CN220173810U - Weeding robot - Google Patents
Weeding robot Download PDFInfo
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- CN220173810U CN220173810U CN202321742233.XU CN202321742233U CN220173810U CN 220173810 U CN220173810 U CN 220173810U CN 202321742233 U CN202321742233 U CN 202321742233U CN 220173810 U CN220173810 U CN 220173810U
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- weeding
- control unit
- motor
- sliding
- lifting
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- 238000009333 weeding Methods 0.000 title claims abstract description 161
- 239000000446 fuel Substances 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000005611 electricity Effects 0.000 claims abstract description 20
- 238000010248 power generation Methods 0.000 claims abstract description 20
- 239000000295 fuel oil Substances 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000013043 chemical agent Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002363 herbicidal effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, in particular to a weeding robot. This parallel weeding dish robot includes: the device comprises a fuel power device, a fuel power generation device and an electricity storage device, wherein the fuel power device is connected with a travelling mechanism and a weeding mechanism through wires; running mechanisms are arranged on two sides of the base, and the running mechanisms are crawler-type running mechanisms; the weeding mechanism is arranged at the front part of the base, and is always parallel to the ground in the working process. According to the weeding robot, the fuel oil power generation device and the power storage device are arranged, so that the endurance of the weeding robot is improved, and the weeding operation in a large area and a long distance can be met.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a weeding robot.
Background
At present, the urban weeding mode in China comprises chemical agent weeding, handheld manpower weeding and remote control weeding machine weeding, and a great deal of manpower is needed to carry out weeding management, beautifying and the like on lawns each year. With the improvement of environmental protection consciousness, chemical agent weeding is not advocated because chemical residues are generated, the operation of the handheld weeding machine is time-consuming and labor-consuming, the handheld weeding machine is difficult to adapt to grasslands requiring large-area weeding, and the handheld weeding machine cannot be effectively planned nowadays, so that repeated operation is caused, and labor time and economic cost are increased. And some grasslands are complex, and large-scale weeder can not enter or has poor terrain adaptability.
The utility model of China patent CN113207414A discloses a weeding robot, which comprises a crawler base, a weeding structure, a rotating part and a connecting structure, wherein the crawler base is connected with the rotating part through the connecting structure, the rotating structure is connected with the weeding structure, various rugged sites with slopes and barriers can be adapted by adopting the crawler base, and meanwhile, the height of the weeding structure is adjusted through the rotating part, so that the weeding height can be adjusted, and the weeding robot can adapt to diversified requirements. However, the weeding robot has poor endurance and cannot work for a long time and a long distance.
Disclosure of Invention
The utility model provides a weeding robot for overcoming the defects in the prior art.
In order to achieve the above purpose, the embodiment of the utility model provides a weeding robot, which comprises a base, a travelling mechanism and a weeding mechanism, wherein the base comprises a fuel power device, a fuel power generation device and an electricity storage device;
the fuel power device is connected with the travelling mechanism and the weeding mechanism through wires, the fuel power generation device is connected with the electricity storage device through wires, and the electricity storage device is connected with the travelling mechanism and the weeding mechanism through wires;
running mechanisms are arranged on two sides of the base, and the running mechanisms are crawler-type running mechanisms;
the weeding mechanism is arranged at the front part of the base, and is always parallel to the ground in the working process.
As an embodiment, the fuel power plant includes a power control unit and a diesel engine;
the power control unit controls the running state of the diesel engine;
or the fuel oil power device comprises a power control unit and a gasoline engine, wherein the power control unit controls the running state of the gasoline engine.
As an embodiment, the fuel power generation device includes a power generation control unit and a fuel generator, where the power generation control unit is connected to the fuel generator and controls an operation state of the fuel generator.
As an implementation manner, the travelling mechanism comprises a first GPS, a travelling motor, a crawler belt and a travelling control unit;
the first GPS is arranged at the top of the fuel oil power generation device, acquires the position information of the weeding robot, and is connected with the walking control unit through a wire;
the walking control unit is connected with the walking motor and controls the running state of the walking motor, and the walking motor is connected with the crawler belt and drives the crawler belt.
The walking motor input end is connected with the fuel power device output end and the electricity storage device output end through wires respectively, when the fuel power device works, the walking motor is directly powered by the fuel power device, meanwhile, the fuel generator starts to work and charges the electricity storage device, and when the fuel power device stops working, the walking motor is powered by the electricity storage device.
