CN111328518B - Rail type agricultural robot for test field - Google Patents
Rail type agricultural robot for test field Download PDFInfo
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- CN111328518B CN111328518B CN202010134612.5A CN202010134612A CN111328518B CN 111328518 B CN111328518 B CN 111328518B CN 202010134612 A CN202010134612 A CN 202010134612A CN 111328518 B CN111328518 B CN 111328518B
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- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 230000033001 locomotion Effects 0.000 claims description 45
- 230000004720 fertilization Effects 0.000 claims description 43
- 239000003337 fertilizer Substances 0.000 claims description 32
- 238000005507 spraying Methods 0.000 claims description 28
- 239000007788 liquid Substances 0.000 claims description 20
- 238000013016 damping Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000000575 pesticide Substances 0.000 claims description 12
- 238000005192 partition Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 7
- 238000003973 irrigation Methods 0.000 description 34
- 230000002262 irrigation Effects 0.000 description 34
- 230000000694 effects Effects 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000032258 transport Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000003621 irrigation water Substances 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 239000010871 livestock manure Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000009332 manuring Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 235000015816 nutrient absorption Nutrition 0.000 description 1
- 235000021048 nutrient requirements Nutrition 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 235000013619 trace mineral Nutrition 0.000 description 1
- 239000011573 trace mineral Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Fertilizing (AREA)
Abstract
The invention relates to the field of agricultural operation robots, in particular to a rail type agricultural robot for a test field, which comprises a fertilizing robot and a conveying rail, wherein the fertilizing robot is arranged on the conveying rail and comprises a travelling mechanism, a rotating mechanism, an angle adjusting mechanism and a fertilizing mechanism, the fertilizing mechanism is arranged on the angle adjusting mechanism, the angle adjusting mechanism is arranged on the rotating mechanism, the rotating mechanism is arranged on the travelling mechanism, and the travelling mechanism is matched with the conveying rail.
Description
Technical Field
The invention relates to the field of agricultural operation robots, in particular to a rail type agricultural robot for a test field.
Background
The technical measures for supplementing the water needed by crops to the ground by farmland irrigation are that in order to ensure the normal growth of crops and obtain high and stable yield, sufficient water needs to be supplied to the crops, under natural conditions, the water requirement of the crops cannot be met due to insufficient precipitation or uneven distribution, therefore, the crops need to be artificially irrigated to supplement the natural rainfall, irrigation, namely, the ground is irrigated by water, the irrigation principle is that the irrigation quantity, the irrigation frequency and the irrigation time need to be determined according to the water requirement characteristics, the growth stage, the climate and the soil condition of medicinal plants, and the irrigation needs to be timely, proper and reasonable, and the types of the irrigation mainly comprise irrigation before sowing, seedling promotion irrigation, growth period irrigation, winter irrigation and the like. Agricultural irrigation robot. The process of fertilizer entering the field along with the irrigation water is called fertigation. Namely, the fertilizer is accurately supplemented and uniformly applied near the root system according to the nutrient requirement of each stage of the crop growth and climatic conditions and the like while irrigating water, such as drip irrigation, underground drip irrigation and the like, and is directly absorbed and utilized by the root system. The irrigation fertilization can improve the utilization rate of the fertilizer and save the using amount of the fertilizer; the labor force of fertilization is saved; flexibly, conveniently and accurately master the fertilization time and quantity; the nutrient absorption speed is high; improving the environmental condition of the soil; is particularly suitable for the application of trace elements; the maximum benefit of water and fertilizer is brought into play; is favorable for protecting the environment.
Fertigation is mainly realized through irrigating agricultural products, reduce its planter's daily work load, the time of saving planter's irrigation, and irrigation robot's irrigation efficiency will be higher than artifical irrigation far away, current irrigation robot has some drawbacks when using, in the use, can not control the size of the volume of irrigating, lead to the volume that can not irrigate crops needs, can't satisfy the demand of not co-altitude crops, the work application scope that leads to irrigation robot is little, can't keep irrigation robot's holistic steady when the local during operation of unevenness on ground, the life who leads to irrigation robot is short.
Chinese patent CN201811002084.7 relates to agricultural irrigation technical field, and discloses an agricultural is with irrigation robot, including irrigation water tank, irrigation water tank's lower extreme surface is provided with vibration damping mount, vibration damping mount's lower extreme is provided with movable carrier bar, one side of activity carrier bar is provided with the connecting axle, one side of connecting axle is provided with the wheel pole, one side of wheel pole is provided with the wheel, irrigation water tank's upper end is provided with the filler, the upper end surface of filler is provided with sealed lid. This agricultural is with irrigating robot, through slide and damping spring's cooperation, can make irrigating robot keep steady at the during operation, the altitude mixture control can be irrigated according to the axle crops of co-altitude not to the activity between fixed axle and the loose axle, and application scope is wide, can make irrigating robot carry out suitable irrigation volume through regulating switch and irrigate, and irrigate the robot and need not carry out the pulling of water pipe, waste time and manual work through irrigating the water tank.
