CN107306928B - Multi-functional landscape plant maintenance robot - Google Patents
Multi-functional landscape plant maintenance robot Download PDFInfo
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- CN107306928B CN107306928B CN201710625798.2A CN201710625798A CN107306928B CN 107306928 B CN107306928 B CN 107306928B CN 201710625798 A CN201710625798 A CN 201710625798A CN 107306928 B CN107306928 B CN 107306928B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 12
- 238000005507 spraying Methods 0.000 claims abstract description 55
- 239000003814 drug Substances 0.000 claims abstract description 13
- 238000013138 pruning Methods 0.000 claims description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 239000012636 effector Substances 0.000 claims description 13
- 239000007921 spray Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 claims description 6
- 241000196324 Embryophyta Species 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 241001464837 Viridiplantae Species 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 229940079593 drug Drugs 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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Classifications
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- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Zoology (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a multifunctional garden plant maintenance robot which comprises a chassis, a rotating motor, a mounting flat plate, front wheels, a multi-degree-of-freedom spraying unit and the like, wherein the chassis is of a rectangular structure, a round hole is processed in the middle of the mounting flat plate, and the mounting flat plate is horizontally placed and fixedly installed on the upper sides of two front bosses of the chassis; the rotating motor is vertically and upwards placed, and a motor shaft of the rotating motor penetrates through a round hole in the middle of the placing flat plate and is fixedly installed on the lower side of the placing flat plate; the multi-degree-of-freedom series spraying unit and the parallel spraying unit are integrated, different types of vegetation are considered, and medicine spraying can be carried out without dead angles; and an integrated design is used at the tail end, so that the robot has stronger functions.
Description
Technical Field
The invention relates to the technical field of garden equipment, in particular to a multifunctional garden plant maintenance robot.
Background
Along with the increasing demand of people for environment, a plurality of vegetable gardens and urban health-care parks are newly built in a plurality of cities. In places where these vegetation are dense, maintaining green plants becomes a problem that cannot be ignored. Because the area of green plants to be maintained is large, the maintenance work of the green plants is difficult to efficiently finish only by manpower, and therefore equipment capable of replacing or assisting the manpower to perform green plant maintenance is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides a multifunctional garden plant maintenance robot, which integrates a series spraying unit with multiple degrees of freedom and a parallel spraying unit, has a high level and a low level, simultaneously considers different types of vegetation, and can spray medicines without dead angles; and an integrated design is used at the tail end, so that the robot has stronger functions.
The technical scheme adopted by the invention is as follows: the utility model provides a multi-functional landscape plant maintenance robot, includes that chassis, rotating electrical machines, arrangement are dull and stereotyped, front wheel, multi freedom spray unit, first water pump, medical kit, parallelly connected spray unit, connecting rod, steering mechanism, second water pump, electric cabinet, steering motor, its characterized in that: the base plate is of a rectangular structure, a round hole is processed in the middle of the mounting flat plate, and the mounting flat plate is horizontally placed and fixedly mounted on the upper sides of the two front bosses of the base plate; the rotary motors are vertically and upwards placed, motor shafts of the rotary motors penetrate through the round holes in the middle of the placing flat plate and are fixedly installed on the lower side of the placing flat plate, and the other two rotary motors are horizontally placed and are respectively and fixedly installed in the installation holes of the front bosses; the front wheels are respectively and fixedly arranged on motor shafts of the left rotating motor and the right rotating motor; the multi-degree-of-freedom spraying unit is fixedly arranged on a motor shaft of a rotating motor arranged on the lower side of the flat plate through a base; the first water pump and the second water pump are horizontally arranged and are respectively and fixedly arranged on the inner side of the bracket of the chassis; the medicine chest is horizontally placed and fixedly arranged on the upper side of the bracket; the parallel spraying units are fixedly arranged at the connecting holes of the chassis through connecting rods; the steering mechanism is rotationally connected to a pin shaft of the chassis through a steering swing arm; the electric cabinet is fixedly arranged in the middle of the chassis; the steering motor is vertically and downwards placed and fixedly installed at the round through hole of the chassis;
