A kind of agricultural garden production is removed and collected robot with withered leaf

Abstract

The application relates to the field of robots, and discloses a dead leaf removing and collecting robot for agricultural garden production, which comprises a machine body, a driving part arranged on the machine body, a semi-ring-shaped support arranged at the end of the machine body, a roller slidingly and elastically arranged on the semi-ring-shaped support, and a collecting part arranged on the machine body. The driving part comprises supporting rollers arranged at the bottom end of the machine body and steering caterpillar belts rotationally arranged at the bottom end of the machine body. The collecting part comprises fixing rods fixed on the machine body, connecting rods movably arranged on the machine body, and driving rods rotationally arranged on the machine body. The fixing rods, the connecting rods and the driving rods are connected through a connecting cloth. The steering caterpillar belts are rotated, the roller can continuously vibrate the trunks of trees in the process of rotation of the steering caterpillar belts, the dead leaves on the trees are shaken off, meanwhile, the machine body rotates around the trunks of the plants, the collecting part forms a sector, and the shaken-off dead leaves are collected.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot for removing and collecting dead leaves in agricultural and horticultural production. Background Technology

[0002] When plants complete most of their vegetative growth and begin reproductive growth, older leaves gradually lose their function of providing nutrients to the plant, eventually turning into withered leaves. They may even begin to consume nutrients produced by other leaves. Furthermore, aging leaves are more susceptible to pathogens, spreading more diseases. On the other hand, urban roadside gardens produce a large number of withered leaves as autumn and winter approach. To avoid these fallen leaves affecting the cleanliness of the roads, workers typically shake the plants to dislodge them before they fall naturally, or use long poles to knock them down. This method of leaf removal is labor-intensive and inefficient. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies, such as high labor intensity and low efficiency, in manually removing dead leaves, and to propose a robot for removing and collecting dead leaves in agricultural and horticultural production.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robot for removing and collecting dead leaves in agricultural and horticultural production includes a body, a drive unit mounted on the body, a semi-circular support at the end of the body, a roller slidably and elastically mounted on the semi-circular support, and a collection unit mounted on the body. The drive unit includes a support roller mounted on the bottom of the body and a steering track rotatably mounted on the bottom of the body. The collection unit includes a fixed rod fixed to the body, a connecting rod movably mounted on the body, and a drive rod rotatably mounted on the body. The fixed rod, connecting rod, and drive rod are connected by a connecting cloth.

[0006] Preferably, the semi-annular bracket has an installation groove on one side of the opening, and a guide rail is provided on the side wall of the installation groove along the radial direction of the semi-annular bracket. A first rotating shaft is slidably arranged in the guide rail, and the roller is rotatably arranged on the first rotating shaft. An installation bracket is rotatably connected to the first rotating shaft, and a spring is connected to the installation bracket. One end of the spring is connected to the bottom of the installation groove.

[0007] Preferably, a first gear and a second gear meshing with the first gear are rotatably connected to the machine body. A first rotating rod is provided on the first gear and the second gear. A fixed rod is slidably sleeved on the bottom end of the first rotating rod. A fixed bracket is connected to one end of the fixed rod. The fixed bracket is fixed to the machine body. A connecting rod is movably sleeved on the first rotating rod. A driving rod is fixed to the top end of the first rotating rod. A first motor is installed on the machine body. A third gear is connected to the output end of the first motor. The third gear meshes with the first gear or the second gear.

[0008] Preferably, a collection box is provided at the top of the body, the top of the collection box has an opening, and the opening is connected to the middle of the collection part.

[0009] Preferably, a second motor is installed inside the machine body, a first driving gear and a first driven gear meshing with the first driving gear are rotatably connected inside the machine body, the output end of the second motor is connected to the first driving gear, a second rotating shaft is rotatably arranged inside the machine body, the first driven gear is fixed to the second rotating shaft, and the support roller is fixed on the second rotating shaft.

[0010] Preferably, a third motor is installed inside the machine body, and a second driving gear and a second driven gear meshing with the second driving gear are rotatably connected inside the machine body. The output end of the third motor is connected to the second driving gear, and a first hydraulic cylinder is connected to the second driven gear. The telescopic end of the first hydraulic cylinder is connected to the steering track.

[0011] Preferably, the machine body is equipped with a multi-stage hydraulic cylinder, the telescopic end of the multi-stage hydraulic cylinder is connected to a second hydraulic cylinder, the telescopic end of the second hydraulic cylinder is connected to a mounting block, one side of the mounting block is provided with a hammering part, and the other side of the mounting block is provided with a spraying part.

