CN117716815A - Weeding robot based on visual control hydraulic pressure removes interval - Google Patents
Weeding robot based on visual control hydraulic pressure removes interval Download PDFInfo
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- CN117716815A CN117716815A CN202311687154.8A CN202311687154A CN117716815A CN 117716815 A CN117716815 A CN 117716815A CN 202311687154 A CN202311687154 A CN 202311687154A CN 117716815 A CN117716815 A CN 117716815A
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- 238000009333 weeding Methods 0.000 title claims abstract description 220
- 230000000007 visual effect Effects 0.000 title claims abstract description 31
- 238000003860 storage Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 56
- 241000196324 Embryophyta Species 0.000 claims description 53
- 230000008569 process Effects 0.000 claims description 51
- 230000007246 mechanism Effects 0.000 claims description 35
- 238000007664 blowing Methods 0.000 claims description 33
- 230000017105 transposition Effects 0.000 claims description 20
- 229920000742 Cotton Polymers 0.000 claims description 19
- 238000005520 cutting process Methods 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 18
- 239000000725 suspension Substances 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 13
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 239000003337 fertilizer Substances 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 2
- 239000000428 dust Substances 0.000 description 25
- 230000000694 effects Effects 0.000 description 13
- 238000009826 distribution Methods 0.000 description 8
- 210000000078 claw Anatomy 0.000 description 5
- 230000006378 damage Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 230000003749 cleanliness Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000029553 photosynthesis Effects 0.000 description 2
- 238000010672 photosynthesis Methods 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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Abstract
The invention discloses a weeding robot based on visual control hydraulic movement distance, a central storage battery is embedded in the middle of the top end of a main frame of the weeding robot, a connecting middle frame is fixedly arranged in the middle of the front end of the main frame of the weeding robot, swing connecting rods are rotatably arranged at two ends of the connecting middle frame through rotating shafts.
Description
Technical Field
The invention relates to the technical field of weeding robots, in particular to a weeding robot based on visual control of hydraulic movement distance.
Background
The invention is a great progress of human civilization, the weeder is also called a mower, a lawnmower, a lawn trimmer and the like, and the weeder is a mechanical tool for trimming lawns, vegetation and the like, and is needed to be used in the weeding process of farmlands;
however, at present, the weeding robot is limited by the distribution position of weeds in the weeding process of farmlands, and the weeds are generally distributed on two sides of crops, and the crops cannot be kept on the same straight line in the planting and growing process, so that the phenomenon that the weeding robot does not thoroughly weed or accidentally injure the crops in the weeding process can occur in the weeding process, and the weeding effect of the weeding robot is reduced.
Disclosure of Invention
The invention provides a weeding robot based on visual control hydraulic movement distance, which can effectively solve the problem that the weeding robot is limited by the distribution position of weeds in the process of weeding farmlands, which is proposed in the prior art, because weeds are generally distributed on two sides of crops and the crops cannot be kept on the same straight line in the process of planting and growing, the phenomenon of incomplete weeding or accidental injury of crops in the weeding process can occur in the process of weeding along the straight line of the weeding robot, and the weeding effect of the weeding robot is reduced.
In order to achieve the above purpose, the present invention provides the following technical solutions: the weeding robot based on the visual control hydraulic movement distance comprises a main robot frame, wherein a central storage battery is embedded and installed in the middle of the top end of the main robot frame;
the front end of the main frame of the weeding robot is provided with a front end visual dynamic weeding mechanism, and the front end visual dynamic weeding mechanism is used for dynamically adjusting the weeding range of the weeding robot, so that the weeding range of the weeding robot is changed through short-distance movement of an internal component under the condition that the travelling track of the weeding robot is unchanged, and the weeding precision of the weeding robot is improved;
the front-end visual dynamic weeding mechanism comprises a connecting middle frame, a swinging connecting rod, a lifting telescopic rod, a swinging transverse frame, an adjusting chute, an adjusting slide block, a hydraulic telescopic adjusting rod, a connecting front pipe, a marking suspension rod, a connecting lower rod, an elastic arc piece, a weeding bottom rod, a weeding shovel, a protection guide rod, a protection spring, a sliding transverse rod, a guiding cotton belt, a central laser guiding lamp, an installing rubber column, a connecting inclined frame, a top camera and a counterweight bottom block;
the middle part of the front end of the robot main frame is fixedly provided with a connecting middle frame, two ends of the connecting middle frame are respectively provided with a swinging connecting rod through rotating shafts, the middle part of the top end of the connecting middle frame is movably provided with a lifting telescopic rod through rotating shafts, two ends of the swinging connecting rods are jointly connected with a swinging cross frame, the interiors of the two ends of the swinging cross frame are respectively provided with an adjusting chute, the middle part of the inner side of each adjusting chute is slidably provided with an adjusting slide block, and the inner side of one end of each adjusting slide block is embedded with a hydraulic telescopic adjusting rod;
the middle part of one side of the adjusting slide block is fixedly connected with a connecting front pipe, a marking suspension rod is fixedly arranged in one end of the connecting front pipe through threads, a connecting lower rod is fixedly arranged in the middle of the bottom surface of the adjusting slide block, the bottom end of the connecting lower rod is fixedly connected with an elastic arc piece, the bottom end of the elastic arc piece is fixedly connected with a weeding bottom rod, and the bottom end of the weeding bottom rod is fixedly connected with a weeding shovel;
the bottom of the front surface of the connecting lower rod is fixedly provided with a protective guide rod, one end inside the protective guide rod is fixedly connected with a protective spring, the end part of the protective spring is fixedly connected with a sliding cross rod at the position corresponding to the inside of the protective guide rod, and the tail end of the sliding cross rod is adhered with a cotton guiding belt;
the center laser guide lamp is installed in the middle part of the top surface of the swing cross frame, the two ends of the top surface of the swing cross frame are respectively connected with an installation rubber column through bolts, the two installation rubber columns are fixedly installed with a connection inclined frame together at the top ends, the tail ends of suspension rods at the top parts of the connection inclined frames are provided with top cameras through installation bolts, and the bottom ends of the top cameras are correspondingly connected with counterweight bottom blocks at the bottoms of suspension rods at the top parts of the inclined frames.
