A robot for weeding green leafy vegetables

Abstract

The invention discloses a green leaf vegetable interplant weeding robot, comprising a profile main frame (1), wherein the front and rear sides of the profile main frame (1) are provided with wheel leg devices (2) with adjustable spacing; the profile main frame (1) is provided with a front and rear symmetrical weeding variable pitch translation device (3), the moving end of the weeding variable pitch translation device (3) is provided with a lead screw lifting device (4), the lifting end of the lead screw lifting device (4) is provided with a weeding fixed frame (5), and the front side of the weeding fixed frame (5) is provided with a steering gear fixing plate (6). The invention can freely and flexibly adjust the spacing of the weeding mechanisms according to the actual spacing between the green leaf vegetables, thereby achieving interplant weeding and effectively protecting the seedlings.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, and in particular to a green leaf vegetable weeding robot. Background Art

[0002] Green leafy vegetables are one of the more common vegetables, and weeds will compete with them for water, nutrients and sunlight resources in the soil, affecting their growth and development. If weeds are not removed in time, vegetables will grow slowly, yields will be reduced, and even quality will be affected. Mechanical weeding, as a green weeding method, is the main direction of development in the field of agricultural weeding. Existing vegetable interplant weeding mechanisms, such as the Chinese invention patent with publication number CN110226373A, disclose a walking device, an X-direction guide device, a Z-direction guide device and a weeding mechanism. The walking device includes: a frame, a reduction motor, a driving wheel, and a universal wheel; the X-direction guide device includes: a stepper motor, a crossbeam, a synchronous toothed belt, a slider, a slider guide rail, and a rigid connector; the Z-direction guide device includes: a screw stepper motor, a ball screw slider, and a ball screw slide; the weeding mechanism includes an interplant weeding mechanism and an interrow weeding mechanism, and the interplant weeding mechanism and the interrow weeding mechanism have the same structure; the interplant weeding mechanism includes a rotary cutter, a DC motor, a connecting rod, and a DC motor bracket. This type of inter-row weeding device first needs to set a trajectory path when it is in operation. It can only move along a specific trajectory when weeding. However, in actual vegetable planting, there are certain differences in the distance between vegetable plants. If it moves along a standard path, it is easy to damage the seedlings. Secondly, there are differences in the height of the ridges of different types of vegetable crops. Therefore, the weeding flexibility of this device is low, and the seedling avoidance function is not ideal. Summary of the invention

[0003] The object of the present invention is to provide a green leaf vegetable interplant weeding robot. The present invention can freely and flexibly adjust the spacing of weeding mechanisms according to the actual spacing between green leaf vegetables, thereby achieving interplant weeding and effectively protecting the seedlings.

[0004] The technical solution of the present invention is as follows: a green leafy vegetable interplant weeding robot comprises a profile main frame, and the front and rear sides of the profile main frame are provided with wheel-leg devices with adjustable spacing; a front-to-rear symmetrical weeding variable pitch translation device is provided in the profile main frame, a screw lifting device is provided on the moving end of the weeding variable pitch translation device, and a weeding fixed frame is provided at the lifting end of the screw lifting device, and a servo fixing plate is provided on the front side of the weeding fixed frame, and a weeding servo is provided on the servo fixing plate; a weeding servo is also provided on the front side of the weeding fixed frame; shaft fixing plates are provided on the moving ends of the weeding spacing translation assembly on both sides, and a weeding motor is provided on the shaft fixing plate, and the protruding end of the weeding motor is connected to a weeding shaft arranged on the shaft fixing plate via a bearing seat, and a weeding wheel is connected to the end of the weeding shaft; a connecting rod assembly is connected to the protruding end of the weeding servo, and the end of the connecting rod assembly is hinged to the shaft fixing plate.

[0005] In the above-mentioned green leafy vegetable inter-plant weeding robot, the wheel-leg device includes a wheel body spacing adjustment component arranged on the front and rear sides of the profile main frame via a sliding component, and the wheel body spacing adjustment components on both sides are connected via a rod body; a rotating joint is provided at the lower part of the movable end of the wheel body spacing adjustment component, and a wheel-leg frame is fixed to the rotating end of the rotating joint, and a wheel-leg motor is provided in the wheel-leg frame; a driving wheel is provided at the bottom of the wheel-leg frame via a bearing seat, and the protruding end of the wheel-leg motor is connected to the driving wheel via a belt drive.

[0006] In the aforementioned green leafy vegetable weeding robot, a tensioning wheel for belt drive tensioning is provided in the wheel leg frame.

