Wheel type rice weeding robot

Abstract

The invention discloses a wheel type rice weeding robot, which relates to the technical field of weed mechanical treatment equipment and comprises a vehicle body bracket, an angle module, a weeding module, a collecting and discharging cylinder, a constant force retaining device and the like. The vehicle body support is connected with the angle module, the weeding module and the self-adaptive suspension, and overall stability and terrain adaptability are guaranteed. The angle module integrates the traction module and the steering module, four-wheel four-rotation is achieved, the steering offset distance is reduced, and flexibility is enhanced. And the weeding module is provided with weeding claw heads with different layouts, so that inter-row and inter-plant weeding can be carried out. The collecting and discharging cylinder cooperates with the constant force keeping device to stably control the height of the weeding claw head. The robot solves many problems of traditional weeding modes and equipment, such as inconvenient steering, inaccurate weeding, poor terrain adaptability and the like. The weeding machine can efficiently remove weeds, improves the operation efficiency, is suitable for weeding operation in rice planting, and assists in agricultural modernization development.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical weed control equipment, and particularly relates to a wheeled rice weeding robot. Background Art

[0002] Rice is the main food crop in China. The weeds in paddy fields occupy the growth space, nutrients, light, water, heat and other resources of rice, thus affecting the normal growth and development of rice, and are one of the main reasons for the reduction of rice yield and quality. At present, the weeding method of rice in China is mainly chemical weeding. The long-term, large-scale and high-frequency application of herbicides has caused problems such as the improvement of weed resistance, the aggravation of crop phytotoxicity and the aggravation of environmental pollution. Mechanical weeding by means of various weeding machines for surface soil operations is a green and environment-friendly weeding technology. However, manual operation of mechanical weeding has monotonous and repetitive actions, and the environment is high temperature and high humidity, which is likely to cause mental fatigue, and then induce human misoperation and even serious accidents. At present, scholars at home and abroad have carried out relevant research on new intelligent mechanical weeding technologies. However, most of them are only in the experimental stage, the degree of robot productization is not high, and the control accuracy is low, the seedling injury rate is high, the operation efficiency is low, and the intelligence and autonomy level are low. Therefore, in order to promote agricultural green technology and accelerate the innovation of green agricultural machinery equipment, developing a rice weeding robot with high precision, high efficiency and high intelligence is a technical difficulty that needs to be tackled urgently in the current research on intelligent rice planting.

[0003] In terms of steering performance, most of the existing wheeled rice weeding robots adopt the front-wheel drive steering method. This design has an obvious turning radius. When operating in actual paddy fields, in the face of complex field boundaries, such as narrow ridges, sharp corners at turning points and areas with extremely small turning distances, it is difficult for the robot to turn flexibly. This not only leads to a significant reduction in the weeding operation efficiency, but also may miss the weeds in some areas due to the inability to turn in time, affecting the weeding effect. In terms of the weeding function, the layout and rotation mode of the weeding claw heads of traditional weeding robots mostly adopt the single-row and single-direction rotation mode, which is not effectively adjusted according to the row spacing and plant spacing of rice seedlings, and it is difficult to control the weeding height. Summary of the Invention

[0004] To solve the above problems, the present invention provides a wheeled rice weeding robot, including a vehicle body bracket. Tires are installed at the four corner ends of the vehicle body bracket. It is characterized in that: an installation shell installed on the vehicle body bracket is arranged above the tires, and a corner module is arranged on each side of the tire. The corner module includes a traction module for driving the tire to rotate and a steering module for driving the tire to turn; A plurality of weeding claw heads are arranged on one side of the vehicle body bracket, and a weeding module for driving the weeding claw heads to rotate is provided; A charging and discharging cylinder is installed on the vehicle body bracket. The charging and discharging cylinder is used to control the height of the weeding claw head. A constant force maintaining device is arranged between the charging and discharging cylinder and the weeding claw head, so that the force exerted by the charging and discharging cylinder on the weeding module remains consistent all the time.

[0005] Furthermore, the traction module includes a traction motor installed on the installation housing. The output end of the traction motor is connected with a traction drive shaft through a traction speed reducer. A transmission housing is arranged below the installation housing. The traction drive shaft passes through the installation housing and extends into the transmission housing. A traction internal gear is fixed at one end of the traction drive shaft inside the transmission housing. A traction external gear ring meshing with the traction internal gear is rotatably connected in the transmission housing. A traction transmission shaft passing through the transmission housing is fixed at the axial center end of the traction external gear ring. A traction bevel gear A is fixed at the bottom end of the traction transmission shaft. A traction bevel gear B is arranged to mesh with the traction bevel gear A. A traction rotating shaft is fixed at the axial center of the traction bevel gear B. The other end of the traction rotating shaft is fixed at the axial center of the tire.