However, when various operations are performed on the farmland, machines with various functions need to be changed, and the agricultural machinery needs to repeatedly walk in the farmland, so that repeated rolling on the farmland is caused, the farmland is not favorably protected, particularly, when the farmland is wet in rainy days, the soil flatness and the soil moisture content are seriously damaged by repeated rolling, and the completion of subsequent operations is not favorably realized.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a rail type agricultural robot for a test field, the technical scheme solves the problem that a common agricultural robot repeatedly rolls a farmland during operation, the rail type agricultural robot can meet the direct fertilization and irrigation requirements of a larger area after a transportation rail is embedded in the farmland in advance by designing a farmland layout structure of the rail type agricultural robot, and the rail type agricultural robot does not need to repeatedly walk in the farmland with the fertilizing robot, so that the repeated rolling of the farmland is avoided.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides a rail mounted agricultural robot is used in experimental plot, including the fertilization robot with transport the track, the fertilization robot sets up transport on the track, the fertilization robot includes running gear, slewing mechanism, angle adjustment mechanism and fertilizing mechanism, fertilizing mechanism sets up on the angle adjustment mechanism, fertilizing mechanism is used for spraying the pesticide, and angle adjustment mechanism is used for driving fertilizing mechanism and sprays the regulation of angle, and angle adjustment mechanism sets up on slewing mechanism, and slewing mechanism is used for driving fertilizing mechanism and rotates, adjusts the pesticide and sprays the scope, and slewing mechanism sets up on running gear, and running gear cooperatees with transport the track for the drive fertilization robot carries out the ascending motion of horizontal direction along transporting the track.
As a preferable proposal of the rail type agricultural robot for the test field, the transportation rail comprises two transportation guide rails which are symmetrically arranged, the bottom end of the conveying guide rail is provided with a supporting leg which is vertically arranged on a farmland, the inner side of the conveying guide rail is provided with a rack, the walking mechanism comprises a supporting base, a walking mounting seat, a walking driving motor and a walking driving gear, the supporting base is arranged at the tops of two conveying guide rails in a hanging mode, a certain gap is formed between the bottom end of the supporting base and the top end of the conveying guide rails, the top end of the supporting base is provided with the walking mounting seat, the walking driving motor is arranged on the walking mounting seat, an output shaft of the walking driving motor penetrates through the supporting base and is in transmission connection with the walking driving gear, the walking driving gear is located at the bottom of the supporting base, the walking driving gear is arranged between two racks, and the walking driving gear is meshed with the racks.
As an optimal scheme of the rail type agricultural robot for the experimental field, at least one anti-tilting mechanism is arranged on each of two sides of the supporting base, each anti-tilting mechanism comprises an anti-tilting mounting seat and an anti-tilting guide wheel, the anti-tilting mounting seats are fixed on two sides of the supporting base, at least one anti-tilting guide wheel is connected in the anti-tilting mounting seats in a rotating mode, an inner groove is formed in each anti-tilting guide wheel, an anti-tilting guide rod is arranged at one end, far away from each other, of each of the two transport guide rails, the anti-tilting guide rods and the inner grooves are arranged in a tangent mode, and the anti-tilting guide wheels slide along the axial direction of the anti-tilting guide rods.
As an optimal scheme of rail mounted agricultural robot for experimental field, slewing mechanism is including rotating supporting seat, rotation fluted disc, rotation driving motor and rotation driving gear, the setting of rotation supporting seat is on the top of supporting the base, and the walking mount pad is located one side of supporting the base, and rotates the central point that the supporting seat is located the support base and put, and the top of supporting the base rotates and is connected with the rotating gear, and the lateral part of rotating gear is equipped with rotation driving motor, rotation driving motor's output shaft transmission is connected with the rotation driving gear, rotates the driving gear and rotates the meshing of fluted disc.
As an optimal scheme of the rail type agricultural robot for the test field, the bottom end of the rotating fluted disc is provided with arc-shaped dovetails, the dovetails are circumferentially distributed on the rotating fluted disc, dovetail grooves matched with the dovetails are formed in the edges of the upper end face of the rotating supporting seat, and the dovetail grooves are arranged in an annular shape.
As a preferable proposal of the rail type agricultural robot for the test field, the angle adjusting mechanism comprises a supporting plate and a fixed disc, the upper end face of the rotating fluted disc is provided with at least one support plate, the support plate is circumferentially distributed on the rotating fluted disc, one end of the support plate is connected with the rotating fluted disc, the other end of the support plate is connected with the fixed disc, the top of the fixed disc is provided with the moving disc, at least one is arranged between the fixed disc and the moving disc, the upper end face of the fixed disc is provided with a fixed end hinging seat matched with the quantity of the angle adjusting moving modules, the lower end face of the moving disc is provided with a moving end hinging seat matched with the quantity of the angle adjusting moving modules, one end of the angle adjusting moving modules is hinged to the fixed end hinging seat through a hook hinge, and the other end of the angle adjusting moving modules is hinged to the moving end hinging seat through a hook hinge.
As an optimal scheme of the rail type agricultural robot for the test field, the angle adjusting motion module comprises an adjusting electric cylinder and a servo driving motor, an output shaft of the servo driving motor is in transmission connection with the adjusting electric cylinder, and an output shaft of the adjusting electric cylinder is in transmission connection with a motion end hinge base through a Hooke hinge.