As one implementation mode, the weeding mechanism comprises a second GPS, a sliding arm, a lifting arm and a weeding unit;
the second GPS is arranged on a bracket above the sliding arm and is respectively connected with the sliding arm, the lifting arm and the weeding unit;
the sliding arm is connected with the weeding robot base, the sliding arm is connected with a plurality of lifting arms, and the lifting arms are connected with the weeding unit.
As an embodiment, the sliding arm includes a sliding control unit, a sliding motor, and a sliding device;
the sliding control unit is connected with the second GPS, the sliding control unit is connected with the sliding motor to control the running state of the sliding motor, and the sliding motor is connected with the sliding device. The sliding motor input end is respectively connected with the fuel power device output end and the electricity storage device output end through wires, when the fuel power device works, the sliding motor is directly powered by the fuel power device, meanwhile, the fuel generator starts to work and charges the electricity storage device, and when the fuel power device stops working, the sliding motor is powered by the electricity storage device.
As an implementation manner, the lifting arm comprises a lifting control unit, a lifting motor and a lifting device;
the lifting control unit is connected with the second GPS, the lifting control unit is connected with the lifting motor to control the running state of the lifting motor, and the lifting motor is connected with the lifting device. The input end of the lifting motor is connected with the output end of the fuel power device and the output end of the electricity storage device through wires respectively, when the fuel power device works, the lifting motor is directly powered by the fuel power device, meanwhile, the fuel generator starts to work and charges the electricity storage device, and when the fuel power device stops working, the lifting motor is powered by the electricity storage device.
As one implementation mode, the weeding unit comprises a weeding control unit, a weeding motor, a weeding transmission device and a weeding cutterhead;
the weeding control unit is connected with the second GPS, the weeding control unit is connected with the weeding motor to control the running state of the weeding motor, the weeding motor is connected with the weeding transmission device, and the weeding transmission device is connected with the weeding cutterhead. The weeding motor input is connected with the fuel power plant output end and the electricity storage device output end through wires respectively, when the fuel power plant works, the weeding motor is directly powered by the fuel power plant, meanwhile, the fuel generator starts to work and charges the electricity storage device, and when the fuel power plant stops working, the weeding motor is powered by the electricity storage device.
As an implementation manner, the weeding transmission device comprises a synchronous wheel, a synchronous bevel gear and a universal joint;
the weeding machine is characterized in that the synchronous wheel is connected with the output end of the weeding motor, the synchronous bevel gear rotates synchronously with the synchronous wheel, the synchronous bevel gear is meshed with the bevel gear at one end of the universal joint, the universal joint is horizontally arranged, the universal joint is meshed with the bevel gear of the weeding cutter head through the bevel gear on the surface, and the bevel gear is arranged on the surface of the universal joint.
As an implementation mode, the weeding cutterhead is of a detachable structure.
In summary, the beneficial effects of the utility model are as follows:
1. through setting up fuel power generation facility and power storage device, compare in prior art, can improve weeding robot's duration, can satisfy the weeding operation needs of large tracts of land, long distance.
The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings.
Drawings
Fig. 1 is a perspective view of a weeding robot provided by an embodiment of the utility model;
fig. 2 is a side view of a weeding robot according to an embodiment of the present utility model;
fig. 3 is a top view of a weeding robot according to an embodiment of the present utility model;
fig. 4 is a front view of a weeding robot according to an embodiment of the present utility model.
The reference numerals in the drawings are as follows:
1. a base; 2. a walking mechanism; 3. a weeding mechanism; 11. a fuel oil power plant; 12. a fuel oil power generation device; 13. an electricity storage device; 21. a first GPS; 22. a track; 31. a second GPS; 32. sliding the arm; 33. lifting the arm; 34. a weeding unit; 341. a synchronizing wheel; 342. a synchronous bevel gear; 343. a universal joint; 344. weeding cutterhead.
Detailed Description
The present utility model will be described in further detail with reference to specific examples for the purpose of facilitating understanding to those skilled in the art.
Referring to fig. 1 to 4, the parallel weeding tray robot disclosed by the utility model comprises a base 1, a travelling mechanism 2 and a weeding mechanism 3, and is characterized in that the base 1 comprises: the weeding device comprises a fuel power device 11, a fuel power generation device 12 and a power storage device 13, wherein the fuel power device 11 is connected with a travelling mechanism 2 and a weeding mechanism 3 through wires, the fuel power generation device 12 is connected with the power storage device 13 through wires, and the power storage device 13 is connected with the travelling mechanism 2 and the weeding mechanism 3 through wires; running mechanisms 2 are arranged on two sides of the base 1, and the running mechanisms 2 are crawler-type running mechanisms; the weeding mechanism 3 is arranged at the front part of the base 1, and the weeding mechanism 3 is always parallel to the ground in the working process.
