CN219205257U - Hedge frame type grape cultivation weeding robot - Google Patents
Hedge frame type grape cultivation weeding robot Download PDFInfo
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- CN219205257U CN219205257U CN202320242918.1U CN202320242918U CN219205257U CN 219205257 U CN219205257 U CN 219205257U CN 202320242918 U CN202320242918 U CN 202320242918U CN 219205257 U CN219205257 U CN 219205257U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The utility model discloses a hedge frame type grape weeding robot which comprises a frame, a lifting device, a traveling device and a weeding executing device, wherein two traveling devices are oppositely arranged on two sides below the frame, the traveling devices are connected with the frame through a steering device, and a damping device is arranged between the steering device and the traveling devices; all be provided with elevating gear between the running gear that the below of arbitrary one side frame is connected, be provided with weeding executive device under the elevating gear, elevating gear in the weeding executive device drives weeding device and reciprocates, running gear in this application and steering gear have independent control motor, and differential drive is carried out to the rotational speed of control driving motor, can realize the high sensitivity of turning to of robot, is applicable to the complex scene in orchard, goes on the hedge frame row, accomplishes the clearance of weeds between the row and does not hurt hedge frame and crop.
Description
Technical Field
The utility model relates to the field of small machines for auxiliary operation for orchards, in particular to a hedge frame type grape weeding robot.
Background
China is the largest fruit consuming country in the world, and in recent years, the scale and quantity of fruit cultivation are all famous and first worldwide. Under the great development of the agricultural industry, large-scale planting of fruit trees has become a planting form of most orchards. In the orchard cultivation mode, the orchard cultivation area is large, the cultivation is dense, weeds are not easy to eradicate and the like, so that the management work of the orchard is complex and tedious. Is not beneficial to the development of a mechanized management mode between orchards. Therefore, in the management of the orchard machinery, the weeding machinery is used for replacing the traditional modes of manual weeding, chemical agent weeding, mulching film covering and the like, so that the weeding working efficiency is improved, the environmental pollution and the soil pollution are reduced, and the weeding cost is reduced. The intelligent mechanical management of the orchard is realized, and the intelligent mechanical management of the orchard becomes a main requirement of fruit farmers in the current orchard management and a main form of the modern orchard management development. Therefore, the design of the weeding robot which is applicable to the hedge frames of the grapes and can be automatically controlled is of great significance in solving the problems.
Disclosure of Invention
The utility model aims to: the utility model aims to provide a hedge frame type grape weeding robot which can be suitable for complex scenes of an orchard, can run on hedge frame rows to remove weeds among the rows and does not damage the hedge frames and crops.
The technical scheme is as follows: the utility model relates to a hedge frame type grape weeding robot which comprises a frame, a lifting device, a traveling device and a weeding executing device, wherein the frame comprises a frame I, a link frame, a frame II and frame covers, the frame I and the frame II are arranged on two sides of the same horizontal plane through the link frame, and the frame covers are arranged on the outer sides of the frame I and the frame II;
two running devices are oppositely arranged on two sides below the frame, the running devices are connected with the frame through a steering device, and a damping device is arranged between the steering device and the running devices;
lifting devices are arranged between the walking devices connected below the frame on any side, weeding execution devices are arranged below the lifting devices, the weeding execution devices comprise lifting devices and weeding devices, the weeding devices are connected with lifting plates in the lifting devices, and the lifting devices drive the weeding devices to move up and down.
Preferably, the steering device comprises a steering frame, a steering motor, a steering frame sleeve, a steering frame transmission shaft, a rolling bearing and a steering frame check ring, wherein the steering frame is fixed below the frame, the steering frame is provided with the steering motor, the steering motor is connected with the steering frame sleeve, and the steering frame sleeve is connected with the steering frame transmission shaft to transmit the torque of the steering motor; the rolling bearing is arranged in the bogie and bears the torque during rotation, and a bogie check ring for axial positioning is arranged between the rolling bearing and the bogie sleeve.
