CN111406454B - Weeding and soil loosening robot for agriculture - Google Patents
Weeding and soil loosening robot for agriculture Download PDFInfo
- Publication number
- CN111406454B CN111406454B CN202010313072.7A CN202010313072A CN111406454B CN 111406454 B CN111406454 B CN 111406454B CN 202010313072 A CN202010313072 A CN 202010313072A CN 111406454 B CN111406454 B CN 111406454B
- Authority
- CN
- China
- Prior art keywords
- motor
- lifting
- assembly
- soil loosening
- plate
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- 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
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
-
- 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
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/08—Means for protecting against dust, or the like, or for cleaning agricultural implements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/12—Mowers combined with apparatus performing additional operations while mowing with soil-working implements, e.g. ploughs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The invention relates to the technical field of agricultural robots, in particular to an agricultural weeding and soil loosening robot, which comprises a crawler walking device and a hollow underframe, wherein the underframe is fixedly arranged at the top of the crawler walking device, the top of the underframe is provided with a hollow U-shaped frame, the inside of the underframe is respectively provided with a driving motor and a controller, the center of the top of the U-shaped frame is provided with a lifting assembly, a camera is arranged above the lifting assembly, the lifting assembly comprises a lifting plate capable of lifting, two sides of the lifting plate are respectively provided with a hollow connecting frame, the middle ends of two sides of each hinged frame are respectively hinged with the inner wall of the U-shaped frame, each hinged frame is respectively provided with a telescopic assembly, the output end of each telescopic assembly is respectively provided with a weeding assembly and a soil loosening assembly, and the controller is respectively electrically connected with the driving motor, the camera, the weeding assembly, the soil loosening assembly and each telescopic assembly, the equipment can realize automatic weeding and soil loosening, and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to an agricultural weeding and soil loosening robot.
Background
The weed killer is often needed to be used to recuperate and get rid of weeds in the soil in the recuperation process of crops field and afforestation, and the most existing weed killers can only remove weeds, still need carry out the manual soil loosening again after removing weeds, waste time and energy, and can't realize automatic weeding and loosen the soil, reduce work efficiency, consequently, we have provided a weeding and soil loosening robot for agricultural, so as to solve the above-mentioned problem of proposing.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the weeding and soil loosening robot for the agriculture, and the equipment can realize automatic weeding and soil loosening and improve the working efficiency.
In order to solve the technical problems, the invention provides the following technical scheme:
a weeding and soil loosening robot for agriculture comprises a crawler walking device and a hollow underframe, wherein the underframe is fixedly installed at the top of the crawler walking device, a hollow U-shaped frame is arranged at the top of the underframe, a driving motor and a controller are respectively arranged inside the underframe, a lifting assembly is arranged at the center of the top of the U-shaped frame, a camera is arranged above the lifting assembly, the output end of the driving motor can rotatably penetrate through two sides of the U-shaped frame and the U-shaped frame to be connected with the internal transmission of the lifting assembly in a transmission manner, the lifting assembly comprises a lifting plate capable of lifting, hollow connecting frames are respectively arranged on two sides of the lifting plate, one end of each hinge frame is respectively connected with the internal transmission of the lifting plate, the middle ends of two sides of each hinge frame are respectively hinged with the inner wall of the U-shaped frame, a telescopic assembly is respectively arranged on each hinge frame, a weeding assembly and a soil loosening assembly are respectively arranged at the output end of each telescopic assembly, the controller is connected with driving motor, camera, weeding subassembly, the subassembly that loosens the soil and every flexible subassembly electricity respectively.
Preferably, the lifting component is fixed with the lifting sleeve, threaded rod and lead screw slider, fixed lifting cover is the bottom of vertical fixed mounting in the inside center department of U type frame, the threaded rod is vertical and can be rotatory setting in the inside of fixed lifting cover, the lead screw slider sets up on the threaded rod, lead screw slider and threaded rod threaded connection, the both sides of lead screw slider are equipped with respectively and extend the piece, fixed lifting is sheathe in and is equipped with the bar that is used for supplying every extension piece to remove and removes and wears the mouth, the lifter plate sets up and sheathes in fixed lifting, be equipped with on the lifter plate and be used for dodging fixed lifting cover dodging the perforation, the one end of every extension piece lets perforation inner wall fixed connection with the wall on the lifter plate respectively, the top of fixed lifting cover is equipped with the roof that is the level setting, the top both sides fixed connection of support and U type frame is passed through respectively at the both ends of roof, the one end of threaded rod and drive assembly's output fixed connection.