In one implementation of the present embodiment, the fuel power plant 11 includes a power control unit and a diesel engine, where the power control unit controls an operation state of the diesel engine; or the fuel power plant 11 includes a power control unit and a gasoline engine, the power control unit controlling the running state of the gasoline engine.
In one implementation of this embodiment, the fuel power plant 12 includes a power generation control unit and a fuel generator, where the power generation control unit is connected to the fuel generator and controls an operation state of the fuel generator.
In one implementation of this embodiment, the travelling mechanism 2 includes a first GPS21, a travelling motor, a crawler 22, and a travelling control unit, where the first GPS21 is installed at the top of the fuel power generator 12, and obtains position information of the weeding robot, the first GPS21 is connected with the travelling control unit through a wire, the travelling control unit is connected with the travelling motor, controls an operation state of the travelling motor, and the travelling motor is connected with the crawler 22 to drive the crawler 22.
In one implementation of this embodiment, the weeding mechanism 3 includes a second GPS31, a sliding arm 32, a lifting arm 33 and a weeding unit 34, where the second GPS31 is disposed on a support above the sliding arm 32, the second GPS31 is connected with the sliding arm 32, the lifting arm 33 and the weeding unit 34, the sliding arm 32 is connected with the weeding robot base 1, the sliding arm 32 is connected with a plurality of lifting arms 33, and the lifting arm 33 is connected with the weeding unit 34. In one implementation of this embodiment,
in one implementation of this embodiment, the sliding arm 32 includes a sliding control unit, a sliding motor and a sliding device, where the sliding control unit is connected to the second GPS31, the sliding control unit is connected to the sliding motor, and controls an operation state of the sliding motor, and the sliding motor is connected to the sliding device.
In one implementation of this embodiment, the lifting arm 33 includes a lifting control unit, a lifting motor and a lifting device, where the lifting control unit is connected to the second GPS31, the lifting control unit is connected to the lifting motor, and controls an operation state of the lifting motor, and the lifting motor is connected to the lifting device.
In one implementation of this embodiment, the weeding unit 34 includes a weeding control unit, a weeding motor, a weeding transmission device and a weeding cutterhead 344, the weeding control unit is connected with the second GPS31, the weeding control unit is connected with the weeding motor, the operation state of the weeding motor is controlled, the weeding motor is connected with the weeding transmission device, and the weeding transmission device is connected with the weeding cutterhead 344.
In one embodiment of the present embodiment, the weeding transmission device includes a synchronous wheel 341, a synchronous bevel gear 342, and a universal joint 343 with a bevel gear on the surface, the synchronous wheel 341 is connected with the output end of the weeding motor, the synchronous bevel gear 342 rotates synchronously with the synchronous wheel 341, the synchronous bevel gear 342 is meshed with the bevel gear on one end of the universal joint 343, the universal joint 343 is horizontally arranged, and the universal joint 343 is meshed with the bevel gear of the weeding cutter disc 344 through the bevel gear on the surface.
In one embodiment of the present embodiment, the herbicidal cutterhead 344 is a detachable structure.
The working process of the utility model comprises the following steps:
referring to fig. 1 to 4, when the parallel weeding tray robot disclosed by the utility model works, firstly, path planning is performed by utilizing GPS coordinate points according to orchard planting planning, then a first GPS21 positioning machine area is started, a second GPS31 positioning weeding area is started, a lifting control unit controls a lifting motor to operate according to the height of weeds to be reserved, a weeding cutter 344 is adjusted to the required weeding height, a sliding control unit controls a sliding motor to work, a sliding arm 32 starts to move, a weeding cutter 344 is driven to move to the weeding area, the weeding control unit controls the weeding motor to work according to the weeding area, and the weeding cutter 344 starts weeding; after weeding in the weeding area is completed, the second GPS31 relocates the weeding area, the first GPS21 relocates the machine area, the walking control unit controls the walking motor to work, the robot is driven by the crawler 22 to move forwards to the machine area, the sliding control unit controls the sliding motor to work, the sliding arm 32 starts to move, the weeding cutter disc 344 is driven to move to the weeding area, the weeding control unit controls the weeding motor to work according to the weeding area, and the weeding cutter disc 344 starts weeding; after the weeding area weeding is completed, the robot enters the next area weeding, and the cycle is performed.
