Variable chassis and weeding mechanism for row-spanning self-propelled paddy field weeding robot

Abstract

The utility model discloses a variable chassis for a row-crossing self-propelled paddy field weeding robot and a weeding mechanism. The variable chassis comprises a chassis frame, two fixed frame pipes and four movable frame pipes. The weeding mechanism comprises a connecting template, a rotating motor, a drilling shaft, a connecting bearing subassembly, a gripper subassembly and a drill bit; the connecting template is rotatably connected with a drilling shaft through a connecting bearing subassembly, the upper end part of the drilling shaft is connected with a rotating motor, and the lower end part of the drilling shaft is connected with a drill bit; and the gripper subassembly is arranged on the drilling shaft connected between the bearing subassembly and the drill bit. The wheel track can be conveniently adjusted through a chassis variable structure so as to be suitable for different ridge distances of a rice field; by optimizing the weeding mechanism, weeds with firm root systems can be effectively handled, the root systems of the weeds can be effectively destroyed through rotation, on the basis, the weeds can be pulled out through the linked gripper structure, and the weeding effect can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural equipment, in particular to a variable chassis and a weeding mechanism for a cross-row self-propelled rice field weeding robot. Background Art

[0002] For farmland weeding operations, the operation methods are mainly divided into manual weeding, chemical weeding and mechanical weeding. Manual weeding has low cost, good weed removal effect, and good weed removal effect on weeds between plants and rows, but the method is relatively backward, consumes a lot of manpower, and is relatively slow; chemical weeding has the advantages of low cost and good effect, but herbicides are easy to pollute the environment, and it is also easy to cause personal injury to farmers due to irregular operations. The existing mechanical weeding equipment is easy to cause damage to crops, and is mostly carried out before sowing. There are also weeding robots that use laser burning, but the laser system has the disadvantages of high energy consumption and high cost. In addition, it is not well suited to the working environment of paddy fields.

[0003] The applicant has applied for a patent for a weeding robot, a farmland weeding robot, which obtains farmland image data through a camera, and removes weeds through a robot weeding unit after weed recognition based on a convolutional network model. In terms of the specific structure of the robot, a modular four-wheel dual-motor four-wheel drive is adopted as the whole, and the weeding unit is provided with a mechanical gripper and a spiral shovel. The following deficiencies were found in experimental verification: At present, the robot has a fixed wheelbase. When operating across rows, if there is a large difference in the row spacing of the rice field, the wheels are prone to crushing the rice seedlings. In the weeding unit, it can cope with most common weeds, but if the weed roots are relatively strong, the ground part of the weeds is prone to break when the mechanical gripper is used to grab them, and the weeds cannot be completely removed. Utility Model Content

[0004] The utility model aims to provide a variable chassis and a weeding mechanism for a cross-row self-propelled rice field weeding robot, so as to solve the problems existing in the prior art.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the utility model provides a variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot, the cross-row self-propelled rice field weeding robot includes a power supply and drive unit, wheels and brackets, a transmission structure, and a control unit; it also includes a variable chassis, the variable chassis includes a chassis frame, two fixed frame tubes, and four movable frame tubes; the chassis frame is a metal frame structure, the fixed frame tube is arranged at the front and rear ends of the lower part of the chassis frame, and an array-distributed through hole is arranged on its side; one end of the movable frame tube can be telescopically inserted into the fixed frame tube, and an array-distributed through hole is arranged on its side; the other end is connected to the wheel train support upright pole; the fixed frame tube and the movable frame tube are fixedly connected by inserting a limit pin into the through holes on the fixed frame tube and the movable frame tube.

[0006] Preferably, threaded through holes are provided at both ends of the fixing frame tube, and limiting bolts are provided at the threaded through holes.

[0007] Preferably, the cross-row self-propelled rice field weeding robot also includes a weeding mechanism; the weeding mechanism includes a connecting plate, a rotating motor, a drilling shaft, a connecting bearing sub-assembly, a gripper sub-assembly, and a drill bit; the connecting plate is rotatably connected to the drilling shaft through the connecting bearing sub-assembly, the upper end of the drilling shaft is connected to the rotating motor, and the lower end is connected to the drill bit; the gripper sub-assembly is arranged on the drilling shaft between the connecting bearing sub-assembly and the drill bit.

