72 is also internally provided with a fixed ring 73 and a combined bearing 74, and the fixed ring 73 and the combined bearing 74 are sleeved on the motor shaft 71 to play a role in stabilizing the motor shaft 71.
As shown in fig. 4, the weeding blade assembly is mounted on a motor shaft 71 to rotate with the motor shaft 71. Weeding sword assembly includes weeding sword mount pad 8 and weeding blade 9, and weeding sword mount pad 8 includes blade mount pad 81 and sets up motor shaft connecting portion 82 on blade mount pad 81 top surface, and the side of motor shaft connecting portion 82 is equipped with pinhole 83, and motor shaft connecting portion 82 cover is established on motor shaft 71, installs on motor shaft 71 through round pin axle and pinhole 83. An anti-winding protective sleeve 84 is arranged on the motor shaft connecting part 82 and used for preventing cut weeds from being wound on the motor shaft or the motor shaft connecting part 72 and influencing the normal operation of the weeding mechanism. The weeding blade 9 is detachably mounted on the blade mount 81.
The movable obstacle avoidance mechanism further comprises a limiting spring 10, and the upper end and the lower end of the limiting spring 10 are respectively arranged on the supporting and fixing plate 1 and the motor mounting plate 5. The upper part of the supporting and fixing plate 1 is provided with a spring mounting part 11 in an outward protruding way, and the upper end of the limiting spring 8 is mounted on the spring mounting part 11.
The working process of the utility model is as follows:
support fixed plate 1 passes through modes such as bolt detachably and installs on weeding robot, through the height of adjustment support fixed plate 1, can realize the adjustment to the weeding degree of depth. The weeding mechanism is arranged on the supporting and fixing plate 1 through the movable obstacle avoidance mechanism, and the upper end and the lower end of the limiting spring 10 are respectively arranged on the motor mounting plate 5 and the supporting and fixing plate 1, so that the weeding mechanism is kept stable.
When weeding mechanism carried out the weeding operation along with weeding robot's the process of advancing, barriers such as stone can make the activity keep away barrier device and take place to warp, because the activity keeps away barrier device and support the fixed plate and enclose into parallelogram, when the barrier device takes place to warp is kept away in the activity, can drive motor mounting panel 5 and upwards move to make the blade assembly lift up, avoid weeding blade 9 effect and barrier to take place to damage. When weeding the mechanism and crossing the barrier simultaneously, spacing spring 10 can play the cushioning effect to weeding the mechanism, avoids weeding the mechanism and moves about downwards fast under the action of gravity and strikes the bottom surface, causes weeding blade 9 to damage.
Compared with the prior art, the utility model provides a movable obstacle-avoiding weeding mechanism, weeding mechanism keep away through the activity that obstacle-avoiding mechanism is connected with supporting fixed plate, and the activity is kept away obstacle-avoiding mechanism and is become parallelogram with supporting fixed plate, meets obstacles such as stone when weeding robot weeding operation in-process, and parallelogram takes place deformation automatically, makes weeding mechanism lifting upwards, avoids obstacles such as stone to damage weeding mechanism's blade, has improved weeding mechanism's life. The utility model discloses, need not to carry out manual adjustment to weeding mechanism, also need not to be equipped with laser radar ranging module and image forming module etc. for weeding robot, have good obstacle-avoiding effect, practiced thrift weeding robot's running cost, improved weeding robot's weeding efficiency, prolonged weeding robot and gone up the life of weeding mechanism.
The utility model discloses, keep away the buffer structure that barrier mechanism constitutes through spacing spring and activity, can form effective protection to the motor, avoid motor and weeding mechanism impaired, simultaneously, weeding mechanism installs in weeding robot main part through supporting fixed plate detachably, supports the mounting height of fixed plate in weeding robot main part through the adjustment and adjusts the height of weeding, satisfies the weeding altitude requirement of different use scenes, and the framework is simple reliable, and low cost has extensive suitability.
The present invention is not limited to the above-mentioned best mode, and any person should learn the structural change made under the teaching of the present invention, all with the present invention has the same or similar technical solution, all fall into the protection scope of the present invention.
