阅读说明：本技术 一种教学用旋转式除草机器人 (Rotary weeding robot for teaching ) 是由 赵立军 李强 吕程 王成琳 王孜涵 于洋 李春江 陈爽 林鹏程 罗天洪 李兆琰 于 2020-05-20 设计创作，主要内容包括：本发明公开了一种教学用旋转式除草机器人。该教学用旋转式除草机器人包括用于识别农作物的作物识别传感器和避障传感器,在结合传统的旋耕式除草机具有的优点下,还可以提高杂草的有效清除率、提升除草的准确性。除此之外,该教学用旋转式除草机器人的工作台一层和驱动台一层可插拔式连接,青少年用户可以通过拆卸组装以及编程控制的方式,以完成除草工作达到相关教学目的。(The invention discloses a rotary weeding robot for teaching. This rotation type weeding robot is used in teaching is including the crop identification sensor who is used for discerning crops and keeping away the barrier sensor, under the advantage that combines traditional rotary tillage formula weeder to have, can also improve ruderal effective clearance, promote the accuracy of weeding. In addition, the workbench layer and the driving platform layer of the rotary weeding robot for teaching can be connected in a pluggable manner, and teenager users can complete weeding work in a disassembling, assembling and programming control mode to achieve the related teaching purpose.)

1. The utility model provides a rotation type weeding robot for teaching which characterized in that includes: the workbench is detachably arranged on the driving platform through a plug-pull piece;

the drive assembly includes four wheels;

the workbench is provided with: a rotary weeding mechanism and a crop identification sensor;

the drive table orientation one side of workstation is provided with: a processor; one side of the driving platform, which is far away from the workbench, is provided with four driving motors, and each driving motor is fixed with a corresponding wheel;

detachably installs a plurality of obstacle avoidance sensor assemblies all around of driver's platform, every obstacle avoidance sensor assembly includes: an ultrasonic transmitter and an ultrasonic receiver;

the processor is respectively electrically connected with the rotary weeding mechanism, the crop identification sensor, the obstacle avoidance sensor and the driving motor.

2. The rotary teaching weeding robot according to claim 1,

the rotary weeding mechanism comprises: the weeding machine comprises a base, a mechanical arm and weeding equipment;

the base is fixed on the workbench through four copper columns;

the mechanical arm comprises a steering engine and a plurality of U-shaped supports which are sequentially hinged; the steering engine is rotationally fixed on the workbench; the plurality of U-shaped supports are fixed on the steering engine in an end-to-end manner.

3. The rotary teaching weeding robot according to claim 2,

the weeding apparatus includes: the cutting device comprises a rectangular baffle, a motor, a plurality of gear rods, a cutting blade, a motor transmission gear and a plurality of transmission gears;

the first side surface of the rectangular baffle is fixed with the U-shaped bracket;

a plurality of gear rods are arranged in the rectangular baffle in parallel, and a plurality of cutting blades are fixed on each gear rod in parallel;

a plurality of transmission gears are sequentially arranged along the second side surface of the rectangular baffle, the second side surface is perpendicular to the first side surface, and each transmission gear is correspondingly fixed on one gear rod;

the motor is fixed on the first side face, the motor transmission gear is fixed on the motor, and the plurality of transmission gears are sequentially in transmission connection with the motor transmission gear.

4. The rotary teaching weeding robot according to claim 1,

the crop recognition sensor includes: the device comprises a first support frame, a second support frame, a first laser transmitter, a second laser transmitter, a first laser receiver and a second laser receiver;

the first laser emitter and the second laser emitter are arranged on the first support frame; the first laser receiver and the second laser receiver are arranged on the second support frame; the first laser receiver and the second laser receiver are electrically connected with the processor respectively;

the first support frame and the second support frame are vertically fixed on the workbench.

5. The rotary teaching weeding robot according to claim 1,

the driving table comprises four edges, and one or more obstacle avoidance sensor assemblies are detachably mounted on each edge;

and the obstacle avoidance sensor assembly is vertically arranged to the edge of the driving table at an angle of 45 degrees with the edge of the driving table respectively.

6. A rotary teaching weeding robot according to any one of claims 1 to 5,

a storage battery assembly is arranged on one side, away from the workbench, of the driving platform; the storage battery assembly is electrically connected with the processor, the rotary weeding mechanism, the crop identification sensor, the obstacle avoidance sensor and the driving motor respectively.

