CN107306928A - A kind of Multifunctional garden plant maintenance robot - Google Patents
A kind of Multifunctional garden plant maintenance robot Download PDFInfo
- Publication number
- CN107306928A CN107306928A CN201710625798.2A CN201710625798A CN107306928A CN 107306928 A CN107306928 A CN 107306928A CN 201710625798 A CN201710625798 A CN 201710625798A CN 107306928 A CN107306928 A CN 107306928A
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- China
- Prior art keywords
- fixedly mounted
- motor
- machined
- boss
- hole
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Abstract
The present invention provides a kind of Multifunctional garden plant maintenance robot, including chassis, electric rotating machine, placement flat board, front-wheel, multiple degrees of freedom spray unit etc., chassis is rectangle structure, a circular hole is machined with the middle of placement flat board, by its horizontal positioned and is fixedly mounted on the upside of two front boss on chassis；Electric rotating machine is placed straight up, and its motor shaft is through the circular hole in the middle of placement flat board and is fixedly mounted on the downside of placement flat board；The present invention is by integrated multivariant series connection spray unit and spray unit in parallel, while different types of vegetation is taken into account, being capable of the carry out herbal sprinkling work without dead angle；The design of integrated form is used in end so that robot possesses more powerful function.
Description
Technical field
The present invention relates to garden equipment technical field, more particularly to a kind of Multifunctional garden plant maintenance robot.
Background technology
With requirement more and more higher of the people for environment, the newly-built many botanical gardens in many cities and incity health support public affairs
Garden.In these vegetation more intensive place, how the problem of just can not be ignored into one is conserved to green plant progress.Due to treating
The green plant area safeguarded is very big, and only relying on the maintenance work for being manually difficult to efficiently complete green plant, therefore need one kind badly to replace
Generation or indirect labor carry out the green equipment for planting maintenance.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of Multifunctional garden plant maintenance robot, the present invention is by integrated more
The series connection spray unit of the free degree and spray unit in parallel, it is one high and one low, while different types of vegetation is taken into account, can be without dead
The carry out herbal sprinkling work at angle；The design of integrated form is used in end so that robot possesses more powerful function.
Technical scheme used in the present invention is：A kind of Multifunctional garden plant maintenance robot, including chassis, electric rotating
Machine, placement flat board, front-wheel, multiple degrees of freedom spray unit, the first water pump, medicine-chest, spray unit in parallel, connecting rod, steering mechanism,
Second water pump, electric cabinet, steering motor, it is characterised in that：Described chassis is in the middle of rectangle structure, described placement flat board
A circular hole is machined with, by its horizontal positioned and is fixedly mounted on the upside of two front boss on chassis；Described electric rotating machine is erected
Straight to place upwards, its motor shaft is through the circular hole in the middle of placement flat board and is fixedly mounted on the downside of placement flat board, two other rotation
Rotating motor horizontal positioned is simultaneously respectively and fixedly installed in the mounting hole of front boss；Described front-wheel is respectively and fixedly installed to left and right two
On the motor shaft of individual electric rotating machine；Described multiple degrees of freedom spray unit is fixedly mounted on the downside of placement flat board by its pedestal
On the motor shaft of electric rotating machine；The first described water pump and the second water pump horizontal positioned, are respectively and fixedly installed to the support on chassis
Inner side；Described medicine-chest horizontal positioned is simultaneously fixedly mounted on the upside of support；Described spray unit in parallel is fixed by connecting rod
Connection hole installed in chassis；Described steering mechanism is rotatably connected on the bearing pin on chassis by turning to swing arm；Described
Electric cabinet is fixedly mounted on the centre position on chassis；Described steering motor is fixedly mounted on to place straight down and is fixedly mounted on
At the round tube hole on chassis；
Described chassis includes bottom plate, front boss, rear boss, support, round tube hole, connecting hole, bearing pin, and described bottom plate is rectangular
Shape structure；Described front boss is placed and is respectively symmetrically fixedly mounted on the front side of bottom plate vertically；Described rear boss level is consolidated
Dingan County is mounted in the rear side of bottom plate；Described bearing pin is placed and is respectively and fixedly installed to the downside of rear boss vertically；Described support
Vertical place respectively symmetrically is fixedly mounted on bottom plate both sides；Between described round tube hole processing in the bracket；Described connecting hole point
Do not process on the both sides of floor rear；
Described arm includes pedestal, the first large arm, the second large arm, forearm, extension rod motor, wrist rear end, combined type end
It is a disk on the downside of actuator, front camera, shoulder motor, ancon motor, parallel institution, described pedestal, in disk
Upside be machined with two installation bases；Described shoulder motor horizontal positioned is simultaneously fixedly mounted on the inside of the boss of pedestal；Institute
