CN113664797A

CN113664797A - Intelligent agricultural robot capable of preventing walking from jamming

Info

Publication number: CN113664797A
Application number: CN202110850287.7A
Authority: CN
Inventors: 李子南
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-11-19

Abstract

The invention relates to the technical field of intelligent robots and discloses an intelligent agricultural robot capable of preventing walking from being stuck, which comprises an equipment shell, walking wheels, a self-cleaning mechanism and an impurity removing mechanism, wherein the inside of the equipment shell is movably connected with the walking wheels, the self-cleaning mechanism is fixedly connected inside the walking wheels and used for cleaning soil and impurities adhered to the surfaces of the walking wheels in the moving process of the walking wheels, and the impurity removing mechanism is fixedly connected to the outer side of the equipment shell and used for removing weeds wound on the outer sides of the walking wheels. According to the intelligent agricultural robot capable of preventing walking and jamming, the driving shaft is driven to rotate through the driving motor, so that the walking wheel is driven to rotate on the ground, when the corresponding magnetostrictive shaft rotates to the inner side of the filling magnetic block, the magnetostrictive shaft is magnetized under the action of a magnetic field to extend, the cleaning push plate is pushed out, and accordingly soil and impurities adhered to the inner part of the corrugated groove are cleaned.

Description

Intelligent agricultural robot capable of preventing walking from jamming

Technical Field

The invention relates to the technical field of intelligent robots, in particular to an intelligent agricultural robot capable of preventing walking from being stuck.

Background

The agricultural robot is a machine, is an application of the robot in agricultural production, is a new generation of unmanned automatic operation machine which can be controlled by different program software to adapt to various operations, can sense and adapt to the variety of crops or the change of environment, has artificial intelligence such as detection (such as vision and the like) and calculation and the like, is widely applied to the field, changes the traditional agricultural labor mode, improves the labor force of farmers and promotes the development of modern agriculture.

Agricultural robots generally need to be equipped with a walking system, and are convenient to move in the field, but because field soil environment is complicated, and soil humidity in some areas is great, when the agricultural robot moves in the field, the walking wheel is easily stuck by soil or wound by weeds, so that the agricultural robot cannot walk smoothly, the field operation efficiency is influenced, the cleaning is difficult, and mechanical faults are easily caused, therefore, the intelligent agricultural robot capable of preventing walking from being stuck is provided to solve the problems.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an intelligent agricultural robot capable of preventing walking and jamming, which has the advantage of preventing walking and jamming, and solves the problems that when the agricultural robot moves in the field, the walking wheel is easily stuck by soil or wound by weeds, the walking wheel cannot walk smoothly, the field operation efficiency is influenced, the cleaning is difficult, and the mechanical failure is easily caused due to the complex field soil environment and the high soil humidity in some areas.

(II) technical scheme

In order to realize the purpose of preventing the walking from being stuck, the invention provides the following technical scheme: the utility model provides a prevent intelligent agricultural robot that walking card went on, includes the equipment casing, still includes walking wheel, self-cleaning mechanism, edulcoration mechanism, the inside swing joint of equipment casing has the walking wheel, the inside fixedly connected with self-cleaning mechanism of walking wheel for clean walking wheel removes the in-process adhesion and walks soil and impurity on the walking wheel surface, equipment casing outside fixedly connected with edulcoration mechanism for remove the weeds of winding in the walking wheel outside.

Furthermore, a driving motor is fixedly connected inside the equipment shell, the model number of the driving motor is ACSM130-G05025LZ, a driving shaft is fixedly connected to the outer side of the driving motor, a traveling wheel is fixedly connected to the outer side of the driving shaft, and the driving shaft is driven to rotate through the driving motor, so that the traveling wheel is driven to rotate on the ground.

Further, from clearance mechanism including ripple groove, mounting groove, magnetostrictive shaft, clearance push pedal, fixed plate, packing magnetic path, walking wheel is inside to be seted up the ripple groove, the inside mounting groove of having seted up of walking wheel, the inside fixedly connected with magnetostrictive shaft of mounting groove, magnetostrictive shaft outside fixedly connected with clearance push pedal, equipment casing outside fixedly connected with fixed plate, the inside fixedly connected with of fixed plate fills the magnetic path.

Furthermore, the fixed plate is of a semicircular structure, the diameter of the fixed plate is larger than that of the travelling wheels, when the corresponding magnetostrictive shaft rotates to the inner side of the filled magnetic block, the magnetostrictive shaft is magnetized under the action of a magnetic field to extend, and the cleaning push plate is pushed out, so that soil and impurities adhered to the inner part of the corrugated groove are cleaned.

Further, corrugated groove evenly distributed is in the walking wheel outside, mounting groove fixed connection is inside the walking wheel, mounting groove outside fixed connection is inboard to the corrugated groove, increases the coefficient of surface friction of walking wheel through the corrugated groove.

