Single-track paddy field self-adaptive weeding robot

Abstract

The invention discloses a single-track self-adaptive weeding robot for a paddy field. The single-track self-adaptive weeding robot comprises a non-coaxial steering track, a steering chassis main frame, a driving wheel module, a six-rod inter-plant weeding device and the like. The non-coaxial steering track is formed by connecting a plurality of track units end to end, is mounted on the outer sides of the steering chassis main frame and the driving wheel module in a surrounding manner and is meshed with the driving wheel module; a push rod in the steering chassis main frame differentially drives the whole machine to turn, a vertical bending joint of a crawler unit can enable a crawler to be vertically bent, a steering ring and crawler plates can rotate in a non-coaxial mode, mutual interference of the crawler plates is avoided, relative rotation between the crawler units is achieved, it is guaranteed that the machine is flexible in steering in a field and has a large enough ground contact area, and the working efficiency is improved. And sagging and seedling injury are not easy to occur. According to the six-rod inter-plant weeding device, the quick-return characteristic of a six-rod mechanism is utilized, the telescopic rod is stretched out to complete the weeding action and then rapidly retracts, and therefore seedlings cannot be damaged in the high-speed rotating process of the movable sickle. The low-loss high-efficiency paddy field weeding device has good environmental adaptability and can realize low-loss high-efficiency paddy field weeding operation.

Description

Technical Field

[0001] The invention relates to the technical field of paddy field weeding, and in particular to a single-track paddy field self-adaptive weeding robot. Background Art

[0002] Rice is an important strategic resource for ensuring world food security. In the past five years, the rice production loss rate caused by weeds in my country has reached about 13%. Efficient, sustainable and scientific weed prevention and control has become an important guarantee for achieving high-quality rice yields and one of the important solutions to the global food supply contradiction.

[0003] The paddy field weeding operation environment is complex, with a lot of silt. The spatial distribution of paddy field crop seedlings is not completely regular, and weeds will not only grow between rows, but the precise elimination of weeds between plants has always been the link with the highest requirements for machine performance in paddy field weeding technology. When working in the field, weeding equipment and personnel can easily fall into the field mud; the existing crawler paddy field operation equipment is usually large in size. Due to the small distance between seedlings, the inflexible steering during the movement or the excessive volume of the machine can easily cause crushing and scratching of crops, causing property losses. The single-track chassis has the advantages of a large ground contact area and low ground pressure shared by crawler chassis, and it is more flexible to travel between rows and causes less damage to crops. If the traditional single-track chassis realizes turning action, it needs to set a steering wheel in front of or behind the crawler, which increases the length of the whole machine and reduces maneuverability; when used in the environment of sparse and soft soil in paddy fields, it is easy to cause the steering wheel to slip and mud to be caught between the crawler and the steering wheel. The existing improvements to the single-track chassis have not considered the application in paddy field environments. For example, there is a four-way single crawler device (CN202411244051.9), which is composed of a driving wheel, a steering mechanism, a driven wheel, a bracket and a track shoe assembly. The track shoe assembly includes a floating support, a connecting member and a track shoe. The lower end of the floating support is an inverted T-shaped member, which slides with the double-headed convex groove of the bracket. The connecting member is provided with horizontal and vertical hinge holes, and the track shoe is fixed thereon. The floating support is connected to the connecting member through a horizontal hinge shaft, and then connected to another connecting member and the floating support member through a hinge block and a vertical hinge shaft, and so on, forming a closed crawler device. It can be bent in four directions.

[0004] Although the above-mentioned prior art solutions can realize the steering action of a single crawler, because the interference between the crawler plates should be avoided during steering, the area of ​​a single crawler plate is very small, which reduces the advantage of crawler-type machines in reducing the pressure on the ground. In addition, due to the soft soil in paddy fields, it is easy to sink and stick when used in paddy fields. Its steering method is that the steering mechanism directly deflects the driving wheel, and the driven wheel has no steering effect. It is not flexible enough to travel between narrow paddy field rows, and its maneuverability is not enough to meet the needs of paddy field operations. Its crawler support structure is distributed between the driving wheel and the driven wheel, and its weight is large, which is not suitable for paddy fields with low requirements for the weight of the whole machine. In addition, the support is a floating design, which is difficult to bear a large load. How to apply a single crawler device to a paddy field environment, while ensuring the excellent characteristics of the single crawler chassis with flexible travel and large ground contact area, can be applied to the paddy field environment, avoid the shortcomings of the single crawler plate area that can be turned is too small, the center of gravity of the steering method is too high and not flexible enough, which leads to easy sinking and damage to crops in the paddy field, so as to achieve efficient weeding in paddy fields, is a key problem that needs to be solved urgently. Summary of the invention

[0005] In view of the problem in the prior art that the area of ​​the single track plate that can turn is too small, the center of gravity of the steering method is too high and not flexible enough, which leads to the problem that it is very easy to sink and damage crops in the paddy field, the present invention provides a single track paddy field adaptive weeding robot, which can turn through the automatically planned path control double push rod differential steering acting on a single non-coaxial steering track to make a turn when traveling in the paddy field. The whole machine is small in size, there is no interference between the track plates, the ground contact area is large, it is not easy to sink, and the practicality is further enhanced. While achieving the rolling of inter-row weeds, the six-rod inter-plant weeding device is used to cut the weeds between the plants, and the degree of automation and scope of action are further enriched.