[0006] Furthermore, the steering module includes a steering motor installed on the installation housing. The output end of the steering motor is connected with a steering drive shaft through a steering speed reducer. The steering drive shaft extends into the installation housing and a steering gear A is fixed on the outer side surface. A steering gear B is rotatably connected in the installation housing. The traction drive shaft passes through the axial center of the steering gear B and is rotatably connected with the steering gear B. The transmission housing extends into the installation housing and is fixed with the steering gear B; A linkage housing is arranged outside the traction bevel gear A and the traction bevel gear B. The traction transmission shaft and the traction rotating shaft pass through the linkage housing and are rotatably connected with the linkage housing. A transmission shaft cover is fixed at the bottom of the linkage housing and the transmission housing, and the transmission shaft cover is fixed with the linkage housing.

[0007] Furthermore, the axis of the traction drive shaft is coplanar with the ground contact point of the tire.

[0008] Furthermore, the weeding module includes a weeding motor. The output end of the weeding motor is connected with a weeding drive shaft through a planetary speed reducer. An output bevel gear is fixed on the outer side surface of the weeding drive shaft. Two synchronous shaft bevel gears are arranged on both sides of the output bevel gear. Both synchronous shaft bevel gears mesh with the output bevel gear. A synchronous transmission shaft is fixed at the end face of the synchronous shaft bevel gear; A plurality of synchronous bevel gears are fixed on the outer side surface of the synchronous transmission shaft. A claw head rotating shaft bevel gear meshes with the side of the synchronous bevel gear. A weeding rotating shaft is fixed at the end face of the claw head rotating shaft bevel gear. The weeding rotating shaft and the weeding claw head are connected by a screw nut.

[0009] Furthermore, two axially adjacent synchronous bevel gears on the synchronous transmission shaft are arranged in a mirror image, so that two axially adjacent weeding claw heads can rotate in opposite directions.

[0010] Furthermore, there are two sets of weeding claw heads and weeding modules arranged front and back. One set away from the vehicle body bracket is provided with four weeding claw heads, and the set close to the vehicle body bracket is provided with three weeding claw heads. The front and back two sets of weeding claw heads are spaced apart, and the height of the set of weeding claw heads away from the vehicle body bracket is lower than that of the set of weeding claw heads close to the vehicle body bracket.

[0011] Furthermore, an output gearbox is arranged outside the output bevel gear and the synchronizing shaft bevel gear. The output bevel gear and the synchronizing shaft bevel gear are rotationally connected to the output gearbox through tapered roller bearings; a synchronizing gearbox is arranged outside the synchronizing bevel gear and the claw head rotating shaft bevel gear. The synchronizing bevel gear and the claw head rotating shaft bevel gear are rotationally connected to the synchronizing gearbox through tapered roller bearings. Both the output gearbox and the synchronizing gearbox are rotationally connected to the synchronizing drive shaft. A gear pressing spring is arranged between the claw head rotating shaft bevel gear and the bottom of the inner wall of the synchronizing gearbox.

[0012] Furthermore, the constant force holding device includes an air pull rod rotationally connected to the charging and discharging cylinder through a mounting ring and a rotating pin. The other end of the air pull rod is rotationally connected to the outer side wall of the synchronizing gearbox through a mounting ring and a rotating pin. Contact rings are fixed at both ends of the air pull rod, and a compression spring is installed between the two contact rings.

[0013] Furthermore, the vehicle body bracket includes a central skeleton in the middle. A bridge frame extending in the front and back directions is fixed on the central skeleton. Modular bridges are installed at the tops of both ends of the bridge frame. Installation openings for installing angle modules are provided on the modular bridges. One of the modular bridges is connected to the bridge frame through screws and nuts, and this modular bridge is connected to the weeding module. The bottom of the other modular bridge is fixed with an adaptive suspension through screws and nuts. A suspension optical axis is fixed on the side wall of the adaptive suspension. The suspension optical axis is rotationally connected to the central skeleton through a bearing and a rotating piece.

[0014] The beneficial effects of the present invention are as follows: 1. Flexible and efficient steering performance: This robot adopts a four-wheel and four-rotation design, and the axis of the traction drive shaft is coplanar with the grounding points of the tires, eliminating the steering offset of the tires. Compared with the traditional front-wheel drive steering method, its rotation resistance and rotation load are significantly reduced, and the steering is more flexible. In actual paddy field operations, in the face of complex situations such as narrow ridges and sharp corners at turning points in the paddy field, it can easily achieve in-situ turning or small-radius turning, effectively improving the operation efficiency. In areas where traditional robots need to be adjusted multiple times to complete turning, this robot can complete the turning operation at one time, improving the operation efficiency.

