CN108738436A - The modular multi-function agricultural robot of weeding between strain is sowed in a kind of canopy room rotary tillage - Google Patents
The modular multi-function agricultural robot of weeding between strain is sowed in a kind of canopy room rotary tillage Download PDFInfo
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- CN108738436A CN108738436A CN201810761480.1A CN201810761480A CN108738436A CN 108738436 A CN108738436 A CN 108738436A CN 201810761480 A CN201810761480 A CN 201810761480A CN 108738436 A CN108738436 A CN 108738436A
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- China
- Prior art keywords
- sowing
- rotary tillage
- motor
- rack
- weeding
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/14—Mowers combined with apparatus performing additional operations while mowing with dispensing apparatus, e.g. for fertilisers, herbicides or preservatives
Abstract
The invention discloses the modular multi-function agricultural robots that weeding between strain is sowed in a kind of canopy room rotary tillage, crawler body including rack and as walking power, the rack is fixed on crawler body, the rack is equipped with hoisting mechanism, fertilizing mechanism and dismountable rotary tillage mechanism, sowing mechanism and Zhu Jian weedings mechanism, the fertilizing mechanism is installed on rack front end, for arable land or Crops in Applying Fertilizer；The hoisting mechanism is installed on central rack, and the sliding block of hoisting mechanism removably connects rotary tillage mechanism or sowing mechanism；Zhu Jian weedings mechanism is detachably arranged in rack rear portion.The present invention is using crawler body shared module as the load bearing component of other each function modules, weeding function module is replaceable between rotary tillage, sowing and strain, it is truly realized a tractor serves several purposes of agricultural robot, the invention enables the agricultural machinery and implement without standing a variety of canopy room operations, agriculture production cost is effectively reduced, agricultural production efficiency is improved.
Description
Technical field
The invention belongs to farm machine fields, are related to a kind of agricultural robot, and in particular to a kind of canopy room rotary tillage sowing strain
Between weeding modular multi-function agricultural robot.
Background technology
Vegetable cultivation machinery in widely used canopy room at this stage, is mostly the simple transplanting version of field planting machinery, makes
With there are problems in the process, if exhaust emission is serious, noise is big；Because canopy room narrow space leads to turn to inconvenient, mini-tiller
It easily balks, labor intensity of operating staff is big and agricultural machinery utilization rate is not high.The appearance of agricultural robot is in order to solve the above problem
Provide new method, but because the professional technique involved by agricultural robot is complicated, manufacturing cost is excessively high and has a single function and makes
Its popularization and application is greatly limited.
Invention content
The purpose of the present invention is being directed to the above situation, propose that one kind is made towards weeding between canopy room rotary tillage, fertilising, sowing and strain
Industry makes it while preferably adapting to canopy room operating environment in the remote control electric modular multi-function agricultural robot of one, tool
The function of standby more agricultural machinery, effectively improves agricultural robot utilization rate.As shown in Figure 1, the agricultural robot is set using modularization
Meter, using crawler body shared module as the load bearing component of other each function modules, weeding function module between rotary tillage, sowing and strain
It is replaceable, so that agricultural robot executing agency is converted to weeding between seeding operation or strain from rotary tillage process equipment
Work tool is truly realized a tractor serves several purposes of agricultural robot.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
The modular multi-function agricultural robot of weeding between a kind of canopy room rotary tillage sowing strain, including rack and dynamic as walking
The crawler body of power, the rack are fixed on crawler body, it is characterised in that：The rack is equipped with hoisting mechanism, fertilising
Mechanism and dismountable rotary tillage mechanism, sowing mechanism and Zhu Jian weedings mechanism, the fertilizing mechanism are installed on rack front end, use
In to arable land or Crops in Applying Fertilizer；The hoisting mechanism is installed on central rack, and the sliding block of hoisting mechanism removably connects rotation
Plough mechanism or sowing mechanism；Zhu Jian weedings mechanism is detachably arranged in rack rear portion.
As an improvement, the hoisting mechanism is mainly made of promotion motor, motor cabinet, sliding block and leading screw, the leading screw is perpendicular
Straight is mounted in rack, and leading screw is equipped with the nut by screw-thread fit, and the guide rail parallel with leading screw, institute are additionally provided in rack
Sliding block is stated on guide rail, and is fixedly linked with nut, the promotion motor is mounted on by motor cabinet in rack, is promoted
The output shaft of motor and leading screw axis connection, sliding block are equipped with the wedge groove being connected with rotary tillage mechanism or sowing mechanism, on wedge groove
The sliding block of side is equipped with connecting hole.
