Intelligent weeding robot
By using a shared lifting device and a guide rod to constrain the axial movement of the lead screw, the high cost problem of traditional weeding robots is solved, achieving cost savings and convenient maintenance.
Patent Information
- Application Number
- CN202422822700.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-19
- Publication Date
- 2025-09-16
- Estimated Expiration
- 2034-11-19
AI Technical Summary
Traditional weeding robots require the installation of lifting devices and guiding devices for the mowing device and tillage device respectively, resulting in high costs.
A common lifting device is used, including a first screw motor and a second screw motor, which respectively drive the lifting of the mowing device and the tilling device. The axial movement of the screw is constrained by the first guide rod and the second guide rod, avoiding additional guide mechanisms.
The production cost is reduced, the structure is simplified, and the maintenance convenience of the equipment is improved.
Smart Images
Figure CN223335097U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of weeding robots, in particular to an intelligent weeding robot. Background Art
[0002] Traditional weeding robots usually have a mowing device and a tilling device, which are used to cut weeds and dig out grass roots respectively. In order to enable the weeding robot to work on land of different flatness and remove weeds with different root depths, the mowing device and the tilling device need to be able to rise and fall independently, cut weeds from different heights, and till out weed roots of different depths. To this end, corresponding lifting devices and guide devices need to be installed for the mowing device and the tilling device respectively, which is costly. Utility Model Content
[0003] The purpose of the utility model is to provide an intelligent weeding robot, which aims to solve the problem that the mowing device and the tilling device of the traditional weeding robot need to be respectively installed with corresponding lifting devices and guiding devices, which is costly.
[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:
[0005] Provided is an intelligent weeding robot, comprising a traveling mechanism, a lifting device, a mowing device, and a tilling device. The traveling mechanism comprises a frame as the main body, the lifting device being located inside the frame and fixedly connected to the frame, the mowing device and the tilling device being respectively arranged in the forward direction of the self-propelled vehicle, the mowing device being located at the front end of the vehicle, and the lifting device extending from the bottom surface of the frame and fixedly connected to the mowing device and the tilling device, respectively. The lifting device comprises: a first screw motor fixedly connected to the frame and used to drive the mowing device to rise and fall; a second screw motor fixedly connected to the frame and used to drive the tilling device to rise and fall. The first screw motor comprises a first screw, a first guide rod being coaxially fixed to the top of the first screw, a first shaft sleeve being sleeved on the outer side of the first guide rod; the second screw motor comprises a second screw, a second guide rod being coaxially fixed to the top of the second screw, a second shaft sleeve being sleeved on the outer side of the second guide rod, the first shaft sleeve and the second shaft sleeve being fixedly connected to each other, and the first shaft sleeve and the second shaft sleeve being respectively used to constrain the first screw and the second screw, so that the first screw and the second screw can move axially but cannot rotate.
[0006] Furthermore, the first screw rod and the second screw rod are both cylinders, and the first guide rod and the second guide rod are both prisms.
[0007] Furthermore, the first shaft sleeve and the second shaft sleeve are fixed by a connecting rod. The connecting rod has a three-section structure and is respectively located between the frame, the first shaft sleeve and the second shaft sleeve. The connecting rod is fixedly connected to the front and rear sides of the frame by fixing plates, bolts and nuts. The long axis direction of the connecting rod is consistent with the forward direction of the self-propelled vehicle.
[0008] Furthermore, there is a through groove at the center of the fixing plate, and the penetration direction of the groove is the same as the forward direction of the self-propelled vehicle. The two ends of the connecting rod pass through the groove at the center of the fixing plate and are connected to the front and rear sides of the frame respectively. There are through holes at the four corners of the fixing plate. Bolts pass through the through holes at the four corners of the fixing plate to fix the fixing plate to the front and rear sides of the frame respectively. The bolts pass through the frame and extend to the outside of the frame. The nuts tighten the bolts on the surface outside the frame.
[0009] Furthermore, the mowing device includes: a first motor, a first motor compartment, a turntable and a wire rope. The first motor is located inside the first motor compartment. The center of the upper surface of the first motor compartment is fixedly connected to the bottom end plane of the first screw rod. There is a through hole at the center of the bottom shell of the first motor compartment. The output shaft of the first motor passes through the through hole of the bottom shell of the first motor compartment. The output shaft of the first motor is perpendicular to the forward direction of the self-propelled vehicle. There is a blind hole in the direction of its own short axis at the center of the upper surface of the turntable. The output shaft of the first motor is inserted into the blind hole at the center of the upper surface of the turntable. The turntable can rotate around the output shaft of the motor, and the wire rope is fixedly connected to the turntable.
