LU503325B1 - Weeding robot system in high-clearance fields and working method thereof - Google Patents

Weeding robot system in high-clearance fields and working method thereof Download PDF

Info

Publication number
LU503325B1
LU503325B1 LU503325A LU503325A LU503325B1 LU 503325 B1 LU503325 B1 LU 503325B1 LU 503325 A LU503325 A LU 503325A LU 503325 A LU503325 A LU 503325A LU 503325 B1 LU503325 B1 LU 503325B1
Authority
LU
Luxembourg
Prior art keywords
frame
adjusting block
transverse adjusting
weeding
transverse
Prior art date
Application number
LU503325A
Other languages
German (de)
Inventor
Hui Dong
Hao Sun
Original Assignee
Univ Fuzhou
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Fuzhou filed Critical Univ Fuzhou
Priority to LU503325A priority Critical patent/LU503325B1/en
Application granted granted Critical
Publication of LU503325B1 publication Critical patent/LU503325B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/02—Apparatus for mechanical destruction
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
    • A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
    • A01B51/023—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the Gantry-type

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Soil Sciences (AREA)
  • Soil Working Implements (AREA)

Abstract

The invention provides a weeding robot system in high-clearance fields and working method thereof. The system comprises a left frame, a right frame and a support beam for connecting the left frame and the right frame; the left frame and the right frame are respectively provided with a first transverse adjusting block and a second transverse adjusting block near the supporting beam, a first thread rod is penetrated between the first transverse adjusting block and the second transverse adjusting block, the first thread rod is in threaded connection with the threaded hole of the first transverse adjusting block, the first thread rod is sleeved with the through hole of the second transverse adjusting block, the end of the first thread rod passes through the through hole and is fixedly connected with the output shaft of the first reducer fixed on the second transverse adjusting block.

