A new weeding robot
By designing a new weeding robot combining adsorption cover, hitting rope and negative pressure suction chamber, the existing weeding robot has solved the problem of incomplete weeding effect, lack of adaptability and inability to remove stubborn weeds, and achieved efficient and highly adaptable weeding effect.
Patent Information
- Application Number
- CN202510229398.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2025-04-04
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing weeding robots have shortcomings in the lack of comprehensive weeding effect, lack of adaptability, and the inability to effectively remove stubborn weeds.
A new weeding robot was designed, using a structure that combines an adsorption cover and a hitting rope. Through the cooperation of the transverse axis and a hitting rope, the grassroots are damaged and weeds are quickly collected through the negative pressure suction chamber. The control component adjusts the rotation speed and force of the hitting rope through a speed-regulating motor to adapt to different grass species and growth environments.
It improves the adaptability and weeding efficiency of the weeding robot, can effectively remove weeds from different types and growth environments, and reduces the negative impact on the environment.
Smart Images
Figure CN119744642A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of weeding, in particular to a novel weeding robot. Background Art
[0002] Existing weed control equipment mainly adopts manual weeding, mechanical mowing, chemical spraying, etc. Manual weeding is usually time-consuming and labor-intensive, inefficient, and requires a lot of manpower support; although mechanical mowing can improve efficiency, it can only cut the grass stems, it is difficult to damage the weeds at the roots, and it may cause the weeds to grow again easily; chemical spraying may pollute the environment and have adverse effects on soil and crops.
[0003] Although existing weeding robots can improve weeding efficiency to a certain extent, they usually have the following problems: first, the weeding effect is not comprehensive enough, especially for weeds that are difficult to reach on the ground, and some uncleaned parts are easily left; second, weeding robots lack adaptive capabilities and cannot adjust their working modes according to the characteristics of different grass species; third, the weeding intensity is difficult to control, and stubborn weeds are often unable to be effectively removed. Summary of the invention
[0004] In order to overcome the defects of the above-mentioned prior art, the present invention provides the following technical solutions: a new type of weeding robot, including an adsorption cover, a transverse rotation axis is rotatably arranged inside the adsorption cover, and the rotating sleeves at both ends of the outer surface of the transverse rotation axis are symmetrically provided with striking support rotating tubes, and the two striking support rotating tubes are fixedly provided with striking rope mounting sleeves, and the outer surface of the striking rope mounting sleeve is fixedly provided with a plurality of striking ropes; wherein the rotation axis of the transverse rotation axis is coaxially matched with the adsorption cover; the rotation axis of the striking rope and the striking rope mounting sleeve is coaxially matched with the transverse rotation axis; a control component for driving all striking ropes to rotate is fixedly provided on the top of the outer surface of the adsorption cover, and the control component is used to control the ratio of the rotation speed of all striking ropes along the axis of the transverse rotation axis to the rotation speed along the axis of the adsorption cover.
[0005] Preferably, the center position of the transverse rotation axis is fixed on the rotation support block, and a rotating support shaft is fixedly installed on the rotation support block along its own radial direction. The bottom end of the rotating support shaft is close to the rotation support block and a driving intermediate gear is provided on the rotating sleeve; side gears are fixedly installed on the opposite ends of the two striking support rotating tubes, and the side gears and the striking support rotating tubes rotate in coordination with the rotation support block, and the two side gears are meshed and transmitted through the driving intermediate gear.
[0006] Preferably, a shaft sleeve is provided on the outer surface of the rotating support shaft, and the bottom end of the shaft sleeve is fixedly matched with the driving intermediate gear.
[0007] Preferably, the control component includes a base plate fixedly matched with the adsorption cover, and a planetary gear mounting plate and a limiting pulley are rotatably mounted on the upper surface of the base plate, and the planetary gear mounting plate and the limiting pulley are driven by a speed regulating transmission belt, and a center gear and a gear ring are rotatably arranged on the upper surface of the planetary gear mounting plate, wherein the center gear and the gear ring are meshed and driven by a plurality of planetary gears.
[0008] Preferably, all planetary gears are rotatably mounted on the planetary gear mounting disk, and a snap-fit disk is fixedly mounted on the gear ring; wherein the top ends of the rotating support shaft and the bushing pass through to the top of the base plate, wherein the top end of the bushing passes through the planetary gear mounting disk and is fixedly engaged with the center gear, the bushing and the planetary gear mounting disk are rotatably engaged, and the top end of the center gear is fixedly engaged with the snap-fit disk.