[0010] Furthermore, there are three channels inside the central plane of the turntable, and the plane where the channels are located is parallel to the forward direction of the self-propelled vehicle. The first ends of the first channel and the second channel are both on the side of the turntable. The first channel and the second channel are respectively located on both sides of the blind hole in the center of the turntable and the first channel is parallel to the second channel. The two ends of the third channel are respectively connected to the second end of the first channel and the second end of the second channel. The third channel is not connected to the blind hole in the turntable. The first channel, the second channel and the third channel are combined to form a through hole on the internal plane of the turntable. The wire rope passes through the through hole in the internal plane of the turntable and extends to the through hole openings on both sides of the turntable.
[0011] Furthermore, the tilling device includes: a second motor, a second motor compartment, a rotating shaft and a rotary tiller. The center of the upper surface of the second motor compartment is fixedly connected to the bottom end plane of the second screw rod. The second motor is located inside the second motor compartment. The center of the second motor has a through hole running through the direction of its own long axis. The long axis of the second motor remains perpendicular to the movement direction of the self-propelled vehicle. The center of the second motor compartment has a through hole running through the direction of its own long axis. The through hole of the second motor is opposite to the through hole of the second motor compartment. The rotating shaft passes through the center through holes of the second motor and the second motor compartment respectively and extends equidistantly at both ends. The rotating shaft can rotate around the direction of its own long axis. The rotary tiller is fixed at both ends of the rotating shaft.
[0012] Furthermore, two rotary tillers are fixed on the left and right ends of the rotating shaft respectively. The two rotary tillers at each end are fixed vertically relative to each other. Each rotary tiller has curved side wings on the left and right sides, and the blades of the side wings gradually narrow into a trapezoidal blade.
[0013] Compared with the prior art, the present invention has the following beneficial effects:
[0014] The embodiment of the present invention uses a first guide rod and a first guide sleeve to constrain and guide the axial movement of the first screw rod, and uses a second guide rod and a second guide sleeve to constrain and guide the axial movement of the second screw rod. The first screw rod and the second screw rod serve as each other's guiding mechanism, so that the present invention does not require an additional guiding mechanism, thereby saving production costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely illustrative, and those skilled in the art can, without inventive effort, derive other implementation drawings based on the provided drawings.
[0016] Figure 1 This is a three-dimensional diagram of an embodiment of the present invention; the figure only shows the frame of the running device as a schematic, and the other parts of the running device are hidden.
[0017] Figure 2 This is a front view of an embodiment of the utility model;
[0018] Figure 3 A side view of an embodiment of the present utility model;
[0019] Figure 4 A top view of an embodiment of the present utility model;
[0020] Figure 5 This is a front view of the lifting device in the embodiment of the utility model;
[0021] Figure 6 This is a front view of a mowing device in an embodiment of the present utility model;
[0022] Figure 7 For the embodiment of the utility model Figure 6 Cross-sectional view along line AA;
[0023] Figure 8 This is an exploded view of a mowing device in an embodiment of the present utility model;
[0024] Figure 9 This is a three-dimensional diagram of the soil turning device in the embodiment of the utility model;
[0025] Figure 10 It is an exploded view of the soil turning device in the embodiment of the present utility model.
[0026] The numbers in the figure represent the following:
[0027] 1-frame; 2-lifting device; 21-first screw motor; 211-first screw; 212-first guide rod; 22-second screw motor; 221-second screw; 222-second guide rod; 23-first bushing; 24-second bushing; 25-connecting rod; 26-fixing plate; 27-bolt; 28-nut; 3-mowing device; 31-first motor; 32-first motor compartment; 33-turntable; 34-wire rope; 4-tillage device; 41-second motor; 42-second motor compartment; 43-rotating shaft; 44-rotary blade. DETAILED DESCRIPTION
[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0029] like Figures 1-4 As shown, the utility model provides an intelligent weeding robot, which mainly includes: a walking mechanism, a lifting device 2, a mowing device 3 and a tilling device 4, wherein:
[0030] The traveling mechanism includes a vehicle frame 1, wheels, a power system and a navigation system. In the figure, only the vehicle frame 1 is shown as a schematic, and the wheels, power system and navigation system are not shown.
