CN109367636B - Agricultural robot for paddy field sowing - Google Patents
Agricultural robot for paddy field sowing Download PDFInfo
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- CN109367636B CN109367636B CN201811391165.0A CN201811391165A CN109367636B CN 109367636 B CN109367636 B CN 109367636B CN 201811391165 A CN201811391165 A CN 201811391165A CN 109367636 B CN109367636 B CN 109367636B
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- steering
- driving
- power shaft
- rear axle
- 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
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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
- B62D63/04—Component parts or accessories
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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
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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 paddy field seeding agricultural robot, which comprises a walking module, a lifting mechanism and a seeding and fertilizing module, wherein the walking module comprises a front chassis, a rear axle, a controller, a driving device and a steering device, two driving front wheels are arranged at the bottom of the front chassis, two unpowered rear wheels are arranged at the bottom of the rear axle, the front chassis and the rear axle are connected through a bowing connecting pin in the vertical direction, so that the rear axle can rotate relative to the front chassis, the two driving front wheels are driven to move through the driving device, and the steering device is used for driving the two driving front wheels to steer; the seeding and fertilizing module comprises a fertilizing mechanism and a seeding mechanism, wherein the fertilizing mechanism or the seeding mechanism is arranged in the middle of a rear axle through a lifting mechanism, a steering device is used for driving front wheels to steer, and then a differential steering and articulated mechanism is used for greatly reducing the steering radius of the walking module, so that the application range of the agricultural robot is enlarged to wide hilly areas, and the agricultural mechanized operation level is greatly improved.
Description
Technical Field
The invention belongs to the field of agricultural equipment, relates to an agricultural robot, and in particular relates to a paddy field sowing agricultural robot.
Background
The existing paddy field mechanized planting also has the problems of high labor intensity, high requirement on a driver and the like, and aiming at the situations, the paddy field seeding robot for the south paddy field is designed, and the robot is driven by a storage battery, is pure in power, has no pollution and is environment-friendly. The power is supplied to the driving motor, the steering motor, the control box, the motor driving and the seeding module through the battery, so that the normal work of the paddy field seeder is ensured, and the steering radius of the paddy field seeder is required due to the fact that the mud angle depth of the paddy field in the south is large and the hilly land in the south is small, so that the agricultural robot is difficult to meet the requirements in the prior art.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art, and provides an agricultural paddy field sowing robot which solves the problems that the agricultural robot in the prior art is large in turning radius and difficult to adapt to small-area paddy fields.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a paddy field seeding agricultural robot, includes walking module, elevating system and seeding fertilization module, its characterized in that: the walking module comprises a front chassis, a rear axle, a controller, a driving device and a steering device, wherein two driving front wheels are arranged at the bottom of the front chassis, two unpowered rear wheels are arranged at the bottom of the rear axle, the front chassis and the rear axle are connected through a bowing connecting pin in the vertical direction, so that the rear axle can rotate relative to the front chassis, the two driving front wheels are driven to move through the driving device, and the steering device is used for driving the two driving front wheels to steer; the sowing and fertilizing module comprises a fertilizing mechanism and a sowing mechanism, and the fertilizing mechanism or the sowing mechanism is arranged in the middle of the rear axle through a lifting mechanism.
As an improvement, the driving device comprises two driving motors and a storage battery pack for supplying power, the two driving motors are respectively connected with corresponding driving front wheels through power transmission devices, the rotating speeds of the two driving motors can be controlled through a controller, and therefore differential steering is achieved.
As an improvement, the front chassis is also provided with a wireless communication module, and the wireless communication module can be in control communication with the walking module through a remote controller.
As an improvement, the lifting mechanism is a parallelogram mechanism and specifically comprises a lifting mechanism fixing seat, a lifting seat, a working part mounting seat, an upper bracket, a lower bracket and an electric push rod, wherein the lifting mechanism fixing seat is fixedly arranged on a rear axle, the lifting mechanism fixing seat, the lifting seat, the upper bracket and the lower bracket are sequentially hinged to form the parallelogram mechanism through pin shafts, the body of the electric push rod is hinged to the upper part of the lifting mechanism fixing seat, the free telescopic end of the electric push rod is hinged to the lower bracket close to the lifting seat through a connecting rod, the working part mounting seat is fixedly arranged on the lifting seat, and the working part mounting seat is used for mounting and connecting a fertilizing mechanism or a seeding mechanism.