[0009] Preferably, the limiting pulley and the snap-fit disk are rotatably mounted on a mounting buckle plate, the mounting buckle plate is fixed on a base plate, a gearbox and a speed regulating motor are fixedly mounted on the mounting buckle plate, wherein the limiting pulley is fixedly mounted on the output shaft of the speed regulating motor, and the snap-fit disk is fixedly mounted on the output shaft of the gearbox.
[0010] Preferably, it also includes two parallel track support side plates, both of which are rotatably mounted with tracks, and the two track support side plates are fixedly connected by multiple cross beams; a negative pressure suction chamber and a grass storage trough are fixedly mounted between the two track support side plates, a negative pressure centrifugal impeller is rotatably mounted inside the negative pressure suction chamber, a discharge port is provided on the negative pressure suction chamber on the side of the negative pressure centrifugal impeller, and the discharge port is connected to the inside of the grass storage trough.
[0011] Preferably, the adsorption hood is fixedly installed between the two track supporting side plates, and a feeding channel is provided at one end of the adsorption hood facing the negative pressure suction chamber. The adsorption hood is connected to the interior of the negative pressure suction chamber through the feeding channel, and the horizontal height of the feeding channel is higher than the negative pressure centrifugal impeller.
[0012] Preferably, a main drive motor is fixedly mounted on the crossbeam, a main shaft is fixedly mounted on the output shaft of the main drive motor, the main shaft passes through the negative pressure suction chamber and is fixedly matched with the negative pressure centrifugal impeller; the main shaft and the input shaft of the gearbox are driven by a drive belt.
[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention can adjust the rotation speed and striking force of the striking rope by controlling the speed regulating motor. This flexible control enables the robot to adjust the weeding force according to the density and growth of the weeds, thereby improving the adaptability of the weeding robot, and is particularly suitable for weeds of different types and different growth environments; (2) The present invention can quickly strike and inhale weed fragments through the negative pressure suction chamber combined with the rotation of the striking rope, which not only realizes the function of striking weeds, but also can collect the broken weeds into the grass storage tank in time, reducing the negative impact on the environment; (3) The present invention adopts the combination of the horizontal rotation axis and the striking rope, which allows the root of the striking rope to contact the grass roots, thereby destroying the grass roots and reducing the possibility of weeds resuming growth. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.
[0015] Figure 2 It is a schematic diagram of the internal structure of the negative pressure suction chamber of the present invention.
[0016] Figure 3 It is a schematic diagram of the structure of the adsorption cover of the present invention.
[0017] Figure 4 It is a schematic diagram of the control component structure of the present invention.
[0018] Figure 5 It is a schematic diagram of the striking rope structure of the present invention.
[0019] Figure 6 For the present invention Figure 5 Schematic diagram of the structure at point A in the middle.
[0020] Figure 7 This is a schematic diagram of the structure of the driving intermediate gear of the present invention.
[0021] In the figure: 101-track support side plate; 102-track; 103-grass storage trough; 104-crossbeam; 105-main drive motor; 106-negative pressure suction chamber; 107-negative pressure centrifugal impeller; 108-main shaft; 109-drive belt; 110-adsorption cover; 111-feeding channel; 112-discharge port; 113-base plate; 114-gearbox; 115-speed regulating motor; 116-installation buckle plate; 117- Limiting pulley; 118-speed transmission belt; 119-planetary gear mounting plate; 120-locking plate; 121-center gear; 122-rotation support shaft; 123-gear ring; 124-planetary gear; 125-buckle; 126-rotation support block; 127-driving intermediate gear; 128-beating rope; 129-side gear; 130-beating rope mounting sleeve; 131-transverse axis; 132-beating support rotating tube. DETAILED DESCRIPTION
[0022] The following is combined with Figure 1-7 , and further illustrate the technical solution of the present invention through specific implementation methods.
