CN111133856A

CN111133856A - Agricultural soil digging and repairing robot

Info

Publication number: CN111133856A
Application number: CN202010008724.6A
Authority: CN
Inventors: 张德华; 史二东
Original assignee: Henan University
Current assignee: Henan University
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2020-05-12

Abstract

The invention relates to the field of agricultural robots, in particular to an agricultural soil turning and repairing robot, which comprises a robot shell, a ground turning component, a pesticide spraying component and a stirring component, wherein the robot shell comprises a base and a top cover, the top cover is arranged on the top of the base, the peripheries of the base and the top cover are respectively fixed through bolts, the ground turning component is arranged on one side of the top of the base, the pesticide spraying component is arranged on the top of the base and is positioned in the space between the base and the top cover, the stirring component is arranged on the top of the top cover and is positioned on one side of the top cover far away from the ground turning component, the ground turning component comprises a lifting mechanism and a ground turning mechanism, the lifting mechanism is arranged on the top of the base, and the ground turning mechanism can move up and down through the lifting mechanism, so that the problem of incomplete soil repairing caused by the fact that repairing liquid cannot be uniformly mixed after agricultural soil is turned, the soil restoration degree is improved, and the soil plowing effect is enhanced.

Description

Agricultural soil digging and repairing robot

Technical Field

The invention relates to the field of agricultural robots, in particular to an agricultural soil turning and repairing robot.

Background

Along with the development of science and technology, the development of agriculture gradually moves towards automation, the intelligent direction develops, because the agricultural land is unified and concentrated at present, the agricultural operation work gradually approaches towards the direction of integration and standardization, and the development of agriculture can not leave various mechanical equipment, therefore, the agricultural robot is favorable for improving the agricultural production mode, relieves the labor pressure, and has important significance for developing accurate agriculture and green agriculture, improving the agricultural production efficiency and promoting the agricultural scientific and technological innovation.

The soil can be moved and restored by turning the soil, the soil can be improved, a plough layer is deepened, plant diseases and insect pests are eliminated, weeds are removed, the soil is water-storing and soil moisture-preserving and drought and waterlogging preventing effects are achieved, the soil can be soft and suitable for growth of plant roots and absorption of nutrients by turning the soil, the turned soil is soft and has good air permeability, rainwater can be easily reserved in the soil, air can also enter the soil, and when the soil is turned, a part of insects hidden in the soil can be killed.

At present, when soil is restored through turning over the ground, the soil is often turned over manually, time and labor are wasted, the efficiency of soil restoration is reduced, and therefore a robot capable of automatically restoring the soil is required to be designed.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an agricultural soil turning and repairing robot, and the technical scheme solves the problem of incomplete soil repair caused by the fact that repairing liquid cannot be uniformly mixed after agricultural soil is turned.

In order to solve the technical problems, the invention provides the following technical scheme:

the utility model provides an agricultural soil is digged and is restoreed robot, including the robot housing, still including the subassembly of ploughing, spout medicine subassembly and stirring subassembly, the robot housing includes base and top cap, the top cap sets up in the top of base, and it is fixed through a bolt respectively all around between base and the top cap, the subassembly of ploughing sets up in top one side of base, it sets up in the top of base to spout the medicine subassembly, and spout the inside that the medicine subassembly is located between base and the top cap, the stirring subassembly sets up in the top of top cap, and the stirring subassembly is located one side that the subassembly of ploughing was kept away from to the top cap, the subassembly of ploughing includes elevating system and mechanism of ploughing, elevating system sets up in the top of base, the mechanism of ploughing can.

As an optimal scheme of the agricultural soil turning and repairing robot, a steering mechanism and a moving mechanism are respectively arranged at the front end and the rear end of the bottom of a base, the steering mechanism and the moving mechanism are respectively provided with two wheels which are symmetrically arranged on two sides of the base, each wheel can be rotatably arranged on a hub frame, the two hub frames of the steering mechanism are respectively driven to rotate through a steering motor, each steering motor is vertically arranged at the top of the base, the two hub frames of the moving mechanism are respectively fixed at the bottom of the base through a support column, and the two wheels of the moving mechanism are connected through a rotating rod.

As an optimal scheme of the agricultural soil digging and repairing robot, two ends of the rotating rod respectively penetrate through wheels to be arranged on a wheel hub frame of the moving mechanism in a rotatable mode, a double-end motor is further arranged on one side, located on the moving mechanism, of the top of the base, a connecting rod is arranged on output shafts of two ends of the double-end motor respectively, each connecting rod is arranged on a movable frame in a rotatable mode respectively, a first belt wheel is further sleeved on each connecting rod and the rotating rod respectively, the first belt wheel on each connecting rod is matched with the first belt wheel on the rotating rod through a first belt respectively, and strip-shaped openings used for transmission of the first belts are further arranged on two sides of the top of the base respectively.