Preferably, the damping device comprises a damping spring, a damping hook and telescopic rods, two telescopic rods are connected below the steering device, the other ends of the telescopic rods are connected with the walking device, the damping spring is arranged between the telescopic rods, one end of the damping spring is connected with the steering device, the other end of the damping spring is connected with the damping hook, and the damping hook hooks the walking device.
Preferably, the running gear is including box, walking motor, transmission connecting piece, wheel hub and tire, the box is inside to be provided with the walking motor through the fixed parallel key of motor, the motor shaft of walking motor is the integral key, is connected with transmission connecting piece, the driving medium is connected with wheel hub, carries out torque transmission, the tire is installed on wheel hub, install the axle sleeve of protection motor shaft on the walking motor, install angular contact bearing in pairs on the bearing frame of walking motor, support wheel hub is rotatory, reduces coefficient of friction.
Preferably, a front fender and a rear fender are fixedly arranged on the box body positioned in front of and behind the robot running direction, and the front fender and the rear fender respectively shield the tire inside to finish the protection of the tire.
Preferably, the lifting device comprises a weeding frame, a lifting connecting rod, an electric push rod, a push rod cylinder and a lifting plate, wherein the weeding frame is connected with the frame through a slideway, the lifting plate is connected with the weeding frame through the lifting connecting rod and the electric push rod, the electric push rod is connected with the push rod cylinder, the push rod pushes the electric push rod to move, the lifting plate is driven to move up and down by utilizing the length difference value between the push rod and the lifting connecting rod, a weeding motor is arranged on the lifting plate, and the output end of the weeding motor is connected with the weeding device.
Preferably, the weeding device comprises a weeding motor, a shaft coupling, a cutter shaft, a weeding cutter shell, a cutter baffle disc, a cutter frame disc, a rotary cutter, a bearing retainer ring and a thrust ball bearing, wherein the weeding motor is arranged on a lifting plate and connected with the cutter shaft through the shaft coupling, the thrust ball bearing is arranged on the cutter shaft, the bearing retainer ring is fixedly arranged at two ends of the thrust ball bearing, abrasion of the cutter shaft is reduced, the cutter frame disc is arranged on the cutter shaft, the rotary cutter is arranged on the cutter frame disc and rotates along with the cutter frame disc, the weeding cutter shell encapsulates the cutter shaft, the bearing retainer ring and the thrust ball bearing, and the cutter baffle disc encapsulates the position where the shaft coupling is connected with the cutter shaft.
Preferably, bulbs for improving night operation capability are arranged in front of and behind the first frame and the second frame, and the bulbs are sealed inside the frame through a light-permeable frame cover.
The beneficial effects are that:
(1) The running gear and the steering device are driven by independent motors, one controls the left and right steering of the steering frame, the other drives the tire to rotate, and the high sensitivity of the steering operation of the robot can be realized by controlling the rotation speed of the motor to perform differential driving;
(2) The utility model has the advantages of light structure, small mass, small volume and convenient assembly and disassembly, meets the requirement of working environment of the trellis type grape, and is suitable for popularization and application in the orchard scene.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a front view of the present utility model;
FIG. 3 is a left side view of the present utility model;
FIG. 4 is a schematic view of a lifting device;
FIG. 5 is a front view of the lifting device;
FIG. 6 is a cross-sectional view of the weeding apparatus;
FIG. 7 is a cross-sectional view of the running gear, steering device and shock absorbing device;
FIG. 8 is a partial cross-sectional view of a steering device;
in fig. 1 to 8, each structure is named:
frame 1, frame one 2, link frame 3, frame two 4, dead lever 5, steering motor 6, frame cover 7, bogie 8, telescopic link 9, box 10, end cover 11, front fender 12, rear fender 13, damper spring 14, spring hanger 15, weeding frame 16, lifting link 17, electric push rod 18, push rod cylinder 19, lifting plate 20, weeding motor 21, bulb 22, coupling 23, cutter shaft 24, weeding cutter housing 25, cutter bar disc 26, bearing retainer 27, thrust ball bearing 28, cutter frame disc 29, rotary cutter 30, bogie sleeve 31, bogie transmission shaft 32, rolling bearing 33, bogie retainer 34, motor shaft 35, bearing housing 36, travel motor 37, transmission connection 38, angular contact ball bearing 39, hub 40, tire 41.