Preferably, the lifting plate is provided with first hinged columns on two sides of one end close to each connecting frame, each first hinged column is provided with a hinged connecting rod, one end of each hinged connecting rod is hinged to each first hinged column, two sides of one end of each connecting frame close to the lifting plate are provided with second hinged columns, and one end of each hinged connecting rod is hinged to each second connecting column.
Preferably, the weeding assembly comprises a connecting plate, a driving box, a first motor, a driving shaft and a plurality of mowing knives, the connecting plate is horizontally arranged at one end of one of the connecting frames far away from the lifting plate, the output end of one of the telescopic assemblies is in transmission connection with the center of one side of the connecting plate, the driving box is horizontally arranged at one side below the connecting plate, two ends of the bottom of the connection are respectively and fixedly connected with the top of the driving box through the connecting frame, the first motor is horizontally and fixedly arranged at one end of the driving box, the driving shaft is horizontally arranged in the driving box, two ends of the driving shaft are respectively and rotatably inserted into the inner wall of the driving box and extend outwards, one end of the driving shaft is fixedly connected with the output end of the first motor, the plurality of mowing knives are uniformly arranged below the driving box in a horizontal state, a rotating rod is respectively arranged at the center of the top of each mowing knife, the top of each rotating rod can respectively and rotatably extend towards the inside of the driving box, the extension end of every bull stick is equipped with first awl tooth respectively, is equipped with the second awl tooth with every first awl tooth one-to-one on the drive shaft, and first awl tooth and second awl tooth meshing set up, and first motor is connected with the controller electricity.
Preferably, the bottom of the weeding assembly driving box is provided with a baffle plate which is obliquely arranged above one side of the driving box.
Preferably, the subassembly that loosens the soil includes the cavity lid, loosen soil axle and second motor, the cavity lid is the one end that the lifter plate was kept away from to the level lies in another link, the output of another flexible subassembly is connected with the transmission of the top center department of cavity lid, the axle that loosens the soil is the inside that the level set up at the cavity lid, the second motor is the one end of level fixed mounting at the cavity lid, the both ends of cavity lid can be rotated respectively insert the inner wall of locating the cavity lid and outwards extend, the output of second motor and the one end fixed connection of the axle that loosens the soil, the epaxial claw that loosens the soil that is equipped with a plurality of evenly distributed and sets up that loosens the soil, the second motor is connected with the controller electricity.
Preferably, one end of the hollow cover close to the second motor is provided with a dust cover, and the second motor is positioned in the dust cover.
Preferably, each telescopic component comprises an L-shaped plate, a third motor, a fixed loop bar, an inner rod, a threaded loop bar and a threaded sleeve jig, the fixed loop bar is horizontally positioned at the lower section in the connecting frame, one end of the fixed loop bar penetrates through the inner wall and the outer wall of the connecting frame to extend outwards, the L-shaped plate is horizontally positioned below the fixed loop bar, two sides of the L-shaped plate are respectively and fixedly connected with the inner wall of the connecting frame, the third motor is horizontally and fixedly arranged at the center of the top of the L-shaped plate, the output end of the third motor can rotatably extend towards the inside of the fixed loop bar, the threaded sleeve jig is fixedly arranged at one end of the fixed loop bar, which is far away from the third motor, the threaded loop bar is horizontally arranged at the inner ring of the fixed loop bar, one end of the threaded loop bar penetrates through the inner ring of the threaded sleeve jig to extend outwards, the threaded loop bar is in threaded connection with the threaded sleeve jig, the inner rod is arranged at the inner ring of the threaded loop bar, the both sides of interior pole are equipped with respectively and contradict the strip, are equipped with on the screw loop pole to be used for supplying the gliding sliding tray of every conflict strip, the one end of interior pole and the output fixed connection of third motor, and the screw loop pole on every flexible subassembly can the pivoted respectively insert the top center department of locating cavity lid and connecting plate, and the third motor is connected with the controller electricity.
Preferably, the hollow cover and the two sides of the top of the connecting plate are respectively provided with a limiting rod extending to the two sides of each connecting frame, and each connecting frame is respectively provided with a limiting sleeve for each limiting rod to pass through.
