Weeding robot

Abstract

The utility model relates to the technical field of weeding devices, and provides a weeding robot, which comprises a robot main body and a laser device arranged on the robot main body, the laser device comprises a connecting plate, a cooling cylinder, a heat conducting plate, a connecting shell and a laser tube, the connecting plate is detachably connected with the robot main body, and the cooling cylinder is detachably connected with the connecting shell. One end of the cooling cylinder is fixed to the connecting plate, the other end of the cooling cylinder is provided with an opening, cooling liquid is stored in the cooling cylinder, and the heat conducting plate is arranged on the inner wall of the cooling cylinder; the connecting shell is detachably connected with the open end of the cooling cylinder, the laser tube is arranged in the connecting shell, and one end of the laser tube can be inserted into the cooling cylinder and is in contact with the heat conducting plate; the weeding robot is compact in structure, and the endurance of the weeding robot can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of weeding devices, and particularly relates to a weeding robot. Background Art

[0002] Weeds will compete with crops for nutrients, water, and also rob the growth space of crops, ultimately leading to a widespread decline in crop yields; currently, weeds are removed by weeders, and intelligent weeders can automatically and intelligently remove weeds in farmland. It integrates a variety of technologies, enabling it to efficiently and accurately perform weeding tasks. Currently, weeding methods are divided into chemical weeding, mechanical weeding, and laser weeding.

[0003] CN205124832U discloses an intelligent weeding robot, which is integrally arranged on a vehicle body. The main cutter of the intelligent weeding robot is arranged below the vehicle body through a lifting device; a protective cutter blade is arranged at the front end of the vehicle body; side cutting devices are arranged on both sides of the vehicle body, and the bottom end of the side cutting device is hinged to the vehicle body through a servo motor; a medicine box is arranged on the vehicle body, the medicine box is provided with a medicine adding port, the medicine box is connected to a booster pump, and the medicine box is communicated with a spray port through a conduit; a grass clipping collector is arranged at the rear end of the vehicle body; an ultrasonic sensor is arranged at the front end of the vehicle body; and a camera is also arranged on the vehicle body.

[0004] In the prior art, the laser of the laser weeding device is usually cooled by setting a cooling fan or a circulating cooling pipe. However, the power supply battery capacity of the weeding machine is limited. The specially set cooling device not only consumes electric energy and affects the endurance of the weeding machine, but also the cooling mechanism occupies a large volume and has a heavy weight, which affects the overall structure of the weeding machine. At the same time, the large weight also affects the endurance of the weeding machine. Summary of the Utility Model

[0005] In the prior art, the laser of the laser weeding device is usually cooled by setting a cooling fan or a circulating cooling pipe. However, the power supply battery capacity of the weeding machine is limited. The specially set cooling device not only consumes electric energy and affects the endurance of the weeding machine, but also the cooling mechanism occupies a large volume and has a heavy weight, which affects the overall structure of the weeding machine. At the same time, the large weight also affects the endurance of the weeding machine.

[0006] In view of this, the utility model aims to propose a weeding robot. In the utility model, the weeding robot includes a robot main body and a laser device arranged on the robot main body;

[0007] The laser device includes a connecting plate, a cooling cylinder, a heat conducting plate, a connecting housing, and a laser tube;

[0008] The connecting plate is detachably connected to the robot main body. One end of the cooling cylinder is fixed on the connecting plate, and the other end is open. The cooling cylinder stores coolant inside, and the heat conducting plate is arranged on the inner wall of the cooling cylinder;

[0009] The connecting housing is detachably connected to the open end of the cooling cylinder. The laser tube is arranged inside the connecting housing, and one end of the laser tube can be inserted into the cooling cylinder and contact with the heat conducting plate.

[0010] Further, a slot is arranged on the connecting housing for one end of the cooling cylinder to be inserted into.

[0011] Further, the robot main body includes a chassis driving mechanism, a robotic arm, and an identifying device for identifying weeds. The connecting plate is detachably installed on the robotic arm, and the identifying device is arranged on the robotic arm;

[0012] The chassis driving mechanism includes a vehicle chassis, a support platform fixed on the vehicle chassis, wheels, and a driving mechanism for driving the wheels to rotate; the robotic arm is installed on the support platform.

[0013] Further, the wheels are set as Mecanum wheels.

[0014] Further, an infrared sensor and an ultrasonic sensor are arranged on the vehicle chassis.