Detailed Description
The present application is further illustrated below in conjunction with specific embodiments.
As shown in fig. 1-8, in this embodiment, the present application includes a frame 1, a lifting device, a running device and a weeding executing device, where the frame 1 includes a frame one 2, a link frame 3, a frame two 4 and a frame cover 7, the frame one 2 and the frame two 4 are disposed on two sides of the same horizontal plane through the link frame 3, a fixing rod 5 is disposed between the link frames 3, and the whole structure is further stabilized, and the frame cover 7 is disposed on the outer sides of the frame one 2 and the frame two 4 to complete protection of the frame one 2 and the frame two 4.
Two travelling devices are arranged below the first frame 2 and the second frame 4, the travelling devices are connected with the first frame 1 through a steering device, and a damping device is arranged between the steering device and the travelling devices.
A lifting device is arranged between the two travelling devices arranged below the first frame 2 and the second frame 4, a weeding execution device is arranged below the lifting device, the weeding execution device comprises a lifting device and a weeding device, the weeding device is connected with a lifting plate 20 in the lifting device, and the lifting device drives the weeding device to move up and down.
In the embodiment, the steering device comprises a steering frame 8, a steering motor 6, a steering frame sleeve 31, a steering frame transmission shaft 32, a rolling bearing 33 and a steering frame check ring 34, wherein the steering frame 8 is fixed below the frame 1, the steering frame 8 is provided with the steering motor 6, the steering motor 6 is connected with the steering frame sleeve 31, the steering frame sleeve 31 is connected with the steering frame transmission shaft 32, and the torque of the steering motor 6 is transmitted; the rolling bearing 33 is arranged in the bogie 8 and bears the torque during rotation, a bogie check ring 34 for axial positioning is arranged between the rolling bearing 33 and the bogie sleeve 31, the precision of the bogie check ring is ensured, and the bogie motor 6 and the bogie 8 are matched for use, so that the robot can flexibly move in an orchard.
In this embodiment, damping device is including damping spring 14, damping couple 15 and telescopic link 9, is connected with two telescopic links 9 in steering gear below, and the other end and the running gear of telescopic link 9 are connected, and damping spring 14 sets up between telescopic link 9, and steering gear is connected to one end, and damping couple 15 is connected to the other end, and damping couple 15 link up running gear, damping device's setting can reduce the robot and take place the probability of turning on one's side because of the uneven vibration takes place by a wide margin in land.
In this embodiment, the running gear includes a box 10, a running motor 37, a transmission connecting piece 38, a hub 40 and a tire 41, wherein the running motor 37 is fixedly arranged in the box 10 through a motor fixing flat key, a motor shaft 35 of the running motor 37 is a spline shaft and is connected with the transmission connecting piece 38, the transmission connecting piece 38 is connected with the hub 40 for torque transmission, the tire 41 is mounted on the hub 40, a shaft sleeve for protecting the motor shaft 35 is mounted on the running motor 37, angular contact bearings 39 are mounted on bearing seats 36 of the running motor 37 in pairs for supporting the hub 40 to rotate, friction coefficients are reduced, and rotation accuracy is ensured.
In the present embodiment, the front fender 12 and the rear fender 13 are fixedly provided on the case 10 located in front of and behind the robot traveling direction, and the front fender 12 and the rear fender 13 shield the tire 41 from each other, thereby completing the protection of the tire 41.
In this embodiment, elevating gear is including weeding frame 16, lifting link 17, electric putter 18, push rod jar 19 and lifter plate 20, weeding frame 16 is connected with frame 1 through the form of slide, lifter plate 20 is connected with weeding frame 16 through lifting link 17 and electric putter 18, electric putter 18 is connected with push rod jar 19, push rod bar 19 promotes electric putter 18 and removes, utilize the length difference with lifting link 17 to drive lifter plate 20 and reciprocate, install weeding motor 21 on lifter plate 20, weeding motor 21's output is connected with weeding device, elevating gear's design can control weeding device's height, make weeding robot realize the weeding operation of arbitrary interval and height.
