Small crawler-type weeding machine

Abstract

The small crawler-type weeding machine comprises a machine body support, a control unit, a weeding mechanism and a walking mechanism, and the weeding mechanism is arranged at the front end of the machine body support; the walking mechanism comprises two crawler wheel assemblies which are symmetrically arranged on the two sides of the machine body support, each crawler wheel assembly comprises two guide wheels, a driving wheel, a crawler belt and a plurality of supporting wheels, and the two guide wheels are symmetrically arranged at the two ends of one side of the machine body support; the driving wheel is arranged above the machine body support through a tensioning piece, the driving wheel and the two guide wheels form a triangular structure, and a plurality of driving teeth are arranged on the driving wheel. The triangular structure is sleeved with the crawler belt, and a tooth groove meshed with the driving teeth is formed in the middle of the inner side of the crawler belt in the circumferential direction. The multiple supporting wheels are arranged on the bottom face of the machine body support side by side, the wheel faces of the supporting wheels make contact with the inner side of the crawler belt, and the weeding machine has good passing ability and adaptability, can well adapt to different types of terrains and vegetation and keeps a good weeding effect.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, in particular to a small crawler-type weeder. Background Art

[0002] As an efficient gardening tool, the weeder plays an important role in modern life. It can not only greatly improve the efficiency of weeding, but also reduce people's physical labor. Due to the increasing demand for high efficiency, energy saving and environmental protection in agricultural production, the design of small crawler weeder mechanism plays an important role in improving agricultural production efficiency and protecting the environment.

[0003] Existing lawn mowers are generally hand-held, and a pair of driving wheels and a pair of driven wheels are generally configured on the body bracket. The driving wheels provide power, and the direction of the driven wheels is changed by hand to guide the lawn mower forward. However, in some mountainous areas, agricultural planting is carried out in mountainous environments with large slopes. When using the above-mentioned lawn mower, the friction between the driving wheels and the terrain makes it difficult to ensure that the lawn mower works in mountainous terrain with large slopes. Moreover, due to the complex road conditions, it is difficult to ensure the consistency of its weeding effect. Summary of the invention

[0004] The object of the present invention is to provide a small crawler weeder which can better adapt to different types of terrain and vegetation and maintain a better weeding effect, thereby reducing the labor burden of farmers and gardeners.

[0005] The technical solution of the present invention is:

[0006] A small crawler weeder comprises: a body support, provided with a control unit; a weeding mechanism, arranged at the front end of the body support; a walking mechanism, comprising two track wheel assemblies, symmetrically arranged on both sides of the body support, each of the track wheel assemblies comprising: two guide wheels, symmetrically arranged at both ends of one side of the body support; a driving wheel, provided with a driving wheel housing, and arranged above the body support through a tensioning member, forming a triangular structure with an obtuse vertex angle with the two guide wheels, so that the track wheel assembly is a low-profile triangular crawler, thereby reducing the overall center of gravity, fully ensuring the stability and climbing ability of slope operations, a plurality of driving teeth are arranged on the driving wheel, the driving wheel is externally connected to a first motor drive, the first motor is arranged on the body support, and is electrically connected to the control unit; a crawler, sleeved on the triangular structure, and a tooth groove meshing with the driving teeth is circumferentially arranged at the middle part of the inner side of the crawler; a plurality of supporting wheels, arranged side by side on the bottom surface of the body support, and the wheel surface of the supporting wheel contacts the inner side of the crawler.

[0007] Furthermore, a reducer is provided between the output shaft of the motor and the driving wheel.

[0008] Furthermore, the tensioning member includes: a telescopic rod, which is telescopically extended by means of threaded rotation, wherein a fixed end of the telescopic rod is connected to the fuselage bracket, and the other end is connected to the driving wheel housing of the driving wheel; a support rod, one end of which is hinged to the fuselage bracket, and the other end is fixedly connected to the driving wheel housing, and the telescopic rod, the support rod and the side of the fuselage bracket form a triangular structure.