The first large arm stated is U-shaped structure, and the side that is open is placed downwards and is fixedly mounted on the motor shaft of shoulder motor；It is described
Parallel institution lower platform be fixedly mounted on the upper end of the first large arm；The second described large arm is identical with the first big arm configuration, will
Place and be fixedly mounted on the upper mounting plate of parallel institution straight up in its side that is open；Described forearm one end is machined with one
Square plate, described ancon motor horizontal positioned is simultaneously fixedly mounted on the inside of forearm, and its motor shaft is fixedly mounted on second largest
On arm；Described extension rod motor horizontal positioned is simultaneously fixedly mounted on the square plate of forearm；Described wrist rear end is circle
On the outside of tubular structure, the motor shaft for being sleeved on extension rod motor；Described front camera is installed on the upside of forearm；Institute
The combined type end effector of category is fixedly mounted on the motor shaft of extension rod motor；
Described combined type end effector includes end connecting plate, sprinkling module, pruning module, sawing module, rotary electric machine,
Described end connecting plate is star structure, there is three installation sites；Described rotary electric machine is respectively and fixedly installed to end company
On the downside of three branches of fishplate bar；Described sprinkling module is fixedly mounted on the motor shaft of rotary electric machine by spraying base；Institute
The pruning module stated is fixedly mounted on the motor shaft of rotary electric machine by beta pruning base；Described sawing module passes through sawing bottom
Seat is rotatably installed on the motor shaft of rotary electric machine；
Described sprinkling module includes sprinkling base, the first rotating seat, first jet, the first motor, described sprinkling bottom
Seat is L-shaped structure, and disc side, which is machined with the middle of a cylinder boss, boss, is machined with a through hole；The first described rotation
Seat is cylindrical structure, and there is a through hole axis, and periphery is machined with a cylinder boss；The first described motor level
Placement is fixedly mounted on sprinkling base side；The first described rotating seat is fixedly mounted on the motor shaft of the first motor；
Described first jet is fixedly mounted on the cylinder boss of the first rotating seat；
Described pruning module includes beta pruning base, the second rotating seat, the second motor, electric cylinders, pin, the first scissors, the
Two scissors, described beta pruning base is rectangular flat plate structure, and downside is machined with a round boss, and upside is machined with two peaces
Fill boss；Described the second motor horizontal positioned is simultaneously fixedly mounted on installation base；The second described rotating seat is circle
Column construction, is fixed on the motor shaft of the second motor；One is machined with the handle of a knife of the second described scissors
Individual square boss, the second described scissors is fixedly mounted on the second rotating seat；Described electric cylinders level places to the right fixation
In square boss；Oval hole slot is machined with the first described scissors handle of a knife, the first described scissors is rotatablely installed
On the second scissors；Described pin is installed on the extension bar of electric cylinders, and is slidably mounted on the oval hole slot of the first scissors
Place；
Described sawing module includes sawing base, the 3rd motor, saw disc, saw disc motor, the 3rd rotating seat, described saw
Cut understructure identical with the structure of beta pruning base；The 3rd described motor horizontal positioned is fixedly mounted on sawing module
On installation base；The 3rd described rotating seat main body is cylindrical structure, and periphery is machined with a stock；Described saw disc electricity
Machine is fixedly mounted on the stock of the 3rd rotating seat；Described saw disc is fixedly mounted on the motor shaft of saw disc motor；
Described spray unit in parallel includes connecting plate, nozzle in parallel, rear camera, and described connecting plate is the flat of flexibility
Hardened structure；Described nozzle in parallel is respectively and fixedly installed on the downside of connecting plate；Described rear camera is fixedly mounted on backwards
On the upside of connecting plate；
Described steering mechanism includes trailing wheel, turns to swing arm, connecting rod, crank, and described trailing wheel is rotatably installed in by axletree
Turn in swing arm；Steering swing arm is figure six structure, and circular portion has a through hole, and it is rotatably installed in bottom respectively by through hole
On two bearing pins of disk；Described connecting rod is uniformly machined with three through holes, and it is rotatably installed in respectively by the through hole at two ends
Turn in swing arm；Described crank one end is fixedly mounted on the motor shaft of steering motor, and the other end is rotated by an axle pacifies
On connecting rod；
Described nozzle in parallel includes upper mounting plate, electric cylinders set, electric cylinders bar, lower platform, second nozzle, described upper mounting plate and lower flat
Platform is cirque structure, and inner side is machined with three pairs of spherical free bearings；Described electric cylinders set sealing one end is machined with a ball, institute
The three pairs of electric cylinders set stated is rotatably installed in the spherical free bearing of upper mounting plate by ball respectively, constitutes ball pivot；Described electric cylinders bar
It is slidably mounted on respectively in electric cylinders set, the other end is machined with ball, and described electric cylinders bar is rotatably installed in lower platform by ball
The spherical free bearing of correspondence in；Described second nozzle is fixedly mounted at the hole in the middle of lower platform.