As an agricultural soil digs and restores a preferred scheme of robot, elevating system is by a U-shaped frame, a lifter plate and two first screw rods are constituteed, the both sides of the U-shaped mouth end of U-shaped frame are the top that vertical state is fixed in the base, and the U-shaped mouth end that the top of base is located the U-shaped frame still is equipped with one and is used for the mechanism of ploughing to carry out the opening that digs, the top of U-shaped frame is passed the top cap and is outwards stretched out, two first screw rods all are vertical state symmetry and set up in the inside both sides of U-shaped frame, the both sides of every first screw rod still are equipped with a guide post respectively, the both sides of lifter plate can gliding cover respectively locate on first screw rod and two guide posts, the top of two first screw rods still passes the U-shaped frame respectively and upwards stretches out, and the bottom and the top homoenergetic of every first screw rod set up on a sliding seat.

As an optimal scheme of the agricultural soil turning and repairing robot, the top ends of two first screw rods are respectively sleeved with a first bevel gear, one side of each first bevel gear is provided with a second bevel gear, each second bevel gear is meshed with the corresponding first bevel gear, the two second bevel gears are connected through a connecting shaft, the connecting shaft is arranged at the top of the U-shaped frame through a supporting frame, one end of the connecting shaft penetrates through the end face of one second bevel gear and is sleeved with a third bevel gear, one side of the third bevel gear is also meshed with a fourth bevel gear, the fourth bevel gear is driven through a first driving motor, the first driving motor is fixed at one side of the U-shaped frame, and the top end of the U-shaped frame is also provided with a protective shell.

As an agricultural soil digs soil and restores a preferred scheme of robot, it comprises a mounting bracket and a round bar to turn over ground mechanism, the mounting bracket sets up in the top of lifter plate, the both sides of mounting bracket still are equipped with a rectangular plate respectively, and every rectangular plate passes the lifter plate respectively and stretches out downwards, still fix through a fitting pin respectively all around between mounting bracket and the lifter plate, the round bar is that the horizontality can the pivoted set up on two rectangular plates, and still be equipped with the cutter that a plurality of is used for turning over ground on the round bar, a plurality of cutter is fixed in on the round bar along the equidistant length direction of round bar respectively, the top of mounting bracket still is equipped with a second driving motor, and second driving motor's output shaft and round bar one end are passed through second band pulley and the cooperation of second belt.

As an agricultural soil digs and restores a preferred scheme of robot, spouts the medicine subassembly and includes a guide bar, a second screw rod and a slider, the guide bar is the horizontality and sets up in the top of base along the width direction of base, the second screw rod is the horizontality and sets up in the side of guide bar along the length direction of guide bar to the terminal surface of second screw rod and guide bar all sets up in the top of base through a support, the slider is the gliding cover of horizontality and locates on second screw rod and guide bar.

As an optimal scheme of the agricultural soil turning and repairing robot, one end of the second screw is provided with a first straight gear, a second straight gear is arranged beside the first straight gear, the first straight gear and the second straight gear are meshed with each other, the second straight gear is driven by a third driving motor, a spray head used for spraying a pesticide is further arranged at the bottom of the sliding block, the top end of the spray head penetrates through the sliding block to extend upwards, a water pipe is further arranged at the extending end of the spray head, a water pump is further arranged at the top of the top cover, the water pipe penetrates through the top cover to be connected with one end of the water pump, and a rectangular opening used for moving the spray head is further arranged at the bottom of the base.

As an optimal scheme of the agricultural soil turning and repairing robot, the stirring assembly comprises a medicine storage barrel and a stirring rod, the medicine storage barrel is fixed to the top of the top cover in a horizontal state through a support, the free end of the water pump is connected with the medicine storage barrel, the top of the medicine storage barrel is further provided with a feeding port for feeding repairing liquid, the stirring rod can be rotatably arranged in the medicine storage barrel and coaxial with the medicine storage barrel, stirring blades for mixing and stirring are further arranged on the stirring rod, a disc is further sleeved at each of two ends of the stirring rod in a rotatable mode, three scraping and rubbing rods for scraping residues on the inner wall of the medicine storage barrel are further connected between the two discs, and the three scraping and rubbing rods are uniformly distributed along the circumferential direction of the stirring rod.

