CN109367636A - A kind of paddy field sowing Agricultural Robot - Google Patents
A kind of paddy field sowing Agricultural Robot Download PDFInfo
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- CN109367636A CN109367636A CN201811391165.0A CN201811391165A CN109367636A CN 109367636 A CN109367636 A CN 109367636A CN 201811391165 A CN201811391165 A CN 201811391165A CN 109367636 A CN109367636 A CN 109367636A
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- Prior art keywords
- driving
- wheel
- steering
- line shaft
- paddy field
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Sowing (AREA)
Abstract
The invention discloses a kind of paddy field sowing Agricultural Robots, including walking module, hoisting mechanism and seeding and fertilizing module, the walking module includes front chassis, rear axle, controller, driving device and transfer, front chassis bottom drives front-wheel there are two setting, pars basilaris pontis is equipped with two unpowered rear-wheels afterwards, front chassis is connected with rear axle by the attachment pegs of bowing of vertical direction, rear axle is rotated relative to front chassis, two driving front-wheels are driven by driving device and are moved, and the transfer is for driving two driving front-wheel steers；The seeding and fertilizing module includes fertilizing mechanism and sowing mechanism, the fertilizing mechanism or sowing mechanism are mounted in the middle part of rear axle by hoisting mechanism, make to drive front-wheel steer by transfer, then by differential steering and mechanism of bowing walking module turning radius is greatly reduced, the Agricultural Robot scope of application is expanded to vast hilly country, greatly improves farming machine level of operation.
Description
Technical field
The invention belongs to agricultural equipment fields, are related to a kind of Agricultural Robot, and in particular to a kind of paddy field sowing agricultural machine
Device people.
Background technique
The mechanized cultivation in current paddy field there is also large labor intensity, to it is driver requested high the problems such as, for upper
Situation is stated, a kind of rice growing machine people for southern paddy field is devised, which is driven using battery, pure electric power,
It is pollution-free, there is environment friendly.It is supplied by battery to driving motor, steering motor, control cabinet, motor driven, sowing module
Electricity guarantees the normal work of paddy field sowing machine, since the mud pull degree in southern paddy field is larger and southern hills plot is smaller, this
Requirement just is proposed to the turning radius of paddy field sowing machine, Agricultural Robot is difficult to meet the requirements in currently available technology.
Summary of the invention
The purpose of the present invention is proposing a kind of paddy field sowing Agricultural Robot for defect in the prior art, solve
Agricultural Robot turning radius is big in the prior art, the problem of to small area paddy field adjustment problem.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of paddy field sowing Agricultural Robot, including walking module, hoisting mechanism and seeding and fertilizing module, feature exist
In: the walking module includes front chassis, rear axle, controller, driving device and transfer, and the front chassis bottom is equipped with two
A driving front-wheel, rear pars basilaris pontis are equipped with two unpowered rear-wheels, and front chassis and rear axle pass through the attachment pegs phase of bowing of vertical direction
Even, rotate rear axle relative to front chassis, two driving front-wheels are driven by driving device and moved, the transfer
For driving two driving front-wheel steers；The seeding and fertilizing module includes fertilizing mechanism and sowing mechanism, the fertilizing mechanism
Or sowing mechanism is mounted in the middle part of rear axle by hoisting mechanism.
As an improvement, the driving device includes two driving motors and the battery group for power supply, two driving electricity
Machine passes through actuating unit respectively and is connected with corresponding driving front-wheel, can control turning for two driving motors by controller
Speed, to realize differential steering, the transfer includes steering motor, steering wheel, and steering motor passes through steering wheel control two
A driving front-wheel is turned to, and then drives the differential of front-wheel to be further reduced turning radius by two.
It, can be with by remote controler and wireless communication module as an improvement, be additionally provided with wireless communication module on the front chassis
Communication control is carried out with walking module.
As an improvement, the hoisting mechanism be parallelogram mechanism, specifically include hoisting mechanism fixing seat, upgrade block,
Workpiece mounting base, upper bracket, lower bracket and electric pushrod, the hoisting mechanism fixing seat are fixedly mounted on rear axle, mention
It rises mechanism fixing seat, upgrade block, upper bracket and lower bracket and composition parallelogram mechanism is successively hinged and connected by pin shaft, it is described
The ontology of electric pushrod is hingedly mounted on the top of hoisting mechanism fixing seat, the free extension end of electric pushrod by connecting rod with
Lower bracket close to upgrade block is hinged and connected, and the workpiece mounting base is fixedly mounted on upgrade block, workpiece installation
Seat is for installing connection fertilizing mechanism or sowing mechanism.