[0015] 2. The corner module adopts a modular design, with each component having an independent structure and being convenient for disassembly and assembly. During the long-term use of the robot, if a certain component fails, the entire corner module can be directly disassembled for repair or replacement without the need to perform large-scale disassembly of the entire robot, greatly shortening the repair time and reducing the repair difficulty and cost. At the same time, the modular design also facilitates the upgrading and transformation of the robot, such as replacing motors with higher performance or optimizing the gear transmission ratio to improve the overall performance of the robot.

[0016] 3. The unique design of the weeding module, including two sets of weeding claw heads with different layouts and functions at the front and rear, can accurately weed according to the row spacing and plant spacing of rice seedlings. The reasonable setting of the height and rotation speed of the inter-row weeding claw head enables it to effectively remove weeds without damaging the seedlings; the inter-plant weeding claw head precisely removes the weeds between plants through a lower height and a slower rotation speed. This greatly reduces the impact of weeds on rice growth and improves the yield and quality of rice. Moreover, the weeding height can be controlled by the retractable electric cylinder and the constant force holding device to ensure the stability and consistency of the weeding operation.

[0017] 4. The setting of the adaptive suspension system enables the robot to adjust the height difference between the two wheels by rotating the suspension optical axis when facing the uneven paddy field terrain, ensuring that all wheels are in good contact with the ground. This not only improves the climbing ability of the robot but also enhances the driving stability, avoiding safety problems such as rollover on complex terrains. In some terraced paddy fields in hilly areas, traditional robots are difficult to operate due to their inability to adapt to the terrain, while this robot can successfully complete the weeding task, expanding the operation coverage and effectively improving the applicability and operation efficiency of the robot. 5. The power transmission system of the weeding module is reasonably designed. Through multi-stage gear transmission, the stable rotation speed of the weeding claw head is ensured, improving the weeding effect. The application of the constant force holding device makes the force exerted by the retractable electric cylinder on the weeding module always remain consistent when adjusting the height of the weeding claw head, avoiding the problem of unstable weeding effect caused by force changes. At the same time, the connection between each component is firm, and the overall structure is reasonably designed, ensuring the reliability of the robot during long-term operation, reducing the probability of failures, lowering the maintenance cost, and improving the continuity and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the internal structure of the corner module in the present invention; Figure 3 is a three-dimensional structure diagram of the corner module in the present invention; Figure 4 is a schematic diagram of the overall internal structure of the weeding module in the present invention; Figure 5 It is a schematic diagram of the overall external structure of the weeding module in the present invention; Figure 6 It is a schematic diagram of the overall three-dimensional structure of the weeding module in the present invention; Figure 7 It is a schematic diagram of the internal structure of the connection of the weeding motor in the present invention; Figure 8 It is a schematic diagram of the internal structure of the connection of the weeding rotating shaft in the present invention; Figure 9 It is a schematic diagram of the connection structure of the constant force maintaining device in the present invention; Figure 10 It is a schematic diagram of the structure of the vehicle body bracket in the present invention; Figure 11 It is a schematic diagram of the modular bridge structure in an embodiment of the present invention.

[0019] Explanation of the reference numerals is as follows: 1. Tire; 2. Corner module; 211. Traction motor; 212. Traction reduction gear; 213. Traction drive shaft; 214. Transmission housing; 215. Traction internal gear; 216. Traction external gear ring; 217. Traction transmission shaft; 218. Traction bevel gear A; 219. Traction bevel gear B; 2110. Traction rotating shaft; 221. Steering motor; 222. Steering reduction gear; 223. Steering drive shaft; 224. Steering gear A; 225. Steering gear B; 226. Linkage housing; 227. Transmission shaft cover; 3. Weeding module; 31. Weeding motor; 32. Planetary reduction gear; 33. Weeding drive shaft; 34. Output bevel gear; 35. Synchronous shaft bevel gear; 36. Synchronous transmission shaft; 37. Synchronous bevel gear; 38. Claw head rotating shaft bevel gear; 39. Weeding rotating shaft; 4. Constant force maintaining device; 41. Air pull rod; 42. Contact ring; 43. Compression spring; 5. Vehicle body bracket; 51. Central skeleton; 52. Bridge frame; 53. Modular bridge; 54. Adaptive suspension; 55. Suspension optical axis; 56. Rotating piece; 6. Installation housing; 7. Weeding claw head; 8. Retractable electric cylinder; 9. Output gearbox; 10. Synchronous gearbox; 11. Gear pressing spring. Detailed implementation manners

