CN113728765B - Crawling robot for agricultural planting - Google Patents
Crawling robot for agricultural planting Download PDFInfo
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- CN113728765B CN113728765B CN202111024054.8A CN202111024054A CN113728765B CN 113728765 B CN113728765 B CN 113728765B CN 202111024054 A CN202111024054 A CN 202111024054A CN 113728765 B CN113728765 B CN 113728765B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- 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
- A01G13/00—Protecting plants
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- 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
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Toxicology (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Water Supply & Treatment (AREA)
- Sowing (AREA)
Abstract
The invention belongs to the technical field of crawling robots, in particular to a crawling robot for agricultural planting, which aims at solving the problems of excessive, complex and fuzzy logic of robot parts and now provides the following scheme, wherein the crawling robot comprises a shell, a rear cover is clamped and connected to the inner edge of one end of the shell, and a front transparent cover is clamped and connected to the outer edge of the other end of the shell; the power foot component is arranged on the outer walls of two sides of one end of the rear cover, which is positioned on the machine shell. The robot comprises a power foot assembly and a steering foot assembly, wherein the power foot provides power, the connecting rod structure is used for driving the front foot to synchronously move, the gait of a dog is simulated, the crawling stability of the robot is ensured, meanwhile, the steering structure is used for steering by four connecting rods, the steering angle is adjustable, the posture of the robot can be controlled by the turning radius, the realization of different crawling postures of the robot is ensured, the logic is clear, and the front foot and the rear foot are simple in structure.
Description
Technical Field
The invention relates to the technical field of crawling robots, in particular to a crawling robot for agricultural planting.
Background
Currently, China is in a key period of revolution from mechanized agriculture to "intelligent agriculture". With the accelerated transformation and upgrading of the agricultural field in China, the agricultural operation main body is continuously strong, the application of artificial intelligence technology is implemented, the development of agricultural robots is accelerated, and a better environment is obtained.
The agricultural robot is a novel intelligent agricultural machine and can be used for a plurality of links in agricultural production. The birth of the agricultural robot is not only a product of the development of the robot technology, but also an inevitable result of the modern development of agriculture. With the wide application of agricultural robots, the traditional agricultural production mode is upgraded, and the modern agriculture is rapidly changed.
An agricultural irrigation water saving device as disclosed in the publication No. CN112314411A, comprising a crawling robot, which comprises mechanical legs; the water tank sets up the top of robot of crawling, through the connector with the robot of crawling is connected, and its bottom corresponds the opening has been seted up to the top of the mechanical leg of robot of crawling.
The crawling operation of the existing robot between fields can not actively carry out route planning due to the uneven terrain, the crawling steering logic of the robot is not clear, the structure is too complex, the number of parts for separately controlling each action is too large, the linkage is too slow when an execution command is caused, and the dynamic operation of the crawling robot is not facilitated.
Disclosure of Invention
The crawling robot for agricultural planting provided by the invention solves the problems of too many parts, complexity and fuzzy logic of the robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a crawling robot for agricultural planting comprises a machine shell, wherein a rear cover is clamped and connected to the inner side edge of one end of the machine shell, and a front transparent cover is clamped and connected to the outer side edge of the other end of the machine shell; the power foot assembly is arranged on the outer walls of the two sides of one end, positioned on the rear cover, of the machine shell and is used for stepping operation of the robot; the power foot assembly comprises a driving motor, a driving turbine, a driven gear, a connecting shaft, a crank and a power foot, wherein the driven gear is positioned on the outer wall of the middle part of the connecting shaft, an output shaft of the driving motor is connected to the inner wall of the driving turbine, the outer wall of the driving turbine is in meshing transmission connection with the outer wall of the driven gear, the crank is arranged on the outer walls of two ends of the connecting shaft, and the end part of the power foot is connected to the outer wall of the bottom end of the crank through a shaft; the steering foot assembly is arranged on the outer walls of the two sides of one end, positioned on the front transparent cover, of the machine shell and is used for steering operation of the robot; the steering leg