[0031] A mowing device 3 and a tilling device 4 are respectively provided in the forward direction of the self-propelled vehicle. The mowing device 3 is located at the front end of the self-propelled vehicle. The lifting device 2 is fixed inside the frame 1. The lifting device 2 extends out of the bottom plane of the frame 1 and is fixedly connected to the mowing device 3 and the tilling device 4 respectively. The power system on the walking mechanism drives the self-propelled vehicle to move to the weed position according to the navigation system. The lifting device 2 first controls the mowing device 3 to descend to a suitable position to cut the weeds on the soil. The lifting device 2 then controls the tilling device 4 to dig out the weed roots. The first guide rod 212 and the first guide sleeve 23 in the lifting device 2 constrain and guide the axial movement of the first screw rod 211. The second guide rod 222 and the second guide sleeve 24 are used to constrain and guide the axial movement of the second screw rod 221. The first screw rod 211 and the second screw rod 221 are each other's guiding mechanisms, so that the utility model does not require an additional guiding mechanism, thereby saving production costs.
[0032] Combine Figure 5As shown, the lifting device 2 includes:
[0033] The first screw motor 21 includes a first screw 211, a first guide rod 212 is coaxially fixed to the top of the first screw 211, a first shaft sleeve 23 is sleeved on the outer side of the first guide rod 212, and the second screw motor 22 includes
[0034] A second screw rod 221 is coaxially fixed to the top of the second screw rod 221 with a second guide rod 222. A second sleeve 24 is sleeved on the outer side of the second guide rod 222. The first sleeve 23 and the second sleeve 24 are used to constrain the first screw rod 211 and the second screw rod 221 respectively. The first screw rod 211 and the second screw rod 221 are both cylindrical, and the first guide rod 212 and the second guide rod 222 are both prismatic, so that the first screw rod 211 and the second screw rod 221 can only move along their axis but cannot rotate.
[0035] The first shaft sleeve 23 and the second shaft sleeve 24 are fixed by a connecting rod 25. The connecting rod 25 is a three-section structure and is respectively located between the frame 1, the first shaft sleeve 23 and the second shaft sleeve 24. The long axis direction of the connecting rod 25 is consistent with the forward direction of the self-propelled vehicle. There is a through groove at the center of the fixing plate 26 and the through direction of the groove is the same as the forward direction of the self-propelled vehicle. The connecting rod 25 passes through the groove at the center of the fixing plate 26 and is connected to the front and rear sides of the frame 1. There are through holes at the four corners of the fixing plate 26. Bolts 27 pass through the through holes at the four corners of the fixing plate 26 to fix the fixing plate 26 to the front and rear sides of the frame 1. On the side, the bolt 27 passes through the frame 1 and extends to the outside of the frame 1. The nut 28 tightens the bolt 27 on the surface outside the frame 1. The first guide rod 212 and the second guide rod 222 are guiding mechanisms for each other. The first screw motor 21 can independently drive the first screw rod 211 to move up and down, and the second screw motor 22 can independently drive the second screw rod 221 to move up and down. The prismatic guide rod ensures that the screw rod can only move axially relative to the shaft sleeve and cannot rotate. The bolts 27 on the four corners of the fixing plate 26 ensure that the fixing plate 26 will not slide or rotate. The fixing method of the bolts 27 and the nuts 28 is convenient for later maintenance and replacement.
[0036] Combine Figure 6 、 Figure 7 、 Figure 8As shown, the mowing device 3 includes: a first motor 31, a first motor compartment 32, a turntable 33 and a wire rope 34. The first motor compartment 32 is fixedly connected to the bottom end plane of the first screw rod 21. The first motor 31 is located inside the first motor compartment 32. There is a through hole at the center of the bottom shell of the first motor compartment 32. The output shaft of the first motor 31 passes through the through hole of the bottom shell of the first motor compartment 32. The output shaft of the first motor 31 is perpendicular to the forward direction of the self-propelled vehicle. There is a blind hole in the center of the upper surface of the turntable 33 in the direction of its own short axis. The output shaft of the first motor 31 is inserted into the blind hole at the center of the upper surface of the turntable 33. The turntable 33 can rotate around the output shaft of the motor. There are three channels inside the center plane of the turntable 33. The plane where the channels are located is parallel to the forward direction of the self-propelled vehicle. The first channel and the second channel The first ends of the two channels are on the side of the turntable 33, the first channel and the second channel are respectively located on both sides of the blind hole in the center of the turntable 33 and the first channel is parallel to the second channel, the two ends of the third channel are respectively connected to the second end of the first channel and the second end of the second channel, and the third channel is not connected to the blind hole in the turntable 33. The first channel, the second channel and the third channel are combined to form a through hole on the internal plane of the turntable 33, and the wire rope 34 passes through the through hole inside the rotating shaft 43 and extends to the through hole openings on both sides of the turntable 33. When the first motor 31 drives the turntable 33 to rotate at high speed, the turntable 33 will drive the wire rope 34 connected thereto to rotate at high speed. The high-speed rotating wire rope 34 will quickly cut the weeds on the soil. The wire rope 34 is fixed through the through hole inside the turntable 33 to facilitate later maintenance and replacement.
