CN209017403U - A weeding robot for orchard weeding - Google Patents

Abstract

A kind of weed-eradicating robot for orchard weeding, rear-wheel (1) are connected by wheel fork (2) with car body (4), and hub motor (3), which is bolted on wheel fork, drives rear wheel to drive complete machine walking；Steering motor (6) the tip of the axis is equipped with tooth sector (51) and engages with steering rack (52), steering link (7) one end connects with steering rack (52), the other end connects with the steering keyhole of knuckle (81), suspension fork mechanism (8) includes knuckle (81), lower swing arm (82) and damping spring (83), slide block guide rail (19) and screw slide (18) are fixed on the front of car body (4), crane (10) are installed thereon, angle electrical machinery (17) are installed on crane (10), corner plate (12) and lanar four rod mechanism (16), cutting mechanism includes dish-style cutter (11), nearside divider (13), gear-box (14), cutting motor (15).

Description

A weeding robot for orchard weeding

technical field

The utility model relates to robot technology, in particular to a wheeled mobile robot with the function of weeding and turning the ground.

Background technique

Orchard planting has become an important way to promote rural development and increase farmers' income. Too many weeds in orchards will cause the loss of nutrients and water from fruit trees, affecting the growth of fruit trees and the quality of fruit products. Therefore, weeding in orchards has become particularly important. The current methods of weeding mainly include manual weeding, mechanical weeding and chemical weeding. Manual weeding is labor-intensive and inefficient, and may also delay farming time. Long-term chemical weeding not only pollutes the environment, but also causes orchard soil. degeneration problem. At present, the existing foreign weeding robots are mostly used in field operations. Some of the orchard weeding robots developed with reference to the field weeding robots retain the form of large structure and high power, are expensive, and are not suitable for the operating environment of domestic low-stock and densely planted orchards; domestic Most weeding robots are only suitable for working on relatively flat lawns and do not have the function of turning soil.

SUMMARY OF THE INVENTION

The purpose of this utility model is to provide a weeding robot for weeding in orchards.

The utility model is a weeding robot for orchard weeding, comprising a rear wheel 1, a front wheel 9, a hub motor 3, a steering motor 5, a mowing motor 13 and a corner motor 16, a vehicle body 4, a disc cutter 11, The screw slide 18, the rear wheel 1 is connected to the vehicle body 4 through the wheel fork 2, the wheel hub motor 3 is bolted to the wheel fork to drive the rear wheel to rotate and drive the whole machine to walk; the end of the steering motor 6 shaft is installed with a steering gear 51 and steering The rack 52 is meshed, one end of the steering link 7 is connected with the steering rack 52, and the other end is connected with the steering bolt hole of the steering knuckle 81, and the steering motor 6 drives the steering rack 5 to drive the steering link 7 to realize steering; The frame mechanism 8 includes a steering knuckle 81, a lower swing arm 82 and a shock-absorbing spring 83, which are connected to the front wheel 9 and the vehicle body 4 and can maintain the stability of the vehicle body; In the front part, the lifting frame 10 is installed on it. The lifting frame 10 is installed with a corner motor 17, a corner plate 12 and a plane four-bar linkage mechanism 16. The corner motor 17 drives the plane four-bar linkage mechanism 16 to drive the corner plate 12 to rotate; cutting; The mechanism is fixed on the corner plate 12, and includes a disc cutter 11, a crop divider 13, a gear box 14, and a cutting motor 15. The cutting motor 15 drives the rotary cutter shaft and the gear train to drive the disc cutter 11 to rotate. The cutter 13 can squeeze the weeds in the gap between the two cutter discs to both sides; the battery pack 20 is installed inside the vehicle body 4 .

The utility model has the advantages that it can be applied to the cultivation mode of densely planted orchards with dwarf stock, has compact structure and low cost, can not only cut the ground weeds, but also can adjust the height of the cutting stubble, and can also turn over the ground weeds while cutting the ground weeds. Ground operation; solves the limitations of current orchard manual and mechanical weeding. The power source is provided by the battery, the use cost is low, the energy is saved, the maintenance is simple, time-saving and trouble-free, and the environmental pollution is small.