the chassis comprises a bottom plate, a front boss, a rear boss, a bracket, a round through hole, a connecting hole and a pin shaft, wherein the bottom plate is of a rectangular structure; the front bosses are vertically arranged and are respectively and symmetrically and fixedly arranged on the front side of the bottom plate; the rear lug boss is horizontally and fixedly arranged on the rear side of the bottom plate; the pin shafts are vertically arranged and respectively fixedly installed on the lower sides of the rear bosses; the brackets are vertically arranged and are respectively and symmetrically fixedly arranged on two sides of the bottom plate; the round through hole is processed in the middle of the bracket; the connecting holes are respectively processed on two sides of the rear side of the bottom plate;
the multi-degree-of-freedom spraying unit comprises a base, a first large arm, a second large arm, a small arm, an extension rod motor, a wrist rear end, a combined type end effector, a front camera, a shoulder motor, an elbow motor and a parallel mechanism, wherein a disc is arranged on the lower side of the base, and two mounting bosses are machined on the upper side of the disc; the shoulder motor is horizontally arranged and fixedly arranged on the inner side of the boss of the base; the first big arm is of a U-shaped structure, and the opening side of the first big arm is downwards placed and fixedly arranged on a motor shaft of the shoulder motor; the lower end face of the parallel mechanism is fixedly arranged at the upper end of the first big arm; the second large arm and the first large arm have the same structure, and one side of the opening of the second large arm is vertically and upwards placed and fixedly installed on the upper end surface of the parallel mechanism; one end of the small arm is processed with a square flat plate, the elbow motor is horizontally placed and fixedly installed on the inner side of the small arm, and a motor shaft of the elbow motor is fixedly installed on the second large arm; the extension rod motor is horizontally placed and fixedly arranged on the square flat plate of the small arm; the rear end of the wrist is of a circular tubular structure and is sleeved outside a motor shaft of the extension rod motor; the front camera is fixedly arranged on the upper side of the small arm; the combined type end effector is fixedly arranged on a motor shaft of the extension rod motor;
the combined type end effector comprises an end connecting plate, a spraying module, a pruning module, a sawing module and a rotating motor, wherein the end connecting plate is of a star-shaped structure and is provided with three mounting positions; the rotating motors are respectively and fixedly arranged at the lower sides of the three branches of the tail end connecting plate; the spraying module is fixedly arranged on a motor shaft of the rotating motor through the spraying base; the pruning module is fixedly arranged on a motor shaft of the rotating motor through the pruning base; the sawing module is rotatably arranged on a motor shaft of the rotating motor through the sawing base;
the spraying module comprises a spraying base, a first rotating seat, a first nozzle and a first driving motor, wherein the spraying base is of an L-shaped structure, one side of a circular surface is provided with a cylindrical boss, and the middle of the boss is provided with a through hole; the first rotating seat is of a cylindrical structure, a through hole is formed in the central axis, and a cylindrical boss is machined on the outer circular surface; the first driving motor is horizontally arranged and fixedly installed on the side face of the spraying base; the first rotating seat is fixedly arranged on a motor shaft of the first driving motor; the first nozzle is fixedly arranged on the cylindrical boss of the first rotating seat;
the pruning module comprises a pruning base, a second rotating seat, a second driving motor, an electric cylinder, a pin, a first shear and a second shear, wherein the pruning base is of a rectangular flat plate structure, a circular boss is machined at the lower side of the pruning base, and two mounting bosses are machined at the upper side of the pruning base; the second driving motor is horizontally arranged and fixedly installed on the installation boss; the second rotating seat is of a cylindrical structure and is fixedly arranged on a motor shaft of a second driving motor; a square boss is processed at the handle of the second scissors, and the second scissors are fixedly arranged on a second rotating seat; the electric cylinder is horizontally arranged rightwards and fixedly arranged on the square boss; a long circular hole groove is formed in the handle of the first scissors, and the first scissors are rotatably arranged on the second scissors; the pin is fixedly arranged on an extension rod of the electric cylinder and is slidably arranged at the position of the long circular hole groove of the first scissors;