[0006] The present invention is achieved in that: The present invention provides a single-track paddy field adaptive weeding robot, comprising a non-coaxial steering track, a steering chassis main frame, a driving wheel module, a six-rod inter-plant weeding device, a navigation and identification front compartment, a power supply and power rear compartment, and a load platform; The steering chassis main frame comprises a front chassis, a rear chassis and a driving wheel frame; Each of the six-rod inter-row weeding devices is provided with a universal flexible shaft; The load platform includes a front load platform and a rear load platform; The non-coaxial steering crawler is installed around the steering chassis main frame and the outer side of the driving wheel module; There are two sets of drive wheel modules, which are respectively fixed to the drive wheel frames at the front and rear of the steering chassis main frame. The drive wheel modules are engaged with the non-coaxial steering crawler, output torque and provide power to the non-coaxial steering crawler; The front load platform is fixedly mounted on the front chassis, and the rear load platform is fixedly mounted on the rear chassis; The navigation and identification front compartment is fixedly mounted on the front load platform, with a binocular camera embedded in the front to obtain information about the grass, soil, and obstacles in the field; cameras are embedded on both sides to obtain information about the grass on both sides of the forward direction; The power supply and power rear cabin are fixedly mounted on the rear load platform, and the power supply and power rear cabin are equipped with a complete machine power supply, two flexible shaft matching motors, and two six-rod weeding device drive motors; The power source is electrically connected to the power rear compartment and the drive wheel module; There are two sets of six-rod inter-row weeding devices, which are fixed in parallel on the rear load platform. The front six-rod inter-row weeding device is installed to the left side of the forward direction of the machine, and the rear six-rod inter-row weeding device is installed to the right side of the forward direction of the machine; the universal flexible shaft chuck connects the power supply and the flexible shaft matching motor built into the power rear cabin.

[0007] The non-coaxial steering crawler is composed of multiple groups of crawler units connected end to end, and each crawler unit also includes a crawler shoe, a lateral change-of-direction tail section, a lateral change-of-direction start section, a steering ring, a lateral rotating shaft, a vertical bending section, a double pin, and an end connector; The track shoe is fixedly connected to the transverse change tail section, and the transverse change tail section is rotatably mounted on the transverse change start section; the transverse change start section is fixedly connected to the tail end of the transverse rotating shaft; the vertically opposite steering rings are coaxially rotatably mounted on the transverse rotating shaft; the two vertical bending sections are connected to the end connectors through double pins; one of the vertical bending sections is hinged to the steering ring opposite to the direction of movement of the track; In two adjacent crawler units, the vertical bending joint at the tail of the front crawler unit relative to the travel direction of the machine is hinged with the steering ring at the front of the rear crawler unit, connecting all the crawler units of the whole machine one by one in sequence to form a non-coaxial steering crawler.

[0008] The steering chassis main frame also includes a steering rod frame, a steering rod, a push rod, a push rod bracket, a folding waist hinged front plate, a hinged shaft locking ring, a folding waist hinged shaft, a folding waist hinged rear plate, a load bracket, and a bottom wheel assembly; The bending waist articulated shaft and the matching articulated shaft locking ring are fixedly connected, and the folding waist articulated front plate and the folding waist articulated rear plate can be rotatably installed on the folding waist articulated shaft; the folding waist articulated front plate is fixedly connected to the front bottom frame; the folding waist articulated rear plate is fixedly connected to the rear bottom frame; the front bottom frame and the rear bottom frame are each fixed with two driving wheel frames, two load brackets and four bottom wheel assemblies; the driving wheel frame is fixedly connected to the driving wheel module; There are two groups of push rod brackets, both of which are fixed to the left and right sides of the inner wall of the rear frame; the rear end of the push rod is fixed to the push rod bracket; the push rod frames are fixed to the two sides of the inner wall of the front frame, and steering rods are arranged on both sides; the front end of the steering rod is hinged to the push rod frame; the rear end of the steering rod is hinged to the moving end of the push rod; the push rod is electrically connected to the power supply and the power rear cabin.

[0009] The driving wheel module also includes a pulley, a DC hub motor, and a driving wheel shaft; Each group of the driving wheel modules has two DC hub motors, and the square holes of the DC hub motors respectively form installation positions with the square shoulders on the driving wheel shafts; the pulleys are interference-fitted on the outside of the DC hub motors and driven to rotate by the DC hub motors; the two ends of the driving wheel shafts are respectively fixedly connected to the driving wheel frame.

[0010] The six-rod weeding device has two groups installed symmetrically, each of which also includes a six-rod weeding bracket, a rocker, an L-rod, a middle connecting rod, a telescopic rod, a telescopic rod guide frame, an input rod, an input shaft, a coupling, a power shaft, a universal flexible shaft, a fixed sickle, and a movable sickle; In the single-group six-rod inter-row weeding device, the six-rod weeding bracket is hinged to the rocker and the input rod respectively, and the telescopic rod guide frame is fixedly installed on the six-rod weeding bracket; the rocker is hinged to the corner end of the L rod 4; the input rod is hinged to the end of the L rod; the middle connecting rod is hinged to the L rod and the telescopic rod respectively, the telescopic rod is fixed to the fixed sickle, the output end of the universal flexible shaft is connected to the moving sickle to provide torque for it; the input end of the universal flexible shaft is connected to the power supply and the built-in motor of the power rear compartment; the power shaft is connected to the power supply and the matching drive motor built into the power rear compartment; the coupling connects the power shaft and the input shaft.

[0011] The track shoe centerline length is L1, the track shoe width is L2, the center contour of the upper surface of the track shoe is a 60° arc with R1 as the radius and P0 as the origin, and P0 is on the center axis of the center contour of the upper surface of the track shoe; the line connecting the two end points of the center contour is the center line of the track shoe; the front edge contour of the track shoe is an arc with R2 as the radius and P2 as the origin, and P2 is located on the center axis of the front edge contour of the track shoe; the rear edge contour of the track shoe is an arc with R3 as the radius, P3 as the origin, and an angle of A, and P3 is located on the track shoe P2 Point P0 is located at a distance R1 backward along the center line of the track shoe; P3 is located on the central axis of the contour of the rear edge of the track shoe; P2 and P3 are both located on the rearward extension line of the center line, P1 is the projection of P0 on the center line of the track shoe, and P1 is located at the midpoint of the center line; L2=3L1, L1=R1=R2=R3, A=53°; the two ground contact ribs are located on the upper surface of the track shoe; among them, the track shoe width L2 is 240mm, which is 0.8 times the rice planting row spacing in Northeast China. The robot can move flexibly in the field without damaging the seedlings.