As an improvement, the fertilizing mechanism includes mainly being made of fertilizer box, fertile box, roller and transmission shaft, the fertilizer box
Be fixedly mounted in rack, the fertilizer box have it is multiple, Cheng Yilie be mounted on fertilizer box bottom and be connected in fertilizer box, each fertilizer box
It is inside all provided with there are one roller, all rollers are fixed by transmission shaft and connected, and rotation axis passes through the fertilising electricity in fertilizer box
Machine driving rotation is equipped with the cross-tie parallel with transmission shaft below the fertilizer box, sets that there are one fertilisings to open below each fertilizer box
Ditch plough, fertilising ditching plow are mounted on by connector on cross-tie, and each fertilizer cassette bottom portion fertilizer outlet is set there are one fertilizer hose,
The fertilizer hose is extend into the groove of fertilising ditching plow bottom.
As an improvement, the connector includes pressing plate and U-shaped card hoop, the U-shaped card cuff passes through pressure on cross-tie
It is fastened by nut after plate, fertilising ditching plow is fixedly linked with pressing plate, unclamps fastening nut, you can regulated fertilization ditching plow is in cross
Position on pull rod.
As an improvement, the rotary tillage mechanism includes rotary tillage pedestal, Rotary tillage blade, rotary knife axis and rotary tillage motor, the rotation
Coulter axis is mounted on rotary tillage base bottom by bearing, and rotary tillage motor is mounted on rotary tillage pedestal, and is passed with rotary knife axis power
Dynamic to be connected, Rotary tillage blade is fixedly mounted on rotary knife axis, and the rotary tillage pedestal is equipped with connecting plate, and connecting plate is equipped with and carries
Rise the wedge block that wedge groove on mechanism sliding block matches installation.
As an improvement, the rotary tillage pedestal below the rotary tillage motor is equipped with the mud guard that surrounding tilts down.
It is installed by plants case as an improvement, the sowing mechanism includes plants case, sowing pedestal and sowing motor, the plants case
Mechanism is mounted on sowing pedestal, and sowing pedestal also is provided with connecting plate, and connecting plate is equipped with and wedge groove on hoisting mechanism sliding block
Match the wedge block of installation；The plants case installing mechanism includes two plants case fixed plates, by two plants case fixed plate stationary phases
Link block even and two installation axles being installed in parallel on sowing pedestal, the plants case are fixedly mounted on plants case fixed plate
On, plants case fixed plate rear and front end is respectively equipped with the C-shaped gap that can be stuck in two installation axles, is set at least one C-shaped gap
There is a clamping screw held out against on the mounting shaft, the plants case has multiple, and each plants case bottom is equipped with sowing port, in the sowing port
Equipped with seed wheel, the seed wheel is equipped with connected driven gear fixed thereto, sets that there are one be engaged with phase on driven gear
Driving gear even, the driving gear of plants case bottom are fixedly mounted on same root transmission shaft, the transmission shaft and sowing motor
Power transmission is connected.
It is ploughed as an improvement, being equipped with sowing and ditching below the plants case sowing port, the sowing and ditching plough is parallel by two pieces
Front edge of board is drawn close to form V-shape structure composition, and between two blocks of parallel plates of sowing port face, two pieces of parallel plate tail portions, which are equipped with, inclines
The trailing bar tiltedly installed.
As an improvement, Zhu Jian weedings mechanism includes weeding motor, weeding knife, weeding cutterhead, horizontal sliding table and vertical
Slide unit, the horizontal sliding table and vertical slide unit are synchronous banding pattern straight line slide unit, and vertical slide unit is mounted on rack by connector
Rear end, the horizontal sliding table are fixedly mounted on the sliding block of vertical slide unit, and weeding motor is fixedly mounted on the sliding block of horizontal sliding table
On, weeding knife is mounted on by weeding cutterhead on the output shaft of careless motor.
As an improvement, there are two the vertical slide units, the both ends of horizontal sliding table are separately mounted to the cunning of two vertical slide units
On block, the power input shaft of two vertical slide units is connected by same root transmission shaft, which is driven by vertical slide unit motor
Dynamic rotation.
Present invention has the advantages that：
The present invention is using crawler body shared module as the load bearing component of other each function modules, between rotary tillage, sowing and strain
Weeding function module is replaceable, so that agricultural robot executing agency is converted to sowing from rotary tillage process equipment and makees
Weeding work tool between industry or strain is truly realized a tractor serves several purposes of agricultural robot, and the invention enables without standing a variety of farming
The machinery of function, effectively reduces agriculture production cost, improves agricultural production efficiency.
Description of the drawings
Fig. 1 is each function module transformational relation figure of modular multi-function agricultural robot of the present invention；
Fig. 2 is modular multi-function agricultural robot shared module structure chart of the present invention；
Fig. 3 is hoisting mechanism structure chart；
Fig. 4 is fertilizing mechanism structural representation；
Fig. 5 is rotary tillage mechanism structure chart；
Fig. 6 is sowing mechanism structure chart；
Fig. 7 is single seeding apparatus structure chart；
Fig. 8 is Zhu Jian weedings mechanism structure chart；
Fig. 9 is Zhu Jian weedings mechanism and camera installation site figure；
Figure 10 weeding operation weeding knife movement locus between greenhouse celery strain；
Figure 11 is the crawler body structural schematic diagram for installing sowing mechanism；
Figure 12 is the sliding block scheme of installation of the connecting plate and hoisting mechanism of rotary tillage mechanism.