[0015] Further, the robotic arm includes a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a fifth servo motor, a main arm connecting piece, and a forearm connecting piece;

[0016] The first servo motor is installed on the support platform. The axes of the first servo motor and the second servo motor are perpendicular. The rotating ends of the second servo motor and the third servo motor are connected to both ends of the main arm connecting piece. The third servo motor is connected to the forearm connecting piece. The rotating end of the fourth servo motor is connected to the forearm connecting piece, and the axes of the fourth servo motor and the fifth servo motor are perpendicular.

[0017] Further, a movable connecting frame is connected to the fifth servo motor, and the identifying device and the connecting plate are both installed on the movable connecting frame.

[0018] Further, the main arm connecting piece is set as an H-shaped structure.

[0019] Further, the connecting housing and the cooling cylinder are in threaded connection.

[0020] Further, an energy storage battery is arranged inside the vehicle chassis.

[0021] The weeding robot disclosed by the present utility model has a laser device configured as a connecting plate, a cooling cylinder, a heat conducting plate, a connecting housing, and a laser tube. Compared with the existing laser devices, its structure is relatively compact. By adding a refrigerant, the laser tube is cooled, and no electrical energy is consumed in the refrigeration process, reducing the power consumption of the weeding robot, improving its endurance, and having a stable mechanism. Through the effective heat conduction of the heat conducting plate, the cooling requirement of the laser tube can be met.

[0022] Other features and advantages of the present utility model will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings that form a part of the present utility model are used to provide a further understanding of the present utility model. The schematic embodiments and descriptions thereof of the present utility model are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0024] Figure 1 is a schematic structural diagram of the weeding robot of the present utility model;

[0025] Figure 2 is Figure 1 a side view schematic diagram of

[0026] Figure 3 is Figure 1 a top view schematic diagram of

[0027] Figure 4 is a three-dimensional schematic diagram of the laser device in an embodiment of the present utility model;

[0028] Figure 5 is a schematic structural diagram of the laser device in an embodiment of the present utility model;

[0029] Figure 6 is Figure 5 a cross-sectional view schematic diagram in the A-A direction of

[0030] Figure 7 is a schematic structural diagram of the main arm connecting member in an embodiment of the present utility model;

[0031] Figure 8 is a schematic diagram of the forearm connecting member in an embodiment of the present utility model.

[0032] Description of the reference numerals:

[0033] 1. Laser device; 11. Connecting plate; 12. Cooling cylinder; 13. Heat conducting plate; 14. Connecting housing; 15. Laser tube; 16. Slot; 2. Chassis driving mechanism; 21. Vehicle chassis; 22. Support platform; 23. Wheel; 24. Infrared sensor; 25. Ultrasonic sensor; 3. Robotic arm; 31. First servo; 32. Second servo; 33. Third servo; 34. Fourth servo; 35. Fifth servo; 36. Main arm connecting piece; 37. Forearm connecting piece; 38. Movable connecting frame; 4. Identification device. Specific embodiments

[0034] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0035] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to describe the embodiments of the present invention herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0037] In the prior art, the laser of a laser weeding device is usually cooled by setting up a cooling fan or a circulating cooling pipe. However, the power supply battery capacity of the weeding machine is limited. The specially set cooling device not only consumes electric energy and affects the endurance of the weeding machine, but also the cooling mechanism occupies a large volume and is heavy, which affects the overall structure of the weeding machine. At the same time, the large weight also affects the endurance of the weeding machine.

[0038] The present invention provides a weeding robot, as Figure 1As shown, in this embodiment, the weeding robot includes a robot main body and a laser device 1 provided on the robot main body;

[0039] As Figure 4 , Figure 5 and Figure 6 shown, the laser device 1 includes a connecting plate 11, a cooling cylinder 12, a heat conducting plate 13, a connecting housing 14 and a laser tube 15; the connecting plate 11 is detachably connected to the robot main body, one end of the cooling cylinder 12 is fixed on the connecting plate 11, and the other end is open. The cooling cylinder 12 stores coolant inside, and the heat conducting plate 13 is arranged on the inner wall of the cooling cylinder 12; the connecting housing 14 is detachably connected to the open end of the cooling cylinder 12, and the detachable manner can be a connection manner such as screw connection or bonding. The laser tube 15 is arranged inside the connecting housing 14 and one end can be inserted into the cooling cylinder 12 and contact the heat conducting plate 13; in this embodiment, the material of the cooling cylinder 12 is aluminum alloy, ensuring its high strength and light weight, and the chemical reaction of aluminum is stable, which can reduce the oxidation degree of its surface; the heat conducting plate 13 is made of brass heat conducting material to improve its heat conducting ability and ensure the cooling of the laser tube 15.

