CN109874506A - A kind of modularized bionic quadruped robot for spraying or picking - Google Patents
A kind of modularized bionic quadruped robot for spraying or picking Download PDFInfo
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- CN109874506A CN109874506A CN201910276331.0A CN201910276331A CN109874506A CN 109874506 A CN109874506 A CN 109874506A CN 201910276331 A CN201910276331 A CN 201910276331A CN 109874506 A CN109874506 A CN 109874506A
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- picking
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Abstract
The invention discloses the modularized bionic quadruped robots that one kind can be sprayed or be picked, belong to machinery manufacturing technology field, it is too huge without adapting to various complicated landforms to solve the problems, such as existing short shape crops agricultural machinery, while disparate modules can be exchanged according to their own needs to realize the function of spray, picking.The present invention includes filling two parts in quadruped robot and modularization, it is characterized in that, it is two groups of motors on front side of the quadruped robot body, two groups of motors are connect with foreleg motor, and described two motor rotation axis are vertical, are one group of motor on rear side of the machine human body, are connected with back leg motor support base, it is to be filled in modularization above the quadruped robot, is divided into dress in spray module, is filled in picking module.It is the configuration of the present invention is simple, ingenious in design, at low cost, can effective adaptation to the ground complex area working environment, improve anti-side and turn over performance, and can be with automatic leveling, while the function of plant protection spray and picking may be implemented.
Description
Technical field
The present invention relates to machinery manufacturing technology field, in particular to a kind of modularized bionic four-footed machine that can be sprayed or pick
Device people.
Background technique
Agricultural picking, sprayer machine are in mountainous region, knob operation, very easy due to landform height due to a varied topography
Low injustice is turned on one's side in work or normally travel, hinders agricultural picking sprayer machine in the popularization of this area, and pass
The agricultural machinery of system can only realize simple function, cannot achieve and carry out function modoularization according to their own needs.
Summary of the invention
In order to overcome the above technical problems, the present invention provides the modularized bionic four-footed machines that one kind can be sprayed or be picked
People is suitable for various complicated landforms, can be applied to the out-of-flatnesses such as green house of vegetables or outdoor hills area, while plant protection may be implemented
The function of spray and picking, suitable for dwarf forms crops, such as capsicum, tomato etc..
Technical solution of the present invention are as follows: the modularized bionic quadruped robot that one kind can be sprayed or be picked, including four-footed machine
Two parts are filled in people and modularization, which is characterized in that the quadruped robot body is two groups of motors, and two groups of motors are with before
The connection of leg motor, and described two motor rotation axis are vertical, are one group of motor on rear side of the machine human body, with back leg motor
Support is connected, and is to fill above the quadruped robot in modularization, can freely change according to demand, be divided into the module that sprays fill,
It is filled in picking module.
Further, it fills in the picking module and is connect with quadruped robot by base electrical machinery, the base electrical machinery connects
Middle arm, arm motor in the middle arm connection are connect, the middle arm motor connects forearm motor, and the forearm motor connects forearm, institute
Stating on forearm has mechanical picking claw, connection picking blade above the forearm, has camera shooting above the picking claw and picking knife piece
There is picking box at head, the quadruped robot rear.Dress is connect with quadruped robot by base electrical machinery in the spray module, institute
Base electrical machinery is stated to connect with pesticide-treated machine, there are a big end spray bar in pesticide-treated machine two sides, the big end spray bar with it is small
Spray bar connection is held, there is camera in pesticide-treated machine upper surface, and there is pesticide box at the quadruped robot rear.
The invention has the benefit that
The modularized bionic quadruped robot that one kind of the present invention can be sprayed or be picked utilizes the tune on front side of quadruped robot with rear side
The leveling of quadruped robot may be implemented in flat telegram machine, and can be realized in variation according to different demands above quadruped robot
Die-filling piece, realize a tractor serves several purposes.It is the configuration of the present invention is simple, ingenious in design, at low cost, various complicated landforms are adapted to, simultaneously
The function of plant protection spray and picking may be implemented.
In conclusion innovative point: (1) rotatably filling the herbal sprinkling that can satisfy different directions crop in spray module.