[0023] The present invention provides a novel weeding robot, comprising an adsorption cover 110, wherein a transverse rotation axis 131 is rotatably arranged inside the adsorption cover 110, and striking support rotating tubes 132 are symmetrically provided at both ends of the outer surface of the transverse rotation axis 131, and striking rope mounting sleeves 130 are fixedly provided on the two striking support rotating tubes 132, and a plurality of striking ropes 128 are fixedly provided on the outer surface of the striking rope mounting sleeve 130; wherein the rotation axis of the transverse rotation axis 131 is coaxially matched with the adsorption cover 110; the rotation axis of the striking rope 128 and the striking rope mounting sleeve 130 is coaxially matched with the transverse rotation axis 131; and a control component for driving all striking ropes 128 to rotate is fixedly provided on the top of the outer surface of the adsorption cover 110, and the control component is used to control the ratio of the rotation speed of all striking ropes 128 along the axis of the transverse rotation axis 131 to the rotation speed along the axis of the adsorption cover 110. The center position of the transverse axis 131 is fixed on the rotation support block 126, and the rotation support block 126 is fixedly installed with a rotation support axis 122 along its radial direction. The bottom end of the rotation support axis 122 is rotatably sleeved with a driving intermediate gear 127 near the rotation support block 126; the opposite ends of the two striking support rotating tubes 132 are fixedly installed with side gears 129, and the side gears 129 and the striking support rotating tubes 132 are rotatably matched with the rotation support block 126, and the two side gears 129 are meshed and driven by the driving intermediate gear 127. A shaft sleeve 125 is rotatably sleeved on the outer surface of the rotation support axis 122, and the bottom end of the shaft sleeve 125 is fixedly matched with the driving intermediate gear 127.
[0024] The control component includes a base plate 113 fixedly matched with the adsorption cover 110, a planetary gear mounting disk 119 and a limiting pulley 117 are rotatably mounted on the upper surface of the base plate 113, the planetary gear mounting disk 119 and the limiting pulley 117 are driven and matched through a speed-adjusting transmission belt 118, a central gear 121 and a gear ring 123 are rotatably arranged on the upper surface of the planetary gear mounting disk 119, wherein the central gear 121 and the gear ring 123 are meshed and driven through a plurality of planetary gears 124. All the planetary gears 124 are rotatably mounted on the planetary gear mounting disk 119, and a snap-fit disk 120 is fixedly mounted on the gear ring 123; wherein the top ends of the rotating support shaft 122 and the shaft sleeve 125 are both penetrated to the top of the base plate 113, wherein the top end of the shaft sleeve 125 penetrates the planetary gear mounting disk 119 and is fixedly matched with the central gear 121, the shaft sleeve 125 and the planetary gear mounting disk 119 are rotatably matched, and the top end of the central gear 121 is fixedly matched with the snap-fit disk 120. The limiting pulley 117 and the snap-fit disk 120 are rotatably mounted on the mounting buckle plate 116, and the mounting buckle plate 116 is fixed on the base plate 113. The gearbox 114 and the speed regulating motor 115 are fixedly mounted on the mounting buckle plate 116, wherein the limiting pulley 117 is fixedly mounted on the output shaft of the speed regulating motor 115, and the snap-fit disk 120 is fixedly mounted on the output shaft of the gearbox 114.
[0025] It also includes two track support side plates 101 arranged in parallel, on which tracks 102 are rotatably mounted, and the two track support side plates 101 are fixedly connected by a plurality of cross beams 104; a negative pressure suction chamber 106 and a grass storage tank 103 are fixedly mounted between the two track support side plates 101, a negative pressure centrifugal impeller 107 is rotatably mounted inside the negative pressure suction chamber 106, and a discharge port 112 is arranged on the side of the negative pressure centrifugal impeller 107 on the negative pressure suction chamber 106, and the discharge port 112 is connected to the inside of the grass storage tank 103. An adsorption cover 110 is fixedly mounted between the two track support side plates 101, and a feeding channel 111 is arranged at one end of the adsorption cover 110 facing the negative pressure suction chamber 106, and the adsorption cover 110 is connected to the inside of the negative pressure suction chamber 106 through the feeding channel 111, and the horizontal height of the feeding channel 111 is higher than the negative pressure centrifugal impeller 107. A main drive motor 105 is fixedly mounted on the crossbeam 104 , a main shaft 108 is fixedly mounted on the output shaft of the main drive motor 105 , the main shaft 108 passes through the negative pressure suction chamber 106 and is fixedly matched with the negative pressure centrifugal impeller 107 ; the main shaft 108 and the input shaft of the gearbox 114 are driven and matched via a driving belt 109 .