As a preferred scheme of the rail type agricultural robot for the test field, the fertilizing mechanism comprises a fertilizing platform, a partition plate, a fertilizing range driving electric push rod, a damping spring, a fertilizer box, a steering engine and a spraying disc, the fertilizing platform is arranged on the upper end face of the moving disc, the partition plate is arranged in the middle of the upper end face of the fertilizing platform, the two sides of the clapboard are respectively provided with at least one fertilization range driving electric push rod, the output shaft of the fertilization range driving electric push rod is connected with the fertilizer box in a transmission way, the baffle plate is provided with at least one damping spring which is positioned outside the fertilization range driving electric push rod, the other end of the damping spring is connected with the fertilizer box, one end of the fertilizer box, which is far away from the fertilization range driving electric push rod, is provided with the steering engine, the output end of the steering engine is in transmission connection with the spraying disc, and the spraying disc is communicated with the inside of the fertilizer box.
As an optimal scheme of rail mounted agricultural robot for experimental plot, the can of manuring includes feed liquor pipe, interior box, outer box, overflow mouth, first drain pipe and second drain pipe, interior box sets up at outer box inside, and the bottom of interior box is connected with the interior bottom surface of outer box, and fertilization scope drive electric putter's output shaft and the outer wall connection of outer box, the feed liquor pipe set up at the top of outer box and with the inside intercommunication of interior box, the lateral wall of interior box is equipped with the overflow mouth, overflow mouth set up to the rectangular groove form, the one end and the inside intercommunication of interior box of first drain pipe, the other end of first drain pipe passes through hose and spray tray intercommunication, the one end and the inside intercommunication of outer box of second drain pipe, the other end of second drain pipe passes through hose and spray tray intercommunication.
As an optimal scheme of the rail type agricultural robot for the test field, a plurality of atomizing nozzles are arranged on the spraying disc.
Compared with the prior art, the invention has the beneficial effects that:
when the walking mechanism works, the walking driving motor drives the walking driving gear to rotate, and when the walking driving gear rotates, the conveying guide rail is fixed, namely, the rack on the conveying guide rail is also fixed, so that when the walking driving gear rotates, the walking mechanism pushes the fertilizing robot to move in the horizontal direction along the conveying track, and when the fertilizing robot moves, the fertilizing robot can fertilize and irrigate crops within the coverage range of the conveying track. When the rotating mechanism works, the rotating driving motor can drive the rotating driving gear to rotate, and when the rotating driving gear rotates, the rotating fluted disc meshed with the rotating driving gear can be driven to rotate on the rotating mounting seat, so that the rotation of the fertilizing mechanism is realized, the operation direction can be adjusted, and the movement of six degrees of freedom of the moving disc, namely three translation movements in a Cartesian coordinate system and the rotation around three coordinate axes, is realized by coordinately controlling the stroke of each adjusting electric cylinder, namely the fertilizing mechanism arranged on the moving disc also has six degrees of freedom. The steering engine controls the motion gesture of spraying dish during operation, and when fertilization scope drive electric putter stroke changed, can change the operation span scope that sets up the spraying dish in the baffle both sides. This fertilization robot collects multiple functions such as operation angle modulation, operation scope regulation, operation position regulation in an organic whole, can fertilize and irrigate various crops in the farmland, and irrigate fastly, position control is nimble, intelligent journey is high, fertilization clearance is efficient, has solved present artifical fertilization irrigation clearance amount of labour big, inefficiency and with high costs scheduling problem
By designing a farmland layout structure of a rail-mounted agricultural machine, after the conveying rails are embedded in the farmland in advance, the fertilizing robots on each conveying rail can flexibly move in the actual fertilizing and irrigating process, can meet the direct fertilizing and irrigating requirements of a larger area, can realize intelligent and automatic farmland work through network control, and can avoid repeated rolling of the farmland because the fertilizing robots do not need to repeatedly walk in the farmland, protect the farmland, has good movement effect, multiple movement freedom degrees, compact structure and strong bearing capacity, can perform integral adjustment on the angle of the fertilizing mechanism during work, is convenient for the fertilizing mechanism to fertilize in all directions in various postures, and can perform certain damping effect on the fertilizing mechanism during work, the working state is always in a horizontal stable state, so that the influence of overlarge jitter on fertilization and irrigation is prevented.
Drawings
FIG. 1 is a schematic view of the structure of the present invention applied to a test field;
FIGS. 2 and 3 are schematic structural views from two perspectives of the present invention;
FIG. 4 is an enlarged schematic view at A in FIG. 3;
FIG. 5 is a bottom view of the present invention;
FIG. 6 is an enlarged schematic view at B of FIG. 5;
FIG. 7 is a schematic view of the rotating mechanism according to the present invention;
FIG. 8 is a schematic structural view of the rotary support base and the rotary fluted disc in a separated state according to the present invention;
FIG. 9 is an enlarged schematic view at C of FIG. 8;
FIG. 10 is a schematic view of the angle adjusting mechanism according to the present invention;
FIG. 11 is a schematic view of the present invention at the fertilizing mechanism;
FIG. 12 is an enlarged schematic view at D of FIG. 11;
FIG. 13 is a side view of the fertilizer box of the present invention;
fig. 14 is a schematic cross-sectional view taken along line a-a in fig. 13.