In the embodiment, the weeding device comprises a weeding motor 21, a coupling 23, a cutter shaft 24, a weeding cutter shell 25, a cutter baffle disc 26, a cutter frame disc 29, a rotary cutter 30, a bearing retainer 27 and a thrust ball bearing 28, wherein the weeding motor 21 is arranged on the lifting plate 20 and is connected with the cutter shaft 24 through the coupling 23, the thrust ball bearing 28 is arranged on the cutter shaft 24, the bearing retainer 27 is fixedly arranged at two ends of the thrust ball bearing 28, and abrasion of the cutter shaft 24 is reduced; the cutter rest disc 29 is arranged on the cutter shaft 24, and the rotary cutter 30 is arranged on the cutter rest disc 29 and rotates along with the cutter rest disc 29; the weeding cutter housing 25 encloses the cutter shaft 24, the bearing retainer 27, and the thrust ball bearing 28, and the cutter retainer 26 encloses the location where the coupler 23 and the cutter shaft 24 are connected.
In this embodiment, in order to improve the night working capability of the robot, the first and second frames 2 and 4 are both provided with bulbs 22, and the bulbs 22 are sealed inside the frame 1 by the transparent frame cover 7.
When the robot is in operation, the output shaft 35 of the walking motor 37 is connected with the transmission connecting piece 38, the transmission connecting piece 38 is connected with the hub 41, torque is transmitted, and the robot is controlled to walk; the steering motor 6 is connected with a steering frame sleeve 31, a steering frame transmission shaft 32 of the steering frame sleeve 31 is connected, and a rolling bearing 33 is arranged in the steering frame 8 and used for bearing torque during rotation; the steering motor 6 and the bogie 8 are matched to control the steering of the robot.
The weeding machine frame 16 is linked with the machine frame 1 in a slideway manner, so that the lifting plate 20 can conveniently move left and right; the lifting plate 20 is connected with the weeding machine frame 16 through a lifting connecting rod 17 and an electric push rod 18, and the electric push rod 18 moves in a push rod cylinder 19 and drives the lifting plate 20 to move up and down by the length difference of the connecting rod 17; the lifting plate 20 is provided with a weeding motor 21 and drives the weeding device to move.
The output shaft of the weeding motor 21 is connected with the cutter shaft 24 through the coupler 23, the bottom end of the cutter shaft 24 is connected with the cutter frame disc 29, the rotary cutter 30 is arranged on the cutter frame disc 29 to carry out weeding operation, the working height of the rotary cutter 30 can be changed by the lifting connecting rod 17 and the electric push rod 18 in the operation process, and the rotary cutter 30 is always parallel to the ground.
Running gear and turning to among this application have independent control motor, and differential drive is carried out to control driving motor's rotational speed, can realize turning to high sensitivity of robot, and this application structure is light and handy, the quality is less, small, install and remove conveniently simultaneously, satisfies the operational environment requirement of hedge frame grape, is suitable for popularization and application under this kind of orchard scene.
Claims (8)
1. A hedge frame type cultivation grape weeding robot which is characterized in that: the weeding machine comprises a frame, a lifting device, a traveling device and a weeding executing device, wherein the frame comprises a frame I, a link frame, a frame II and a frame cover, the frame I and the frame II are arranged on two sides of the same horizontal plane through the link frame, and the frame cover is arranged on the outer sides of the frame I and the frame II;
two running devices are oppositely arranged on two sides below the frame, the running devices are connected with the frame through a steering device, and a damping device is arranged between the steering device and the running devices;
lifting devices are arranged between the walking devices connected below the frame on any side, weeding execution devices are arranged below the lifting devices, the weeding execution devices comprise lifting devices and weeding devices, the weeding devices are connected with lifting plates in the lifting devices, and the lifting devices drive the weeding devices to move up and down.