Further, the parallel institution structure of the parallel institution structure of described nozzle in parallel and multiple degrees of freedom spray unit
It is identical.
Further, the first described water pump and the second water pump are connected with first jet and second nozzle respectively.
Beneficial effect of the present invention：
1. the present invention is by integrated multivariant series connection spray unit and spray unit in parallel, while taking into account different type
Vegetation, being capable of the carry out herbal sprinkling work without dead angle.
2. the present invention passes through in design of the end using integrated form so that robot possesses more powerful function.
Brief description of the drawings
Fig. 1, Fig. 2, Fig. 3 are overall structure diagram of the invention.
Fig. 4 is chassis part structural representation of the invention.
Fig. 5, Fig. 6 are multiple degrees of freedom spray unit modular construction schematic diagram of the present invention.
Fig. 7 is combined type end effector member structural representation of the present invention.
Fig. 8 is sprinkling module modular construction schematic diagram of the present invention.
Fig. 9 is pruning module modular construction schematic diagram of the present invention.
Figure 10 is sawing modular unit structural representation of the present invention.
Figure 11 is the structural representation of present invention jet element in parallel.
Drawing reference numeral：1- chassis；2- electric rotating machines；3- disposes flat board；4- front-wheels；5- multiple degrees of freedom spray units；6-
One water pump；7- medicine-chests；8- parallel connection spray units；9- connecting rods；10- steering mechanism；The water pumps of 11- second；12- electric cabinets；13- turns
To motor；101- bottom plates；102- front boss；103- rear boss；104- supports；105- round tube holes；106- connecting holes；107- sells
Axle；501- pedestals；The large arm of 502- first；The large arm of 503- second；504- forearms；505- extension rod motors；506- wrists rear end；
507- combined type end effectors；510- front cameras；512- shoulder motors；513- ancon motors；801- connecting plates；802-
Nozzle in parallel；803- rear cameras；1001- trailing wheels；1002- turns to swing arm；1003- connecting rods；1004- cranks；50701- ends
Hold connecting plate；50702- sprinkling modules；50703- pruning modules；50704- sawing modules；50705- rotary electric machines；50702A-
Spray base；The rotating seats of 50702B- first；50702C- first jets；The motors of 50702D- first；50703A- beta prunings bottom
Seat；The rotating seats of 50703B- second；The motors of 50703C- second；50703D- electric cylinders；50703E- pins；50703F- first
Scissors；The scissors of 50703G- second；50704A- sawing bases；The motors of 50704B- the 3rd；50704C- saw discs；50704D-
Saw disc motor；The rotating seats of 50704E- the 3rd；80201- upper mounting plates；80202- electric cylinders sets；80203- electric cylinders bars；Put down under 80204-
Platform；80205- second nozzles.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1 to 11, a kind of Multifunctional garden plant maintenance robot, including chassis 1, electric rotating machine 2, placement flat board
3rd, front-wheel 4, multiple degrees of freedom spray unit 5, the first water pump 6, medicine-chest 7, spray unit 8 in parallel, connecting rod 9, steering mechanism 10, the
Two water pumps 11, electric cabinet 12, steering motor 13, it is characterised in that：Described chassis 1 is rectangle structure, and described placement is put down
A circular hole is machined with the middle of plate 3, by its horizontal positioned and the upside of two front boss 102 on chassis 1 is fixedly mounted on；Described
Electric rotating machine 2 is placed straight up, and its motor shaft is through the circular hole in the middle of placement flat board 3 and is fixedly mounted under placement flat board 3
Side, two other horizontal positioned of electric rotating machine 2 is simultaneously respectively and fixedly installed in the mounting hole of front boss 102；4 points of described front-wheel
On the motor shaft for not being fixedly mounted on two electric rotating machines 2 in left and right；Described multiple degrees of freedom spray unit 5 passes through its pedestal 501
On the motor shaft for being fixedly mounted on the electric rotating machine 2 of the downside of placement flat board 3；The first described water pump 6 and the level of the second water pump 11