The reference numbers in the figures are:
1-a transport track; 1 a-a transport rail; 1 b-a support leg; 1 c-a rack; 1 d-an anti-tilt guide bar;
2 a-a support base; 2 b-a walking mounting seat; 2 c-a walking driving motor; 2 d-a travel drive gear; 2 e-an anti-tilt mechanism; 2e 1-anti-tip mount; 2e 2-anti-tip guide wheels; 2e3 — inner grooves;
3-a rotating mechanism; 3 a-rotating the supporting seat; 3a 1-dovetail groove; 3 b-rotating the fluted disc; 3b 1-dovetail; 3 c-rotating the drive motor; 3 d-rotating the drive gear;
4-an angle adjustment mechanism; 4 a-fixed disk; 4a 1-fixed end hinged seat; 4 b-an angle adjustment movement module; 4b 1-adjusting the electric cylinder; 4 c-sports board; 4c 1-kinematic end hinge mount;
5-a fertilizing mechanism; 5 a-a fertilization platform; 5 b-a separator; 5 c-driving an electric push rod in a fertilization range; 5 d-damping spring; 5 e-a fertilizer can; 5e 1-liquid inlet pipe; 5e 2-inner box; 5e 3-outer case; 5e 4-overflow; 5e 5-first drain; 5e 6-a second outlet pipe; 5 f-a steering engine; 5 g-hose; 5 h-spraying disc; 5h 1-atomizer.
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.
Please refer to fig. 1, the rail-mounted agricultural robot comprises a fertilizing robot and a conveying rail 1, the fertilizing robot is arranged on the conveying rail 1, by designing a farmland layout structure of the rail-mounted agricultural machine, after the conveying rail 1 is embedded in a farmland in advance, each fertilizing robot on the conveying rail 1 can move flexibly in the actual fertilizing and irrigating process, the direct fertilizing and irrigating requirements of a large area can be met, meanwhile, the intelligent automatic farmland work can be realized through network control, and the fertilizing robot does not need to walk repeatedly in the farmland, the repeated rolling of the farmland is avoided, and the farmland is protected.
Referring to fig. 2 and 3, the fertilizing robot includes a traveling mechanism, a rotating mechanism 3, an angle adjusting mechanism 4 and a fertilizing mechanism 5, the fertilizing mechanism 5 is disposed on the angle adjusting mechanism 4, the fertilizing mechanism 5 is used for spraying pesticides, the angle adjusting mechanism 4 is used for driving the fertilizing mechanism 5 to adjust a spraying angle, the angle adjusting mechanism 4 is disposed on the rotating mechanism 3, the rotating mechanism 3 is used for driving the fertilizing mechanism 5 to rotate, a pesticide spraying range is adjusted, the rotating mechanism 3 is disposed on the traveling mechanism, the traveling mechanism is matched with the conveying track 1 and used for driving the fertilizing robot to move in a horizontal direction along the conveying track 1. This fertilization robot collects multiple functions such as operation angle modulation, operation scope regulation, operation position regulation in an organic whole, can fertilize and irrigate various crops in the farmland, and irrigate fastly, position control is nimble, intelligent journey is high, fertilization clearance is efficient, has solved present artifical fertilization irrigation clearance amount of labour big, the inefficiency and with high costs scheduling problem.
Referring to fig. 2, 3, 5 and 6, the transportation track 1 includes two transportation guide rails 1a symmetrically arranged, the bottom end of the transportation guide rail 1a is provided with a support leg 1b, the support leg 1b is vertically arranged on the farmland, the support leg 1b can be pre-buried in the farmland as a ground pile, as long as the transportation guide rail 1a is erected on the farmland, the inner side of the transportation guide rail 1a is provided with a rack 1c, the walking mechanism includes a support base 2a, a walking installation base 2b, a walking driving motor 2c and a walking driving gear 2d, the support base 2a is arranged on the top of the two transportation guide rails 1a in a suspension manner, a certain gap is arranged between the bottom end of the support base 2a and the top end of the transportation guide rail 1a, the top end of the support base 2a is provided with a walking installation base 2b, the walking driving motor 2c is arranged on the walking installation base 2b, the output shaft of the walking driving motor 2c penetrates through the support base 2a, the walking driving gear 2d is located at the bottom of the supporting base 2a, the walking driving gear 2d is arranged between the two racks 1c, and the walking driving gear 2d is meshed with the racks 1 c. When the walking mechanism works, the walking driving gear 2d is driven by the walking driving motor 2c to rotate, and when the walking driving gear 2d rotates, the transportation guide rail 1a is fixed, namely the rack 1c on the transportation guide rail 1a is also fixed, so when the walking driving gear 2d rotates, the walking mechanism pushes the fertilizing robot to move in the horizontal direction along the transportation rail 1, and when the fertilizing robot moves, the fertilizing robot can fertilize and irrigate crops within the coverage range of the transportation rail 1.
Referring to fig. 4, in consideration of the stability of the fertilization robot moving in the horizontal direction along the transportation rail 1 and the stability of the fertilization mechanism 5 on the fertilization robot during operation, at least one anti-tilt mechanism 2e is disposed on each of two sides of the support base 2a, the anti-tilt mechanism 2e includes an anti-tilt mount 2e1 and an anti-tilt guide wheel 2e2, the anti-tilt mount 2e1 is fixed on each of two sides of the support base 2a, at least one anti-tilt guide wheel 2e2 is rotatably connected to the anti-tilt mount 2e1, an inner groove 2e3 is disposed on the anti-tilt guide wheel 2e2, an anti-tilt guide rod 1d is disposed at one end of the two transportation rails 1a, the anti-tilt guide rod 1d is tangential to the inner groove 2e3, and the anti-tilt guide wheel 2e2 slides along the axial direction of the anti-tilt guide rod 1 d. Through the cooperation of anti-tilt leading wheel 2e2 and anti-tilt guide bar 1d, when the fertilization robot moved on the horizontal direction, the complete machine was difficult for taking place skew by a wide margin, had guaranteed the stability of fertilization irrigation in-process.
