A mechanical weeding robot for rice paddies

Abstract

A mechanical weeding robot for rice paddies belongs to the field of agricultural machinery technology. This invention solves the problem of existing mechanical weeding equipment for rice paddies having poor obstacle-crossing ability and being unable to move flexibly between rice paddies and ridges. It includes a frame, a walking component, an obstacle-crossing component, a weeding component, and a positioning and navigation device. The walking component is located at the bottom of the frame, the obstacle-crossing component at the front, the weeding component at the rear, and the positioning and navigation device at the top. This mechanical weeding robot has higher weeding efficiency, avoids crushing or damaging seedlings, and allows for flexible movement between rice paddies and ridges.

Description

Technical Field

[0001] This utility model relates to a mechanical weeding robot for rice paddies, belonging to the field of agricultural machinery technology. Background Technology

[0002] Rice, as a major food crop in my country, suffers from severe weed problems in paddy fields, significantly impacting its yield and quality. Currently, there are two main methods for weed control in paddy fields: manual physical weeding, which involves hiring people to shovel or dig weeds—a labor-intensive, costly, and inefficient method; and chemical weeding, which involves manual or drone spraying of pesticides—a more efficient method but also causing environmental pollution. Green agricultural products require less pesticide use, but this significantly reduces yield; while pesticide application can increase yield, it contradicts the "green" concept, thus lowering product value. Chemical weeding leads to pesticide residues and accumulation in the soil, disrupting the soil's ecological balance, harming soil health, and greatly affecting the sustainable development of agriculture.

[0003] To balance weeding efficiency, rice yield, and environmental friendliness, some mechanical weeding equipment has emerged on the market. However, most current equipment capable of mechanical weeding in rice paddies is complex in structure and large in size, resulting in poor mobility in muddy rice fields. Furthermore, due to the presence of ridges in rice paddies, most existing mechanical weeding equipment cannot traverse these ridges without external assistance, thus hindering their flexible movement between rice paddies and ridges. Therefore, there is an urgent need for a new type of mechanical weeding robot for rice paddies to solve these problems. Utility Model Content

[0004] The present invention aims to solve the above-mentioned technical problems and provide a mechanical weeding robot for paddy fields.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: A mechanical weeding robot for rice paddies includes a frame, a walking assembly, an obstacle-crossing assembly, a weeding assembly, and a positioning and navigation device. The traveling assembly is located at the bottom of the frame. The traveling assembly includes two parallel traveling mechanisms, each of which includes a horizontal spiral traveling wheel and a drive mechanism for controlling the rotation of the horizontal spiral traveling wheel. The obstacle-crossing assembly is located at the front end of the frame. The assembly includes two parallel obstacle-crossing mechanisms, each comprising an electric push rod, a mounting rod, and an obstacle-crossing wheel. The electric push rod is hinged to the upper part of the frame, one end of the mounting rod is hinged to the lower part of the frame, and the extended end of the electric push rod is hinged to the middle of the mounting rod. The obstacle-crossing wheel is rotatably mounted on the other end of the mounting rod and its rotation is controlled by a travel motor. The weeding assembly is located at the rear end of the frame, and includes at least two parallel weeding mechanisms. The positioning and navigation device is installed on the top of the frame and is connected to the walking component, obstacle crossing component and weeding component by signal.

[0006] Furthermore, the surface of the horizontal spiral traveling wheel is arranged with spiral blades, and the spiral directions of the two horizontal spiral traveling wheels are arranged in opposite directions.

[0007] Furthermore, the obstacle-crossing wheel includes a wheel body and several protrusions arranged circumferentially on the outer surface of the wheel body.

[0008] Furthermore, the weeding mechanism includes a weeding motor, a weeding head, and a mounting frame. The weeding motor is fixedly mounted to the rear end of the frame via the mounting frame, and the weeding head is fixedly mounted to the output end of the weeding motor.

[0009] Furthermore, the weeding head has a gradually widening structure from top to bottom, and a threaded shaft is coaxially fixed on the output shaft of the weeding motor. The mounting bracket is an L-shaped plate, with its upper vertical plate fixed to the frame. The lower horizontal plate of the mounting bracket, the flange, and the weeding head are sequentially mounted on the threaded shaft from top to bottom, and are locked by anti-loosening nuts.