assembly comprises a steering motor, a steering gear, a movable rack, a steering connecting rod, a steering knuckle and a front steering leg, wherein the outer wall of the steering gear is meshed and connected to the outer wall of the bottom end of the movable rack; a power connecting rod is arranged between the inner wall of the front steering leg and the end part of the crank through a shaft, and the power connecting rod is used for transmitting power to the steering leg assembly; the seeding assembly is arranged on the outer wall of the rear cover and is used for seeding operation when the robot steps; the seeding assembly comprises at least one seeding box and a liquid box, a push rod motor is arranged at the end part of the seeding box, an output shaft of the push rod motor is connected with a seed push plate, oblique blanking channels are arranged at the end parts of the seeding box and the liquid box, a plurality of liquid inlets are arranged on the outer wall of the top of the liquid box, liquid tanks are fixed on the inner walls of the liquid inlets through threads, liquid outlet valves with the same number as the liquid tanks are arranged at the front end of the liquid box, and the end parts of the liquid outlet valves are communicated with the liquid tanks through pipelines; the battery pack and the main control board are both arranged in the middle of the inner wall of the shell, the main control board is positioned above the battery pack, and the main control board is used for controlling the operation of the power foot assembly, the steering foot assembly and the seeding assembly; the live probe is arranged on the outer wall of the bracket, the end part of the live probe is arranged on the outer wall of the front transparent cover, and the live probe is used for recording and learning when the robot works;
as a further scheme of the invention, a limiting sliding seat is arranged in the middle of the outer edge of the bottom end of the bracket, and the inner wall of the bottom end of the limiting sliding seat is connected to the outer wall of the movable rack in a sliding manner;
as a further scheme of the invention, the inner wall of the bottom end of the front steering leg is connected with an auxiliary leg through a shaft, and an auxiliary leg motor is arranged at the position of the connecting shaft of the auxiliary leg.
As a further scheme of the invention, the middle part of the outer wall of the power connecting rod is provided with a connecting rod matching rotating joint which is two ratchet wheel seats which are meshed oppositely, and the connecting rod matching rotating joint is used for power transmission of the power connecting rod.
As a further scheme of the invention, a box cover is arranged on one side of the outer side of the top end of the sowing box through a hinge, a horizontally arranged pushing groove is arranged on the inner wall of the sowing box, a plurality of vertically arranged feeding channel channels are arranged on the inner wall of the sowing box above the pushing groove, and the bottom ends of the feeding channel channels are communicated with the pushing groove.
As a further scheme of the invention, the seed push plate is of an L-shaped structure, and the outer wall of the seed push plate is connected to the inner wall of the pushing groove in a sliding manner.
As a further scheme of the invention, the outer wall of the liquid tank is provided with a control panel, the control panel is provided with a display screen, a function button and an on-off button, and the control panel is connected with the main control panel through a wire.
According to the further scheme, the outer wall of the bottom end of the machine shell is provided with the obstacle avoidance sensor, the signal end of the obstacle avoidance sensor is connected to the outer wall of the main control board, and the obstacle avoidance sensor is used for obstacle avoidance travelling of the robot.
As a further aspect of the present invention, a charging port is provided at a bottom side of the casing, and an inner side of the charging port is connected to the battery pack through a wire.
Compared with the prior art, the invention has the beneficial effects that:
1. the crawling robot is divided into a power foot assembly and a steering foot assembly, the power foot provides power, the connecting rod structure is used for driving the front foot to synchronously move, gait of a dog is simulated, crawling stability of the robot is guaranteed, meanwhile, the steering structure is used for steering by four connecting rods, the steering angle is adjustable, the posture of the robot can be controlled by the turning radius, realization of different crawling postures of the robot is guaranteed, logic is clear, the front foot and the rear foot are simple in structure, the gravity center position is always located in the middle of a machine shell due to the four-foot structure, load bearing is facilitated, and the crawling robot is more stable to use in agricultural planting;
2. this seeding subassembly is equipped with a plurality of seeding cases and liquid case cooperation among the robot of crawling, can place seed, fertilizer in the seeding case, and water or pesticide etc. can be placed to the liquid case, have realized the robot and have crawled the in-process, sow, fertilize and a plurality of steps of watering, have improved farming's mechanized degree.