Claims (8)
1. The utility model provides a movable obstacle avoidance weeding mechanism which characterized in that includes:
a support fixing plate detachably mounted on the main body of the weeding robot;
the movable obstacle avoidance mechanism comprises a front obstacle avoidance plate, an upper obstacle avoidance plate and a lower obstacle avoidance plate, the upper obstacle avoidance plate and the lower obstacle avoidance plate are arranged up and down, the rear end surfaces of the upper obstacle avoidance plate and the lower obstacle avoidance plate are hinged with the supporting and fixing plate, and the upper end and the lower end of the front obstacle avoidance plate are respectively hinged with the upper obstacle avoidance plate and the lower obstacle avoidance plate; the front obstacle avoidance plate, the upper obstacle avoidance plate, the lower obstacle avoidance plate and the supporting and fixing plate form a parallelogram;
the weeding mechanism is arranged on the front end surface of the front obstacle avoidance plate and moves up and down along with the change of the included angle of the parallelogram;
and the upper end and the lower end of the limiting spring are respectively arranged on the supporting and fixing plate and the weeding mechanism.
2. The movable obstacle-avoiding and weeding mechanism according to claim 1, wherein said weeding mechanism comprises:
the rear end face of the motor mounting plate is provided with a connecting part, and the motor mounting plate is mounted on the front obstacle avoidance plate through the connecting part;
the weeding motor is arranged on the top surface of the motor mounting plate, and a motor shaft of the weeding motor penetrates out of the motor mounting plate downwards;
and the weeding knife assembly is arranged on the motor shaft and rotates along with the motor shaft.
3. The movable obstacle-avoiding and weeding mechanism according to claim 2, wherein said weeding blade assembly comprises:
the weeding knife mounting seat comprises a blade mounting seat and a motor shaft connecting part arranged on the top surface of the blade mounting seat; the side surface of the motor shaft connecting part is provided with a pin hole, the motor shaft connecting part is sleeved on the motor shaft and is arranged on the motor shaft through a pin shaft and the pin hole;
a weeding blade detachably mounted on the blade mounting seat.
4. The movable obstacle-avoiding and weeding mechanism according to claim 3, wherein an anti-winding protective sleeve is disposed on the connecting portion of the motor shaft.
5. The movable obstacle-avoiding and weeding mechanism according to claim 2, wherein upper and lower ends of the limiting spring are respectively disposed on the supporting and fixing plate and the motor mounting plate.
6. The movable obstacle-avoiding and weeding mechanism according to claim 5, wherein a spring mounting portion is provided at an upper portion of the supporting and fixing plate in a protruding manner, and an upper end of the limiting spring is mounted on the spring mounting portion.
7. The movable obstacle-avoiding and weeding mechanism according to claim 2, wherein the weeding motor is mounted on the motor mounting plate through a motor flange seat, a motor mounting groove is formed in the top surface of the motor flange seat, a motor shaft hole is formed in the motor mounting groove, and a fixed ring and a combined bearing are arranged in the motor shaft hole.
8. The movable obstacle-avoiding and weeding mechanism according to claim 2, wherein the front obstacle-avoiding plate, the upper obstacle-avoiding plate, the lower obstacle-avoiding plate and the supporting and fixing plate are hinged to each other by hinges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121124060.6U CN214757919U (en) | 2021-05-24 | 2021-05-24 | Movable obstacle-avoiding weeding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121124060.6U CN214757919U (en) | 2021-05-24 | 2021-05-24 | Movable obstacle-avoiding weeding mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214757919U true CN214757919U (en) | 2021-11-19 |
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ID=78697150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121124060.6U Expired - Fee Related CN214757919U (en) | 2021-05-24 | 2021-05-24 | Movable obstacle-avoiding weeding mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214757919U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114402790A (en) * | 2021-12-31 | 2022-04-29 | 农业农村部南京农业机械化研究所 | Copying obstacle-avoiding weeding operation machine |
-
2021
- 2021-05-24 CN CN202121124060.6U patent/CN214757919U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114402790A (en) * | 2021-12-31 | 2022-04-29 | 农业农村部南京农业机械化研究所 | Copying obstacle-avoiding weeding operation machine |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211119 |