As an improvement, the driving front-wheel is mounted on front chassis by increasing actuating arm, the steering wheel includes turning to
Otic placode and steering linkage turn to otic placode and are mounted on high actuating arm, and described steering linkage one end steering motor, other end connection turns
To otic placode, steering linkage is driven by steering motor, steering linkage, which pulls, turns to otic placode, to realize driving front-wheel steer.
As an improvement, it is described increase actuating arm include steering base, line shaft one, line shaft two, line shaft three, gear chamber and
Actuating arm set, the gear chamber are hollow structure, and gear chamber is fixedly mounted on the vehicle frame of front chassis, actuating arm set top and tooth
Engineer room bottom is connected by bearing, and steering base is mounted at the top of gear chamber by bearing holder (housing, cover), and is fixedly linked with actuating arm set, is driven
Front-wheel is mounted on actuating arm set bottom, and line shaft one is mounted in gear chamber by bearing, and line shaft two and line shaft three are successively
By bearing be mounted on actuating arm set in, one end of line shaft one be set to vehicle frame on driving motor be connected, the other end with move
Power axis two is connected by being set to the bevel gear inside gear chamber and engaging, and three top of line shaft passes through electric clutch with line shaft two
It is connected, three bottom of line shaft is engaged by gear to be connected with driving front-wheel power transmission, turns to otic placode and is fixedly mounted on steering base
On.
As an improvement, the Hall velocity sensor being sleeved on line shaft three is additionally provided in the actuating arm set, by suddenly
You measure three revolving speed of line shaft by velocity sensor, and the revolving speed of respective drive front-wheel is obtained by calculating.
As an improvement, the line shaft one is connected by shaft coupling with the output end of worm type of reduction gearing, worm and gear
The input terminal of retarder is connected with driving motor.
The medicine have the advantages that
Paddy field sowing Agricultural Robot of the present invention is mutually tied in steering using steering wheel, differential steering, articulated steering three
The mode of conjunction reduces radius required for the steering of paddy field sowing, can greatly reduce the turning radius of robot, adapts to facet ponding
Field operation.By increasing actuating arm hoisting machine people's road clearance, to meet the requirement of robot manipulating task passability, to expand agriculture
With the robot scope of application, Automation of Agricultural Production level is improved.
Detailed description of the invention
Fig. 1 is paddy field sowing Agricultural Robot overall structure diagram of the present invention；
Fig. 2 is walking module schematic diagram of the present invention；
Fig. 3 is hoisting mechanism schematic diagram of the present invention；
Fig. 4 is steering mechanism's front view of the present invention；
Fig. 5 is the unilateral steering mechanism's schematic diagram of the present invention；
Fig. 6 is that the present invention increases actuating arm structural schematic diagram；
Fig. 7 is seeding and fertilizing modular structure schematic diagram of the present invention；
Fig. 8 is paddy field sowing Agricultural Robot of the present invention in paddy field boundary walking path schematic diagram；
Fig. 9 is paddy field sowing Agricultural Robot path planning schematic diagram in paddy field of the present invention.
I-walking module, II-seeding and fertilizing module, III-hoisting mechanism, 1- drive front-wheel, and 2- increases actuating arm, and 3- is turned to
Otic placode, 4- vehicle frame, 5- driving motor, 6- steering motor, 7- steering wheel, 8- steering linkage, 9- battery group, 10- control cabinet,
11- bows attachment pegs, and 12- bows mechanism, 13- rear axle, 14- lifting device coupling bar, 15- is unpowered rear-wheel, 16- lower bracket,
17- hoisting mechanism fixing seat, 18- upper bracket, 19- electric pushrod, 20- are connected and fixed bar, 21- upgrade block, 22- workpiece peace
Fill seat, 23- worm type of reduction gearing, 24- shaft coupling, 25- line shaft one, 26- line shaft three, 27- steering base, 28- bevel gear
One, 29- gear chamber, 30- bevel gear two, 31- actuating arm set, 32- line shaft two, 33- bevel gear three, 34- bevel gear four, 35-
Wheel shaft, 36- electric clutch, 37- Hall velocity sensor.