[0010] Furthermore, the positioning and navigation device is a depth camera.

[0011] Furthermore, the drive mechanism is fixed at the bottom of the frame, one end of the horizontal spiral wheel is connected to the output end of the drive mechanism through a gear transmission assembly, and the central axis of the horizontal spiral wheel is set lower than the central axis of the output shaft of the drive mechanism. The other end of the horizontal spiral wheel is rotatably connected to the bottom of the frame.

[0012] Furthermore, the gear transmission assembly includes a driving gear, a driven gear, and a gearbox, wherein the driving gear is fixedly mounted on the output shaft of the drive mechanism via a motor flange shaft, the driven gear is mounted on the rear end of the horizontal spiral traveling wheel via a connecting shaft, and the connecting shaft and the gearbox are rotatably connected via bearings.

[0013] Furthermore, the driving gear and the driven gear have the same structure and dimensions.

[0014] Furthermore, the number of weeding mechanisms is three, arranged side by side along the width of the frame.

[0015] Compared with the prior art, the present invention has the following advantages: This utility model discloses a mechanical weeding robot for paddy fields. It utilizes a weeding component to remove weeds physically, reducing harm to the environment and crops while effectively improving weeding efficiency and significantly reducing labor burden. A walking component enables the robot to move through muddy paddy fields; an obstacle-crossing component helps the robot traverse field ridges, allowing for flexible movement between paddy fields and ridges; and a positioning and navigation device monitors the robot's path and paddy field conditions in real time, ensuring the robot's straight-line movement, obstacle avoidance, positioning, and tracking, thereby maintaining the robot's walking posture within the paddy field and preventing damage to seedlings.

[0016] This utility model relates to a mechanical weeding robot for paddy fields, which is an automated and intelligent agricultural equipment. It uses mechanized physical weeding methods to solve the problems of low efficiency of manual weeding and environmental pollution caused by pesticide weeding in traditional rice cultivation, thus promoting sustainable agricultural development. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the obstacle-crossing mechanism; Figure 3 This is a three-dimensional structural diagram of a weeding mechanism; Figure 4 A schematic diagram of the connection structure between the drive mechanism and one end of the horizontal spiral traveling wheel; Figure 5 This is a schematic diagram of the connection structure between the other end of the horizontal spiral traveling wheel and the frame.

[0018] In the picture: 1. Frame; 2. Walking mechanism; 21. Horizontal spiral walking wheel; 22. Drive mechanism; 23. End cover shaft; 24. Motor cover; 25. Driving gear; 26. Driven gear; 27. Gearbox; 28. Motor flange shaft; 29. ​​Connecting shaft; 30. Gearbox end cover; 3. Obstacle crossing mechanism; 31. Electric push rod; 32. Mounting rod; 33. Obstacle crossing wheel; 331. Wheel body; 332. Protrusion; 34. Walking motor; 4. Weeding mechanism; 41. Weeding motor; 42. Weeding head; 43. Mounting frame; 44. Threaded shaft; 45. Flange; 46. Anti-loosening nut; 47. Pressure plate; 48. Bushing; 5. Positioning and navigation device. Detailed Implementation

[0019] Specific implementation method one: Combining Figures 1-5This description aims to clearly and completely describe the technical solutions in this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] It should be noted that the descriptions of "front," "rear," "left," "right," "inner," "outer," "left side," "right side," "upper part," "lower part," "top," and "bottom" in this utility model are defined based on the orientation or positional relationships shown in the accompanying drawings. They are merely for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the described structure must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0021] In the description of this utility model, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] A mechanical weeding robot for rice paddies includes a frame 1, a walking assembly, an obstacle-crossing assembly, a weeding assembly, and a positioning and navigation device 5. The traveling assembly is located at the bottom of the frame 1. The traveling assembly includes two parallel traveling mechanisms 2. Each traveling mechanism 2 includes a horizontal spiral traveling wheel 21 and a drive mechanism 22 for controlling the rotation of the horizontal spiral traveling wheel 21. The obstacle-crossing assembly is located at the front end of the frame 1. The assembly includes two parallel obstacle-crossing mechanisms 3. Each mechanism 3 includes an electric push rod 31, a mounting rod 32, and an obstacle-crossing wheel 33. The electric push rod 31 is hinged to the upper part of the frame 1, one end of the mounting rod 32 is hinged to the lower part of the frame 1, and the extended end of the electric push rod 31 is hinged to the middle of the mounting rod 32. The obstacle-crossing wheel 33 is rotatably mounted on the other end of the mounting rod 32 and its rotation is controlled by a travel motor 34. The weeding assembly is located at the rear end of the frame 1, and includes at least two parallel weeding mechanisms 4. The positioning and navigation device 5 is installed on the top of the frame 1, and the positioning and navigation device 5 is connected to the walking component, the obstacle crossing component and the weeding component respectively.