[0007] In the aforementioned green leafy vegetable weeding robot, the wheel spacing adjustment component includes a wheel spacing adjustment motor arranged on the profile main frame, and the protruding end of the wheel spacing adjustment motor is connected to the first driving gear; the profile main frame is provided with two first driven racks that are staggered and meshed with the first driving gear through a sliding component, and the rotating joint is connected to the end of the first driven rack.

[0008] In the aforementioned green leafy vegetable inter-plant weeding robot, the screw lifting device includes a lifting frame arranged on the movable end of the weeding variable pitch translation device, the upper end of the lifting frame is provided with a lifting motor, and the protruding end of the lifting motor is connected to a lifting screw; a plurality of sliding rods are provided in the lifting frame, and a sliding lifting seat is provided on the sliding rod, and the sliding lifting seat has an internal threaded seat matching the lifting screw, and a plurality of straight rods connected to the weeding fixed frame are provided at the lower part of the sliding lifting seat.

[0009] In the aforementioned green leafy vegetable weeding robot, the weeding wheel includes a wheel disc body connected to the end of the weeding shaft, and a plurality of steel wire strips are evenly arranged on the side of the wheel disc body.

[0010] In the aforementioned green leafy vegetable weeding robot, the weeding variable distance translation device includes a distance adjusting motor arranged on a profile main frame; the profile main frame is provided with mutually symmetrical gear rack groups through a sliding component, and the rack end of the gear rack group is connected to the lifting frame; the distance adjusting motor is connected to the gear end of the gear rack group on one side.

[0011] In the aforementioned green leafy vegetable weeding robot, a light rod is provided on the profile main frame, and the end of the lifting frame has a sliding block that matches the light rod.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] 1. In the present invention, the wheel-leg device drives the entire profile main frame to move along the ridge, and the weeding motor drives the weeding shaft to rotate, and the weeding wheel rotates. At this time, the weeding wheels on both sides are at an initial spacing. When approaching the vegetable seedlings, the weeding servo is started to realize the swing of the connecting rod assembly, and the shaft fixing plate slides to both sides, so that the weeding wheels move to both sides, thereby avoiding the vegetable seedlings to avoid damage to the seedlings. The weeds on both sides of the vegetable seedlings are removed. After avoiding, the servo is reset, and the weeding wheels on both sides are reset to remove the weeds between the two vegetable seedlings; according to the actual spacing between leafy vegetables, the spacing of the weeding mechanisms can be freely and flexibly adjusted to achieve weeding between plants and effectively protect the seedlings.

[0014] 2. In the wheel-leg device, the wheel body spacing adjustment component can adjust the spacing between the driving wheels on both sides to achieve variable pitch of the driving wheels, which can adapt to different ridge widths and ridge spacings.

[0015] 3. The rotating joint of the wheel-leg device can realize the independent rotation of the driving wheel, and the driving wheel can move forward and backward, and translate left and right, thereby improving the flexibility of walking.

[0016] 4. In the screw lifting device, different vegetable seedlings are located at different ridge heights. In order to adapt to different ridge heights, the weeding wheel can be adjusted to different heights through the screw lifting device, which improves the adaptability of the device and makes weeding operations flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 This is a schematic diagram of a weeding servo;

[0019] Figure 3 is a schematic diagram of a wheel spacing adjustment assembly;

[0020] Figure 4 It is a schematic diagram of a variable-distance translation device for weeding;

[0021] Figure 5 It is a schematic diagram of the screw lifting device;

[0022] Figure 6 It is a schematic diagram of the weeding operation of the present invention.

