CN113330832A

CN113330832A - Hybrid farming robot

Info

Publication number: CN113330832A
Application number: CN202110720071.9A
Authority: CN
Inventors: 辜晓林
Original assignee: Mianyang Zhaoyu Machinery Co ltd
Current assignee: Mianyang Zhaoyu Machinery Co ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-09-03

Abstract

The invention discloses a hybrid farming robot which comprises a handheld controller, a chassis, a power assembly arranged on the chassis, a second signal transceiver arranged on the chassis, a power output assembly connected with the power assembly, walking assemblies arranged on two sides of the chassis and connected with the power assembly, and a rotary blade connected with the power output assembly, wherein the handheld controller comprises a CPU (Central processing Unit), a first signal transceiver, a left steering module, a right steering module, an advancing module, a retreating module, a machine tool running module and a machine tool lifting module. According to the invention, the handheld controller is matched with the first signal transceiver and the second signal transceiver, so that accurate control can be realized.

Description

Hybrid farming robot

Technical Field

The invention belongs to the field of farming machines, and particularly relates to a hybrid farming robot.

Background

With the development of society and the improvement of mechanization degree, the farming robots begin to be widely applied to farming. At present, the conventional farming robot has single function and cannot meet the requirement of actual farming. Meanwhile, with the continuous improvement of the intelligent degree, the farming robot also starts to make certain exploration on the precise control. However, the existing farming robots are still difficult to realize accurate control in the real sense during actual control. In the prior art, some related researches also exist, but all the researches cannot completely meet the actual requirements.

Disclosure of Invention

The present invention provides a hybrid farming robot, which can realize accurate control by matching a handheld controller with a first signal transceiver and a second signal transceiver, in order to overcome the above-mentioned shortcomings in the prior art.

The technical scheme adopted by the invention is as follows: a hybrid farming robot comprises a handheld controller, a chassis, a power assembly arranged on the chassis, a second signal transceiver arranged on the chassis, a power output assembly connected with the power assembly, walking assemblies arranged on two sides of the chassis and connected with the power assembly, and a rotary blade connected with the power output assembly, wherein the handheld controller comprises a CPU, a first signal transceiver, a left steering module, a right steering module, an advancing module, a retreating module, a machine tool running module and a machine tool lifting module, the CPU is respectively connected with the left steering module, the right steering module, the advancing module, the retreating module, the machine tool running module and the machine tool lifting module, the left steering module, the right steering module, the advancing module, the retreating module, the machine tool running module and the machine tool lifting module are all connected with the first signal transceiver, the first signal transceiver is wirelessly connected with the second signal transceiver, and the second signal transceiver is respectively connected with the power assembly and the power output assembly.

In one embodiment, the power assembly comprises a diesel engine and two motors, the diesel engine is connected with the implement operation module through a first signal transceiver and a second signal transceiver, and the two motors are respectively connected with the left steering module, the right steering module, the forward module and the backward module through the first signal transceiver and the second signal transceiver.

In one embodiment, the power output assembly comprises a machine tool telescopic oil cylinder, the machine tool telescopic oil cylinder is connected with the rotary blade through a running machine tool and drives the rotary blade to move up and down, and the machine tool telescopic oil cylinder is connected with the machine tool lifting module through a first signal transceiver and a second signal transceiver.

The invention has the beneficial effects that:

1. the farming robot is controlled by a handheld controller, and signals are controlled by a first signal transceiver and a second signal transceiver, so that the control mode is simple and efficient;

2. the farming robot has the functions of left steering, right steering, advancing, retreating, running and stopping of the rotary blade and upward and downward movement of the rotary blade, and is controlled respectively, so that the control mode is more accurate.

Drawings

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

FIG. 2 is a control block diagram of the present invention;

FIG. 3 is a schematic view of the power assembly of the present invention;

FIG. 4 is a schematic structural view of a power take-off assembly of the present invention;

FIG. 5 is a schematic view of a work implement configuration of the present invention;

FIG. 6 is a schematic view of the walking assembly of the present invention;

FIG. 7 is an enlarged view taken at A of FIG. 6 according to the present invention.