As an improvement, the driving front wheels are arranged on the front chassis through a heightened driving arm, the steering gear comprises a steering lug plate and a steering pull rod, the steering lug plate is arranged on the heightened driving arm, one end of the steering pull rod is connected with a steering motor, the other end of the steering pull rod is connected with the steering lug plate, the steering pull rod is driven by the steering motor, and the steering pull rod pulls the steering lug plate, so that the front wheels are driven to steer.
The improved high-speed motor steering device is characterized in that the high-speed motor steering device comprises a steering seat, a first power shaft, a second power shaft, a third power shaft, a gear chamber and a driving arm sleeve, wherein the gear chamber is of a hollow structure, the gear chamber is fixedly arranged on a frame of a front chassis, the top of the driving arm sleeve is connected with the bottom of the gear chamber through a bearing, the steering seat is sleeved on the top of the gear chamber and fixedly connected with the driving arm sleeve, a driving front wheel is arranged at the bottom of the driving arm sleeve, the first power shaft is arranged in the gear chamber through a bearing, the second power shaft and the third power shaft are sequentially arranged in the driving arm sleeve through bearings, one end of the first power shaft is connected with a driving motor arranged on the frame, the other end of the first power shaft is connected with the second power shaft through bevel gear engagement arranged in the gear chamber, the third top of the power shaft is connected with the third power shaft through an electronic clutch, the third bottom of the power shaft is connected with the driving front wheel through gear engagement, and the steering ear plate is fixedly arranged on the steering seat.
As an improvement, a hall speed sensor sleeved on the third power shaft is further arranged in the driving arm sleeve, the third power shaft rotating speed is measured through the hall speed sensor, and the corresponding front wheel driving rotating speed is obtained through calculation.
As an improvement, the first power shaft is connected with the output end of the worm gear reducer through a coupler, and the input end of the worm gear reducer is connected with the driving motor.
The invention has the beneficial effects that:
the agricultural paddy field sowing robot adopts a mode of combining a steering machine, a differential steering and a bowing steering in steering, reduces the radius required by steering of paddy field sowing, can greatly reduce the turning radius of the robot, and is suitable for small-area paddy field operation. The ground clearance of the robot is lifted by heightening the driving arm so as to meet the requirement of the operation passing performance of the robot, thereby expanding the application range of the agricultural robot and improving the automation level of agricultural production.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an agricultural robot for paddy field sowing according to the present invention;
FIG. 2 is a schematic view of a walking module according to the present invention;
FIG. 3 is a schematic view of a lifting mechanism according to the present invention;
FIG. 4 is a front view of the steering mechanism of the present invention;
FIG. 5 is a schematic view of a single-sided steering mechanism of the present invention;
FIG. 6 is a schematic view of the structure of the heightened drive arm of the present invention;
FIG. 7 is a schematic diagram of a seeding and fertilizing module structure according to the invention;
FIG. 8 is a schematic view of a path of travel of the agricultural robot for sowing in paddy fields at the boundary of paddy fields according to the present invention;
fig. 9 is a schematic view of a path planning of the agricultural robot for paddy field sowing in the present invention.
The device comprises a I-walking module, a II-sowing and fertilizing module, a III-lifting mechanism, a 1-driving front wheel, a 2-heightening driving arm, a 3-steering lug plate, a 4-frame, a 5-driving motor, a 6-steering motor, a 7-steering machine, an 8-steering pull rod, a 9-storage battery pack, a 10-control box, a 11-articulated coupling pin, a 12-articulated mechanism, a 13-rear axle, a 14-lifting device coupling rod, a 15-unpowered rear wheel, a 16-lower bracket, a 17-lifting mechanism fixing seat, a 18-upper bracket, a 19-electric push rod, a 20-connecting fixing rod, a 21-lifting seat, a 22-working part mounting seat, a 23-worm gear reducer, a 24-coupler, a 25-power shaft I, a 26-power shaft III, a 27-steering seat, a 28-bevel gear I, a 29-gear chamber, a 30-bevel gear II, a 31-driving arm sleeve, a 32-power shaft II, a 33-bevel gear III, a 34-IV, a 35-shaft, a 36-electronic clutch and a 37-hall sensor.