[0008] Preferably, the connection plate is L-shaped or U-shaped.

[0009] Preferably, the connecting bearing subassembly includes a plurality of connecting bearings, a bearing housing, and a limit plate. The inner ring of the connecting bearing is fixedly connected to the drilling shaft, and the outer ring is fixedly connected to the bearing housing. The bearing housing is a tubular structure with evenly arranged protrusions on the outside. Limit plates are connected to the upper and lower ends of the bearing housing, and a through hole is provided on the limit plate for the drilling shaft to pass through; a special-shaped through hole is provided on the connecting plate for the bearing housing to pass through, and the special-shaped through hole is provided with a groove that matches the protrusion.

[0010] Preferably, the gripper subassembly includes an upper sliding plate, a lower fixed plate, multiple groups of gripper units, and multiple groups of push rods; the lower fixed plate is rotatably connected to the drilling shaft through a bearing, and the upper sliding plate is provided with a through hole through which the drilling shaft passes, and can slide back and forth up and down on the drilling shaft; the gripper unit includes a first gripper section and a second gripper section, the upper part of the first gripper section is hinged to the upper sliding plate, and the lower part is hinged to the upper end part of the second gripper section, the upper and middle part of the second gripper section is hinged to the lower fixed plate, and the lower part of the second gripper section is bent inwardly; the top of the push rod is fixed to the connecting plate, and the bottom of the lower part is connected to the upper sliding plate.

[0011] The utility model provides a variable chassis and a weeding mechanism for a cross-row self-propelled rice field weeding robot. The wheelbase can be conveniently adjusted through the variable structure of the chassis to adapt to different ridge distances in the rice field and avoid the situation where the wheels crush the rice seedlings. The weeding mechanism can be optimized to effectively deal with weeds with strong root systems, and the root systems of the weeds can be effectively destroyed by rotation. On this basis, the weeds can be pulled out through a linked gripper structure, and the weeding effect can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the patented technical solution cited by this utility model.

[0013] Figure 2 It is a schematic diagram of a technical solution of a variable chassis of an embodiment of the utility model.

[0014] Figure 3 It is a schematic diagram of a weeding mechanism of an embodiment of the utility model.

[0015] Figure 4 It is a partially enlarged schematic diagram of a weeding mechanism in one embodiment of the utility model.

[0016] Figure 5 It is a partially enlarged schematic diagram of another position of the weeding mechanism of one embodiment of the utility model. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] As attached Figure 2-3 As shown, the variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot according to the utility model comprises a variable chassis 1 and a weeding mechanism 2.

[0019] As attached Figure 1As shown, the cross-row self-propelled rice field weeding robot includes a variable chassis, a power supply and drive unit, wheels and brackets, a transmission structure, and a control unit; the power supply and drive unit is fixed in the frame, and the power supply and drive unit is a battery and a motor. The wheels and brackets include four wheels and wheel brackets, and the wheels include wheels and wheel hubs. Rice field tires can be selected, which have good passability. The image acquisition unit t includes a camera and a bracket for collecting farmland image information. The weeding action unit c includes a motion module and a weeding operation arm c1. The motion module is a multi-axis motion platform, which is a three-axis or four-axis motion platform commonly used in the mechanical field. The action is driven by a motor, and the weeding operation arm is connected to the motion module. The control unit is used to control the action of the equipment, including walking, image acquisition and processing, and weeding operations.

[0020] As attached Figure 2 As shown, the variable chassis 1 includes a chassis frame 11, two fixed frame tubes 12, and four movable frame tubes 13. The chassis frame 11 is a metal frame structure used to carry the driving and control components of the rice field weeding robot. The fixed frame tube 12 is arranged at the front and rear ends of the lower part of the chassis frame 11, and is a square tube with array-distributed through holes on its side. One end of the movable frame tube 13 can be inserted into the fixed frame tube 12 in a telescopic manner, and array-distributed through holes are arranged on its side; the other end is connected to the wheel train support upright 14. By adjusting the depth of the movable frame tube 13 inserted into the fixed frame tube 12, the distance between the wheel train support uprights 14 can be adjusted, thereby adjusting the wheelbase. The fixed frame tube 12 and the movable frame tube 13 are fixedly connected by inserting the limit pins into the through holes on the fixed frame tube 12 and the movable frame tube 13. In use, multiple limit pins can be used to connect to ensure the tightness of the connection.

