Weeding mechanism of orchard weeding robot

Abstract

The utility model relates to the technical field of agricultural robots, and discloses an orchard weeding robot weeding mechanism which comprises a workbench and a crawler-type chassis, a driving motor is fixedly installed in the workbench, a blade set is fixedly installed on an output shaft of the driving motor, a rubber pad set is fixedly installed outside the blade set, and the rubber pad set is fixedly installed on the crawler-type chassis. A buffer mechanism is arranged between the working table and the crawler-type chassis, a first spring is installed between the working table and the crawler-type chassis, the working table has elasticity when moving under the action of the first spring, a constant distance is kept between the working table and the ground under the action of a rolling wheel, and then the blade set can make contact with weed roots all the time. Meanwhile, the containing frame and the tooth rake are installed on the rear side of the robot, and the electric hydraulic cylinder is used for controlling the containing frame to be lifted up and put down, so that the broken weeds can be gathered and piled up.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural robot technical field, concretely is orchard weeding robot weeding mechanism. BACKGROUND

[0002] Orchard weeding robot is a kind of intelligent weeding machinery, can automatically clean weeds in orchard after setting program. They usually combine artificial intelligence, internet of things and robot technology to improve weeding efficiency and accuracy, reduce pesticide use, reduce pollution to the environment, can be used for weed removal in large-scale orchard, improve crop yield, can help users to clean weeds easily, save manpower and time.

[0003] Chinese patent provides a kind of suitable for orchard weeding robot weeding mechanism, and the publication number is CN219719117U, including outer box, the top of the outer box is installed with pesticide spraying mechanism, the pesticide spraying mechanism includes water tank, pump, water suction pipe, water storage pipe, water supply pipe, fixed frame, fixed buckle, carousel assembly, first motor, movable buckle, fixed rod, side rod, transmission water spray rod and water spray flower, the top of the water tank is fixedly connected with pump, the top of the pump is fixedly connected with water suction pipe, the other end of the water suction pipe is fixedly connected with water storage pipe, the bottom of the water storage pipe fixed plate is connected with water supply pipe. The utility model discloses through pesticide spraying mechanism, when user removes weeds in orchard by weeding robot in later period, can spray pesticide to the place where grass is cut in later period, and further weed by sprayed pesticide, avoid grass to grow again due to the fact that root is not removed after cutting grass.

[0004] The above-mentioned mechanism has the effect of weeding and pesticide spraying in the orchard, but in the actual application process, the terrain of the orchard is complex, and the adhesion of the blade to the ground is greatly affected by the terrain when cleaning weeds, so that the weeds in the orchard are not completely cleaned, and the cut weeds are easily retained on the ground, which can cause the breeding of pests and the regeneration of weeds. Therefore, it is necessary to provide an orchard weeding robot weeding mechanism. UTILITY MODEL CONTENT

[0005] The utility model aims at providing an orchard weeding robot weeding mechanism to solve the problem of insufficient weeding, pest breeding and weed regeneration caused by the terrain when the existing device removes weeds in the orchard.

[0006] In order to achieve the above object, the utility model provides the following technical scheme: A orchard weeding robot weeding mechanism, including work table and crawler chassis, the inside fixed mounting of work table has drive motor, the output shaft fixed mounting of drive motor has blade group, the outside fixed mounting of blade group has rubber pad group, be provided with buffer mechanism between work table and crawler chassis, the buffer mechanism includes two first mounting seat, two second mounting seat and four outer support seat, two first mounting seat's one side all parallel fixed mounting has two inner support seat, four outer support seat is fixed mounting respectively in the both sides of crawler chassis, the inside rotationally mounted of inner support seat and outer support seat has rotary seat, one end of both sides rotary seat all is fixed mounting has inner tube, between both sides inner tube fixed mounting has buffer spring no.

[0007] Preferably, two inner support seats and two outer support seats are respectively equidistantly installed in the middle of the two sides of the work table and the crawler chassis, and the outer tube is obliquely installed between the inner support seat and the outer support seat.