1 rack；2 accumulator groups；3 hoisting mechanisms；4 expansion tightening wheels；5 crawler belts；6 chassis overhangs；7 thrust wheels；8 fertilizing mechanisms；9
Control cabinet；10 crawler bodies；11 movable motors；12- cameras；13 press wheels；15 Zhu Jian weedings mechanisms；1-1 promotes motor；1-2
Motor cabinet；1-3 sliding blocks；1-4 leading screws；2-1 fertilizer box；2-2 bearing blocks；2-3 fertilizer boxes；2-4 cross-ties；2-5 pressing plates；2-6 is U-shaped
Clip；2-7 rollers；2-8 fertilising ditching plows；3-1 Rotary tillage blades；3-2 rotary tillage motors；3-3 mud guards；3-4 retarders；3-5
Rotary knife axis；3-6 connecting plates；3-7- rotary tillage pedestals；4-1 grip blocks；4-2 plants case fixed plates；4-3 driven gears；4-4 driving tooths
Take turns 4-5 plants cases；4-6 trailing bars；4-7 sowing and ditchings are ploughed；4-8 small synchronous pulleys；The big synchronous pulleys of 4-9；4-10 sows motor；4-
11 connecting plates；4-12 line-spacing adjusting blocks；4-13 link blocks；4-14 sows pedestal；4-15 sows motor cabinet；The vertical slide unit electricity of 5-1
Machine；5-2 synchronous belts；5-3 big belt wheels；5-4 horizontal sliding tables；5-5 transmission shafts；5-6 weeding motors；5-7 weeding knifes；5-8 weeding knifes
Disk；5-9 horizontal sliding table motors；5-10 synchronous belts；The vertical slide units of 5-11.
Specific implementation mode
Below from the shared module of the agricultural robot, rotary tillage mechanism, sowing mechanism, Zhu Jian weedings mechanism and control
System etc. illustrates that its mechanical structure composition and each function realize process.
Shared module：Mainly it is made of the several majors such as crawler body, rack, hoisting mechanism and fertilizing mechanism, power supply,
Shared module structure chart is as shown in Figure 2.
Crawler body：Using conventional structure, for providing walking power for whole device, mainly by accumulator group 2, tensioner
Wheel 4, crawler belt 5, chassis overhang 6, thrust wheel 7, control cabinet 9, driving wheel 10, movable motor 11 form.11 power of movable motor passes through
Driving wheel 10,10 external tooth of driving wheel and tooth engagement in crawler belt 5 are passed to after retarder deceleration torque, drive crawler body movement.
Hoisting mechanism：As shown in figure 3, being mainly made of promotion motor 1-1, motor cabinet 1-2, sliding block 1-3, leading screw 1-4.It carries
It rises mechanism 3 and is fixed on 1 corresponding position of rack (the present embodiment is middle part), rotary tillage mechanism or sowing mechanism are mounted on by connecting plate
On the sliding block 1-3 of hoisting mechanism 3, controlling promotion motor 1-1 by control system makes sliding block 1-3 be lifted along leading screw 1-4, is adjusted
Each function module end effector (i.e. rotary tillage mechanism or sowing mechanism) liftoff spacing on sliding block 1-3.Such as Figure 12 institutes
Being shown as rotary tillage mechanism connecting plate, (sowing mechanism connecting plate connects with rotary tillage mechanism shown in Figure 12 with hoisting mechanism sliding block connection diagram
Fishplate bar structure is identical), to ensure the positive connection of feed screw nut top shoe 1-3 and rotary tillage mechanism or sowing mechanism, before sliding block 1-3
There is wedge groove on end face, also has on same rotary tillage mechanism connecting plate 3-6 (the connecting plate 4-11 of sowing mechanism) with matching
Wedge block.Sliding block 1-3 is opened upper end there are two through-hole, the wedge shape on rotary tillage mechanism connecting plate 3-6 (sowing mechanism connecting plate 4-11)
Block upper end is connected by bolts sliding block 1-3 and rotary tillage mechanism connecting plate 3-6 (or sowing mechanism connecting plate 4- there are two threaded hole
11).Due to the effect of wedge shape, the stress of attachment bolt is made to be held essentially constant during the work time, thus will not be because of operation
Vibration in the process and fail.
Fertilizing mechanism：As shown in figure 4, mainly by fertilizer box 2-1, bearing block 2-2, fertile box 2-3, cross-tie 2-4, pressing plate 2-
5, the compositions such as U-shaped card hoop 2-6, roller 2-7, fertilising ditching plow 2-8, fertilizer-guiding plate 2-9, fertilising motor 2-10.