The above is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited to the above examples, and all technical solutions belonging to the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that modifications and adaptations to the present utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.
Claims (10)
1. The weeding robot is characterized by comprising a base, a travelling mechanism and a weeding mechanism, wherein the base comprises a fuel power device, a fuel power generation device and an electricity storage device;
the fuel power device is connected with the travelling mechanism and the weeding mechanism through wires, the fuel power generation device is connected with the electricity storage device through wires, and the electricity storage device is connected with the travelling mechanism and the weeding mechanism through wires;
running mechanisms are arranged on two sides of the base, and the running mechanisms are crawler-type running mechanisms;
the weeding mechanism is arranged at the front part of the base, and is always parallel to the ground in the working process.
2. The weeding robot according to claim 1, wherein the fuel-powered device comprises a power control unit and a diesel engine;
the power control unit controls the running state of the diesel engine;
or the fuel oil power device comprises a power control unit and a gasoline engine, wherein the power control unit controls the running state of the gasoline engine.
3. The weeding robot according to claim 1, wherein the fuel power generation device comprises a power generation control unit and a fuel generator, wherein the power generation control unit is connected with the fuel generator and controls the operation state of the fuel generator.
4. The weeding robot according to claim 1, wherein the traveling mechanism comprises a first GPS, a traveling motor, a crawler, and a traveling control unit;
the first GPS is arranged at the top of the fuel oil power generation device, acquires the position information of the weeding robot, and is connected with the walking control unit through a wire;
the walking control unit is connected with the walking motor and controls the running state of the walking motor, and the walking motor is connected with the crawler belt and drives the crawler belt.
5. The weeding robot according to claim 1, wherein the weeding mechanism comprises a second GPS, a sliding arm, a lifting arm, and a weeding unit;
the second GPS is arranged on a bracket above the sliding arm and is respectively connected with the sliding arm, the lifting arm and the weeding unit;
the sliding arm is connected with the weeding robot base, the sliding arm is connected with a plurality of lifting arms, and the lifting arms are connected with the weeding unit.
6. The weeding robot according to claim 5, wherein the sliding arm comprises a sliding control unit, a sliding motor, and a sliding device;
the sliding control unit is connected with the second GPS, the sliding control unit is connected with the sliding motor to control the running state of the sliding motor, and the sliding motor is connected with the sliding device.
7. The weeding robot according to claim 5, wherein the lifting arm comprises a lifting control unit, a lifting motor, and a lifting device;
the lifting control unit is connected with the second GPS, the lifting control unit is connected with the lifting motor to control the running state of the lifting motor, and the lifting motor is connected with the lifting device.
8. The weeding robot according to claim 5, wherein the weeding unit comprises a weeding control unit, a weeding motor, a weeding transmission device and a weeding cutterhead;
the weeding control unit is connected with the second GPS, the weeding control unit is connected with the weeding motor to control the running state of the weeding motor, the weeding motor is connected with the weeding transmission device, and the weeding transmission device is connected with the weeding cutterhead.
9. The weeding robot according to claim 8, wherein the weeding transmission comprises a synchronizing wheel, a synchronizing bevel gear, and a universal joint;
the weeding machine is characterized in that the synchronous wheel is connected with the output end of the weeding motor, the synchronous bevel gear rotates synchronously with the synchronous wheel, the synchronous bevel gear is meshed with the bevel gear at one end of the universal joint, the universal joint is horizontally arranged, the universal joint is meshed with the bevel gear of the weeding cutter head through the bevel gear on the surface, and the bevel gear is arranged on the surface of the universal joint.
10. The weeding robot according to claim 8, wherein the weeding cutterhead is of a detachable structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321742233.XU CN220173810U (en) | 2023-07-04 | 2023-07-04 | Weeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321742233.XU CN220173810U (en) | 2023-07-04 | 2023-07-04 | Weeding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220173810U true CN220173810U (en) | 2023-12-15 |
Family
ID=89101128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321742233.XU Active CN220173810U (en) | 2023-07-04 | 2023-07-04 | Weeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220173810U (en) |
-
2023
- 2023-07-04 CN CN202321742233.XU patent/CN220173810U/en active Active
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