Drawings
Fig. 1 is a schematic perspective view of a crawling robot for agricultural planting in an embodiment 1 according to the present invention;
FIG. 2 is a schematic view of the back structure of FIG. 1;
fig. 3 is a schematic view of a robot main body uncovering structure in embodiment 1 of the crawling robot for agricultural planting according to the present invention;
FIG. 4 is a schematic view of the open cover top view structure of FIG. 3;
FIG. 5 is a schematic view of the lid front view of FIG. 3;
fig. 6 is a schematic structural view of a sowing assembly in embodiment 1 of the crawling robot for agricultural planting according to the present invention;
fig. 7 is a schematic structural view of a sowing box in a sowing assembly in embodiment 2 of the crawling robot for agricultural planting according to the present invention.
In the figure: 1. a housing; 2. a rear cover; 3. a front transparent cover; 4. a seeding box; 41. a spiral seeding box; 411. a spiral blanking channel; 412. an electromagnetic valve; 413. a blanking slideway; 414. a seed tray; 415. a concave feed opening; 5. a push rod motor; 6. a liquid tank; 7. a box cover; 8. a crank; 9. a power foot; 10. a power link; 11. the connecting rod is matched with the rotating joint; 12. an auxiliary foot motor; 13. a front steering leg; 14. a steering link; 15. a steering gear; 16. a live probe; 17. moving the rack; 18. a blanking channel; 19. a knuckle; 20. a liquid outlet valve; 21. an auxiliary foot; 22. a steering motor; 23. a limiting sliding seat; 24. a connecting shaft; 25. a driven gear; 26. a drive turbine; 27. a main control board; 28. a battery pack; 29. an obstacle avoidance sensor; 30. a control panel.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1
Referring to FIGS. 1-6: a crawling robot for agricultural planting comprises a machine shell 1, wherein a rear cover 2 is clamped and connected to the inner side edge of one end of the machine shell 1, and a front transparent cover 3 is clamped and connected to the outer side edge of the other end of the machine shell 1; an obstacle avoidance sensor 29 is arranged on the outer wall of the bottom end of the machine shell 1, the obstacle avoidance sensor 29 is a single chip microcomputer-based sensor with the model of TCRT5000, the signal end of the obstacle avoidance sensor 29 is connected to the outer wall of the main control board 27, the obstacle avoidance sensor 29 is used for obstacle avoidance advancing of the robot, a charging port is arranged on the bottom side of the machine shell 1, and the inner side of the charging port is connected to the battery pack 28 through a lead;
the power foot assembly is arranged on the outer walls of two sides of one end of the rear cover 2 of the machine shell 1 and is used for stepping operation of the robot;
the power foot assembly comprises a driving motor, a driving turbine 26, a driven gear 25, a connecting shaft 24, a crank 8 and a power foot 9, wherein the driven gear 25 is positioned on the outer wall of the middle part of the connecting shaft 24, an output shaft of the driving motor is connected to the inner wall of the driving turbine 26, the outer wall of the driving turbine 26 is in meshing transmission connection with the outer wall of the driven gear 25, the crank 8 is arranged on the outer walls of two ends of the connecting shaft 24, and the end part of the power foot 9 is connected to the outer wall of the bottom end of the crank 8 through a shaft;
the steering foot assembly is arranged on the outer walls of two sides of one end of the front transparent cover 3 of the machine shell 1 and is used for steering operation of the robot;
the steering leg assembly comprises a steering motor 22, a steering gear 15, a movable rack 17, a steering connecting rod 14, a steering knuckle 19 and a front steering leg 13, wherein the outer wall of the steering gear 15 is connected to the outer wall of the bottom end of the movable rack 17 in a meshed mode, two ends of the movable rack 17 are connected to the steering connecting rod 14 through shafts, the end portion of the steering connecting rod 14 is connected to the steering knuckle 19 through the shafts, and the end portion of the front steering leg 13 is connected to the outer wall of the steering knuckle 19 in a rotating mode; a limiting sliding seat 23 is arranged in the middle of the outer edge of the bottom end of the support, and the inner wall of the bottom end of the limiting sliding seat 23 is connected to the outer wall of the movable rack 17 in a sliding manner;
a power connecting rod 10 is arranged between the inner wall of the front steering leg 13 and the end part of the crank 8 through a shaft, and the power connecting rod 10 is used for transmitting power to the steering leg assembly; the middle part of the outer wall of the power connecting rod 10 is provided with a connecting rod matching rotating joint 11, the connecting rod matching rotating joint 11 is two ratchet wheel seats which are relatively meshed, the connecting rod matching rotating joint 11 is used for power conduction of the power connecting rod 10, the inner wall of the bottom end of the front steering leg 13 is connected with an auxiliary leg 21 through a shaft, and an auxiliary leg motor 12 is arranged at the connecting shaft of the auxiliary leg 21, wherein the auxiliary leg 21 can change the angle to support the side edge under the weightless state of the robot when encountering a hollow during traveling, so that the traveling stability of the robot is ensured;