[0012] Preferably, the hammering part includes a fourth motor mounted on the mounting block, a second rotating rod, and a mass block disposed at the end of the second rotating rod, wherein the output end of the fourth motor is connected to the middle part of the second rotating rod.

[0013] Preferably, the spray unit includes a connecting pipe and a nozzle disposed at one end of the connecting pipe. The machine body is provided with a storage box, and a water pump is installed on one side of the storage box. One end of the water pump is connected to the bottom end of the storage box through a corrugated pipe, and the other end of the water pump is connected to the connecting pipe through a corrugated pipe.

[0014] Preferably, when removing dead leaves, the forward direction of the steering track and the forward direction of the support roller are at an angle of 30° to 60°.

[0015] The beneficial effects of this invention are:

[0016] This invention uses a drive unit to move a robot to a tree where dead leaves need to be removed, positioning the tree trunk within the opening of a semi-circular support, with the rollers abutting against the trunk. Rotating the steering track causes the rollers, due to their elastic sliding configuration on the semi-circular support, to continuously vibrate the tree trunk, shaking off the dead leaves. Simultaneously, the robot rotates around the tree trunk. During this process, a drive rod rotates, causing a connecting rod to rotate via a connecting band, forming a fan-shaped collection section to collect the shaken-off leaves. The height of the hammering and spraying sections is adjusted using multi-stage hydraulic cylinders, and their horizontal position is adjusted using a second hydraulic cylinder. The hammering section uses a mass block to hammer the dead leaves off the branches, sweeping them off. Water is sprayed onto the branches, simultaneously spraying the plant and removing the dead leaves. Liquid medication is also sprayed from the nozzles, providing simultaneous care and treatment for the plant. Attached Figure Description

[0017] Figure 1 This is a perspective view of a robot for removing and collecting dead leaves in agricultural and horticultural production proposed in this invention.

[0018] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0019] Figure 3 for Figure 1 A perspective view of the collection section in an agricultural and horticultural production dead leaf removal and collection robot;

[0020] Figure 4 for Figure 1 The image shown is a stereoscopic view of an agricultural and horticultural production robot for removing and collecting dead leaves from another perspective.

[0021] Figure 5 for Figure 4 A magnified view of a section at point B in the middle;

[0022] Figure 6 for Figure 1 The image shown is a stereoscopic view of an agricultural and horticultural production robot for removing and collecting dead leaves from another perspective.

[0023] Figure 7 for Figure 1 A three-dimensional view of the interior of a semi-circular support frame in an agricultural and horticultural production dead leaf removal and collection robot.

[0024] Figure 8 for Figure 1 A perspective view of the drive unit in an agricultural and horticultural production dead leaf removal and collection robot;

[0025] Figure 9 for Figure 1 The image shows a bottom view of an agricultural and horticultural robot for removing and collecting dead leaves after its steering tracks have been rotated.

[0026] Figure 10 for Figure 1 A top view of a robot for removing and collecting dead leaves in agricultural and horticultural production is shown.

[0027] Figure 11 for Figure 10 A sectional view of CC in the diagram;

[0028] Figure 12 for Figure 1 The image shown is a three-dimensional view of an agricultural and horticultural robot for removing and collecting dead leaves after its collection unit has been deployed.

[0029] In the diagram: 1 First housing, 2 Second housing, 3 Multi-stage hydraulic cylinder, 4 Machine body, 5 Drive unit, 51 Support roller, 52 Steering track, 6 Roller, 7 Semi-circular bracket, 8 Collection unit, 81 Fixed bracket, 82 Movable sleeve, 83 Connecting sleeve, 84 First rotating rod, 85 Drive rod, 86 Connecting cloth, 87 Connecting rod, 88 Fixed rod, 9 Collection box, 10 Spraying unit, 101 Connecting pipe, 102 Spray head, 11 Hammering unit, 111 Fourth motor, 112 Second rotating rod, 113 Mass block, 12 Second hydraulic cylinder, 13 First motor, 14 Third gear, 15 First gear, 16 Second gear, 17 First hydraulic cylinder, 18 Second driven gear, 19 Third motor, 20 Second driving gear, 25 First rotating shaft, 22 First driven gear, 23 First driving gear, 24 Second motor, 21 Second rotating shaft, 26 Guide rail, 27 Spring, 28 Mounting bracket. Detailed Implementation

[0030] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Please refer to Figure 1-12 A robot for removing and collecting dead leaves in agricultural and horticultural production includes a body 4, a drive unit 5 disposed on the body 4, a semi-circular bracket 7 disposed at the end of the body 4, a roller 6 slidably and elastically disposed on the semi-circular bracket 7, and a collection unit 8 disposed on the body 4. The drive unit 5 includes a support roller 51 disposed at the bottom end of the body 4 and a steering track 52 rotatably disposed at the bottom end of the body 4. The collection unit 8 includes a fixed rod 88 fixed on the body 4, a connecting rod 87 movably disposed on the body 4, and a drive rod 85 rotatably disposed on the body 4. The fixed rod 88, the connecting rod 87, and the drive rod 85 are connected by a connecting cloth 86.