[0040] The present utility model sets the laser device 1 as a structure of a connecting plate 11, a cooling cylinder 12, a heat conducting plate 13, a connecting housing 14 and a laser tube 15. Compared with the existing laser device 1, the structure is relatively compact. The laser tube 15 is cooled by adding a refrigerant, and no electric energy is consumed in refrigeration, reducing the electric energy consumption of the weeding robot, improving the endurance of the weeding robot, and having a stable mechanism. Effective heat conduction is carried out through the heat conducting plate 13, and the cooling requirement of the laser tube 15 can be met.

[0041] In order to make the connection between the connecting housing 14 and the cooling cylinder 12 more stable, a slot 16 is provided on the connecting housing 14. When connecting, one end of the cooling cylinder 12 is inserted into the slot 16; in this embodiment, the connecting housing 14 and the cooling cylinder 12 are connected by screw connection. External threads are provided on the cooling cylinder 12, and internal threads are provided on the inner side of the slot 16; the way for the present utility model to replace and add coolant is: disassemble the connecting housing 14 and remove it together with the laser tube 15. At this time, one end of the cooling cylinder 12 is open, and coolant can be directly added into it.

[0042] As Figure 1 , Figure 2 and Figure 3As shown, the robot body includes a chassis driving mechanism 2, a robotic arm 3, and an identification device 4 for identifying weeds. The identification module is arranged on one side of the laser device 1, and its camera can move in unison with the movement of the laser device 1, making the identification and positioning of weeds convenient and accurate. The connecting plate 11 is detachably installed on the robotic arm 3, and the identification device 4 is arranged on the robotic arm 3. The chassis driving mechanism 2 includes a vehicle chassis 21, a support platform 22 fixed on the vehicle chassis 21, wheels 23, and a driving mechanism for driving the wheels 23 to rotate. The robotic arm 3 is installed on the support platform 22. An energy storage battery is arranged inside the vehicle chassis 21 for supplying energy to the weeding robot. This weeding robot is driven by electricity to improve energy utilization efficiency. During the weeding process, the robot does not remove the weeds but uses laser to degrade them and convert them into fertilizer, achieving the resource utilization of waste. The driving control performance is good through electricity, the structure is relatively compact, reducing the overall volume of the weeding robot, and the noise is low.

[0043] The process of the identification device 4 for identifying weeds is as follows: Control the camera of the identification device 4 to rotate and move at a certain speed and frequency. When the weeds are successfully identified, a signal will be sent to the main control processing single-chip microcomputer. After the main control processor single-chip microcomputer stores the data, a release signal is sent to the laser device 1, and the laser device 1 performs the weeding work. Then, it moves to another position to identify other parts, and so on in a cycle.

[0044] The weeding robot in this application is driven by a driving mechanism to move on a specified path in the field. An infrared sensor 24 and an ultrasonic sensor 25 are arranged on the vehicle chassis 21. The infrared sensor 24 and the ultrasonic sensor 25 collect data on the surrounding environment and path information in real time, and transmit the collected information to the control unit for processing. The control unit processes the real-time data collected and controls the work of the driving mechanism to achieve the direction control and obstacle avoidance functions of the weeding robot.

[0045] The basic weeding process of the weeding robot is as follows: Control the robot to move in the field through the driving structure. After reaching the specified weeding location, control the robotic arm to work, driving the identification device 4 on the robotic arm 3 to perform a planar scan of the weeding area, so that the identification device 4 can comprehensively identify the weeding location. After identifying the weeds, the robotic arm 3 drives the laser device 1 close to the weeds for weeding work, and so on in a cycle. When encountering vegetation suspected of being weeds, the robotic arm 3 drives the identification device 4 to circle around the vegetation for detailed identification to determine whether to perform the weeding work.

[0046] In the seedling nursery field, the layout is crisscrossed and the traveling path of the weeding robot is relatively narrow. To achieve efficient driving and turning, the wheels 23 are set as Mecanum wheels. By setting the Mecanum wheels, the stability of the weeding robot's walking can be ensured, the flexibility of turning can be improved, and overall, the mobility and operability of the weeding robot in a narrow space can be enhanced. At the same time, it can achieve free walking in any direction, and it is not easy to shake. Moreover, the Mecanum wheel is composed of several small rollers, which is convenient for maintenance and reduces the failure rate.