[0023] Two horizontal spiral wheels 21 are arranged parallel to each other, with their axes parallel to the robot's forward direction. The rotation of the horizontal spiral wheels 21 is controlled by a drive mechanism 22. Due to the special conditions of the paddy field surface—a mixture of water and mud that is viscous—the horizontal spiral wheels 21 are chosen instead of ordinary wheels to ensure better robot movement. The drive mechanism 22 is a drive motor.

[0024] The walking components are equipped with waterproof protection to make them suitable for working environments in paddy fields.

[0025] The weeding mechanism 4 adopts a non-discriminatory weeding method. The robot mainly relies on the positioning and navigation device 5 to visually identify and extract navigation lines to ensure that it does not crush the rice when walking between rice rows. When the walking mechanism 2 is located between rice rows, the weeding component is also located between rice rows. Thus, when the robot can walk accurately without crushing the rice, it can simultaneously remove weeds between the rows.

[0026] Hinges are installed at the middle of the mounting rod 32 and at the front end of the frame 1, respectively, to realize the hinge between the electric push rod 31 and the mounting rod 32, the hinge between the electric push rod 31 and the frame 1, and the hinge between the mounting rod 32 and the frame 1.

[0027] The electric push rod 31 controls the raising and lowering of the mounting rod 32, which in turn controls the raising and lowering of the obstacle-crossing wheel 33. When the robot is walking or weeding in the field, the electric push rod 31 is in the retracted position, and the obstacle-crossing wheel 33 is raised off the ground, which does not hinder the normal operation of the robot. When the robot reaches the ridge and needs to climb over a slope or overcome an obstacle, the electric push rod 31 extends, controls the obstacle-crossing wheel 33 to fall, and at the same time starts the walking motor 34 to assist the robot in climbing the ridge, so as to realize the robot's flexible movement.

[0028] The positioning and navigation device 5 can acquire color images and use infrared light to acquire depth images to detect the road conditions ahead of the robot. It extracts navigation lines based on rice seedlings and determines the deviation between the robot's current posture and the extracted navigation lines. The industrial control computer reads the deviation and transmits it to the control system, enabling the robot to avoid obstacles while driving in the rice paddy. By comprehensively utilizing the Beidou navigation module, collaborative communication module, and positioning system, precise control of the robot's speed and position is achieved, along with real-time tracking of its trajectory and posture. The specific structure and working principle of the positioning and navigation device 5 used in this invention are existing technologies and will not be described in detail here.

[0029] This utility model discloses a mechanical weeding robot for paddy fields. It utilizes physical weeding methods through its weeding components, reducing harm to the environment and crops while effectively improving weeding efficiency and significantly reducing labor burden. During operation, the positioning and navigation device 5 observes the rice paddy conditions, extracts navigation lines, and calculates real-time deviations. This deviation information is transmitted to the control system, which issues commands. The robot then uses its walking component to navigate through the muddy paddy field, adjusting its speed and direction in real time. An obstacle-crossing component helps the robot traverse paddy field ridges, enabling flexible movement between paddy fields and ridges. The positioning and navigation device 5 monitors the robot's path and paddy field conditions in real time, ensuring straight-line movement, obstacle avoidance, positioning, and tracking, thereby maintaining the robot's walking posture within the paddy field and preventing damage to seedlings.

[0030] This utility model relates to a mechanical weeding robot for paddy fields, which is an automated and intelligent agricultural equipment. It uses mechanized physical weeding methods to solve the problems of low efficiency of manual weeding and environmental pollution caused by pesticide weeding in traditional rice cultivation, thus promoting sustainable agricultural development.