the sawing module comprises a sawing base, a third driving motor, a saw disc motor and a third rotating seat, and the structure of the sawing base is the same as that of the pruning base; the third driving motor is horizontally arranged and fixedly installed on the installation boss of the sawing module; the third rotating seat main body is of a cylindrical structure, and a long rod is processed on the outer circular surface; the saw disc motor is fixedly arranged on the long rod of the third rotating seat; the saw disc is fixedly arranged on a motor shaft of the saw disc motor;
the parallel spraying unit comprises a connecting plate, a parallel nozzle and a rear camera, and the connecting plate is of a flat plate structure bent by 135 degrees; the parallel nozzles are respectively and fixedly arranged at the lower sides of the connecting plates; the rear camera is fixedly arranged on the upper side of the connecting plate towards the rear;
the steering mechanism comprises a rear wheel, a steering swing arm, a connecting rod and a crank, wherein the rear wheel is rotatably arranged on the steering swing arm through a wheel shaft; the steering swing arm is of a 6-shaped structure, a through hole is formed in the circular part, and the steering swing arm is respectively and rotatably arranged on two pin shafts of the chassis through the through hole; the connecting rod is uniformly provided with three through holes which are respectively and rotatably arranged on the steering swing arm through the through holes at the two ends; one end of the crank is fixedly arranged on a motor shaft of the steering motor, and the other end of the crank is rotatably arranged on the connecting rod through a shaft;
the parallel nozzle comprises an upper platform, an electric cylinder sleeve, an electric cylinder rod, a lower platform and a second nozzle, wherein the upper platform and the lower platform are both of circular structures, and three pairs of spherical hinged supports are processed on the inner sides of the upper platform and the lower platform; a ball is processed at one end of the sealing opening of the electric cylinder sleeve, and the three pairs of electric cylinder sleeves are respectively rotatably installed in a spherical hinge seat of the upper platform through the ball to form a spherical hinge; the electric cylinder rods are respectively arranged in the electric cylinder sleeves in a sliding mode, a ball is processed at the other end of each electric cylinder rod, and the electric cylinder rods are rotatably arranged in the corresponding spherical hinged bases of the lower platform through the balls; the second nozzle is fixedly arranged at a hole in the middle of the lower platform.
Furthermore, the parallel mechanism structure of the parallel nozzle is the same as that of the multi-degree-of-freedom spraying unit.
Furthermore, the first water pump and the second water pump are respectively connected with the first nozzle and the second nozzle.
The invention has the beneficial effects that:
1. the multi-degree-of-freedom series spraying unit and the parallel spraying unit are integrated, different types of vegetation are considered, and medicine spraying can be carried out without dead angles.
2. The robot has stronger functions by using an integrated design at the tail end.
Drawings
Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.
Fig. 4 is a structural diagram of the chassis component of the present invention.
Fig. 5 and 6 are schematic structural diagrams of components of the multi-degree-of-freedom spraying unit.
FIG. 7 is a schematic diagram of a composite end effector component of the present invention.
Fig. 8 is a schematic view of the spray module assembly of the present invention.
Fig. 9 is a schematic structural diagram of a pruning module component according to the present invention.
Fig. 10 is a schematic structural diagram of a sawing module component according to the present invention.
FIG. 11 is a schematic view of the construction of a parallel nozzle unit according to the present invention.
Reference numerals: 1-a chassis; 2-a rotating electrical machine; 3-placing the flat plate; 4-front wheels; 5-a multi-degree-of-freedom spraying unit; 6-a first water pump; 7-a medicine chest; 8-parallel spraying units; 9-a connecting rod; 10-a steering mechanism; 11-a second water pump; 12-an electric cabinet; 13-a steering motor; 101-a base plate; 102-a front boss; 103-rear boss; 104-a scaffold; 105-a circular through hole; 106-connecting hole; 107-pin shaft; 501-a base; 502-first large arm; 503-a second large arm; 504-small arm; 505-an extension rod motor; 506-wrist back end; 507-composite end effector; 510-front camera; 512-shoulder motor; 513-elbow motor; 801-connecting plates; 802-parallel nozzle; 803-rear camera; 1001-rear wheel; 1002-steering swing arm; 1003-connecting rod; 1004-crank; 50701-end connector plate; 50702-a spray module; 50703-a pruning module; 50704-a sawing module; 50705-a rotating electric machine; 50702A-a spray base; 50702B-a first swivel; 50702C-first nozzle; 50702D-a first drive motor; 50703A-a pruning base; 50703B-a second swivel; 50703C — a second drive motor; 50703D-electric cylinder; 50703E-dowel; 50703F-first scissors; 50703G-second scissors; 50704A-sawing base; 50704B-a third drive motor; 50704C-saw disc; 50704D-saw disc motor; 50704E-a third swivel; 80201-upper stage; 80202-electric cylinder sleeve; 80203-cylinder rod; 80204-lower stage; 80205-second nozzle.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Examples