[0034] The robot is driven by the drive unit 5 to the tree where fallen leaves need to be removed, so that the tree trunk is positioned within the opening of the semi-circular support 7, and the roller 6 abuts against the tree trunk. The steering track 52 is rotated so that its forward direction forms an angle of 30° to 60° with the forward direction of the support roller 51. Because the roller 6 is elastically mounted on the semi-circular support 7, it continuously vibrates the tree trunk during the rotation of the steering track 52, shaking off the fallen leaves. During this process, the drive rod 85 is rotated, which pulls the connecting rod 87 through the connecting cloth 86, causing the collection unit 8 to form a fan shape to collect the shaken-off fallen leaves.

[0035] The semi-annular bracket 7 has an installation groove on one side of the opening. The side wall of the installation groove is provided with a guide rail 26 along the radial direction of the semi-annular bracket 7. A first rotating shaft 25 is slidably arranged in the guide rail 26. The roller 6 is rotatably arranged on the first rotating shaft 25. An installation bracket 28 is rotatably connected to the first rotating shaft 25. A spring 27 is connected to the installation bracket 28. One end of the spring 27 is connected to the bottom of the installation groove.

[0036] A first gear 15 and a second gear 16 meshing with the first gear 15 are rotatably connected to the body 4. A first rotating rod 84 is provided on the first gear 15 and the second gear 16. A fixed rod 88 is slidably sleeved on the bottom end of the first rotating rod 84. One end of the fixed rod 88 is connected to a fixed bracket 81, which is fixed to the body 4. A connecting rod 87 is movably sleeved on the first rotating rod 84. It should be noted that there are multiple connecting rods 87, which are sequentially sleeved on the first rotating rod 84. In this embodiment, there are six connecting rods 87. A driving rod 85 is fixed to the top end of the first rotating rod 84. Specifically, a connecting sleeve 83 is fixed to the top end of the first rotating rod 84, and the driving rod 85 is fixed to the connecting sleeve 83. A first motor 13 is installed on the body 4. The output end of the first motor 13 is connected to a third gear 14, which meshes with either the first gear 15 or the second gear 16. The first motor 13 drives the third gear 14 to rotate, and the third gear 14 drives the first gear 15 or the second gear 16 to rotate. Since the first gear 15 is connected to the second gear 16, the first gear 15 and the second gear 16 rotate in opposite directions. After the first rotating rod 84 rotates, the driving rod 85 rotates. The driving rod 85 pulls the connecting rod 87 to rotate through the connecting cloth 86, and makes the collecting part 8 form a fan shape for collecting the fallen dead leaves.

[0037] A collection box 9 is provided at the top of the body 4. The top of the collection box 9 has an opening, which is connected to the middle of the collection section 8. When the collection section 8 is unfolded into a fan shape, the fallen dead leaves fall onto the fan-shaped collection section 8, and the dead leaves on the collection section 8 are collected and moved into the collection box 9. The bottom of the collection box 9 is provided with filter holes to facilitate the removal of moisture from the dead leaves.

[0038] A second motor 24 is installed inside the body 4. A first driving gear 23 and a first driven gear 22 meshing with the first driving gear 23 are rotatably connected inside the body 4. The output end of the second motor 24 is connected to the first driving gear 23. A second rotating shaft 21 is rotatably arranged inside the body 4. The first driven gear 22 is fixed to the second rotating shaft 21. The support roller 51 is fixed on the second rotating shaft 21.

[0039] A third motor 19 is installed inside the body 4. A second driving gear 20 and a second driven gear 18 meshing with the second driving gear 20 are rotatably connected inside the body 4. The output end of the third motor 19 is connected to the second driving gear 20. A first hydraulic cylinder 17 is connected to the second driven gear 18. The telescopic end of the first hydraulic cylinder 17 is connected to the steering track 52. It should be noted that the steering track 52 has a power system that causes the track to rotate. The power system can be an electric motor or an internal combustion engine.