Compared with the prior art, the invention has the beneficial effects that: a weeding and soil loosening robot for agriculture is characterized in that during operation, a controller controls equipment to move to a position needing operation, a camera is arranged to remotely observe through a cloud end, a driving motor is controlled by the controller to drive a threaded rod to rotate, the threaded rod drives a lead screw slider to drive a lifting plate to move downwards through each extending block on the lead screw slider, when the lifting plate moves downwards, one end of each connecting frame is respectively driven to move upwards through each hinged connecting rod, the other end of each connecting frame is obliquely and downwards arranged, the controller controls a third motor on each telescopic assembly, an inner rod is driven to rotate through the third motor, the inner rod enables a threaded sleeve rod to rotate through a sliding groove on each abutting strip abutting against the threaded sleeve rod, the threaded sleeve rod extends towards the outside of a fixed sleeve rod through threaded connection of a threaded sleeve jig, and the weeding assembly and a soil loosening assembly are respectively driven to move downwards through the threaded sleeve rod on each telescopic assembly, until the output ends of the soil loosening assembly and the weeding assembly are moved to a required position, when the soil loosening assembly and the weeding assembly are moved respectively, each limiting rod and each limiting sleeve are arranged to play a role of limiting movement, after the weeding assembly is moved to the required position, the controller controls the first motor, the first motor drives the driving shaft to rotate, the driving shaft drives each second bevel gear to rotate, each second bevel gear drives each first bevel gear and each rotating rod to rotate respectively, each rotating rod drives each mowing knife to rotate respectively and carries out weeding operation, the baffle is arranged to resist the cut weeds, after the weeding assembly removes the weeds, the controller controls the second motor, the second motor drives the soil loosening shaft to rotate, the soil loosening shaft drives all soil loosening claws to operate, the hollow cover is arranged to resist the soil loosened, and the dust cover is arranged to prevent the soil from entering the second motor, influence the second motor operation, this equipment can realize automatic weeding and loosen the soil, improves work efficiency.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4 of the present invention;
FIG. 6 is an enlarged view of the invention at B of FIG. 5;
fig. 7 is a partial perspective view of the ripping assembly of the present disclosure;
FIG. 8 is a schematic partial perspective view of the herbicidal assembly of the present invention;
FIG. 9 is a side view of the attachment bracket of the present invention;
FIG. 10 is a cross-sectional view taken at C-C of FIG. 9 in accordance with the present invention;
fig. 11 is an enlarged view of fig. 10 at D according to the present invention.
The reference numbers in the figures are: 1-a crawler belt walking device; 2-a chassis; 3-U-shaped frame; 4-driving the motor; 5-a controller; 6-a camera; 7-a lifting plate; 8-a connecting frame; 9-fixing a lifting sleeve; 10-a threaded rod; 11-a screw rod slide block; 12-an extension block; 13-strip-shaped movable penetrating openings; 14-a top plate; 15-a hinged link; 16-a connecting plate; 17-a drive box; 18-a first electric machine; 19-a drive shaft; 20-a mowing knife; 21-rotating rod; 22-a first bevel gear; 23-second taper teeth; 24-a baffle; 25-hollow cap; 26-a soil loosening shaft; 27-a second motor; 28-scarification claws; 29-a dust cover; 30-L template; 31-a third motor; 32-fixing the loop bar; 33-inner rod; 34-a threaded shank; 35-a thread bushing jig; 36-a countertouch bar; 37-a sliding groove; 38-a limiting rod; 39-a stop collar; s
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 11, the agricultural weeding and soil loosening robot comprises a crawler walking device 1 and a hollow underframe 2, wherein the underframe 2 is fixedly installed at the top of the crawler walking device 1, the top of the underframe 2 is provided with a hollow U-shaped frame 3, the inside of the underframe 2 is respectively provided with a driving motor 4 and a controller 5, the center of the top of the U-shaped frame 3 is provided with a lifting component, a camera 6 is arranged above the lifting component, the output end of the driving motor 4 can rotatably penetrate through two sides of the U-shaped frame 3 and the U-shaped frame 3 to be connected with the inner transmission of the lifting component, the lifting component comprises a lifting plate 7 capable of lifting, two sides of the lifting plate 7 are respectively provided with a hollow connecting frame 8, one end of each hinge frame is respectively connected with the inner transmission of the lifting plate 7, the middle ends of two sides of each hinge frame are respectively hinged with the inner wall of the U-shaped frame 3, each hinge frame is respectively provided with a telescopic component, the output of every flexible subassembly is equipped with the subassembly that weeds and loosens the soil respectively, and controller 5 is connected with driving motor 4, camera 6, weeding subassembly, the subassembly that loosens the soil and every flexible subassembly electricity respectively.