Specific embodiment
As shown in Figures 1 to 6, a kind of paddy field sowing Agricultural Robot, mainly by walking module I and seeding and fertilizing module II
During use wireless communication module is arranged in walking module I, operator can utilize hand-held remote control in two parts composition
Equipment carries out motion control to sowing machine people, the seeding and fertilizing control of rice, can be with using insertion program in the controller
Realize unmanned AUTONOMOUS TASK of the paddy field sowing robot in paddy field.It walks separately below from the chassis of paddy field sowing robot
Several aspects such as mechanism, hoisting mechanism III, fertilizing mechanism, sowing mechanism, battery group assembly, control system illustrate paddy field sowing
The realization process of robot composition and sowing function.
As shown in Fig. 2, the walking module I includes front chassis, rear axle 13, controller, driving device and transfer, institute
It states front chassis bottom to set there are two front-wheel 1 is driven, 13 bottom of rear axle is set there are two unpowered rear-wheel 15, and front chassis and rear axle 13 are logical
The attachment pegs 11 of bowing for crossing vertical direction are connected, and rear axle 13 is rotated relative to front chassis around attachment pegs 11 of bowing,
Greatly reduce I turning radius of walking module, two driving front-wheels 1 are driven by driving device and moved, and the transfer is used for
Two driving front-wheels 1 are driven to turn to；The seeding and fertilizing module II include fertilizing mechanism and sowing mechanism, the fertilizing mechanism or
Sowing mechanism is mounted on 13 middle part of rear axle by hoisting mechanism III.
The front chassis is equipped with battery group 9, controller and wireless communication module,
Chassis walking assembly: as shown in Figure 2 to Figure 3, mainly by driving front-wheel 1, increase actuating arm 2, turn to otic placode 3, vehicle
Frame 4, driving motor 5, steering motor 6, steering wheel 7, steering linkage 8, battery group 9, control cabinet 10, attachment pegs of bowing 11, folding
Waist mechanism 12, rear axle 13, lifting device coupling bar 14 and unpowered rear-wheel 15.
Two driving front-wheels 1 increase the 4 front end two sides of vehicle frame that actuating arm 2 is mounted on front chassis by two respectively, turn to
Otic placode 3, which is mounted on, to be increased on actuating arm 2, and steering motor 6 and driving motor 5 are direct current generator, is mounted on the vehicle frame 4 of front chassis
On, steering motor 6 is connected by steering linkage 8 with two steering otic placodes 3, and the rotation of steering motor 6 is driven by steering linkage 8
It turns to otic placode 3 to rotate around the axis for increasing actuating arm 2, so that front driving wheel be driven to turn to, driving motor 5 is two direct currents
Machine, two direct current generators are connected with two front driving wheel power transmissions respectively, can also control two by two direct current generators
The revolving speed of front driving wheel realizes differential steering, to obtain more tight turn radius.
9 assembly of battery group: being made of 5 groups of lead-acid batteries, and output voltage 60V provides electric power for robot.
The power resources of paddy field sowing robot are battery group 9, and two driving motors 5 are directly driven with 60v voltage, benefit
It is that steering motor 6 and control cabinet 10 (interior equipped with controller) provide required voltage rating with direct current DC-DC voltage transformation module；
The working principle of base plate electric machine: driving direct current generator output power by worm type of reduction gearing 23 slow down using increase drive
Axis transmission in swing arm 2 is output on driving front-wheel 1, and driving walking module I moves.The steering of walking module I is by three parts
Composition: the differential motion of left and right driving front-wheel 1, the steering wheel 7 in control driving 1 direction of front-wheel, mechanism of bowing 12.It is first when turning
The front driving wheel steering that steering wheel 7 controls walking module I is first passed through, differential, the subsequent folding of left and right front driving wheel are then utilized
Under the collective effect of waist mechanism 12, so that turning radius is minimum.When steering, first by 6 driving direction machine 7 of steering motor, benefit
With on steering wheel 7 steering linkage 8 pull walking module I front driving wheel generate wheel steering pivot angle, steering process it
In, the characteristics of using front driving wheel being double independent driving so that the movement velocity of two wheels is differential motion, with mechanism of bowing
The turning radius for being under 12 collective effect is minimum.Using actuating arm 2 is increased come the road clearance for module I of beginning a new line away, increase drive
The actuating arm set of swing arm 2 31 is played a supporting role, by gear inside actuating arm set 31 and axis by the driving force of driving motor 5
Pass to front driving wheel.