[0012] During the steering action of the robot, the push rod on one side of the steering chassis main frame extends, and the push rod on the other side of the steering chassis main frame shortens by the same length to achieve differential steering; after the steering chassis main frame completes the bending, the upper and lower steering rings of the track unit that are not engaged with the pulley will rotate around the lateral rotation axis, and at the same time, the lateral change of direction tail section in the track unit will rotate relative to the lateral change of direction starting section, and the lateral change of direction tail section drives the fixed track shoe to rotate; the movement trend of the components contained in the adjacent track unit is the same as the above track unit; the steering ring rotation axis, the track shoe rotation axis, and the adjacent track shoe rotation axis form a triangle, the distance between the steering ring rotation axis and the adjacent track shoe rotation axis 1 is 3 / 2R1, the distance between the steering ring rotation axis and the track shoe rotation axis is 1 / 2R1, and the distance between the track shoe rotation axis and the adjacent track shoe rotation axis is greater than R1; the centerline length of adjacent track shoes is R1, and the non-coaxial steering track can complete the turning action together with the steering chassis without interference; During the travel, when the crawler unit is engaged with the driving wheel module, the center axis of the center contour of the upper surface of the crawler shoe coincides with the rotation axis of the driving wheel module during travel; When traveling straight, for the track shoe in the track unit that is not engaged with the drive wheel module, the projection P1 of P0 on the center line of the track shoe coincides with the rotation axis of the steering ring; the central axis of the contour of the leading edge of the track shoe coincides with the rotation axis; the central axis of the contour of the trailing edge of the track shoe coincides with the rotation axis of the adjacent track unit; the distance between the rotation axes of the track shoes is R1.

[0013] Compared with the prior art, the advantages of the present invention are: 1. Realize flexible field steering operation of a single-track chassis. The single-track paddy field adaptive weeding robot provided by the present invention has a track shoe fixed to the lateral change-of-direction tail section. The track shoe and the steering ring can rotate and are not coaxial, so that the front and rear track shoes will not interfere with each other during steering, so that the track shoe has a large area, is not easy to sink, and the whole machine has flexible steering effects; two narrow and high ground contact ribs are arranged on the upper surface of each track shoe to crush and cut the weeds during the inter-row movement. The robot can have enough ground contact area in the paddy field to reduce the pressure and complete flexible steering, and can also achieve inter-row weeding.

[0014] 2. Achieve weeding with low seedling injury rate. The actuators of the six-rod inter-row weeding device are a fixed sickle and a movable sickle. The movable sickle rotates at high speed through a flexible shaft at the end of the fixed sickle, and the movable sickle and the fixed sickle work together to shear the weed stems between the plants. The quick return characteristics of the six-rod mechanism are used to quickly retract the telescopic rod after the weeding action is completed, so that the movable sickle will not damage the seedlings during the high-speed rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an overall schematic diagram of a single-track paddy field adaptive weeding robot in an example of the present invention; Figure 2It is a cross-sectional view of a track unit of a single-track paddy field adaptive weeding robot in an example of the present invention; Figure 3 It is an exploded view of the track unit of the single-track paddy field adaptive weeding robot in an example of the present invention; Figure 4 It is a connection diagram of two track units of the single-track paddy field adaptive weeding robot in an example of the present invention; Figure 5 It is an overall schematic diagram of the steering chassis main frame of the single-track paddy field adaptive weeding robot in the example of the present invention; Figure 6 It is an exploded view of the main frame of the steering chassis of the single-track paddy field adaptive weeding robot in the example of the present invention; Figure 7 The overall schematic diagram and cross-sectional view of the driving wheel module of the single-track paddy field adaptive weeding robot in the example of the present invention; Figure 8 It is an exploded view of a driving wheel module and a driving wheel frame of a single-track paddy field adaptive weeding robot in an example of the present invention; Fig. 9 It is an overall schematic diagram of a six-rod inter-plant weeding device of a single-track paddy field adaptive weeding robot in an example of the present invention; Fig.10 It is a schematic diagram of the load compartment and load platform of the single-track paddy field adaptive weeding robot in an example of the present invention; Fig.11 It is a schematic diagram of the appearance of the track shoe in the non-coaxial steering track of the single-track paddy field adaptive weeding robot in the example of the present invention; Fig.12 It is a schematic diagram of the non-coaxial steering crawler of the single crawler paddy field adaptive weeding robot in the example of the present invention; Fig.13 This is a schematic diagram of the single-track paddy field adaptive weeding robot moving straight without coaxial steering tracks in an example of the present invention.