[0031] The surface of the horizontal spiral wheel 21 is arranged with spiral blades, and the two horizontal spiral wheels 21 are arranged with opposite spiral directions. This design further ensures that the robot can achieve straight-line movement.

[0032] The obstacle-crossing wheel 33 includes a wheel body 331 and a plurality of protrusions 332 arranged circumferentially on the outer surface of the wheel body 331. With this design, the wheel body 331 is a conventional wheel structure, and the plurality of protrusions 332 are preferably evenly distributed on the outer surface of the wheel body 331. By setting the plurality of protrusions 332, the grip of the obstacle-crossing wheel 33 is increased, and the obstacle-crossing performance of the robot is further improved.

[0033] The weeding mechanism 4 includes a weeding motor 41, a weeding head 42, and a mounting frame 43. The weeding motor 41 is fixedly mounted to the rear end of the frame 1 via the mounting frame 43, and the weeding head 42 is fixedly mounted to the output end of the weeding motor 41. With this design, the weeding motor 41 is a waterproof and dustproof DC motor.

[0034] The weeding head 42 has a gradually widening structure from top to bottom. A threaded shaft 44 is coaxially fixed to the output shaft of the weeding motor 41. The mounting bracket 43 is an L-shaped plate, with its upper vertical plate fixed to the frame 1. The lower horizontal plate of the mounting bracket 43, the flange 45, and the weeding head 42 are sequentially mounted on the threaded shaft 44 from top to bottom, and are locked by a lock nut 46. With this design, the weeding head 42 has a similar trumpet-shaped structure, with a mounting hole at the top for connecting to the threaded shaft 44. The lower horizontal plate of the L-shaped plate passes through the threaded shaft 44 between the fixed end of the weeding motor 41 and the flange 45, and is locked by the lock nut 46, achieving a stable connection between the weeding motor 41 and the mounting bracket 43, and between the weeding head 42 and the weeding motor 41. A pressure plate 47 is also provided between the lock nut 46 and the weeding head 42 to further ensure connection stability. A bushing 48 is also installed between the flange 45 and the threaded shaft 44.

[0035] The positioning and navigation device 5 is a depth camera.

[0036] The drive mechanism 22 is fixedly mounted at the bottom of the frame 1. One end of the horizontal spiral wheel 21 is connected to the output end of the drive mechanism 22 via a gear transmission assembly, and the central axis of the horizontal spiral wheel 21 is set lower than the central axis of the output shaft of the drive mechanism 22. The other end of the horizontal spiral wheel 21 is rotatably connected to the bottom of the frame 1. This design, by setting the central axis of the horizontal spiral wheel 21 lower than the central axis of the output shaft of the drive mechanism 22 through the gear transmission assembly, ensures that the drive mechanism 22 will not get stuck in the paddy field mud during the robot's movement. The other end of the horizontal spiral wheel 21 is connected to the bottom of the frame 1 via a flange bearing and an end cover shaft 23, which is connected to the frame 1 by bolts.

[0037] The gear transmission assembly includes a driving gear 25, a driven gear 26, and a gearbox 27. The driving gear 25 is fixed to the output shaft of the drive mechanism 22 via a motor flange shaft 28. The driven gear 26 is mounted on the rear end of the horizontal spiral wheel 21 via a connecting shaft 29. The connecting shaft 29 and the gearbox 27 are rotatably connected via bearings. In this design, the connecting shaft 29 is a short shaft, connected to the horizontal spiral wheel 21 via a key. Oil seals with skeletons are provided on both sides of the bearing. The gearbox 27 is welded to the frame 1. The outer ring of the drive mechanism 22 is fixedly connected to the gearbox end cover 30 with bolts, serving as the fixed end of the drive mechanism 22. The motor flange shaft 28 is fixedly connected to the inner ring of the drive mechanism 22 with bolts, serving as the output end of the drive mechanism 22, and is equipped with a flange bearing and a skeleton oil seal that cooperate with the gearbox end cover 30. A motor cover 24 is added to the outside of the drive mechanism 22 to prevent damage from water. The motor cover 24, the gearbox end cover 30, and the gearbox 27 are fixed together with bolts.

[0038] The driving gear 25 and the driven gear 26 have the same structure and dimensions. This design allows for shaft shifting via a pair of 1:1 gears.