[0008] Preferably, the second mounting seat is provided with a sliding groove on one side, and two square plates are fixedly installed on one side of the sliding seat in parallel, and the two square plates are located on the upper and lower sides of the second mounting seat, and the buffer spring no.

[0009] Preferably, the rear part of the work table is provided with a gathering mechanism, the gathering mechanism includes a third mounting seat and a fourth mounting seat, two support shafts are rotatably installed on the third mounting seat in parallel, a receiving rack is fixedly installed on one side of the two support shafts, a toothed rake is fixedly installed on the bottom of the receiving rack, and an electric hydraulic cylinder is fixedly installed between the fourth mounting seat and the receiving rack.

[0010] Preferably, a trapezoidal groove is formed in the third mounting seat, the fourth mounting seat is obliquely installed at the middle position of the rear side of the work table, and a baffle is installed on both sides of the receiving rack.

[0011] Preferably, the rubber pad group is enclosed by a plurality of rubber pads, and gaps are left between the rubber pads, and the blade group and the work table are separated by a circular plate.

[0012] Compared with the prior art, the utility model has the beneficial effects that:

[0013] 1) the weeding mechanism of the orchard weeding robot, the outer tube clamps the inner tube and the first buffer spring, and the outer tube is connected to the workbench and the tracked chassis through the inner support seat and the outer support seat, when the machine runs, the workbench swings in the tracked chassis under the action of the first buffer spring, and the front side of the workbench is provided with a roller, the roller supports the workbench, and the roller is always in contact with the ground, so that the workbench and the blade group always maintain a constant distance from the ground, thereby adapting the robot to complex terrain and carrying out comprehensive weeding.

[0014] 2) the weeding mechanism of the orchard weeding robot, the outer tube clamps the inner tube and the first buffer spring, and the outer tube is connected to the workbench and the tracked chassis through the inner support seat and the outer support seat, when the machine runs, the workbench swings in the tracked chassis under the action of the first buffer spring, and the front side of the workbench is provided with a roller, the roller supports the workbench, and the roller is always in contact with the ground, so that the workbench and the blade group always maintain a constant distance from the ground, thereby adapting the robot to complex terrain and carrying out comprehensive weeding. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic view of the weeding mechanism of the orchard weeding robot in the embodiment of the utility model;

[0016] Figure 2 It is a sectional structure schematic view of the buffer mechanism in the embodiment of the utility model;

[0017] Figure 3 It is a sectional structure schematic view of the buffer mechanism in the embodiment of the utility model; Figure 2 It is a sectional structure enlarged view of A in the embodiment of the utility model;

[0018] Figure 4 It is a sectional structure enlarged view of B in the embodiment of the utility model; Figure 2 It is a sectional structure enlarged view of B in the embodiment of the utility model;

[0019] Figure 5 It is a sectional structure schematic view of the weeding mechanism of the orchard weeding robot in the embodiment of the utility model;

[0020] In the drawing: 1, workbench; 2, tracked chassis; 3, driving motor; 4, blade group; 5, rubber pad group; 6, buffer mechanism; 601, first mounting seat; 602, inner support seat; 603, outer support seat; 604, rotating seat; 605, inner tube; 606, first buffer spring; 607, outer tube; 608, second mounting seat; 609, positioning sheet; 610, sliding seat; 611, second buffer spring; 612, roller; 7, gathering mechanism; 701, third mounting seat; 702, fourth mounting seat; 703, supporting shaft; 704, containing rack; 705, tooth harrow; 706, electric hydraulic cylinder. DETAILED DESCRIPTION