Place, be respectively and fixedly installed to the inner side of support 104 on chassis 1；The described horizontal positioned of medicine-chest 7 is simultaneously fixedly mounted on support 104
Upside；Described spray unit in parallel 8 is fixedly mounted at the connecting hole 106 on chassis 1 by connecting rod 9；Described steering machine
Structure 10 is rotatably connected on the bearing pin 107 on chassis 1 by turning to swing arm 1002；Described electric cabinet 12 is fixedly mounted on chassis 1
Centre position；Described steering motor 13 is fixedly mounted on the round tube hole 105 placed be fixedly mounted on chassis 1 straight down
Place；
Described chassis 1 includes bottom plate 101, front boss 102, rear boss 103, support 104, round tube hole 105, connecting hole 106, pin
Axle 107, described bottom plate 101 is rectangle structure；Described front boss 102 is placed and is respectively symmetrically fixedly mounted on bottom vertically
The front side of plate 101；The described level of rear boss 103 is fixedly mounted on the rear side of bottom plate 101；Described bearing pin 107 is placed vertically
And it is respectively and fixedly installed to the downside of rear boss 103；Described support 104 is placed respectively symmetrically be fixedly mounted on bottom plate vertically
101 both sides；Described round tube hole 105 is processed in the middle of support 104；Described connecting hole 106 is processed in the rear side of bottom plate 101 respectively
Both sides；
Described arm includes pedestal 501, the first large arm 502, the second large arm 503, forearm 504, extension rod motor 505, wrist
Rear end 506, combined type end effector 507, front camera 510, shoulder motor 512, ancon motor 513, parallel institution, institute
The downside of pedestal 501 stated is a disk, and two installation bases are machined with the upside of disk；The described water of shoulder motor 512
Placing flat is simultaneously fixedly mounted on the inside of the boss of pedestal 501；The first described large arm 502 is U-shaped structure, is open one lateral
It is lower to place and be fixedly mounted on the motor shaft of shoulder motor 512；Described parallel institution lower platform 80204 is fixedly mounted on
The upper end of one large arm 502；The second described large arm 503 is identical with the structure of the first large arm 502, and the side that is open is put straight up
Put and be fixedly mounted on the upper mounting plate 80201 of parallel institution；Described one end of forearm 504 is machined with a square plate, institute
The horizontal positioned of ancon motor 513 stated simultaneously is fixedly mounted on the inner side of forearm 504, and its motor shaft is fixedly mounted on the second large arm 503
On；The described horizontal positioned of extension rod motor 505 is simultaneously fixedly mounted on the square plate of forearm 504；Described wrist rear end
506 be round tube shape structure, on the outside of the motor shaft for being sleeved on extension rod motor 505；Described front camera 510 is installed on
The upside of forearm 504；Affiliated combined type end effector 507 is fixedly mounted on the motor shaft of extension rod motor；
Described combined type end effector 507 include end connecting plate 50701, sprinkling module 50702, pruning module 50703,
Sawing module 50704, rotary electric machine 50705, described end connecting plate 50701 is star structure, there is three installation sites；Institute
The rotary electric machine 50705 stated is respectively and fixedly installed on the downside of three branches of end connecting plate 50701；Described sprinkling module
50702 are fixedly mounted on the motor shaft of rotary electric machine 50705 by spraying base 50702A；Described pruning module 50703
It is fixedly mounted on by beta pruning base 50703A on the motor shaft of rotary electric machine 50705；Described sawing module 50704 passes through saw
Base 50704A is cut to be rotatably installed on the motor shaft of rotary electric machine 50705；
Described sprinkling module 50702 includes sprinkling base 50702A, the first rotating seat 50702B, first jet 50702C, the
One motor 50702D, described sprinkling base 50702A is L-shaped structure, and disc side is machined with a cylinder boss, convex
A through hole is machined with the middle of platform；The first described rotating seat 50702B is cylindrical structure, and there are a through hole, periphery in axis
It is machined with a cylinder boss；The first described motor 50702D horizontal positioneds are fixedly mounted on sprinkling base 50702A sides