[0039] The number of weeding mechanisms 4 is three, arranged side by side along the width of the frame 1. This design enables better weeding between rice rows.

[0040] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A mechanical weeding robot for a rice field, characterized by: It includes a frame (1), a walking assembly, an obstacle-crossing assembly, a weeding assembly, and a positioning and navigation device (5), wherein, The walking assembly is located at the bottom of the frame (1). The walking assembly includes two parallel walking mechanisms (2). Each walking mechanism (2) includes a horizontal spiral walking wheel (21) and a drive mechanism (22) for controlling the rotation of the horizontal spiral walking wheel (21). The obstacle-crossing assembly is located at the front end of the frame (1). The obstacle-crossing assembly includes two parallel obstacle-crossing mechanisms (3). Each obstacle-crossing mechanism (3) includes an electric push rod (31), a mounting rod (32), and an obstacle-crossing wheel (33). The electric push rod (31) is hinged to the upper part of the frame (1), one end of the mounting rod (32) is hinged to the lower part of the frame (1), and the extended end of the electric push rod (31) is hinged to the middle of the mounting rod (32). The obstacle-crossing wheel (33) is rotatably mounted on the other end of the mounting rod (32) and its rotation is controlled by a walking motor (34). The weeding assembly is located at the rear end of the frame (1) and includes at least two parallel weeding mechanisms (4). The positioning and navigation device (5) is installed on the top of the frame (1), and the positioning and navigation device (5) is connected to the walking component, the obstacle crossing component and the weeding component respectively.

2. The mechanical weeding robot for rice fields according to claim 1, characterized in that: The surface of the horizontal spiral traveling wheel (21) is arranged with spiral blades, and the spiral directions of the two horizontal spiral traveling wheels (21) are arranged in opposite directions.

3. The mechanical weeding robot for rice fields according to claim 1, characterized in that: The obstacle-crossing wheel (33) includes a wheel body (331) and a number of protrusions (332) arranged circumferentially on the outer surface of the wheel body (331).

4. The mechanical weeding robot for rice fields according to claim 1, characterized in that: The weeding mechanism (4) includes a weeding motor (41), a weeding head (42) and a mounting frame (43). The weeding motor (41) is fixed to the rear end of the frame (1) by the mounting frame (43), and the weeding head (42) is fixed to the output end of the weeding motor (41).

5. The mechanical weeding robot for rice fields according to claim 4, characterized in that: The weeding head (42) has a gradually widening structure from top to bottom. A threaded shaft (44) is coaxially fixed on the output shaft of the weeding motor (41). The mounting bracket (43) is an L-shaped plate with its upper vertical plate fixed to the frame (1). The lower horizontal plate of the mounting bracket (43), the flange (45) and the weeding head (42) are sequentially mounted on the threaded shaft (44) from top to bottom, and are locked by anti-loosening nuts (46).

6. The mechanical weeding robot for rice fields according to claim 1, characterized in that: The positioning and navigation device (5) is a depth camera.

7. A mechanical weeding robot for paddy fields according to claim 1, characterized in that: The drive mechanism (22) is fixed at the bottom of the frame (1). One end of the horizontal spiral wheel (21) is connected to the output end of the drive mechanism (22) through a gear transmission assembly. The central axis of the horizontal spiral wheel (21) is set lower than the central axis of the output shaft of the drive mechanism (22). The other end of the horizontal spiral wheel (21) is rotatably connected to the bottom of the frame (1).

8. A mechanical weeding robot for paddy fields according to claim 7, characterized in that: The gear transmission assembly includes a driving gear (25), a driven gear (26), and a gearbox (27). The driving gear (25) is fixed on the output shaft of the drive mechanism (22) via a motor flange shaft (28). The driven gear (26) is mounted on the rear end of the horizontal spiral traveling wheel (21) via a connecting shaft (29). The connecting shaft (29) and the gearbox (27) are rotatably connected by bearings.

9. A mechanical weeding robot for paddy fields according to claim 8, characterized in that: The driving gear (25) and the driven gear (26) have the same structure and size.

10. A mechanical weeding robot for paddy fields according to claim 1, characterized in that: The number of weeding mechanisms (4) is three, and they are arranged side by side along the width of the frame (1).

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