Technical Field

The invention relates to the field of robots for teaching, in particular to a rotary weeding robot for teaching.

Background

At present, the teaching robot has various types, and most of the teaching robots adopt an integral structure which can not be disassembled so as to finish the educational purpose through programming education. The robot for teenager teaching in the market is mainly an assembled programmable robot, and can complete simple walking and action by controlling the operation of a motor through programming. In addition, other related educational tasks or educational content cannot be accomplished by adding or removing components.

Therefore, the teaching robot still leaves a gap in modularization.

Disclosure of Invention

The invention aims to provide a rotary weeding robot for teaching, wherein a workbench layer and a driving platform layer are connected in a pluggable manner, and teenager users can complete weeding work in a disassembling, assembling and programming control mode to achieve related education aims.

The embodiment of the invention is realized by the following steps:

the invention provides a rotary weeding robot for teaching, which comprises: the workbench is detachably arranged on the driving platform through a plug-pull piece;

the drive assembly includes four wheels;

the workbench is provided with: a rotary weeding mechanism and a crop identification sensor;

the drive table orientation one side of workstation is provided with: a processor; one side of the driving platform, which is far away from the workbench, is provided with four driving motors, and each driving motor is fixed with a corresponding wheel;

detachably installs a plurality of obstacle avoidance sensor assemblies all around of driver's platform, every obstacle avoidance sensor assembly includes: an ultrasonic transmitter and an ultrasonic receiver;

the processor is respectively electrically connected with the rotary weeding mechanism, the crop identification sensor, the obstacle avoidance sensor and the driving motor.

In an alternative embodiment of the invention, the rotary weeding mechanism comprises: the weeding machine comprises a base, a mechanical arm and weeding equipment; the base is fixed on the workbench through four copper columns; the mechanical arm comprises a steering engine and a plurality of U-shaped supports which are sequentially hinged; the steering engine is rotationally fixed on the workbench; the plurality of U-shaped supports are fixed on the steering engine in an end-to-end manner.

In an alternative embodiment of the invention, the weeding apparatus comprises: the cutting device comprises a rectangular baffle, a motor, a plurality of gear rods, a cutting blade, a motor transmission gear and a plurality of transmission gears; the first side surface of the rectangular baffle is fixed with the U-shaped bracket; a plurality of gear rods are arranged in the rectangular baffle in parallel, and a plurality of cutting blades are fixed on each gear rod in parallel; a plurality of transmission gears are sequentially arranged along the second side surface of the rectangular baffle, the second side surface is perpendicular to the first side surface, and each transmission gear is correspondingly fixed on one gear rod; the motor is fixed on the first side face, the motor transmission gear is fixed on the motor, and the plurality of transmission gears are sequentially arranged beside the motor gear.

In an alternative embodiment of the present invention, a crop identification sensor comprises: the device comprises a first support frame, a second support frame, a first laser transmitter, a second laser transmitter, a first laser receiver and a second laser receiver; the first laser emitter and the second laser emitter are arranged on the first support frame; the first laser receiver and the second laser receiver are arranged on the second support frame; the first laser receiver and the second laser receiver are electrically connected with the processor respectively; the first support frame and the second support frame are vertically fixed on the workbench.

In an optional embodiment of the present invention, the driving stage includes four edges, and each edge is detachably mounted with one or more obstacle avoidance sensor assemblies; and the obstacle avoidance sensor assembly is vertically arranged to the edge of the driving table at an angle of 45 degrees with the edge of the driving table respectively.

In an optional embodiment of the invention, a storage battery assembly is arranged on one side of the driving platform, which is far away from the workbench; the storage battery assembly is electrically connected with the processor, the rotary weeding mechanism, the crop identification sensor, the obstacle avoidance sensor and the driving motor respectively.