the seeding assembly is arranged on the outer wall of the rear cover 2 and is used for seeding operation when the robot steps;
the seeding assembly comprises at least one seeding box 4 and a liquid box, a push rod motor 5 is arranged at the end part of the seeding box 4, an output shaft of the push rod motor 5 is connected with a seed push plate, oblique blanking channel channels 18 are arranged at the end parts of the seeding box 4 and the liquid box, a plurality of liquid inlets are arranged on the outer wall of the top part of the liquid box, liquid tanks 6 are fixed on the inner walls of the liquid inlets through threads, liquid outlet valves 20 with the same number as the liquid tanks 6 are arranged at the front end of the liquid box, and the end parts of the liquid outlet valves 20 are communicated with the liquid tanks 6 through pipelines; a box cover 7 is arranged on one side of the outer side of the top end of the sowing box 4 through a hinge, a horizontally arranged pushing groove is arranged on the inner wall of the sowing box 4, a plurality of vertically arranged feeding channel channels are arranged on the inner wall of the sowing box 4 above the pushing groove, and the bottom ends of the feeding channel channels are communicated with the pushing groove; the seed push plate is of an L-shaped structure, and the outer wall of the seed push plate is connected to the inner wall of the pushing groove in a sliding manner; the outer wall of the liquid tank 6 is provided with a control panel 30, the control panel 30 is provided with a display screen, a function button and an on-off button, and the control panel 30 is connected with the main control panel 27 through a wire;
the battery pack 28 and the main control board 27 are arranged in the middle of the inner wall of the casing 1, the main control board 27 is positioned above the battery pack 28, and the main control board 27 is used for controlling the operation of the power foot assembly, the steering foot assembly and the seeding assembly;
the live probe 16 is characterized in that a support is arranged on the inner wall of the machine shell 1, the live probe 16 is arranged on the outer wall of the support, the end part of the live probe 16 is arranged on the outer wall of the front transparent cover 3, the live probe 16 is used for recording and learning when the robot works, and the adaptive effect of the robot to different working environments can be improved through learning.
The working principle of the crawling robot is as follows:
firstly, when the robot is used, the robot advances through a remote controller, or after a switch is turned on, the robot monitors through a live probe 16, an operator performs a monitoring function, and the robot performs seeding by itself;
secondly, the operation logic of the robot is as follows, power is provided through a power foot component, a driving motor is utilized in the power foot component to drive a driving turbine 26 to rotate, then a driven gear 25 and a connecting shaft 24 connected with the driven gear are driven to rotate, cranks 8 at two ends of the connecting shaft 24 drive power feet 9 at two sides to realize anisotropic stirring, in the rotating process of the cranks, the power feet 9 at two sides realize forward and backward stirring operation, and the power is connected to a front steering foot 13 through a power connecting rod 10 when the cranks 8 rotate, so that the matching of the connecting rods is realized, the linkage stepping at the same side is formed, and the linkage at two sides is staggered and changed;
thirdly, steering is realized through a four-bar structure, wherein a steering motor 22 drives a movable rack 17 to translate left and right, the movable rack 17 drives steering connecting bars 10 and steering knuckles 19 at two ends to drive front steering legs 13 to rotate for a certain angle and then move forward, and the left and right translation intervals can realize different steering radiuses by adjusting the steering angle;
fourthly, in the steering process, the power connecting rod 10 realizes power relay at the position where the connecting rod is matched with the rotating joint 11, and the power is not interrupted while the steering is ensured;
fifthly, the advance of robot on the machine is coordinated, the seeding subassembly can realize interrupting the release seed, wherein in the seeding case 4 through the arrangement seed that the push rod motor promoted to be located horizontal guide slot, then the perpendicular channel of push pedal separation of L type releases the seed, after retrieving, the seed can arrange in the guide slot again, after the seed release, usable same principle pushes granular fertilizer, reuse liquid tank 6 release liquid in the liquid case, the release material all converges to the pit hole in the field of bottom side through unloading channel 18, a plurality of steps of release seed, chemical fertilizer and water application have been accomplished, can accomplish the operation of releasing the seed in the field fast, realize the automation of planting.