Preferably, the tail end of the lifting telescopic rod is movably connected with the middle part of the side surface of the swing transverse frame through a rotating shaft, the outer side of the adjusting slide block is tightly and slidably attached to the inner wall of the adjusting chute, and the tail end of the hydraulic telescopic adjusting rod is fixedly connected with the end part of the inner wall of the adjusting chute.
Preferably, the side surface of the adjusting chute is correspondingly connected with the position outside the front pipe, a limiting guide groove is penetrated and formed, the central axis of the marking suspension rod is mutually aligned with the cutting edge of the weed shovel, and the elastic arc piece can be elastically deformed.
Preferably, the sliding cross rod outside is closely in sliding fit with the inner wall of the protection guide rod, the waterproof layer is coated on the outer side of the guide cotton belt, the guide cotton belt can be elastically deformed, and the tail end of the guide cotton belt is fixedly connected with the front face of the swing cross frame through connecting nails.
Preferably, the center points of the top camera and the center laser guide lamp are all located on the same straight line, and the top camera and the center laser guide lamp are all located at the center point of the top of the swing transverse frame.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use:
1. the front-end visual dynamic weeding mechanism is arranged, the weeding process of the weeding robot is optimized through the mutual matching between the components in the front-end visual dynamic weeding mechanism, the crop distribution situation in front of the weeding robot can be rapidly collected through the top camera, then the position relationship between the two weeding shovels and the two sides of the crop is regulated through the hydraulic telescopic regulating rod according to the distribution situation between the crops, so that the central line between the two weeding shovels can be always aligned with the crops, the weeds on the two sides of the crop can be fully shoveled out, the weeding shovel cannot damage the roots of the crop, the weeding precision and the weeding effect of the weeding robot are effectively improved, and the use convenience of the weeding robot is improved;
simultaneously can adjust the weeding degree of depth of weeding shovel through the swing connecting rod to ensure that the weeding shovel can fully destroy ruderal rhizome at the in-process of weeding, and then effectually improved weeding robot's weeding effect, and keep apart between connecting lower extreme and the weeding sill bar through the elastic arc piece, make the weeding shovel can carry out flexible deformation at weeding in-process, and then effectually prevent that the weeding shovel from taking place rigid collision and damaging at weeding in-process, simultaneously through the flexible cooperation between guide cotton belt and the protection spring, effectually prevent weeding robot at the in-process front end and take place rigid collision, and then effectually improved weeding robot's overall security, simultaneously through marking cantilever beam and central laser guide lamp can mark weeding robot's position and weeding shovel's relative position, and then effectually improved weeding robot's overall usability.
2. The middle rolling type cutting mechanism is arranged, the processing process after weeding of weeds is optimized through the mutual matching among the components in the middle rolling type cutting mechanism, the front belt pulley, the driven rear belt pulley and the transmission side belt are driven by the driving land wheel in a matched manner to drive the rotary hook wheel to synchronously rotate, and the fixed arc-shaped knife is matched with the rotary hook wheel to transport and cut off the shoveled weeds in the rotating process, so that further damage to the weeds is realized, further rooting and growth of the shoveled weeds are effectively prevented, further weeding effect of the weeding robot is effectively improved, meanwhile, the rotting speed of the weeds in the field can be accelerated after the weeds are cut and thinned, and the using function of the weeding robot is further expanded;
meanwhile, the transposition telescopic rod is matched with the sliding vertical rod and the transposition side rod to adjust the transverse positions of the driving land wheel and the rotary hook wheel, so that the rotary hook wheel can correspond to the position between the weeding shovel, weeds shoveled to the side surface of the weeding shovel can be fully collected in the rotating process of the rotary hook wheel, the weed treatment process of the weeding robot is optimized, and the weeding process of the weeding robot is further optimized.
3. The upper layer circulation blowing mechanism is arranged, the cleaning of dust on the outer side of crops by the weeding robot is optimized through the mutual matching between the components in the upper layer circulation blowing mechanism, the continuous air flow generated by the circulation fan is matched with the inclined blowing box to continuously blow the dust on the outer side of the crops, the dust on the outer side of the crops can be quickly separated and lifted through the continuous air flow, the lifted dust is continuously collected through the collection flat box, the dust is intercepted and collected through the collection center box and the filtering side net, the lifted dust is effectively prevented from being scattered at will, the pollution to the surrounding environment caused by the dust scattering at will when the dust on the outer side of the crops is effectively prevented from being cleaned by the weeding robot, the environmental protection performance of the weeding robot is effectively improved, meanwhile, the cleaning degree of the dust on the outer side of the crops is improved, the weeding of crops is ensured, and the photosynthesis of the crops is normally carried out, and the functions of the weeding robot are further expanded;
meanwhile, weeds adhered to the outer side of the rotary hook wheel can be blown through the blowing of the oblique blowing box, so that the weeds are effectively prevented from adhering to the outer side of the rotary hook wheel, the overall cleanliness of the weeding robot is effectively improved, and the using process of the weeding robot is further optimized.