The invention discloses a rotary weeding robot for teaching. This rotation type weeding robot is used in teaching is including the crop identification sensor who is used for discerning crops and keeping away the barrier sensor, under the advantage that combines traditional rotary tillage formula weeder to have, can also improve ruderal effective clearance, promote the accuracy of weeding. In addition, this rotation type weeding robot is used in teaching's workstation one deck and drive table one deck pluggable connection, and detachably installs a plurality of obstacle avoidance sensor assembly around the drive table, and teenagers' user can keep away the mounted position of obstacle avoidance sensor assembly and should keep away the mounted position of obstacle sensor assembly and carry out obstacle avoidance programming control through free design, can independently explore multiple obstacle avoidance route and method to accomplish and keep away the obstacle and weed work and reach mechanical and programmed education purpose.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic structural view of a rotary weeding robot for teaching according to the present invention;

FIG. 2 is a schematic view of a rotary weeding mechanism of the rotary weeding robot for teaching in FIG. 1;

FIG. 3 is a schematic view of a gear lever of the rotary weeding robot for teaching in FIG. 1;

fig. 4 is a side view of the rotary weeding robot for teaching in fig. 1.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As shown in fig. 1 and 4, the present invention provides a rotary weeding robot for teaching, comprising: the device comprises a driving assembly 7, a workbench 9 and a driving platform 1, wherein the workbench 9 is detachably arranged on the driving platform 1 through a plug-pull piece;

the drive assembly 7 comprises four wheels;

the workbench 9 is provided with: a rotary weeding mechanism and a crop recognition sensor 6;

one side of the driving table 1 facing the worktable 9 is provided with: a processor 2; one side of the driving platform 1, which is far away from the workbench 9, is provided with four driving motors 11, and each driving motor 11 is fixed with a corresponding wheel;

detachably installs a plurality of obstacle avoidance sensor assembly 8 all around of drive table 1, and every obstacle avoidance sensor assembly 8 includes: an ultrasonic transmitter and an ultrasonic receiver;

the processor 2 is respectively and electrically connected with the rotary weeding mechanism, the crop identification sensor 6, the obstacle avoidance sensor assembly 8 and the driving motor 11.

It is understood that the rotary weeding robot for teaching includes the crop recognition sensor 6 for recognizing the crop and the obstacle avoidance sensor assembly 8. The crop identification sensor 6 can judge and distinguish crops and weeds through the height so as to avoid mistakenly damaging the crops; the obstacle avoidance sensor assembly 8 can prevent the rotary weeding robot for teaching from colliding with an obstacle to damage. Under the advantage that combines traditional rotary tillage formula weeder has, can also improve the effective clearance of weeds, promote the accuracy of weeding.

In addition, the workbench 9 layer and the driving platform 1 layer of the rotary weeding robot for teaching are connected in a pluggable manner, a plurality of obstacle avoidance sensor assemblies 8 are detachably mounted on the periphery of the driving platform 1, teenagers can freely design the mounting positions of the obstacle avoidance sensor assemblies 8 and cooperate with the mounting positions of the obstacle avoidance sensor assemblies 8 to carry out obstacle avoidance programming control, and can independently explore various obstacle avoidance paths and methods to complete obstacle avoidance and weeding work and achieve the mechanical and programming education purpose.

In an alternative embodiment of the present invention, as shown in fig. 2 and 3, a rotary weeding mechanism comprises: a base 9, a mechanical arm 4 and weeding equipment; the base 9 is fixed on the worktable 9 through four M3X 9 copper columns; the mechanical arm 4 comprises a steering engine 5 and a plurality of U-shaped supports which are sequentially hinged; the steering engine 5 is rotationally fixed on the workbench 9; a plurality of U type supports are connected end to end and are fixed in steering wheel 5. Wherein, first U type support is equipped with the hole that corresponds with steering wheel 5 size, first U type support afterbody and steering wheel 5 fixed connection, second U type support prelude and first U type support prelude fixed connection, third U type support and second U type support portion end connection, fourth support portion prelude and third U type support prelude are connected, fifth U type support afterbody and fourth U type support end connection, rectangle baffle 13 is equipped with the hole that equals with U type support size, fifth U type support portion prelude and rectangle baffle 13 prelude are connected.