[0009] Furthermore, the weeding mechanism includes: a bracket, including: a tool mounting plate, a horizontal plate body and a plurality of connecting rods, the plurality of connecting rods are arranged side by side between the horizontal plate body and the tool mounting plate, and the plurality of connecting rods are arranged obliquely, and the tool mounting plate is located at the lower end of the horizontal plane; an electric push rod, a fixed end of which is connected to the body bracket, and the other end is connected to the bottom surface of the bracket, and the electric push rod is electrically connected to the control unit; a tool, including three cutting knives, which are arranged side by side on the bottom surface of the tool mounting plate, each cutting knife is configured with a second motor, the second motor is arranged on the tool mounting plate, the output shaft is connected to the shaft body of the cutting knife, and each second motor is electrically connected to the control unit.

[0010] Furthermore, a grass guard is provided on the tool mounting plate.

[0011] Furthermore, the three cutting knives of the tool are of the same type, and are one of a disc multi-tooth knife and a nylon grass rope.

[0012] Furthermore, of the three cutting knives, the two cutting knives on the two sides have the same diameter, the cutting knife in the middle has a smaller diameter than the cutting knives on the two sides, and the cutting knife in the middle is staggered with the cutting knives on the two sides up and down, with a spacing of 2 mm.

[0013] Furthermore, it also includes: a plurality of sleeves vertically arranged on the fuselage bracket; a plurality of sleeve rods correspondingly sleeved in the sleeves, and the ends of the sleeve rods away from the sleeves are connected to the bracket.

[0014] Furthermore, the crawler track adopts an integrated coreless rubber crawler track.

[0015] Furthermore, the control unit is also equipped with an obstacle avoidance sensing system.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The crawler-type walking mechanism of the present invention has good passability and adaptability compared with wheeled lawn mowers, and the two walking mechanisms are symmetrically arranged on both sides of the fuselage bracket, so that the structure of the whole machine is more compact and the overall weight distribution of the fuselage is more uniform. The two walking mechanisms are low-profile triangular crawler wheel assemblies, which lower the overall center of gravity and fully ensure the stability and climbing ability of slope operations. The two walking mechanisms of the present invention are respectively driven by the first motor, and the wheel-track interchangeability is good, which can better take into account the stable driving and flexible movement requirements on various mountain slope terrains.

[0018] 2. The crawler of the present invention adopts an integrated coreless rubber crawler, which greatly reduces the weight of the machine body, so that the weeder can maintain a more stable and flexible driving movement in various mountain slopes and terrains, and can be suitable for small plot operations.

[0019] 3. The multiple cutting knives of the weeding system of the present invention are arranged side by side horizontally, and the grass retention height is adjusted up and down by an electric push rod, which not only meets the actual use needs, but also can replace the used knives according to the different types of weeds grown in different regions, greatly improving the working efficiency and work quality of the weeder.

[0020] 4. When the whole machine is tilted or the weeding operation unit is subjected to shear torque, multiple connecting rods are used to form a triangular structural frame on the blade mounting plate and the horizontal plate. The three sides and three angles of the triangle constrain each other, so that the structure can automatically adjust and remain stable when subjected to external force. By adding a sleeve between the bracket and the fuselage bracket, the sleeve contacts the fuselage bracket to share the lateral force generated by the bracket, thereby reducing the possibility of shear torsional deformation and achieving machine position stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the schematic diagram of the structure of the whole machine of the present invention.

[0022] Figure 2 It is a front view of the schematic diagram of the whole structure of the present invention.

[0023] Figure 3 It is a schematic diagram of the driving wheel structure of the present invention.

[0024] Figure 4 It is a left view of the schematic diagram of the whole structure of the present invention.

[0025] Figure 5 It is a bottom view of the schematic diagram of the tool structure of the present invention.

[0026] Figure 6 for Figure 4 An enlarged view of the structural schematic diagram of the middle A area.

[0027] Figure 7This is the force analysis diagram of the lawn mower when operating on a slope.