[0026] The working principle of a novel weeding robot disclosed in the present invention is as follows: the main drive motor 105 is started, and the output shaft of the main drive motor 105 drives the main shaft 108 to rotate, and the main shaft 108 drives the negative pressure centrifugal impeller 107 to rotate. The rotation of the negative pressure centrifugal impeller 107 generates negative pressure inside the negative pressure suction chamber 106, and then the air inside the adsorption cover 110 is sucked into the negative pressure suction chamber 106 located above the negative pressure centrifugal impeller 107 through the feeding channel 111, and then the air is thrown out of the negative pressure suction chamber 106 through the discharge port 112 through the negative pressure centrifugal impeller 107. In this process, the weed fragments cut off will be driven together by the air, and then enter the grass storage trough 103 through the feeding channel 111, the negative pressure suction chamber 106, the negative pressure centrifugal impeller 107, and the discharge port 112 (a net for blocking weeds is provided in the grass storage trough 103, and the weeds inside the grass storage trough 103 are cleaned regularly).
[0027] When the main shaft 108 rotates, it will also drive the input shaft of the gearbox 114 to rotate through the driving belt 109. The output shaft of the gearbox 114 drives the snap-fit disk 120 and the rotating support shaft 122 to rotate. The rotating support shaft 122 rotates through the planetary gear 124 to drive the center gear 121 to rotate. During this process, the speed regulating motor 115 needs to be started. The output shaft of the speed regulating motor 115 applies torque to the limiting pulley 117, and then the rotation of the planetary gear mounting disk 119 is limited by the speed regulating belt 118. During this process, the snap-fit disk 120 and the center gear 121 are both in a rotating state, and the rotation speed of the snap-fit disk 120 is lower than the rotation speed of the center gear 121. Therefore, the rotation speed of the rotating support shaft 122 is lower than the rotation speed of the sleeve 125. Since the shaft sleeve 125 drives the driving intermediate gear 127 to rotate, the driving intermediate gear 127 drives the two side gears 129 to rotate, and the two side gears 129 drive the striking support rotating tube 132, the striking rope installation sleeve 130 and all the striking ropes 128 to rotate along the transverse axis 131, the striking ropes 128 in the rotating state will hit the weeds on the ground, thereby crushing the weeds, and at the same time, the rotation of the rotating support shaft 122 will drive the rotation of the self-rotating support block 126, and the rotation of the self-rotating support block 126 will drive the transverse axis 131 to rotate, so all the striking ropes 128 will rotate along the transverse axis 131 while rotating along the transverse axis 131, so that more striking ropes 128 will contact the weeds (because there is a gap between the two striking ropes 128, if the striking rope 128 does not move, the weeds in the gap cannot be hit). The weeds damaged by the striking will be sucked into the negative pressure suction chamber 106 by air and then collected. With the two crawlers 102, the rotating striking rope 128 can be driven to weed at different positions on the ground. At the same time, the torque of the output shaft of the speed regulating motor 115 is controlled according to the specific situation. The output shaft of the speed regulating motor 115 drives the limiting pulley 117 to rotate. The limiting pulley 117 controls the rotation of the planetary gear mounting disk 119 through the speed regulating transmission belt 118. The speed regulating motor 115 can control the rotation speed and direction of the planetary gear mounting disk 119. The rotation speed and direction of the planetary gear mounting disk 119 can control the rotation ratio between the buckling disk 120 and the shaft sleeve 125. Since the rotation speed of the buckling disk 120 is transmitted through the gearbox 114, the rotation speed of the buckling disk 120 is a fixed value (under the premise that other conditions remain unchanged). Therefore, the rotation speed of the shaft sleeve 125 can be controlled by controlling the speed regulating motor 115, that is, the speed of all the striking ropes 128 rotating around the horizontal axis 131 is controlled, and then the strength of the striking ropes 128 hitting the weeds is controlled.
Claims
1. A new weeding robot, characterized by: The invention comprises an adsorption cover (110), wherein a transverse rotation axis (131) is rotatably arranged inside the adsorption cover (110), and striking support rotating tubes (132) are symmetrically arranged on the rotating sleeves at both ends of the outer surface of the transverse rotation axis (131), and striking rope installation sleeves (130) are fixedly arranged on the two striking support rotating tubes (132), and a plurality of striking ropes (128) are fixedly arranged on the outer surface of the striking rope installation sleeves (130); wherein the rotation axis of the transverse rotation axis (131) is coaxially matched with the adsorption cover (110); and the rotation axes of the striking ropes (128) and the striking rope installation sleeves (130) are coaxially matched with the transverse rotation axis (131); A control component for driving all striking ropes (128) to rotate is fixedly provided on the top of the outer surface of the adsorption cover (110), and the control component is used to control the ratio of the speed of all striking ropes (128) rotating along the axis of the transverse rotation axis (131) to the speed of all striking ropes rotating along the axis of the adsorption cover (110).