The lifting assembly is fixedly provided with a lifting sleeve 9, a threaded rod 10 and a lead screw slider 11, the fixed lifting sleeve 9 is vertically and fixedly arranged at the bottom end of the inner center of the U-shaped frame 3, the threaded rod 10 is vertically and rotatably arranged inside the fixed lifting sleeve 9, the lead screw slider 11 is arranged on the threaded rod 10, the lead screw slider 11 is in threaded connection with the threaded rod 10, two sides of the lead screw slider 11 are respectively provided with an extending block 12, the fixed lifting sleeve 9 is provided with a strip-shaped moving through hole 13 for moving each extending block 12, a lifting plate 7 is arranged on the fixed lifting sleeve 9, the lifting plate 7 is provided with an avoiding perforation for avoiding the fixed lifting sleeve 9, one end of each extending block 12 is respectively and fixedly connected with the inner wall of the perforation by the wall on the lifting plate 7, the top of the fixed lifting sleeve 9 is provided with a top plate 14 in a horizontal arrangement, two ends of the top plate 14 are respectively and fixedly connected with two sides of the top of the U-shaped frame 3 by a bracket, one end of threaded rod 10 and drive assembly's output fixed connection, during the operation, 5 controlgear of controller remove to the position that needs the operation, set up camera 6 and can pass through high in the clouds remote observation, and rethread controller 5 control driving motor 4 drives threaded rod 10 rotatory, and threaded rod 10 drives lead screw slider 11 and drives lifter plate 7 rebound through every extension piece 12 on the lead screw slider 11.
The one end both sides that lifter plate 7 is close to every link 8 are equipped with first articulated post respectively, be equipped with articulated connecting rod 15 on every first articulated post respectively, every articulated connecting rod 15 one end sets up with every first articulated post is articulated respectively, every link 8 is close to the one end both sides of lifter plate 7 and is equipped with the articulated post of second respectively, every articulated connecting rod 15 one end sets up with every second link is articulated respectively, lifter plate 7 is when the lapse, drive the one end rebound of every link 8 respectively through every articulated connecting rod 15, make the other end slope of every link 8 set up downwards.
The weeding assembly comprises a connecting plate 16, a driving box 17, a first motor 18, a driving shaft 19 and a plurality of mowing knives 20, wherein the connecting plate 16 is horizontally arranged at one end of one connecting frame 8 far away from the lifting plate 7, the output end of one telescopic assembly is in transmission connection with the center of one side of the connecting plate 16, the driving box 17 is horizontally arranged at one side below the connecting plate 16, two ends of the bottom of the connection are respectively and fixedly connected with the top of the driving box 17 through the connecting frame 8, the first motor 18 is horizontally and fixedly arranged at one end of the driving box 17, the driving shaft 19 is horizontally arranged in the driving box 17, two ends of the driving shaft 19 are respectively and rotatably inserted into the inner wall of the driving box 17 and extend outwards, one end of the driving shaft 19 is fixedly connected with the output end of the first motor 18, the plurality of mowing knives are uniformly arranged below the driving box 17 in a horizontal state, the center of the top of each mowing knife 20 is respectively provided with a rotating rod 21, the top of each bull stick 21 can be pivoted respectively and extend to the inside of drive box 17, the end that extends of each bull stick 21 is equipped with first awl tooth 22 respectively, be equipped with on the drive shaft 19 with the second awl tooth 23 of every first awl tooth 22 one-to-one, first awl tooth 22 sets up with the meshing of second awl tooth 23, first motor 18 is connected with controller 5 electricity, after weeding subassembly removes to required position, controller 5 controls first motor 18, first motor 18 drives the drive shaft 19 rotatory, drive shaft 19 drives every second awl tooth 23 rotatory, every second awl tooth 23 drives every first awl tooth 22 and every bull stick 21 rotation respectively, every bull stick 21 drives every mowing sword 20 respectively and rotates, and the operation of weeding is carried out.
The bottom of weeding subassembly drive box 17 is equipped with the baffle 24 of slope setting to drive box 17 one side top, and the baffle 24 that sets up is used for keeping out the weeds that cut off.