As shown in fig. 1 to 11, a multi-functional landscape plant maintenance robot, includes chassis 1, rotating electrical machines 2, installation flat plate 3, front wheel 4, multi freedom sprays unit 5, first water pump 6, medical kit 7, parallelly connected spraying unit 8, connecting rod 9, steering mechanism 10, second water pump 11, electric cabinet 12, steering motor 13, its characterized in that: the chassis 1 is of a rectangular structure, a round hole is processed in the middle of the mounting flat plate 3, and the round hole is horizontally placed and fixedly mounted on the upper sides of two front bosses 102 of the chassis 1; the rotating motors 2 are vertically and upwards placed, motor shafts of the rotating motors penetrate through circular holes in the middle of the placing flat plate 3 and are fixedly installed on the lower side of the placing flat plate 3, and the other two rotating motors 2 are horizontally placed and are respectively and fixedly installed in installation holes of the front boss 102; the front wheels 4 are respectively and fixedly arranged on motor shafts of the left rotating motor 2 and the right rotating motor 2; the multi-degree-of-freedom spraying unit 5 is fixedly arranged on a motor shaft of the rotating motor 2 arranged on the lower side of the flat plate 3 through a base 501 of the multi-degree-of-freedom spraying unit; the first water pump 6 and the second water pump 11 are horizontally arranged and respectively fixedly arranged on the inner sides of the brackets 104 of the chassis 1; the medicine chest 7 is horizontally placed and fixedly arranged on the upper side of the bracket 104; the parallel spraying unit 8 is fixedly arranged at a connecting hole 106 of the chassis 1 through a connecting rod 9; the steering mechanism 10 is rotationally connected to a pin 107 of the chassis 1 through a steering swing arm 1002; the electric cabinet 12 is fixedly arranged in the middle of the chassis 1; the steering motor 13 is vertically and downwards placed and fixedly arranged at the round through hole 105 of the chassis 1;
the chassis 1 comprises a bottom plate 101, a front boss 102, a rear boss 103, a bracket 104, a round through hole 105, a connecting hole 106 and a pin shaft 107, wherein the bottom plate 101 is of a rectangular structure; the front bosses 102 are vertically arranged and symmetrically and fixedly arranged on the front side of the bottom plate 101 respectively; the rear boss 103 is horizontally and fixedly arranged on the rear side of the bottom plate 101; the pin shafts 107 are vertically arranged and respectively fixedly installed on the lower sides of the rear bosses 103; the brackets 104 are vertically arranged and symmetrically and fixedly arranged on two sides of the bottom plate 101 respectively; the round through hole 105 is processed in the middle of the bracket 104; the connecting holes 106 are respectively processed on two sides of the rear side of the bottom plate 101;
the multi-degree-of-freedom spraying unit 5 comprises a base 501, a first large arm 502, a second large arm 503, a small arm 504, an extension rod motor 505, a wrist rear end 506, a combined type end effector 507, a front camera 510, a shoulder motor 512, an elbow motor 513 and a parallel mechanism, wherein a disc is arranged on the lower side of the base 501, and two mounting bosses are processed on the upper side of the disc; the shoulder motor 512 is horizontally arranged and fixedly arranged on the inner side of the boss of the base 501; the first big arm 502 is a U-shaped structure, and the opening side of the first big arm is placed downwards and fixedly arranged on a motor shaft of the shoulder motor 512; the lower end face of the parallel mechanism is fixedly arranged at the upper end of the first big arm 502; the second big arm 503 and the first big arm 502 have the same structure, and one side of the opening of the second big arm is vertically and upwards placed and fixedly installed on the upper end surface of the parallel mechanism; one end of the small arm 504 is processed with a square flat plate, the elbow motor 513 is horizontally arranged and fixedly installed at the inner side of the small arm 504, and a motor shaft of the elbow motor is fixedly installed on the second large arm 503; the extension rod motor 505 is horizontally arranged and fixedly installed on the square flat plate of the small arm 504; the back end 506 of the wrist is of a circular tubular structure, and is sleeved outside a motor shaft of the extension rod motor 505; the front camera 510 is fixedly arranged on the upper side of the small arm 504; the combined type end effector 507 is fixedly arranged on a motor shaft of the extension rod motor;
the combined type end effector 507 comprises an end connecting plate 50701, a spraying module 50702, a pruning module 50703, a sawing module 50704 and a rotating motor 50705, wherein the end connecting plate 50701 is of a star-shaped structure and is provided with three mounting positions; the rotating motor 50705 is respectively and fixedly arranged at the lower sides of the three branches of the tail end connecting plate 50701; the spraying module 50702 is fixedly arranged on a motor shaft of the rotating motor 50705 through a spraying base 50702A; the pruning module 50703 is fixedly installed on a motor shaft of the rotating motor 50705 through a pruning base 50703A; the sawing module 50704 is rotatably installed on a motor shaft of the rotating motor 50705 through a sawing base 50704A;