[0021] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0022] Embodiment one

[0023] In combination Figures 1-5 A fruit orchard weeding robot weeding mechanism, comprising a workbench 1 and a crawler chassis 2, a driving motor 3 is fixedly installed inside the workbench 1, a blade group 4 is fixedly installed on the output shaft of the driving motor 3, a rubber pad group 5 is fixedly installed outside the blade group 4, and a buffer mechanism 6 is arranged between the workbench 1 and the crawler chassis 2; the buffer mechanism 6 comprises two first mounting seats 601, two second mounting seats 608 and four outer support seats 603, two inner support seats 602 are fixedly installed side by side on one side of each of the two first mounting seats 601, the four outer support seats 603 are fixedly installed side by side on both sides of the crawler chassis 2 respectively, an inner tube 605 is fixedly installed on one end of each of the two side rotating seats 604, a first buffer spring 606 is fixedly installed between the two inner tubes 605, an outer tube 607 is sleeved and installed outside the two side rotating seats 604 and the first buffer spring 606, two second mounting seats 608 are fixedly installed side by side on the front side of the workbench 1, a positioning piece 609 is fixedly installed on one side of each of the two second mounting seats 608, a sliding seat 610 is slidingly installed between the second mounting seat 608 and the positioning piece 609, a second buffer spring 611 is fixedly installed between the sliding seat 610 and the second mounting seat 608, and a roller 612 is rotatably installed on one end of the sliding seat 610.

[0024] According to Figures 2-4 , it is further obtained that the two inner support seats 602 and the two outer support seats 603 are respectively installed equidistantly in the middle portions of the two sides of the workbench 1 and the crawler chassis 2, the outer tube 607 is installed obliquely between the inner support seat 602 and the outer support seat 603, a sliding groove is formed in one side of the second mounting seat 608, two square plates are fixedly installed side by side on one side of the sliding seat 610, the two square plates are located on the upper side and the lower side of the second mounting seat 608 respectively, and the second buffer spring 611 is connected with the sliding seat 610 through the square plates.

[0025] Specifically, the inner tube 605 and the first buffer spring 606 are clamped in the outer tube 607, and the outer tube 607 is connected to the workbench 1 and the tracked chassis 2 through the inner support seat 602 and the outer support seat 603. When the machine is running, the workbench 1 swings in the tracked chassis 2 under the action of the first buffer spring 606, and the front side of the workbench 1 is provided with a roller 612 which supports the workbench 1 and is always in contact with the ground, so that the workbench 1 and the blade group 4 always maintain a constant distance from the ground.

[0026] Embodiment two

[0027] In combination Figure 1 And Figure 5 The rear of the workbench 1 is provided with a gathering mechanism 7 which includes a third mounting seat 701 and a fourth mounting seat 702. Two support shafts 703 are parallelly and rotatably installed on the third mounting seat 701, a containing frame 704 is fixedly installed on one side of the two support shafts 703, a tooth rake 705 is fixedly installed on the bottom of the containing frame 704, and an electric hydraulic cylinder 706 is fixedly installed between the fourth mounting seat 702 and the containing frame 704.

[0028] Referring to Figure 5 And on the basis of embodiment one, it is further obtained that a trapezoidal groove is formed in the third mounting seat 701, the fourth mounting seat 702 is obliquely installed at the middle position of the rear side of the workbench 1, a partition plate is installed on each side of the containing frame 704, the rubber pad group 5 is enclosed by a plurality of rubber pads, and gaps are left between the rubber pads, and the blade group 4 is separated from the workbench 1 by a circular plate.

[0029] Specifically, the containing frame 704 is lifted or lowered by controlling the electric hydraulic cylinder 706. When the containing frame 704 is lowered, the tooth rake 705 is in contact with the ground and scrapes and gathers the weeds on the ground into the containing frame 704. When the containing frame 704 is full of weeds, the containing frame 704 is lifted by controlling the electric hydraulic cylinder 706, and the weeds in the containing frame 704 flow out through the gaps, thereby achieving the effect of gathering the weeds into a pile.