As an agricultural soil digs and restores a preferred scheme of robot, a round mouth has been seted up to the one end of medicine storage bucket, the fixed solid fixed ring that is equipped with on the round mouth end of medicine storage bucket, gu fixed ring is last to be equipped with an inner circle gear, the one end of puddler passes the round mouth and outwards stretches out, and still the cover is equipped with a action wheel on the extension end of puddler, coaxial line between action wheel and the inner circle gear, it is equipped with three from the driving wheel still to mesh between action wheel and the inner circle gear, three still along the circumferencial direction evenly distributed of action wheel from the driving wheel, and three from the driving wheel cover respectively locate a pivot, three pivot is connected through a set-square, the end that stretches out of puddler still is through a rotating electrical machines drive, and the output shaft of rotating electrical machines and puddler stretch out and.

Compared with the prior art, the invention has the beneficial effects that:

in the process of soil remediation by the agricultural robot, firstly, the robot shell moves in a farmland, the soil turning mechanism moves downwards along with the movement of the robot shell, the soil turning mechanism turns the soil of the farmland immediately, the robot shell moves after the soil turning mechanism turns the soil, the pesticide spraying component reaches the upper part of the turned soil, the pesticide liquid for soil remediation is fully stirred and mixed by the stirring component, so that the remediation liquid is more uniform, and finally the soil remediation liquid is sprayed into the turned soil by the pesticide spraying component to complete the soil remediation operation.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is an exploded perspective view of the present invention;

FIG. 4 is a partial perspective view of the present invention;

FIG. 5 is a perspective view of the floor-turning assembly;

FIG. 6 is a front view of the floor turnover assembly;

FIG. 7 is a perspective view of the pesticide spraying assembly;

FIG. 8 is a schematic perspective view of the stirring assembly;

fig. 9 is an exploded perspective view of the stirring assembly.

The reference numbers in the figures are: the device comprises a ground overturning assembly 1, a stirring assembly 2, a base 3, a top cover 4, a bolt 5, a wheel 6, a hub frame 7, a steering motor 8, a rotating rod 9, a double-headed motor 10, a movable frame 11, a first belt 12, a U-shaped frame 13, a lifting plate 14, a first screw rod 15, an opening 16, a guide column 17, a first bevel gear 18, a second bevel gear 19, a connecting shaft 20, a supporting frame 21, a third bevel gear 22, a fourth bevel gear 23, a first driving motor 24, a protective shell 25, a mounting frame 26, a round rod 27, a rectangular plate 28, a locking bolt 29, a cutter 30, a second driving motor 31, a second belt 32, a guide rod 33, a second screw rod 34, a sliding block 35, a first straight gear 36, a second straight gear 37, a third driving motor 38, a spray head 39, a water pipe 40, a water pump 41, a rectangular port 42, a medicine storage barrel 43, a stirring rod 44, a support 45, a feeding port 46, a stirring blade 47, a disc 48, a rubbing rod, A fixed ring 50, an inner ring gear 51, a driving wheel 52, a driven wheel 53, a triangle plate 54, a rotating motor 55 and a transmission belt 56.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 9, an agricultural soil digging and repairing robot, including the robot casing, still include the subassembly 1 of ploughing, spout medicine subassembly and stirring subassembly 2, the robot casing includes base 3 and top cap 4, top cap 4 sets up in the top of base 3, and it is fixed through a bolt 5 respectively all around between base 3 and the top cap 4, the subassembly 1 of ploughing sets up in top one side of base 3, it sets up in the top of base 3 to spout the medicine subassembly, and spout the inside that the medicine subassembly is located between base 3 and the top cap 4, stirring subassembly 2 sets up in the top of top cap 4, and stirring subassembly 2 is located one side that the subassembly 1 of ploughing was kept away from to top cap 4, the subassembly 1 of ploughing includes elevating system and the mechanism of ploughing, elevating system sets up in the top of base 3, the mechanism of ploughing can reciprocate through elevating system. In the process of soil remediation by the agricultural robot, firstly, the robot shell moves in a farmland, along with the movement of the robot shell, the soil turning mechanism moves downwards along with the movement of the soil turning mechanism through the lifting mechanism, the soil turning mechanism turns the soil of the farmland immediately, after the soil turning mechanism turns the soil, the robot shell moves, the pesticide spraying component moves to the upper side of the turned soil, the pesticide liquid for soil remediation is fully stirred and mixed by the stirring component 2, the remediation liquid is more uniform, and finally the soil remediation liquid is sprayed into the turned soil through the pesticide spraying component, so that the soil remediation operation is completed.