The soil loosening assembly comprises a hollow cover 25, a soil loosening shaft 26 and a second motor 27, the hollow cover 25 is horizontally positioned at one end of the other connecting frame 8 far away from the lifting plate 7, the output end of the other telescopic assembly is in transmission connection with the center of the top of the hollow cover 25, the soil loosening shaft 26 is horizontally arranged inside the hollow cover 25, the second motor 27 is horizontally and fixedly installed at one end of the hollow cover 25, two ends of the hollow cover 25 can be respectively inserted into the inner wall of the hollow cover 25 in a rotating manner and extend outwards, the output end of the second motor 27 is fixedly connected with one end of the soil loosening shaft 26, a plurality of soil loosening claws 28 are uniformly distributed on the soil loosening shaft 26, the second motor 27 is electrically connected with the controller 5, after the weeding assembly is weeding, the controller 5 controls the second motor 27, the second motor 27 drives the soil loosening shaft 26 to rotate, the soil loosening shaft 26 drives all the soil loosening claws 28 to loosen soil, the hollow cover 25 is arranged to resist soil after loosening.
The one end that cavity lid 25 is close to second motor 27 is equipped with dust cover 29, and second motor 27 is located the inside of dust cover 29, and the dust cover 29 that sets up is used for preventing earth entering second motor 27, influences the operation of second motor 27.
Each telescopic component comprises an L-shaped plate 30, a third motor 31, a fixed loop bar 32, an inner bar 33, a threaded loop bar 34 and a threaded sleeve jig 35, the fixed loop bar 32 is horizontally positioned at the lower section inside the connecting frame 8, one end of the fixed loop bar 32 penetrates through the inner wall and the outer wall of the connecting frame 8 and extends outwards, the L-shaped plate 30 is horizontally positioned below the fixed loop bar 32, two sides of the L-shaped plate 30 are fixedly connected with the inner wall of the connecting frame 8 respectively, the third motor 31 is horizontally and fixedly arranged at the center of the top of the L-shaped plate 30, the output end of the third motor 31 can rotatably extend towards the inside of the fixed loop bar 32, the threaded sleeve jig 35 is fixedly arranged at one end, far away from the third motor 31, of the fixed loop bar 32, the threaded loop bar 34 is horizontally arranged at the inner ring of the fixed loop bar 32, one end of the threaded loop bar 34 penetrates through the inner ring of the threaded sleeve 35 and extends outwards, and the threaded loop bar 34 is in threaded connection with the threaded sleeve jig 35, the inner rod 33 is arranged at the inner ring of the threaded sleeve rod 34, two sides of the inner rod 33 are respectively provided with a contact strip 36, the threaded sleeve rod 34 is provided with a sliding groove 37 for each contact strip 36 to slide, one end of the inner rod 33 is fixedly connected with the output end of the third motor 31, the threaded sleeve rod 34 on each telescopic component can be respectively and rotatably inserted in the top centers of the hollow cover 25 and the connecting plate 16, the third motor 31 is electrically connected with the controller 5, the controller 5 controls the third motor 31 on each telescopic component, the inner rod 33 is driven to rotate by the third motor 31, the inner rod 33 enables the threaded sleeve rod 34 to rotate by each contact strip 36 abutting against the sliding groove 37 on the threaded sleeve rod 34, the threaded sleeve rod 34 extends to the outside of the fixed sleeve rod 32 by the threaded connection of the threaded sleeve jig 35, the threaded sleeve rod 34 on each telescopic component respectively drives the weeding component and the soil loosening component to move downwards, until the output ends of the soil loosening assembly and the weeding assembly are moved to the required positions.
The two sides of the top of the hollow cover 25 and the connecting plate 16 are respectively provided with a limiting rod 38 extending towards the two sides of each connecting frame 8, each connecting frame 8 is respectively provided with a limiting sleeve 39 for each limiting rod 38 to pass through, and when the soil loosening assembly and the weeding assembly move respectively, each limiting rod 38 and each limiting sleeve 39 which are arranged play a role in limiting movement.