Description

DESCRIPTION LU503325
WEEDING ROBOT SYSTEM IN HIGH-CLEARANCE FIELDS AND WORKING
METHOD THEREOF
TECHNICAL FIELD
The invention belongs to the technical field of weeding robots, and mainly relates to a weeding robot system in high-clearance fields.
BACKGROUND
Mechanical weeding is a widely accepted weeding method after chemical weeding.
The research on automatic mechanical weeding by weeding robot can solve the problems of manpower and environmental protection in field weeding. Using machine vision to identify crops and weeds, spraying chemical herbicides pertinently can reduce the dosage of pesticides, and even no pesticides can be used at the end of mechanized weeding, which has important research significance and broad application prospects.
However, the existing lawn mowers are mostly towed by tractors or have large quality, which will compact the soil and cause soil degradation; in addition, accurate weeding in the field is still difficult at present, and it is difficult for existing weeding machines to achieve high-efficiency and accurate weeding; moreover, at present, the mobile platform of the field lawn mower is highly targeted, and one machine cannot be used for multiple purposes.
SUMMARY LU503325
In view of this, the purpose of the present invention is to provide a weeding robot system with compact structure and adaptability to ridge spacing.
A weeding robot system in high-clearance fields comprises a left frame, a right frame and a support beam for connecting the left frame and the right frame; the left frame and the right frame are respectively provided with a first transverse adjusting block and a second transverse adjusting block near the supporting beam, a first thread rod is penetrated between the first transverse adjusting block and the second transverse adjusting block, the first thread rod is in threaded connection with the threaded hole of the first transverse adjusting block, the first wire rod is sleeved with the through hole of the second transverse adjusting block, the end of the first wire rod passes through the through hole and is fixedly connected with the output shaft of the first reducer fixed on the second transverse adjusting block, the input shaft of the first reducer is fixedly connected with the output shaft of the first motor, the two ends of the supporting beam penetrate through the grooves of the profiles of the left frame and the right frame, the lower parts of the left frame and the right frame are provided with wheels, and the lower surfaces of the left frame and the right frame are provided with weeding devices.
Further, the left frame and the right frame both comprise two vertical support legs and a horizontal frame which are arranged in parallel at intervals, and the upper ends of the two vertical support legs are vertically fixed at the two ends of the lateral side of the horizontal frame; the transverse frame comprises two transverse profiles arranged in parallel and three longitudinal profiles vertically welded between the two transverse profiles, wherein the three longitudinal profiles are a first longitudinal profile, a second longitudinal profile and a third longitudinal profile which are spaced apart from each other; the upper ends of the two vertical support legs are respectively vertically fixed at the two ends of the first longitudinal profile, a plurality of perforations are arranged on the second longitudinal profile and the third longitudinal profile on the left frame and the right frame, and a bearing shaft sleeve is fixedly arranged at the end of the bearing shaft close to the first longitudinal profile.
Further, the two ends of the supporting beam penetrate through the channel of tHhéJ503325 transverse profile, and the first transverse adjusting block and the second transverse adjusting block are respectively and vertically fixed on the end of the transverse profile.
Further, the lower ends of a vertical support leg of the left frame and the right frame are provided with a shock-absorbing steering device and a front wheel frame, the front wheel frame is hinged with a front wheel, and the shock-absorbing steering device comprises a base and an upper cover which are sleeved with each other up and down; the centers of the base and the upper cover are penetrated with screws, and compression springs located in the inner cavities of the base and the upper cover are sleeved on the screws; the upper cover is fixedly connected with the lower parts of the support legs by bolts, and the front wheels are fixedly connected with the base by bolts.
Further, the lower part of the other vertical support leg of the left frame and the right frame is provided with a rear wheel, a second motor and a second reducer fixed on the vertical support leg, the output shaft of the second motor is fixedly connected with the input shaft of the second reducer, and the output shaft of the second reducer drives the rear wheel to rotate and work through the transmission device.
Further, the transmission device comprises a cover shell and a transmission shaft rotatably hinged in the cover shell, wherein both ends of the transmission shaft are provided with bevel gears, and shaft gears meshed with the bevel gears are arranged in both ends of the cover shell, wherein one shaft gear is fixedly connected with the rotating shaft of the rear wheel, and one shaft gear is fixedly connected with the output shaft of the second reducer.
Further, the transverse frame is vertically penetrated with a plurality of lifting shafts, the lower parts of every two lifting shafts are fixedly connected with a thread rod mounting platform, a plurality of bolt holes are arranged on the lifting shafts, bolts pressed against the upper surface of the transverse frame are inserted into the bolt holes, the thread rod mounting platform is provide with a third screw rod driven by a third motor to rotate, a slide block is screwed on that third screw rod, and the slide block is detachably connected with the upper part of the weeding device.