[0028] Figure 8 This is a schematic diagram of the slope operation of the lawn mower.

[0029] Among them, 1. body bracket, 3. control unit, 4. weeding mechanism, 41. bracket, 411. tool mounting plate, 412. connecting rod, 413. horizontal plate, 42. electric push rod, 43. grass guard plate, 44. tool, 5. reducer, 7. walking mechanism, 71. guide wheel, 72. crawler track, 73. tensioner, 731. telescopic rod, 732. support rod, 74. driving wheel, 75. driving wheel housing, 76. support wheel. DETAILED DESCRIPTION

[0030] Combine the following Figures 1 to 8 , the specific embodiments of the present invention are described in detail. In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0031] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0032] It should be noted that the circuit connections involved in the present invention all adopt conventional circuit connection methods, and the lawn mower is equipped with a power module, which does not involve any innovation.

[0033] Example

[0034] like Figure 1 As shown, the small crawler weeder comprises: a body support 1, a control unit 3, a weeding mechanism 4 and a walking mechanism 7. The body support 1 is provided with the control unit 3; the weeding mechanism 4 is arranged at the front end of the body support 1; the walking mechanism 7 comprises two crawler wheel assemblies, which are symmetrically arranged on both sides of the body support 1, as shown in FIG. Figure 2As shown, each track wheel assembly includes: two guide wheels 71, a driving wheel 74, a track 72 and a plurality of support wheels 76. The two guide wheels 71 are symmetrically arranged at both ends of one side of the fuselage bracket 1; the driving wheel 74 is provided with a driving wheel housing 75, and is arranged above the fuselage bracket 1 through a tensioning member 73, and forms a triangular structure with an obtuse vertex angle with the two guide wheels 71, so that the track wheel assembly is a low-profile triangular track, thereby reducing the overall center of gravity, and fully ensuring the stability and climbing ability of slope operations. A plurality of driving teeth are provided on the driving wheel 74, and the driving wheel 74 is externally connected to a first motor drive, and the first motor is arranged on the fuselage bracket 1 and electrically connected to the control unit 3; the track 72 is sleeved on the triangular structure, and a tooth groove meshing with the driving teeth is provided in the circumferential direction at the inner middle part of the track 72; a plurality of support wheels 76 are arranged side by side on the bottom surface of the fuselage bracket 1, and the wheel surface of the support wheel 76 contacts the inner side of the track 72.

[0035] A reducer 5 is provided between the output shaft of the motor of each walking mechanism 7 and the driving wheel 74. The reducer 5 is a two-stage bevel gear reducer. The power is output from the first motor, and the speed is reduced and the torque is increased through the reducer, and then output from the output shaft of the reducer, so that the driving wheel 74 rotates and drives the crawler 72 to move, thereby making the lawn mower move forward or backward. Controlling the two motors to output different speeds can also make the walking mechanism 7 rotate left or right or in place, ensuring that the lawn mower can travel stably on different terrains.

[0036] A loose track will cause vibration during movement, generate impact loads, cause power consumption, and accelerate the wear of the rubber track. When the track is too loose, derailment may occur. If the crawler track is too tight, the friction between the crawler track and the wheels will increase, and the crawler track will be worn faster. The tensioning member 73 provided in this embodiment is used to adjust the tightness of the crawler track 72, including: a telescopic rod 731 and a support rod 732. The telescopic rod 731 is telescoped by adjusting the rotation of the threaded screw to make the crawler track reach a certain tension. The fixed end of the telescopic rod 731 is connected to the fuselage bracket 1, and the other end is connected to the driving wheel shell 75 of the driving wheel 74; one end of the support rod 732 is hinged to the fuselage bracket 1, and the other end is connected to the driving wheel shell 75 for fixed connection. The telescopic rod 731, the support rod 732 and the side of the fuselage bracket 1 form a triangular structure. The tensioning member 73 can avoid the vibration of the loose crawler track 72 during movement, avoid the impact load generated when the crawler track 72 vibrates, cause power consumption, and accelerate the wear of the rubber crawler track. At the same time, it can also avoid the problem of the crawler track 72 being too tight to increase the friction between the crawler track 72 and the wheels, and accelerate the wear of the crawler track 72.