the spraying module 50702 comprises a spraying base 50702A, a first rotating seat 50702B, a first nozzle 50702C and a first driving motor 50702D, wherein the spraying base 50702A is of an L-shaped structure, a cylindrical boss is machined on one side of a circular surface, and a through hole is machined in the middle of the boss; the first rotating seat 50702B is of a cylindrical structure, a through hole is formed in the central axis, and a cylindrical boss is machined on the outer circular surface; the first driving motor 50702D is horizontally arranged and fixedly installed on the side surface of the spraying base 50702A; the first rotating seat 50702B is fixedly mounted on a motor shaft of the first driving motor 50702D; the first nozzle 50702C is fixedly arranged on a cylindrical boss of the first rotating seat 50702B;
the pruning module 50703 comprises a pruning base 50703A, a second rotating seat 50703B, a second driving motor 50703C, an electric cylinder 50703D, a pin 50703E, a first shear 50703F and a second shear 50703G, wherein the pruning base 50703A is of a rectangular flat plate structure, a circular boss is machined at the lower side of the pruning base 50703A, and two mounting bosses are machined at the upper side of the pruning base 50703A; the second driving motor 50703C is horizontally arranged and fixedly mounted on the mounting boss; the second rotating seat 50703B is a cylindrical structure and is fixedly mounted on a motor shaft of a second driving motor 50703C; a square boss is processed at the handle of the second scissors 50703G, and the second scissors 50703G is fixedly arranged on a second rotating seat 50703B; the electric cylinder 50703D is horizontally placed rightwards and fixedly installed on the square boss; a long circular hole groove is formed in the handle of the first scissors 50703F, and the first scissors 50703F are rotatably arranged on the second scissors 50703G; the pin 50703E is fixedly arranged on an extending rod of the electric cylinder 50703D and is slidably arranged at the slotted hole of the first scissors 50703F;
the sawing module 50704 comprises a sawing base 50704A, a third driving motor 50704B, a saw disc 50704C, a saw disc motor 50704D and a third rotating base 50704E, wherein the structure of the sawing base 50704A is the same as that of the pruning base 50703A; the third driving motor 50704B is horizontally arranged and fixedly installed on an installation boss of the sawing module 50704; the main body of the third rotating seat 50704E is of a cylindrical structure, and a long rod is processed on the outer circular surface; the saw disc motor 50704D is fixedly arranged on a long rod of a third rotating seat 50704E; the saw disc 50704C is fixedly arranged on a motor shaft of the saw disc motor 50704D;
the parallel spraying unit 8 comprises a connecting plate 801, a parallel nozzle 802 and a rear camera 803, wherein the connecting plate 801 is a flat plate structure bent by 135 degrees; the parallel nozzles 802 are respectively and fixedly arranged at the lower sides of the connecting plates 801; the rear camera 803 is fixedly arranged on the upper side of the connecting plate 801 towards the rear;
the steering mechanism 10 comprises a rear wheel 1001, a steering swing arm 1002, a connecting rod 1003 and a crank 1004, wherein the rear wheel 1001 is rotatably arranged on the steering swing arm 1002 through a wheel axle; the steering swing arm 1002 is of a 6-shaped structure, a through hole is formed in the circular part, and the through hole is respectively and rotatably arranged on two pin shafts 107 of the chassis 1; the connecting rod 1003 is uniformly provided with three through holes, and the three through holes are rotatably arranged on the steering swing arm 1002 through the through holes at the two ends respectively; one end of the crank 1004 is fixedly arranged on a motor shaft of the steering motor 13, and the other end of the crank is rotatably arranged on the connecting rod 1003 through a shaft;
the parallel nozzle 802 comprises an upper platform 80201, an electric cylinder sleeve 80202, an electric cylinder rod 80203, a lower platform 80204 and a second nozzle 80205, wherein the upper platform 80201 and the lower platform 80204 are both of circular structures, and three pairs of spherical hinge seats are processed on the inner sides; a ball is processed at one end of the seal of the electric cylinder sleeve 80202, and the three pairs of electric cylinder sleeves 80202 are respectively rotatably installed in a spherical hinge seat of the upper platform 80201 through the ball to form a spherical hinge; the electric cylinder rods 80203 are respectively slidably mounted in the electric cylinder sleeve 80202, a round ball is processed at the other end, and the electric cylinder rod 80203 is rotatably mounted in a corresponding spherical hinged support of the lower platform 80204 through the round ball; the second nozzle 80205 is fixedly mounted at a hole in the middle of the lower platform 80204.