Example 2
Referring to fig. 1 and 7: the utility model provides a based on farming is with robot of crawling, relative to embodiment 1 in this embodiment, the main difference lies in this embodiment, wherein seeding case 4 among the seeding subassembly adopts spiral seeding case 41 to replace, the box middle part of spiral seeding case 41 is equipped with spiral unloading channel 411, wherein the spiral arrangement of seed is inboard at the channel, the tip of channel utilizes solenoid valve 412 to control its unloading volume simultaneously, the box top is equipped with seed tray 414, seed tray 414 is the bucket body structure, wherein there is indent feed opening 415 seed tray 414's downside, a unloading that is used for the seed is arranged, it releases the seed to need not the cooperation of push rod motor 5, probably extrude the damage seed, the bottom of box is equipped with unloading slide 413, be used for accepting the seed and slide to implement the seeding operation in advancing the pothole of rear side.
In the invention, a pressure sensor can be arranged at the bottom side of the seed tray 414, a liquid level meter is arranged at the inner side of the liquid tank, pesticides or irrigation liquid in the liquid tank can be monitored in real time through the liquid level meter, and the liquid can be timely reminded to replenish liquid or seeds when a field operator controls the liquid level meter.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a based on farming is with robot of crawling, its characterized in that includes:
the portable electronic device comprises a shell (1), wherein a rear cover (2) is clamped on the inner side of one end of the shell (1), and a front transparent cover (3) is clamped on the outer side of the other end of the shell (1);
the power foot assembly is arranged on the outer walls of two sides of one end of the rear cover (2) of the machine shell (1), and is used for stepping operation of the robot;
the power foot assembly comprises a driving motor, a driving turbine (26), a driven gear (25), a connecting shaft (24), a crank (8) and a power foot (9), wherein the driven gear (25) is positioned on the outer wall of the middle part of the connecting shaft (24), an output shaft of the driving motor is connected to the inner wall of the driving turbine (26), the outer wall of the driving turbine (26) is connected to the outer wall of the driven gear (25) in a meshing transmission mode, the crank (8) is arranged on the outer walls of the two ends of the connecting shaft (24), and the end part of the power foot (9) is connected to the outer wall of the bottom end of the crank (8) through a shaft;
the steering foot assembly is arranged on the outer walls of two sides of one end, positioned on the front transparent cover (3), of the machine shell (1), and is used for steering operation of the robot;
the steering foot assembly comprises a steering motor (22), a steering gear (15), a movable rack (17), a steering connecting rod (14), a steering knuckle (19) and a front steering foot (13), wherein the outer wall of the steering gear (15) is connected to the outer wall of the bottom end of the movable rack (17) in a meshed mode, two ends of the movable rack (17) are connected to the steering connecting rod (14) through a shaft, the end portion of the steering connecting rod (14) is connected to the steering knuckle (19) through a shaft, and the end portion of the front steering foot (13) is connected to the outer wall of the steering knuckle (19) in a rotating mode;
a power connecting rod (10) is arranged between the inner wall of the front steering foot (13) and the end part of the crank (8) through a shaft, and the power connecting rod (10) is used for transmitting power to the steering foot component;
the seeding assembly is arranged on the outer wall of the rear cover (2) and is used for seeding operation when the robot steps;
the seeding assembly comprises at least one seeding box (4) and a liquid box, a push rod motor (5) is arranged at the end part of the seeding box (4), an output shaft of the push rod motor (5) is connected with a seed push plate, inclined blanking channel channels (18) are arranged at the end parts of the seeding box (4) and the liquid box, a plurality of liquid inlets are arranged on the outer wall of the top part of the liquid box, liquid tanks (6) are fixed on the inner walls of the liquid inlets through threads, liquid outlet valves (20) with the same number as the liquid tanks (6) are arranged at the front end of the liquid box, and the end parts of the liquid outlet valves (20) are communicated with the liquid tanks (6) through pipelines;
the electric seeder comprises a battery pack (28) and a main control board (27), wherein the battery pack (28) and the main control board (27) are both arranged in the middle of the inner wall of the casing (1), the main control board (27) is positioned above the battery pack (28), and the main control board (27) is used for controlling the operation of a power foot assembly, a steering foot assembly and a seeding assembly;
the live-action probe (16) is arranged on the inner wall of the machine shell (1), the live-action probe (16) is arranged on the outer wall of the support, the end part of the live-action probe (16) is arranged on the outer wall of the front transparent cover (3), and the live-action probe (16) is used for recording and learning when the robot works.