As shown in fig. 2 and 3, in an alternative embodiment of the present invention, a weeding apparatus includes: a rectangular baffle 13, a motor 11, a plurality of gear rods 12, a cutting blade 14, a motor transmission gear 15 and a plurality of transmission gears 16; the first side surface of the rectangular baffle 13 is fixed with the U-shaped bracket; a plurality of gear rods 12 are arranged in parallel in the rectangular baffle 13, and a plurality of cutting blades 14 are fixed on each gear rod 12 in parallel; a plurality of transmission gears 16 are sequentially arranged along the second side surface of the rectangular baffle 13, the second side surface is vertical to the first side surface, and each transmission gear 16 is correspondingly fixed on one gear rod 12; the motor 11 is fixed on the first side, the motor transmission gear 15 is fixed on the motor 11, and the plurality of transmission gears 16 are sequentially in transmission connection with the motor transmission gear 15.

The motor 11 is connected with the motor transmission gear 15 in a transmission mode through a first hole in the left side of the rectangular baffle 13, the first transmission gear is fixed through a second hole in the left side of the rectangular baffle 13 and is connected with the motor transmission gear 15 in a transmission mode, the first gear rod is fixed through a third hole in the left side of the rectangular baffle 13, the gear portion of the first gear rod is connected with the first transmission gear in a transmission mode, and the tail end of the first gear rod is in contact fit with a first hole in the right end of the rectangular baffle 13. The second transmission gear is fixed through a fourth hole in the left side of the rectangular baffle 13, the second transmission gear is in transmission connection with the first gear rod, the second gear rod is fixed through a fifth hole in the left side of the rectangular baffle 13, a gear portion of the second gear rod is in transmission connection with the second transmission gear, the tail end of the second gear rod is in contact fit with a second hole in the right side of the rectangular baffle 13, the third transmission gear is fixed through a sixth hole in the left side of the rectangular baffle 13, the third transmission gear is in transmission connection with the second gear rod, the third gear rod is fixed through a seventh hole in the left side of the rectangular baffle 13, the gear portion of the third gear rod is in transmission connection with the third transmission gear, and the tail end of the third gear rod is in contact fit with a third hole.

In an alternative embodiment of the invention, the crop identification sensor 6 comprises: the device comprises a first support frame, a second support frame, a first laser transmitter, a second laser transmitter, a first laser receiver and a second laser receiver; the first laser emitter and the second laser emitter are arranged on the first support frame; the first laser receiver and the second laser receiver are arranged on the second support frame; the first laser receiver and the second laser receiver are respectively and electrically connected with the processor 2; the first support frame and the second support frame are vertically fixed on the workbench 9.

It is understood that the rotary weeding robot for teaching includes the crop recognition sensor 6 for recognizing the crop and the obstacle avoidance sensor assembly 8. The crop recognition sensor 6 can distinguish crops and weeds by height so as to avoid mistaken damage to the crops. Under the advantage that combines traditional rotary tillage formula weeder has, can also improve the effective clearance of weeds, promote the accuracy of weeding.

In an alternative embodiment of the present invention, the driving platform 1 includes four edges, and each edge is detachably mounted with one or more obstacle avoidance sensor assemblies 8; and the obstacle avoidance sensor assembly 8 is vertically installed to the edge of the driving table in an angle of 45 degrees with the edge of the driving table 1.

It is understood that the rotary weeding robot for teaching includes the crop recognition sensor 6 for recognizing the crop and the obstacle avoidance sensor assembly 8. The obstacle avoidance sensor assembly 8 can prevent the rotary weeding robot for teaching from colliding with an obstacle to damage. Under the advantage that combines traditional rotary tillage formula weeder has, can also improve the effective clearance of weeds, promote the accuracy of weeding.

In an alternative embodiment of the invention, the side of the driving platform 1 facing away from the workbench 9 is provided with a storage battery assembly 3; the storage battery component 3 is respectively and electrically connected with the processor 2, the rotary weeding mechanism, the crop identification sensor 6, the obstacle avoidance sensor component 8 and the driving motor 11.

The invention discloses a rotary weeding robot for teaching. This rotation type weeding robot is used in teaching is including the crop identification sensor 6 that is used for discerning crops and keep away barrier sensor assembly 8, under the advantage that combines traditional rotary tillage formula weeder to have, can also improve ruderal effective clearance, promote the accuracy of weeding. In addition, the working platform 9 layer and the driving platform 1 layer of the rotary weeding robot for teaching can be connected in a pluggable manner, and teenager users can complete weeding work in a disassembling, assembling and programming control mode to achieve the related education purpose.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.