[0040] The second motor 24 drives the support roller 51 to rotate, and the support roller 51 drives the machine body 4 forward. The third motor 19 drives the first hydraulic cylinder 17 and the steering track 52 to rotate, thereby turning the machine body 4. When it is necessary to vibrate the trunk of a tree, the roller is brought close to the trunk of the tree, the steering track 52 is rotated and started. Since there is an angle between the forward direction of the steering track 52 and the forward direction of the support roller 51, the angle causes the machine body 4 to approach the tree and compresses the spring 27 connected to the roller 6. At the same time, the angle also causes the machine body 4 to turn, so that the machine body 4 rotates around the trunk of the tree. During the rotation of the machine body 4, the driving force provided by the rotating track 52 and the elastic force of the spring 27 enable the machine body 4 to continuously impact and vibrate the trunk of the tree. The first hydraulic cylinder 17 can drive the steering track 52 to move up and down. The first hydraulic cylinder 17 can also adjust the height of one end of the machine body 4. When one end of the machine body 4 is high enough and the support roller 51 is separated from the ground, the resistance caused by the different forward directions of the support roller 51 and the steering track 52 can be reduced. Furthermore, under the condition of constant output from the steering track 52, adjusting the tilt angle of the machine body 4, especially the tilt angle of the semi-circular support 7, can adjust the force applied by the roller 6 to the trunk of the tree, thereby adjusting the amplitude of the tree's sway. It is understood that the output driving force of the steering track 52 can be controlled and adjusted.

[0041] In a preferred embodiment, the machine body 4 is provided with an adjusting hydraulic cylinder, and the telescopic end of the adjusting hydraulic cylinder is connected to an adjusting bracket. The second motor 24, the first driving gear 23, the first driven gear 22, the second rotating shaft 21, and the supporting roller 51 are all mounted on the adjusting bracket, and the height of the supporting roller 51 is adjusted by adjusting the adjusting hydraulic cylinder.

[0042] The machine body 4 is equipped with a multi-stage hydraulic cylinder 3. The telescopic end of the multi-stage hydraulic cylinder 3 is connected to a second hydraulic cylinder 12. The telescopic end of the second hydraulic cylinder 12 is connected to a mounting block. A hammering part 11 is provided on one side of the mounting block, and a spraying part 10 is provided on the other side of the mounting block. The telescopic end of the multi-stage hydraulic cylinder 3 moves up and down, and the telescopic end of the second hydraulic cylinder 12 moves laterally.

[0043] The hammering unit 11 includes a fourth motor 111 mounted on the mounting block, a second rotating rod 112, and a mass block 113 disposed at the end of the second rotating rod 112. The output end of the fourth motor 111 is connected to the middle of the second rotating rod 112. The fourth motor 111 drives the second rotating rod 112 and the mass block 113 to rotate, and the mass block 113 is used to hammer the withered leaves on the branches of the plant, sweeping the withered leaves off.

[0044] The spray unit 10 includes a connecting pipe 101 and a nozzle 102 disposed at one end of the connecting pipe 101. In a preferred embodiment, the body 4 is provided with storage boxes, and a water pump is installed on one side of each storage box. One end of the water pump is connected to the bottom of the storage box via a corrugated pipe, and the other end of the water pump is connected to the connecting pipe 101 via a corrugated pipe. Further, the storage box includes a first box 1 and a second box 2 disposed on the body 4. The first box 1 is used to store liquid medicine, and the second box 2 is used to store water. By spraying water onto the branches of the plants through the nozzle 102, the plants can be sprayed while simultaneously sweeping away dead leaves. By spraying liquid medicine through the nozzle 102, the plants can be simultaneously maintained and treated.

[0045] Understandably, in a preferred embodiment, the storage box may be omitted, and one end of the connecting pipe 101 is connected to a pressurized water supply facility such as a fire hydrant via a corrugated pipe.