[0037] In order to adapt to the weeding of grasslands with different slopes and different grass retention height requirements, this design has designed a weeding system with height adjustment. This design not only enables the lawn mower to adapt to terrains of different slopes, but also ensures the consistency and efficiency of the weeding effect. The weeding mechanism 4 includes: a bracket 41, an electric push rod 42 and a tool 44. The bracket 41 includes: a tool mounting plate 411, a horizontal plate body 413 and a plurality of connecting rods 412. The plurality of connecting rods 412 are connected between the horizontal plate body 413 and the tool mounting plate 411, and the plurality of connecting rods 412 are inclined. The tool mounting plate 411 is located at the lower end of the horizontal plane; the fixed end of the electric push rod 42 is connected to the body bracket 1, and the other end is connected to the bottom surface of the bracket 41, and the electric push rod 42 is electrically connected to the control unit 3; the tool 44 includes three cutting knives, which are arranged side by side on the bottom surface of the tool mounting plate 411, and each cutting knife is configured with a second motor, which is arranged on the tool mounting plate 411, and the output shaft is connected to the shaft body of the cutting knife, and each second motor is electrically connected to the control unit 3.

[0038] The second motor controls the cutter 44 to rotate at a high speed to achieve the weeding effect of the lawn. The three DC electric push rods 42 are used to move up and down to control the height of the cutter 44 and the ground so as to control the height of the grass.

[0039] In some embodiments, a grass guard 43 is provided on the cutter mounting plate 411 .

[0040] like Figure 5 As shown, the three cutting knives of the cutter 44 are of the same type, using one of a disc multi-tooth knife and a nylon grass rope.

[0041] Specifically, this embodiment uses a disc multi-tooth knife, and the two cutting knives on both sides have the same diameter size, the cutting knife in the middle has a smaller diameter than the cutting knives on both sides, and the cutting knives in the middle are arranged alternately with the cutting knives on both sides. Taking the weeding width of this embodiment as 1m as an example, Figure 5 As shown, three blades 44 are arranged side by side horizontally to complete a weeding width of 1m. In order to prevent collision between blades 44 and to ensure that the weeding width is not less than 1m, the diameter of the blades on both sides is 370mm, and the diameter of the middle blade is 350mm. Figure 6 As shown, the two side tools and the middle tool are arranged alternately with a spacing of 2 mm up and down.

[0042] In some embodiments, it also includes: multiple sleeves 46 and multiple sleeve rods, the multiple sleeves 46 are vertically arranged on the fuselage bracket 1; multiple sleeve rods are correspondingly sleeved in the sleeves 46, and one end of the sleeve rod away from the sleeve 46 is connected to the bracket 41.

[0043] In some embodiments, the track 72 adopts an integrated coreless rubber track, which not only greatly reduces the overall weight of the lawn mower, but also effectively reduces the ground contact pressure, thereby protecting the ground structure, and enables the lawn mower to perform weeding on wet roads, thereby improving its scope of application and flexibility.

[0044] In some embodiments, the control unit 3 is also equipped with an obstacle avoidance sensing system.

[0045] In order to improve the user's operating comfort and convenience, remote control is used instead of manual hand-held lawn mower operation, which reduces the user's fatigue and improves work efficiency. The remote control electronic control system communicates with the control unit 3.

[0046] In addition, the lawn mower is also equipped with safety protection devices, such as an emergency stop unit, to ensure that the operator can quickly stop the lawn mower in an emergency and effectively prevent accidental collisions. It not only ensures the working efficiency of the lawn mower, but also ensures the safety of the work, and avoids the danger of the lawn mower itself as much as possible.