2. The crawling robot for agricultural planting according to claim 1, characterized in that a limiting slide seat (23) is arranged in the middle of the outer edge of the bottom end of the support, and the inner wall of the bottom end of the limiting slide seat (23) is connected to the outer wall of the moving rack (17) in a sliding mode.
3. The crawling robot for agricultural planting according to claim 1, characterized in that an auxiliary foot (21) is connected to the inner wall of the bottom end of the front steering foot (13) through a shaft, and an auxiliary foot motor (12) is arranged at the connecting shaft of the auxiliary foot (21).
4. The crawling robot for agricultural planting according to claim 1, wherein a connecting rod matching rotating joint (11) is arranged in the middle of the outer wall of the power connecting rod (10), the connecting rod matching rotating joint (11) is two ratchet wheel seats which are meshed oppositely, and the connecting rod matching rotating joint (11) is used for power transmission of the power connecting rod (10).
5. The crawling robot for agricultural planting according to claim 1, wherein a cover (7) is hinged to one side of the outer edge of the top end of the seeding box (4), a pushing groove is horizontally arranged on the inner wall of the seeding box (4), a plurality of vertically arranged feeding channels are arranged on the inner wall of the seeding box (4) above the pushing groove, and the bottom ends of the feeding channels are communicated with the pushing groove.
6. The crawling robot for agricultural planting according to claim 5, wherein the seed pushing plate is of an L-shaped structure, and the outer wall of the seed pushing plate is slidably connected to the inner wall of the pushing groove.
7. The crawling robot for agricultural planting according to claim 1, wherein a control panel (30) is arranged on the outer wall of the liquid tank (6), a display screen, a function button and an on-off button are arranged on the control panel (30), and the control panel (30) is connected with the main control panel (27) through a wire.
8. The crawling robot for agricultural planting according to claim 1, wherein an obstacle avoidance sensor (29) is arranged on the outer wall of the bottom end of the machine shell (1), the signal end of the obstacle avoidance sensor (29) is connected to the outer wall of the main control board (27), and the obstacle avoidance sensor (29) is used for obstacle avoidance travel of the robot.
9. The crawling robot for agricultural planting according to claim 1, characterized in that the bottom side of the case (1) is provided with a charging port, and the inner side of the charging port is connected to the battery pack (28) through a wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024054.8A CN113728765B (en) | 2021-09-02 | 2021-09-02 | Crawling robot for agricultural planting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024054.8A CN113728765B (en) | 2021-09-02 | 2021-09-02 | Crawling robot for agricultural planting |
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| Publication Number | Publication Date |
|---|---|
| CN113728765A CN113728765A (en) | 2021-12-03 |
| CN113728765B true CN113728765B (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111024054.8A Active CN113728765B (en) | 2021-09-02 | 2021-09-02 | Crawling robot for agricultural planting |
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| CN108146534A (en) * | 2018-02-13 | 2018-06-12 | 顾荣祥 | A kind of solar powered quadruped robot of environmentally friendly construction |
| CN108927796B (en) * | 2018-06-07 | 2023-04-21 | 长安大学 | Four-foot bionic robot platform based on biological characteristics |
| CN111890341B (en) * | 2020-08-22 | 2024-05-14 | 浙江工业大学 | Robot similar to snake-shaped crawling |
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2021
- 2021-09-02 CN CN202111024054.8A patent/CN113728765B/en active Active
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