The bottom front end and the rear end of base 3 are equipped with a steering mechanism and a moving mechanism respectively, steering mechanism and moving mechanism all are equipped with two symmetries and set up in the wheel 6 of base 3 both sides, and every wheel 6 all can the pivoted set up on a hub frame 7, two hub frames 7 of steering mechanism still carry out rotary drive through a steering motor 8 respectively, every steering motor 8 all is vertical state and sets up in the top of base 3, and two hub frames 7 of moving mechanism are fixed in the bottom of base 3 through a support column respectively, still connect through a bull stick 9 between two wheels 6 of moving mechanism. Soil remediation's in-process is carried out to agricultural robot, and the robot casing removes in the farmland, and when the robot casing removed, the base 3 of robot casing removed through moving mechanism to the robot casing turned to through steering mechanism, and moving mechanism and steering mechanism all removed through wheel 6, and when steering mechanism turned to, every steering motor 8 rotated corresponding wheel hub frame 7 respectively and rotated, and corresponding wheel 6 has also rotated the direction thereupon.

The both ends of bull stick 9 pass wheel 6 respectively and can the pivoted set up on moving mechanism's wheel hub frame 7, and the one side that the base 3 top is located moving mechanism still is equipped with a double-end motor 10, the both ends output shaft of double-end motor 10 is equipped with a connecting rod respectively, every connecting rod can the pivoted respectively set up on a adjustable shelf 11, and still overlap respectively on every connecting rod and the bull stick 9 and be equipped with a first band pulley, still respectively through a first belt 12 cooperation between the first band pulley on every connecting rod and the first band pulley on the bull stick 9, the top both sides of base 3 still are equipped with one respectively and are used for the driven bar mouth of first belt 12. When the moving mechanism drives the base 3 of the robot shell to move, the two output shafts of the double-head motor 10 respectively drive the corresponding first belt wheels to rotate, and because the two wheels 6 of the moving mechanism are connected through a connecting rod, and because the connecting rod is respectively matched with the two output shafts of the double-head motor 10 through the first belt wheels and the first belt 12, the double-head motor 10 finally drives the two wheels 6 to rotate.

Elevating system is by a U-shaped frame 13, a lifter plate 14 and two first screw rods 15 are constituteed, the both sides of the U-shaped mouth end of U-shaped frame 13 are vertical state and are fixed in the top of base 3, and the top of base 3 is located the U-shaped mouth end of U-shaped frame 13 and still is equipped with an opening 16 that is used for the mechanism of turning over the ground to turn over the ground, top 4 outwards stretches out is passed on the top of U-shaped frame 13, two first screw rods 15 all are vertical state symmetry and set up in the inside both sides of U-shaped frame 13, every first screw rod 15's both sides still are equipped with a guide post 17 respectively, first screw rod 15 and two guide posts 17 are located to the slidable cover respectively in lifter plate 14's both sides, two first screw rod 15's top still passes U-shaped frame 13 respectively and upwards stretches out, and every first screw rod 15's bottom and top homoenergetic pivoted set up on a movable seat. When the robot shell moves on a farmland, the lifting mechanism drives the soil turning mechanism to move downwards immediately, in the driving process of the lifting mechanism, the two first screw rods 15 rotate to drive the lifting plate 14 to move on the first screw rods 15 and the guide columns 17, and the opening 16 is formed in the top of the base 3, so that the soil turning mechanism can pass through the opening 16 through the lifting mechanism to turn the soil.

The top ends of the two first screw rods 15 are respectively sleeved with a first bevel gear 18, one side of each first bevel gear 18 is provided with a second bevel gear 19, each second bevel gear 19 is meshed with the corresponding first bevel gear 18, the two second bevel gears 19 are connected through a connecting shaft 20, the connecting shaft 20 is arranged at the top of the U-shaped frame 13 through a supporting frame 21, one end of the connecting shaft 20 penetrates through the end face of one second bevel gear 19 and is sleeved with a third bevel gear 22, one side of the third bevel gear 22 is also meshed with a fourth bevel gear 23, the fourth bevel gear 23 is driven through a first driving motor 24, the first driving motor 24 is fixed at one side of the U-shaped frame 13, and the top end of the U-shaped frame 13 is further provided with a protective shell 25. When the two first screw rods 15 rotate, firstly, the first driving motor 24 drives the fourth bevel gear 23 to rotate, because the fourth bevel gear 23 and the third bevel gear 22 are engaged with each other, the third bevel gear 22 rotates to drive the connecting shaft 20 to rotate, and because each second bevel gear 19 is respectively engaged with the corresponding first bevel gear 18, the rotation of the second bevel gear 19 drives the corresponding first bevel gear 18 to rotate, and after each first bevel gear 18 rotates, the corresponding first screw rods 15 are simultaneously driven to rotate, and the lifting plate 14 moves on the two first screw rods 15 accordingly.