Further, the parallel mechanism structure of the parallel nozzle 802 is the same as the parallel mechanism structure of the multiple-degree-of-freedom spraying unit 5.
Further, the first water pump 6 and the second water pump 11 are respectively connected to the first nozzle 50702C and the second nozzle 80205.
The working principle of the invention is as follows: the invention has two working modes, one is to carry out maintenance on higher plants such as shrubs and trees through the multi-degree-of-freedom spraying unit 5; the other is to maintain the lower plants by means of parallel spraying units 8. For the first working mode, the robot drives the front wheels 4 to rotate through the rotating motor 2 and moves to a working position through controlling the direction through the steering mechanism 10; after reaching the working position, the multi-degree-of-freedom spraying unit 5 enables the combined type end effector 507 to move to the vicinity of the plant to be maintained through the combined action of each joint motor such as the rotating motor 2, the shoulder motor 512, the elbow motor 513 and the like and the front camera 510; the extension rod motor rotates to enable the corresponding module of the composite end effector 507 to move to a working position; when the spraying module 50702 works, the first driving motor 50702D drives the nozzle to rotate, and meanwhile, the first water pump 6 pumps out the medicines or water in the medicine box 7 and sprays the medicines out; when the pruning module 50703 works, the second driving motor 50703C moves the scissors to a specified position, if the scissors cannot reach the specified position, the scissors reach the specified position through other joint motors, and after the scissors reach the specified position, the electric cylinder 50703D contracts to drive the scissors to prune branches and leaves; when the sawing module 50704 works, the third driving motor 50704B drives the saw disc 50704C to rotate to a designated position, and the saw disc motor 50704D rotates to drive the saw disc 50704C to rotate, so that thick tree trunks are sawn. For the second working mode, the multi-degree-of-freedom spraying unit 5 is in a transportation pose, and the parallel mechanism is matched with the rear camera 803 to jointly adjust the parallel nozzle 802 to a proper position; the rotating motor 2 drives the front wheels 4, the steering mechanism 10 controls the direction, so that the robot moves according to a planned track, and meanwhile, the second water pump 11 pumps out the medicine or water in the medicine box 7 and sprays the medicine or water out through the nozzle.
Claims (2)
1. The utility model provides a multi-functional landscape plant maintenance robot, includes chassis (1), rotating electrical machines (2), settles dull and stereotyped (3), front wheel (4), multi freedom and sprays unit (5), first water pump (6), medical kit (7), parallelly connected unit (8), connecting rod (9), steering mechanism (10), second water pump (11), electric cabinet (12), turns to motor (13), its characterized in that: the chassis (1) is of a rectangular structure, a round hole is processed in the middle of the mounting flat plate (3), and the mounting flat plate is horizontally placed and fixedly mounted on the upper sides of two front bosses (102) of the chassis (1); the rotary motors (2) are vertically and upwards placed, motor shafts of the rotary motors penetrate through round holes in the middle of the placing flat plate (3) and are fixedly installed on the lower side of the placing flat plate (3), and the other two rotary motors (2) are horizontally placed and are respectively and fixedly installed in installation holes of the front bosses (102); the front wheels (4) are respectively and fixedly arranged on motor shafts of the left rotating motor (2) and the right rotating motor (2); the multi-degree-of-freedom spraying unit (5) is fixedly arranged on a motor shaft of the rotating motor (2) arranged on the lower side of the flat plate (3) through a base (501) of the multi-degree-of-freedom spraying unit; the first water pump (6) and the second water pump (11) are horizontally arranged and are respectively and fixedly arranged on the inner side of a bracket (104) of the chassis (1); the medicine chest (7) is horizontally placed and fixedly arranged on the upper side of the bracket (104); the parallel spraying unit (8) is fixedly arranged at a connecting hole (106) of the chassis (1) through a connecting rod (9); the steering mechanism (10) is rotationally connected to a pin shaft (107) of the chassis (1) through a steering swing arm (1002); the electric cabinet (12) is fixedly arranged in the middle of the chassis (1); the steering motor (13) is vertically and downwards placed and fixedly installed at the round through hole (105) of the chassis (1);