Face；The first described rotating seat 50702B is fixedly mounted on the first motor 50702D motor shaft；The first described spray
Mouth 50702C is fixedly mounted on the first rotating seat 50702B cylinder boss；
Described pruning module 50703 includes beta pruning base 50703A, the second rotating seat 50703B, the second motor
50703C, electric cylinders 50703D, pin 50703E, the first scissors 50703F, the second scissors 50703G, described beta pruning base
50703A is rectangular flat plate structure, and downside is machined with a round boss, and upside is machined with two installation bases；Described
Two motor 50703C horizontal positioneds are simultaneously fixedly mounted on installation base；The second described rotating seat 50703B is cylinder
Structure, is fixed on the second motor 50703C motor shaft；At the handle of a knife of the second described scissors 50703G
A square boss is machined with, the second described scissors 50703G is fixedly mounted on the second rotating seat 50703B；Described
Electric cylinders 50703D levels, which are placed to the right, to be fixedly mounted in square boss；Length is machined with the first described scissors 50703F handle of a knifes
Circle hole groove, the first described scissors 50703F is rotatably installed on the second scissors 50703G；Described pin 50703E is fixed
On electric cylinders 50703D extension bar, and it is slidably mounted at the first scissors 50703F oval hole slot；
Described sawing module 50704 includes sawing base 50704A, the 3rd motor 50704B, saw disc 50704C, saw disc
Motor 50704D, the 3rd rotating seat 50704E, described sawing base 50704A structures and beta pruning base 50703A structure phase
Together；The 3rd described motor 50704B horizontal positioneds are fixedly mounted on the installation base of sawing module 50704；Described
3rd rotating seat 50704E main bodys are cylindrical structure, and periphery is machined with a stock；Described saw disc motor 50704D consolidates
Dingan County is on the 3rd rotating seat 50704E stock；Described saw disc 50704C is fixedly mounted on saw disc motor 50704D electricity
On arbor；
Described spray unit in parallel 8 includes connecting plate 801, nozzle 802 in parallel, rear camera 803, described connecting plate
801 be the slab construction of 135 degree of bending；Described nozzle in parallel 802 is respectively and fixedly installed to the downside of connecting plate 801；Described
Rear camera 803 is fixedly mounted on the upside of connecting plate 801 backwards；
Described steering mechanism 10 includes trailing wheel 1001, turns to swing arm 1002, connecting rod 1003, crank 1004, described trailing wheel
1001 are rotatably installed in steering swing arm 1002 by axletree；Steering swing arm 1002 is figure six structure, and circular portion has one
Through hole, it is rotatably installed on two bearing pins 107 on chassis 1 respectively by through hole；Described connecting rod 1003 is uniformly machined with
Three through holes, it is rotatably installed in steering swing arm 1002 respectively by the through hole at two ends；Described one end of crank 1004 is fixed
On the motor shaft of steering motor 13, the other end is rotatably installed on connecting rod 1003 by an axle；
Described nozzle in parallel 802 includes upper mounting plate 80201, electric cylinders set 80202, electric cylinders bar 80203, lower platform 80204, second
Nozzle 80205, described upper mounting plate 80201 and lower platform 80204 is cirque structure, and inner side is machined with three pairs of spherical hinges
Seat；Described electric cylinders set 80202 seals one end and is machined with a ball, and described three pairs of electric cylinders set 80202 passes through ball respectively
It is rotatably installed in the spherical free bearing of upper mounting plate 80201, constitutes ball pivot；Described electric cylinders bar 80203 is slidably mounted on electricity respectively
In cylinder sleeve 80202, the other end is machined with ball, and described electric cylinders bar 80203 is rotatably installed in lower platform 80204 by ball
In the spherical free bearing of correspondence；Described second nozzle 80205 is fixedly mounted at the hole in the middle of lower platform 80204.
Further, the parallel institution of the parallel institution structure of described nozzle in parallel 802 and multiple degrees of freedom spray unit 5
Structure is identical.
Further, the first described water pump 6 and the second water pump 11 respectively with first jet 50702C and second nozzle
80205 connections.