In the figure: 1. a handheld controller; 2. a chassis; 3. a power assembly; 4. a second signal transceiver; 5. a power take-off assembly; 6. a walking assembly; 7. a rotary blade; 11. a CPU; 12. a first signal transceiver; 13. a left steering module; 14. a right steering module; 15. an advancing module; 16. a fallback module; 17. an implement operating module; 18. an implement lift module; 31. the power output mounting plate of the machine tool; 32. a walking power output mounting plate; 33. a diesel engine; 34. a clutch; 35. engaging and disengaging the electric cylinder; 36. a generator; 37. a machine tool power output gearbox; 38. a storage battery; 39. an electric motor; 310. a walking power output gearbox; 311. a push rod; 331. an air inlet; 332. a ventilation port; 51. a machine tool mounting plate; 52. a gearbox output wheel; 53. a machine tool telescopic oil cylinder; 54. the machine tool is connected with the bracket; 55. operating the machine tool; 56. an implement input wheel; 57. a drive belt; 58. a machine tool telescopic bracket; 59. a cutter mounting shaft; 510. a mounting frame; 511. a cylinder support; 512. a micro hydraulic station; 551. an implement housing; 552. an implement input shaft; 553. an implement output shaft; 554. a first gear adjustment gear; 555. an output gear; 556. a transition gear; 557. a speed change gear; 558. a second gear adjustment gear; 559. a third gear adjustment gear; 510. a gear adjusting rod; 61. a crawler belt; 62. a drive wheel; 63. a working wheel set; 64. a tension pulley set; 65. a main beam; 66. tensioning the bracket; 67. fastening a screw rod; 631. a working wheel body; 632. a working wheel sleeve; 633. a working axle; 641. a tension pulley body; 642. a tension pulley sleeve; 643. a tension pulley shaft; 661. the slot is moved.

Detailed Description

The invention will be described in further detail with reference to the following drawings and specific embodiments.

As shown in fig. 1 and 2, a hybrid farming robot comprises a handheld controller 1, a chassis 2, a power assembly 3 arranged on the chassis 2, a second signal transceiver 4 arranged on the chassis 2, a power output assembly 5 connected with the power assembly 3, walking assemblies 6 arranged on two sides of the chassis 2 and connected with the power assembly 3, and a rotary blade 7 connected with the power output assembly 5, wherein the handheld controller 1 comprises a CPU11, a first signal transceiver 12, a left steering module 13, a right steering module 14, an advancing module 15, a retreating module 16, an implement operating module 17, and an implement lifting module 18, the CPU11 is respectively connected with the left steering module 13, the right steering module 14, the advancing module 15, the retreating module 16, the implement operating module 17, and the implement lifting module 18, and the left steering module 13, the right steering module 14, the advancing module 15, The retreating module 16, the implement operating module 17 and the implement lifting module 18 are all connected with a first signal transceiver 12, the first signal transceiver 12 is wirelessly connected with a second signal transceiver 4, and the second signal transceiver 4 is respectively connected with the power assembly 3 and the power output assembly 5.

In this embodiment, the power assembly 3 includes a diesel engine 33 and two motors 39, the diesel engine 33 is connected to the implement operating module 17 through the first signal transceiver 12 and the second signal transceiver 4, and the two motors 39 are connected to the left steering module 13, the right steering module 14, the forward module 15, and the backward module 16 through the first signal transceiver 12 and the second signal transceiver 4, respectively.

In this embodiment, the power output assembly 5 includes a tool telescopic cylinder 53, the tool telescopic cylinder 53 is connected to the rotary blade 7 through an operating tool 55 and drives the rotary blade 7 to move up and down, and the tool telescopic cylinder 53 is connected to the tool lifting module 18 through the first signal transceiver 12 and the second signal transceiver 4.