the chassis (1) comprises a bottom plate (101), a front boss (102), a rear boss (103), a support (104), a round through hole (105), a connecting hole (106) and a pin shaft (107), wherein the bottom plate (101) is of a rectangular structure; the front bosses (102) are vertically arranged and symmetrically and fixedly arranged on the front side of the bottom plate (101) respectively; the rear boss (103) is horizontally and fixedly arranged on the rear side of the bottom plate (101); the pin shafts (107) are vertically arranged and respectively fixedly installed on the lower sides of the rear bosses (103); the brackets (104) are vertically arranged and are respectively and symmetrically fixedly arranged at two sides of the bottom plate (101); the round through hole (105) is processed in the middle of the bracket (104); the connecting holes (106) are respectively processed on two sides of the rear side of the bottom plate (101);
the multi-degree-of-freedom spraying unit (5) comprises a base (501), a first big arm (502), a second big arm (503), a small arm (504), an extension rod motor (505), a wrist rear end (506), a combined end effector (507), a front camera (510), a shoulder motor (512), an elbow motor (513) and a parallel mechanism, wherein a disc is arranged on the lower side of the base (501), and two mounting bosses are machined on the upper side of the disc; the shoulder motor (512) is horizontally arranged and fixedly installed on the inner side of the boss of the base (501); the first big arm (502) is of a U-shaped structure, and the opening side of the first big arm is placed downwards and fixedly arranged on a motor shaft of the shoulder motor (512); the lower platform of the parallel mechanism is fixedly arranged at the upper end of the first big arm (502); the second big arm (503) is also in a U-shaped structure, and one side of the opening of the second big arm is vertically and upwards placed and fixedly installed on an upper platform of the parallel mechanism; one end of the small arm (504) is processed with a square flat plate, the elbow motor (513) is horizontally arranged and fixedly installed at the inner side of the small arm (504), and a motor shaft of the elbow motor is fixedly installed on the second large arm (503); the extension rod motor (505) is horizontally arranged and fixedly installed on a square flat plate of the small arm (504); the rear end (506) of the wrist is of a circular tubular structure and is sleeved outside a motor shaft of the extension rod motor (505); the front camera (510) is fixedly arranged on the upper side of the small arm (504); the combined type end effector (507) is fixedly arranged on a motor shaft of the extension rod motor;
the combined type end effector (507) comprises a tail end connecting plate (50701), a spraying module (50702), a pruning module (50703), a sawing module (50704) and a rotating motor (50705), wherein the tail end connecting plate (50701) is of a star-shaped structure and is provided with three mounting positions; the rotating motors (50705) are respectively and fixedly arranged at the lower sides of the three branches of the tail end connecting plate (50701); the spraying module (50702) is fixedly arranged on a motor shaft of the rotating motor (50705) through a spraying base (50702A); the pruning module (50703) is fixedly arranged on a motor shaft of the rotating motor (50705) through a pruning base (50703A); the sawing module (50704) is rotatably arranged on a motor shaft of the rotating motor (50705) through a sawing base (50704A);
the spraying module (50702) comprises a spraying base (50702A), a first rotating base (50702B), a first nozzle (50702C) and a first driving motor (50702D), wherein the spraying base (50702A) is of an L-shaped structure, one side of a circular surface is provided with a cylindrical boss, and the middle of the boss is provided with a through hole; the first rotating seat (50702B) is of a cylindrical structure, a through hole is formed in the central axis, and a cylindrical boss is machined on the outer circular surface; the first driving motor (50702D) is horizontally arranged and fixedly installed on the side surface of the spraying base (50702A); the first rotating seat (50702B) is fixedly arranged on a motor shaft of a first driving motor (50702D); the first nozzle (50702C) is fixedly arranged on a cylindrical boss of the first rotating seat (50702B);
the pruning module (50703) comprises a pruning base (50703A), a second rotating base (50703B), a second driving motor (50703C), an electric cylinder (50703D), a pin (50703E), first scissors (50703F) and second scissors (50703G), wherein the pruning base (50703A) is of a rectangular flat plate structure, a circular boss is machined at the lower side of the pruning base, and two installation bosses are machined at the upper side of the pruning base; the second driving motor (50703C) is horizontally arranged and fixedly mounted on the mounting boss; the second rotating seat (50703B) is of a cylindrical structure and is fixedly arranged on a motor shaft of a second driving motor (50703C); a square boss is processed at the handle of the second scissors (50703G), and the second scissors (50703G) is fixedly arranged on a second rotating seat (50703B); the electric cylinder (50703D) is horizontally arranged rightwards and fixedly installed on the square boss; a long circular hole groove is processed at the handle of the first scissors (50703F), and the first scissors (50703F) are rotatably arranged on the second scissors (50703G); the pin (50703E) is fixedly arranged on an extending rod of the electric cylinder (50703D) and is slidably arranged at the slot of the long circular hole of the first scissors (50703F);