Referring to fig. 7, 8 and 9, the rotating mechanism 3 includes a rotating support base 3a, a rotating toothed disc 3b, a rotating driving motor 3c and a rotating driving gear 3d, the rotating support base 3a is disposed at the top end of the supporting base 2a, the walking installation base 2b is disposed at one side of the supporting base 2a, the rotating support base 3a is disposed at the center of the supporting base 2a, the top end of the supporting base 2a is rotatably connected with a rotating gear, the rotating driving motor 3c is disposed at the side of the rotating gear, an output shaft of the rotating driving motor 3c is connected with the rotating driving gear 3d in a transmission manner, and the rotating driving gear 3d is engaged with the rotating toothed disc 3 b. The bottom end of the rotating fluted disc 3b is provided with an arc-shaped dovetail 3b1, the circumference of the dovetail 3b1 is distributed on the rotating fluted disc 3b, the edge of the upper end face of the rotating supporting seat 3a is provided with a dovetail groove 3a1 matched with the dovetail 3b1, the dovetail groove 3a1 is arranged in an annular shape, the dovetail groove 3a1 is matched with the dovetail 3b1, so that the rotating fluted disc 3b rotates on the rotating supporting seat 3a, when the rotating mechanism 3 works, the rotating driving motor 3c can drive the rotating driving gear 3d to rotate, and when the rotating driving gear 3d rotates, the rotating fluted disc 3b meshed with the rotating driving gear can be driven to rotate on the rotating mounting seat, therefore, the rotation of the fertilizing mechanism 5 is realized, and the adjustment of the operation direction can be carried out.
Referring to fig. 10, the angle adjusting mechanism 4 includes a supporting plate, a fixed plate 4a, an angle adjusting moving module 4b and a moving plate 4c, the upper end surface of the rotating fluted disc 3b is provided with at least one supporting plate, the supporting plates are circumferentially distributed on the rotating fluted disc 3b, one end of the supporting plate is connected with the rotating fluted disc 3b, the other end of the supporting plate is connected with the fixed plate 4a, the top of the fixed plate 4a is provided with the moving plate 4c, at least one angle adjusting moving module 4b is arranged between the fixed plate 4a and the moving plate 4c, the upper end surface of the fixed plate 4a is provided with fixed end hinge seats 4a1 matching with the number of the angle adjusting moving modules 4b, the lower end surface of the moving plate 4c is provided with moving end hinge seats 4c1 matching with the number of the angle adjusting moving modules 4b, one end of the angle adjusting moving module 4b is hinged, the other end of the angle adjusting motion module 4b is hinged to the motion end hinge seat 4c1 through a hook hinge, the angle adjusting motion module 4b comprises an adjusting electric cylinder 4b1 and a servo driving motor, an output shaft of the servo driving motor is in transmission connection with an adjusting electric cylinder 4b1, and an output shaft of the adjusting electric cylinder 4b1 is in transmission connection with the motion end hinge seat 4c1 through a hook hinge. In this embodiment, the angle adjusting movement modules 4b are arranged into 6 groups, so that the movement disc 4c has six degrees of freedom, the movement disc 4c is supported by the 6 groups of angle adjusting movement modules 4b, the movement disc 4c is in military connection with the angle adjusting movement modules 4b and the angle adjusting movement modules 4b are in hinged connection with the fixed disc 4a through hooke hinges, the 6 adjusting electric cylinders 4b1 are driven by servo driving motors, and six-degree-of-freedom movement of the movement disc 4c, namely three translational movements in a cartesian coordinate system and rotation around three coordinate axes, is realized by coordinately controlling the stroke of each adjusting electric cylinder 4b1, namely the fertilizing mechanism 5 mounted on the movement disc 4c also has six degrees of freedom. The setting of angle adjustment mechanism 4 for 5 motion effects of fertilizing mechanism are good, and the motion degree of freedom is many, and compact structure and bearing capacity are strong, can enough play the overall control to 5 during operation angles of fertilizing mechanism, and the fertilizing and irrigating are carried out to 5 various gestures of fertilizing mechanism of being convenient for all-roundly, can also play certain absorbing effect to the fertilizing mechanism 5 during operation simultaneously, are in the steady state of level all the time under the operating condition, prevent that the jitter is too big to fertilize and irrigate and produce the influence.