[0020] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] The present invention will be further described below in conjunction with the accompanying drawings of the specification: A wheeled rice weeding robot mainly consists of a vehicle body bracket 5, corner modules 2, weeding modules 3, a retractable and extendable cylinder 8, a constant force maintaining device 4, an adaptive suspension 54, etc. These components cooperate with each other to enable the robot to have the capabilities of autonomous walking in paddy fields, precise weeding, and adapting to complex terrains. Embodiment

[0023] As Figure 1 and Figure 10 shown, the vehicle body bracket 5 includes a central framework 51 in the middle, and a bridge frame 52 extending forward and backward is fixed on the central framework 51. Modular bridges 53 are installed at the tops of both ends of the bridge frame 52, and the modular bridges 53 are provided with mounting openings for installing the corner modules 2. One of the modular bridges 53 is connected to the bridge frame 52 through screws and nuts and is connected to the weeding module 3; the bottom of the other modular bridge 53 is fixed to the adaptive suspension 54 through screws and nuts, and a suspension optical axis 55 on the side wall of the adaptive suspension 54 is rotatably connected to the central framework 51 through a bearing and a rotating piece 56. Mounting openings can be opened at different positions at both ends on the modular bridge 53. Please refer to the accompanying drawings of the specification Figure 11 to realize the quick replacement of the distance between the two tires 1, so as to adjust and adapt to part of the path.

[0024] Among them, the vehicle body bracket 5 serves as the support structure of the robot and provides an installation basis for other components. The combination of the central framework 51, the bridge frame 52, and the modular bridges 53 ensures the structural stability. The design of the modular bridges 53 facilitates the installation and disassembly of the corner modules 2 and other components, improving the maintainability and terrain adaptability of the robot. The connection structure between the adaptive suspension 54 and the central framework 51 enables the height difference of the tires 1 to be adjusted through the rotation of the suspension optical axis 55 when encountering complex terrains such as concave-convex, curved, and inclined slopes, ensuring that the two tires 1 at this end always adhere to the ground, enhancing the climbing ability and driving stability.

[0025] As Figure 2 and Figure 3As shown in the figure, in this embodiment, the corner module 2 is located on the side of the tire 1 and includes a traction module and a steering module. Above the tire 1, there is an installation housing 6 installed on the vehicle body bracket 5. In the traction module, the traction motor 211 is installed on the installation housing 6. The output end of the traction motor 211 is connected with a traction drive shaft 213 through a traction reduction gear 212. Below the installation housing 6, there is a transmission housing 214. The traction drive shaft 213 passes through the installation housing 6 and extends into the transmission housing 214. At one end of the traction drive shaft 213 inside the transmission housing 214, a traction internal gear 215 is fixed. Inside the transmission housing 214, a traction external gear ring 216 meshing with the traction internal gear 215 is rotatably connected. The axial end of the traction external gear ring 216 is fixed with a traction transmission shaft 217 passing through the transmission housing 214. At the bottom end of the traction transmission shaft 217, a traction bevel gear A218 is fixed. A traction bevel gear B219 is provided and meshed with the traction bevel gear A218. The axis of the traction bevel gear B219 is fixed with a traction rotating shaft 2110. The other end of the traction rotating shaft 2110 is fixed to the axis of the tire 1.

[0026] In the steering module, the steering motor 221 is installed on the installation housing 6. The output end of the steering motor 221 is connected with a steering drive shaft 223 through a steering reduction gear 222. The steering drive shaft 223 extends into the installation housing 6 and a steering gear A224 is fixed on its outer side. Inside the installation housing 6, a steering gear B225 is rotatably connected. The traction drive shaft 213 passes through the axis of the steering gear B225 and is rotatably connected with the steering gear B225. The transmission housing 214 extends into the installation housing 6 and is fixed with the steering gear B225. Outside the traction bevel gear A218 and the traction bevel gear B219, there is a linkage housing 226. The traction transmission shaft 217 and the traction rotating shaft 2110 pass through the linkage housing 226 and are rotatably connected with the linkage housing 226. A transmission shaft cover 227 is fixed between the linkage housing 226 and the bottom of the transmission housing 214, and the transmission shaft cover 227 is fixed with the linkage housing 226.