Description of drawings

1 is a schematic diagram of the orchard weeding robot and its structure of the present utility model, FIG. 2 is a schematic diagram of a steering rack and pinion mechanism of the present utility model, FIG. 3 is a schematic diagram of a suspension mechanism of the present utility model, and FIG. Figure 5 is a schematic diagram of the stubble height adjustment mechanism of the present invention, Figure 6 is a schematic diagram of the structure of the disc cutter of the present invention, and Figure 7 is a schematic diagram of the state of the disc cutter of the present invention when only cutting grass. 8 is a schematic diagram of the state of the disc cutter of the present utility model when both cutting grass and turning the ground and removing roots. Reference signs and names are: 1-rear wheel, 2-wheel fork, 3-wheel motor, 4-body, 5-steering rack and pinion, 6-steering motor, 7-steering link, 8-suspension mechanism , 9-front wheel, 10-lifting frame, 11-disc cutter, 12-corner plate, 13-grazer, 14-gear box, 15-cutting motor, 16-plane four-bar linkage, 17-corner Motor, 18-lead screw slide, 19-slider guide, 20-battery pack.

Detailed ways

As shown in FIGS. 1 to 8 , the present utility model is a weeding robot for weeding in orchards, comprising a rear wheel 1, a front wheel 9, a hub motor 3, a steering motor 5, a mowing motor 13 and a corner motor 16. Body 4, disc cutter 11, lead screw slide 18, rear wheel 1 is connected with body 4 through wheel fork 2, hub motor 3 is bolted to the wheel fork to drive the rear wheel to rotate and drive the whole machine to walk; steering motor 6 axis A steering gear 51 is installed at the end of the steering rod to mesh with the steering rack 52. One end of the steering connecting rod 7 is connected to the steering rack 52, and the other end is connected to the steering bolt hole of the steering knuckle 81. The steering motor 6 drives the steering gear rack 5 to move. The steering link 7 is driven to achieve steering; the suspension mechanism 8 includes a steering knuckle 81, a lower swing arm 82 and a shock spring 83, which are connected to the front wheel 9 and the vehicle body 4, and can maintain the stability of the vehicle body; the slider guide rail 19 and the lead screw slide The stage 18 is fixedly connected to the front part of the vehicle body 4, and a lifting frame 10 is installed on it. The lifting frame 10 is mounted with a corner motor 17, a corner plate 12 and a plane four-bar linkage mechanism 16, and the corner motor 17 drives the plane four-bar linkage The mechanism 16 drives the corner plate 12 to rotate; the cutting mechanism is fixed on the corner plate 12 and includes a disc cutter 11, a crop divider 13, a gear box 14, and a cutting motor 15. The cutting motor 15 drives the rotating knife shaft and the gear train to drive The disc cutter 11 rotates, and the crop divider 13 can squeeze the weeds in the gap between the two cutter discs to both sides; the battery pack 20 is installed inside the vehicle body 4 .

As shown in FIG. 1 , the rear wheel 1 is a driving wheel, the front wheel 9 is a driven wheel and a steering wheel, and the robot as a whole has a three-wheel structure.

As shown in FIG. 1 and FIG. 6 , there are two disc cutters 11 , which are installed side by side under the corner plate 12 . The disc cutter 11 is composed of a blade 111 and a cutter head 112 , and the blade 111 is bolted to the cutter head 112 It is convenient for disassembly and replacement, and the blade 111 and the bottom plane of the cutter head 112 form a certain angle.

As shown in FIG. 1 , FIG. 4 , and FIG. 5 , the lifting frame 10 can move up and down along the slider guide rail 19 under the driving of the lead screw slide table 18 to adjust the height of the disc cutter 11 from the ground.

As shown in FIG. 1 , four cylindrical spur gears with the same size are installed on the same straight line in the gear box 14 to mesh with each other, so that the centers of the two disc cutters 11 can be on the same straight line and can realize the same speed reaction. to rotate.

The working principle of the utility model is as follows: as shown in Figures 1 to 8, the battery pack 20 provides the power for the robot to walk, turn, and cut. Before the robot starts to work, the two disc cutters 11 are in the original state, and the cutter discs are in the original state. The bottom surface is parallel to the ground. If only weeds on the ground need to be cut, the corner motor 17 will not act, and the disc cutter 11 will maintain the initial state. According to the height requirement of cutting stubble, use the screw slide table 18 to adjust the lifting frame 10 to a suitable position, and start the operation. The hub motor 3 drives the robot to start the weeding work; if it is necessary to turn the ground and remove the roots while cutting weeds on the ground, start the rotating angle motor 17 to drive the plane four-bar linkage mechanism to drive the angle plate 12 to rotate by a certain angle α, so that the disc cutter 11 disc The bottom surface forms a certain angle α with the ground. At this time, the front half of the disc cutter 11 is parallel to the ground to cut weeds on the ground, and the second half forms an angle of 2α with the ground to perform the rooting operation, and the weeding operation is completed for each row. Afterwards, the steering motor 6 drives the steering rack and pinion 5 to drive the steering link 7 and the two front wheels 9 to steer, so that the continuous operation can be realized.