The mechanism of turning over ground comprises a mounting bracket 26 and a round bar 27, the mounting bracket 26 sets up in the top of lifter plate 14, the both sides of mounting bracket 26 still are equipped with a rectangular plate 28 respectively, and every rectangular plate 28 passes lifter plate 14 respectively and stretches out downwards, it is fixed still respectively through a fitting bar 29 all around between mounting bracket 26 and the lifter plate 14, round bar 27 is horizontal state can the pivoted setting on two rectangular plates 28, and still be equipped with a plurality of cutter 30 that are used for turning over ground on the round bar 27, a plurality of cutter 30 is fixed in on round bar 27 along the length direction equidistance of round bar 27 respectively, the top of mounting bracket 26 still is equipped with a second driving motor 31, and second driving motor 31's output shaft and round bar 27 one end are through the cooperation of second band pulley and second belt 32. After the soil turning mechanism reaches the upper part of the soil through the lifting plate 14, the soil turning mechanism starts to be driven, in the driving process of the soil turning mechanism, the second driving motor 31 drives the round rod 27 to rotate through the second belt wheel and the second belt 32, and as the round rod 27 is provided with the plurality of cutters 30 for turning the soil, the plurality of cutters 30 perform soil turning treatment on the soil through the rotation of the round rod 27.

The pesticide spraying assembly comprises a guide rod 33, a second screw rod 34 and a sliding block 35, the guide rod 33 is in a horizontal state and is arranged at the top of the base 3 along the width direction of the base 3, the second screw rod 34 is in a horizontal state and is arranged at the side of the guide rod 33 along the length direction of the guide rod 33, the end faces of the second screw rod 34 and the guide rod 33 are arranged at the top of the base 3 through a support, and the sliding block 35 is in a horizontal state and can be slidably sleeved on the second screw rod 34 and the guide rod 33. When farmland soil is turned over, the pesticide spraying assembly immediately sprays pesticide on the soil, the second screw rod 34 rotates in the driving process of the pesticide spraying assembly, and the sliding block 35 immediately moves on the second screw rod 34 and the guide rod 33 through the rotation of the second screw rod 34.

One end of the second screw 34 is provided with a first straight gear 36, a second straight gear 37 is arranged beside the first straight gear 36, the first straight gear 36 and the second straight gear 37 are meshed with each other, the second straight gear 37 is driven by a third driving motor 38, the bottom of the sliding block 35 is also provided with a spray head 39 for spraying medicine, the top end of the spray head 39 penetrates through the sliding block 35 to extend upwards, the extending end of the spray head 39 is also provided with a water pipe 40, the top of the top cover 4 is also provided with a water pump 41, the water pipe 40 penetrates through the top cover 4 to be connected with one end of the water pump 41, and the bottom of the base 3 is also provided with a rectangular opening 42 for moving the spray head 39. When the second screw 34 rotates, the third driving motor 38 drives the second spur gear 37 to rotate, and due to the mutual engagement between the second spur gear 37 and the first spur gear 36, the rotation of the second spur gear 37 drives the first spur gear 36 to rotate, the first spur gear 36 rotates and then drives the second screw 34 to rotate, and when the slide block 35 moves through the second screw 34, the spray head 39 on the slide block 35 pumps the remediation liquid through the water pump 41 to remediate the soil.

The stirring assembly 2 comprises a medicine storage barrel 43 and a stirring rod 44, the medicine storage barrel 43 is fixed at the top of the top cover 4 in a horizontal state through a support 45, the free end of the water pump 41 is connected with the medicine storage barrel 43, the top of the medicine storage barrel 43 is further provided with a feeding port 46 for feeding repairing liquid, the stirring rod 44 can be rotatably arranged in the medicine storage barrel 43, the stirring rod 44 and the medicine storage barrel 43 are coaxial, the stirring rod 44 is further provided with a stirring blade 47 for mixing and stirring, two ends of the stirring rod 44 are further respectively and rotatably sleeved with a disc 48, three scraping rods 49 for scraping residues on the inner wall of the medicine storage barrel 43 are further connected between the two discs 48, and the three scraping rods 49 are respectively and uniformly distributed along the circumferential direction of the stirring rod 44. When the stirring assembly 2 uniformly stirs the repair liquid, the stirring rod 44 in the liquid storage barrel rotates to drive the stirring blade 47 to rotate, the repair liquid in the liquid storage barrel is uniformly stirred by the stirring blade 47, and the scraping rod 49 can scrape the residues on the side wall of the liquid storage barrel due to the residues left on the inner side wall of the liquid storage barrel.