[0030] In actual operation, the inner tube 605 and the first buffer spring 606 are clamped in the outer tube 607, and the outer tube 607 is connected to the workbench 1 and the tracked chassis 2 through the inner support seat 602 and the outer support seat 603. When the machine is running, the workbench 1 swings in the tracked chassis 2 under the action of the first buffer spring 606, and the front side of the workbench 1 is provided with a roller 612 which supports the workbench 1 and is always in contact with the ground, so that the workbench 1 and the blade group 4 always maintain a constant distance from the ground;

[0031] The electric hydraulic cylinder 706 is controlled to lift or lower the storage rack 704, when the storage rack 704 is lowered, the tooth rake 705 is in contact with the ground and scrapes and gathers the weeds on the ground into the storage rack 704, when the storage rack 704 is full of weeds, the electric hydraulic cylinder 706 is controlled to lift the storage rack 704, at this time, the weeds in the storage rack 704 flow out from the gap, and the effect of gathering the weeds into a pile is realized.

[0032] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A fruit orchard weeding robot weeding mechanism, comprising a workbench (1) and a tracked chassis (2), a driving motor (3) is fixedly installed inside the workbench (1), a blade group (4) is fixedly installed on the output shaft of the driving motor (3), and a rubber pad group (5) is fixedly installed outside the blade group (4), characterized in that: The buffer mechanism (6) is arranged between the workbench (1) and the tracked chassis (2); The buffer mechanism (6) comprises two first mounting seats (601), two second mounting seats (608) and four outer support seats (603), two inner support seats (602) are fixedly installed side by side on one side of each of the two first mounting seats (601), four outer support seats (603) are fixedly installed side by side on the two sides of the tracked chassis (2) respectively, a rotating seat (604) is rotatably installed in the inner support seat (602) and the outer support seat (603), an inner tube (605) is fixedly installed on one end of each of the two rotating seats (604), a first buffer spring (606) is fixedly installed between the two inner tubes (605), an outer tube (607) is sleeved and installed outside the rotating seat (604) and the first buffer spring (606), two second mounting seats (608) are fixedly installed side by side on the front side of the workbench (1), a positioning piece (609) is fixedly installed on one side of each of the two second mounting seats (608), a sliding seat (610) is slidably installed between the second mounting seat (608) and the positioning piece (609), a second buffer spring (611) is fixedly installed between the sliding seat (610) and the second mounting seat (608), and a roller (612) is rotatably installed on one end of the sliding seat (610).

2. The weeding mechanism of the orchard weeding robot according to claim 1, wherein: The two inner support seats (602) and the two outer support seats (603) are equidistantly installed in the middle portions of the two sides of the workbench (1) and the tracked chassis (2) respectively, and the outer tube (607) is obliquely installed between the inner support seat (602) and the outer support seat (603).

3. The weeding mechanism of the orchard weeding robot according to claim 1, wherein: A sliding groove is formed in one side of the second mounting seat (608), two square plates are fixedly installed side by side on one side of the sliding seat (610), the two square plates are located on the upper side and the lower side of the second mounting seat (608), and the second buffer spring (611) is connected with the sliding seat (610) through the square plates.

4. The weeding mechanism of the orchard weeding robot according to claim 2, wherein: The rear portion of the workbench (1) is provided with a gathering mechanism (7), the gathering mechanism (7) comprises a third mounting seat (701) and a fourth mounting seat (702), two support shafts (703) are rotatably installed side by side on the third mounting seat (701), a containing frame (704) is fixedly installed on one side of each of the two support shafts (703), a tooth harrow (705) is fixedly installed on the bottom of the containing frame (704), and an electric hydraulic cylinder (706) is fixedly installed between the fourth mounting seat (702) and the containing frame (704).

5. The weeding mechanism of the orchard weeding robot according to claim 4, wherein: A trapezoidal groove is formed in the third mounting seat (701), the fourth mounting seat (702) is obliquely installed at the middle position of the rear side of the workbench (1), and a partition plate is installed on each of the two sides of the containing frame (704).

6. The weeding mechanism of the orchard weeding robot according to claim 5, wherein: The rubber pad group (5) is enclosed by a plurality of rubber pads, gaps are left between the rubber pads, and the blade group (4) is separated from the workbench (1) by a circular plate.

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