(2) chemical spraying device is filled on being met by going up and down, each of part quadruped robot is filled under the crops (3) of different height
Freedom degree, that is, each leveling motor is adapted to various landform, prevents to turn on one's side.(4) mechanical arm and machine filled in module is picked
The picking to crops may be implemented in the cooperation of device vision, and puts it into picking box.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of modularized bionic quadruped robot disassembly schematic diagram that can be sprayed or pick
Fig. 2 is quadruped robot with schematic diagram when filling in picking module；
Fig. 3 is to fill schematic diagram in picking module；
Fig. 4 is bionical quadruped robot schematic diagram；
Fig. 5 is quadruped robot with schematic diagram when filling in spray module；
Fig. 6 is to fill schematic diagram in spray module；
Fig. 7 is schematic diagram when bionical quadruped robot overwhelms；
In figure: 1- spherical shape foot；2- shank；3- thigh；4- front leg portions motor；Leveling motor before 5-；Arm motor in 6-；7- picking machine
Machinery claw；8- picks blade；9- forearm；10- forearm rotating electric machine；11- forearm motor；Arm in 12-；13- base electrical machinery；14- is adopted
Pluck case；Thigh motor after 15-；16- body；17- joint motor；Leveling motor after 18-；19- stretches spray bar；20- spray bar；
21- camera A；22- pesticide-treated machine；23- pesticide suction pipe；24- pesticide box；25- camera B；26- back leg support.
Specific embodiment
The modularized bionic four-footed machine that can be sprayed or pick to 6 pairs of attached drawing one kind of the invention referring to Figure of description 1
People is described in detail below.
A kind of modularized bionic quadruped robot for spraying or picking, including two are filled in quadruped robot and modularization
Point, which is characterized in that the quadruped robot body is two groups of motors, and two groups of motors are connect with foreleg motor, and institute
It is vertical to state two motor rotation axis, is one group of motor on rear side of the machine human body, is connected with back leg motor support base, the four-footed
It is to be filled in modularization above robot, can freely changes according to demand, is divided into dress in spray module, is filled in picking module.
Further, dress is connect with quadruped robot by base electrical machinery 13 in the picking module, the base electrical machinery
Arm 12 in connection, arm motor 6 in middle arm 12 connection, the middle arm motor 6 connect forearm motor 11, the forearm motor 11
Forearm 9 is connected, there is mechanical picking claw 7 on the forearm 9, connection picking blade 8 above the forearm 9 and is adopted the picking claw 7
Plucking has camera above blade 8, there is picking box 14 at the quadruped robot rear.Dress and quadruped robot in the spray module
It is connected by base electrical machinery 13, the base electrical machinery 13 is connect with pesticide-treated machine 22, and 22 two sides of pesticide-treated machine have greatly
Spray bar is held, the spray bar 20 connect with flexible spray bar 19, and there is a camera in 22 upper surface of pesticide-treated machine, and described four
There is pesticide box 24 at biped robot rear.
When carrying out picking work, arm 12 in the middle driving of arm motor 6, forearm motor 11 drives 9 forearms, forearm rotating electric machine
10 realize the rotation of forearm 9, so that the control to mechanical arm is realized, when camera B25 surveys the crops to be won
When, by visual analysis and operation, machine pawl 7 is initially grasped by crops, and the picking blade 8 above machine pawl 7 cuts off agriculture
Then the stalk of crop, machine pawl 7 are put it into picking box 14.
When carrying out spray work, base electrical machinery 13 can drive pesticide-treated machine 22 to rotate, and be stored in pesticide box 24
Pesticide be drawn in spray bar 20 by pesticide suction pipe 23 by the pump of pesticide-treated machine, have flexible spray 19 in spray bar 20
Bar may be implemented upper-lower height adjusting, adapt to different crops.
When leveling, when quadruped robot is by out-of-balance force, front, rear portion leveling motor 5,18 are flexible motor, meeting
It realizes leveling to offset out-of-balance force, is suitable for the work of different terrain in automatic calibrated horizontal face.
The modularized bionic quadruped robot that the one kind can be sprayed or be picked is corrected accurate to carry out by negative-feedback, precisely
Control controls front by control system, rear portion leveling motor rotates using the inclination angle in gyroscope robot measurement body four directions
Entire car body balance is adjusted, to achieve the effect that anti-rollover.