[0027] Among them, the corner module 2 is a key component for the robot to achieve walking and steering. The traction module transmits the power of the traction motor 211 to the tire 1 through multiple-stage transmission, driving the tire 1 to rotate and realizing the forward and backward movement of the robot. The steering module is driven by the steering motor 221 to rotate the whole corner module 2, thereby changing the steering angle of the tire 1. This design realizes four-wheel four-rotation. Combined with the structure that the axis of the traction drive shaft 213 is collinear with the ground contact point of the tire 1, the steering offset is eliminated, the rotation resistance and load are reduced, enabling the robot to turn flexibly, such as turning in place and turning in a narrow space, adapting to the complex paddy field environment. Embodiment

[0028] As Figures 4 - 8As shown in the figure, the weeding module 3 includes a weeding motor 31. The output end of the weeding motor 31 is connected to a weeding drive shaft 33 through a planetary speed reducer 32. An output bevel gear 34 is fixed on the outer side of the weeding drive shaft 33. Two synchronizing shaft bevel gears 35 are arranged on both sides of the output bevel gear 34. Both of the two synchronizing shaft bevel gears 35 are meshed with the output bevel gear 34. A synchronizing drive shaft 36 is fixed on the end face of the synchronizing shaft bevel gear 35; a plurality of synchronizing bevel gears 37 are fixed on the outer side of the synchronizing drive shaft 36. A claw head rotating shaft bevel gear 38 is meshed with the side of the synchronizing bevel gear 37. A weeding rotating shaft 39 is fixed on the end face of the claw head rotating shaft bevel gear 38. The weeding rotating shaft 39 is connected to the weeding claw head 7 through a screw nut. Two axially adjacent synchronizing bevel gears 37 on the synchronizing drive shaft 36 are arranged in a mirror image, so that two axially adjacent weeding claw heads 7 can rotate in opposite directions. There are two groups of weeding claw heads 7 arranged front and back. A group away from the vehicle body bracket 5 is provided with four weeding claw heads 7, and a group close to the vehicle body bracket 5 is provided with three weeding claw heads 7. The front and back two groups of weeding claw heads 7 are arranged at intervals. The height of the group of weeding claw heads 7 away from the vehicle body bracket 5 is lower than the height of the group of weeding claw heads 7 close to the vehicle body bracket 5.

[0029] In this embodiment, an output gear box 9 is arranged outside the output bevel gear 34 and the synchronizing shaft bevel gear 35. The output bevel gear 34 and the synchronizing shaft bevel gear 35 are rotatably connected to the output gear box 9 through tapered roller bearings; a synchronizing gear box 10 is arranged outside the synchronizing bevel gear 37 and the claw head rotating shaft bevel gear 38. The synchronizing bevel gear 37 and the claw head rotating shaft bevel gear 38 are rotatably connected to the synchronizing gear box 10 through tapered roller bearings. Both the output gear box 9 and the synchronizing gear box 10 are rotatably connected to the synchronizing drive shaft 36. A gear pressing spring 11 is arranged between the claw head rotating shaft bevel gear 38 and the bottom of the inner wall of the synchronizing gear box 10.

[0030] Among them, the weeding module 3 is the core part for the robot to perform the weeding task. The weeding motor 31 provides power. After being decelerated and torque-increased by the planetary speed reducer 32, it drives the weeding claw head 7 to rotate through multi-stage bevel gear transmission to achieve the weeding function. The adjacent synchronous bevel gears 37 on the synchronous transmission shaft 36 are arranged in a mirror image, so that the adjacent weeding claw heads 7 rotate in opposite directions, enhancing the weeding effect. Two groups of weeding claw heads 7 with different numbers and heights are respectively used for inter-row weeding and in-row weeding. The three weeding claw heads 7 close to the vehicle body bracket 5 are used to remove the weeds on the seedling path. They are relatively high in height and fast in rotation speed. Due to the differences between the roots of the seedlings and the weeds, that is, due to the treatment before sowing, the weeds grow relatively later than the seedlings, generally about two weeks later. Therefore, the roots of the weeds are relatively shallow. The weeding claw head 7 with flexible steel wire can remove the shallow weeds close to the ground without affecting the seedlings. Even if the seedlings fall down, because the seedlings have the ability to resist lodging, they will grow back again. By utilizing the differences between the roots of the weeds and the seedlings, the inter-row weeds can be removed without damaging the seedlings; the four weeding claw heads 7 in a group far from the vehicle body bracket 5 are used for in-row weeding, that is, for removing the weeds on the path between a single row of seedlings and a single row of seedlings. Two of its weeding claw heads 7 are in line with the two tires 1. Here, the height of the weeding claw head 7 is relatively low and the rotation speed is relatively slow, and it extends into the soil to remove the weeds on the soil surface. Embodiment

[0031] As Figure 6 and Figure 9 shown, a charging and discharging cylinder 8 is arranged on the vehicle body bracket 5. The constant force holding device 4 includes an air pull rod 41 that is rotationally connected to the charging and discharging cylinder 8 through an installation ring and a rotating pin. The other end of the air pull rod 41 is rotationally connected to the outer side wall of the synchronous gearbox 10 through an installation ring and a rotating pin. Contact rings 42 are fixed at both ends of the air pull rod 41, and a compression spring 43 is installed between the two contact rings 42.