Referring to fig. 11 and 12, the fertilizing mechanism 5 includes a fertilizing platform 5a, a partition plate 5b, a fertilizing range driving electric push rod 5c, a damping spring 5d, a fertilizer box 5e, a steering gear 5f and a spraying disc 5h, the upper end surface of the moving disc 4c is provided with the fertilizing platform 5a, the middle position of the upper end surface of the fertilizing platform 5a is provided with the partition plate 5b, both sides of the partition plate 5b are provided with at least one fertilizing range driving electric push rod 5c, the output shaft of the fertilizing range driving electric push rod 5c is in transmission connection with the fertilizer box 5e, the partition plate 5b is provided with at least one damping spring 5d, the damping spring 5d is located outside the fertilizing range driving electric push rod 5c, the other end of the damping spring 5d is connected with the fertilizer box 5e, one end of the fertilizer box 5e, far away from the fertilizing range driving electric push rod 5c, the output end of the steering gear 5, the spraying disc 5h is communicated with the inside of the fertilizer box 5 e. The motion gesture of 5h during operations of steering wheel 5f control spraying dish, when fertilization scope drive electric putter 5c stroke changes, can change the operation span scope that sets up the spraying dish 5h in baffle 5b both sides, and damping spring 5d has played the effect of support, spacing and shock attenuation buffering to can of manure 5e in the concertina movement of fertilization scope drive electric putter 5 c.
Referring to fig. 13 and 14, the fertilizer box 5e includes a liquid inlet pipe 5e1, an inner box 5e2, an outer box 5e3, an overflow port 5e4, a first liquid outlet pipe 5e5 and a second liquid outlet pipe 5e6, the inner box 5e2 is disposed inside the outer box 5e3, the bottom of the inner box 5e2 is connected to the inner bottom surface of the outer box 5e3, an output shaft of a fertilization range driving electric push rod 5c is connected to the outer wall of the outer box 5e3, the liquid inlet pipe 5e1 is disposed at the top of the outer box 5e3 and is communicated with the inside of the inner box 5e2, the side wall of the inner box 5e2 is provided with an overflow port 5e4, the overflow port 5e4 is disposed in a long groove shape, one end of the first liquid outlet pipe 5e5 is communicated with the inside of the inner box 5e2, the other end of the first liquid outlet pipe 5e5 is communicated with the spraying tray 5h through a hose 5g, the other end of the second liquid outlet pipe 5e6 is communicated with the spraying tray 595 h through a hose 595 g 595 h, a plurality of atomizing nozzles 5h1 are arranged on the spraying plate 5 h. The atomizing spray head 5h1 is used to spray the pressed pesticide into the air through the spray head and then the pesticide is scattered in the form of mist on the farm crops. Because the angle adjusting mechanism 4 may control the fertilizer box 5e in a state of being inclined with the horizontal plane according to the height and density of crops, in order to avoid pesticide in the fertilizer box 5e from being scattered, an internal and external box is provided, one end of the first liquid outlet pipe 5e5 is communicated with the inside of the internal box 5e2, the other end of the first liquid outlet pipe 5e5 is communicated with the spraying disc 5h through the hose 5g, one end of the second liquid outlet pipe 5e6 is communicated with the inside of the external box 5e3, meanwhile, the overflow port 5e4 is provided on the internal box 5e2, when the fertilizer box 5e is inclined, if more pesticide is in the fertilizer box 5e, the pesticide enters the external box 5e3 through the overflow port 5e4 and flows into the spraying disc 5h through the second liquid outlet pipe 5e6, and waste of the pesticide is avoided.
The working principle of the invention is as follows: when the walking mechanism works, the walking driving gear 2d is driven by the walking driving motor 2c to rotate, and when the walking driving gear 2d rotates, the transportation guide rail 1a is fixed, namely the rack 1c on the transportation guide rail 1a is also fixed, so when the walking driving gear 2d rotates, the walking mechanism pushes the fertilizing robot to move in the horizontal direction along the transportation rail 1, and when the fertilizing robot moves, the fertilizing robot can fertilize and irrigate crops within the coverage range of the transportation rail 1. When the rotating mechanism 3 works, the rotating driving motor 3c can drive the rotating driving gear 3d to rotate, and when the rotating driving gear 3d rotates, the rotating toothed disc 3b meshed with the rotating driving gear can be driven to rotate on the rotating mounting seat, so that the rotation of the fertilizing mechanism 5 is realized, the adjustment of the operation direction can be carried out, and the movement of six degrees of freedom of the moving disc 4c, namely three translation movements in a Cartesian coordinate system and the rotation around three coordinate axes, is realized by coordinately controlling the stroke of each adjusting electric cylinder 4b1, namely the fertilizing mechanism 5 arranged on the moving disc 4c also has six degrees of freedom. The steering wheel 5f controls the motion gesture of 5h during operations of spraying dish, and when fertilization scope drive electric putter 5c stroke change, can change the operation span scope that sets up 5h of spraying dish 5b both sides at baffle 5 b. This fertilization robot collects multiple functions such as operation angle modulation, operation scope regulation, operation position regulation in an organic whole, can fertilize and irrigate various crops in the farmland, and irrigate fastly, position control is nimble, intelligent journey is high, fertilization clearance is efficient, has solved present artifical fertilization irrigation clearance amount of labour big, inefficiency and with high costs scheduling problem
Through designing a rail mounted agricultural machine's farmland layout structure, bury underground in the farmland in advance and transport after track 1, make each fertilization robot that transports on the track 1 at the in-process of actual fertigation irrigation, each fertilization robot all can remove in a flexible way, protect the farmland, 5 motion effects of fertilization mechanism are good, the freedom of motion is many, compact structure and bearing capacity are strong, can enough play the global adjustment to fertilization mechanism 5 during operation angle, the all-round fertigation of 5 various gestures of fertilization mechanism of being convenient for is irritated, can also play certain absorbing effect to fertilization mechanism 5 during operation simultaneously, be in horizontal steady state down all the time under the operating condition, it is too big to fertigation production influence to tremble the mobility.