[0046] This invention uses a drive unit 5 to move the robot to the tree where dead leaves need to be removed, positioning the tree trunk within the opening of the semi-circular support 7, with the roller 6 abutting against the tree trunk. Rotating the steering track 52 causes the roller 6, which is elastically mounted on the semi-circular support 7, to continuously vibrate the tree trunk, shaking off the dead leaves. Simultaneously, the robot body 4 rotates around the tree trunk. During this process, the drive rod 85 is rotated, pulling the connecting rod 87 via the connecting cloth 86, causing the collection unit 8 to form a fan shape to collect the shaken-off dead leaves. The height of the hammering unit 11 and the spraying unit 10 are adjusted by the multi-stage hydraulic cylinder 3, and their horizontal position is adjusted by the second hydraulic cylinder 12. The mass block 113 on the hammering unit 11 hammers the dead leaves on the branches of the plant, sweeping them off. By spraying water onto the branches of the plant using nozzle 102, the plant can be irrigated while simultaneously sweeping away dead leaves. Liquid medication can also be sprayed through nozzle 102, allowing for simultaneous care and treatment of the plant.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for removing and collecting dead leaves in agricultural and horticultural production, characterized in that, The assembly includes a body (4), a drive unit (5) mounted on the body (4), a semi-annular support (7) mounted at the end of the body (4), a roller (6) slidably and elastically mounted on the semi-annular support (7), and a collection unit (8) mounted on the body (4). The drive unit (5) includes a support roller (51) mounted at the bottom end of the body (4) and a steering track (52) rotatably mounted at the bottom end of the body (4). The collection unit (8) includes a fixed rod (88) fixed on the body (4), a connecting rod (87) movably mounted on the body (4), and a drive unit rotatably mounted on the body (4). The rod (85), the fixed rod (88), the connecting rod (87) and the driving rod (85) are connected by a connecting cloth (86); the semi-circular bracket (7) is provided with an installation groove on one side of the opening, and a guide rail (26) is provided on the side wall of the installation groove along the radial direction of the semi-circular bracket (7). A first rotating shaft (25) is slidably arranged in the guide rail (26), and the roller (6) is rotatably arranged on the first rotating shaft (25). An installation bracket (28) is rotatably connected to the first rotating shaft (25), and a spring (27) is connected to the installation bracket (28). One end of the spring (27) is connected to the bottom of the installation groove; the machine body (4) is divided into A first gear (15) and a second gear (16) meshing with the first gear (15) are rotatably connected. A first rotating rod (84) is provided on the first gear (15) and the second gear (16). A fixed rod (88) is slidably sleeved on the bottom end of the first rotating rod (84). One end of the fixed rod (88) is connected to a fixed bracket (81). The fixed bracket (81) is fixed on the machine body (4). A connecting rod (87) is movably sleeved on the first rotating rod (84). A driving rod (85) is fixed on the top end of the first rotating rod (84). A first motor (13) is installed on the machine body (4). The output end of the first motor (13) is connected to a third gear (14), which meshes with the first gear (15) or the second gear (16). When removing dead leaves, the forward direction of the steering track (52) is at an angle to the forward direction of the support roller (51), which is 30° to 60°. A multi-stage hydraulic cylinder (3) is installed on the machine body (4). The telescopic end of the multi-stage hydraulic cylinder (3) is connected to a second hydraulic cylinder (12). The telescopic end of the second hydraulic cylinder (12) is connected to a mounting block. A hammering part (11) is provided on one side of the mounting block, and a spraying part (10) is provided on the other side of the mounting block.

2. The robot for removing and collecting dead leaves in agricultural and horticultural production according to claim 1, characterized in that, The top of the body (4) is provided with a collection box (9), the top of the collection box (9) has an opening, and the opening is connected to the middle of the collection part (8).

3. The robot for removing and collecting dead leaves in agricultural and horticultural production according to claim 1, characterized in that, A second motor (24) is installed inside the body (4). A first driving gear (23) and a first driven gear (22) meshing with the first driving gear (23) are rotatably connected inside the body (4). The output end of the second motor (24) is connected to the first driving gear (23). A second rotating shaft (21) is rotatably arranged inside the body (4). The first driven gear (22) is fixed to the second rotating shaft (21). The support roller (51) is fixed on the second rotating shaft (21).

4. The robot for removing and collecting dead leaves in agricultural and horticultural production according to claim 1, characterized in that, A third motor (19) is installed inside the body (4). A second driving gear (20) and a second driven gear (18) meshing with the second driving gear (20) are rotatably connected inside the body (4). The output end of the third motor (19) is connected to the second driving gear (20). A first hydraulic cylinder (17) is connected to the second driven gear (18). The telescopic end of the first hydraulic cylinder (17) is connected to the steering track (52).

5. The robot for removing and collecting dead leaves in agricultural and horticultural production according to claim 4, characterized in that, The hammering part (11) includes a fourth motor (111) mounted on the mounting block, a second rotating rod (112) and a mass block (113) disposed at the end of the second rotating rod (112), the output end of the fourth motor (111) being connected to the middle part of the second rotating rod (112).

6. The robot for removing and collecting dead leaves in agricultural and horticultural production according to claim 1, characterized in that, The spray unit (10) includes a connecting pipe (101) and a nozzle (102) disposed at one end of the connecting pipe (101). The body (4) is provided with storage boxes. A water pump is installed on one side of the storage box. One end of the water pump is connected to the bottom of the storage box through a corrugated pipe, and the other end of the water pump is connected to the connecting pipe (101) through a corrugated pipe.

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