The working principle is as follows: during operation, the controller 5 controls the equipment to move to a position needing operation, the camera 6 is arranged to be capable of remotely observing through a cloud end, the controller 5 controls the driving motor 4 to drive the threaded rod 10 to rotate, the threaded rod 10 drives the lead screw slide block 11 to drive the lifting plate 7 to move downwards through each extending block 12 on the lead screw slide block 11, when the lifting plate 7 moves downwards, one end of each connecting frame 8 is respectively driven to move upwards through each hinged connecting rod 15, the other end of each connecting frame 8 is obliquely and downwards arranged, the controller 5 controls the third motor 31 on each telescopic assembly, the inner rod 33 is driven to rotate through the third motor 31, the inner rod 33 abuts against the sliding groove 37 on the threaded sleeve rod 34 through each abutting contact strip 36 to enable the threaded sleeve rod 34 to rotate, the threaded sleeve rod 34 extends towards the outside of the fixed sleeve rod 32 through threaded connection of the threaded sleeve jig 35, and the weeding assembly and the soil loosening assembly are respectively driven to move downwards through the threaded sleeve rod 34 on each telescopic assembly, until the output ends of the soil loosening assembly and the weeding assembly move to a required position, when the soil loosening assembly and the weeding assembly move respectively, each limiting rod 38 and each limiting sleeve 39 which are arranged play a role of limiting movement, after the weeding assembly moves to the required position, the controller 5 controls the first motor 18, the first motor 18 drives the driving shaft 19 to rotate, the driving shaft 19 drives each second conical tooth 23 to rotate, each second conical tooth 23 drives each first conical tooth 22 and each rotating rod 21 to rotate respectively, each rotating rod 21 drives each mowing knife 20 to rotate respectively, weeding operation is carried out, the baffle 24 which is arranged is used for blocking cut weeds, after the weeding assembly weeds, the controller 5 controls the second motor 27, the second motor 27 drives the soil loosening shaft 26 to rotate, the soil loosening shaft 26 drives all soil loosening claws 28 to loosen the soil, the hollow cover 25 which is arranged can block the soil loosened, a dust cover 29 is provided to prevent dirt from entering the second motor 27 and affecting the operation of the second motor 27.
Claims (4)
1. The agricultural weeding and soil loosening robot comprises a crawler walking device (1) and is characterized by further comprising a hollow underframe (2), wherein the underframe (2) is fixedly installed at the top of the crawler walking device (1), a hollow U-shaped frame (3) is arranged at the top of the underframe (2), a driving motor (4) and a controller (5) are respectively arranged inside the underframe (2), a lifting assembly is arranged at the center of the top of the U-shaped frame (3), a camera (6) is arranged above the lifting assembly, the output end of the driving motor (4) can rotatably penetrate through the two sides of the U-shaped frame (3) and is in transmission connection with the inside of the lifting assembly, the lifting assembly comprises a lifting plate (7) capable of lifting, hollow connecting frames (8) are respectively arranged on the two sides of the lifting plate (7), one end of each hollow connecting frame (8) is respectively in transmission connection with the inside of the lifting plate (7), the middle ends of two sides of each hollow connecting frame (8) are respectively hinged with the inner wall of the U-shaped frame (3), each hollow connecting frame (8) is respectively provided with a telescopic assembly, the output end of each telescopic assembly is respectively provided with a weeding assembly and a soil loosening assembly, and the controller (5) is respectively electrically connected with the driving motor (4), the camera (6), the weeding assembly, the soil loosening assembly and each telescopic assembly;
the lifting assembly comprises a fixed lifting sleeve (9), a threaded rod (10) and a screw rod sliding block (11), the fixed lifting sleeve (9) is vertically and fixedly arranged at the bottom end of the center of the interior of the U-shaped frame (3), the threaded rod (10) is vertically and rotatably arranged inside the fixed lifting sleeve (9), the screw rod sliding block (11) is arranged on the threaded rod (10), the screw rod sliding block (11) is in threaded connection with the threaded rod (10), two sides of the screw rod sliding block (11) are respectively provided with an extension block (12), a strip-shaped moving penetrating opening (13) for each extension block (12) to move is arranged on the fixed lifting sleeve (9), a lifting plate (7) is arranged on the fixed lifting sleeve (9), an avoiding perforation for avoiding the fixed lifting sleeve (9) is arranged on the lifting plate (7), one end of each extension block (12) is respectively and fixedly connected with an avoiding perforation inner wall on the lifting plate (7), a top plate (14) which is horizontally arranged is arranged at the top of the fixed lifting sleeve (9), two ends of the top plate (14) are respectively and fixedly connected with two sides of the top of the U-shaped frame (3) through a support, and one end of a threaded rod (10) is fixedly connected with the output end of the driving motor (4);