In an working method of the weeding robot system in high-clearance fields, tH&J503325 system drives the first wire rod to rotate by the first motor, so as to drive the first transverse adjusting block to approach or move away from the second transverse adjusting block, so as to realize the approach or distance between the left frame and the right frame, so as to meet the requirements of different ridge spans; the second motor drives the second reducer and the transmission device to act, so as to realize the rotation of the driven wheels and make the system move forward in the field; the system drives the third screw rod to act through the third motor to realize the relative position of the weeding device.
BRIEF DESCRIPTION OF THE FIGURES
Fig. 1 is a perspective view of the overall structure of the present invention;
Fig. 2 is a front view of the invention;
Fig. 3 is a side pattern of the present invention;
Fig. 4 is a top view of the present invention;
Fig. 5 is a front view and a rear view of the thread rod mounting platform;
Fig. 6 is a sectional view of the shock-absorbing steering device;
Fig. 7 is an internal structure diagram of a transmission system;
Fig. 8 is a schematic diagram of the structure of a weeding device; 1-left frame; 2-lifting shaft; 3-thread rod mounting platform; 4-shock-absorbing steering device; 5-front wheel frame; 6-front wheels; 7-rear wheel; 8-right frame; 9-transmission device; 10-second motor; 11-second reducer; 12-mounting platform of driving device; 13-bearing shaft; 14-bearing shaft sleeve; 15-first motor; 16-first reducer; 17-second transverse adjustment block (without thread); 18-first transverse adjustment block (threaded); 19-first thread rod; 20-support beam
DESCRIPTION OF THE INVENTION LU503325
The weeding robot system in the high-clearance field of the invention comprises a left frame 1, a right frame 8 and a support beam 20 for connecting the left frame and the right frame, wherein a first transverse adjusting block 18 and a second transverse adjusting block 17 are fixedly arranged on the left frame 1 and the right frame 8 near the support beam respectively, and the first transverse adjusting block 18 and the second transverse adjusting block 17 can be solid blocks. A first screw rod 19 is inserted between the first transverse adjusting block and the second transverse adjusting block, the first screw rod 19 is in threaded connection with the threaded hole of the first transverse adjusting block 18, and the first screw rod is in socket connection with the through hole of the second transverse adjusting block (but the first screw rod cannot move relative to the second transverse adjusting block, that is, it is axially limited). The end of the first wire rod passes through the through hole and is fixedly connected with the output shaft of the first reducer 16 fixed on the second transverse adjusting block, the input shaft of the first reducer is fixedly connected with the output shaft of the first motor 15, and the first motor and the first reducer can be fixed on the second transverse adjusting block. Driven by the first motor and the first reducer, the first wire rod drives the first transverse adjusting block 18 to approach or move away from the second transverse adjusting block 17. The system has two groups of the above-mentioned first motor 15, the first reducer 16, the first wire rod 19, the first transverse adjusting block 18 and the second transverse adjusting block 17, so that the two sides of the left frame 1 and the right frame 8 can approach or move away synchronously, thus being suitable for fields and ridges with different widths.
The two ends of the support beam 20 are inserted into the channel of the profiles (which can be square steel) of the left frame and the right frame. The support beam 20 and the channel can be clearance fit and have sliding friction with each other. The lower parts of the left frame and the right frame are provided with wheels, and the lower surfaces of the left frame and the right frame are provided with weeding devices 21, which can be existing weeding devices 21 of any structure.
Further, in order to have a stable and reliable structure, the left frame 1 and the right/503325 frame 8 both include two vertical support legs A1 and a transverse frame A2 which are arranged in parallel at intervals, and the upper ends of the two vertical support legs are vertically fixed at the two ends of the lateral sides of the transverse frames respectively.
The transverse frame A2 includes two transverse profiles A3 arranged in parallel and three longitudinal profiles A4 vertically welded between the two transverse profiles. The three longitudinal profiles are the first longitudinal profile A401, the second longitudinal profile A402 and the third longitudinal profile A403 which are spaced apart from each other. The upper ends of the two vertical support legs are vertically fixed at both ends of the first longitudinal profile A401, respectively. The vertical support legs A1, the first longitudinal profile A401, the second longitudinal profile A402 and the third longitudinal profile A403 can be made of square steel.
A plurality of perforations is arranged on the second longitudinal profile and the third longitudinal profile on the left frame and the right frame, and a bearing shaft 13 can be a solid shaft or a hollow tube through the perforations. The bearing shaft sleeve 14 is fixedly arranged at the end of the bearing shaft close to the first longitudinal profile, and the bearing shaft 13 penetrates through the perforations on the second longitudinal profile and the third longitudinal profile of the left and right frames, so that the support effect and stability between the left and right frames are better. A bearing shaft sleeve 14 is fixed at the end of the bearing shaft, and the shaft diameter of the bearing shaft sleeve 14 is larger than the diameter of the perforation, thereby limiting the maximum distance between the left frame and the right frame.
For the sake of reasonable design, the two ends of the supporting beam 20 are specifically inserted into the channel of the transverse profile A3, and the first transverse adjusting block 18 and the second transverse adjusting block 17 are vertically fixed on the end of the transverse profile.
