CN212306053U

CN212306053U - Weeding robot

Info

Publication number: CN212306053U
Application number: CN201922394298.XU
Authority: CN
Inventors: 袁标; 李维钧; 陈柯; 王金悦
Original assignee: Shanghai Diantian Agricultural Professional Cooperative
Current assignee: Shanghai Diantian Agricultural Professional Cooperative
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2021-01-08
Anticipated expiration: 2029-12-25

Abstract

The utility model discloses a weeding robot, relate to weeding equipment technical field, including the robot, the robot includes the walking module, weeding module, control module and detection module, the walking module includes the walking frame, walking wheel and walking control structure, weeding module includes mounting bracket and weeding mechanism, and weeding mechanism corresponds and installs on the mounting bracket, weeding mechanism includes fixed weeding portion and the clamping jaw weeding portion that opens and shuts, fixed weeding portion includes two first weed removal shovels, the clamping jaw weeding portion that opens and shuts includes two second weed removal shovels, control module includes the controller, the mechanism that opens and shuts, pull cylinder and pneumatic control unit, the controller is installed on the walking frame, the controller is connected with pneumatic control unit, the detection module electricity, pneumatic control unit and the mechanism that opens and shuts, pull cylinder pneumatic connection, weeding mechanism is respectively with in the channel, Weeds between adjacent crops in the same row are removed, and the influence on the growth of the crops caused by the use of medicaments for removing the weeds is avoided.

Description

Weeding robot

Technical Field

The utility model relates to a weeding equipment material technical field, more specifically say, it relates to a weeding robot.

Background

The field weeds almost exist in all growth environments of field crops, and are difficult to stop the growth of the field crops in a green, environment-friendly, low-carbon and efficient weeding mode, so that how to effectively remove the field weeds has very important significance in the agricultural production process of China.

Chinese patent with current publication number CN209359439U discloses an automatic weeding robot, which comprises a weeding frame, a camera, a herbicide spray head assembly, a driving assembly and a conveying assembly, wherein the camera and the herbicide spray head assembly are both installed on the weeding frame, the camera is used for taking pictures of weeds and sending picture signals, the driving assembly is used for driving the herbicide spray head assembly to spray herbicides on the weeds according to the picture signals, and the conveying assembly is used for conveying the weeding frame.

Crops are generally uniformly planted in rows in a farmland, intervals exist between adjacent crops, and weeds easily grow in a channel formed between every two rows and vacant spaces between the crops.

SUMMERY OF THE UTILITY MODEL

To the not enough that exists among the prior art, the utility model aims to provide a weeding robot, weeding mechanism respectively with in the channel, with arranging weeds between the adjacent crops and get rid of, avoid using the medicine to get rid of weeds and influence the growth of crops, the concrete scheme is as follows:

the weeding robot comprises a robot body, wherein the robot body comprises a walking module, a weeding module, a pneumatic control module and a detection module for identifying crops;

the walking module comprises a walking frame, walking wheels and a walking control structure, the walking wheels are correspondingly and rotatably connected to four corners of the walking frame, the walking wheels are correspondingly connected with the walking control structure, and the detection module is installed on the walking frame;

the weeding module comprises a mounting frame and a plurality of weeding mechanisms, the weeding mechanisms are correspondingly mounted on the mounting frame, each weeding mechanism comprises a fixed weeding part and an opening-closing clamping jaw weeding part, the opening-closing clamping jaw weeding parts and the fixed weeding parts are arranged in the front and back direction along the running direction of the walking frame, each fixed weeding part comprises two first weeding shovels arranged at intervals, each opening-closing clamping jaw weeding part comprises two second weeding shovels movably arranged, and the two first weeding shovels are positioned on two sides of each opening-closing clamping jaw weeding part along the running direction of the walking frame;

control module includes the controller, opens and shuts the mechanism, pulls cylinder and pneumatic control unit, the controller install in on the walking frame, the controller with pneumatic control unit, detection module electricity are connected, pneumatic control unit with open and shut the mechanism, pull cylinder pneumatic connection, open and shut the mechanism with open and shut clamping jaw weeding portion drive and connect and be close to or keep away from in order to realize two second weeding shovels, the stiff end and the flexible end of pulling the cylinder all are equipped with articulated ear seat, two articulated ear seat respectively with mounting bracket, walking frame fixed connection.