Operation principle of the present invention：The present invention has two kinds of mode of operations, and a kind of is by the 5 pairs of higher plants of multiple degrees of freedom spray unit
Thing is conserved, such as shrub and arbor；Another is to be conserved by spray unit 8 in parallel for relatively low plant.It is right
In the first mode of operation, robot first passes through electric rotating machine 2 and drives front-wheel 4 to rotate, and passes through the control direction of steering mechanism 10
To move to operating position；Reach behind operating position, multiple degrees of freedom spray unit 5 passes through electric rotating machine 2, the and of shoulder motor 512
Each joint motor of the grade of ancon motor 513 and the collective effect of front camera 510, move combined type end effector 507
To vicinity of plants to be conserved；Extension rod motor, which rotates, causes the respective modules of combined type end effector 507 to move to working position
Put；When sprinkling module 50702 works, the first motor 50702D drives nozzle rotation, while the first water pump 6 is by medicine-chest 7
Medicine or water pump out, herbal sprinkling is gone out；When pruning module 50703 works, the second motor 50703C transports scissors
Specified location is moved, is then reached if can not reach by other joint motors behind specified location, in-position, electric cylinders 50703D
Shrink, drive scissors to cut branches and leaves；When sawing module 50704 works, the 3rd motor 50704B drives saw disc 50704C
Specified location is turned to, saw disc motor 50704D, which is rotated, drives saw disc 50704C rotations, and thicker trunk is fallen in sawing.For second
Mode of operation is planted, multiple degrees of freedom spray unit 5 is in transport pose, and parallel institution coordinates rear camera 803 to adjust jointly simultaneously
Join nozzle 802 to suitable position；Electric rotating machine 2 drives front-wheel 4, the control direction of steering mechanism 10 so that robot is according to rule
The track drawn is moved, while the second water pump 11 pumps out the medicine or water in medicine-chest 7, and is sprayed by nozzle.
Claims (3)
1. a kind of Multifunctional garden plant maintenance robot, including chassis（1）, electric rotating machine（2）, placement flat board（3）, front-wheel
（4）, multiple degrees of freedom spray unit（5）, the first water pump（6）, medicine-chest（7）, spray unit in parallel（8）, connecting rod（9）, turn to machine
Structure（10）, the second water pump（11）, electric cabinet（12）, steering motor（13）, it is characterised in that：Described chassis（1）For rectangle
Structure, described placement flat board（3）Centre is machined with a circular hole, by its horizontal positioned and is fixedly mounted on chassis（1）Two
Individual front boss（102）Upside；Described electric rotating machine（2）Place straight up, its motor shaft passes through placement flat board（3）Middle
Circular hole is simultaneously fixedly mounted on placement flat board（3）Downside, two other electric rotating machine（2）Horizontal positioned and before being respectively and fixedly installed to
Boss（102）Mounting hole in；Described front-wheel（4）It is respectively and fixedly installed to two electric rotating machines in left and right（2）Motor shaft on；
Described multiple degrees of freedom spray unit（5）Pass through its pedestal（501）It is fixedly mounted on placement flat board（3）The electric rotating machine of downside
（2）Motor shaft on；The first described water pump（6）With the second water pump（11）Horizontal positioned, is respectively and fixedly installed to chassis（1）'s
Support（104）Inner side；Described medicine-chest（7）Horizontal positioned is simultaneously fixedly mounted on support（104）Upside；Described sprinkling in parallel is single
Member（8）Pass through connecting rod（9）It is fixedly mounted on chassis（1）Connecting hole（106）Place；Described steering mechanism（10）By turning to
Swing arm（1002）It is rotatably connected on chassis（1）Bearing pin（107）On；Described electric cabinet（12）It is fixedly mounted on chassis（1）'s
Centre position；Described steering motor（13）It is fixedly mounted on to place straight down and is fixedly mounted on chassis（1）Round tube hole
（105）Place；
Described chassis（1）Including bottom plate（101）, front boss（102）, rear boss（103）, support（104）, round tube hole（105）、
Connecting hole（106）, bearing pin（107）, described bottom plate（101）For rectangle structure；Described front boss（102）It is vertical to place simultaneously
Respectively symmetrically it is fixedly mounted on bottom plate（101）Front side；Described rear boss（103）Level is fixedly mounted on bottom plate（101）'s
Rear side；Described bearing pin（107）Place vertically and be respectively and fixedly installed to rear boss（103）Downside；Described support（104）