A round mouth is opened at one end of the medicine storage barrel 43, a fixing ring 50 is fixedly arranged at the round mouth end of the medicine storage barrel 43, an inner ring gear 51 is fixedly arranged on the fixing ring 50, one end of the stirring rod 44 penetrates through the round mouth and extends outwards, a driving wheel 52 is further sleeved at the extending end of the stirring rod 44, the driving wheel 52 and the inner ring gear 51 share the same axis, three driven wheels 53 are further arranged between the driving wheel 52 and the inner ring gear 51 in a meshed mode, the three driven wheels 53 are further evenly distributed along the circumferential direction of the driving wheel 52, the three driven wheels 53 are respectively sleeved on a rotating shaft, the three rotating shafts are connected through a triangular plate 54, the extending end of the stirring rod 44 is further driven through a rotating motor 55, and the output shaft of the rotating motor 55 is matched with the extending end of the stirring rod 44 through a driving wheel. During the rotation of the stirring rod 44, firstly, the rotating motor 55 drives the driving wheel 52 to rotate through the driving wheel and the transmission belt 56, and because the driving wheel 52 and the three driven wheels 53 are meshed with each other, the three driven wheels 53 then rotate around the driving wheel 52 on the inner ring gear 51, the rotation of the three driven wheels 53 drives the disc 48 to rotate, and the scraping rod 49 also rotates around the stirring rod 44.

The working principle of the invention is as follows: in the soil remediation process of the agricultural robot, the robot shell moves in a farmland, when the robot shell moves, the base 3 of the robot shell moves through the moving mechanism, the robot shell turns through the steering mechanism, the moving mechanism and the steering mechanism both move through the wheels 6, when the steering mechanism turns, each steering motor 8 rotates the corresponding wheel hub frame 7 to rotate, the corresponding wheel 6 also rotates to change the direction, when the moving mechanism drives the base 3 of the robot shell to move, two output shafts of the double-head motor 10 respectively drive the corresponding first belt wheels to rotate, as the two wheels 6 of the moving mechanism are connected through a connecting rod, and as the connecting rod and the two output shafts of the double-head motor 10 are respectively matched through the first belt wheels and the first belt 12, the double-head motor 10 finally drives the two wheels 6 to rotate, when the robot shell moves on a farmland, the lifting mechanism drives the ground-turning mechanism to move downwards, the two first screw rods 15 rotate to drive the lifting plate 14 to move on the first screw rods 15 and the guide column 17 in the driving process of the lifting mechanism, the ground-turning mechanism can pass through the opening 16 through the lifting mechanism to turn the soil due to the opening 16 arranged at the top of the base 3, when the two first screw rods 15 rotate, firstly, the first driving motor 24 drives the fourth bevel gear 23 to rotate, because the fourth bevel gear 23 is meshed with the third bevel gear 22, the third bevel gear 22 rotates to drive the connecting shaft 20 to rotate, and because each second bevel gear 19 is meshed with the corresponding first bevel gear 18, the rotation of each second bevel gear 19 drives the corresponding first bevel gear 18 to rotate, and each first bevel gear 18 simultaneously drives the corresponding first screw rod 15 to rotate after rotating, the lifting plate 14 moves on the two first screw rods 15, when the soil turning mechanism reaches the soil through the lifting plate 14, the soil turning mechanism starts to drive, in the driving process of the soil turning mechanism, the second driving motor 31 drives the round rod 27 to rotate through the second belt wheel and the second belt 32, as the round rod 27 is provided with a plurality of cutters 30 for turning the soil, the plurality of cutters 30 turn the soil through the rotation of the round rod 27, in the process that the repairing liquid is uniformly stirred by the stirring assembly 2, the stirring rod 44 in the liquid storage barrel rotates to drive the stirring blade 47 to rotate, the repairing liquid in the liquid storage barrel is uniformly stirred through the stirring blade 47, as residues are left on the inner side wall of the liquid storage barrel, the scraping rod 49 can scrape the residues on the side wall of the liquid storage barrel, and in the rotating process of the stirring rod 44, firstly, the rotating motor 55 drives the driving wheel 52 to rotate through the driving wheel and the driving belt 56, because the driving wheel 52 is meshed with the three driven wheels 53, the three driven wheels 53 rotate around the driving wheel 52 on the inner ring gear 51, the rotation of the three driven wheels 53 drives the disc 48 to rotate, the scraping rod 49 rotates around the stirring rod 44, when farmland soil is turned over, the spraying component immediately sprays the soil, the second screw 34 rotates during the driving of the spraying component, the sliding block 35 immediately moves on the second screw 34 and the guide rod 33 through the rotation of the second screw 34, when the second screw 34 rotates, the third driving motor 38 drives the second spur gear 37 to rotate, because the second spur gear 37 and the first spur gear 36 are meshed with each other, the rotation of the second spur gear 37 drives the first spur gear 36 to rotate, the first spur gear 36 rotates to immediately drive the second screw 34 to rotate, and when the sliding block 35 moves through the second screw 34, the spray head 39 on the slide block 35 pumps the repairing liquid through the water pump 41 to repair the soil.