Detailed Description
As shown in fig. 1 to 6, the agricultural paddy field seeding robot mainly comprises a walking module I and a seeding and fertilizing module II, a wireless communication module is arranged on the walking module I in the using process, an operator can utilize handheld remote control equipment to control the motion of the seeding robot, the seeding and fertilizing of paddy rice are controlled, and unmanned autonomous operation of the paddy field seeding robot in a paddy field can be realized by utilizing a program embedded in a controller. The following describes the paddy field sowing robot composition and the realizing process of the sowing function from several aspects of a chassis travelling mechanism, a lifting mechanism III, a fertilizing mechanism, a sowing mechanism, a storage battery assembly, a control system and the like of the paddy field sowing robot.
As shown in fig. 2, the walking module i includes a front chassis, a rear axle 13, a controller, a driving device and a steering device, where two driving front wheels 1 are disposed at the bottom of the front chassis, two unpowered rear wheels 15 are disposed at the bottom of the rear axle 13, and the front chassis and the rear axle 13 are connected by a articulated pin 11 in a vertical direction, so that the rear axle 13 can rotate around the articulated pin 11 relative to the front chassis, thereby greatly reducing the turning radius of the walking module i, and the two driving front wheels 1 are driven to move by the driving device, and the steering device is used for driving the two driving front wheels 1 to steer; the sowing and fertilizing module II comprises a fertilizing mechanism and a sowing mechanism, and the fertilizing mechanism or the sowing mechanism is arranged in the middle of the rear axle 13 through a lifting mechanism III.
The front chassis is provided with a storage battery pack 9, a controller and a wireless communication module,
chassis walking assembly: as shown in fig. 2 to 3, the steering device mainly comprises a driving front wheel 1, a heightened driving arm 2, a steering lug plate 3, a frame 4, a driving motor 5, a steering motor 6, a steering wheel 7, a steering pull rod 8, a storage battery pack 9, a control box 10, a bowing connecting pin 11, a bowing mechanism 12, a rear axle 13, a lifting device connecting rod 14 and an unpowered rear wheel 15.
The two front driving wheels 1 are respectively arranged at the two sides of the front end of the frame 4 of the front chassis through two heightening driving arms 2, the steering lug plates 3 are arranged on the heightening driving arms 2, the steering motor 6 and the driving motor 5 are all direct current motors, the steering motor 6 is arranged on the frame 4 of the front chassis and is connected with the two steering lug plates 3 through a steering pull rod 8, the steering motor 6 rotates around the axis of the heightening driving arms 2 through the steering pull rod 8 to drive the steering lug plates 3 to steer the front driving wheels, the driving motor 5 is two direct current motors, the two direct current motors are respectively connected with the power transmission of the two front driving wheels, the rotating speeds of the two front driving wheels can be controlled through the two direct current motors, and differential steering is realized, so that smaller turning radius is obtained.
Battery pack 9 assembly: the robot consists of 5 groups of lead-acid batteries, the output voltage is 60V, and the power is provided for the robot.