2. The hedge frame type grape weeding robot of claim 1, wherein: the steering device comprises a steering frame, a steering motor, a steering frame sleeve, a steering frame transmission shaft, a rolling bearing and a steering frame check ring, wherein the steering frame is fixed below the frame, the steering frame is provided with the steering motor, the steering motor is connected with the steering frame sleeve, the steering frame sleeve is connected with the steering frame transmission shaft, and the torque of the steering motor is transmitted; the rolling bearing is arranged on the bogie and bears the torque during rotation, and a bogie check ring for axial positioning is arranged between the rolling bearing and the bogie sleeve.
3. The hedge frame type grape weeding robot of claim 1, wherein: the damping device comprises damping springs, damping hooks and telescopic rods, two telescopic rods are connected below the steering device, the other ends of the telescopic rods are connected with the walking device, the damping springs are arranged between the telescopic rods, one ends of the damping springs are connected with the steering device, the other ends of the damping springs are connected with the damping hooks, and the damping hooks hook the walking device.
4. The hedge frame type grape weeding robot of claim 1, wherein: the running gear is including box, running motor, transmission connecting piece, wheel hub and tire, the box is inside to be provided with the running motor through the fixed parallel key of motor is fixed, the motor shaft of running motor is the integral key, is connected with transmission connecting piece, transmission connecting piece and wheel hub connection carry out torque transmission, the tire is installed on wheel hub, install the axle sleeve of protection motor shaft on the running motor, install angular contact bearing in pairs on the bearing frame of running motor, support wheel hub is rotatory, reduces coefficient of friction.
5. The hedge frame type grape weeding robot of claim 4, wherein: the front fender and the rear fender are fixedly arranged on the box body, which are positioned in front of and behind the robot in the travelling direction, and the front fender and the rear fender respectively shield the tire from the inner part so as to finish the protection of the tire.
6. The hedge frame type grape weeding robot of claim 1, wherein: the lifting device comprises a weeding frame, a lifting connecting rod, an electric push rod, a push rod cylinder and a lifting plate, wherein the weeding frame is connected with the frame through a slideway, the lifting plate is connected with the weeding frame through the lifting connecting rod and the electric push rod, the electric push rod is connected with the push rod cylinder, the push rod pushes the electric push rod to move, the lifting plate is driven to move up and down by utilizing the difference value of the length of the lifting connecting rod, a weeding motor is mounted on the lifting plate, and the output end of the weeding motor is connected with the weeding device.
7. The hedge frame type grape weeding robot of claim 1, wherein: the weeding device comprises a weeding motor, a shaft coupling, a cutter shaft, a weeding cutter shell, a cutter baffle disc, a cutter rest disc, a rotary cutter, a bearing retainer ring and a thrust ball bearing, wherein the weeding motor is arranged on a lifting plate and connected with the cutter shaft through the shaft coupling, the thrust ball bearing is arranged on the cutter shaft, the bearing retainer ring is fixedly arranged at two ends of the thrust ball bearing, abrasion of the cutter shaft is reduced, the cutter rest disc is arranged on the cutter shaft, the rotary cutter is arranged on the cutter rest disc and rotates along with the cutter rest disc, the cutter shaft, the bearing retainer ring and the thrust ball bearing are packaged in the weeding cutter shell, and the cutter baffle disc is packaged in the position where the shaft coupling is connected with the cutter shaft.
8. The hedge frame type grape weeding robot of claim 1, wherein: bulbs for improving night operation capability are arranged in front of and behind the first frame and the second frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320242918.1U CN219205257U (en) | 2023-02-17 | 2023-02-17 | Hedge frame type grape cultivation weeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320242918.1U CN219205257U (en) | 2023-02-17 | 2023-02-17 | Hedge frame type grape cultivation weeding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219205257U true CN219205257U (en) | 2023-06-20 |
Family
ID=86756798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320242918.1U Active CN219205257U (en) | 2023-02-17 | 2023-02-17 | Hedge frame type grape cultivation weeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219205257U (en) |
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2023
- 2023-02-17 CN CN202320242918.1U patent/CN219205257U/en active Active
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