Hoisting mechanism III: as shown in figure 3, the hoisting mechanism III is parallelogram mechanism, hoisting mechanism is specifically included
Fixing seat 17, upgrade block 21, workpiece mounting base 22, upper bracket 18, lower bracket 16 and electric pushrod 19, the hoisting mechanism
Fixing seat 17 is fixedly mounted on rear axle 13, and hoisting mechanism fixing seat 17, upgrade block 21, upper bracket 18 and lower bracket 16 pass through pin
Axis is successively hinged and connected composition parallelogram mechanism, and the ontology of the electric pushrod 19 is hinged by lifting device coupling bar 14
It is mounted on the top of hoisting mechanism fixing seat 17, the free extension end of electric pushrod 19 is by being connected and fixed bar 20 and close to promotion
The lower bracket 16 of seat 21 is hinged and connected, and when hinge joint is at upgrade block 21, the promotion effect of hoisting mechanism is best, the work
Component mount 22 is fixedly mounted on upgrade block 21, and workpiece mounting base 22 is for installing connection fertilizing mechanism or sowing
Mechanism.
When hoisting mechanism III works, by the flexible promotion and decline to complete workpiece of electric pushrod 19, such as scheme
Shown: operation part consists of two parts, fertilizing mechanism, sowing mechanism.Operation mode can be selected voluntarily, and fertilizer application mode is broadcast
Kind mode, apply fertilizer simultaneous cropping pattern, and fertilizing mechanism and sowing mechanism can choose in the prior art apply in the embodiment of the present invention
Fertile mechanism and sowing mechanism are hung in the workpiece mounting base 22 of hoisting mechanism III, for example a kind of spacing in the rows of patent is adjustable
Minitype electric seeder (application number 201720685150.X) disclosed in sowing mechanism as sowing mechanism of the invention.
The driving front-wheel 1 is mounted on front chassis by increasing actuating arm 2, and the steering wheel 7 includes turning to 3 He of otic placode
Steering linkage 8 turns to otic placode 3 and is mounted on high actuating arm, and 8 one end steering motor 6 of steering linkage, other end connection turns to
Otic placode 3 drives steering linkage 8 by steering motor 6, and steering linkage 8, which pulls, turns to otic placode 3, to realize 1 turn of front-wheel of driving
To.
As shown in Figure 5 and Figure 6, the actuating arm 2 of increasing includes steering base 27, line shaft 1, line shaft 2 32, power
Axis 3 26, electric clutch 36, Hall velocity sensor 37, bevel gear 1, bevel gear 2 30, bevel gear 3 33, bevel gear
4 34, gear chamber 29 and actuating arm set 31, the gear chamber 29 is hollow structure, and gear chamber 29 is fixedly mounted on the vehicle of front chassis
On frame 4,31 top of actuating arm set is connected with 29 bottom of gear chamber by bearing, and steering base 27 is mounted in gear chamber 29 by bearing holder (housing, cover)
Top, and be fixedly linked with actuating arm set 31, steering base 27 and actuating arm set 31 can be rotated around gear chamber 29 together, be turned to
Otic placode 3 is fixedly mounted on actuating arm set 31, and driving front-wheel 1 is mounted on actuating arm and covers 31 bottoms, and line shaft 1 passes through bearing
It is mounted in gear chamber 29, line shaft 2 32 and line shaft 3 26 are mounted in actuating arm set 31 by bearing, 5 He of driving motor
The input terminal of worm type of reduction gearing 23 links together, and is then fixed on together on the vehicle frame 4 of front chassis, and worm and gear slows down
The output shaft of device 23 is connected by shaft coupling 24 and line shaft 1, the other end of line shaft 1 and increases actuating arm 2
29 internal bevel gear 1 of gear chamber is fastenedly connected, and bevel gear 2 30 is fastened on 2 32 top of line shaft, and nibbles with bevel gear 1
Installation is closed, 2 32 bottom of line shaft is connected by electric clutch 36 with 3 26 top of line shaft, and line shaft 3 26 is surveyed from Hall
It is passed through among fast sensor 37, bottom is fastenedly connected with bevel gear 3 33, and driving front-wheel 1 is mounted on actuating arm set by wheel shaft 35
31 bottoms, bevel gear 4 34 is securedly mounted to 35 end of wheel shaft, and engages installation with bevel gear 3 33.Gear knot in this way
Structure transmission, driving motor 5 can drive front driving wheel to walk, and Hall velocity sensor 37 is fixedly mounted in actuating arm set 31,
3 26 revolving speed of line shaft is measured by Hall velocity sensor 37, is obtained according to the gear ratio calculation of line shaft 3 26 and wheel shaft 35
The revolving speed of respective drive front-wheel, since the working environment of paddy field sowing is more severe, more water, the environment of more mud, actuating arm set 31
Internal environment it is relatively good, conducive to the steady operation of sensor, when work, the transmission of power is transmitted by axis connection
, the effect of electric clutch 36 is exactly to disconnect power when power does not need transmission, prevents driving motor from overloading, suddenly
You measure the velocity of rotation of axis by velocity sensor 37, to be inferred to the speed of each wheel, wheel velocity carries out differential steering.