The power source of the paddy field sowing robot is a storage battery 9, two driving motors 5 are directly driven by 60v voltage, and a direct current DC-DC voltage conversion module is used for providing required rated voltage for a steering motor 6 and a control box 10 (a controller is arranged in the steering motor); the working principle of the chassis motor is as follows: the power output by the driving direct current motor is decelerated through a worm gear reducer 23 and then is transmitted to the driving front wheel 1 through the shaft in the heightening driving arm 2 to drive the walking module I to move. The steering of the walking module I consists of three parts: differential motion for driving the front wheels 1 left and right, steering gear 7 for controlling the direction of driving the front wheels 1, and a bowing mechanism 12. When turning, the steering of the front driving wheels of the walking module I is controlled by the steering wheel 7, and then the turning radius is minimized under the combined action of the differential speed of the left and right front driving wheels and the rear articulated mechanism 12. When steering, the steering motor 6 drives the steering wheel 7, the steering pull rod 8 on the steering wheel 7 is utilized to pull the front driving wheel of the walking module I to generate a wheel steering swing angle, and the characteristic that the front driving wheel is driven by two independent wheels is utilized in the steering process, so that the movement speed of the two wheels is differential movement, and the steering radius under the combined action of the steering wheel and the bowing mechanism 12 is minimum. The ground clearance of the traveling module I is lifted by the heightening driving arm 2, the driving arm sleeve 31 of the heightening driving arm 2 plays a supporting role, and the driving force of the driving motor 5 is transmitted to the front driving wheel through the gear and the shaft in the driving arm sleeve 31.
Lifting mechanism III: as shown in fig. 3, the lifting mechanism iii is a parallelogram mechanism, and specifically includes a lifting mechanism fixing seat 17, a lifting seat 21, a working component mounting seat 22, an upper bracket 18, a lower bracket 16 and an electric push rod 19, where the lifting mechanism fixing seat 17 is fixedly mounted on the rear axle 13, the lifting mechanism fixing seat 17, the lifting seat 21, the upper bracket 18 and the lower bracket 16 are sequentially hinged and connected by a pin shaft to form a parallelogram mechanism, the body of the electric push rod 19 is hinged and mounted on the upper portion of the lifting mechanism fixing seat 17 by a lifting device connecting rod 14, a free telescopic end of the electric push rod 19 is hinged and connected with the lower bracket 16 close to the lifting seat 21 by a connecting fixing rod 20, when the hinge point is close to the lifting seat 21, the lifting effect of the lifting mechanism is optimal, the working component mounting seat 22 is fixedly mounted on the lifting seat 21, and the working component mounting seat 22 is used for mounting and connecting a fertilizing mechanism or a seeding mechanism.
When the lifting mechanism III works, lifting and lowering of the working part are completed by means of the expansion and contraction of the electric push rod 19, as shown in the figure: the operation part consists of two parts, namely a fertilizing mechanism and a seeding mechanism. The operation mode can be selected by oneself, the fertilization mode, the seeding mode, the fertilization and seeding mode, the fertilization mechanism and the seeding mechanism in the embodiment of the invention can be selected to be hung on the working part mounting seat 22 of the lifting mechanism III, for example, the seeding mechanism disclosed in the patent an electric mini-seeder with adjustable plant spacing (application number 201720685150. X) can be used as the seeding mechanism of the invention.
The steering wheel 1 is arranged on a front chassis through a heightened driving arm 2, the steering wheel 7 comprises a steering lug plate 3 and a steering lug plate 8, the steering lug plate 3 is arranged on the heightened driving arm, one end of the steering lug plate 8 is connected with a steering motor 6, the other end of the steering lug plate is connected with the steering lug plate 3, the steering lug plate 8 is driven by the steering motor 6, and the steering lug plate 3 is pulled by the steering lug plate 8, so that the steering of the front wheel 1 is driven.