It (is specially that fertilizer box 2-1 is bolted on rack 1 that entire fertilizing mechanism, which is bolted on 1 front end of rack,
On), the bottoms the fertilizer box 2-1 be equipped with it is multiple be used as the fertile box 2-3 for fertile channel, be all provided in each fertilizer box 2-3 there are one fertilizer
2-7 is taken turns, the roller 2-7 is surface runner with groove, and all rollers fix series connection, rotation axis by a transmission shaft
Rotation is driven by the fertilising motor in fertilizer box, the bearing block 2-2 on the left of fertilizer box 2-1 is for being secured across in fertile box 2-3
Transmission shaft one end of portion roller 2-7, fertilising motor 2-10 is motor reducer integral structure, passes through respective bolt on retarder
Fertilising motor 2-10 is fixed on the right side of fertilizer box 2-1 by hole, and the transmission shaft other end passes through fertilising motor 2-10 retarder axis holes to fix,
Under fertilising motor 2-10 drivings, transmission shaft drives roller 2-7 rotations, realizes seeding action, it is pointed out that this implementation
Roller 2-7 can also use the rotating blanking valve for being used for blanking in the prior art in example.It is described as a kind of more preferable embodiment
Fertile box 2-3 is interior to be equipped with inclined fertilizer-guiding plate 2-9, and the fertilizer-guiding plate 2-9 is located at the both sides roller 2-7 inside fertile box 2-3, and being used for will
Agricultural fertilizer is guided to roller 2-7 grooves so that agricultural fertilizer passes through the fertilizer outlet of the fertile box 2-3 of roller 2-7 flow directions, adjustment fertilising
The defertilizing amount in the unit interval can be changed in motor 2-10 rotating speeds.Each fertilizer cassette bottom portion is corresponding to be set there are one the ditching plow 2-8 that applies fertilizer,
Fertilising ditching plow 2-8 can select triangle ditching plow conventional in the prior art, fertilising ditching plow 2-8 to pass through pressing plate 2-5, U
Type clip 2-6 is fixed on the corresponding positions cross-tie 2-4, and the U-shaped card cuff is on cross-tie 2-4, after passing through pressing plate 2-5
It is fastened by nut, fertilising ditching plow 2-8 and pressing plate 2-5 is fixedly linked, and unclamps fastening nut, you can regulated fertilization ditching plow 2-
8 position on cross-tie 2-4；Be connected at the fertilizer outlet of the lower ends fertile box 2-3 plastics defertilizing tube (i.e. bellows, concretely
Plastic flexible pipe or bellows), defertilizing tube lower part is vertically embedded in fertilising ditching plow 2-8 grooves, is extended to
It applies fertilizer in ditching plow 2-8 bottom-rear grooves, due to the good plasticity of defertilizing tube, when for different spacings fertilizer operation, only needs
Each fertilising ditching plow 2-8 spacing on cross-tie 2-4 is adjusted, without changing fertile box 2-3 installation sites.Fertilising operation is realized
Process：For operator by crop row away from requirement, it is that agricultural fertilizer is avoided to burn seedling to death to regulate each fertilising ditching plow 2-8 spacing, fertile ditch and
Kind ditch is generally different ditches, and be staggered certain distance between each other.And embedded depth, in the process that Robot crop row is advanced
In, fertilising ditching plow 2-8, which buries, outputs certain depth fertilizer ditch, and agricultural fertilizer is discharged through roller 2-7 from the fertilizer outlet of fertile box 2-3, and
It is discharged into Fei Gou along defertilizing tube.
Power supply：Electric energy needed for robot work will be stored both from accumulator group 2 by DC-DC voltage transformation modules
2 voltage of battery pack is converted into rated voltage needed for each electrical equipment work of robot.
Rotary tillage mechanism：As shown in figure 5, mainly by Rotary tillage blade 3-1, rotary tillage motor 3-2, mud guard 3-3, retarder 3-4,
The compositions such as rotary knife axis 3-5, connecting plate 3-6.The rotary knife axis 3-5 is mounted on the bottoms rotary tillage pedestal 3-7, rotary tillage by bearing
Motor 3-2 is mounted on rotary tillage pedestal 3-7, and is connected with rotary knife axis 3-5 power transmissions, and Rotary tillage blade 3-1 is fixedly mounted on
3-5 on rotary knife axis, the rotary tillage pedestal 3-7 are equipped with connecting plate 3-6, and connecting plate 3-6 is equipped with the sliding block with hoisting mechanism
The upper wedge grooves of 1-3 match the wedge block of installation.