[0023] Explanation of the marks in the attached drawings: 1-profile main frame, 2-wheel leg device, 3-weeding pitch translation device, 4-screw lifting device, 5-weeding fixed frame, 6-servo fixed plate, 7-weeding servo, 8-weeding spacing translation assembly, 9-axis fixed plate, 10-weeding motor, 11-weeding shaft, 12-weeding wheel, 13-connecting rod assembly, 21-wheel body spacing adjustment assembly, 22-rotating joint, 23-wheel leg frame, 24- Wheel leg motor, 25-driving wheel, 26-tensioning wheel, 211-wheel body spacing adjustment motor, 212-driving gear, 213-driven rack, 41-lifting frame, 42-lifting motor, 43-lifting screw, 44-sliding rod, 45-sliding lifting seat, 46-internal thread seat, 47-straight rod, 121-wheel disc body, 122-steel wire, 31-pitch adjustment motor, 32-gear rack set, 33-light rod, 34-sliding block. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0025] Embodiment: A green leaf vegetable weeding robot comprises a profile main frame 1, as shown in the attached Figure 1 As shown, the front and rear sides of the profile main frame 1 are equipped with wheel leg devices 2 with adjustable spacing; the profile main frame 1 is equipped with a front and rear symmetrical weeding variable pitch translation device 3, the moving end of the weeding variable pitch translation device 3 is equipped with a screw lifting device 4, the lifting end of the screw lifting device 4 is equipped with a weeding fixed frame 5, the front side of the weeding fixed frame 5 is equipped with a steering gear fixing plate 6, and the steering gear fixing plate 6 is equipped with a weeding steering gear 7, as shown in the attached Figure 2 As shown, the front side of the weeding fixed frame 5 is also equipped with a weeding spacing translation component 8, as shown in the attached Figure 3As shown, shaft fixing plates 9 are installed on the moving ends of the weeding spacing translation components 8 on both sides, and a weeding motor 10 is arranged on the shaft fixing plate 9. The protruding end of the weeding motor 10 is connected to a weeding shaft 11 arranged on the shaft fixing plate 9 via a bearing seat, and the end of the weeding shaft 11 is connected to a weeding wheel 12. Two groups of weeding components are provided, and each group has two weeding wheels to achieve weeding operations on two rows of ridges. The weeding motor drives the weeding wheel to rotate through the weeding shaft, and the weeding wheel 12 includes a wheel disc body 121 connected to the end of the weeding shaft 11. A plurality of steel wire strips 122 are evenly arranged on the side of the wheel disc body 121. The steel wire strips are arranged at equal intervals and can roll up weeds under high-speed rotation; the protruding end of the weeding servo 7 is connected to a connecting rod assembly 13, and the end of the connecting rod assembly 13 is hinged to the shaft fixing plate 9. In the initial state, the weeding wheels on both sides are arranged at a certain distance, the weeding steering gear is started, driving the connecting rod assembly to swing outward, and the shaft fixing plate and the weeding wheel move in the opposite direction, thereby achieving the avoidance of the vegetable seedlings. In this embodiment, a camera is installed on the front side of the weeding fixing frame and between the weeding shafts on both sides. The camera detects the vegetable seedlings, and the weeding steering gear is started to drive the weeding wheel to move, thereby achieving visual avoidance of the seedlings.

[0026] The wheel-leg device 2 includes a wheel spacing adjustment component 21 arranged on the front and rear sides of the profile main frame 1 through a sliding component, and the wheel spacing adjustment components 21 on both sides are connected through a rod body; a rotating joint 22 is provided at the lower part of the moving end of the wheel spacing adjustment component 21, which is mainly composed of a stepper motor and a slewing bearing. The slewing bearing is a large bearing that can withstand a comprehensive load and can simultaneously withstand large axial, radial loads and overturning moments. A wheel leg frame 23 is fixed to the rotating end of the rotating joint 22, and a wheel leg motor 24 is provided in the wheel leg frame 23; a driving wheel 25 is provided at the bottom of the wheel leg frame 23 through a bearing seat. Since the ground is often not flat during agricultural weeding, there are often obstacles such as small stones and soil blocks, which will increase resistance to the movement of the weeding robot, thereby affecting the accuracy and efficiency of weeding. In order to ensure that the weeding robot can work stably and efficiently in various complex terrains, the driving wheel adopts a 3.6N·m stepper motor with a synchronous pulley. Synchronous belt drive is a new type of transmission method that uses the meshing of belt teeth and pulley teeth to transmit power. It has accurate synchronous transmission function, does not require lubrication, has no slip, no pollution, and less noise, and the transmission efficiency is more than 97%; the protruding end of the wheel leg motor 24 is connected to the driving wheel 25 through the belt drive. Through the rotating joint, the driving wheel can be rotated first to complete the 360-degree rotation of the entire fuselage, reducing the space required for turning. The entire wheel leg device can move in four directions: front, back, left, and right. The wheel leg motor drives the driving wheel to move through the belt drive. The entire wheel leg device can realize three types of movement: right-angle turning, curve driving, and self-spinning. When changing ridges, there are also two ways, including self-rotation ridge changing and turning ridge changing. The wheel leg frame 23 is provided with a tensioning wheel 26 for belt transmission tensioning to tension the transmission belt and ensure transmission efficiency.