In summary, through the mutual cooperation between front end visual dynamic weeding mechanism, middle part roll formula cutting mechanism and the upper circulation blowing mechanism, weeding robot to the weeding process of weeds, the cutting process of weeds and the clean process of crops have been optimized, through weeding robot's frame structural design, make weeding robot sustainable have sufficient cavity confession crops to pass in the in-process of marcing, effectually prevented weeding robot advances the process and caused the damage to crops, simultaneously through the design of position adjustable weeding shovel and drive land wheel and rotatory hook wheel, make weeding shovel can carry out accurate weeding to weeds, and cut off the returning field through rotatory hook wheel to the weeds under the shovel, further optimized weeding robot's whole weeding effect, weeding robot's use convenience has been improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the center battery installation of the present invention;
FIG. 3 is a schematic view of the structure of the bottom of the main frame of the robot of the present invention;
FIG. 4 is a schematic structural view of the front-end visual dynamic weeding mechanism of the invention;
FIG. 5 is a schematic view of the structure of the installation of the adjusting slide of the present invention;
FIG. 6 is a schematic view of the structure of the middle rolling type cutting mechanism of the present invention;
FIG. 7 is a schematic view of the mounting structure of the fixed arc blade of the present invention;
FIG. 8 is a schematic diagram of the upper layer circulation blowing mechanism of the present invention;
FIG. 9 is a schematic view of the construction of the mounting of the flick box of the present invention;
reference numerals in the drawings: 1. a robot main frame; 2. a center battery;
3. a front-end visual dynamic weeding mechanism; 301. connecting the middle frame; 302. swinging the connecting rod; 303. lifting the telescopic rod; 304. swinging the transverse frame; 305. adjusting the chute; 306. an adjusting slide block; 307. a hydraulic telescopic adjusting rod; 308. connecting a front pipe; 309. marking a suspension rod; 310. connecting a lower rod; 311. an elastic arc piece; 312. weeding bottom rods; 313. a weed shovel; 314. a protective guide rod; 315. a protective spring; 316. a sliding cross bar; 317. guiding the cotton belt; 318. a central laser guide lamp; 319. installing a rubber column; 320. connecting an inclined frame; 321. a top camera; 322. a counterweight bottom block;
4. a middle rolling type cutting mechanism; 401. installing an end groove; 402. a transposition telescopic rod; 403. a sliding vertical rod; 404. driving the land wheel; 405. driving a front belt wheel; 406. a transposition side lever; 407. a connection sleeve; 408. connecting the oblique blocks; 409. fixing an arc-shaped knife; 410. installing a side rod; 411. rotating the hook wheel; 412. a driven rear belt wheel; 413. a transmission side belt; 414. driving the tail box; 415. a driving motor; 416. driving a tail wheel;
5. an upper layer circulation blowing mechanism; 501. blowing the tail box; 502. a circulating fan; 503. a collection center box; 504. a filtering side net; 505. an air guide bottom pipe; 506. blowing the inclined box; 507. an air guide inclined box; 508. collecting side pipes; 509. collecting the flat box; 510. and (5) protecting the bottom net.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Examples: as shown in fig. 1-9, the invention provides a technical scheme, namely a weeding robot based on visual control hydraulic movement distance, which comprises a main robot frame 1, wherein a central storage battery 2 is embedded and installed in the middle of the top end of the main robot frame 1;
the front end of the main frame 1 of the weeding robot is provided with a front end visual dynamic weeding mechanism 3, and the front end visual dynamic weeding mechanism 3 is used for dynamically adjusting the weeding range of the weeding robot, so that the weeding range of the weeding robot is changed through the short-distance movement of an internal component under the condition that the travelling track of the weeding robot is unchanged, and the weeding precision of the weeding robot is improved;
the front-end visual dynamic weeding mechanism 3 comprises a connecting middle frame 301, a swinging connecting rod 302, a lifting telescopic rod 303, a swinging transverse frame 304, an adjusting sliding chute 305, an adjusting sliding block 306, a hydraulic telescopic adjusting rod 307, a connecting front pipe 308, a marking suspension rod 309, a connecting lower rod 310, an elastic arc piece 311, a weeding bottom rod 312, a weeding shovel 313, a protection guide rod 314, a protection spring 315, a sliding transverse rod 316, a guiding cotton belt 317, a central laser guiding lamp 318, a mounting rubber column 319, a connecting inclined frame 320, a top camera 321 and a counterweight bottom block 322;
the middle part of the front end of the robot main frame 1 is fixedly provided with a connecting middle frame 301, two ends of the connecting middle frame 301 are respectively provided with a swinging connecting rod 302 through rotating shafts, the middle part of the top end of the connecting middle frame 301 is movably provided with a lifting telescopic rod 303 through rotating shafts, the end parts of the two swinging connecting rods 302 are jointly connected with a swinging transverse frame 304, the inner parts of the two ends of the swinging transverse frame 304 are respectively provided with an adjusting chute 305, the middle part of the inner side of the adjusting chute 305 is slidably provided with an adjusting slide block 306, the inner side of one end of the adjusting slide block 306 is embedded with a hydraulic telescopic adjusting rod 307, the tail end of the lifting telescopic rod 303 is movably connected with the middle part of the side surface of the swinging transverse frame 304 through rotating shafts, the outer side of the adjusting slide block 306 is tightly and slidably attached to the inner wall of the adjusting chute 305, and the tail end of the hydraulic telescopic adjusting rod 307 is fixedly connected with the inner wall end part of the adjusting chute 305;