two sides of one end, close to each connecting frame (8), of the lifting plate (7) are respectively provided with a first hinged column, each first hinged column is respectively provided with a hinged connecting rod (15), one end of each hinged connecting rod (15) is hinged to each first hinged column, two sides of one end, close to the lifting plate (7), of each connecting frame (8) are respectively provided with a second hinged column, and the other end of each hinged connecting rod (15) is hinged to each second hinged column;
the weeding assembly comprises a connecting plate (16), a driving box (17), a first motor (18), a driving shaft (19) and a plurality of mowing knives (20), wherein the connecting plate (16) is horizontally arranged at one end of one connecting frame (8) far away from the lifting plate (7), the output end of one telescopic assembly is in transmission connection with the center of one side of the connecting plate (16), the driving box (17) is horizontally arranged at one side below the connecting plate (16), two ends of the bottom of the connecting plate (16) are respectively fixedly connected with the top of the driving box (17) through the connecting frame (8), the first motor (18) is horizontally and fixedly arranged at one end of the driving box (17), the driving shaft (19) is horizontally arranged in the driving box (17), two ends of the driving shaft (19) can be respectively and rotatably inserted into the inner wall of the driving box (17) and extend outwards, one end of the driving shaft (19) is fixedly connected with the output end of the first motor (18), the mowing tools (20) are uniformly arranged below the driving box (17) in a horizontal state, a rotating rod (21) is arranged at the center of the top of each mowing tool (20), the top of each rotating rod (21) can rotatably extend into the driving box (17), first conical teeth (22) are arranged at the extending end of each rotating rod (21), second conical teeth (23) which correspond to the first conical teeth (22) one by one are arranged on the driving shaft (19), the first conical teeth (22) are meshed with the second conical teeth (23), and the first motor (18) is electrically connected with the controller (5);
the soil loosening assembly comprises a hollow cover (25), a soil loosening shaft (26) and a second motor (27), the hollow cover (25) is horizontally positioned at one end, away from the lifting plate (7), of the other connecting frame (8), the output end of the other telescopic assembly is in transmission connection with the center of the top of the hollow cover (25), the soil loosening shaft (26) is horizontally arranged inside the hollow cover (25), the second motor (27) is horizontally and fixedly installed at one end of the hollow cover (25), two ends of the soil loosening shaft (26) can be respectively inserted into the inner wall of the hollow cover (25) in a rotating mode and extend outwards, the output end of the second motor (27) is fixedly connected with one end of the soil loosening shaft (26), a plurality of soil loosening claws (28) are uniformly distributed on the soil loosening shaft (26), and the second motor (27) is electrically connected with the controller (5);
each telescopic component comprises an L-shaped plate (30), a third motor (31), a fixed loop bar (32), an inner rod (33), a threaded loop bar (34) and a threaded loop jig (35), the fixed loop bar (32) is horizontally positioned at the lower section of the inside of the connecting frame (8), one end of the fixed loop bar (32) penetrates through the inner wall and the outer wall of the connecting frame (8) to extend outwards, the L-shaped plate (30) is horizontally positioned below the fixed loop bar (32), two sides of the L-shaped plate (30) are respectively fixedly connected with the inner wall of the connecting frame (8), the third motor (31) is horizontally and fixedly installed at the center of the top of the L-shaped plate (30), the output end of the third motor (31) can rotate to extend towards the inside of the fixed loop bar (32), the threaded loop jig (35) is fixedly installed at one end, far away from the inside of the third motor (31), the threaded loop bar (34) is horizontally arranged at the inner ring of the fixed loop bar (32), the inner circle that the one end of screw thread loop bar (34) passed screw thread cover tool (35) outwards extends, screw thread loop bar (34) and screw thread cover tool (35) threaded connection, interior pole (33) set up the inner circle at screw thread loop bar (34), the both sides of interior pole (33) are equipped with respectively and support touch multitouch (36), be equipped with on screw thread loop bar (34) and be used for supplying every to support the gliding sliding tray (37) of touch multitouch (36), the one end of interior pole (33) and the output fixed connection of third motor (31), screw thread loop bar (34) on every flexible subassembly can rotate respectively insert the top center department of locating cavity lid (25) and connecting plate (16), third motor (31) are connected with controller (5) electricity.
2. An agricultural weeding and soil loosening robot as claimed in claim 1, wherein: and a baffle (24) which is obliquely arranged above one side of the driving box (17) is arranged at the bottom of the driving box (17).
3. An agricultural weeding and soil loosening robot as claimed in claim 1, wherein: one end of the hollow cover (25) close to the second motor (27) is provided with a dust cover (29), and the second motor (27) is located inside the dust cover (29).