Vertical place respectively symmetrically is fixedly mounted on bottom plate（101）Both sides；Described round tube hole（105）Processing is in support（104）It is middle；
Described connecting hole（106）Process respectively in bottom plate（101）The both sides of rear side；
Described arm includes pedestal（501）, the first large arm（502）, the second large arm（503）, forearm（504）, extension rod motor
（505）, wrist rear end（506）, combined type end effector（507）, front camera（510）, shoulder motor（512）, ancon
Motor（513）, parallel institution, described pedestal（501）Downside is a disk, two installations is machined with the upside of disk convex
Platform；Described shoulder motor（512）Horizontal positioned is simultaneously fixedly mounted on pedestal（501）Boss on the inside of；The first described large arm
（502）For U-shaped structure, the side that is open is placed downwards and is fixedly mounted on shoulder motor（512）Motor shaft on；Described
Parallel institution lower platform（80204）It is fixedly mounted on the first large arm（502）Upper end；The second described large arm（503）With first
Large arm（502）Structure is identical, and the side that is open is placed and is fixedly mounted on the upper mounting plate of parallel institution straight up（80201）
On；Described forearm（504）One end is machined with a square plate, described ancon motor（513）Horizontal positioned and fixed peace
Mounted in forearm（504）Inner side, its motor shaft is fixedly mounted on the second large arm（503）On；Described extension rod motor（505）Level
Place and be fixedly mounted on forearm（504）Square plate on；Described wrist rear end（506）For round tube shape structure, by its set
In extension rod motor（505）Motor shaft on the outside of；Described front camera（510）It is installed on forearm（504）Upside；Institute
The combined type end effector of category（507）On the motor shaft for being fixedly mounted on extension rod motor；
Described combined type end effector（507）Including end connecting plate（50701）, sprinkling module（50702）, pruning module
（50703）, sawing module（50704）, rotary electric machine（50705）, described end connecting plate（50701）For star structure, have
Three installation sites；Described rotary electric machine（50705）It is respectively and fixedly installed to end connecting plate（50701）Three branches under
Side；Described sprinkling module（50702）By spraying base（50702A）It is fixedly mounted on rotary electric machine（50705）Motor shaft
On；Described pruning module（50703）Pass through beta pruning base（50703A）It is fixedly mounted on rotary electric machine（50705）Motor shaft
On；Described sawing module（50704）Pass through sawing base（50704A）It is rotatably installed in rotary electric machine（50705）Motor shaft
On；
Described sprinkling module（50702）Including sprinkling base（50702A）, the first rotating seat（50702B）, first jet
（50702C）, the first motor（50702D）, described sprinkling base（50702A）For L-shaped structure, disc side is machined with
A through hole is machined with the middle of one cylinder boss, boss；The first described rotating seat（50702B）For cylindrical structure, axis
There is a through hole, periphery is machined with a cylinder boss；The first described motor（50702D）Horizontal positioned fixes peace
Mounted in sprinkling base（50702A）Sideways；The first described rotating seat（50702B）It is fixedly mounted on the first motor
（50702D）Motor shaft on；Described first jet（50702C）It is fixedly mounted on the first rotating seat（50702B）Cylinder it is convex
On platform；
Described pruning module（50703）Including beta pruning base（50703A）, the second rotating seat（50703B）, the second motor
（50703C）, electric cylinders（50703D）, pin（50703E）, the first scissors（50703F）, the second scissors（50703G）, described cuts
Branch base（50703A）For rectangular flat plate structure, downside is machined with a round boss, and upside is machined with two installation bases；
The second described motor（50703C）Horizontal positioned is simultaneously fixedly mounted on installation base；The second described rotating seat
（50703B）For cylindrical structural, it is fixed installed in the second motor（50703C）Motor shaft on；Described second
Scissors（50703G）Handle of a knife at be machined with a square boss, by the second described scissors（50703G）It is fixedly mounted on second
Rotating seat（50703B）On；Described electric cylinders（50703D）Level is placed be fixedly mounted in square boss to the right；Described
One scissors（50703F）Oval hole slot is machined with handle of a knife, by the first described scissors（50703F）It is rotatably installed in the second scissors
（50703G）On；Described pin（50703E）It is installed on electric cylinders（50703D）Extension bar on, and be slidably mounted on first
Scissors（50703F）Oval hole slot at；
Described sawing module（50704）Including sawing base（50704A）, the 3rd motor（50704B）, saw disc
（50704C）, saw disc motor（50704D）, the 3rd rotating seat（50704E）, described sawing base（50704A）Structure and beta pruning