the middle part of one side of the adjusting slide block 306 is fixedly connected with a connecting front pipe 308, a marking suspension rod 309 is fixedly arranged in one end of the connecting front pipe 308 through threads, a connecting lower rod 310 is fixedly arranged in the middle of the bottom surface of the adjusting slide block 306, the bottom end of the connecting lower rod 310 is fixedly connected with an elastic arc piece 311, the bottom end of the elastic arc piece 311 is fixedly connected with a weeding bottom rod 312, the bottom end of the weeding bottom rod 312 is fixedly connected with a weeding shovel 313, a limiting guide groove is formed in the side surface of the adjusting slide groove 305, corresponding to the position outside the connecting front pipe 308, in a penetrating way, the central axis of the marking suspension rod 309 is mutually aligned with the shovel tip of the weeding shovel 313, and the elastic arc piece 311 can elastically deform;
the bottom of the front surface of the connecting lower rod 310 is fixedly provided with a protective guide rod 314, one end inside the protective guide rod 314 is fixedly connected with a protective spring 315, the end part of the protective spring 315 is fixedly connected with a sliding cross rod 316 corresponding to the position inside the protective guide rod 314, the tail end of the sliding cross rod 316 is adhered with a guide cotton belt 317, the outer side of the sliding cross rod 316 is tightly adhered to the inner wall of the protective guide rod 314 in a sliding manner, the outer side of the guide cotton belt 317 is coated with a waterproof layer, the guide cotton belt 317 can be elastically deformed, and the tail end of the guide cotton belt 317 is fixedly connected with the front surface of the swinging cross frame 304 through connecting nails;
the center laser guide lamp 318 is embedded in the middle of the top surface of the swing cross frame 304, the mounting rubber columns 319 are connected with the two ends of the top surface of the swing cross frame 304 through bolts, the connecting cross frame 320 is fixedly mounted on the top ends of the two mounting rubber columns 319, the top end camera 321 is mounted on the tail ends of the top suspension rods of the connecting cross frame 320 through mounting bolts, the bottom ends of the top end camera 321 are correspondingly connected with the bottom parts of the top suspension rods of the cross frame 320, the counter weight bottom blocks 322 are fixedly connected with the bottom ends of the top end camera 321 and the bottom ends of the top suspension rods of the two weed shovels 313, the center points of the top end camera 321 and the center laser guide lamp 318 are all located on the same straight line, the top end camera 321 and the center laser guide lamp 318 are located at the center point of the top of the swing cross frame 304, the mutual matching among all components in the front end visual dynamic weeding mechanism 3 optimizes the weeding process of the weeding robot, and then the top end camera 321 can quickly collect crop distribution conditions in front of the weeding robot according to the crop distribution conditions among the crop, the hydraulic adjusting rods 307 adjust the position relations between the two weed shovels 313 and two sides of the crop, so that the center lines between the two weed shovel 313 can always align with each other, the crop weeding effect can be guaranteed, the weeding effect of the weeding robot is improved, and weeding effect of the weeding robot is not can be guaranteed, and weeding effect of the weeding robot is guaranteed;
meanwhile, the weeding depth of the weeding shovel 313 can be adjusted through the swinging connecting rod 302, so that the weeding shovel 313 can fully destroy the rootstock of weeds in the weeding process, the weeding effect of the weeding robot is effectively improved, the connecting lower rod 310 and the weeding bottom rod 312 are isolated through the elastic arc piece 311, the weeding shovel 313 can be flexibly deformed in the weeding process, the weeding shovel 313 is effectively prevented from being damaged due to rigid collision in the weeding process, meanwhile, the front end of the weeding robot is effectively prevented from being rigidly collided through flexible cooperation between the guiding cotton belt 317 and the protecting spring 315, the overall safety of the weeding robot is effectively improved, and meanwhile, the position of the weeding robot and the relative position of the weeding shovel 313 can be marked through the marking suspension rod 309 and the central laser guiding lamp 318, and the overall usability of the weeding robot is effectively improved;
the outer side of the robot main frame 1 is provided with a middle rolling type cutting mechanism 4, and the middle rolling type cutting mechanism 4 is used for carrying out directional rotation transportation on the shoveled weeds and cutting off the weeds in the process of weed transportation, so that the weeds can be discharged to the field again as fertilizer after being thinned;
the middle rolling type cutting mechanism 4 comprises a mounting end groove 401, a transposition telescopic rod 402, a sliding vertical rod 403, a driving land wheel 404, a driving front belt wheel 405, a transposition side rod 406, a connecting sleeve 407, a connecting inclined block 408, a fixed arc-shaped knife 409, a mounting side rod 410, a rotary hook wheel 411, a driven rear belt wheel 412, a transmission side belt 413, a driving tail box 414, a driving motor 415 and a driving tail wheel 416;
the inner sides of the two ends of the inside of the connecting middle frame 301 are provided with mounting end grooves 401, a transposition telescopic rod 402 is embedded and mounted in the middle of one end of the inside of the mounting end grooves 401, a sliding vertical rod 403 is fixedly connected to the end part of the transposition telescopic rod 402 corresponding to the inner position of the mounting end grooves 401, a driving land wheel 404 is rotatably mounted on one side of the bottom end of the sliding vertical rod 403 through a rotating shaft, a driving front belt pulley 405 is fixedly sleeved at the position of one side of the driving land wheel 404 corresponding to the inner side of the bottom of the sliding vertical rod 403, a transposition side rod 406 is fixedly connected to the position of the top of the sliding vertical rod 403 corresponding to one side of the mounting end grooves 401, the outer side of the top end of the sliding vertical rod 403 is tightly in sliding fit with the inner wall of the mounting end grooves 401, and the tail end of the transposition side rod 406 is inserted into one side of the robot main frame 1 in a sliding manner;