As shown in fig. 3, the power assembly 3 of the present application includes an implement power output mounting plate 31 and a walking power output mounting plate 32 which are arranged on the chassis 2 of the agricultural tilling robot, the upper surface of the implement power output mounting plate 31 is respectively provided with a diesel engine 33, a clutch 34, a clutch electric cylinder 35, a generator 36 and an implement power output gearbox 37, the output end of the diesel engine 33 is connected with the input end of the clutch 34, the output end of the clutch 34 is connected with the input end of the generator 36, the output end of the rotor of the generator 36 is connected with the input end of the implement power output gearbox 37, the clutch electric cylinder 35 is connected with the clutch 34 and drives the clutch 34 to be engaged or disengaged, the upper surface of the walking power output mounting plate 32 is respectively provided with two sets of storage batteries 38, two motors 39 and two walking power output gearboxes 310, the two groups of storage batteries 38 are respectively connected with the generator 36 and the two motors 39 through power lines, and the output ends of the two motors 39 are respectively connected with the input ends of the two walking power output gearboxes 310. The output end of the clutch electric cylinder 35 is connected with the clutch 34 through a push rod 311. The diesel engine 33 is provided with an intake port 331 and a ventilation port 332 communicating with the inside thereof.

As shown in fig. 4 and 5, the power output assembly 5 of the present application includes an implement mounting plate 51, a transmission output wheel 52 connected to an output end of the implement power output transmission case 37 of the agricultural robot, and an implement extension cylinder 53 disposed above the implement power output transmission case 37 of the agricultural robot, wherein one side of the implement mounting plate 51 away from the implement power output transmission case 37 of the agricultural robot is provided with a running implement 55 rotating relative to the implement connecting support 54 through the implement connecting support 54, one end of the running implement 55 close to the implement connecting support 54 is provided with an implement input wheel 56 connected to an input end of the running implement 55 and driving the running implement to run, the implement input wheel 56 is connected to the transmission output wheel 52 through a transmission belt 57, an implement extension support 58 is disposed on an upper surface of the running implement 55, and the implement extension support 58 is connected to a piston rod end of the implement extension cylinder 53, and a cutter mounting shaft 59 which is connected with the output end of the operating implement 55 and driven by the output end of the operating implement 55 to operate is arranged at one end of the operating implement 55, which is far away from the implement connecting bracket 54, and the cutter mounting shaft 59 is connected with the rotary blade 7 of the farming robot and drives the rotary blade 7 to operate. The agricultural robot is characterized in that a mounting frame 510 is arranged above the implement power output gearbox 37, and the implement telescopic oil cylinder 53 is arranged on the upper surface of the mounting frame 510 through an oil cylinder support 511. The upper surface of the mounting frame 510 is also provided with a micro hydraulic station 512, and the micro hydraulic station 512 is connected with the implement telescopic cylinder 53 and drives the implement telescopic cylinder 53 to operate. The running machine 55 comprises a machine tool housing 551, a machine tool input shaft 552 connected with a machine tool input wheel 56 and a machine tool output shaft 553 connected with a cutter mounting shaft 59 are respectively arranged at two ends inside the machine tool housing 551, a first gear adjusting gear 554 is sleeved on the machine tool input shaft 552, an output gear 555 is sleeved on the machine tool output shaft 553, a transition gear 556, a speed changing gear 557, a second gear adjusting gear 558, a third gear adjusting gear 559 and a gear adjusting rod 510 are further arranged inside the machine tool housing 551, the output gear 555, the transition gear 556, the speed changing gear 557 and the third gear adjusting gear 559 are sequentially meshed, the second gear adjusting gear 558 is meshed with the third gear adjusting gear 559, the first gear adjusting gear 554 is in sliding meshing with the second gear adjusting gear 558 and the third gear adjusting gear 559, a shift lever is arranged on the gear adjusting rod 510, and the first gear adjusting gear 554 is shifted by the shift lever on the machine tool output shaft 551 And on the input shaft 552.