Base（50703A）Structure it is identical；The 3rd described motor（50704B）Horizontal positioned is fixedly mounted on sawing module
（50704）Installation base on；The 3rd described rotating seat（50704E）Main body is cylindrical structure, and periphery is machined with one
Stock；Described saw disc motor（50704D）It is fixedly mounted on the 3rd rotating seat（50704E）Stock on；Described saw disc
（50704C）It is fixedly mounted on saw disc motor（50704D）Motor shaft on；
Described spray unit in parallel（8）Including connecting plate（801）, nozzle in parallel（802）, rear camera（803）, it is described
Connecting plate（801）For bending（135）The slab construction of degree；Described nozzle in parallel（802）It is respectively and fixedly installed to connecting plate
（801）Downside；Described rear camera（803）Connecting plate is fixedly mounted on backwards（801）Upside；
Described steering mechanism（10）Including trailing wheel（1001）, turn to swing arm（1002）, connecting rod（1003）, crank（1004）, institute
The trailing wheel stated（1001）Steering swing arm is rotatably installed in by axletree（1002）On；Turn to swing arm（1002）For "（6）" font
Structure, circular portion has a through hole, and it is rotatably installed in chassis respectively by through hole（1）Two bearing pins（107）On；Described
Connecting rod（1003）Three through holes uniformly are machined with, it is rotatably installed in steering swing arm respectively by the through hole at two ends（1002）
On；Described crank（1004）One end is fixedly mounted on steering motor（13）Motor shaft on, the other end is rotated by an axle
Installed in connecting rod（1003）On；
Described nozzle in parallel（802）Including upper mounting plate（80201）, electric cylinders set（80202）, electric cylinders bar（80203）, lower platform
（80204）, second nozzle（80205）, described upper mounting plate（80201）And lower platform（80204）It is cirque structure, inner side
It is machined with three pairs of spherical free bearings；Described electric cylinders set（80202）Sealing one end is machined with a ball, three pairs of described electric cylinders sets
（80202）Upper mounting plate is rotatably installed in by ball respectively（80201）Spherical free bearing in, constitute ball pivot；Described electric cylinders bar
（80203）Electric cylinders set is slidably mounted on respectively（80202）Interior, the other end is machined with ball, described electric cylinders bar（80203）Pass through
Ball is rotatably installed in lower platform（80204）The spherical free bearing of correspondence in；Described second nozzle（80205）It is fixedly mounted on down
Platform（80204）At middle hole.
2. a kind of Multifunctional garden plant maintenance robot according to claim 1, it is characterised in that：Described spray in parallel
Mouth（802）Parallel institution structure and multiple degrees of freedom spray unit（5）Parallel institution structure it is identical.
3. a kind of Multifunctional garden plant maintenance robot according to claim 1, it is characterised in that：The first described water
Pump（6）With the second water pump（11）Respectively with first jet（50702C）And second nozzle（80205）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625798.2A CN107306928B (en) | 2017-07-27 | 2017-07-27 | Multi-functional landscape plant maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625798.2A CN107306928B (en) | 2017-07-27 | 2017-07-27 | Multi-functional landscape plant maintenance robot |
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| CN107306928A true CN107306928A (en) | 2017-11-03 |
| CN107306928B CN107306928B (en) | 2020-06-09 |
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|---|---|---|---|
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| CN108522483A (en) * | 2018-07-18 | 2018-09-14 | 荆门市东宝区六合香茶叶种植专业合作社 | A kind of agricultural strawberry chemical spraying device |
| CN109213160A (en) * | 2018-08-31 | 2019-01-15 | 西南大学 | A kind of field weeding fertilising operation takes turns biped robot more |
| CN109804903A (en) * | 2017-11-21 | 2019-05-28 | 朱银娥 | A kind of afforestation Work robot |
| CN111631019A (en) * | 2020-06-08 | 2020-09-08 | 安徽理工大学 | Multifunctional harvesting robot for plant factory |
| CN113330937A (en) * | 2021-07-02 | 2021-09-03 | 山东省农业机械科学研究院 | Garden fruit tree pruning machine |
| CN117796197B (en) * | 2024-03-01 | 2024-05-17 | 安徽省农业科学院园艺研究所 | Multifunctional jujube tree soil loosening and maintaining device |
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Effective date of registration: 20200511 Address after: 361000 unit 12, No.66 Xianyue Road, Huli District, Xiamen City, Fujian Province Applicant after: Xiamen true love Home Environmental Engineering Co., Ltd Address before: 054900, Ma Lan village, 25 Zhai Lu Village, Linxi County, Xingtai, Hebei Applicant before: Meng Fanxing |
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