Through the technical scheme, when weeding is carried out, the two first weeding shovels are positioned in adjacent channels, the walking wheels are positioned in corresponding channels, the traction cylinder works to drive the mounting frame to rotate relative to the walking frame, so that the weeding mechanism moves downwards, the first weeding shovel and the second weeding shovel are in contact with weeds, the walking control structure works to drive the walking wheels to run in the channels, the whole robot body moves, the first weeding shovel is in contact with the weeds in the channels to cut off the weeds, meanwhile, when the detection module detects the crops in the running process of the walking frame, the controller controls the opening and closing mechanism to open the two second weeding shovels to gradually get away from each other and be positioned at two sides of the crops, after the crops are crossed, the controller controls the two second weeding shovels to be closed to gradually get close to each other and to be in contact with sundries in vacant positions between adjacent crops to cut off the weeds, and the first weeding shovel independently removes the weeds in the channels, the second weeding shovel independently removes weeds between the adjacent crops in the same row, achieves the effect of removing weeds, and avoids the influence on the growth of the crops caused by the use of medicaments for removing the weeds.

Further, the mounting bracket with be equipped with a plurality of strengthening mechanism between the walking frame, strengthening mechanism includes connecting rod and jack catch, connecting rod one end with the walking frame is articulated, the connecting rod other end is connected with the jack catch, the jack catch with the mounting bracket joint.

Through above-mentioned technical scheme, when drawing the cylinder and driving the mounting bracket motion, the connecting rod rotates along with the relative walking frame of mounting bracket, improves the stability of being connected between mounting bracket and the walking frame, guarantees that the mounting bracket stably rises or moves down.

Furthermore, the traction cylinder is arranged between the connecting rods, a guide rod is arranged above the traction cylinder, and two ends of the guide rod are hinged to the mounting frame and the walking frame respectively.

Through the technical scheme, the mounting frame is even in stress, and the guide rod rotates along with the mounting frame when the traction cylinder drives the mounting frame to move, so that the connection stability between the mounting frame and the walking frame is improved.

Furthermore, the control module further comprises an air source device, the air source device is installed on one side of the walking frame, and the air source device is pneumatically connected with the opening and closing mechanism and the traction cylinder.

Through the technical scheme, the air source device is provided with the opening and closing mechanism and the traction cylinder to provide power, so that the normal work of the opening and closing mechanism and the traction cylinder is ensured.

Further, the detection module comprises a recognition camera, and the recognition camera is arranged between the walking frame and the mounting frame.

Through above-mentioned technical scheme, the scene of discernment camera below is shot in real time at the walking frame in the motion process to the discernment camera, detects whether crops appear, and the discernment camera feeds back the signal to the controller, realizes the state that opens and shuts of control mechanism.

Furthermore, a light source is arranged below the recognition camera and fixedly connected with the walking frame.

Through above-mentioned technical scheme, the setting of light source is discerned the camera and is supplemented luminance, and the discernment camera of being convenient for clearly discerns crops or weeds.

Furthermore, the walking control structure comprises a motor, and an output shaft of the motor is in transmission connection with the walking wheel.

Through the technical scheme, when the motor works, the output shaft of the motor provides power for the walking wheels, and the walking wheels are driven to rotate, so that the robot body moves.

Furthermore, the walking frame with be equipped with the butt pole between the mounting bracket, butt pole one end with walking frame fixed connection, the other end of butt pole is in the top of mounting bracket.

Through above-mentioned technical scheme, when weeding mechanism did not use, pull the cylinder and drive the mounting bracket and rise for the mounting bracket until with butt pole butt, stop motion.