Rotary tillage motor 3-2 output torques are transferred to rotary knife axis 3-5 after retarder 3-4 deceleration torques, drive rotary blade
Piece 3-1 rotations.Rotary tillage mechanism is mounted on by connecting plate 3-6 on the sliding block 1-3 of hoisting mechanism 3, and the sliding block of hoisting mechanism 3 is controlled
1-3 liftings can adjust Rotary tillage blade 3-1 embedded depths.When rotary tillage process：Robot is waiting for straight line in farming field with certain speed
Walking, rotary tillage motor 3-2 drive Rotary tillage blade 3-1 to rotate with certain rotating speed, rotary blade 3-1 embedded depths it is accurate adjust according to
According to：The leading screw 1-4 screw pitch and promotion motor 1-1 of known hoisting mechanism 3 control pulse frequency, can calculate hoisting mechanism per minute
3 sliding block 1-3 vertically displacement distances.I.e. the sliding block 1-3 movement speeds of hoisting mechanism 3 are it has been determined that if you need to by regulation
Tilling depth operation need to only determine that rotary tillage cutter 3-1 reaches specified tilling depth and needs displacement distance at this time, can be controlled within the corresponding time
Sliding block 1-3, which is moved down, makes cutter reach specified embedded depth, and the rotary blade 3-1 in the present embodiment is using rotation conventional in the prior art
Coulter.
Sowing mechanism：As shown in Figure 6 and Figure 7, mainly by grip block 4-1, plants case fixed plate 4-2, transmission gear 4-3, master
Moving gear 4-4, plants case 4-5, trailing bar 4-6, sowing and ditching plough 4-7, small pulley 4-8, big belt wheel 4-9, sowing motor 4-10, connect
The compositions such as fishplate bar 4-11, line-spacing adjusting block 4-12, link block 4-13, sowing pedestal 4-14.
Grip block 4-1 plays lifting and is oriented to and reduces sowing mechanism operation for being clamped in 1 corresponding position guide post of rack
The effect vibrated in the process.
The sowing mechanism can be required according to different spacings, sow four to six row crops, single dispenser as shown in fig. 7,
Sowing mechanism is installed on by connecting plate 4-11 on 3 sliding block 1-3 of hoisting mechanism, adjustable by adjusting slider 1-3 vertical heights
Sowing mechanism sowing and ditching ploughs the liftoff spacing of 4-7, specially：It sows pedestal 4-14 and is equipped with connecting plate 4-11, connecting plate 4-11
It is equipped with the wedge block that installation is matched with wedge groove on the sliding block 1-3 of hoisting mechanism 3；The plants case 4-5 is installed by plants case
Mechanism is mounted on sowing pedestal 4-14, and the plants case installing mechanism includes two plants case fixed plate 4-2, fixes two plants cases
The link block 4-13 and two installation axles being installed in parallel on sowing pedestal 4-14, plants case 4-5 that plate 4-2 is fixedly linked pass through
Short pin is mounted between two plants case fixed plate 4-2；Plants case fixed plate 4-2 is rectangle structure, and rear and front end is provided with card slot and fixes
On the mounting shaft, link block 4-13 is between two plants case fixed plate 4-2, for connecting three.Line-spacing adjusting block 4-
12 are mounted on the outside of plants case fixed plate 4-2 and with link block 4-13 in the same end, by lag bolt by line-spacing adjusting block 4-12, kind
Case fixed plate 4-2 and link block 4-13 are connected, and the rear ends plants case fixed plate 4-2 are equipped with the c-type that can be stuck in rear side installation axle
Notch, the front ends line-spacing adjusting block 4-12 are equipped with the C-shaped gap that can be stuck on installed in front axis, the wherein rear ends plants case fixed plate 4-2
C-shaped gap straight down, the C-shaped gaps of the front ends line-spacing adjusting block 4-12 is horizontal direction, and before line-spacing adjusting block 4-12
End is equipped with the clamping screw that can be screwed into C-shaped gap, and when clamping screw is tightened, front end is held out against can fix on the mounting shaft
The relative positions of plants case fixed plate 4-2 on the mounting shaft, therefore after adjusting the relative positions of plants case 4-5 on the mounting shaft,
Plants case 4-5 relative positions can be fixed by tightening clamping screw.
The plants case 4-5 has multiple, and the bottoms each plants case 4-5 are equipped with sowing port, and seed wheel, institute are equipped in the sowing port
It states seed wheel and is equipped with connected driven gear 4-3 fixed thereto, set that there are one be engaged with connected active on driven gear 4-3
The driving gear 4-4 of the bottom gear 4-4, plants case 4-5 is fixedly mounted on same root transmission shaft, the transmission shaft and sowing motor
Power transmission is connected, and specially the transmission shaft is equipped with connected big synchronous pulley 4-9 fixed thereto, and sowing motor 4-10 is equipped with
Pass through synchronous belt between the small synchronous pulley 4-8 being fixedly linked with its output shaft, small synchronous pulley 4-8 and big synchronous pulley 4-9
It is connected, sowing motor 4-10 is fixedly mounted on sowing pedestal 4-14.