the middle part of the outer side of the transposition side lever 406 is sleeved with a connecting sleeve 407, one side of the bottom surface of the connecting sleeve 407 is fixedly connected with a connecting inclined block 408, the bottom surface of the connecting inclined block 408 is uniformly and fixedly connected with a fixed arc-shaped cutter 409 at equal intervals, the bottom surface of the connecting sleeve 407 is fixedly connected with an installation side lever 410 corresponding to the position of one side of the connecting inclined block 408, the bottom end of one side of the installation side lever 410 is rotatably provided with a rotary hook wheel 411 through a rotating shaft, the position of the rotating shaft of one side of the rotary hook wheel 411 is sleeved with a driven rear belt pulley 412 corresponding to the inner position of the bottom surface of the installation side lever 410, and the outer sides of the driving front belt pulley 405 and the driven rear belt pulley 412 are jointly sleeved with a transmission side belt 413;
the two sides of the bottom of the tail end of the main robot frame 1 are provided with a driving tail box 414 through bolts, the top of one side of the driving tail box 414 is fixedly provided with a driving motor 415, the bottom of the inner side of the driving tail box 414 is provided with a driving tail wheel 416 through rotation of a rotating shaft, the driving motor 415 and the driving tail wheel 416 are transmitted through a belt and a belt wheel, the hooking claws of the rotating hook wheel 411 and the fixed arc-shaped blades 409 are distributed in a staggered manner, the side surfaces of the fixed arc-shaped blades 409 and the side surfaces of the hooking claws are tightly and slidably attached, the driving motor 415 is powered through a central storage battery 2, the components in the middle rolling type cutting mechanism 4 are mutually matched, the treatment process after weeding is optimized, the driving land wheel 404 is matched with the driving front belt wheel 405, the driven rear belt wheel 412 and the driving side belt 413 to drive the rotating hook wheel 411 to synchronously rotate, and the fixed arc-shaped blades 409 are matched with the rotating hook wheel 411 to transport and cut off the shoveled weeds, further damage to the weeds is realized, the weed growth under shoveled is effectively prevented, the weed growth is further effectively improved, and the weeding effect of the weeding robot is improved, and the weeding speed of the weeding robot is further improved after the weeds are thinned, and the weeding robot is further used;
meanwhile, the transverse positions of the driving land wheel 404 and the rotary hook wheel 411 are adjusted through the transposition telescopic rod 402 in combination with the sliding vertical rod 403 and the transposition side rod 406, so that the positions of the rotary hook wheel 411 and the weeding shovel 313 can be mutually corresponding, weeds shoveled to the side surface of the weeding shovel 313 can be fully collected in the rotating process of the rotary hook wheel 411, the weed treatment process of the weeding robot is optimized, and the weeding process of the weeding robot is further optimized;
the top of the robot main frame 1 is provided with an upper layer circulation blowing mechanism 5;
the robot main frame 1 comprises a blowing tail box 501, a circulating fan 502, a collecting center box 503, a filtering side net 504, an air guide bottom pipe 505, a blowing inclined box 506, an air guide inclined box 507, a collecting side pipe 508, a collecting flat box 509 and a protective bottom net 510;
the middle part of the tail end of the top surface of the robot main frame 1 is fixedly provided with a blowing tail box 501, one side middle part of the blowing tail box 501 is provided with a circulating fan 502 in an embedded manner, the middle part of the inner side of the blowing tail box 501 is provided with a collecting center box 503, the middle parts of the two sides of the collecting center box 503 are provided with a filtering side net 504 in an embedded manner, the bottoms of the two ends of the blowing tail box 501 are fixedly connected with an air guide bottom pipe 505, and the bottom end of the air guide bottom pipe 505 is fixedly connected with a blowing inclined box 506 corresponding to the bottom position of the robot main frame 1;
the end part of the circulating fan 502 is sleeved with an air guide inclined box 507, the bottoms of the two ends of the air guide inclined box 507 are fixedly connected with a collecting side pipe 508, the tail end of the collecting side pipe 508 is fixedly connected with a collecting flat box 509 corresponding to the middle part of one side of the middle frame 301, one side of the bottom surface of the collecting flat box 509 is embedded and provided with a protective bottom net 510, the circulating fan 502 supplies power through a central storage battery 2, the inclined surface of the side surface of the air blowing inclined box 506 is uniformly provided with air holes, the cleaning of dust outside crops by a weeding robot is optimized through the mutual cooperation among the components in the upper circulating air blowing mechanism 5, the continuous air flow generated by the circulating fan 502 is matched with the air blowing inclined box 506 to continuously blow the dust outside the crops, the dust on the outer side of the crops can be quickly separated and lifted through continuous airflow, the lifted dust is continuously collected through the collection flat box 509, the dust is intercepted and collected through the collection center box 503 and the filtration side net 504, the lifted dust is effectively prevented from being scattered at will, the pollution to the surrounding environment caused by the dust scattered at will when the dust on the outer side of the crops is cleaned by the weeding robot is effectively prevented, the environmental protection performance of the weeding robot is effectively improved, meanwhile, the cleanliness of the crops is improved, the normal operation of photosynthesis of the crops is ensured, and the functions of the weeding robot are further expanded;
meanwhile, through the blowing of the inclined blowing box 506, weeds adhered to the outer side of the rotary hook 411 can be blown, so that the weeds are effectively prevented from adhering to the outer side of the rotary hook 411, the overall cleanliness of the weeding robot is effectively improved, and the using process of the weeding robot is further optimized.