[0037] Combine Figure 9 、 Figure 10 As shown, the tilling device 4 includes: a second motor 41, a second motor compartment 42, a rotating shaft 43 and a rotary blade 44. The second motor compartment 42 is fixedly connected to the bottom end plane of the second screw rod 23. The second motor 41 is located inside the second motor compartment 42. The center of the second motor 41 has a through hole running through the direction of its own long axis. The long axis of the second motor 41 remains perpendicular to the movement direction of the self-propelled vehicle. The center of the second motor compartment 42 has a through hole running through the direction of its own long axis. The through hole of the second motor 41 is opposite to the through hole of the second motor compartment 42. The rotating shaft 43 passes through the second motor 41 and the second motor compartment 42 respectively. 2 is provided with a central through hole and extends equidistantly at both ends. The rotating shaft 43 can rotate around its own long axis. Two rotary tilling blades 44 are fixed to the left and right ends of the rotating shaft 43 respectively. The two rotary tilling blades 44 at each end are fixed vertically relative to each other. Each rotary tilling blade 44 has curved flanks on both sides. The blades of the flanks gradually narrow into a trapezoidal blade. When the second motor 41 drives the rotating shaft 43 to rotate, the rotary tilling blades 44 at both ends of the rotating shaft 43 rotate relative to each other at the same time and turn over the soil. The curved flanks facilitate better cutting into the soil and reducing resistance during rotation. The trapezoidal flank blades can more effectively cut and turn over the soil.
[0038] When the self-propelled vehicle moves to the weed position, the controller controls the first screw motor 21 of the lifting device 2 to drive the first screw rod 211 to move downward to lower the mowing device 3 to the vicinity of the weeds. The first motor 31 in the mowing device 3 drives the turntable 33 to rotate at high speed about its own short axis and drives the wire rope 34 to rotate at high speed. When the high-speed rotating wire rope 34 quickly cuts the weeds, the controller controls the first screw motor 21 to drive the first screw rod 211 to move upward to restore the mowing device 3 to its initial position. The controller controls the self-propelled vehicle to move to the position where the tilling device 4 is aligned with the weeds. The controller controls the second screw motor 22 to drive the second screw rod 221 to move downward to lower the tilling device 4 to the weed position. The second motor 41 in the tilling device 4 drives the rotating shaft 43 to rotate about its own long axis and drives the rotary blades 44 at both ends of the rotating shaft 43 to rotate. The rotating rotary blades 44 turn the soil over and remove the roots of the weeds. After the weeds are removed, the controller controls the second screw motor 22 to drive the second screw rod 221 to move upward to restore the tilling device 4 to its initial position.
[0039] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and scope of protection of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present invention.
Claims
1. An intelligent weeding robot, characterized in that: It comprises a walking mechanism, a lifting device (2), a mowing device (3) and a tilling device (4); The main body of the walking mechanism is a vehicle frame (1), the lifting device (2) is located inside the vehicle frame (1) and is fixedly connected to the vehicle frame (1), the mowing device (3) and the tilling device (4) are respectively arranged in the forward direction of the self-propelled vehicle, the mowing device (3) is located at the front end of the self-propelled vehicle, and the lifting device (2) extends out of the bottom surface of the vehicle frame (1) and is respectively fixedly connected to the mowing device (3) and the tilling device (4); the lifting device (2) includes: A first screw motor (21) is fixedly connected to the vehicle frame (1) and is used to drive the mowing device (3) to move up and down; A second screw motor (22) is fixedly connected to the vehicle frame (1) and is used to drive the tilling device (4) to rise and fall; The first screw motor (21) includes a first screw (211), a first guide rod (212) is coaxially fixed to the top of the first screw (211), a first shaft sleeve (23) is sleeved on the outer side of the first guide rod (212), and the second screw motor (22) includes a second screw (221), a second guide rod (222) is coaxially fixed to the top of the second screw (221), a second shaft sleeve (24) is sleeved on the outer side of the second guide rod (222), the first shaft sleeve (23) and the second shaft sleeve (24) are fixedly connected to each other, and the first shaft sleeve (23) and the second shaft sleeve (24) are respectively used to constrain the first screw (211) and the second screw (221), so that the first screw (211) and the second screw (221) can move axially but cannot rotate.