The above description is merely a specific embodiment, those skilled in the art the invention discloses
In range, the variation that can be readily occurred in be should be covered by the scope of protection of the present invention.
Claims (3)
1. the modularized bionic quadruped robot that one kind can be sprayed or be picked, including two are filled in quadruped robot and modularization
Point, which is characterized in that the quadruped robot body is two groups of motors, and two groups of motors are connect with foreleg motor, and institute
It is vertical to state two motor rotation axis, is one group of motor on rear side of the machine human body, is connected with back leg motor support base, the four-footed
It is to be filled in modularization above robot, can freely changes according to demand, is divided into dress in spray module, is filled in picking module.
2. the modularized bionic quadruped robot that one kind as described in claim 1 can be sprayed or be picked, which is characterized in that described
Fill and is connect with quadruped robot by base electrical machinery in picking module, the base electrical machinery connect in arm, during the middle arm connects
Arm motor, the middle arm motor connect forearm motor, and the forearm motor connects forearm, has mechanical picking claw on the forearm,
There are camera, the quadruped robot rear in connection picking blade above the forearm, the picking claw and picking knife piece top
There is picking box.
3. the modularized bionic quadruped robot that one kind as described in claim 1 can be sprayed or be picked, which is characterized in that described
It fills in spray module and is connect with quadruped robot by base electrical machinery, the base electrical machinery is connect with pesticide-treated machine, the agriculture
There are big end spray bar in medicine processor two sides, and the big end spray bar is connect with small end spray bar, pesticide-treated machine upper surface
There is camera, there is pesticide box at the quadruped robot rear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910276331.0A CN109874506A (en) | 2019-04-08 | 2019-04-08 | A kind of modularized bionic quadruped robot for spraying or picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910276331.0A CN109874506A (en) | 2019-04-08 | 2019-04-08 | A kind of modularized bionic quadruped robot for spraying or picking |
Publications (1)
| Publication Number | Publication Date |
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| CN109874506A true CN109874506A (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910276331.0A Pending CN109874506A (en) | 2019-04-08 | 2019-04-08 | A kind of modularized bionic quadruped robot for spraying or picking |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017056A (en) * | 2019-12-31 | 2020-04-17 | 广东电网有限责任公司 | Cable channel intellectual detection system robot |
| CN111296225A (en) * | 2020-02-27 | 2020-06-19 | 广州大学 | Intelligent operation system and method for rubber forest |
| CN111301556A (en) * | 2020-03-20 | 2020-06-19 | 三峡大学 | Remote-control multifunctional quadruped robot and operation method |
| CN113635989A (en) * | 2021-06-18 | 2021-11-12 | 哈尔滨工业大学（深圳） | Integrated multi-legged robot |
| CN114715305A (en) * | 2022-05-07 | 2022-07-08 | 广东电网有限责任公司 | Bionic quadruped robot for cleaning live equipment |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
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| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
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| CN208462401U (en) * | 2018-06-15 | 2019-02-05 | 新疆艾力努尔农业科技开发有限公司 | A kind of fruit picker |
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| US4532757A (en) * | 1983-09-30 | 1985-08-06 | Martin Marietta Corporation | Robotic fruit harvester |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| CN103503637A (en) * | 2013-10-14 | 2014-01-15 | 青岛农业大学 | Intelligent identification picking robot and picking method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017056A (en) * | 2019-12-31 | 2020-04-17 | 广东电网有限责任公司 | Cable channel intellectual detection system robot |
| CN111296225A (en) * | 2020-02-27 | 2020-06-19 | 广州大学 | Intelligent operation system and method for rubber forest |
| CN111296225B (en) * | 2020-02-27 | 2022-01-04 | 广州大学 | Intelligent operation system and method for rubber forest |
| CN111301556A (en) * | 2020-03-20 | 2020-06-19 | 三峡大学 | Remote-control multifunctional quadruped robot and operation method |
| CN113635989A (en) * | 2021-06-18 | 2021-11-12 | 哈尔滨工业大学（深圳） | Integrated multi-legged robot |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
| CN114715305A (en) * | 2022-05-07 | 2022-07-08 | 广东电网有限责任公司 | Bionic quadruped robot for cleaning live equipment |
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Application publication date: 20190614 |
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