[0021] Furthermore, since there is a gap between the movable frame tube 13 and the fixed frame tube 12, threaded through holes are provided at both ends of the fixed frame tube 12, and limiting bolts are provided at the threaded through holes. By tightening the limiting bolts, the shaking of the connection between the movable frame tube 13 and the fixed frame tube 12 caused by the gap between the two can be avoided.

[0022] As attached Figure 3 , 4 As shown in , 5 , the weeding mechanism 2 includes a connecting plate 21 , a rotating motor 22 , a drilling shaft 23 , a connecting bearing subassembly 24 , a gripper subassembly 25 , and a drill bit 26 .

[0023] Attached Figure 3The connecting plate 21 in the illustrated embodiment is L-shaped, and may also be U-shaped or other shapes. The connecting plate 21 is rotatably connected to the drilling shaft 23 through a connecting bearing subassembly 24, and the connecting bearing subassembly 24 includes a plurality of connecting bearings (not shown in the figure), a bearing housing 242, and a limiting plate 243. The inner ring of the connecting bearing is fixedly connected to the drilling shaft 23, and the outer ring is fixedly connected to the bearing housing 242. The bearing housing 242 is a tubular structure, and evenly arranged protrusions 2421 are arranged on the outer side. The limiting plate 243 is connected to the upper and lower ends of the bearing housing 242, and a through hole for the drilling shaft 23 to pass through is arranged on the limiting plate 243.

[0024] A special-shaped through hole through which the bearing housing 242 passes is provided on the connecting plate 21. The main body of the special-shaped through hole is a circular through hole, and a groove that cooperates with the protrusion 2421 is provided. The bearing housing 242 is inserted into the special-shaped through hole of the connecting plate 21, and the connection bearing subassembly 24 is limited by the cooperation between the protrusion 2421 and the groove, thereby realizing the rotation of the drilling shaft 23 driven by the rotating motor 22.

[0025] The upper end of the drilling shaft 23 is connected to a rotary motor 22 , and the lower end is connected to a drill bit 26 .

[0026] Attached Figure 3 The drill bit 26 of the illustrated embodiment includes three blades arranged in an array.

[0027] The gripper subassembly 25 includes an upper sliding plate 251 , a lower fixing plate 252 , a plurality of gripper units 253 , and a plurality of push rods 254 .

[0028] The lower fixed plate 252 is rotatably connected to the drilling shaft 23 through a bearing, and the upper sliding plate 251 is provided with a through hole through which the drilling shaft 23 passes, and can slide reciprocatingly up and down on the drilling shaft 23. The gripper unit 253 includes a first gripper section 2531 and a second gripper section 2532. The upper portion of the first gripper section 2531 is hinged to the upper sliding plate 251, and the lower portion is hinged to the upper end of the second gripper section 2532. The upper and middle portion of the second gripper section 2532 is hinged to the lower fixed plate 252, and the lower portion of the second gripper section is inwardly curved.

[0029] The unfolding and closing of the gripping unit 253 can be achieved by changing the relative position between the upper sliding plate 251 and the lower fixed plate 252 .

[0030] The top of the push rod 254 is fixed to the bottom of the lower part of the connecting plate 21 and connected to the upper sliding plate 251. Figure 3 , 45, two limit nuts are arranged at the bottom of the push rod 254, and the connection mode with the upper sliding plate 251 is that the push rod 254 passes through the through hole on the upper sliding plate 251, and limit nuts are arranged on the upper and lower sides of the upper sliding plate 251. The upper sliding plate 251 moves up and down by the up and down movement of the connecting plate 21.