[0047] When in use, the lawn mower is started, and the first motor in the middle of the machine body 1 is controlled to rotate through the remote control unit 3, and the reducer 5 is driven to operate through the coupling to increase the output torque, thereby driving the crawler 72 forward. After the lawn mower is moved to the area where weeding is required, different weeding ropes or weeding metal cutters are selected according to the hardness of the grass to be cut, such as Figure 5 As shown, this embodiment uses a metal cutter, and then uses the control unit 3 to control the electric push rod 42 to rise and fall to adjust the height of the weed cutter 44. Then, the control unit 3 starts the second motor at the weed cutter 44 to make the cutter 44 rotate at high speed to start weeding. After weeding a row of lawn, the control unit 3 is used again to adjust the speed of the two first motors in the middle of the fuselage bracket 1 so that the reducers 5 on both sides output different speeds to achieve steering operation, so as to carry out weeding operations in the next row.

[0048] Kinematic analysis of walking mechanism 7

[0049] Design of the weeder: Overall weight is about 230kg; track length on the ground is 1010mm; track width is 300mm

[0050] The lawn mower is affected by its climbing performance and obstacle-crossing performance during operation. If the climbing performance and obstacle-crossing performance are insufficient, it may fail to pass certain sections during operation and fail to complete the operation. Therefore, the two performances are crucial to the lawn mower.

[0051] The climbing performance mainly includes: the driving power and climbing stability of the mower, which depends on the selection of the motor and reducer 5 of the mower; the friction between the track 72 and the ground; and the center of mass position of the mower. When the mower is driving up and downhill at a constant speed, the force analysis diagram of the crawler mower driving on the slope is as follows: Figure 7 As shown, the rollover angle of the lawn mower is β1 for uphill and β2 for downhill, L is the ground contact length of the crawler 72; c is the distance between the center of mass of the lawn mower and the rear wheel; a is the distance between the center of mass of the lawn mower and the front wheel; h is the distance between the center of mass of the lawn mower and the ground; m is the distance between the ground reaction force and the rear wheel; N is the vertical support force of the ground on the crawler; F is the resistance of the crawler to the ground; and G is the weight of the lawn mower.

[0052] When the lawn mower is moving up and down the slope at a constant speed, the external factors it is subject to are small. It can be assumed that it is stationary on the slope and the forces on the lawn mower are balanced. The equilibrium equation can be obtained:

[0053] N=Gcosβ (1)

[0055] F=Gsinβ (2)

[0057] Taking the moment at point B, we can get the moment balance equation bGcosβ-hGsinβ-Nm=0, which can be simplified to get:

[0058]

[0059] In order to prevent the lawn mower from tilting when going uphill or downhill, m≥0 must be satisfied, that is, Gbcosβ-Ghsinβ≥0. Solving this equation, we can obtain the limit tilting angles of the lawn mower in the direction of the slope and downhill without tipping over, which are β1 and β2 respectively.

[0060]

[0061] Calculation shows that β1=60°, β2=68°, β1<β2.

[0062] However, since the weeding system is placed in front of the walking mechanism, it will cause obstacles when going uphill or passing obstacles. Therefore, the actual slope that the weeder can pass should be less than or equal to β1. When the lifting system is raised to the highest position, the slope and obstacle height that can be passed are the largest. Figure 8 Schematic diagram of the weed control system shown at its highest point:

[0063] The distance D1 between the front end of the weeding system and the front end of the vehicle body is about 500mm, and the distance D2 between the bottom end of the weeding system and the ground is about 300mm.

[0064]

[0065] By substituting D1 and D2 into formula (6), we can calculate β Max is 30°.

[0066] The lowest point of the bottom plate of the vehicle body is about 124mm from the ground, the track guide wheel is 210mm, the track thickness is 30mm, and the maximum vertical height that the track can cross is the height of the center line of the guide wheel from the ground, which is 135mm, but 135mm>124mm, so the vertical height that the lawn mower of this embodiment can cross is about 124mm.