Claims (9)
1. A rail type agricultural robot for a test field is characterized by comprising a fertilizing robot and a conveying rail (1), the fertilizing robot is arranged on the conveying track (1) and comprises a walking mechanism, a rotating mechanism (3), an angle adjusting mechanism (4) and a fertilizing mechanism (5), the fertilizer applying mechanism (5) is arranged on the angle adjusting mechanism (4), the fertilizer applying mechanism (5) is used for spraying pesticide, the angle adjusting mechanism (4) is used for driving the fertilizer applying mechanism (5) to adjust the spraying angle, the angle adjusting mechanism (4) is arranged on the rotating mechanism (3), the rotating mechanism (3) is used for driving the fertilizer applying mechanism (5) to rotate and adjusting the pesticide spraying range, the rotating mechanism (3) is arranged on the traveling mechanism, the traveling mechanism is matched with the conveying track (1), the device is used for driving the fertilizing robot to move in the horizontal direction along the conveying track (1);
the angle adjusting mechanism (4) comprises a supporting plate, a fixed disc (4 a), an angle adjusting movement module (4 b) and a movement disc (4 c), the upper end face of the rotating fluted disc (3 b) is provided with at least one supporting plate, the circumference of the supporting plate is distributed on the rotating fluted disc (3 b), one end of the supporting plate is connected with the rotating fluted disc (3 b), the other end of the supporting plate is connected with the fixed disc (4 a), the top of the fixed disc (4 a) is provided with the movement disc (4 c), at least one angle adjusting movement module (4 b) is arranged between the fixed disc (4 a) and the movement disc (4 c), the upper end face of the fixed disc (4 a) is provided with a fixed end hinged seat (4 a 1) matched with the number of the angle adjusting movement module (4 b), the lower end face of the movement disc (4 c) is provided with a movement end hinged seat (4 c 1) matched with the number of the angle, one end of the angle adjusting motion module (4 b) is hinged with the fixed end hinge seat (4 a 1) through a Hooke joint, and the other end of the angle adjusting motion module (4 b) is hinged with the motion end hinge seat (4 c 1) through a Hooke joint.
2. The rail type agricultural robot for the test field according to claim 1, wherein the conveying rail (1) comprises two conveying guide rails (1 a) which are symmetrically arranged, the bottom end of the conveying guide rail (1 a) is provided with a supporting leg (1 b), the supporting leg (1 b) is vertically arranged on the test field, the inner side of the conveying guide rail (1 a) is provided with a rack (1 c), the walking mechanism comprises a supporting base (2 a), a walking installation seat (2 b), a walking driving motor (2 c) and a walking driving gear (2 d), the supporting base (2 a) is arranged on the top of the two conveying guide rails (1 a) in a hanging manner, a certain gap is arranged between the bottom end of the supporting base (2 a) and the top end of the conveying guide rail (1 a), the walking installation seat (2 b) is arranged at the top end of the supporting base (2 a), and the walking driving motor (2 c) is arranged on the walking installation seat (2 b), an output shaft of the walking driving motor (2 c) penetrates through the supporting base (2 a) and is in transmission connection with the walking driving gear (2 d), the walking driving gear (2 d) is located at the bottom of the supporting base (2 a), the walking driving gear (2 d) is arranged between the two racks (1 c), and the walking driving gear (2 d) is meshed with the racks (1 c).
3. A rail-mounted agricultural robot for test fields according to claim 1, characterized in that at least one anti-tilt mechanism (2 e) is provided on both sides of the support base (2 a), the anti-tilting mechanism (2 e) comprises an anti-tilting mounting seat (2 e 1) and an anti-tilting guide wheel (2 e 2), the anti-tilting mounting seat (2 e 1) is fixed on two sides of the supporting base (2 a), at least one anti-tilting guide wheel (2 e 2) is connected in the anti-tilting mounting seat (2 e 1) in a rotating way, an inner groove (2 e 3) is arranged on the anti-tilting guide wheel (2 e 2), an anti-tilting guide rod (1 d) is arranged at one end of the two conveying guide rails (1 a) far away from each other, the anti-tilting guide rod (1 d) is arranged in a tangent mode with the inner groove (2 e 3), and the anti-tilting guide wheel (2 e 2) slides along the axial direction of the anti-tilting guide rod (1 d).
4. A rail-mounted agricultural robot for test fields according to claim 1, the rotating mechanism (3) comprises a rotating supporting seat (3 a), a rotating fluted disc (3 b), a rotating driving motor (3 c) and a rotating driving gear (3 d), the rotary supporting seat (3 a) is arranged at the top end of the supporting base (2 a), the walking mounting seat (2 b) is positioned at one side of the supporting base (2 a), and the rotary supporting seat (3 a) is positioned at the central position of the supporting base (2 a), the top end of the supporting base (2 a) is rotatably connected with a rotary gear, the side part of the rotary gear is provided with a rotary driving motor (3 c), the output shaft of the rotary driving motor (3 c) is in transmission connection with a rotary driving gear (3 d), and the rotary driving gear (3 d) is meshed with a rotary fluted disc (3 b).