[0027] The wheel spacing adjustment component 21 includes a wheel spacing adjustment motor 211 arranged on the profile main frame 1, and the protruding end of the wheel spacing adjustment motor 211 is connected to a driving gear 212; the wheel spacing adjustment motor 211 is mainly composed of a 3.6N·m stepping motor and a 1:10 reducer. The profile main frame 1 is provided with two driven racks 213 that are staggered and meshed with the driving gear 212 through a sliding component, and the rotating joint 22 is connected to the end of the driven rack 213. The wheel spacing adjustment component can adjust the spacing of the driving wheels on both sides to achieve variable pitch of the driving wheels, and can adapt to different ridge widths and ridge spacings. The wheel spacing adjustment motor outputs power to rotate the driving gear, and the driven racks meshing on both sides of the driving gear can slide horizontally, thereby achieving the spacing adjustment of the driving wheels.

[0028] The weeding variable pitch translation device 3 includes a pitch-adjusting motor 31 arranged on the profile main frame 1; the profile main frame 1 is provided with a mutually symmetrical gear rack set 32 ​​via a sliding assembly, as shown in the attached Figure 4As shown, the rack end of the gear rack set 32 ​​is connected to the lifting frame 41; the pitch-adjusting motor 31 is connected to the gear end of the gear rack set 32 ​​on one side; the operating principle of the weeding variable pitch translation device is the same as the operating principle of the wheel body spacing adjustment component, both of which drive the movement of the racks on both sides through the rotation of the gear to adjust the spacing position of the weeding wheels on both sides to adapt to different ridge spacings. A contact switch will be installed at the extreme end of the rack end of the gear rack set. When the contact switch is touched, the pitch-adjusting motor stops rotating to prevent the rack from moving out of range and thus disengaging from the gear. The mechanism uses a stepper motor with a torque of 1.8N·m, which drives the synchronous wheel on one side to drive the other synchronous wheel connected to it to rotate synchronously. The two synchronous wheels each control a gear rack, so that the thrust of the left and right servo weeding devices is balanced when moving. This design reduces the friction when a single device is pushed forward and improves work efficiency.

[0029] The screw lifting device 4 includes a lifting frame 41 arranged on the moving end of the weeding variable pitch translation device 3, as shown in the attached Figure 5 As shown, a lifting motor 42 is installed at the upper end of the lifting frame 41, and a lifting screw 43 is connected to the extended end of the lifting motor 42; a plurality of slide bars 44 are installed in the lifting frame 41, which are fixed by the slide bars to ensure the stability and verticality of the lifting screw, so that the lifting process of the weeding device is more stable and accurate, and the working efficiency and stability of the robot are improved; a sliding lifting seat 45 is installed on the slide bar 44, and the sliding lifting seat 45 has an internal thread seat 46 that matches the lifting screw 43, and a plurality of straight rods 47 connected to the weeding fixed frame 5 are installed at the lower part of the sliding lifting seat 45, and a contact switch is installed on the lifting frame and located on the lifting stroke of the sliding lifting seat. When the sliding lifting seat moves to the contact switch, the lifting motor stops running. The ground ridge heights of different vegetable crops are different. The height position of the weeding wheel can be adjusted by the screw lifting device. For green leafy vegetables such as cabbage and small greens, it is more appropriate to control the ridge height at 20-30 cm. When the weeding robot travels to the specified area and detects weeds, the lifting motor drives the lifting screw to rotate, and the matching internal thread seat descends, and at the same time drives the sliding lifting seat and the weeding fixed frame connected to the sliding lifting seat to descend. The weeding fixed frame is equipped with a weeding wheel, and the weeding wheel descends to the specified weeding height. The weeding motor drives the weeding wheel to rotate at high speed, the weeds are destroyed, and the vegetable seedlings are intact. After the weeding robot has traveled the specified route, the lifting motor drives the sliding lifting seat to start rising. At this time, the motor that drives the weeding wheel to rotate at high speed is turned off to prevent accidental injury to the vegetable seedlings. A light rod 33 is installed on the profile main frame 1, and the end of the lifting frame 41 has a slider 34 that matches the light rod 33. The movement limit of the light rod can ensure the stability of the movement of the screw lifting device.

[0030] The working principle of the present invention is as follows: the wheel-leg device drives the entire profile main frame to move along the ridge. First, the driving wheel spacing on both sides is adjusted through the wheel spacing adjustment component according to the actual situation, and then the spacing of the weeding wheels on both sides is adjusted through the weeding variable pitch translation device. After the vegetable seedlings are detected, the screw lifting device drives the weeding wheel to descend so that the weeding wheel reaches the height where weeding is required. The weeding motor drives the weeding shaft to rotate, and the weeding wheel rotates. At this time, the weeding wheels on both sides are at the initial spacing. When the camera detects that there are vegetable seedlings, the weeding servo is started to realize the swing of the connecting rod assembly, and the shaft fixing plate slides to both sides, so that the weeding wheels move to both sides, thereby avoiding the vegetable seedlings and avoiding damage to the seedlings. The weeds on both sides of the vegetable seedlings are removed. After avoiding, the servo is reset, and the weeding wheels on both sides are reset to remove the weeds between the two vegetable seedlings. The working process is as shown in the attached figure. Figure 6 As shown in the figure, according to the actual spacing between leafy vegetables, the spacing between weeding mechanisms can be adjusted freely and flexibly to achieve weeding between plants and effectively protect the seedlings. After two ridges are completed, the rotating joint rotates the four wheel legs 90° and moves left and right to achieve ridge change.