The working principle and the using flow of the invention are as follows: in the weeding process of weeds in a farmland by using the weeding robot, the connecting middle frame 301 and components on the connecting middle frame 301 are synchronously driven to synchronously move in the travelling process of the weeding robot, the distribution condition of crops in front of the weeding robot is monitored in real time by the top end camera 321 in the moving process of the weeding robot, the bottom of the top end camera 321 is weighted by the weighting bottom block 322, the top end camera 321 is adjusted to a proper inclination angle and then fixed more stably, the marking suspension rod 309 is mounted on the side surface of the adjusting slide block 306 by using the connecting front pipe 308, the position of the tip of the weeding shovel 313 is simply marked by the marking suspension rod 309, and the central line position of the weeding robot is marked by the central laser guide lamp 318;
the farmland image shot by the top camera 321 is processed and analyzed through the remote server so as to judge the position distribution relation between crops and weeds, the hydraulic telescopic adjusting rod 307 drives the adjusting slide block 306 to slide along the inside of the adjusting slide groove 305, the connecting lower rod 310 is driven to slide in the sliding process of the adjusting slide block 306, the elastic arc piece 311 and the weeding bottom rod 312 are synchronously driven to synchronously move in the moving process of the connecting lower rod 310, and the weeding bottom rod 312 is driven to transversely move so as to enable the two weeding shovels 313 to be close to two sides of the crops as much as possible in the transversely moving process, and the center line between the two weeding shovels 313 can be mutually aligned with the crops, so that weeds at two sides of the crops can be fully shoveled through the weeding shovels 313;
meanwhile, when the weeds at the two sides of crops are shoveled by the weeding shovel 313, the swinging transverse frame 304 can be driven to swing along the side face of the connecting middle frame 301 by the lifting telescopic rod 303, and then the weeding shovel 313 is synchronously driven to swing in the vertical direction in the swinging process of the connecting middle frame 301, so that the weeding depth of the weeding shovel 313 is adjusted, the weeding shovel 313 can be ensured to fully damage the root systems of the weeds in the weeding process, and the weeding shovel 313 can be elastically displaced in the advancing process by the elastic structural design of the elastic arc piece 311, so that the weeding effect of the weeding robot is ensured;
in the travelling process of the weeding robot, the cotton strips 317 can be guided to guide the leaves extending to the two sides of the crops, and the sliding cross rod 316 is driven to slide along the inside of the protection guide rod 314 by the compression of the protection spring 315, so that the weeding robot is effectively prevented from rigidly colliding with the crops in the travelling process of the weeding robot, and the use safety of the weeding robot is improved;
when the removed weeds are required to be subjected to subsequent treatment, the shifting telescopic rod 402 can drive the sliding vertical rod 403 to slide along the inside of the installation end groove 401, and drive the driving land wheel 404 to synchronously shift in the sliding process of the sliding vertical rod 403, so that the driving land wheel 404 can correspond to the position of the weed shovel 313, and synchronously drive the shifting side rod 406 and components thereon to synchronously slide in the sliding process of the sliding vertical rod 403, and further drive the connecting inclined block 408 at the bottom of the connecting sleeve 407 and the installation side rod 410 to synchronously move through the movement of the shifting side rod 406, so that the adjustment of the positions among the driving land wheel 404, the fixed arc-shaped knife 409 and the rotary hook 411 is realized;
the front driving belt pulley 405 is synchronously driven to rotate in the process of driving the ground wheel 404 to rotate along the ground, the rear driven belt pulley 412 is driven to synchronously rotate through the transmission side belt 413 in the process of driving the front driving belt pulley 405 to rotate, the rotary hook wheel 411 is synchronously driven to rotate in the process of rotating the rear driven belt pulley 412, weeds on the ground are hooked upwards through the outer hook claw of the rotary hook wheel 411 in the process of rotating the rotary hook wheel 411, when the hook claw upwards transports to pass through a gap between the fixed arc-shaped blades 409, the weeds are cut off and thinned through relative movement between the outer hook claw of the rotary hook wheel 411 and the fixed arc-shaped blades 409, and the cut weeds fall back to the ground again in the subsequent rotating process of the rotary hook wheel 411;
meanwhile, in the process of forward running of the weeding robot, the driving motor 415 and the driving tail wheel 416 are installed at the tail part of the main frame 1 of the weeding robot through the driving tail box 414, the distance between the driving tail wheels 416 can be adjusted by adjusting the position of the driving tail box 414, so that the driving tail wheel 416 can be mutually aligned with a ditch between ridges, the driving tail wheel 416 is driven to continuously rotate through the driving motor 415, and the weeding robot is driven to uniformly move forward in the process of rotating the driving tail wheel 416, so that the weeding robot is driven;
when the weeding robot moves from the top of crops and needs to clean dust on the crop leaves, continuous air flow is generated inside the tail box 501 through the circulating fan 502, the air flow inside the tail box 501 is guided into the tail box 506 through the air guide bottom pipe 505, and then the air flow is blown to the outer sides of the crops through the air outlet holes on the side surfaces of the tail box 506, so that dust adhered to the crop leaves is separated and lifted under the action of the continuous air flow, the lifted dust is collected through the collecting flat box 509, dust at the bottom of the weeding robot passes through the protective bottom net 510 to enter the collecting flat box 509, a dust mixture inside the collecting flat box 509 is conveyed into the air guide inclined box 507 through the collecting side pipe 508, the air flow and the dust are synchronously conveyed into the tail box 501 through the circulating fan 502, and the dust outside the leaves is intercepted and collected through the collecting center box 503 and the filtering side net 504 in the process that the circulating air flow flows through the tail box 501, so that dust on the outer sides of the leaves is cleaned.