The goal of the present utility model is to cut weeds in orchards and turn the ground to remove roots. Figures 1 to 8 are schematic diagrams of the orchard weeding robot of the present utility model and some mechanisms. Its working process is as follows: adjust the angle of the disc cutter 11 and lift the The height of the frame 10 is confirmed, and the power is turned on after confirming that it has reached an accurate position; first, the cutting motor 15 moves to drive the cutter shaft and the gear train to drive the disc cutter 11 to rotate to implement weeding and turning the ground; secondly, the hub motor 3 moves to drive the rear wheels 1. Drive the whole machine to walk between rows of fruit trees. When the robot walks to the end of each row, the steering motor 6 is turned on and drives the steering rack and pinion 5 to drive the steering link 7 and the front wheel 9 to turn, so as to achieve the purpose of continuous work of the robot.

The beneficial effects of the utility model are as follows: the novel orchard weeding robot is small in size and compact in structure, can be applied to the current orchard cultivation mode with low tree canopy, can effectively improve the orchard weeding efficiency and reduce the damage to the fruit trees during the weeding process;

It solves the problem that the existing weeding machinery cannot meet the weeding problem of clearing orchards and grass-growing orchards at the same time, and concentrates the functions of mowing and rooting on one cutter, and the structure is more concise;

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall include within the scope of protection of the present invention.

Claims (5)

1. a kind of weed-eradicating robot for orchard weeding, including rear-wheel (1), front-wheel (9), hub motor (3), steering motor (6), cutting motor (15) and angle electrical machinery (17), car body (4), dish-style cutter (11), screw slide (18), it is characterised in that after Wheel (1) is connected by wheel fork (2) with car body (4), and hub motor (3), which is bolted on wheel fork, drives rear wheel to drive complete machine row It walks；Steering motor (6) the tip of the axis is equipped with tooth sector (51) and engages with steering rack (52), steering link (7) one end with Steering rack (52) connects, and the other end connects with the steering keyhole of knuckle (81), and steering motor (6) drives tooth sector rack gear (5) movement drives steering link (7) to realize and turns to；Suspension fork mechanism (8) includes knuckle (81), lower swing arm (82) and damping spring (83), which is connected front-wheels (9) and car body (4), are able to maintain vehicle body and stablize；Slide block guide rail (19) and screw slide (18) are connected In the front of car body (4), crane (10) are installed thereon, angle electrical machinery (17), corner are installed flat on the crane (10) Plate (12) and lanar four rod mechanism (16), angle electrical machinery (17) drive lanar four rod mechanism (16) to drive corner plate (12) Rotation；Cutting mechanism is fixed on corner plate (12), including dish-style cutter (11), nearside divider (13), gear-box (14), cutting Motor (15), cutting motor (15) the driving swivel knife shaft and gear train drive dish-style cutter (11) rotation, nearside divider (13) Weeds at two disc cutterbar intermediate gaps can be pressed to both sides；It is internal that battery pack (20) is installed on car body (4).

2. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that: based on the rear-wheel (1) Driving wheel, front-wheel (9) are driven wheel and steering wheel, robot generally Three-wheel type structure.

3. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that: the dish-style cutter (11) There are two, it is mounted side by side under corner plate (12), dish-style cutter (11) is made of blade (111) and cutterhead (112), blade (111) it is bolted on cutterhead (112), replacement easy to disassemble, blade (111) forms an angle with cutterhead (112) bottom plane.

4. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that the crane (10) exists It can be moved up and down along slide block guide rail (19) under the driving of screw slide (18), adjust the terrain clearance of dish-style cutter (11).

5. the weed-eradicating robot according to claim 1 for orchard weeding, it is characterised in that in the gear-box (14) The identical spur gear wheel intermeshing of four sizes is installed on the same line, can be made in two dish-style cutter (11) disks The heart on the same line and is able to achieve synchronized reverse rotation.