5. The rail type agricultural robot for the test field according to claim 1, wherein the bottom end of the rotating fluted disc (3 b) is provided with an arc-shaped dovetail (3 b 1), the dovetail (3 b 1) is circumferentially distributed on the rotating fluted disc (3 b), the edge of the upper end surface of the rotating supporting seat (3 a) is provided with a dovetail groove (3 a 1) matched with the dovetail (3 b 1), and the dovetail groove (3 a 1) is arranged in an annular shape.
6. The orbital agricultural robot for test fields as claimed in claim 1, wherein the angle-adjusting motion module (4 b) comprises an adjusting electric cylinder (4 b 1) and a servo drive motor, an output shaft of the servo drive motor is in transmission connection with the adjusting electric cylinder (4 b 1), and an output shaft of the adjusting electric cylinder (4 b 1) is in transmission connection with the moving end hinge seat (4 c 1) through a Hooke joint.
7. The rail-mounted agricultural robot for the test field according to claim 1, wherein the fertilizing mechanism (5) comprises a fertilizing platform (5 a), a partition plate (5 b), a fertilizing range driving electric push rod (5 c), a damping spring (5 d), a fertilizer box (5 e), a steering engine (5 f) and a spraying disc (5 h), the fertilizing platform (5 a) is arranged on the upper end surface of the moving disc (4 c), a partition plate (5 b) is arranged in the middle of the upper end surface of the fertilizing platform (5 a), at least one fertilizing range driving electric push rod (5 c) is arranged on each of two sides of the partition plate (5 b), an output shaft of the fertilizing range driving electric push rod (5 c) is in transmission connection with the fertilizer box (5 e), at least one damping spring (5 d) is arranged on the partition plate (5 b), and the damping spring (5 d) is located outside the fertilizing range driving electric push rod (5 c), the other end of damping spring (5 d) is connected with can fertilizer (5 e), and the one end that can fertilizer (5 e) kept away from fertilization scope drive electric putter (5 c) is equipped with steering wheel (5 f), the output transmission of steering wheel (5 f) is connected with spray set (5 h), spray set (5 h) and can fertilizer (5 e) inside intercommunication.
8. A rail-type agricultural robot for test fields according to claim 7, wherein the fertilizer box (5 e) comprises a liquid inlet pipe (5 e 1), an inner box (5 e 2), an outer box (5 e 3), an overflow port (5 e 4), a first liquid outlet pipe (5 e 5) and a second liquid outlet pipe (5 e 6), the inner box (5 e 2) is disposed inside the outer box (5 e 3), the bottom of the inner box (5 e 2) is connected with the inner bottom surface of the outer box (5 e 3), the output shaft of the fertilization range driving electric push rod (5 c) is connected with the outer wall of the outer box (5 e 3), the liquid inlet pipe (5 e 1) is disposed on the top of the outer box (5 e 3) and is communicated with the inside of the inner box (5 e 2), the side wall of the inner box (5 e 2) is provided with the overflow port (5 e 4), the overflow port (5 e 4) is disposed as a long groove-shaped, one end of the first liquid outlet pipe (5 e 5) is communicated with the inside of the inner box (5 e 2), the other end of the first liquid outlet pipe (5 e 5) is communicated with the spraying disc (5 h) through a hose (5 g), one end of the second liquid outlet pipe (5 e 6) is communicated with the interior of the outer box body (5 e 3), and the other end of the second liquid outlet pipe (5 e 6) is communicated with the spraying disc (5 h) through the hose (5 g).
9. A test field orbital agricultural robot as claimed in claim 8 wherein the spray plate (5 h) is provided with a plurality of atomizing nozzles (5 h 1).
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| CN111886998B (en) * | 2020-08-03 | 2021-09-14 | 四川大华生态园林工程有限公司 | Garden maintenance system |
| CN111758711A (en) * | 2020-08-13 | 2020-10-13 | 丁一 | Pesticide sprays track robot |
| CN113557829B (en) * | 2021-06-21 | 2023-01-17 | 山东三星肥业有限公司 | Multi-track fertilizer spraying device |
| CN115918497B (en) * | 2022-12-01 | 2023-07-14 | 广东省农业科学院植物保护研究所 | Rail-mounted water, fertilizer and pesticide integrated device for citrus orchard and application method |
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| JP3677262B2 (en) * | 2002-09-03 | 2005-07-27 | 有限会社 カンバラ鉄工 | Watering nozzle for house-grown crops |
| KR101635683B1 (en) * | 2014-11-20 | 2016-07-04 | 동양물산기업 주식회사 | Spray device mountable to cultivationg tractor |
| CN106818405A (en) * | 2015-12-03 | 2017-06-13 | 刘颖 | A kind of gardens sprinkler |
| CN206078259U (en) * | 2016-09-26 | 2017-04-12 | 湖北天地人和现代农业有限公司 | Vegetables automatic irrigation system |
| CN107898594A (en) * | 2017-12-20 | 2018-04-13 | 燕山大学 | A kind of reproduction type waist treats servo robot |
| US11778937B2 (en) * | 2018-04-17 | 2023-10-10 | Dennis Anderson | Modular agricultural toolbar |
| CN108858175A (en) * | 2018-07-12 | 2018-11-23 | 上海常仁信息科技有限公司 | The rotating mechanism of robot |
| CN208691877U (en) * | 2018-08-10 | 2019-04-05 | 安吉美维农业发展有限公司 | A kind of flower seedling raising case |
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