Finally, it should be noted that: the foregoing is merely a preferred example of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Weeding robot based on vision control hydraulic pressure removes interval, including robot body frame (1), its characterized in that: a central storage battery (2) is embedded and installed in the middle of the top end of the robot main frame (1);
the front end of the main frame (1) of the weeding robot is provided with a front-end visual dynamic weeding mechanism (3), and the front-end visual dynamic weeding mechanism (3) is used for dynamically adjusting the weeding range of the weeding robot, so that the weeding range of the weeding robot is changed through short-distance movement of an internal component under the condition that the travelling track of the weeding robot is unchanged, and the weeding precision of the weeding robot is improved;
the front-end visual dynamic weeding mechanism (3) comprises a connecting middle frame (301), a swinging connecting rod (302), a lifting telescopic rod (303), a swinging transverse frame (304), an adjusting sliding chute (305), an adjusting sliding block (306), a hydraulic telescopic adjusting rod (307), a connecting front pipe (308), a marking suspension rod (309), a connecting lower rod (310), an elastic arc piece (311), a weeding bottom rod (312), a weeding shovel (313), a protection guide rod (314), a protection spring (315), a sliding transverse rod (316), a guiding cotton belt (317), a central laser guiding lamp (318), a mounting rubber column (319), a connecting inclined frame (320), a top camera (321) and a counterweight bottom block (322);
the intelligent robot is characterized in that a connecting middle frame (301) is fixedly arranged in the middle of the front end of the main robot frame (1), swing connecting rods (302) are rotatably arranged at two ends of the connecting middle frame (301) through rotating shafts, lifting telescopic rods (303) are movably arranged in the middle of the top end of the connecting middle frame (301) through rotating shafts, swing transverse frames (304) are jointly connected between the end parts of the two swing connecting rods (302), regulating sliding grooves (305) are formed in the inner parts of the two ends of the swing transverse frames (304), regulating sliding blocks (306) are slidably arranged in the middle of the inner sides of the regulating sliding grooves (305), and hydraulic telescopic regulating rods (307) are embedded and arranged in the inner sides of one ends of the regulating sliding blocks (306);
the middle part of one side of the adjusting slide block (306) is fixedly connected with a connecting front pipe (308), a marking suspension rod (309) is fixedly arranged inside one end of the connecting front pipe (308) through threads, a connecting lower rod (310) is fixedly arranged in the middle of the bottom surface of the adjusting slide block (306), an elastic arc piece (311) is fixedly connected to the bottom end of the connecting lower rod (310), a weeding bottom rod (312) is fixedly connected to the bottom end of the elastic arc piece (311), and a weeding shovel (313) is fixedly connected to the bottom end of the weeding bottom rod (312);
the protection guide rod (314) is fixedly arranged at the bottom of the front surface of the connecting lower rod (310), one end inside the protection guide rod (314) is fixedly connected with a protection spring (315), the end part of the protection spring (315) is fixedly connected with a sliding cross rod (316) corresponding to the inner position of the protection guide rod (314), and the tail end of the sliding cross rod (316) is adhered with a cotton guiding belt (317);
center laser guide lamp (318) are installed in embedding of swing crossbearer (304) top surface middle part, swing crossbearer (304) top surface both ends all have installation through bolted connection to glue post (319), two install and glue post (319) top common fixed mounting has connection oblique frame (320), top camera (321) are installed through the installation bolt to connection oblique frame (320) top cantilever beam end, top camera (321) bottom corresponds connection oblique frame (320) top cantilever beam bottom fixedly connected with counter weight bottom block (322).
2. The weeding robot based on the visual control hydraulic movement distance according to claim 1, wherein the tail end of the lifting telescopic rod (303) is movably connected with the middle part of the side surface of the swinging cross frame (304) through a rotating shaft, the outer side of the adjusting sliding block (306) is tightly and slidably attached to the inner wall of the adjusting sliding groove (305), and the tail end of the hydraulic telescopic adjusting rod (307) is fixedly connected with the end part of the inner wall of the adjusting sliding groove (305).
3. The weeding robot based on the visual control hydraulic movement distance according to claim 1, wherein a limiting guide groove is formed in the position, corresponding to the outer side of the connecting front pipe (308), of the side face of the adjusting chute (305), the central axis of the marking suspension rod (309) is mutually aligned with the cutting edge of the weeding shovel (313), and the elastic arc piece (311) can be elastically deformed.
4. The weeding robot based on the visual control hydraulic movement distance according to claim 1, wherein the outer side of the sliding cross rod (316) is tightly and slidably attached to the inner wall of the protection guide rod (314), a waterproof layer is coated on the outer side of the guiding cotton belt (317), the guiding cotton belt (317) can be elastically deformed, and the tail end of the guiding cotton belt (317) is fixedly connected with the front face of the swinging cross frame (304) through connecting nails.
5. The weeding robot based on the visual control hydraulic movement interval according to claim 1, wherein the center points of the top camera (321) and the center laser guide lamp (318) are all located on the same straight line, and the top camera (321) and the center laser guide lamp (318) are all located at the top center point of the swinging cross frame (304).