[0032] The charging and discharging cylinder 8 is used to control the height of the weeding claw head 7, and the constant force holding device 4 ensures that the force exerted by the charging and discharging cylinder 8 on the weeding module 3 is always consistent. When adjusting the height of the weeding claw head 7, the charging and discharging cylinder 8 expands and contracts to drive the air pull rod 41 to move. When the force of the air pull rod 41 changes, the compression spring 43 offsets or supplements the force of the air pull rod 41 by compressing or stretching, so that the weeding module 3 can operate stably at different heights, ensuring the consistency and stability of the weeding effect; in this embodiment, please refer to the attached drawings of the specification Figure 5 and the attached drawings of the specification Figure 6 , the charging and discharging cylinders 8 and the constant force holding devices 4 corresponding to the two groups of weeding modules 3 are installed in a reverse manner.

[0033] The working principle of the present invention is as follows: Walking drive principle: When the robot needs to move, the control system sends a start command to the traction motor 211. After the traction motor 211 starts, it outputs power, and the power is decelerated and torque-increased by the traction reduction gear 212. The power after deceleration and torque increase is transmitted to the traction drive shaft 213, and the traction drive shaft 213 rotates, driving the traction internal gear 215 fixed at one end of it to rotate. The traction internal gear 215 meshes with the traction external gear ring 216, and the traction external gear ring 216 rotates accordingly, and then drives the traction transmission shaft 217 to rotate. The traction bevel gear A 218 at the bottom of the traction transmission shaft 217 rotates, and the traction bevel gear B 219 meshing with the traction bevel gear A 218 also starts to rotate. The traction bevel gear B 219 drives the traction rotating shaft 2110 to rotate, and finally drives the tire 1 to rotate, realizing the forward, backward or steering driving of the robot. Since the axis of the traction drive shaft 213 and the grounding point of the tire 1 are coplanar, the rotation resistance and rotation load are minimized, making the robot more flexible and efficient during driving.

[0034] Steering drive principle: When steering is required, the control system sends a command to the steering motor 221. The steering motor 221 starts and outputs power. After being decelerated and torque-increased by the steering reduction gear 222, it is transmitted to the steering drive shaft 223. The steering gear A 224 on the steering drive shaft 223 rotates accordingly. The steering gear A 224 meshes with the steering gear B 225. Since the bottom of the steering gear B 225 is fixed to the transmission housing 214, the rotation of the steering gear A 224 drives the steering drive shaft 223 to rotate around its own axis, and then makes the entire angle module 2 rotate, realizing the steering of the tire 1. Because the robot adopts a four-wheel four-rotation design, actions such as in-situ steering and flexible turning can be realized, adapting to complex paddy field environments.

[0035] Weeding drive principle: When performing weeding operations, the control system starts the weeding motor 31. The power output by the weeding motor 31 is decelerated and torque-increased by the planetary reduction gear 32 and then transmitted to the weeding drive shaft 33. The weeding drive shaft 33 rotates, driving the output bevel gear 34 fixed on its outer side to rotate. The output bevel gear 34 meshes with the synchronous shaft bevel gears 35 on both sides, causing the synchronous shaft bevel gears 35 to rotate. The synchronous shaft bevel gears 35 drive the synchronous transmission shaft 36 to rotate. The synchronous bevel gear 37 on the synchronous transmission shaft 36 rotates accordingly. Since the adjacent synchronous bevel gears 37 are arranged in a mirror image, the claw head rotating shaft bevel gear 38 meshing with the synchronous bevel gear 37 drives the weeding rotating shaft 39 to rotate, causing the axially adjacent weeding claw heads 7 to rotate in opposite directions, enhancing the weeding effect.