Further, the lower ends of a vertical support leg of the left frame 1 and the right frame 8 are provided with a shock-absorbing steering device 4 and a front wheel frame 5, the front wheel frame is hinged with a front wheel 6, and the shock-absorbing steering device 4 comprises a base 401 and an upper cover 402 which are sleeved with each other from top to bottom, and the base 401 and the upper cover 402 are bothJ503325 barrel-shaped and can be sleeved with each other relatively. The center of the base and the upper cover is penetrated with a screw 403, and a compression spring 404 located in the inner cavity of the base and the upper cover is sleeved on the screw. The screw 403 penetrates out of the base and the upper cover and is locked and fixed by a nut 405. The upper cover is fixedly connected with the lower part of the support leg by bolts, the front wheel is fixedly connected with the base by bolts, and the shock-absorbing steering device has partial axial sliding freedom and complete rotational freedom.
Further, for the sake of reasonable design, the lower part of the other vertical support leg of the left frame 1 and the right frame 8 is provided with a rear wheel 7, and a second motor 10 and a second reducer 11 fixed on the vertical support leg. The output shaft of the second motor is fixedly connected with the input shaft of the second reducer, and the output shaft of the second reducer drives the rear wheel to rotate through a transmission device 9.
Further, the transmission device 9 includes a cover housing 901 and a transmission shaft 902 rotatably hinged in the cover housing. The transmission shaft 902 is rotatably hinged with the cover housing 901 through a bearing located in the middle of the transmission shaft, and bevel gears 903 are arranged at both ends of the transmission shaft. Axle gears 904 meshed with bevel gears are arranged in both ends of the cover housing, one of which is fixedly connected with the rotating shaft of the rear wheel, and one of which is fixedly connected with the output shaft of the second reducer.
Further, a plurality of lifting shafts 2 vertically penetrate the transverse frame, the lower parts of every two lifting shafts are fixedly connected with a thread rod mounting platform 3, a plurality of bolt holes are arranged on the lifting shafts, and bolts pressed against the upper surface of the transverse frame are inserted into the bolt holes; of course, the lifting shafts 2 can also be driven to lift by another screw nut mechanism to realize real-time height control. The thread rod mounting platform is provided with a third screw 302 driven by a third motor 301 to rotate, a slide block 303 is screwed on that third screw, the slide block is detachably connected with the upper part of the weeding device 21, and a bracket with a hollow middle is also arrange on the thread rod mounting platform. Two ends of the bracket are provided with end caps, the third screw rdd/503325 penetrates through the bracket, and the slider is connected in a sliding way along the length direction of the bracket. The third motor is fixed on one end cap, and the third screw rod is driven by the third motor to rotate, so that the slider moves in the length direction of the bracket to adjust the position of the weeding device 21.
According to the working method of the weeding robot system in the high-clearance field, the system drives the first wire rod to rotate by the first motor, so as to drive the first transverse adjusting block to approach or move away from the second transverse adjusting block, so as to realize the approach or distance between the left frame and the right frame, and meet the requirements of different field ridges; the second motor drives the second reducer and the transmission device to act, so as to realize the rotation of the driven wheels and make the system move forward in the field; The system drives the third screw rod to act through the third motor to realize the relative position of the weeding device.
The action of each motor is controlled by a control system which is installed on the transverse frame of the vehicle frame. The electric power of each motor, the control system and the weeding device is supplied by a storage battery which is also placed on the transverse frame.
The above weeding device can be a field single-ridge and double-row weeding device, which is installed on the thread rod mounting platform 3. The weeding device can realize weeding between rows and avoiding seedlings among plants. The field single-ridge and double-row weeding device B includes a frame B1 and four upright posts vertically arranged at the lower part of the frame, namely, the first upright post B2, the second upright post B3, the third upright post B4 and the fourth upright post B5. A cross bar B6 and a weeding motor B7 fixed on the cross bar are respectively arranged between the first column B2 and the second column B3, and between the third column
B4 and the fourth column B5, and the output shaft of the weeding motor drives the transversely rotating blade B8 to work. The lower part between the second column B3 and the third column B4 is rotatably connected with a rotating rod B9 and a plurality of weeding rods B10 arranged on the rotating rod, and the upper part between the second column B3 and the third column B4 is provided with a supporting seat B11 and a motbtJ503325
B12 arranged on the supporting seat, and the motor drives the rotating rod to rotate through a pulley mechanism B13.
Compared with the prior art, the weeding robot has the following beneficial effects: the bracket composed of the hollow steel frame is light in weight, and is provided with the transverse adjusting device including the first motor, the first wire rod and the first and second transverse adjusting blocks, so that the weeding robot has better field ridge adaptability, and the height can be adjusted by the lifting shaft to adapt to the plant height.