[0016] Figures: 1 non-coaxial steering crawler; 2 steering chassis main frame; 3 driving wheel module; 4 six-rod inter-row weeding device; 5 navigation and identification front compartment; 6 power supply and power rear compartment; 7 load platform; 1-1-1 track shoe; 1-1-1-C ground contact rib; 1-1-2 lateral change tail section; 1-1-3 lateral change start section; 1-1-4 steering ring; 1-1-5 lateral rotation axis; 1-1-6 vertical bending section; 1-1-7 double pin; 1-1-8 end connector; 1-1-4-A1 steering ring 1-1-4 rotation axis; 1-1-1-A2 track shoe 1-1-1 rotation axis; 2-1 front chassis; 2-2 steering rod frame; 2-3 steering rod; 2-4 push rod; 2-5 push rod bracket; 2-6 driving wheel frame; 2-7 2-8 hinged front plate; 2-9 hinged shaft; 2-10 hinged rear plate; 2-11 rear chassis; 2-12 load bracket; 2-13 bottom wheel assembly; 3-1 pulley; 3-2 DC hub motor; 3-3 drive wheel shaft; 4-1 six-rod weeding bracket; 4-2 rocker; 4-3 L rod; 4-4 middle connecting rod; 4-5 telescopic rod; 4-6 telescopic rod guide frame; 4-7 input rod; 4-8 input shaft; 4-9 coupling; 4-10 power shaft; 4-11 universal flexible shaft; 4-12 fixed sickle; 4-13 moving sickle; 5-1 binocular camera; 5-2 camera; 5-3 antenna; 7-1 rear load platform; 7-2 front load platform; 7-3 platform bracket; Geometric feature identification and description: P0 origin of the center contour arc of the upper surface of the track shoe; P1 projection of P0 on the center line of the track shoe; P2 rear end point of the center contour of the upper surface (center point of rotation of the track shoe); P3 center point of the rear edge contour of the track shoe; AX1 center axis of the center contour of the upper surface of the track shoe; AX2 center axis of the front edge contour of the track shoe; AX3 center axis of the rear edge contour of the track shoe; LA12-12 distance between the rotation axis 1-1-4-A1 of the steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1; LA12 distance between the rotation axis 1-1-4-A1 of the steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the track shoe 1-1-1; LA22-12 distance between the rotation axis 1-1-1-A2 of the track shoe 1-1-1 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0018] Embodiment 1, as Figure 1-Figure 10 ,This example provides a single-track paddy field adaptive weeding robot, such as Figure 1-11 As shown, it includes a non-coaxial steering crawler 1, a steering chassis main frame 2, a driving wheel module 3, a six-rod inter-row weeding device 4, a navigation and identification front compartment 5, a power supply and power rear compartment 6, and a load platform 7; The driving wheel module 3 is mounted on the driving wheel frame 2-6 in front and behind the steering chassis main frame 2.

[0019] The steering chassis main frame 2 comprises a front chassis 2-1, a rear chassis 2-11 and a driving wheel frame 2-6.

[0020] Each of the six-rod inter-row weeding devices 4 is provided with a universal flexible shaft 4-11.

[0021] The load platform 7 includes a front load platform 7-2 and a rear load platform 7-1.

[0022] The non-coaxial steering crawler track 1 is installed around the steering chassis main frame 2 and the outer side of the driving wheel module 3.

[0023] The driving wheel module 3 is fixedly mounted on the driving wheel frames 2 - 6 in front and behind the steering chassis main frame 2 , meshes with the non-coaxial track, outputs torque and provides power to the non-coaxial steering track 1 .

[0024] The front load platform 7-2 is fixedly mounted on the front chassis 2-1, and the rear load platform 7-1 is fixedly mounted on the rear chassis 2-11.

[0025] The navigation and identification front warehouse 5 is fixedly mounted on the front load platform 7-2, and a binocular camera 5-1 is embedded in the front to obtain the information of seedlings, grass, soil and obstacles in the field; cameras 5-2 are embedded on both sides to obtain the information of seedlings and grass on both sides of the forward direction.

[0026] The power supply and power rear cabin 6 is fixedly mounted on the rear load platform 7 - 1 , and the power supply and power rear cabin 6 has a built-in power supply for the whole machine, two flexible shaft matching motors, and two six-rod weeding devices 4 driving motors.

[0027] The power source is electrically connected to the power rear compartment 6 and the driving wheel module 3 .

[0028] There are two sets of the six-rod weeding devices (4), which are fixedly mounted on the rear load platform 7-1 in parallel. The front six-rod weeding device 4 is installed on the left side of the forward direction of the machine, and the rear six-rod weeding device 4 is installed on the right side of the forward direction of the machine; the universal flexible shaft 4-11 clamp on it is connected to the power supply and the flexible shaft matching motor built into the power rear cabin 6.

[0029] Embodiment 2, as Figure 2-4 The single-track paddy field adaptive weeding robot provided in this example, the non-coaxial steering track 1 is composed of a plurality of groups of track units connected end to end, and each track unit also includes a track shoe 1-1-1, a lateral change-of-direction tail section 1-1-2, a lateral change-of-direction start section 1-1-3, a steering ring 1-1-4, a lateral rotating shaft 1-1-5, a vertical bending section 1-1-6, a double pin 1-1-7, and an end connector 1-1-8; The track shoe 1-1-1 is fixedly connected to the transverse change tail section 1-1-2, and the transverse change tail section 1-1-2 is rotatably mounted on the transverse change starting section 1-1-3; the transverse change starting section 1-1-3 is fixedly connected to the tail end of the transverse rotating shaft 1-1-5; the vertically opposite steering rings 1-1-4 are coaxially rotatably mounted on the transverse rotating shaft 1-1-5; the two vertical bending sections 1-1-6 are connected to the end connector 1-1-8 through double pins 1-1-7; one of the vertical bending sections 1-1-6 is hinged to the steering ring 1-1-4 opposite to the direction of track movement.

[0030] Among the two adjacent track units, taking track unit 1-1 and track unit 1-2 as examples, the vertical bending joint 1-1-6 at the tail of the track unit at the front end relative to the travel direction of the machine is hinged with the steering ring 1-1-4 at the front of the track unit at the rear end, connecting all the track units of the whole machine one by one in turn to form a non-coaxial steering track 1.