6. The weeding robot based on the visual control hydraulic movement distance according to claim 1, wherein a middle rolling type cutting mechanism (4) is arranged on the outer side of the robot main frame (1), the middle rolling type cutting mechanism (4) is used for carrying out directional rotation transportation on the shoveled weeds and cutting off the weeds in the weed transportation process, so that the weeds can be discharged to the field again as fertilizer after being thinned;
the middle rolling type cutting mechanism (4) comprises a mounting end groove (401), a transposition telescopic rod (402), a sliding vertical rod (403), a driving land wheel (404), a driving front belt wheel (405), a transposition side rod (406), a connecting sleeve (407), a connecting inclined block (408), a fixed arc-shaped cutter (409), a mounting side rod (410), a rotating hook wheel (411), a driven rear belt wheel (412), a transmission side belt (413), a driving tail box (414), a driving motor (415) and a driving tail wheel (416);
the inner sides of two ends of the inside of the connecting middle frame (301) are provided with mounting end grooves (401), a transposition telescopic rod (402) is embedded and mounted in the middle of one end of the inside of each mounting end groove (401), a sliding vertical rod (403) is fixedly connected to the position of the end part of each transposition telescopic rod (402) corresponding to the inside of each mounting end groove (401), a driving land wheel (404) is rotatably mounted on one side of the bottom end of each sliding vertical rod (403) through a rotating shaft, a driving front belt wheel (405) is fixedly sleeved at the position of the inner side of the bottom of each driving land wheel (404) corresponding to the sliding vertical rod (403), and a transposition side rod (406) is fixedly connected to the position of the top of each sliding vertical rod (403) corresponding to the position of one side of each mounting end groove (401);
the novel automatic transmission device is characterized in that a connecting sleeve (407) is sleeved at the middle part of the outer side of the transposition side rod (406), a connecting inclined block (408) is fixedly connected to one side of the bottom surface of the connecting sleeve (407), arc-shaped cutters (409) are fixedly connected to the bottom surface of the connecting inclined block (408) at equal intervals, a mounting side rod (410) is fixedly connected to the bottom surface of the connecting sleeve (407) at one side of the connecting inclined block (408), a rotary hook wheel (411) is rotatably mounted at the bottom position of the bottom end of one side of the mounting side rod (410) at the bottom of the corresponding fixed arc-shaped cutter (409) through a rotary shaft, a driven rear belt pulley (412) is sleeved at the inner position of the bottom surface of the corresponding mounting side rod (410) at one side of the rotary hook wheel (411), and a transmission side belt (413) is jointly sleeved at the outer sides of the driving front belt pulley (405) and the driven rear belt pulley (412);
the robot is characterized in that a driving tail box (414) is mounted on two sides of the bottom of the tail end of the robot main frame (1) through bolts, a driving motor (415) is fixedly mounted on the top of one side of the driving tail box (414), a driving tail wheel (416) is rotatably mounted on the bottom of the inner side of the driving tail box (414) through a rotating shaft, and transmission is carried out between the driving motor (415) and the driving tail wheel (416) through a belt and a belt wheel.
7. The weeding robot based on the visual control hydraulic movement interval according to claim 6, wherein the outer side of the top end of the sliding vertical rod (403) is tightly and slidably attached to the inner wall of the installation end groove (401), and the tail end of the transposition side rod (406) is slidably inserted into one side of the main frame (1) of the robot.
8. The weeding robot based on the visual control hydraulic movement distance according to claim 6, wherein the rotary hook wheels (411) are distributed in a staggered mode with the fixed arc-shaped blades (409), the side surfaces of the fixed arc-shaped blades (409) are in close sliding fit with the side surfaces of the hook-shaped blades, and the driving motor (415) supplies power through the central storage battery (2).
9. The weeding robot based on the visual control hydraulic movement interval according to claim 1, wherein an upper layer circulation blowing mechanism (5) is arranged at the top of the robot main frame (1);
the robot main frame (1) comprises a blowing tail box (501), a circulating fan (502), a collecting center box (503), a filtering side net (504), an air guide bottom pipe (505), a blowing inclined box (506), an air guide inclined box (507), a collecting side pipe (508), a collecting flat box (509) and a protective bottom net (510);
the middle part of the tail end of the top surface of the robot main frame (1) is fixedly provided with a blowing tail box (501), one side middle part of the blowing tail box (501) is provided with a circulating fan (502) in an embedded mode, the middle part of the inner side of the blowing tail box (501) is provided with a collecting center box (503), the middle parts of the two sides of the collecting center box (503) are provided with filtering side nets (504) in an embedded mode, the bottoms of the two ends of the blowing tail box (501) are fixedly connected with air guide bottom pipes (505), and the bottom ends of the air guide bottom pipes (505) are fixedly connected with blowing inclined boxes (506) corresponding to the bottom position of the robot main frame (1);
the end part cutting sleeve of the circulating fan (502) is provided with an air guide inclined box (507), the bottoms of the two ends of the air guide inclined box (507) are fixedly connected with collecting side pipes (508), the tail ends of the collecting side pipes (508) are correspondingly connected with a collecting flat box (509) at the middle part of one side of the middle frame (301), and a protective bottom net (510) is embedded and installed on one side of the bottom surface of the collecting flat box (509).
10. The weeding robot based on the visual control hydraulic movement distance according to claim 9, wherein the circulating fan (502) is powered by a central storage battery (2), and the side inclined surfaces of the blowing inclined boxes (506) are uniformly provided with blowing holes.
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| CN202311687154.8A CN117716815B (en) | 2023-12-11 | 2023-12-11 | Weeding robot based on visual control hydraulic pressure removes interval |
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| CN117716815B (en) | 2024-06-11 |
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