[0031] When in use, the connecting plate 21 is connected to the multi-axis motion platform of the weeding robot, and driven by it, the x- and y-axis motions can be realized to move to the weed position, and then the z-axis motion drives the connecting plate 21 to move downward, driving the drill bit 26 downward to contact the ground, and then the connecting plate 21 continues to move downward. Due to the existence of the connecting bearing subassembly 24, the drilling shaft 23 slides upward relative to the connecting plate 21, and the connecting plate 21 continues to move downward to drive the upper sliding plate 251 to move downward, so that the gripper unit 253 is unfolded, and the connecting plate 21 continues to move downward to the limit plate 2 below. At 43, the rotary motor 22 is started, and the connecting plate 21 continues to move downward to realize the downward drilling of the drill bit 26. After the drilling is completed, the connecting plate 21 moves upward, the drilling shaft 23 does not move, and the upper sliding plate 251 moves downward under the drive of the connecting plate 21 so that the gripper unit 253 gradually grabs and closes, thereby realizing the grabbing of weeds. After that, the connecting plate 21 continues to move upward, and the grabbed weeds can be moved to a preset position through the multi-axis motion platform. The horizontal fixed plate on the chassis is set to limit the drill bit 26 to realize the expansion of the gripper unit 253, thereby realizing the release of the weeds.

[0032] It should be noted that, unless otherwise clearly specified and limited, the terms such as "install", "connect", "connect", "fix", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

Claims

1. A variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot, the cross-row self-propelled rice field weeding robot comprising a power supply and drive unit, wheels and brackets, a transmission structure, and a control unit; characterized in that: It also includes a variable chassis, which includes a chassis frame, two fixed frame tubes, and four movable frame tubes; the chassis frame is a metal frame structure, the fixed frame tube is arranged at the front end and the rear end of the lower part of the chassis frame, and through holes distributed in an array are arranged on its side; one end of the movable frame tube can be telescopically inserted into the fixed frame tube, and through holes distributed in an array are arranged on its side; the other end is connected to the wheel train support vertical rod; the fixed frame tube and the movable frame tube are fixedly connected by inserting a limit pin into the through holes on the fixed frame tube and the movable frame tube.

2. The variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot according to claim 1, characterized in that: Threaded through holes are arranged at both ends of the fixing frame pipe, and limiting bolts are arranged at the threaded through holes.

3. The variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot according to claim 1, characterized in that: The cross-row self-propelled rice field weeding robot also includes a weeding mechanism; the weeding mechanism includes a connecting plate, a rotating motor, a drilling shaft, a connecting bearing subassembly, a gripper subassembly, and a drill bit; the connecting plate is rotatably connected to the drilling shaft through the connecting bearing subassembly, the upper end of the drilling shaft is connected to the rotating motor, and the lower end is connected to the drill bit; the gripper subassembly is arranged on the drilling shaft between the connecting bearing subassembly and the drill bit.

4. The variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot according to claim 3, characterized in that: The connecting plate is L-shaped or U-shaped.

5. The variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot according to claim 3, characterized in that: The connecting bearing subassembly includes a plurality of connecting bearings, a bearing housing, and a limit plate. The inner ring of the connecting bearing is fixedly connected to the drilling shaft, and the outer ring is fixedly connected to the bearing housing. The bearing housing is a tubular structure with evenly arranged protrusions on the outside. Limit plates are connected to the upper and lower ends of the bearing housing, and a through hole is provided on the limit plate for the drilling shaft to pass through; a special-shaped through hole is provided on the connecting plate for the bearing housing to pass through, and the special-shaped through hole is provided with a groove that matches the protrusion.

6. The variable chassis and weeding mechanism for a cross-row self-propelled rice field weeding robot according to claim 3, characterized in that: The gripper subassembly includes an upper sliding plate, a lower fixed plate, multiple groups of gripper units, and multiple groups of push rods; the lower fixed plate is rotatably connected to the drilling shaft through a bearing, and the upper sliding plate is provided with a through hole through which the drilling shaft passes, and can slide back and forth up and down on the drilling shaft; the gripper unit includes a first gripper section and a second gripper section, the upper part of the first gripper section is hinged to the upper sliding plate, and the lower part is hinged to the upper end of the second gripper section, the middle and upper part of the second gripper section is hinged to the lower fixed plate, and the lower part of the second gripper section is bent inwardly; the top of the push rod is fixed to the connecting plate, and the bottom of the lower part is connected to the upper sliding plate.

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