Compared with the prior art, the beneficial effects of the utility model are as follows:

(1) the walking control structure works to drive the walking wheels to run in the trench, the whole robot body moves, the first weeding shovel is in contact with weeds in the trench to cut off the weeds, meanwhile, when the detection module detects crops in the running process of the walking frame, the controller controls the opening and closing mechanism to open the two second weeding shovels and gradually move away from each other to be positioned at two sides of the crops, after the weeds cross the crops, the controller controls the two second weeding shovels to be closed and gradually move close to each other to be in contact with sundries in vacant spaces between adjacent crops to cut off the weeds, the first weeding shovel independently removes the weeds in the trench, the second weeding shovels independently remove the weeds between adjacent crops in the same row, the effect of removing the weeds is achieved, and the influence on the growth of the crops caused by the removal of the weeds by using medicaments is avoided;

(2) by arranging the reinforcing mechanism, the connecting rod rotates relative to the walking frame along with the mounting frame, so that the connection stability between the mounting frame and the walking frame is improved, and the mounting frame is ensured to stably ascend or descend;

(3) by arranging the light source, the brightness is supplemented for the recognition camera, so that the recognition camera can clearly recognize the crops or the weeds.

Drawings

Fig. 1 is an overall schematic view of an embodiment of the present invention;

fig. 2 is a schematic structural view showing the specific structure of the weeding mechanism of the present invention;

fig. 3 is a simplified schematic diagram showing the cooperation relationship between the crop and the fixed weeding part and between the opening and closing clamping jaw weeding part of the utility model.

Reference numerals: 1. a robot body; 2. a walking module; 21. a walking frame; 22. a traveling wheel; 23. a walking control structure; 3. a weeding module; 4. a mounting frame; 5. a weeding mechanism; 6. a fixed weeding part; 61. a first weed removing shovel; 7. a clamping jaw opening and closing weeding part; 71. a second weed removing shovel; 8. a control module; 81. a controller; 82. an opening and closing mechanism; 83. a traction cylinder; 84. a pneumatic control unit; 85. an air supply device; 9. a reinforcement mechanism; 91. a connecting rod; 92. a claw; 10. a hinged ear mount; 11. a butting rod; 12. identifying a camera; 13. a light source; 14. a guide rod.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1, a weeding robot, including robot 1, robot 1 includes walking module 2, weeding module 3, control module 8 and is used for discerning the detection module of crop, and walking module 2 drives robot 1 overall movement, and detection module discerns crop at robot 1 operation in-process, and control module 8 controls weeding module 3 and carries out the weeding operation. The utility model is suitable for a farmland weeding operation, the even in bank of crops is planted in the farmland, forms the channel between two adjacent rows of crops, has the interval between the adjacent crops.

The walking module 2 comprises a walking frame 21, walking wheels 22 and a walking control structure 23, the four corners of the walking frame 21 correspond to each other and are rotatably connected with the walking wheels 22, each walking wheel 22 corresponds to each walking wheel and is connected with the walking control structure 23, in the embodiment, the walking control structure 23 is set as a motor, an output shaft of the motor can pass through a speed reducer and is fixedly connected with a rotating shaft of each walking wheel 22 to drive the walking wheels 22 to rotate, and therefore the walking frame 21 is driven to move integrally.

With reference to fig. 1 and 2, the weeding module 3 includes a mounting frame 4 and weeding mechanisms 5, in this embodiment, six weeding mechanisms 5 are provided, and the weeding mechanisms 5 are arranged in two rows and correspondingly mounted on the mounting frame 4, and the mounting frame 4 is disposed on one side of the walking frame 21. Weeding mechanism 5 is including fixed weeding portion 6 and the clamping jaw weeding portion 7 that opens and shuts, and clamping jaw weeding portion 7, fixed weeding portion 6 that opens and shuts are the setting from beginning to end along walking frame 21 traffic direction. The fixed weeding portion 6 includes two first weeding shovels 61 arranged at intervals, and the interval distance of the two first weeding shovels 61 is fixedly arranged and set according to the distance between two adjacent channels. The opening-closing clamping jaw weeding portion 7 comprises two movably arranged second weeding shovels 71, and the two first weeding shovels 61 are positioned on two sides of the opening-closing clamping jaw weeding portion 7 along the running direction of the walking frame 21.