Claims (8)

CLAIMS LU503325
1. A weeding robot system in high-clearance fields, characterized by comprising a left frame, a right frame and a support beam for connecting the left frame and the right frame; the left frame and the right frame are respectively provided with a first transverse adjusting block and a second transverse adjusting block near the supporting beam, a first thread rod is penetrated between the first transverse adjusting block and the second transverse adjusting block, the first thread rod is in threaded connection with the threaded hole of the first transverse adjusting block, the first thread rod is sleeved with the through hole of the second transverse adjusting block, the end of the first thread rod passes through the through hole and is fixedly connected with the output shaft of the first reducer fixed on the second transverse adjusting block, the input shaft of the first reducer is fixedly connected with the output shaft of the first motor, the two ends of the supporting beam penetrate through the grooves of the profiles of the left frame and the right frame, the lower parts of the left frame and the right frame are provided with wheels, and the lower surfaces of the left frame and the right frame are provided with weeding devices.
2. The weeding robot system in high-clearance fields according to claim 1, characterized in that the left frame and the right frame both comprise two vertical support legs and a horizontal frame which are arranged in parallel at intervals, and the upper ends of the two vertical support legs are vertically fixed at the two ends of the lateral side of the horizontal frame; the horizontal frame comprises two transverse profiles arranged in parallel and three longitudinal profiles vertically welded between the two transverse profiles, wherein the three longitudinal profiles are a first longitudinal profile, a second longitudinal profile and a third longitudinal profile which are arranged at intervals; the upper ends of the two vertical support legs are respectively vertically fixed at the two ends of the first longitudinal profile, a plurality of perforations are arranged on the second longitudinal profile and the third longitudinal profile on the left frame and the right frame, and a bearing shaft sleeve is fixedly arranged at the end of the bearing shaft close to the first longitudinal profile.
3. The weeding robot system in high-clearance fields according to claim 2U503325 characterized in that the two ends of the supporting beam penetrate through the channel of the transverse profile, and the first transverse adjusting block and the second transverse adjusting block are respectively vertically fixed on the end of the transverse profile.
4. The weeding robot system in high-clearance fields according to claim 2 or 3, characterized in that the lower ends of a vertical support leg of the left frame and the right frame are provided with a shock-absorbing steering device and a front wheel frame, the front wheel frame is hinged with a front wheel, and the shock-absorbing steering device comprises a base and an upper cover which are sleeved with each other up and down; the centers of the base and the upper cover are penetrated with screws, and compression springs located in the inner cavities of the base and the upper cover are sleeved on the screws; the upper cover is fixedly connected with the lower parts of the support legs by bolts, and the front wheels are fixedly connected with the base by bolts.
5. The weeding robot system in high-clearance fields according to claim 4, characterized in that the lower part of the other vertical support leg of the left frame and the right frame is provided with a rear wheel, a second motor and a second reducer fixed on the vertical support leg; the output shaft of the second motor is fixedly connected with the input shaft of the second reducer, and the output shaft of the second reducer drives the rear wheel to rotate and work through the transmission device.
6. The weeding robot system in high-clearance fields according to claim 5, characterized in that the transmission device comprises a cover shell and a transmission shaft rotatably hinged in the cover shell, wherein both ends of the transmission shaft are provided with bevel gears, and the shaft gears meshed with the bevel gears are arranged in both ends of the cover shell, wherein one shaft gear is fixedly connected with the rotating shaft of the rear wheel, and one shaft gear is fixedly connected with the output shaft of the second reducer.
7. The weeding robot system in high-clearance fields according to claim 6, characterized in that the horizontal frame is vertically penetrated with a plurality of lifting shafts, the lower parts of every two lifting shafts are fixedly connected with a thread rod mounting platform, a plurality of bolt holes are arranged on the lifting shafts, bolt$)503325 pressed against the upper surface of the horizontal frame are inserted into the bolt holes, the thread rod mounting platform is provided with a third thread rod driven by a third motor to rotate, a slide block is screwed on the third thread rod, and the slide block is detachably connected with the upper part of the weeding device.
8. A working method of the weeding robot system in high-clearance fields according to claim 7, characterized in that the system drives the first thread rod to rotate by the first motor, so as to drive the first transverse adjusting block to approach the second transverse adjusting block or move away from the second transverse adjusting block, so as to approach or move away from the left frame and the right frame for meeting the requirements of different ridge spans; the second motor drives the second reducer and the transmission device to act, so as to realize the rotation of the driven wheels and make the system move forward in the field; the system drives the third thread rod to act through the third motor to realize the relative position of the weeding device.
LU503325A 2023-01-10 2023-01-10 Weeding robot system in high-clearance fields and working method thereof LU503325B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
LU503325A LU503325B1 (en) 2023-01-10 2023-01-10 Weeding robot system in high-clearance fields and working method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
LU503325A LU503325B1 (en) 2023-01-10 2023-01-10 Weeding robot system in high-clearance fields and working method thereof