[0031] Embodiment three, as Figure 5-6 The single-track paddy field adaptive weeding robot provided in this example, the steering chassis main frame 2 also includes a push rod frame 2-2, a steering rod 2-3, a push rod 2-4, a push rod bracket 2-5, a folding hinged front plate 2-7, an articulated shaft locking ring 2-8, a folding hinged shaft 2-9, a folding hinged rear plate 2-10, a load bracket 2-12, and a bottom wheel assembly 2-13; The bending waist articulated shaft 2-9 and the matching articulated shaft locking ring 2-8 are fixedly connected, and the folding waist articulated front plate 2-7 and the folding waist articulated rear plate 2-10 can be rotatably installed on the folding waist articulated shaft 2-9; the folding waist articulated front plate 2-7 is fixedly connected to the front base frame 2-1; the folding waist articulated rear plate 2-10 is fixedly connected to the rear base frame 2-11; the front base frame 2-1 and the rear base frame 2-11 are each fixedly connected to two driving wheel frames 2-6, two load brackets 2-12 and four bottom wheel assemblies 2-13; the driving wheel frame 2-6 is fixedly connected to the driving wheel module 3.

[0032] There are two groups of push rod brackets 2-5, both of which are fixed to the left and right sides of the inner wall of the rear base frame 2-11; the rear end of the push rod 2-4 is fixed to the push rod bracket 2-5; the two sides of the inner wall of the front base frame 2-1 are fixed to the steering rod bracket 2-2, and steering rods 2-3 are arranged on both sides; the front end of the steering rod 2-3 is hinged to the steering rod bracket 2-2; the rear end of the steering rod 2-3 is hinged to the moving end of the push rod 2-4; the push rod 2-4 is electrically connected to the power supply and the power rear cabin 6.

[0033] Embodiment 4, as Figure 7-8 The single-track paddy field adaptive weeding robot provided in this example is characterized in that the driving wheel module 3 also includes a pulley 3-1, a DC hub motor 3-2, and a driving wheel shaft 3-3; wherein the outer ring of the selected DC hub motor 3-2 and the pulley 3-1 are made of rubber.

[0034] Each group of the driving wheel modules 3 has two DC hub motors 3-2, and the square holes of the DC hub motors 3-2 form installation positions with the square shoulders on the driving wheel shaft 3-3; the pulley 3-1 is interference-fitted on the outside of the DC hub motor 3-2 and driven to rotate by the DC hub motor 3-2; the two ends of the driving wheel shaft 3-3 are respectively fixedly connected to the driving wheel frame 2-6.

[0035] Embodiment 5, as Figure 9-10 The single-track paddy field adaptive weeding robot provided in this example has two groups of six-rod inter-row weeding devices 4 installed symmetrically, each of which also has a six-rod weeding bracket 4-1, a rocker 4-2, an L rod 4-3, a middle connecting rod 4-4, a telescopic rod 4-5, a telescopic rod guide frame 4-6, an input rod 4-7, an input shaft 4-8, a coupling 4-9, a power shaft 4-10, a universal flexible shaft 4-11, a fixed sickle 4-12, and a movable sickle 4-13.

[0036] In the single-group six-rod inter-row weeding device 4, the six-rod weeding bracket 4-1 is hinged to the rocker 4-2 and the input rod 4-7 respectively, and the telescopic rod guide frame 4-6 is fixedly installed on the six-rod weeding bracket 4-1; the rocker 4-2 is hinged to the corner end of the L rod 4-3; the input rod 4-7 is hinged to the end of the L rod; the middle connecting rod 4-4 is hinged to the L rod 4-3 and the telescopic rod 4-5 respectively, the telescopic rod 4-5 is fixedly connected to the fixed sickle 4-12, and the output end of the universal flexible shaft 4-11 is connected to the moving sickle 4-13 to provide torque for it; the input end of the universal flexible shaft 4-11 is connected to the power supply and the built-in motor of the power rear compartment 6; the power shaft 4-10 is connected to the power supply and the built-in matching drive motor of the power rear compartment 6; the coupling 4-9 connects the power shaft 4-10 and the input shaft 4-8.

[0037] Embodiment six, as Fig.11In the single-track paddy field adaptive weeding robot provided in this example, the centerline length of the track shoe 1-1-1 is L1, the width of the track shoe 1-1-1 is L2, the center contour of the upper surface of the track shoe 1-1-1 is a 60° arc with R1 as the radius and P0 as the origin, and P0 is on the center axis AX1 of the center contour of the upper surface of the track shoe; the line connecting the two end points of the center contour is the center line of the track shoe 1-1-1; the front edge contour of the track shoe 1-1-1 is an arc with R2 as the radius and P2 as the origin, and P2 is located on the center axis AX2 of the rear edge contour of the track shoe; the rear edge contour of the track shoe 1-1-1 is an arc with R3 as the radius and P3 as the origin. The arc is the origin and the angle is A. P3 is located on the track shoe 1-1-1 at R1 to the rear of point P2 along the center line of the track shoe; P3 is located on the center axis AX3 of the contour of the rear edge of the track shoe; P2 and P3 are both located on the rearward extension line of the center line, P1 is the projection of P0 on the center line, and P1 is located at the midpoint of the center line; L2=3L1, L1=R1=R2=R3, A=53°; two ground contact ribs 1-1-1-C are located on the upper surface of the track shoe 1-1-1; among them, the track shoe width L2 is 240mm, which is 0.8 times the rice planting row spacing in Northeast China. The robot can move flexibly in the field without damaging the seedlings.