The control module 8 includes a controller 81, an opening and closing mechanism 82, a traction cylinder 83, and a pneumatic control unit 84. The fixed end and the telescopic end of the traction cylinder 83 are respectively provided with the hinged lug seats 10, the two hinged lug seats 10 are respectively fixedly connected with the mounting frame 4 and the walking frame 21, the traction cylinder 83 works to drive the mounting frame 4 to overturn relative to the walking frame 21, ascending or descending is realized, and the weeding mechanism 5 is driven to be close to weeds. Optimally, be equipped with between walking frame 21 and the mounting bracket 4 butt pole 11, butt pole 11 is whole to be "L" font, and the one end and the walking frame 21 fixed connection of butt pole 11, the other end of butt pole 11 are in the top of mounting bracket 4, when pulling cylinder 83 and driving mounting bracket 4 and rise, when mounting bracket 4 and 11 butts of butt pole, but mounting bracket 4 stop motion.

As shown in fig. 1, be equipped with two strengthening mechanism 9 between mounting bracket 4 and the walking frame 21, strengthening mechanism 9 includes connecting rod 91 and jack catch 92, and connecting rod 91 one end is articulated through setting up the pivot with walking frame 21, and connecting rod 91 other end fixedly connected with jack catch 92, jack catch 92 are formed with the joint groove, through joint groove and mounting bracket 4 joint, and pull cylinder 83 and be in between two connecting rods 91 for pull cylinder 83 and be connected with the middle part of mounting bracket 4. The guide rod 14 is arranged above the traction cylinder 83, two ends of the guide rod 14 are hinged with the mounting frame 4 and the walking frame 21 through the rotating shaft, and when the walking frame 21 moves, the mounting frame 4 is driven to move.

With reference to fig. 1 and 2, the opening and closing mechanism 82 is connected to the opening and closing claw weeding portion 7 in a driving manner to realize opening and closing, the opening and closing mechanism 82 is provided with a bidirectional cylinder, a CXSW series bidirectional double-acting cylinder can be adopted, the opening and closing mechanism 82 is fixedly connected to the mounting frame 4 by arranging a fixing plate, and the two second weeding shovels 71 are respectively fixedly connected to two telescopic ends of the opening and closing mechanism 82. When the opening and closing mechanism 82 is in an initial state, the two second weeding shovels 71 are attached to each other, and when the opening and closing mechanism 82 works, the two telescopic ends drive the two second weeding shovels 71 to be close to each other or to be away from each other.

As shown in fig. 1, the detection module includes a recognition camera 12, the recognition camera 12 is disposed between the walking frame 21 and the mounting frame 4, and when the robot body 1 operates, the recognition camera 12 is located in front of the mounting frame 4 and the weeding mechanism 5, the recognition camera 12 shoots the scene below the recognition camera 12 in real time in the moving process of the walking frame 21, whether crops appear is detected, a light source 13 is disposed below the recognition camera 12, the light source 13 is fixedly connected with the walking frame 21, brightness is supplemented for the recognition camera 12, and the recognition camera 12 can clearly recognize the crops or weeds.

The controller 81 is fixedly installed on the walking frame 21, the recognition camera 12 is electrically connected with the input end of the controller 81 through a wire, and the pneumatic control unit 84 is electrically connected with the output end of the controller 81 through a wire. The pneumatic control unit 84 includes an air source filter, a total air source control valve, an air pressure gauge, an air pressure sensor, and an air cylinder pneumatic direction control valve, and the connection modes of the parts are not described again. The pneumatic control unit 84 is pneumatically connected to the opening and closing mechanism 82 and the traction cylinder 83. In this example, the controller 81 may be an embedded controller, and the control circuit may control it by developing a control system by itself through those skilled in the art, and only use it, and the present invention is mainly used to protect the mechanical device, so the present invention does not explain the control mode and the circuit connection in detail. The control module 8 further comprises an air source device 85, the air source device 85 is fixedly installed on one side of the walking frame 21, and the air source device 85 is pneumatically connected with the opening and closing mechanism 82 and the traction air cylinder 83 through a main air source control valve to provide power for the opening and closing mechanism 82 and the traction air cylinder 83.