2. A novel weeding robot according to claim 1, characterized in that: The center position of the transverse rotation shaft (131) is fixed on the rotation support block (126), and a rotation support shaft (122) is fixedly installed on the rotation support block (126) along its radial direction. The bottom end of the rotation support shaft (122) is rotatably sleeved with a driving intermediate gear (127) near the rotation support block (126); side gears (129) are fixedly installed on the opposite ends of the two striking support rotating tubes (132), and the side gears (129) and the striking support rotating tubes (132) are rotatably matched with the rotation support block (126), and the two side gears (129) are meshed and driven through the driving intermediate gear (127).
3. A novel weeding robot according to claim 2, characterized in that: A shaft sleeve (125) is provided on the outer surface of the rotating support shaft (122), and the bottom end of the shaft sleeve (125) is fixedly matched with the driving intermediate gear (127).
4. A novel weeding robot according to claim 3, characterized in that: The control component comprises a base plate (113) fixedly matched with the adsorption cover (110); a planetary gear mounting disc (119) and a limiting pulley (117) are rotatably mounted on the upper surface of the base plate (113); the planetary gear mounting disc (119) and the limiting pulley (117) are coupled for transmission via a speed regulating transmission belt (118); a central gear (121) and a gear ring (123) are rotatably mounted on the upper surface of the planetary gear mounting disc (119); the central gear (121) and the gear ring (123) are meshed for transmission via a plurality of planetary gears (124).
5. The novel weeding robot according to claim 4 is characterized in that: All planetary gears (124) are rotatably mounted on the planetary gear mounting disk (119), and a snap-fit disk (120) is fixedly mounted on the gear ring (123); wherein the top ends of the rotation support shaft (122) and the shaft sleeve (125) are both passed through the top of the base plate (113), wherein the top end of the shaft sleeve (125) passes through the planetary gear mounting disk (119) and is fixedly matched with the central gear (121), the shaft sleeve (125) is rotatably matched with the planetary gear mounting disk (119), and the top end of the central gear (121) is fixedly matched with the snap-fit disk (120).
6. The novel weeding robot according to claim 5 is characterized in that: The limiting pulley (117) and the buckling disk (120) are rotatably mounted on a mounting buckle plate (116), the mounting buckle plate (116) is fixed on a base plate (113), a gearbox (114) and a speed regulating motor (115) are fixedly mounted on the mounting buckle plate (116), wherein the limiting pulley (117) is fixedly mounted on an output shaft of the speed regulating motor (115), and the buckling disk (120) is fixedly mounted on an output shaft of the gearbox (114).
7. The novel weeding robot according to claim 6 is characterized in that: The invention also comprises two track support side plates (101) arranged in parallel, on which tracks (102) are rotatably mounted, and the two track support side plates (101) are fixedly connected via a plurality of cross beams (104); a negative pressure suction chamber (106) and a grass storage trough (103) are fixedly mounted between the two track support side plates (101), a negative pressure centrifugal impeller (107) is rotatably mounted inside the negative pressure suction chamber (106), a discharge port (112) is arranged on the negative pressure suction chamber (106) on the side of the negative pressure centrifugal impeller (107), and the discharge port (112) is connected to the inside of the grass storage trough (103).
8. The novel weeding robot according to claim 7 is characterized in that: The adsorption hood (110) is fixedly mounted between the two track support side plates (101); one end of the adsorption hood (110) facing the negative pressure suction chamber (106) is provided with a feeding channel (111); the adsorption hood (110) and the interior of the negative pressure suction chamber (106) are connected via the feeding channel (111); and the level of the feeding channel (111) is higher than that of the negative pressure centrifugal impeller (107).
9. The novel weeding robot according to claim 8, characterized in that: A main drive motor (105) is fixedly mounted on the crossbeam (104); a main shaft (108) is fixedly mounted on the output shaft of the main drive motor (105); the main shaft (108) passes through the negative pressure suction chamber (106) and is fixedly engaged with the negative pressure centrifugal impeller (107); the main shaft (108) and the input shaft of the gearbox (114) are engaged through a drive belt (109).