[0036] The three weeding claw heads 7 near the vehicle body support 5 are used for inter-row weeding. Due to their relatively high height, relatively fast rotation speed, and the use of flexible steel wire material, when passing through the seedlings, taking advantage of the shallow root characteristics of weeds, they can remove weeds close to the ground without damaging the seedlings. The four weeding claw heads 7 far from the vehicle body support 5 are used for inter-plant weeding. Their height is relatively low and the rotation speed is relatively slow, and they can reach into the soil to remove the weeds above the soil.

[0037] Principle of weeding height adjustment: When it is necessary to adjust the height of the weeding claw head 7, the control system controls the telescopic movement of the electro-hydraulic cylinder 8 to achieve it. The electro-hydraulic cylinder 8 is connected to the synchronous gearbox 10 through the air pull rod 41. A compression spring 43 is installed between the contact rings 42 at both ends of the air pull rod 41. When the electro-hydraulic cylinder 8 extends or contracts, the air pull rod 41 moves accordingly. If the acting force of the air pull rod 41 becomes larger, the compression spring 43 is compressed, and the reaction force of the compression spring 43 cancels the increased acting force of the air pull rod 41; if the acting force of the air pull rod 41 becomes smaller, the compression spring 43 releases elastic force to supplement the acting force of the air pull rod 41. In this way, throughout the entire stroke of the electro-hydraulic cylinder 8, the combination of the air pull rod 41 and the compression spring 43 always maintains the balance of force, so that the force exerted by the electro-hydraulic cylinder 8 on the weeding module 3 always remains the same, ensuring that the weeding claw head 7 can stably perform weeding operations at different heights.

[0038] Principle of the adaptive suspension 54: When the robot is driving on complex terrains such as bumpy, curved, and sloping soil slopes, due to the different terrain heights of the two tires 1, the adaptive suspension 54 comes into play. The suspension optical axis 55 of the adaptive suspension 54 rotates under the action of the bearing and the rotating piece 56, resulting in a height difference between the two tires 1. In this way, no matter how the terrain changes, both ends of the tires 1 can maintain good contact with the ground, improving the climbing ability of the robot and the driving stability on complex terrains, and ensuring the normal driving and weeding operations of the robot in the paddy field.

[0039] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A wheeled rice weeding robot, comprising a body frame (5), wherein tires (1) are mounted at four corner ends of the body frame (5), characterized in that: A mounting shell (6) mounted on a vehicle body bracket (5) is arranged above the tire (1), and a corner module (2) is arranged on the side of each tire (1), wherein the corner module (2) comprises a traction module for driving the tire (1) to rotate and a steering module for driving the tire (1) to turn; A plurality of weeding claws (7) are provided on one side of the vehicle body support (5), and a weeding module (3) is provided for driving the weeding claws (7) to rotate; A retractable discharge cylinder (8) is mounted on the vehicle body bracket (5), and the retractable discharge cylinder (8) is used to control the height of the weeding claw head (7). A constant force holding device (4) is provided between the retractable discharge cylinder (8) and the weeding claw head (7), and the constant force holding device (4) enables the force exerted by the retractable discharge cylinder (8) on the weeding module (3) to always remain consistent.

2. A wheeled rice weeding robot according to claim 1, characterized in that: The traction module comprises a traction motor (211) mounted on a mounting housing (6); the output end of the traction motor (211) is connected to a traction drive shaft (213) via a traction reducer (212); a transmission housing (214) is provided below the mounting housing (6); the traction drive shaft (213) passes through the mounting housing (6) and extends into the transmission housing (214); a traction internal gear (215) is fixed to one end of the traction drive shaft (213) in the transmission housing (214); and a traction internal gear (215) is rotatably connected to the transmission housing (214). A traction outer gear ring (216) meshed with the traction inner gear (215) is provided, a traction transmission shaft (217) passing through the transmission housing (214) is fixed to the axial center end of the traction outer gear ring (216), a traction bevel gear A (218) is fixed to the bottom end of the traction transmission shaft (217), a traction bevel gear B (219) is provided to mesh with the traction bevel gear A (218), a traction rotating shaft (2110) is fixed to the axial center of the traction bevel gear B (219), and the other end of the traction rotating shaft (2110) is fixed to the axial center of the tire (1).