As shown in fig. 5 and 6, the heightening driving arm 2 comprises a steering seat 27, a first power shaft 25, a second power shaft 32, a third power shaft 26, an electronic clutch 36, a hall speed sensor 37, a first bevel gear 28, a second bevel gear 30, a third bevel gear 33, a fourth bevel gear 34, a gear chamber 29 and a driving arm sleeve 31, wherein the gear chamber 29 is of a hollow structure, the gear chamber 29 is fixedly arranged on the frame 4 of the front chassis, the top of the driving arm sleeve 31 is connected with the bottom of the gear chamber 29 through a bearing, the steering seat 27 is sleeved on the top of the gear chamber 29 through the bearing and is fixedly connected with the driving arm sleeve 31, the steering seat 27 and the driving arm sleeve 31 can rotate together around the gear chamber 29, the steering ear plate 3 is fixedly arranged on the driving arm sleeve 31, the driving front wheel 1 is arranged at the bottom of the driving arm sleeve 31, the first power shaft 25 is arranged in the gear chamber 29 through the bearing, the second power shaft 32 and the third power shaft 26 are installed in the driving arm sleeve 31 through bearings, the driving motor 5 and the input end of the worm gear reducer 23 are connected together and then fixed on the frame 4 of the front chassis together, the output shaft of the worm gear reducer 23 is connected with the first power shaft 25 through a coupler 24, the other end of the first power shaft 25 is fixedly connected with a first bevel gear 28 in a gear chamber 29 of the heightened driving arm 2, a second bevel gear 30 is fixedly arranged on the top of the second power shaft 32 and is meshed with the first bevel gear 28, the bottom of the second power shaft 32 is connected with the top of the third power shaft 26 through an electronic clutch 36, the third power shaft 26 passes through the middle of a Hall speed sensor 37, a third bevel gear 33 is fixedly connected to the bottom of the third power shaft, the driving front wheel 1 is installed on the bottom of the driving arm sleeve 31 through a wheel shaft 35, and a fourth bevel gear 34 is fixedly arranged on the end of the wheel shaft 35 and is meshed with the third bevel gear 33. Through the transmission of such gear structure, driving motor 5 just can drive the front driving wheel and walk, hall speed sensor 37 fixed mounting is in driving arm cover 31, the rotational speed of power shaft three 26 is measured through hall speed sensor 37, obtain the rotational speed of corresponding drive front wheel according to the transmission ratio calculation of power shaft three 26 and shaft 35, because paddy field seeding's operational environment is comparatively abominable, the environment of many water, many mud, driving arm cover 31's internal environment is comparatively good, do benefit to the steady work of sensor, during operation, the transmission of power all relies on the hub connection transmission, electronic clutch 36's effect is that power disconnection when power does not need the transmission, prevent driving motor overload, hall speed sensor 37 measures the rotational speed of axle, thereby infer the speed of every wheel, wheel speed carries out differential steering.
As a preferred embodiment, an angle sensor may be provided in the drive arm housing 31 or the steering seat 27 to detect the rotation angle of the drive arm housing 31 and the steering seat 27 with respect to the gear chamber 29.
When in operation, the device comprises: the steering motor 6 drives the steering pull rod 8, and the steering pull rod 8 moves leftwards or rightwards by utilizing the positive and negative rotation of the motor, so that the steering lug plate 3 is pulled, and the heightened driving arm 2 is driven to rotate to finish steering. When the steering pull rod 8 moves, the upper rod piece of the angle sensor is driven, so that the swinging angle of the angle wheel is measured.
And (3) a control system: the realization of each function of paddy field seeding agricultural robot must rely on control system to realize, and control system includes: the system comprises a control drive of each motor, a power supply monitoring module, an RTK-GPS IMU integrated navigation module, a remote communication module, a remote control module and the like.
The autonomous operation implementation process comprises the following steps: as shown in fig. 8 and 9, firstly, an operator of the paddy field seeding agricultural robot controls the robot to run in a paddy field along the boundary of the paddy field in a remote control mode, the RTK-GPS can measure and record the boundary of the current paddy field, and when the boundary measurement of the paddy field is completed, the control system can generate a set of working path planning based on the land block and control the paddy field robot to work according to the working path according to the path. Then can enter a full-automatic seeding operation mode, and mainly comprises two parts, namely an operation part (seeding, fertilizing and the like) and a walking part in the operation process. In order to ensure the sowing effect of the paddy field, the measurement and control of the gesture of the paddy field sowing machine are particularly important, and the control system monitors and controls the gesture in real time, so that the paddy field sowing robot is ensured to run according to a specified working path. In the operation part, the working part group is lowered to the working position mainly by the lifting mechanism III, and then the control system controls the operation part to carry out seeding and fertilizing operation.