As a kind of more preferably embodiment, it can also be covered in actuating arm and angular transducer is set on 31 or steering base 27,
Detect the rotation angle of actuating arm set 31 and steering base 27 relative to gear chamber 29.
When work: steering motor 6 drives steering linkage 8, makes steering linkage 8 leftward or rightward using the positive and negative rotation of motor
Movement turns to otic placode 3 to pull, and drive increases the rotation of actuating arm 2 and completes to turn to.Steering linkage 8 will drive angle when moving
The upper pole segments of sensor, to measure the angle of angle shimmy.
Control system: the realization of the various functions of paddy field sowing Agricultural Robot must rely on control system just can be real
Existing, control system includes: the control driving of each motor, power supply monitoring module, RTK-GPS IMU integrated navigation module, remotely leads to
Believe module, remote control module etc..
AUTONOMOUS TASK realizes process: the operator of paddy field sowing Agricultural Robot first as shown in Figure 8 and Figure 9 first passes through
The mode of remote control controls robot and is travelled in paddy field along the boundary in paddy field, and RTK-GPS can be measured and be recorded current paddy field
Boundary, when complete paddy field boundary estimation when, control system can generate it is a set of based on the plot operating path planning, and according to
It works according to the path clustering paddy field robot according to the operating path.Full automatic seeding operation mode can then be entered,
It among the process of operation, is mainly made of two parts: operation part (sowing, fertilising etc.), running gear.In order to guarantee paddy field
Effect is sowed, the measurement and control of the posture of paddy field sowing machine are just particularly important, and control system will be supervised in real time
It surveys and control, guarantee paddy field sowing robot is travelled according to the operating path of regulation.In operation part, hoisting mechanism is relied primarily on
III by workpiece group to operating position is dropped to, then control system control operation part carry out seeding and fertilizing operation.
Claims (8)
1. a kind of paddy field sowing Agricultural Robot, including walking module, hoisting mechanism and seeding and fertilizing module, it is characterised in that:
The walking module includes front chassis, rear axle, controller, driving device and transfer, there are two the front chassis bottom is set
Front-wheel is driven, rear pars basilaris pontis is equipped with two unpowered rear-wheels, front chassis and rear axle and is connected by the attachment pegs of bowing of vertical direction,
Rear axle is rotated relative to front chassis, two driving front-wheels are driven by driving device and moved, and the transfer is used
In two driving front-wheel steers of driving；The seeding and fertilizing module includes fertilizing mechanism and sowing mechanism, the fertilizing mechanism or
Sowing mechanism is mounted in the middle part of rear axle by hoisting mechanism.
2. a kind of paddy field sowing Agricultural Robot as described in claim 1, it is characterised in that: the driving device includes two drives
Dynamic motor and the battery group for power supply, two driving motors pass through actuating unit and corresponding driving front-wheel phase respectively
Even, it can control the revolving speed of two driving motors by controller, to realize differential steering, the transfer includes turning to
Motor, steering wheel, steering motor control two driving front-wheels by steering wheel and are turned to, and then drive front-wheel by two
Differential is further reduced turning radius.
3. a kind of paddy field sowing Agricultural Robot as claimed in claim 2, it is characterised in that: be additionally provided on the front chassis wireless
Communication module can carry out communication control with walking module by remote controler and wireless communication module.