[0038] Embodiment seven, as Figure 12-13In the single-track paddy field adaptive weeding robot provided in this example, during the steering action, the push rod 2-4 on one side of the steering chassis main frame 2 is extended, and the push rod 2-4 on the other side of the steering chassis main frame 2 is shortened by the same length to achieve differential steering; after the steering chassis main frame 2 is bent, the upper and lower steering rings 1-1-4 of the crawler unit 1-1 that are not engaged with the pulley 3-1 will rotate around the lateral rotation axis 1-1-5, and its rotation axis is 1-1-4-A1; at the same time, the lateral change of direction tail section 1-1-2 in the crawler unit 1-1 will rotate with the lateral change of direction starting section 1-1-3 around the rotation axis 1-1-1-A2, and the lateral change of direction tail section 1-1-2 drives the fixed track shoe 1-1-1 to rotate around the rotation axis 1-1-1-A2 Rotation; the movement trend of the components contained in the adjacent crawler unit 1-1 is the same as the above crawler unit 1-1, the rotation axis of the adjacent crawler shoe 1-1-1 is 1-1-1-A2; the rotation axis 1-1-4-A1 of the steering ring 1-1-4, the rotation axis 1-1-1-A2 of the crawler shoe 1-1-1, and the rotation axis 1-1-1-A2 of the adjacent crawler shoe 1-1-1 form a triangle, the distance between the rotation axis 1-1-4-A1 of the steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the adjacent crawler shoe 1-1-1 is LA12-12=3 / 2R1, the distance between the rotation axis 1-1-4-A1 of the steering ring 1-1-4 and the rotation axis 1-1-1-A2 of the crawler shoe 1-1-1 is LA12=1 / 2R1, The distance LA22-12 between the rotation axis 1-1-1-A2 of the track shoe 1-1-1 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1 is greater than R1; the centerline length of the adjacent track shoe 1-1-1 is R1, because LA22-12 is greater than R1, the non-coaxial steering track can complete the turning action together with the steering chassis without interference; During the travel, when the track unit 1-1 is engaged with the driving wheel module 3, the central axis AX1 of the central contour of the upper surface of the track shoe 1-1-1 coincides with the rotation axis of the driving wheel module during travel; When traveling straight, for the track shoe 1-1-1 in the track unit 1-1 that is not engaged with the driving wheel module 3, the projection P1 of P0 on the center line of the track shoe coincides with the rotation axis 1-1-4-A1 of the steering ring 1-1-4; the center axis AX2 of the contour of the leading edge of the track shoe coincides with the rotation axis 1-1-1-A2; the center axis AX3 of the contour of the trailing edge of the track shoe 1-1-1 coincides with the rotation axis 1-1-1-A2 in the adjacent track unit 1-1; the distance between the rotation axis 1-1-1-A2 of the track shoe 1-1-1 and the rotation axis 1-1-1-A2 of the adjacent track shoe 1-1-1 is R1.

[0039] The specific implementation principle process is as follows: The navigation and identification front compartment 5 is responsible for the mobile control of the single-track paddy field adaptive weeding robot. It can obtain the information of seedlings, grass, soil and obstacles in the field based on the binocular camera 5-1 embedded in the front, and transmit the information to the host computer for path planning, so as to plan a walking route in the rugged field. The power of the machine is provided by the front and rear drive wheel modules 3. The power supply and power rear compartment supply power to the front and rear drive wheel modules 3. The wheel hub motors installed oppositely in the drive wheel module 3 drive the pulley to rotate, and the pulley engages with the non-coaxial steering crawler, thereby driving the movement of the crawler to make the robot walk forward and backward. When turning is required, the front and rear frames are deflected through the telescopic movement of the push rod 2-4, and the front frame 2-1 rotates a certain angle around the steering hinge point where the folding hinge shaft 2-9 is located, while the rear frame 2-11 does not deflect as a whole, wherein the push rod 2-4 on one side of the steering chassis main frame 2 is extended, and the push rod 2-4 on the other side of the steering chassis main frame 2 is shortened by the same length, thereby realizing differential steering; the steering of the crawler unit that is not engaged with the pulley 3-1 rotates around the transverse rotating shaft 1-1-5, and the upper steering ring forms an angle with the lower steering ring. At the same time, the lateral change of direction starting section is stationary relative to the transverse rotating shaft, and the lateral change of direction tail section drives the track plate to rotate due to the overall turning of the non-coaxial steering crawler, and the steering chassis drives the non-coaxial steering crawler to complete the turning action, and there is no interference between the crawler units.

[0040] The weeding work of the single-track paddy field adaptive weeding robot is mainly performed by the six-rod inter-row weeding device. The navigation and identification front compartment 5 uses the two-side cameras 5-2 to obtain the seedling grass information on both sides of the forward direction, and then identifies the seedling grass. After identifying the weeds, the built-in motor of the power supply and power rear compartment 6 drives the power shaft 4-10 of the six-rod inter-row weeding device 4 to rotate according to whether the integral of the machine's travel speed and time satisfies the condition that the distance between the camera and the weeding device is equal. The telescopic rod 4-5 extends, and the fixed sickle 4-12 and the movable sickle 4-13 reach the position of cutting the weeds when moving forward. The shortest connecting line between the rotation center point of the movable sickle 4-13 and the weed stems and the forward direction of the robot are close to parallel. The motor driving the universal flexible shaft 4-11 in the power supply and power rear compartment 6 rotates, and the movable sickle 4-13 rotates, and cuts the weeds together with the fixed sickle 4-12. The power shaft 4-10 continues to rotate, and the telescopic rod 4-5 is quickly retracted using the quick return characteristics of the six-rod device to avoid scratching and accidental injury to the crops.