the sawing module (50704) comprises a sawing base (50704A), a third driving motor (50704B), a saw disc (50704C), a saw disc motor (50704D) and a third rotating base (50704E), and the structure of the sawing base (50704A) is the same as that of the pruning base (50703A); the third driving motor (50704B) is horizontally arranged and fixedly mounted on a mounting boss of the sawing module (50704); the main body of the third rotating seat (50704E) is of a cylindrical structure, and a long rod is machined on the outer circular surface; the saw disc motor (50704D) is fixedly arranged on a long rod of a third rotating seat (50704E); the saw disc (50704C) is fixedly arranged on a motor shaft of the saw disc motor (50704D);
the parallel spraying unit (8) comprises a connecting plate (801), a parallel nozzle (802) and a rear camera (803), wherein the connecting plate (801) is of a flat plate structure bent by 135 degrees; the parallel nozzles (802) are respectively and fixedly arranged on the lower sides of the connecting plates (801); the rear camera (803) is fixedly arranged on the upper side of the connecting plate (801) towards the rear;
the steering mechanism (10) comprises a rear wheel (1001), a steering swing arm (1002), a connecting rod (1003) and a crank (1004), wherein the rear wheel (1001) is rotatably arranged on the steering swing arm (1002) through a wheel axle; the steering swing arm (1002) is of a 6-shaped structure, a through hole is formed in the circular part, and the steering swing arm is respectively and rotatably arranged on two pin shafts (107) of the chassis (1) through the through hole; the connecting rod (1003) is uniformly provided with three through holes, and the three through holes are respectively rotatably arranged on the steering swing arm (1002) through the through holes at the two ends; one end of the crank (1004) is fixedly arranged on a motor shaft of the steering motor (13), and the other end of the crank is rotatably arranged on the connecting rod (1003) through a shaft;
the parallel nozzle (802) comprises an upper platform (80201), an electric cylinder sleeve (80202), an electric cylinder rod (80203), a lower platform (80204) and a second nozzle (80205), wherein the upper platform (80201) and the lower platform (80204) are both of circular structures, and three pairs of spherical hinge seats are machined on the inner sides of the upper platform (80201) and the lower platform (80204); a ball is processed at one end of the seal of the electric cylinder sleeve (80202), and the three pairs of electric cylinder sleeves (80202) are respectively rotatably arranged in a spherical hinge seat of the upper platform (80201) through the ball to form a spherical hinge; the cylinder rod (80203) is respectively installed in the cylinder sleeve (80202) in a sliding manner, a round ball is processed at the other end, and the cylinder rod (80203) is rotatably installed in a corresponding spherical hinged support of the lower platform (80204) through the round ball; the second nozzle (80205) is fixedly arranged at a hole in the middle of the lower platform (80204).
2. The multi-functional landscape plant maintenance robot of claim 1, wherein: the first water pump (6) and the second water pump (11) are respectively connected with the first nozzle (50702C) and the second nozzle (80205).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710625798.2A CN107306928B (en) | 2017-07-27 | 2017-07-27 | Multi-functional landscape plant maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710625798.2A CN107306928B (en) | 2017-07-27 | 2017-07-27 | Multi-functional landscape plant maintenance robot |
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| CN107306928A CN107306928A (en) | 2017-11-03 |
| CN107306928B true CN107306928B (en) | 2020-06-09 |
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| CN201710625798.2A Expired - Fee Related CN107306928B (en) | 2017-07-27 | 2017-07-27 | Multi-functional landscape plant maintenance robot |
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| CN109804903A (en) * | 2017-11-21 | 2019-05-28 | 朱银娥 | A kind of afforestation Work robot |
| CN108522483B (en) * | 2018-07-18 | 2020-11-03 | 福州永乐食品有限公司 | Agricultural is with strawberry medicine device that spouts |
| CN109213160B (en) * | 2018-08-31 | 2020-11-24 | 西南大学 | Multi-wheel foot robot for field weeding and fertilizing operation |
| CN111631019B (en) * | 2020-06-08 | 2022-02-22 | 安徽理工大学 | Multifunctional harvesting robot for plant factory |
| CN113330937B (en) * | 2021-07-02 | 2022-05-27 | 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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| JPH05138091A (en) * | 1991-11-13 | 1993-06-01 | Japan Tobacco Inc | Chemical agent spraying robot |
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