4. a kind of paddy field sowing Agricultural Robot as claimed in claim 3, it is characterised in that: the hoisting mechanism is parallel four side
Shape mechanism specifically includes hoisting mechanism fixing seat, upgrade block, workpiece mounting base, upper bracket, lower bracket and electric pushrod,
The hoisting mechanism fixing seat is fixedly mounted on rear axle, and hoisting mechanism fixing seat, upgrade block, upper bracket and lower bracket pass through pin
Axis is successively hinged and connected composition parallelogram mechanism, and the ontology of the electric pushrod is hingedly mounted on hoisting mechanism fixing seat
The free extension end on top, electric pushrod is hinged and connected by connecting rod and the lower bracket close to upgrade block, the workpiece
Mounting base is fixedly mounted on upgrade block, and workpiece mounting base is for installing connection fertilizing mechanism or sowing mechanism.
5. a kind of paddy field sowing Agricultural Robot as claimed in claim 3, it is characterised in that: the driving front-wheel is by increasing drive
Swing arm is mounted on front chassis, and the steering wheel includes turning to otic placode and steering linkage, is turned to otic placode and is mounted on high actuating arm,
Described steering linkage one end steering motor, other end connection turn to otic placode, drive steering linkage, steering linkage by steering motor
It pulls and turns to otic placode, to realize driving front-wheel steer.
6. a kind of paddy field sowing Agricultural Robot as claimed in claim 5, it is characterised in that: the actuating arm of increasing includes turning to
Seat, line shaft one, line shaft two, line shaft three, gear chamber and actuating arm set, the gear chamber are hollow structure, and gear chamber is solid
Dingan County is on the vehicle frame of front chassis, and actuating arm set top is connected with gear chamber bottom by bearing, and steering base passes through bearing holder (housing, cover)
It at the top of gear chamber, and is fixedly linked with actuating arm set, driving front-wheel is mounted on actuating arm set bottom, and line shaft one passes through axis
It holding and is mounted in gear chamber, line shaft two and line shaft three pass sequentially through bearing and are mounted in actuating arm set, and the one of line shaft one
It holds and is connected with the driving motor being set on vehicle frame, the other end engages phase by being set to the bevel gear inside gear chamber with line shaft two
Even, three top of line shaft is connected with line shaft two by electric clutch, before three bottom of line shaft is engaged and driven by gear
It takes turns power transmission to be connected, turns to otic placode and be fixedly mounted on steering base.
7. a kind of paddy field sowing Agricultural Robot as claimed in claim 6, it is characterised in that: be additionally provided with set in the actuating arm set
Hall velocity sensor on line shaft three measures three revolving speed of line shaft by Hall velocity sensor, is obtained by calculating
Obtain the revolving speed of respective drive front-wheel.
8. a kind of paddy field sowing Agricultural Robot as claimed in claim 6, it is characterised in that: the line shaft one passes through shaft coupling
It is connected with the output end of worm type of reduction gearing, the input terminal of worm type of reduction gearing is connected with driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391165.0A CN109367636B (en) | 2018-11-21 | 2018-11-21 | Agricultural robot for paddy field sowing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391165.0A CN109367636B (en) | 2018-11-21 | 2018-11-21 | Agricultural robot for paddy field sowing |
Publications (2)
| Publication Number | Publication Date |
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| CN109367636A true CN109367636A (en) | 2019-02-22 |
| CN109367636B CN109367636B (en) | 2023-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811391165.0A Active CN109367636B (en) | 2018-11-21 | 2018-11-21 | Agricultural robot for paddy field sowing |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110313260A (en) * | 2019-08-15 | 2019-10-11 | 苏州智泉农业科技有限公司 | A kind of lightweight rice growing device |
| CN110313271A (en) * | 2019-08-15 | 2019-10-11 | 苏州智泉农业科技有限公司 | A kind of unmanned seeding apparatus of rice |
| CN112637865A (en) * | 2021-03-09 | 2021-04-09 | 广州市盛通建设工程质量检测有限公司 | WiFi network signal detection system |
| CN113170632A (en) * | 2021-03-08 | 2021-07-27 | 中国农业大学 | Self-propelled field pattern seeder based on image processing and variant seeding technology |
| CN113228862A (en) * | 2021-05-27 | 2021-08-10 | 上海点甜农业专业合作社 | Ridged sowing robot |
| CN114600606A (en) * | 2022-03-04 | 2022-06-10 | 江苏大学 | Light and simple intelligent fertilizer applicator and control system and method thereof |
| EP4248724A1 (en) * | 2022-03-22 | 2023-09-27 | Patrick Soldner | Robot and method for autonomously processing an agricultural area and robot system |
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