[0041] The above embodiments are only used to illustrate the present invention, wherein the structures and connection modes of the components may be changed. Any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A single-track paddy field adaptive weeding robot, characterized in that: It includes a non-coaxial steering crawler (1), a steering chassis main frame (2), a driving wheel module (3), a six-rod inter-row weeding device (4), a navigation and identification front compartment (5), a power supply and power rear compartment (6), and a load platform (7); The steering chassis main frame (2) comprises a front chassis (2-1), a rear chassis (2-11) and a driving wheel frame (2-6); Each of the six-rod inter-row weeding devices (4) is provided with a universal flexible shaft (4-11); The load platform (7) comprises a front load platform (7-2) and a rear load platform (7-1); The non-coaxial steering crawler (1) is installed around the steering chassis main frame (2) and the outer side of the driving wheel module (3); There are two sets of drive wheel modules (3), which are respectively fixed to the front and rear drive wheel frames (2-6) of the steering chassis main frame (2). The drive wheel modules (3) are meshed with the non-coaxial steering crawler (1), output torque and provide power to the non-coaxial steering crawler (1); The front load platform (7-2) is fixedly mounted on the front chassis (2-1), and the rear load platform (7-1) is fixedly mounted on the rear chassis (2-11); The navigation and identification front compartment (5) is fixedly mounted on the front load platform (7-2), and a binocular camera (5-1) is embedded in the front to obtain information on seedlings, grass, soil, and obstacles in the field; Cameras (5-2) are embedded on both sides to obtain information about the grass seedlings on both sides of the forward direction; The power supply and power rear compartment (6) is fixedly mounted on the rear load platform (7-1), and the power supply and power rear compartment (6) has a built-in power supply for the whole machine, two flexible shaft matching motors, and two six-rod weeding devices (4) drive motors; The power source is electrically connected to the power rear compartment (6) and the drive wheel module (3); There are two sets of the six-rod weeding devices (4), which are fixedly mounted on the rear load platform (7-1) in parallel front and rear. The front six-rod weeding device (4) is installed on the left side of the forward direction of the machine, and the rear six-rod weeding device (4) is installed on the right side of the forward direction of the machine. The universal flexible shaft (4-11) chuck is connected to the power supply and the flexible shaft matching motor built into the power rear cabin (6).

2. The single-track paddy field adaptive weeding robot according to claim 1, characterized in that: The non-coaxial steering crawler (1) is composed of a plurality of crawler units (1-1) connected end to end, and each crawler unit (1-1) further comprises a crawler shoe (1-1-1), a lateral direction-changing tail section (1-1-2), a lateral direction-changing start section (1-1-3), a steering ring (1-1-4), a lateral rotating shaft (1-1-5), a vertical bending section (1-1-6), a double pin (1-1-7), and an end connector (1-1-8); The track shoe (1-1-1) is fixedly connected to the transverse direction-changing tail section (1-1-2); the transverse direction-changing tail section (1-1-2) is rotatably mounted on the transverse direction-changing start section (1-1-3); the transverse direction-changing start section (1-1-3) is fixedly connected to the tail end of the transverse rotating shaft (1-1-5); the vertically opposite steering rings (1-1-4) are coaxially rotatably mounted on the transverse rotating shaft (1-1-5); two vertical bending sections (1-1-6) are connected to the end connector (1-1-8) via double pins (1-1-7); one of the vertical bending sections (1-1-6) is hingedly connected to the steering ring (1-1-4) opposite to the direction of movement of the track; In two adjacent crawler units (1-1), a vertical bending joint (1-1-6) at the tail of the front crawler unit (1-1) relative to the travel direction of the machine is hinged to a steering ring (1-1-4) at the front of the rear crawler unit (1-1), and all crawler units (1-1) of the whole machine are connected one by one in sequence to form a non-coaxial steering crawler (1).

3. The single-track paddy field adaptive weeding robot according to claim 2, characterized in that: The steering chassis main frame (2) also includes a steering rod frame (2-2), a steering rod (2-3), a push rod (2-4), a push rod bracket (2-5), a folding hinged front plate (2-7), an articulated shaft locking ring (2-8), a folding hinged shaft (2-9), a folding hinged rear plate (2-10), a load bracket (2-12), and a bottom wheel assembly (2-13); The bending waist articulated shaft (2-9) and the matching articulated shaft locking ring (2-8) are fixedly connected; the bending waist articulated front plate (2-7) and the bending waist articulated rear plate (2-10) are both rotatably mounted on the bending waist articulated shaft (2-9); the bending waist articulated front plate (2-7) is fixedly connected to the front bottom frame (2-1); the bending waist articulated rear plate (2-10) is fixedly connected to the rear bottom frame (2-11); the front bottom frame (2-1) and the rear bottom frame (2-11) are respectively fixedly connected to two driving wheel frames (2-6), two load brackets (2-12) and four bottom wheel assemblies (2-13); the driving wheel frames (2-6) are respectively fixedly connected to the driving wheel modules (3); There are two groups of push rod brackets (2-5), both of which are fixedly connected to the left and right sides of the inner wall of the rear chassis (2-11); the rear end of the push rod (2-4) is fixedly connected to the push rod bracket (2-5); the two sides of the inner wall of the front chassis (2-1) are fixedly connected to the steering rod bracket (2-2), and the two sides are provided with steering rods (2-3); the front end of the steering rod (2-3) is hinged to the steering rod bracket (2-2); the rear end of the steering rod (2-3) is hinged to the moving end of the push rod (2-4); the push rod (2-4) is electrically connected to the power source and the power rear cabin (6).

4. The single-track paddy field adaptive weeding robot according to claim 3, characterized in that: The driving wheel module (3) further comprises a pulley (3-1), a DC hub motor (3-2), and a driving wheel shaft (3-3); Each group of the driving wheel modules (3) has two DC hub motors (3-2); the square holes of the DC hub motors (3-2) respectively form mounting positions with the square shaft shoulders on the driving wheel shaft (3-3); the pulley (3-1) is interference-mounted on the outside of the DC hub motor (3-2) and is driven to rotate by the DC hub motor (3-2); and the two ends of the driving wheel shaft (3-3) are respectively fixedly connected to the driving wheel frame (2-6).