Claims

1. The agricultural soil turning and repairing robot is characterized by comprising a robot shell, and further comprising a ground turning component (1), a pesticide spraying component and a stirring component (2), wherein the robot shell comprises a base (3) and a top cover (4), the top cover (4) is arranged at the top of the base (3), the periphery between the base (3) and the top cover (4) is fixed through a bolt (5) respectively, the ground turning component (1) is arranged on one side of the top of the base (3), the pesticide spraying component is arranged on the top of the base (3), the pesticide spraying component is positioned inside the base (3) and the top cover (4), the stirring component (2) is arranged on the top of the top cover (4), the stirring component (2) is positioned on one side, far away from the ground turning component (1), the ground turning component (1) comprises a lifting mechanism and a ground turning mechanism, the lifting mechanism is arranged at the top of the base (3), and the ground turning mechanism can move up and down through the lifting mechanism.

2. The agricultural soil turning and repairing robot according to claim 1, wherein a steering mechanism and a moving mechanism are respectively arranged at the front end and the rear end of the bottom of the base (3), the steering mechanism and the moving mechanism are respectively provided with two wheels (6) symmetrically arranged at two sides of the base (3), each wheel (6) is rotatably arranged on a hub frame (7), the two hub frames (7) of the steering mechanism are respectively and rotationally driven by a steering motor (8), each steering motor (8) is vertically arranged at the top of the base (3), the two hub frames (7) of the moving mechanism are respectively fixed at the bottom of the base (3) through a support column, and the two wheels (6) of the moving mechanism are connected through a rotating rod (9).

3. The agricultural soil turning and repairing robot according to claim 2, wherein two ends of the rotating rod (9) are respectively rotatably arranged on a hub frame (7) of the moving mechanism through wheels (6), a double-head motor (10) is further arranged on one side of the top of the base (3) located on the moving mechanism, two output shafts at two ends of the double-head motor (10) are respectively provided with a connecting rod, each connecting rod is respectively rotatably arranged on a movable frame (11), a first belt wheel is further respectively sleeved on each connecting rod and the rotating rod (9), the first belt wheel on each connecting rod and the first belt wheel on the rotating rod (9) are respectively matched through a first belt (12), and strip-shaped openings for transmission of the first belt (12) are further respectively arranged on two sides of the top of the base (3).

4. The agricultural soil turning and repairing robot according to claim 3, wherein the lifting mechanism comprises a U-shaped frame (13), a lifting plate (14) and two first screws (15), two sides of a U-shaped opening end of the U-shaped frame (13) are fixed on the top of the base (3) in a vertical state, an opening (16) for the ground turning mechanism to turn the ground is further arranged at the U-shaped opening end of the U-shaped frame (13) on the top of the base (3), the top end of the U-shaped frame (13) penetrates through the top cover (4) to extend outwards, the two first screws (15) are symmetrically arranged on two sides of the inside of the U-shaped frame (13) in a vertical state, two sides of each first screw (15) are respectively provided with a guide column (17), two sides of the lifting plate (14) are respectively sleeved on the first screws (15) and the two guide columns (17) in a sliding manner, the top ends of the two first screw rods (15) respectively penetrate through the U-shaped frame (13) to extend upwards, and the bottom end and the top end of each first screw rod (15) can be rotatably arranged on one movable seat.

5. The agricultural soil turning and restoring robot according to claim 4, wherein the top ends of the two first screw rods (15) are respectively sleeved with a first bevel gear (18), one side of each first bevel gear (18) is provided with a second bevel gear (19), each second bevel gear (19) is meshed with the corresponding first bevel gear (18), the two second bevel gears (19) are connected through a connecting shaft (20), the connecting shaft (20) is arranged at the top of the U-shaped frame (13) through a supporting frame (21), one end of the connecting shaft (20) penetrates through the end face of one second bevel gear (19) and is sleeved with a third bevel gear (22), one side of the third bevel gear (22) is also meshed with a fourth bevel gear (23), and the fourth bevel gear (23) is driven by a first driving motor (24), the first driving motor (24) is fixed on one side of the U-shaped frame (13), and the top end of the U-shaped frame (13) is also provided with a protective shell (25).