The working process of the utility model is as follows:

as shown in fig. 3, when weeding, two first weeding shovels 61 are positioned in adjacent channels, the travelling wheels 22 are positioned in the channels, the traction cylinder 83 works to drive the mounting frame 4 to turn over relative to the travelling frame 21, the weeding mechanism 5 moves downwards, the first weeding shovel 61 and the second weeding shovel 71 are in contact with weeds, the motor works to drive the travelling wheels 22 to travel in the channel, the first weeding shovel 61 is in contact with the weeds in the channel to cut off the weeds, meanwhile, when the recognition camera 12 detects crops during the operation of the walking frame 21, the crops are fed back to the controller 81, the controller 81 controls the opening and closing mechanism 82 to open the two second weeding shovels 71, the two second weeding shovels are gradually separated from each other and are positioned at the two sides of the crops, after the crops are crossed, the controller 81 controls the two second weeding shovels 71 to close and gradually approach each other to contact with the sundries in the vacant spaces between the adjacent crops, so as to cut off the weeds.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A weeding robot comprises a robot body (1), and is characterized in that the robot body (1) comprises a walking module (2), a weeding module (3), a pneumatic control module (8) and a detection module for identifying crops;

the walking module (2) comprises a walking frame (21), walking wheels (22) and walking control structures (23), the walking wheels (22) are correspondingly and rotatably connected to four corners of the walking frame (21), the walking wheels (22) are correspondingly connected with the walking control structures (23), and the detection module is installed on the walking frame (21);

the weeding module (3) comprises an installation frame (4) and weeding mechanisms (5), the weeding mechanisms (5) are arranged in a plurality of modes, the weeding mechanisms (5) are correspondingly installed on the installation frame (4), the weeding mechanisms (5) comprise fixed weeding parts (6) and opening and closing clamping jaw weeding parts (7), the opening and closing clamping jaw weeding parts (7) and the fixed weeding parts (6) are arranged in the front and back mode along the running direction of the walking frame (21), the fixed weeding parts (6) comprise two first weeding shovels (61) arranged at intervals, the opening and closing clamping jaw weeding parts (7) comprise two second weeding shovels (71) movably arranged, and the two first weeding shovels (61) are located on two sides of the opening and closing clamping jaw weeding parts (7) along the running direction of the walking frame (21);

control module (8) include controller (81), open and shut mechanism (82), traction cylinder (83) and pneumatic control unit (84), controller (81) install in on walking frame (21), controller (81) with pneumatic control unit (84), detection module electricity are connected, pneumatic control unit (84) with open and shut mechanism (82), traction cylinder (83) pneumatic connection, open and shut mechanism (82) with open and shut clamping jaw weeding portion (7) drive connection in order to realize that two second except that grass shovel (71) are close to or keep away from, the stiff end and the flexible end of traction cylinder (83) all are equipped with articulated ear seat (10), two articulated ear seat (10) respectively with mounting bracket (4), walking frame (21) fixed connection.

2. The weeding robot according to claim 1, wherein a plurality of reinforcing mechanisms (9) are provided between the mounting frame (4) and the walking frame (21), each reinforcing mechanism (9) comprises a connecting rod (91) and a jaw (92), one end of each connecting rod (91) is hinged to the walking frame (21), the other end of each connecting rod (91) is connected with the jaw (92), and the jaws (92) are clamped with the mounting frame (4).

3. A weeding robot according to claim 2, wherein the traction cylinder (83) is located between the connecting rods (91), a guide rod (14) is arranged above the traction cylinder (83), and two ends of the guide rod (14) are respectively hinged with the mounting frame (4) and the walking frame (21).

4. A weeding robot according to claim 1, wherein the control module (8) further comprises an air supply device (85), the air supply device (85) is mounted on one side of the walking frame (21), and the air supply device (85) is pneumatically connected with the opening and closing mechanism (82) and the traction cylinder (83).

5. A weeding robot as claimed in claim 1, wherein the detection module comprises a recognition camera (12), the recognition camera (12) being arranged between the walking frame (21) and the mounting frame (4).

6. A weeding robot according to claim 5, wherein a light source (13) is arranged below the recognition camera (12), the light source (13) being fixedly connected to the walking frame (21).

7. A weeding robot as claimed in claim 1, wherein the walking control structure (23) comprises an electric motor, the output shaft of which is in driving connection with the walking wheel (22).

8. A weeding robot as claimed in claim 1, wherein an abutment rod (11) is provided between the walking frame (21) and the mounting frame (4), one end of the abutment rod (11) being fixedly connected to the walking frame (21), the other end of the abutment rod (11) being above the mounting frame (4).