3. A wheeled rice weeding robot according to claim 2, characterized in that: The steering module comprises a steering motor (221) mounted on a mounting housing (6); the output end of the steering motor (221) is connected to a steering drive shaft (223) via a steering reducer (222); the steering drive shaft (223) extends into the mounting housing (6) and has a steering gear A (224) fixed to the outer side surface; a steering gear B (225) is rotatably connected to the mounting housing (6); the traction drive shaft (213) passes through the axis of the steering gear B (225) and is rotatably connected to the steering gear B (225); and the transmission housing (213) is connected to the steering gear B (225). (214) extends into the installation housing (6) and is fixed to the steering gear B (225); a linkage housing (226) is provided on the outer sides of the traction bevel gear A (218) and the traction bevel gear B (219); the traction transmission shaft (217) and the traction rotating shaft (2110) pass through the linkage housing (226) and are rotationally connected to the linkage housing (226); a transmission shaft cover (227) is fixed to the bottom of the linkage housing (226) and the transmission housing (214), and the transmission shaft cover (227) is fixed to the linkage housing (226).

4. The wheeled rice weeding robot according to claim 3, characterized in that: The axis of the traction drive shaft (213) is coplanar with the landing point of the tire (1).

5. The wheeled rice weeding robot according to claim 1, characterized in that: The weeding module (3) comprises a weeding motor (31), the output end of the weeding motor (31) is connected to a weeding drive shaft (33) via a planetary reducer (32), an output bevel gear (34) is fixed to the outer side of the weeding drive shaft (33), two synchronous shaft bevel gears (35) are arranged on both sides of the output bevel gear (34), the two synchronous shaft bevel gears (35) are meshed with the output bevel gear (34), and a synchronous transmission shaft (36) is fixed to the end face of the synchronous shaft bevel gear (35); a plurality of synchronous bevel gears (37) are fixed to the outer side of the synchronous transmission shaft (36), a claw head rotating shaft bevel gear (38) is meshed on the side of the synchronous bevel gear (37), a weeding rotating shaft (39) is fixed to the end face of the claw head rotating shaft bevel gear (38), and the weeding rotating shaft (39) is connected to the weeding claw head (7) via a screw nut.

6. The wheeled rice weeding robot according to claim 5, characterized in that: Two axially adjacent synchronous bevel gears (37) of the synchronous transmission shaft (36) are arranged in a mirror image, so that two axially adjacent weeding claw heads (7) can rotate in opposite directions.

7. The wheeled rice weeding robot according to claim 5, characterized in that: The weeding claw heads (7) and the weeding module (3) are provided with two groups at the front and rear, the group away from the vehicle body support (5) being provided with four weeding claw heads (7), and the group close to the vehicle body support (5) being provided with three weeding claw heads (7), and the two groups of weeding claw heads (7) at the front and rear being distributed at intervals, and the height of the group of weeding claw heads (7) away from the vehicle body support (5) being lower than the height of the group of weeding claw heads (7) close to the vehicle body support (5).

8. The wheeled rice weeding robot according to claim 5, characterized in that: An output gear box (9) is arranged outside the output bevel gear (34) and the synchronous shaft bevel gear (35), and the output bevel gear (34) and the synchronous shaft bevel gear (35) are rotationally connected to the output gear box (9) via a tapered roller bearing; a synchronous gear box (10) is arranged outside the synchronous bevel gear (37) and the claw head rotating shaft bevel gear (38), and the synchronous bevel gear (37) and the claw head rotating shaft bevel gear (38) are rotationally connected to the synchronous gear box (10) via a tapered roller bearing, the output gear box (9) and the synchronous gear box (10) are both rotationally connected to the synchronous transmission shaft (36), and a gear pressing spring (11) is arranged between the claw head rotating shaft bevel gear (38) and the bottom of the inner wall of the synchronous gear box (10).

9. The wheeled rice weeding robot according to claim 1, characterized in that: The constant force maintaining device (4) comprises an air pull rod (41) rotatably connected to the retractable discharge cylinder (8) via a mounting ring and a rotating pin, the other end of the air pull rod (41) being rotatably connected to the outer wall of the synchronous gear box (10) via the mounting ring and the rotating pin, contact rings (42) being fixed at both ends of the air pull rod (41), and a compression spring (43) being installed between the two contact rings (42).

10. The wheeled rice weeding robot according to claim 1, characterized in that: The vehicle body support (5) comprises a central frame (51) in the middle, a bridge frame (52) extending in the front-rear direction is fixed on the central frame (51), modular bridges (53) are installed on the top of both ends of the bridge frame (52), and mounting openings for mounting corner modules (2) are provided on the modular bridges (53), one of the modular bridges (53) is connected to the bridge frame (52) via a screw and a nut, and the modular bridge (53) is connected to the weeding module (3), and an adaptive suspension (54) is fixed to the bottom of the other modular bridge (53) via a screw and a nut, and a suspension optical axis (55) is fixed to the side wall of the adaptive suspension (54), and the suspension optical axis (55) is rotatably connected to the central frame (51) via a bearing and a rotating plate (56).

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