Further, edulcoration mechanism includes main rotating gear, installation axle, follows rotating gear, installation casing, limit gear ring, connecting axle, cutting knife, drive shaft left side fixedly connected with main rotating gear, fixed plate right side fixedly connected with installation axle, installation axle right side swing joint has from rotating gear, fixed plate right side swing joint has the installation casing, the inside fixedly connected with limit gear ring of installation casing, the installation casing outside fixedly connected with evenly distributed's connecting axle, the connecting axle outside fixedly connected with cutting knife.

Furthermore, the outer side of the main rotating gear is meshed with the inner side of the slave rotating gear, the outer side of the slave rotating gear is meshed with the inner side of the limiting gear ring, and when the driving motor drives the driving shaft to rotate clockwise, the main rotating gear synchronously rotates clockwise and drives the slave rotating gear to rotate anticlockwise.

Furthermore, a through groove is formed in the mounting shell, the outer side of the mounting shaft is movably connected to the inside of the through groove, the driven rotating gear is movably connected to the inside of the mounting shell, and the driven rotating gear rotates to drive the limiting gear ring to rotate.

(III) advantageous effects

Compared with the prior art, the invention provides an intelligent agricultural robot capable of preventing walking from being stuck, which has the following beneficial effects:

1. according to the intelligent agricultural robot capable of preventing walking jamming, the driving shaft is driven to rotate through the driving motor, so that the walking wheel is driven to rotate on the ground, when the corresponding magnetostrictive shaft rotates to the inner side of the filling magnetic block, the magnetostrictive shaft is magnetized under the action of a magnetic field to extend, and the cleaning push plate is pushed out, so that soil and impurities adhered to the inner part of the corrugated groove are cleaned.

2. According to the intelligent agricultural robot capable of preventing walking jamming, when the driving motor drives the driving shaft to rotate clockwise, the main rotating gear rotates clockwise synchronously, when the walking wheel rotates clockwise, the cutting knife rotates anticlockwise along with the limiting gear ring, weeds and the like wound on the surface of the walking wheel are broken and cleaned, the walking wheel is prevented from being jammed due to the fact that the weeds are wound on the walking wheel, and compared with existing robot equipment, the intelligent agricultural robot capable of preventing walking jamming can effectively reduce the occurrence of the situation that equipment walks jamming is achieved, walking is smooth, and working efficiency is high.

Drawings

FIG. 1 is a schematic top view of an apparatus housing of the present invention;

FIG. 2 is a schematic side view of the self-cleaning mechanism of the present invention;

FIG. 3 is a schematic side view of the apparatus housing of the present invention;

FIG. 4 is a schematic side view of the trash removal mechanism of the present invention.

In the figure: 1. an equipment housing; 2. a traveling wheel; 3. a self-cleaning mechanism; 31. a corrugated groove; 32. mounting grooves; 33. a magnetostrictive shaft; 34. cleaning the push plate; 35. a fixing plate; 36. filling magnetic blocks; 4. an impurity removal mechanism; 41. a main rotating gear; 42. installing a shaft; 43. a driven rotation gear; 44. installing a shell; 45. a limit gear ring; 46. a connecting shaft; 47. a cutting knife; 48. a through groove; 5. a drive motor; 6. a drive shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-2, an intelligent agricultural robot for preventing walking and jamming comprises an equipment shell 1, a walking wheel 2, a self-cleaning mechanism 3 and an impurity removing mechanism 4, wherein the inside of the equipment shell 1 is movably connected with the walking wheel 2, the inside of the walking wheel 2 is fixedly connected with the self-cleaning mechanism 3 and used for cleaning soil and impurities adhered to the surface of the walking wheel 2 in the moving process of the walking wheel 2, the outside of the equipment shell 1 is fixedly connected with the impurity removing mechanism 4 and used for removing weeds wound on the outside of the walking wheel 2, the inside of the equipment shell 1 is fixedly connected with a driving motor 5, the outside of the driving motor 5 is fixedly connected with a driving shaft 6, the outside of the driving shaft 6 is fixedly connected with the walking wheel 2, and the driving shaft 6 is driven to rotate by the driving motor 5, so that the walking wheel 2 is driven to rotate on the ground;