It is equipped with sowing and ditching below the sowing port of the plants case 4-5 and ploughs 4-7, the sowing and ditching plough 4-7 is parallel by two pieces
Front edge of board draw close to form V-shape structure composition, between two blocks of parallel plates of sowing port face, two pieces of parallel plate tail portions are equipped with
Tilt the trailing bar 4-6 of installation.
Power is sowed to transmit：Sowing motor 4-10 output torques are transferred to big synchronous pulley 4-9 through small synchronous pulley 4-8,
The driving gear 4-4 rotations on transmission shaft are driven, it is logical to be located at seed wheel in the driven gear 4-3 and plants case 4-5 of the sides plants case 4-5
It crosses short axle to be connected, driven gear 4-3 is engaged with driving gear 4-4 drives coaxial seed wheel rotation, completes seeding action, owns
The driving gear 4-4 of seeder is installed on a transmission shaft, and with the driven gear 4-3 on the seed shaft of each seeder
Engagement.The front ends sowing and ditching plough 4-7 long axis passes through axis hole in the middle part of link block 4-13 to fix, and adjustment long axis vertical displacement is adjustable to be broadcast
Kind ditching plow 4-7 embedded depths, trailing bar 4-6 are installed on the ends sowing and ditching plough 4-7, and earthing power, which is fixed from it on short pin, pacifies
The helical spring of dress.Line-spacing adjusting block 4-12, plants case fixed plate 4-2, link block 4-13, plants case 4-5, transmission gear 4-3, active
Gear 4-4, trailing bar 4-6, the sowing and ditching plough parts such as 4-7 constitute one group of dispenser, the sowing mechanism as shown in Figure 6 this
Tetra- groups of dispensers of Shi Gongyou can sow four row crops simultaneously in operation process, and sowing line-spacing adjusting is by adjusting line-spacing
Clamping screw on adjusting block 4-12 changes what the axial spacing between each group dispenser was realized.
It may be noted that the present embodiment in seed wheel seed wheel in the prior art can be used, can also use rotation under
Expect valve or surface idler wheel with groove.
It additionally needs and is pointed out that in the present embodiment, sowing motor 4-10 is fixed on sowing motor cabinet 4-15, sowing electricity
Engine base 4-15 is mounted on 1 rear end of rack by lifting gear, which can adjust sowing motor 4-10 height, to adjust
Synchronous belt tensioning degree between whole small synchronous pulley 4-8 and big synchronous pulley 4-9, the lifting gear is one group of spiral shell in the present embodiment
Bolt adjusts sowing motor cabinet 4-15 height by one group of bolt, same to reach tensioning to adjust sowing motor 4-10 height
The purpose for walking band has been sowed in addition it can which press wheel 13 is arranged in the tail end of the tail end of rack 1 or sowing pedestal 4-14
Afterwards, earthing compacting is carried out with press wheel 13 immediately, can effectively ensures that germination bears rate.
It additionally needs and is pointed out that：In the present embodiment, wedge-shaped groove structure and sowing mechanism or rotary tillage on hoisting mechanism sliding block
Corresponding wedge block in mechanism ensures firm connection between the two by bevel edge.
Zhu Jian weedings mechanism：As shown in figure 8, mainly by vertical slide unit motor 5-1, synchronous belt 5-2, big belt wheel 5-3, level
Slide unit 5-4, transmission shaft 5-5, weeding motor 5-6, weeding knife 5-7, weeding cutterhead 5-8, horizontal sliding table motor 5-9, synchronous belt 5-
10, the compositions such as vertical slide unit 5-11.
The horizontal sliding table 5-4 and vertical slide unit 5-11 is synchronous banding pattern straight line slide unit, and Zhu Jian weedings mechanism passes through perpendicular
The straight back sides slide unit 5-11 link block (being not drawn into figure) is fixed on 1 corresponding position of rack (rack tail end), the vertical slide unit 5-4
There are two, the both ends of horizontal sliding table are separately mounted on the sliding block of two vertical slide unit 5-4, the power input of two vertical slide units
Axis is connected by same root transmission shaft 5-5, and transmission shaft 5-5 is driven by vertical slide unit motor 5-1 to be rotated, specially：Transmission shaft
The output shaft that 5-5 is equipped with the big belt wheel 5-3, vertical slide unit motor 5-1 that are fixedly linked is equipped with the small pulley being fixedly linked, greatly
It is connected by synchronous belt 5-2 between belt wheel 5-3 and small pulley, weeding motor 5-6 is fixedly mounted on the sliding block of horizontal sliding table 5-11
On, weeding knife 5-7 is mounted on by weeding cutterhead 5-8 on the output shaft of careless motor 5-6；Vertical slide unit motor 5-1 power is through same
Step band 5-2 is transferred to big belt wheel 5-3 and passes through transmission while motor power is transferred to big belt wheel 5-3 left side vertical slide unit 5-11
Power is transferred to big belt wheel 5-3 right vertical slide unit 5-11 by axis 5-5, which makes the vertical slide unit 5-1 in both sides while receiving
Equal driving force, ensure that the both sides horizontal sliding table 5-4 installation site can synchronization lifting ensure that the water of horizontal sliding table 5-4
Pingdu.Be toothed belt transmission form inside horizontal and vertical slide unit, under control of the controller, by weed-eradicating robot walking and
Horizontal sliding table 5-4, vertical slide unit 5-11, which cooperate, to be moved, position where weeds between weeding knife 5-7 can be made to be pin-pointed to strain
It sets, under the 5-6 drivings of weeding motor, weeding cutterhead 5-8 drives weeding knife 5-7 rotations, carries out the removing of weeds between strain, this implementation
Weeding knife 5-7 is rotary-type weeding knife conventional in the prior art in example, will be miscellaneous by the 5-8 band cutting blade rotations of weeding cutterhead
Grass is cut off, and reaches weeding purpose.