5. The single-track paddy field adaptive weeding robot according to claim 4, characterized in that: The six-rod inter-row weeding device (4) has two groups symmetrically installed, each group further comprising a six-rod weeding support (4-1), a rocker (4-2), an L-rod (4-3), a middle connecting rod (4-4), a telescopic rod (4-5), a telescopic rod guide frame (4-6), an input rod (4-7), an input shaft (4-8), a coupling (4-9), a power shaft (4-10), a universal flexible shaft (4-11), a fixed sickle (4-12), and a movable sickle (4-13); In the single-group six-rod inter-row weeding device (4), the six-rod weeding bracket (4-1) is hinged to the rocker (4-2) and the input rod (4-7) respectively; the telescopic rod guide frame (4-6) is fixedly connected to the six-rod weeding bracket (4-1); the rocker (4-2) is hinged to the corner end of the L rod (4-3); the input rod (4-7) is hinged to the end of the L rod; the middle connecting rod (4-4) is hinged to the L rod (4-3) and the telescopic rod (4-5) respectively, the telescopic rod (4-5) is fixedly connected to the fixed sickle (4-12), the output end of the universal flexible shaft (4-11) is connected to the moving sickle (4-13) to provide torque for it; the input end of the universal flexible shaft (4-11) is connected to the power supply and the built-in motor of the power rear compartment (6); the power shaft (4-10) is connected to the power supply and the built-in matching drive motor of the power rear compartment (6); the coupling (4-9) connects the power shaft (4-10) and the input shaft (4-8).

6. The single-track paddy field adaptive weeding robot according to claim 5, characterized in that: The track shoe (1-1-1) has a centerline length of L1, a track shoe (1-1-1) width of L2, a center contour of the upper surface of the track shoe (1-1-1) of a 60° arc with R1 as a radius and P0 as an origin, and P0 is on the center axis AX1 of the center contour of the upper surface of the track shoe; a line connecting the two end points of the center contour is the centerline of the track shoe (1-1-1); a front edge contour of the track shoe (1-1-1) of an arc with R2 as a radius and P2 as an origin, and P2 is located on the center axis AX2 of the front edge contour of the track shoe; a rear edge contour of the track shoe (1-1-1) of an arc with R3 as a radius, P3 as an origin, an angle A, and P3 is located on the track shoe. Point P2 on the track plate (1-1-1) is located at a distance R1 backward along the center line of the track plate; P3 is located on the center axis AX3 of the contour of the rear edge of the track plate; P2 and P3 are both located on the rearward extension line of the center line, P1 is the projection of P0 on the rearward extension line of the center line of the track plate (1-1-1), and P1 is located at the midpoint of the center line; L2=3L1, L1=R1=R2=R3, A=53°; two ground contact ribs (1-1-1-C) are located on the upper surface of the track plate (1-1-1); among them, the track plate width L2 is 240mm, which is 0.8 times the rice planting row spacing in Northeast China, and the robot can flexibly move in the field without damaging the seedlings.

7. The single-track paddy field adaptive weeding robot according to any one of claims 1 to 6, characterized in that: During the steering action of the robot, the push rod (2-4) on one side of the steering chassis main frame (2) is extended, and the push rod (2-4) on the other side of the steering chassis main frame (2) is shortened by the same length, thereby realizing differential steering; after the steering chassis main frame (2) is bent, the upper and lower steering rings (1-1-4) of the crawler unit (1-1) that are not engaged with the pulley (3-1) will rotate around the transverse rotation axis (1-1-5), and the rotation axis is (1-1-4-A1); at the same time, the transverse direction-changing tail section (1-1-2) in the crawler unit (1-1) will rotate around the rotation axis (1-1-1-A2) with the transverse direction-changing start section (1-1-3), and the transverse direction-changing tail section (1-1-2) drives the track shoe (1-1-1) fixed thereto to rotate around the rotation axis (1-1-1-A2); the adjacent crawler unit ( The movement trend of the components contained in 1-1) is the same as that of the above-mentioned crawler unit (1-1), the rotation axis of the adjacent crawler shoe (1-1-1) is (1-1-1-A2); the rotation axis (1-1-4-A1) of the steering ring (1-1-4), the rotation axis (1-1-1-A2) of the crawler shoe (1-1-1), and the rotation axis (1-1-1-A2) of the adjacent crawler shoe (1-1-1) form a triangle, the distance between the rotation axis (1-1-4-A1) of the steering ring (1-1-4) and the rotation axis (1-1-1-A2) of the adjacent crawler shoe (1-1-1) is LA12-12=3 / 2R1, the distance between the rotation axis (1-1-4-A1) of the steering ring (1-1-4) and the rotation axis (1-1-1-A2) of the crawler shoe (1-1-1) is LA12=1 / 2R1, The distance LA22-12 between the rotation axis (1-1-1-A2) of the track shoe (1-1-1) and the rotation axis (1-1-1-A2) of the adjacent track shoe (1-1-1) is greater than R1; the centerline length of the adjacent track shoe (1-1-1) is R1, because LA22-12 is greater than R1, the non-coaxial steering track can complete the turning action together with the steering chassis without interference; During the travel, when the crawler unit (1-1) is meshed with the driving wheel module (3), the central axis AX1 of the central contour of the upper surface of the crawler shoe (1-1-1) coincides with the rotation axis of the driving wheel module (3) during travel; When traveling straight, for the track shoe (1-1-1) in the track unit (1-1) that is not engaged with the driving wheel module (3), the projection P1 of P0 on the center line of the track shoe coincides with the rotation axis (1-1-4-A1) of the steering ring (1-1-4); the center axis AX2 of the contour of the front edge of the track shoe coincides with the rotation axis (1-1-1-A2); the center axis AX3 of the contour of the rear edge of the track shoe (1-1-1) coincides with the rotation axis (1-1-1-A2) in the adjacent track unit (1-1); and the distance between the rotation axis (1-1-1-A2) of the track shoe (1-1-1) and the rotation axis (1-1-1-A2) of the adjacent track shoe (1-1-1) is R1.

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