Claims

1. A green leaf vegetable weeding robot, comprising a profile main frame (1), characterized in that: The front and rear sides of the profile main frame (1) are provided with wheel leg devices (2) with adjustable spacing; the profile main frame (1) is provided with a front and rear symmetrical weeding variable pitch translation device (3); the moving end of the weeding variable pitch translation device (3) is provided with a screw lifting device (4); the lifting end of the screw lifting device (4) is provided with a weeding fixed frame (5); the front side of the weeding fixed frame (5) is provided with a steering gear fixing plate (6); the steering gear fixing plate (6) is provided with a weeding steering gear (7); the front side of the weeding fixed frame (5) is also provided with a weeding A weed spacing translation assembly (8), wherein shaft fixing plates (9) are provided on both sides of the moving ends of the weeding spacing translation assembly (8), a weeding motor (10) is provided on the shaft fixing plate (9), the protruding end of the weeding motor (10) is connected to a weeding shaft (11) arranged on the shaft fixing plate (9) via a bearing seat, and the end of the weeding shaft (11) is connected to a weeding wheel (12); the protruding end of the weeding servo (7) is connected to a connecting rod assembly (13), and the end of the connecting rod assembly (13) is hinged to the shaft fixing plate (9); The wheel-leg device (2) comprises a wheel spacing adjustment component (21) arranged on the front and rear sides of the profile main frame (1) via a sliding component, and the wheel spacing adjustment components (21) on both sides are connected via a rod body; a rotating joint (22) is provided at the lower part of the movable end of the wheel spacing adjustment component (21), a wheel-leg frame (23) is fixed to the rotating end of the rotating joint (22), and a wheel-leg motor (24) is provided in the wheel-leg frame (23); a driving wheel (25) is provided at the bottom of the wheel-leg frame (23) via a bearing seat, The protruding end of the wheel leg motor (24) is connected to the driving wheel (25) via a belt drive; the wheel body spacing adjustment component (21) comprises a wheel body spacing adjustment motor (211) arranged on the profile main frame (1), and the protruding end of the wheel body spacing adjustment motor (211) is connected to a driving gear (212); the profile main frame (1) is provided with two driven racks (213) staggered and meshed with the driving gear (212) via a sliding component, and the rotating joint (22) and the driven rack (213) are connected to each other. 13) is connected to the end of the weeding variable pitch translation device (3); the screw lifting device (4) includes a lifting frame (41) arranged on the moving end of the weeding variable pitch translation device (3); the upper end of the lifting frame (41) is provided with a lifting motor (42), and the protruding end of the lifting motor (42) is connected to a lifting screw (43); a plurality of sliding rods (44) are arranged in the lifting frame (41), and a sliding lifting seat (45) is arranged on the sliding rod (44), and the sliding lifting seat (45) has an internal thread seat matched with the lifting screw (43) (46), a plurality of straight rods (47) connected to the weeding fixed frame (5) are provided at the lower part of the sliding lifting seat (45); the weeding variable pitch translation device (3) comprises a pitch-adjusting motor (31) arranged on the profile main frame (1); the profile main frame (1) is provided with mutually symmetrical gear rack sets (32) through a sliding component, and the rack end of the gear rack set (32) is connected to the lifting frame (41); the pitch-adjusting motor (31) is connected to the gear end of the gear rack set (32) on one side.

2. The green leafy vegetable weeding robot according to claim 1, characterized in that: A tensioning wheel (26) for belt transmission tensioning is arranged inside the wheel leg frame (23).

3. The green leafy vegetable weeding robot according to claim 1, characterized in that: The weeding wheel (12) comprises a wheel disc body (121) connected to the end of the weeding shaft (11), and a plurality of steel wire strips (122) are evenly arranged on the side of the wheel disc body (121).

4. The green leafy vegetable weeding robot according to claim 1, characterized in that: The profile main frame (1) is provided with a polished rod (33), and the end of the lifting frame (41) is provided with a sliding block (34) matched with the polished rod (33).

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