Control system：In order to realize that automation, the present invention may be incorporated into control system, the various functions of robot are being controlled
The United Dispatching of system processed and coordination are automatically performed.Control system includes：Each motor control module, image variants mould
Block, power supply monitoring module, communication module and remote control module etc..Control system major function includes：
1. chassis travelling control：Realize the robot ambulations functions such as agricultural robot advance, retrogressing, left and right turn, and
Robot straight line autonomous control.
2. weeding Operation control between rotary tillage, sowing, fertilising, strain：When rotary tillage process, realizes rotary tillage motor and promote motor control
System.When seeding operation, sowing motor start and stop and speed control are realized.When fertilising operation, fertilizer motor start-up and shut-down control is realized.Between strain
When weeding operation, horizontal sliding table motor, the control of vertical slide unit motor and weeding motor start-up and shut-down control are realized.
3. image variants module：Control camera acquisition field crops image simultaneously carries out image procossing, so that it is determined that
Strain between weeding operation when weeding knife position.
4. power supply monitoring module：Electric quantity of power supply is monitored in real time, accumulator group is monitored in real time, when voltage or
After charge value is less than setting value, alarm is carried out at once, and staff's electric quantity of power supply deficiency is reminded to need charging in time.
5. communication module：By wireless receiving module, the control instruction signal sent out from remote control controller is received.
6. remote control module：The command signal from remote controller key is received, and it is sent out by wireless transmitter module
Give multi-function robot.
Weeding process flow between strain：As shown in figure 9, field image is obtained by camera, by image procossing in the prior art
Determine the center (object of reference Comparison Method on photo can also be used to determine) of adjacent two plants of crops.In weeding process, machine
People is along crop row longitudinal direction straight line moving, and when reaching two plants of crop centre positions, robot halts weeding knife rotation center,
Start weeding knife rotate and control vertical slide unit motor decentralization weeding knife to certain embedded depth, when the weeding knife of rotation is from level
After the slide unit leftmost side is moved to the rightmost side, robot completes weeding operation between the once strain of transverse direction crop, stops weeding knife rotation
And promoted, robot continues along crop row longitudinal direction straight line moving, when weeding knife rotation center arrives again in two plants of crops
Between position, start weeding knife rotate and transfer weeding knife to certain embedded depth, so that it is moved from slide unit right end to left end
Weeding between progress strain.Hereafter above-mentioned weeding process is repeated, until robot reaches field.
As shown in Figure 10, by taking the celery planted in greenhouse as an example, line-spacing 20cm, spacing in the rows 15cm.Select rotating diameter be
The weeding knife of 10cm, with crop row laterally for x-axis, crop row is longitudinally y-axis, plane right-angle coordinate xoy is established, between entire strain
The movement locus of weeding process weeding knife is as shown in figure 9, black overstriking line segment indicates weeding knife rotation center movement locus in figure.
With the method weeding, it only can need to greatest extent remove strain according to different spacing in the rows crops replacement respective diameters weeding knife and be mixed with
Grass.
Claims (10)
1. the modular multi-function agricultural robot of weeding between a kind of canopy room rotary tillage sowing strain, including rack and as walking power
Crawler body, the rack is fixed on crawler body, it is characterised in that：The rack is equipped with hoisting mechanism, fertilizer applicator
Structure and dismountable rotary tillage mechanism, sowing mechanism and Zhu Jian weedings mechanism, the fertilizing mechanism are installed on rack front end, are used for
To arable land or Crops in Applying Fertilizer；The hoisting mechanism is installed on central rack, and the sliding block of hoisting mechanism removably connects rotary tillage
Mechanism or sowing mechanism；Zhu Jian weedings mechanism is detachably arranged in rack rear portion.