2. The intelligent weeding robot according to claim 1, characterized in that: The first screw rod (211) and the second screw rod (221) are both cylinders, and the first guide rod (212) and the second guide rod (222) are both prisms.
3. The intelligent weeding robot according to claim 1, characterized in that: The first shaft sleeve (23) and the second shaft sleeve (24) are fixed by a connecting rod (25). The connecting rod (25) is a three-section structure and is respectively located between the vehicle frame (1), the first shaft sleeve (23) and the second shaft sleeve (24). The connecting rod (25) is fixedly connected to the front and rear side surfaces of the vehicle frame (1) by a fixing plate (26), a bolt (27) and a nut (28). The long axis direction of the connecting rod (25) is consistent with the forward direction of the self-propelled vehicle.
4. The intelligent weeding robot according to claim 3, characterized in that: The center of the fixing plate (26) has a through groove, and the through direction of the groove is the same as the forward direction of the self-propelled vehicle. The two ends of the connecting rod (25) respectively pass through the groove at the center of the fixing plate (26) and are connected to the front and rear sides of the frame (1). The four corners of the fixing plate (26) have through holes. The bolts (27) pass through the through holes at the four corners of the fixing plate (26) to fix the fixing plate (26) to the front and rear sides of the frame (1). The bolts (27) pass through the frame (1) and extend to the outside of the frame (1). The nuts (28) tighten the bolts (27) on the surface outside the frame (1).
5. The intelligent weeding robot according to claim 1, characterized in that: The mowing device (3) comprises: a first motor (31), a first motor compartment (32), a turntable (33) and a steel wire rope (34), wherein the first motor (31) is located inside the first motor compartment (32), the center of the upper surface of the first motor compartment (32) is fixedly connected to the bottom end plane of the first screw rod (211), a through hole is provided at the center of the bottom shell of the first motor compartment (32), the output shaft of the first motor (31) passes through the through hole of the bottom shell of the first motor compartment (32), the output shaft of the first motor (31) is perpendicular to the forward direction of the self-propelled vehicle, a blind hole in the direction of its own short axis is provided at the center of the upper surface of the turntable (33), the output shaft of the first motor (31) is inserted into the blind hole at the center of the upper surface of the turntable (33), the turntable (33) can rotate around the output shaft of the motor, and the steel wire rope (34) is fixedly connected to the turntable (33).
6. The intelligent weeding robot according to claim 5, characterized in that: There are three channels inside the central plane of the turntable (33), and the plane where the channels are located is parallel to the forward direction of the self-propelled vehicle. The first ends of the first channel and the second channel are both on the side of the turntable (33), and the first channel and the second channel are respectively located on both sides of the central blind hole of the turntable (33) and the first channel is parallel to the second channel. The two ends of the third channel are respectively connected to the second end of the first channel and the second end of the second channel. The third channel is not connected to the blind hole in the turntable (33). The first channel, the second channel and the third channel are combined to form a through hole on the internal plane of the turntable (33). The steel wire rope (34) passes through the through hole in the internal plane of the turntable (33) and extends to the through hole openings on both sides of the turntable (33).
7. The intelligent weeding robot according to claim 1, characterized in that: The tilling device (4) comprises: a second motor (41), a second motor compartment (42), a rotating shaft (43) and a rotary tiller (44); the center of the upper surface of the second motor compartment (42) is fixedly connected to the bottom end plane of the second screw rod (221); the second motor (41) is located inside the second motor compartment (42); the center of the second motor (41) has a through hole running through the direction of its own long axis; the long axis of the second motor (41) is perpendicular to the movement direction of the self-propelled vehicle; the center of the second motor compartment (42) has a through hole running through the direction of its own long axis; the through hole of the second motor (41) is opposite to the through hole of the second motor compartment (42); the rotating shaft (43) respectively passes through the central through holes of the second motor (41) and the second motor compartment (42) and extends equidistantly at both ends; the rotating shaft (43) can rotate around the direction of its own long axis; the rotary tiller (44) is respectively fixed at both ends of the rotating shaft (43).
8. The intelligent weeding robot according to claim 7, characterized in that: Two rotary tilling blades (44) are fixed to the left and right ends of the rotating shaft (43), respectively. The two rotary tilling blades (44) at each end are relatively vertically fixed. Each rotary tilling blade (44) has curved side wings on the left and right sides, and the blades of the side wings gradually narrow into a trapezoidal blade.