As shown in fig. 6 and 7, the traveling assembly 6 of the present application includes a track 61, a driving wheel 62, at least one working wheel set 63 and at least one tensioning wheel set 64 are disposed on the inner side of the track 61, the driving wheel 62 is connected to the output end of the traveling power output transmission case 310 of the agricultural robot, the driving wheel 62 is connected to the track 61 and drives the track 61 to move, each working wheel set 63 is disposed on the inner side of the track 61 through a main beam 65 and contacts with the track 61, each tensioning wheel set 64 is connected to the track 61 and tensions the track 61, each tensioning wheel set 64 is connected to the main beam 65 through a tensioning bracket 66, and the tensioning bracket 66 is provided with a fastening screw 67 connected to each tensioning wheel set 64 and extending to the outer side of the tensioning bracket 66. The working wheel set 63 includes a working wheel body 631, a working wheel sleeve 632 and a working wheel shaft 633, the working wheel sleeve 632 is disposed on two sides of the working wheel body 631 and is consistent with the axis of the working wheel body 631, and the working wheel shaft 633 sequentially passes through the working wheel body 631 and the working wheel sleeve 632 and drives the working wheel body 631 to operate. The tensioning wheel set 64 includes a tensioning wheel body 641, a tensioning wheel sleeve 642 and a tensioning wheel shaft 643, wherein the tensioning wheel sleeve 642 is disposed on both sides of the tensioning wheel body 641 and is coaxial with the tensioning wheel body 641, the fastening screw 67 is connected with the tensioning wheel sleeve 642, and the tensioning wheel shaft 643 sequentially passes through the tensioning wheel body 641 and the tensioning wheel sleeve 642 and drives the tensioning wheel body 641 to move. One end of the tensioning bracket 66 close to the tensioning wheel set 64 is provided with a moving groove 661 matched with the tensioning wheel sleeve 642, and the tensioning wheel sleeve 642 moves relative to the moving groove 661.

The farming robot outputs control signals to the power assembly 3 and the power output assembly 5 by the handheld controller 1 so as to drive the whole farming robot to run. In operation, the CPU11 outputs control signals to the left steering module 13, the right steering module 14, the forward module 15, the reverse module 16, the implement operating module 17, and the implement lift module 18, which output signals to the second signal transceiver 4 via the first signal transceiver 12 to control the operation of each corresponding component. The left steering module 13, the right steering module 14, the forward module 15 and the backward module 16 control the two motors 39 to work through the first signal transceiver 12 and the second signal transceiver 4, so as to realize left steering, right steering, forward movement and backward movement of the whole farming robot; the implement operation module 17 controls the diesel engine 33 to work through the first signal transceiver 12 and the second signal transceiver 4, so that power is output to the rotary blade 7 through the power output assembly 5 to realize the operation and stop of the rotary blade 7; the implement lifting module 18 controls the extension or retraction of the piston rod end of the implement telescopic cylinder 53 through the first signal transceiver 12 and the second signal transceiver 4, thereby controlling the upward and downward movement of the rotary blade 7 through the power output assembly 5. The motor 39 described herein is a high power 48V dc motor.

The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. A hybrid farming robot, characterized in that: the hand-held controller comprises a CPU, a first signal transceiver, a left steering module, a right steering module, an advancing module, a retreating module, a machine tool running module and a machine tool lifting module, wherein the CPU is respectively connected with the left steering module, the right steering module, the advancing module, the retreating module, the machine tool running module and the machine tool lifting module, the left steering module, the right steering module, the advancing module, the retreating module, the machine tool running module and the machine tool lifting module are all connected with the first signal transceiver, and the first signal transceiver is wirelessly connected with the second signal transceiver, and the second signal transceiver is respectively connected with the power assembly and the power output assembly.

2. The hybrid agro-farming robot of claim 1, wherein: the power assembly comprises a diesel engine and two motors, the diesel engine is connected with the machine tool running module through a first signal transceiver and a second signal transceiver, and the two motors are respectively connected with the left steering module, the right steering module, the advancing module and the retreating module through the first signal transceiver and the second signal transceiver.

3. The hybrid agro-farming robot of claim 1 or 2, wherein: the power output assembly comprises a machine tool telescopic oil cylinder, the machine tool telescopic oil cylinder is connected with the rotary blade through an operating machine tool and drives the rotary blade to move upwards and downwards, and the machine tool telescopic oil cylinder is connected with the machine tool lifting module through a first signal transceiver and a second signal transceiver.