[0067] The above disclosures are only several preferred specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A small crawler weeder, characterized in that: include: A fuselage support (1) is provided with a control unit (3); A weeding mechanism (4) is arranged at the front end of the fuselage support (1); The walking mechanism (7) comprises two track wheel assemblies which are symmetrically arranged on both sides of the fuselage support (1), and each of the track wheel assemblies comprises: Two guide wheels (71) are symmetrically arranged at two ends of one side of the fuselage support (1); A driving wheel (74) is provided with a driving wheel housing (75) and is arranged above the fuselage bracket (1) through a tensioning member (73) to form a triangular structure with an obtuse vertex angle with the two guide wheels (71); the driving wheel (74) is provided with a plurality of driving teeth; the driving wheel (74) is externally connected to a first motor for driving; the first motor is arranged on the fuselage bracket (1) and is electrically connected to the control unit (3); A crawler belt (72) is sleeved on the triangular structure, and a tooth groove meshing with the driving tooth is provided in the middle part of the inner side of the crawler belt (72) along the circumferential direction; A plurality of support wheels (76) are arranged side by side on the bottom surface of the fuselage support (1), and the wheel surfaces of the support wheels (76) are in contact with the inner side of the crawler (72).

2. The small crawler weeder according to claim 1, characterized in that: A speed reducer (5) is provided between the output shaft of the motor and the driving wheel (74).

3. The small crawler weeder according to claim 1, characterized in that: The tensioning member (73) comprises: A telescopic rod (731) is telescopically movable by means of threaded rotation, wherein a fixed end of the telescopic rod (731) is connected to the fuselage bracket (1), and the other end is connected to a driving wheel housing (75) of the driving wheel (74); The support rod (732) has one end hinged to the fuselage support (1) and the other end fixedly connected to the driving wheel housing (75); the telescopic rod (731), the support rod (732) and the side of the fuselage support (1) form a triangular structure.

4. The small crawler weeder according to claim 1, characterized in that: The weeding mechanism (4) comprises: The bracket (41) comprises: a tool mounting plate (411), a horizontal plate body (413) and a plurality of connecting rods (412), wherein the plurality of connecting rods (412) are arranged side by side between the horizontal plate body (413) and the tool mounting plate (411), and the plurality of connecting rods (412) are arranged obliquely, and the tool mounting plate (411) is located at a lower end of the horizontal plane; An electric push rod (42), a fixed end of which is connected to the fuselage bracket (1), and the other end of which is connected to the bottom surface of the bracket (41), and the electric push rod (42) is electrically connected to the control unit (3); The tool (44) comprises three cutting knives arranged side by side on the bottom surface of the tool mounting plate (411), each cutting knife is provided with a second motor, the second motor is arranged on the tool mounting plate (411), the output shaft is connected to the shaft body of the cutting knife, and each second motor is electrically connected to the control unit (3).

5. The small crawler weeder according to claim 4, characterized in that: The cutter mounting plate (411) is provided with a grass guard plate (43).

6. The small crawler weeder according to claim 4, characterized in that: The three cutting knives of the cutter (44) are of the same type, and are one of a disc multi-tooth knife and a nylon grass rope.

7. The small crawler weeder according to claim 6, characterized in that: The three cutting knives have two cutting knives on both sides with the same diameter, and the cutting knife in the middle has a smaller diameter than the cutting knives on both sides. The cutting knives in the middle and the cutting knives on both sides are arranged alternately up and down with a spacing of 2 mm.

8. The small crawler weeder according to claim 4, characterized in that: Also includes: A plurality of sleeves (46) are vertically arranged on the fuselage support (1); A plurality of sleeve rods are correspondingly sleeved in the sleeve (46), and one end of the sleeve rod away from the sleeve (46) is connected to the bracket (41).

9. The small crawler weeder according to claim 1, characterized in that: The crawler track (72) is an integrated coreless rubber crawler track.

10. The small crawler weeder according to claim 1, characterized in that: The control unit (3) is also equipped with an obstacle avoidance sensor system.

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