the self-cleaning mechanism 3 comprises a corrugated groove 31, a mounting groove 32, a magnetostrictive shaft 33, a cleaning push plate 34, a fixing plate 35 and a filling magnetic block 36, the corrugated groove 31 is formed inside the traveling wheel 2, the mounting groove 32 is formed inside the traveling wheel 2, the magnetostrictive shaft 33 is fixedly connected inside the mounting groove 32, the cleaning push plate 34 is fixedly connected outside the magnetostrictive shaft 33, the fixing plate 35 is fixedly connected outside the equipment shell 1, the filling magnetic block 36 is fixedly connected inside the fixing plate 35, the fixing plate 35 is of a semicircular structure, the diameter size of the fixing plate 35 is larger than that of the traveling wheel 2, when the corresponding magnetostrictive shaft 33 rotates to the inner side of the filling magnetic block 36, the magnetostrictive shaft 33 is magnetized under the action of a magnetic field to extend, the cleaning push plate 34 is pushed out, so that soil and impurities adhered inside the corrugated groove 31 are cleaned, and the corrugated groove 31 is uniformly distributed outside the traveling wheel 2, the mounting groove 32 is fixedly connected inside the travelling wheel 2, the outer side of the mounting groove 32 is fixedly connected to the inner side of the corrugated groove 31, and the surface friction coefficient of the travelling wheel 2 is increased through the corrugated groove 31.

Example two:

referring to fig. 1-4, an intelligent agricultural robot for preventing walking and jamming comprises an equipment shell 1, a walking wheel 2, a self-cleaning mechanism 3 and an impurity removing mechanism 4, wherein the inside of the equipment shell 1 is movably connected with the walking wheel 2, the inside of the walking wheel 2 is fixedly connected with the self-cleaning mechanism 3 and used for cleaning soil and impurities adhered to the surface of the walking wheel 2 in the moving process of the walking wheel 2, the outside of the equipment shell 1 is fixedly connected with the impurity removing mechanism 4 and used for removing weeds wound on the outside of the walking wheel 2, the inside of the equipment shell 1 is fixedly connected with a driving motor 5, the outside of the driving motor 5 is fixedly connected with a driving shaft 6, the outside of the driving shaft 6 is fixedly connected with the walking wheel 2, and the driving shaft 6 is driven to rotate by the driving motor 5, so that the walking wheel 2 is driven to rotate on the ground;

the self-cleaning mechanism 3 comprises a corrugated groove 31, a mounting groove 32, a magnetostrictive shaft 33, a cleaning push plate 34, a fixing plate 35 and a filling magnetic block 36, the corrugated groove 31 is formed inside the traveling wheel 2, the mounting groove 32 is formed inside the traveling wheel 2, the magnetostrictive shaft 33 is fixedly connected inside the mounting groove 32, the cleaning push plate 34 is fixedly connected outside the magnetostrictive shaft 33, the fixing plate 35 is fixedly connected outside the equipment shell 1, the filling magnetic block 36 is fixedly connected inside the fixing plate 35, the fixing plate 35 is of a semicircular structure, the diameter size of the fixing plate 35 is larger than that of the traveling wheel 2, when the corresponding magnetostrictive shaft 33 rotates to the inner side of the filling magnetic block 36, the magnetostrictive shaft 33 is magnetized under the action of a magnetic field to extend, the cleaning push plate 34 is pushed out, so that soil and impurities adhered inside the corrugated groove 31 are cleaned, and the corrugated groove 31 is uniformly distributed outside the traveling wheel 2, the mounting groove 32 is fixedly connected inside the travelling wheel 2, the outer side of the mounting groove 32 is fixedly connected to the inner side of the corrugated groove 31, and the surface friction coefficient of the travelling wheel 2 is increased through the corrugated groove 31;

the impurity removing mechanism 4 comprises a main rotating gear 41, a mounting shaft 42, a secondary rotating gear 43, a mounting shell 44, a limiting gear ring 45, a connecting shaft 46 and a cutting knife 47, wherein the left side of the driving shaft 6 is fixedly connected with the main rotating gear 41, the right side of the fixing plate 35 is fixedly connected with the mounting shaft 42, the right side of the mounting shaft 42 is movably connected with the secondary rotating gear 43, the right side of the fixing plate 35 is movably connected with the mounting shell 44, the limiting gear ring 45 is fixedly connected inside the mounting shell 44, the outer side of the mounting shell 44 is fixedly connected with the connecting shaft 46 which is uniformly distributed, the outer side of the connecting shaft 46 is fixedly connected with the cutting knife 47, the outer side of the main rotating gear 41 is meshed with the inner side of the secondary rotating gear 43, the outer side of the secondary rotating gear 43 is meshed with the inner side of the limiting gear ring 45, when the driving motor 5 drives the driving shaft 6 to rotate clockwise, the main rotating gear 41 synchronously rotates clockwise, and simultaneously drives the secondary rotating gear 43 to rotate anticlockwise, the installation shell 44 is internally provided with a through groove 48, the outer side of the installation shaft 42 is movably connected inside the through groove 48, the driven rotating gear 43 is movably connected inside the installation shell 44, and the driven rotating gear 43 rotates to drive the limiting gear ring 45 to rotate.