2. modular multi-function agricultural robot as described in claim 1, it is characterised in that：The hoisting mechanism is mainly by carrying
Lifting motor, motor cabinet, sliding block and leading screw composition, the leading screw is vertical to be mounted in rack, and leading screw is equipped with is matched by screw thread
The nut of conjunction is additionally provided with the guide rail parallel with leading screw in rack, and the sliding block is mounted on guide rail, and with nut stationary phase
Even, the promotion motor is mounted on by motor cabinet in rack, and the output shaft and leading screw axis connection, sliding block for promoting motor are equipped with
The wedge groove being connected with rotary tillage mechanism or sowing mechanism, the sliding block above wedge groove are equipped with connecting hole.
3. modular multi-function agricultural robot as claimed in claim 2, it is characterised in that：The fertilizing mechanism includes main
It is made of fertilizer box, fertile box, roller and transmission shaft, the fertilizer box is fixedly mounted in rack, and the fertilizer box has multiple, Cheng Yilie
Mounted on fertilizer box bottom and be connected in fertilizer box, be all provided with there are one roller in each fertilizer box, all rollers pass through transmission
Axis fixes series connection, and rotation axis drives rotation by the fertilising motor in fertilizer box, is equipped with below the fertilizer box flat with transmission shaft
Capable cross-tie, each fertilizer box lower section are set there are one the ditching plow that applies fertilizer, and fertilising ditching plow is mounted on lateral draw by connector
On bar, each fertilizer cassette bottom portion fertilizer outlet is set there are one fertilizer hose, and the fertilizer hose extend into the recessed of fertilising ditching plow bottom
In slot.
4. modular multi-function agricultural robot as claimed in claim 3, it is characterised in that：The connector include pressing plate and
U-shaped card hoop, the U-shaped card cuff are fastened after pressing plate by nut on cross-tie, and fertilising ditching plow is fixed with pressing plate
It is connected, unclamps fastening nut, you can position of the regulated fertilization ditching plow on cross-tie.
5. modular multi-function agricultural robot as claimed in claim 2, it is characterised in that：The rotary tillage mechanism includes rotary tillage
Pedestal, Rotary tillage blade, rotary knife axis and rotary tillage motor, the rotary knife axis are mounted on rotary tillage base bottom, rotary tillage by bearing
Motor is mounted on rotary tillage pedestal, and is connected with rotary knife axis power transmission, and Rotary tillage blade is fixedly mounted on rotary knife axis, institute
It states rotary tillage pedestal and is equipped with connecting plate, connecting plate is equipped with the wedge block for matching installation with wedge groove on hoisting mechanism sliding block.
6. modular multi-function agricultural robot as claimed in claim 5, it is characterised in that：Rotation below the rotary tillage motor
It ploughs pedestal and is equipped with the mud guard that surrounding tilts down.
7. modular multi-function agricultural robot as claimed in claim 2, it is characterised in that：The sowing mechanism includes kind
Case, sowing pedestal and sowing motor, the plants case are mounted on by plants case installing mechanism on sowing pedestal, and sowing pedestal also is provided with
Connecting plate, connecting plate are equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block；The plants case installing mechanism
It is installed in parallel in sowing pedestal including two plants case fixed plates, by link block that two plants case fixed plates are fixedly linked and two
On installation axle, the plants case is fixedly mounted in plants case fixed plate, and plants case fixed plate rear and front end, which is respectively equipped with, can be stuck in two
C-shaped gap in a installation axle, at least one C-shaped gap are equipped with the clamping screw held out against on the mounting shaft, and the plants case has
Multiple, each plants case bottom is equipped with sowing port, and seed wheel is equipped in the sowing port, and the seed wheel is equipped with fixed thereto be connected
Driven gear, set on driven gear there are one connected driving gear is engaged with, the driving gear of plants case bottom fixes peace
On same root transmission shaft, the transmission shaft is connected with sowing motor power transmission.
8. modular multi-function agricultural robot as claimed in claim 7, it is characterised in that：It is set below the plants case sowing port
There is sowing and ditching plough, the sowing and ditching plough is drawn close by two pieces of parallel front edge of board forms V-shape structure composition, sowing port face
Between two blocks of parallel plates, two pieces of parallel plate tail portions are equipped with the trailing bar for tilting installation.
9. modular multi-function agricultural robot as claimed in claim 2, it is characterised in that：Zhu Jian weedings mechanism includes
Weeding motor, weeding knife, weeding cutterhead, horizontal sliding table and vertical slide unit, the horizontal sliding table and vertical slide unit are synchronous belt
Type straight line slide unit, vertical slide unit are mounted on rack rear end by connector, and the horizontal sliding table is fixedly mounted on vertical slide unit
On sliding block, weeding motor is fixedly mounted on the sliding block of horizontal sliding table, and weeding knife is mounted on weeding motor by weeding cutterhead
On output shaft.
10. modular multi-function agricultural robot as claimed in claim 9, it is characterised in that：There are two the vertical slide units,
The both ends of horizontal sliding table are separately mounted on the sliding block of two vertical slide units, and the power input shafts of two vertical slide units passes through same
Root transmission shaft is connected, which is driven by vertical slide unit motor rotates.
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