6. The agricultural soil turning and restoring robot according to claim 4, wherein the soil turning mechanism is composed of a mounting frame (26) and a round bar (27), the mounting frame (26) is arranged on the top of the lifting plate (14), two sides of the mounting frame (26) are respectively provided with a rectangular plate (28), each rectangular plate (28) respectively penetrates through the lifting plate (14) to extend downwards, the periphery between the mounting frame (26) and the lifting plate (14) is respectively fixed through a locking bolt (29), the round bar (27) is horizontally and rotatably arranged on the two rectangular plates (28), the round bar (27) is further provided with a plurality of cutters (30) for turning the soil, the plurality of cutters (30) are respectively fixed on the round bar (27) at equal intervals along the length direction of the round bar (27), the top of the mounting frame (26) is further provided with a second driving motor (31), and an output shaft of the second driving motor (31) is matched with one end of the round rod (27) through a second belt wheel and a second belt (32).

7. The agricultural soil turning and repairing robot according to claim 4, wherein the pesticide spraying assembly comprises a guide rod (33), a second screw rod (34) and a sliding block (35), the guide rod (33) is horizontally arranged at the top of the base (3) along the width direction of the base (3), the second screw rod (34) is horizontally arranged at the side of the guide rod (33) along the length direction of the guide rod (33), the end faces of the second screw rod (34) and the guide rod (33) are arranged at the top of the base (3) through a support, and the sliding block (35) is horizontally slidably sleeved on the second screw rod (34) and the guide rod (33).

8. An agricultural soil turning and restoring robot according to claim 7, wherein a first spur gear (36) is provided at one end of the second screw (34), a second spur gear (37) is provided beside the first spur gear (36), the first spur gear (36) and the second spur gear (37) are engaged with each other, the second straight gear (37) is driven by a third driving motor (38), the bottom of the sliding block (35) is also provided with a spray head (39) for spraying medicine, the top end of the spray head (39) penetrates through the sliding block (35) to extend upwards, the extending end of the spray head (39) is also provided with a water pipe (40), the top of the top cover (4) is also provided with a water pump (41), and the water pipe (40) passes through the top cover (4) and is connected with one end of the water pump (41), and the bottom of the base (3) is also provided with a rectangular opening (42) for moving the spray head (39).

9. The agricultural soil turning and repairing robot according to claim 8, wherein the stirring assembly (2) comprises a medicine storage barrel (43) and a stirring rod (44), the medicine storage barrel (43) is fixed on the top of the top cover (4) through a support (45) in a horizontal state, the free end of the water pump (41) is connected with the medicine storage barrel (43), the top of the medicine storage barrel (43) is further provided with a feeding port (46) for feeding repairing liquid, the stirring rod (44) is rotatably arranged in the medicine storage barrel (43), the stirring rod (44) and the medicine storage barrel (43) are coaxial, the stirring rod (44) is further provided with a stirring blade (47) for mixing and stirring, two ends of the stirring rod (44) are further respectively and rotatably sleeved with a disc (48), and three scraping rods (49) for scraping residues on the inner wall of the medicine storage barrel (43) are further connected between the two discs (48), and the three scraping and rubbing rods (49) are respectively and uniformly distributed along the circumferential direction of the stirring rod (44).

10. The agricultural soil turning and remediating robot as recited in claim 9, wherein one end of the drug storage barrel (43) is provided with a round opening, a fixing ring (50) is fixedly arranged at the round opening end of the drug storage barrel (43), an inner ring gear (51) is fixedly arranged on the fixing ring (50), one end of the stirring rod (44) extends outwards through the round opening, a driving wheel (52) is further sleeved at the extending end of the stirring rod (44), the driving wheel (52) and the inner ring gear (51) share a common axis, three driven wheels (53) are further engaged between the driving wheel (52) and the inner ring gear (51), the three driven wheels (53) are further uniformly distributed along the circumferential direction of the driving wheel (52), the three driven wheels (53) are respectively sleeved on a rotating shaft, the three rotating shafts are connected through a triangular plate (54), the extending end of the stirring rod (44) is further driven through a rotating motor (55), and the output shaft of the rotating motor (55) is matched with the extending end of the stirring rod (44) through a driving wheel and a driving belt (56).