4. An agricultural weeding and soil loosening robot as claimed in claim 1, wherein: the top both sides of cavity lid (25) and connecting plate (16) are equipped with gag lever post (38) that extend to every link (8) both sides respectively, are equipped with stop collar (39) that are used for supplying every gag lever post (38) to walk on every link (8) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010313072.7A CN111406454B (en) | 2020-04-20 | 2020-04-20 | Weeding and soil loosening robot for agriculture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010313072.7A CN111406454B (en) | 2020-04-20 | 2020-04-20 | Weeding and soil loosening robot for agriculture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111406454A CN111406454A (en) | 2020-07-14 |
| CN111406454B true CN111406454B (en) | 2022-06-21 |
Family
ID=71485633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010313072.7A Active CN111406454B (en) | 2020-04-20 | 2020-04-20 | Weeding and soil loosening robot for agriculture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111406454B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115004932B (en) * | 2022-08-02 | 2022-10-21 | 苏州市小林农业科技发展有限公司 | Mowing equipment used between strawberry ditches in greenhouse and working method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AR078789A4 (en) * | 2009-10-07 | 2011-12-07 | Sembrar S R L | MODULAR SEEDER OF THICK AND FINE GRAINS |
| CN205492227U (en) * | 2016-03-11 | 2016-08-24 | 武汉科技大学 | Agricultural robot |
| CN208029474U (en) * | 2018-01-19 | 2018-11-02 | 金迪 | A kind of portable agriculture weeder |
| CN208258857U (en) * | 2018-05-18 | 2018-12-21 | 重庆市奉节县夔博脐橙种植有限公司 | A kind of double arm swing formula agricultural spray equipment |
| CN108738436B (en) * | 2018-07-12 | 2023-09-15 | 湖北工业大学 | Modularized multifunctional agricultural robot for weeding among rotary tillage seeding plants in greenhouse |
| CN109983909B (en) * | 2019-03-22 | 2020-08-04 | 凤台县农盼水稻机插服务专业合作社 | Hand-held multifunctional mower |
| CN110518685A (en) * | 2019-09-02 | 2019-11-29 | 丽水奇异果信息技术有限公司 | A kind of flow-type city solar energy storage vehicle |
| CN110447328A (en) * | 2019-09-20 | 2019-11-15 | 丽水市智汇佳科技有限公司 | A kind of agriculture digging apparatus that can be loosened the soil certainly |
-
2020
- 2020-04-20 CN CN202010313072.7A patent/CN111406454B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111406454A (en) | 2020-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111406454B (en) | Weeding and soil loosening robot for agriculture | |
| DE202006016981U1 (en) | Combination device for snowblowing, mowing, scarifying or ground hoeing | |
| CN213044088U (en) | Crop weeding machine | |
| CN111713195A (en) | Weeding device used in kiwi fruit orchard and used for fixed deep fertilization | |
| WO2023221430A1 (en) | Adaptive terrain unmanned weeding robot for orchard in mountainous region | |
| CN115004932A (en) | Mowing equipment used between strawberry ditches in greenhouse and working method thereof | |
| KR102276962B1 (en) | Sweet Potato Harvesting Apparatus And Sweet Potato Harvesting Method Using The Same | |
| CN110583612A (en) | Farmland weed clearing device | |
| KR200385250Y1 (en) | Mower | |
| CN114586493B (en) | Tree root clearing device for land leveling | |
| KR20170017429A (en) | Power attachable type small size rotary device | |
| KR20200029947A (en) | A lawn trimmer for cultivate | |
| CN210580055U (en) | Reciprocating type grass-collecting harvester | |
| DE102007019151A1 (en) | Agricultural implement mounted on tractor, used to clear the ground around vines or espalier-grown fruit, includes horizontally counter-rotating brushes and height guidance wheel | |
| CN219124809U (en) | Agricultural planting weeding equipment | |
| JP2016073212A (en) | Mixing device for tea bush pruning litter and soil reduction in tea plantation and riding type tea garden management machine | |
| CN221240721U (en) | Agricultural planting loosens soil device with | |
| CN218897536U (en) | Carrot harvester based on different farming modes | |
| CN218277850U (en) | Weeding device | |
| CN217986469U (en) | Weeding and soil loosening self-propelled machine | |
| CN216567071U (en) | Paddy field transplanting mechanism based on agricultural platform truck | |
| CN219087798U (en) | Crop planting vehicle capable of punching soil | |
| CN220493618U (en) | Weeding device | |
| CN218603886U (en) | Interplant weeder convenient to clearance | |
| CN215530052U (en) | Forestry weeding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |