CN210630509U

CN210630509U - Automatic weeding robot

Info

Publication number: CN210630509U
Application number: CN201920968392.9U
Authority: CN
Inventors: 宋志明
Original assignee: Hunan Changyuan Environmental Technology Co ltd
Current assignee: Hunan Changyuan Environmental Technology Co ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-05-29
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses an automatic weeding robot, including organism, electrical system, storage medicine mechanism, spraying mechanism, discernment camera and running gear, still including the linking arm of stereoplasm, the nozzle is equipped with to the bottom of linking arm, and the upper end and the arm of linking arm connect into rotatable structure, and the arm connects into rotatable structure with spouting medicine control motor, and control motor drive arm rotates through spouting medicine, and the arm drives the linking arm and rotates and form the adjustment mechanism to the nozzle position. The utility model discloses an installation parallelly connected arm and linking arm on autonomous movement's dolly, through the cooperation of visual identification technique, advance to weeds and spray directly over the weeds by spouting medicine control motor and passing through arm and linking arm control nozzle motion, the structure of whole equipment is more simple effective, can realize that the automation of high accuracy is sprayed to reduce the herbicide quantity, reduce the destruction to the environment, reduction personnel intensity of labour.

Description

Automatic weeding robot

Technical Field

The utility model relates to a weeding equipment technical field, concretely relates to automatic weeding robot.

Background

Because the vitality of weeds is usually stronger than that of crops, weeds not only absorb fertilizer applied to the crops, but also seriously affect the growth of the crops, thereby reducing yield and even leading to crop death. Therefore, an important work of agricultural planting is weeding, traditional weeding operation is carried out manually, the efficiency is low, and the labor intensity of personnel is high. With the development of science and technology, people invent various automatic weeding devices, and mechanically weed, namely, pull out or cut off weeds, for example, an intelligent weeding robot disclosed in patent application CN201711132807.0 and an intelligent weeding robot system and a control method based on deep vision disclosed in patent application CN 201910015198.3; there are also medicinal weeding, such as patent application cn201811006862.x, which discloses a field weeding and fertilizing operation multi-wheel-foot robot, and the like. However, the existing automatic weeding equipment generally has the defects of complex structure and the like, particularly the control structure of the movable mechanical arm.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to prior art's defect, provide an automatic weeding robot that the structure is simpler, the connection structure between more reasonable, especially nozzle and the arm of design is not only simple but also stable.

In order to solve the technical problem, the utility model adopts the following technical scheme: the utility model provides an automatic weeding robot, includes organism, electrical system, stores up medicine mechanism, spraying mechanism, discernment camera and running gear, and spraying mechanism, discernment camera and running gear connect electrical system respectively, and spraying mechanism stores up medicine mechanism through the spray tube intercommunication, and electrical system, storage medicine mechanism, discernment camera are installed on the organism, and its characterized in that is installed on running gear to the organism: the spraying device is characterized by further comprising a hard connecting arm, a nozzle is mounted at the bottom of the connecting arm, the upper end of the connecting arm is connected with a mechanical arm to form a rotatable structure, the mechanical arm is connected with a spraying control motor to form a rotatable structure, the mechanical arm is driven to rotate by the spraying control motor, and the mechanical arm drives the connecting arm to rotate to form an adjusting mechanism for the position of the nozzle.

Furthermore, the nozzle is fixed on a nozzle seat, the nozzle seat is connected with three groups of connecting arms, an included angle of 120 degrees is formed between each two adjacent groups of connecting arms, each group of connecting arms is connected with a pesticide spraying control motor through a mechanical arm, and the pesticide spraying control motor is installed on the machine body. After the weed position is determined by the recognition camera, an electric control system sends an instruction to the pesticide spraying control motor to work, the mechanical arm is driven to rotate, the mechanical arm drives the connecting arm to rotate, and the high-precision control on the moving position of the nozzle seat can be realized through the mutual matching of the three groups of connecting arms, the mechanical arm and the pesticide spraying control motor, so that the precise pesticide spraying effect is achieved.

Furthermore, each group of connecting arms comprises two connecting arms, the upper ends of the two connecting arms are obliquely connected into a rotatable structure through the lower ends of the connecting heads and the mechanical arms respectively, and the lower ends of the two connecting arms are also obliquely connected into a rotatable structure through the connecting heads and the nozzle holder, so that a very stable fixing structure for the nozzle holder can be realized.

Further, two groups of nozzle assemblies with the same structure are arranged on the bottom surface of the machine body side by side, so that the spraying operation can be carried out on two weed positions at the same time, and the working efficiency is doubled.

Furthermore, a satellite positioning system receiving device is respectively arranged at the front and the back of the machine body, and the front and the back satellite positioning system receiving devices jointly form a navigation and positioning mechanism of the weeding robot. It is understood that the positioning by the satellite positioning system (such as GPS) can be directly implemented by using the prior art, such as the patent application mentioned in the background, and need not be described herein.

Furthermore, the travelling mechanism comprises two front steering wheels and two rear driving wheels, the four wheels are all arranged at the bottom end of the machine foot of the machine body, the steering wheels are connected with steering motors, the steering motors are arranged on the machine body, and the steering wheels are driven by the steering motors to control the direction; the driving wheel is connected with a driving motor, the driving motor is arranged on the machine leg, and the driving motor controls the driving wheel to move forwards or backwards.

Furthermore, a control panel is arranged on the machine body and connected with an electric control mechanism, and a remote control module is arranged in the electric control mechanism. It can be understood that the control panel is arranged to operate and the remote control mechanism is arranged to realize remote control operation, which can be realized by directly utilizing the prior art, and need not be described in detail herein.

The utility model discloses an install parallelly connected arm and linking arm on autonomous movement's dolly, cooperation through the visual identification technique, discovery weeds get into the field of vision when the dolly gos forward, control system calculates weeds distance, and assign removal instruction and give and spout medicine control motor, move through arm and linking arm control nozzle and spray weeds directly over to weeds, the structure of whole equipment is more simple effective, can realize that the automation of high accuracy is sprayed, thereby reduce the weedicide quantity, reduce to the environmental destruction, personnel intensity of labour is reduced.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the overall structure of the present invention from another angle;

FIG. 3 is a schematic front view of the present invention;

FIG. 4 is a schematic side view of the present invention;

fig. 5 is an assembly view of the robot arm, the link arm, the nozzle, and the nozzle holder.

In the figure, 1 is a machine body, 11 is a machine foot, 12 is a control panel, 2 is a driving wheel, 21 is a driving motor, 3 is a steering wheel, 31 is a steering motor, 4 is a pesticide spraying control motor, 5 is a mechanical arm, 6 is a connecting arm, 7 is a nozzle, 8 is a nozzle seat, and 9 is a connecting head.

Detailed Description

In this embodiment, referring to fig. 1 to 5, the automatic weeding robot includes a machine body 1, an electric control system (not shown), a medicine storage mechanism (not shown), a spraying mechanism, a recognition camera (not shown), and a traveling mechanism, wherein the spraying mechanism, the recognition camera, and the traveling mechanism are respectively connected to the electric control system, the spraying mechanism is communicated with the medicine storage mechanism through a spray pipe, the electric control system, the medicine storage mechanism, and the recognition camera are mounted on the machine body 1, and the machine body 1 is mounted on the traveling mechanism; still including the linking arm 6 of stereoplasm, nozzle 7 is equipped with to the bottom of linking arm 6, and the upper end of linking arm 6 connects into rotatable structure with arm 5, and arm 5 connects into rotatable structure with spouting medicine control motor 4, and control motor 4 through spouting medicine and drive arm 5 and rotate, and arm 5 drives linking arm 6 and rotates and form the position control mechanism to nozzle 7.

The nozzle 7 is fixed on a nozzle seat 8, the nozzle seat 8 is connected with three groups of connecting arms 6, an included angle of 120 degrees is formed between every two adjacent groups of connecting arms 6, each group of connecting arms 6 is connected with a pesticide spraying control motor 4 through a mechanical arm 5, and the pesticide spraying control motor 4 is installed on the machine body 1. After the weed position is determined by the recognition camera, an electric control system sends an instruction to spray the pesticide to control the motor 4 to work, the mechanical arm 5 is driven to rotate, the mechanical arm 5 drives the connecting arm 6 to rotate, and the high-precision control on the moving position of the nozzle seat 8 can be realized through the mutual matching of the three groups of connecting arms 6, the mechanical arm 5 and the pesticide spraying control motor 4, so that the accurate pesticide spraying effect is achieved.

Every group linking arm 6 is including two, and the upper end of two linking arms 6 connects into rotatable structure through the lower extreme slope of connector 9 with arm 5 respectively, and the lower extreme of two linking arms 6 also connects into rotatable structure through connector 9 and nozzle holder 8 slope, can realize the fixed knot who is very stable to nozzle holder 8 like this.

The bottom surface of the machine body 1 is provided with two groups of nozzle assemblies with the same structure side by side, so that the spraying operation can be carried out on two weed positions at the same time, and the working efficiency is doubled.

A satellite positioning system receiving device (not shown) is respectively arranged in front of and behind the machine body 1, and the front and rear satellite positioning system receiving devices jointly form a navigation and positioning mechanism of the weeding robot. It is understood that the positioning by the satellite positioning system (such as GPS) can be directly implemented by using the prior art, such as the patent application mentioned in the background, and need not be described herein.

The walking mechanism comprises two front steering wheels 3 and two rear driving wheels 2, the four wheels are all arranged at the bottom end of a machine foot 11 of the machine body 1, the steering wheels 3 are connected with a steering motor 31, the steering motor 31 is arranged on the machine body 1, and the steering wheels 3 are driven by the steering motor 31 to control the direction; a driving motor 21 is connected to the driving wheel 2, the driving motor 21 is attached to the frame leg 11, and the driving wheel 2 is controlled to move forward or backward by the driving motor 21.

A control panel 12 is arranged on the machine body 1, the control panel 12 is connected with an electric control mechanism, and a remote control module is arranged in the electric control mechanism. It is understood that the control panel 12 is configured to operate and the remote control mechanism is configured to perform remote control operations, which can be directly implemented using the prior art and need not be described herein.

The above detailed description of the present invention is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereto, i.e. all equivalent changes and modifications made in accordance with the scope of the present invention should be covered by the present invention.

Claims

1. The utility model provides an automatic weeding robot, includes organism, electrical system, stores up medicine mechanism, spraying mechanism, discernment camera and running gear, and spraying mechanism, discernment camera and running gear connect electrical system respectively, and spraying mechanism stores up medicine mechanism through the spray tube intercommunication, and electrical system, storage medicine mechanism, discernment camera are installed on the organism, and its characterized in that is installed on running gear to the organism: the spraying device is characterized by further comprising a hard connecting arm, a nozzle is mounted at the bottom of the connecting arm, the upper end of the connecting arm is connected with a mechanical arm to form a rotatable structure, the mechanical arm is connected with a spraying control motor to form a rotatable structure, the mechanical arm is driven to rotate by the spraying control motor, and the mechanical arm drives the connecting arm to rotate to form an adjusting mechanism for the position of the nozzle.

2. An automatic weeding robot according to claim 1, wherein: the nozzle is fixed on a nozzle holder, and the nozzle holder is connected with three groups of linking arms, forms 120 degrees contained angles between an adjacent group of linking arms, and every group linking arm all connects a medicine control motor that spouts through a mechanical arm, spouts the medicine control motor and installs on the organism.

3. An automatic weeding robot according to claim 2, wherein: each group of connecting arms comprises two connecting arms, the upper ends of the two connecting arms are obliquely connected into a rotatable structure through the lower ends of the connecting heads and the mechanical arm respectively, and the lower ends of the two connecting arms are also obliquely connected into a rotatable structure through the connecting heads and the nozzle holder.

4. An automatic weeding robot according to claim 1, wherein: two groups of nozzle assemblies with the same structure are arranged on the bottom surface of the machine body side by side.

5. An automatic weeding robot according to claim 1, wherein: the front and the back of the body are respectively provided with a satellite positioning system receiving device, and the front and the back satellite positioning system receiving devices jointly form a navigation and positioning mechanism of the weeding robot.

6. An automatic weeding robot according to claim 1, wherein: the traveling mechanism comprises two front steering wheels and two rear driving wheels, the four wheels are all arranged at the bottom end of the machine foot of the machine body, the steering wheels are connected with steering motors, and the steering motors are arranged on the machine body; the driving wheel is connected with a driving motor which is arranged on the machine leg.

7. An automatic weeding robot according to claim 1, wherein: a control panel is arranged on the machine body and connected with an electric control mechanism, and a remote control module is arranged in the electric control mechanism.