[0047] The servo motor is a small reduction gear device with a feedback signal. It can control the output angle required through signal feedback and can also provide feedback information on the rotation angle. The robotic arm 3 includes a first servo motor 31, a second servo motor 32, a third servo motor 33, a fourth servo motor 34, a fifth servo motor 35, as well as a main arm connecting piece 36 and a small arm connecting piece 37. The first servo motor 31 is installed on the support platform 22. The axes of the first servo motor 31 and the second servo motor 32 are perpendicular. The rotating ends of the second servo motor 32 and the third servo motor 33 are connected to both ends of the main arm connecting piece 36. The third servo motor 33 is connected to the small arm connecting piece 37. The rotating end of the fourth servo motor 34 is connected to the small arm connecting piece 37. The axes of the fourth servo motor 34 and the fifth servo motor 35 are perpendicular. Both the small arm connecting piece 37 and the main arm connecting piece 36 are made of alloy steel materials to ensure strength. A movable connecting frame 38 is connected to the fifth servo motor 35. The recognition device 4 and the connecting plate 11 are both installed on the movable connecting frame 38.

[0048] As Figure 7 and Figure 8 shown, regarding the main arm connecting piece 36 and the small arm connecting piece 37, considering the structural stability, the main arm connecting piece 36 is the main stress-bearing component. The main arm connecting piece 36 is set as an H-shaped structure and is made of alloy steel material.

[0049] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A weeding robot, characterized in that: It comprises a robot body and a laser device (1) arranged on the robot body; The laser device (1) comprises a connecting plate (11), a cooling cylinder (12), a heat conducting plate (13), a connecting shell (14) and a laser tube (15); The connecting plate (11) is detachably connected to the robot body, one end of the cooling cylinder (12) is fixed to the connecting plate (11), and the other end is open, a coolant is stored inside the cooling cylinder (12), and the heat conducting plate (13) is arranged on the inner wall of the cooling cylinder (12); The connecting shell (14) is detachably connected to the open end of the cooling cylinder (12); the laser tube (15) is arranged in the connecting shell (14) and one end of the laser tube (15) can be inserted into the cooling cylinder (12) and contact the heat conducting plate (13).

2. The weeding robot according to claim 1, characterized in that: The connecting shell (14) is provided with a slot (16), and one end of the cooling cylinder (12) is inserted into the slot (16).

3. The weeding robot according to claim 1 or 2, characterized in that: The robot body comprises a chassis driving mechanism (2), a mechanical arm (3) and an identification device (4) for identifying weeds, the connecting plate (11) is detachably mounted on the mechanical arm (3), and the identification device (4) is arranged on the mechanical arm (3); The chassis drive mechanism (2) comprises a vehicle chassis (21), a support platform (22) fixed on the vehicle chassis (21), wheels (23) and a rotation drive mechanism for driving the wheels (23); the mechanical arm (3) is mounted on the support platform (22).

4. The weeding robot according to claim 3, characterized in that: The wheel (23) is configured as a Mecanum wheel.

5. The weeding robot according to claim 3, characterized in that: An infrared sensor (24) and an ultrasonic sensor (25) are arranged on the vehicle chassis (21).

6. The weeding robot according to claim 3, characterized in that: The mechanical arm (3) comprises a first steering gear (31), a second steering gear (32), a third steering gear (33), a fourth steering gear (34), a fifth steering gear (35), a main arm connecting piece (36) and a small arm connecting piece (37); The first steering gear (31) is installed on the supporting platform (22), the axes of the first steering gear (31) and the second steering gear (32) are perpendicular, the rotating ends of the second steering gear (32) and the third steering gear (33) are connected to the two ends of the main arm connecting member (36), the third steering gear (33) is connected to the small arm connecting member (37), the rotating end of the fourth steering gear (34) is connected to the small arm connecting member (37), and the axes of the fourth steering gear (34) and the fifth steering gear (35) are perpendicular.

7. The weeding robot according to claim 6, characterized in that: The fifth steering engine (35) is connected to a movable connecting frame (38), and the identification device (4) and the connecting plate (11) are both mounted on the movable connecting frame (38).

8. The weeding robot according to claim 6, characterized in that: The main arm connecting member (36) is configured as an H-shaped structure.

9. The weeding robot according to claim 1 or 2, characterized in that: The connecting shell (14) and the cooling cylinder (12) are threadedly connected.

10. The weeding robot according to claim 3, characterized in that: An energy storage battery is arranged inside the vehicle chassis (21).

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