Publications (1)

Publication Number Publication Date
LU503325B1 true LU503325B1 (en) 2023-07-10

Family

ID=87106608

Family Applications (1)

Application Number Title Priority Date Filing Date
LU503325A LU503325B1 (en) 2023-01-10 2023-01-10 Weeding robot system in high-clearance fields and working method thereof

Country Status (1)

Country Link
LU (1) LU503325B1 (en)

Similar Documents

Publication Publication Date Title
CN105800511A (en) Transversely-telescopic greenhouse transport cart lifting platform
CN206307958U (en) One kind can transversal stretching greenhouse transport vehicle hoistable platform
LU503171B1 (en) Terrain self-adaption unmanned weeding robot for hillside orchard
CN111201847A (en) Weeding obstacle-avoiding robot
US6634162B1 (en) Simultaneous processing of multiple rows of plants, especially trellised rows
CN114794068B (en) Roller weeding device and method
LU503325B1 (en) Weeding robot system in high-clearance fields and working method thereof
CN103404302A (en) Crop straw swather
CN218125529U (en) Crop weeding machine
CN217160721U (en) Unmanned maize castration car
CN111955143B (en) Shrub and garden trimming means on lawn dual purpose
CN114568048A (en) High-clearance field weeding robot system and working method thereof
CN111345152B (en) Mowing pulverizer
CN114847156A (en) Unmanned maize castration car
CN215379942U (en) Weed trimming means is used in gardens construction
CN217937012U (en) Crop pesticide applying machine with lifting type chassis
CN219165074U (en) Soil turning device for crop cultivation
CN220965689U (en) Garden seedling trimming device
CN116491294B (en) Garden weeder capable of collecting weeds
CN220493510U (en) Weeding equipment for agricultural planting
CN110558086A (en) Branch trimming device
CN213073523U (en) Leading weeder of blade angularly adjustable
CN111580573B (en) Greenhouse monitoring system for facility agriculture
CN114788452B (en) Agricultural automatic all-terrain weeding device
CN212344677U (en) Height-adjustable vine vegetable planting support

Legal Events

Date Code Title Description
FG Patent granted

Effective date: 20230710