Claims (5)
1. The utility model provides a paddy field seeding agricultural robot, includes walking module, elevating system and seeding fertilization module, its characterized in that: the walking module comprises a front chassis, a rear axle, a controller, a driving device and a steering device, wherein two driving front wheels are arranged at the bottom of the front chassis, two unpowered rear wheels are arranged at the bottom of the rear axle, the front chassis and the rear axle are connected through a bowing connecting pin in the vertical direction, so that the rear axle can rotate relative to the front chassis, the two driving front wheels are driven to move through the driving device, and the steering device is used for driving the two driving front wheels to steer; the sowing and fertilizing module comprises a fertilizing mechanism and a sowing mechanism, wherein the fertilizing mechanism or the sowing mechanism is arranged in the middle of the rear axle through a lifting mechanism;
the driving device comprises two driving motors and a storage battery pack for supplying power, the two driving motors are respectively connected with corresponding driving front wheels through power transmission devices, the rotating speeds of the two driving motors can be controlled through a controller, and therefore differential steering is achieved;
the lifting mechanism is a parallelogram mechanism and comprises a lifting mechanism fixing seat, a lifting seat, a working part mounting seat, an upper support, a lower support and an electric push rod, wherein the lifting mechanism fixing seat is fixedly arranged on a rear axle;
the steering mechanism comprises a steering lug plate and a steering pull rod, wherein the steering lug plate is arranged on the high driving arm, one end of the steering pull rod is connected with the steering lug plate, the steering pull rod is driven by the steering motor, and the steering lug plate is pulled by the steering pull rod, so that the steering of the front wheels is driven.
2. A paddy field sowing agricultural robot as defined in claim 1, wherein: the front chassis is also provided with a wireless communication module, and the wireless communication module can be in control communication with the walking module through the remote controller.
3. A paddy field sowing agricultural robot as defined in claim 1, wherein: the heightening driving arm comprises a steering seat, a first power shaft, a second power shaft, a third power shaft, a gear chamber and a driving arm sleeve, wherein the gear chamber is of a hollow structure, the gear chamber is fixedly arranged on a frame of the front chassis, the top of the driving arm sleeve is connected with the bottom of the gear chamber through a bearing, the steering seat is sleeved on the top of the gear chamber through the bearing and is fixedly connected with the driving arm sleeve, a driving front wheel is arranged at the bottom of the driving arm sleeve, the first power shaft is arranged in the gear chamber through the bearing, the second power shaft and the third power shaft are sequentially arranged in the driving arm sleeve through the bearing, one end of the first power shaft is connected with a driving motor arranged on the frame, the other end of the first power shaft is connected with the power shaft through bevel gear meshing arranged in the gear chamber, the third top of the power shaft is connected with the power shaft through an electronic clutch, the third bottom of the power shaft is connected with the driving front wheel through gear meshing, and the steering lug plate is fixedly arranged on the steering seat.
4. A paddy field sowing agricultural robot as claimed in claim 3, wherein: and a Hall speed measuring sensor sleeved on the third power shaft is further arranged in the driving arm sleeve, the third rotating speed of the power shaft is measured through the Hall speed measuring sensor, and the rotating speed of the corresponding driving front wheel is obtained through calculation.
5. A paddy field sowing agricultural robot as claimed in claim 3, wherein: and the first power shaft is connected with the output end of the worm gear reducer through a coupler, and the input end of the worm gear reducer is connected with the 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391165.0A CN109367636B (en) | 2018-11-21 | 2018-11-21 | Agricultural robot for paddy field sowing |
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| Publication Number | Publication Date |
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| CN109367636A CN109367636A (en) | 2019-02-22 |
| CN109367636B true CN109367636B (en) | 2023-10-03 |
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| 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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| 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 |
| 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 |
| CN113170632B (en) * | 2021-03-08 | 2022-08-23 | 中国农业大学 | Self-propelled field pattern seeder based on image processing and variant seeding technology |
| 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 |
| CN113228862A (en) * | 2021-05-27 | 2021-08-10 | 上海点甜农业专业合作社 | Ridged sowing robot |
| CN114600606B (en) * | 2022-03-04 | 2023-01-17 | 江苏大学 | Light and simple intelligent fertilizer applicator and control system and method thereof |
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