The working principle is as follows: the corrugated grooves 31 are uniformly distributed on the outer side of the travelling wheel 2, the mounting groove 32 is fixedly connected inside the travelling wheel 2, the outer side of the mounting groove 32 is fixedly connected to the inner side of the corrugated groove 31, the surface friction coefficient of the travelling wheel 2 is increased through the corrugated groove 31, the driving shaft 6 is driven to rotate through the driving motor 5, so that the travelling wheel 2 is driven to rotate on the ground, along with the rotation of the travelling wheel 2, when the corresponding magnetostrictive shaft 33 rotates to the inner side of the filling magnetic block 36, the magnetostrictive shaft 33 is magnetized under the action of a magnetic field to extend, the cleaning push plate 34 is pushed out, and soil and impurities adhered to the inner side of the corrugated groove 31 are cleaned;

when driving motor 5 drives drive shaft 6 clockwise turning, the synchronous clockwise rotation of main transmitting gear 41, drive simultaneously from transmitting gear 43 anticlockwise rotation, main transmitting gear 41 outside with from the inboard intermeshing of transmitting gear 43, from the transmitting gear 43 outside with the inboard intermeshing of limit gear ring 45, thereby drive limit gear ring 45 through rotating from transmitting gear 43 and rotate, make cutting knife 47 along with limit gear ring 45 synchronous rotation, when walking wheel 2 clockwise turning promptly, cutting knife 47 is along with limit gear ring 45 anticlockwise rotation, thereby will twine and carry out broken clearance at the weeds etc. of walking wheel 2 surface, prevent weeds winding walking wheel 2, lead to walking wheel 2 to appear blocking.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a prevent intelligent agricultural robot of walking card dun, includes equipment casing (1), its characterized in that: still include walking wheel (2), self-cleaning mechanism (3), edulcoration mechanism (4), the inside swing joint of equipment casing (1) has walking wheel (2), the inside fixedly connected with of walking wheel (2) is from self-cleaning mechanism (3) for clean walking wheel (2) remove the in-process adhesion at walking wheel (2) soil and impurity on the surface, equipment casing (1) outside fixedly connected with edulcoration mechanism (4) is used for driving the weeds of winding in the walking wheel (2) outside.

2. An intelligent agricultural robot for preventing walking jams as claimed in claim 1, characterized in that: the inside fixedly connected with driving motor (5) of equipment casing (1), driving motor (5) outside fixedly connected with drive shaft (6), drive shaft (6) outside fixedly connected with walking wheel (2).

3. An intelligent agricultural robot for preventing walking jams as claimed in claim 1, characterized in that: self-cleaning mechanism (3) are including ripple groove (31), mounting groove (32), magnetostrictive shaft (33), clearance push pedal (34), fixed plate (35), fill magnetic block (36), walking wheel (2) inside has seted up ripple groove (31), walking wheel (2) inside has seted up mounting groove (32), the inside fixedly connected with magnetostrictive shaft (33) of mounting groove (32), magnetostrictive shaft (33) outside fixedly connected with clearance push pedal (34), equipment casing (1) outside fixedly connected with fixed plate (35), magnetic block (36) are filled to the inside fixedly connected with of fixed plate (35).

4. An intelligent agricultural robot for preventing walking jams as claimed in claim 2, characterized in that: the fixed plate (35) is of a semicircular structure, and the diameter size of the fixed plate (35) is larger than that of the walking wheel (2).

5. An intelligent agricultural robot for preventing walking jams as claimed in claim 2, characterized in that: corrugated groove (31) evenly distributed is in walking wheel (2) outside, mounting groove (32) fixed connection is inside walking wheel (2), mounting groove (32) outside fixed connection is inboard to corrugated groove (31).

6. An intelligent agricultural robot for preventing walking jams as claimed in claim 1, characterized in that: edulcoration mechanism (4) include main rotating gear (41), installation axle (42), from rotating gear (43), installation casing (44), limiting gear ring (45), connecting axle (46), cutting knife (47), drive shaft (6) left side fixedly connected with main rotating gear (41), fixed plate (35) right side fixedly connected with installation axle (42), installation axle (42) right side swing joint has from rotating gear (43), fixed plate (35) right side swing joint has installation casing (44), the inside fixedly connected with limiting gear ring (45) of installation casing (44), installation casing (44) outside fixedly connected with evenly distributed's connecting axle (46), connecting axle (46) outside fixedly connected with cutting knife (47).

7. An intelligent agricultural robot for preventing walking jams as claimed in claim 6, characterized in that: the outer side of the main rotating gear (41) is meshed with the inner side of the auxiliary rotating gear (43), and the outer side of the auxiliary rotating gear (43) is meshed with the inner side of the limiting gear ring (45).

8. An intelligent agricultural robot for preventing walking jams as claimed in claim 6, characterized in that: a through groove (48) is formed in the mounting shell (44), the outer side of the mounting shaft (42) is movably connected into the through groove (48), and the driven rotating gear (43) is movably connected into the mounting shell (44).