CN114467419A - Multi-crop sowing robot in hilly and mountainous areas - Google Patents
Multi-crop sowing robot in hilly and mountainous areas Download PDFInfo
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- CN114467419A CN114467419A CN202210116317.6A CN202210116317A CN114467419A CN 114467419 A CN114467419 A CN 114467419A CN 202210116317 A CN202210116317 A CN 202210116317A CN 114467419 A CN114467419 A CN 114467419A
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- 238000009331 sowing Methods 0.000 title claims abstract description 25
- 238000010899 nucleation Methods 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000002689 soil Substances 0.000 claims description 24
- 230000035939 shock Effects 0.000 claims description 20
- 238000003825 pressing Methods 0.000 claims description 15
- 230000001629 suppression Effects 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 11
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- 238000005516 engineering process Methods 0.000 description 6
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- 244000068988 Glycine max Species 0.000 description 2
- 235000010469 Glycine max Nutrition 0.000 description 2
- 240000006394 Sorghum bicolor Species 0.000 description 2
- 235000011684 Sorghum saccharatum Nutrition 0.000 description 2
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- 238000012271 agricultural production Methods 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
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
- A01C5/068—Furrow packing devices, e.g. press wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Sowing (AREA)
Abstract
The invention discloses a multi-crop sowing robot in hilly and mountainous areas, which comprises a robot chassis, a lifting assembly, a sowing assembly and an electric control assembly, wherein the robot chassis is provided with a lifting mechanism; the robot chassis comprises a chassis frame and four module wheels, wherein each module wheel comprises a hub motor and a steering motor; the lifting assembly comprises a lifting mechanism, an earthing press mechanism and a furrow opener, the lifting mechanism comprises a lifting motor, a crank connecting rod assembly and a lifting frame, and the earthing press mechanism and the furrow opener are both arranged on the lifting frame; the seeding assembly is arranged on the chassis frame, and the output end of the seeding assembly is arranged on the furrow opener; the electric control assembly comprises a control box and a battery box, wherein the control box and the battery box are both installed on the chassis frame, and the hub motor, the steering motor, the lifting motor, the seeding assembly and the battery box are all electrically connected with the control box. The invention can realize the driving, steering, lifting and seeding of the seeding robot through electric control, has high integration level and is suitable for the field operation environment.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a multi-crop sowing robot in hilly and mountainous areas.
Background
The area of hilly and mountainous areas in China is wide, and the planted crops are various and mainly comprise corns, soybeans, peanuts, sorghum and the like. However, the agricultural mechanized operation in hilly and mountainous areas has a limitation due to the following factors. (1) The topography in hills mountain region is complicated changeable, more frequent than flat former region fluctuation, the landmass is little and the shape is irregular, and the operation can't go to the fields to advanced import large-scale machinery, and in addition the rainy weather in hills mountain region, the problem that climbing ability is not enough, the operation is difficult often can appear to traditional agricultural machine. (2) Some comparatively abominable operational environment exists in the agricultural operation in hilly mountain area, for example when the great landmass operation of slope, dangerous condition such as the agricultural machinery of taking place easily turns on one's side has seriously influenced mechanical operation personnel's safety. (3) In the traditional agricultural operation process, the agricultural machinery commonly used by people is driven by fuel oil or hydraulic power with large energy loss, the two driving modes have obvious defects, the fuel oil power machinery has large noise, and the fuel oil leakage causes serious pollution to the land; hydraulic power can add complexity to the overall structure of the agricultural machine.
In recent years, under the promotion of remote communication technology, microelectronic technology, automatic control technology, sensor technology and the like, the robot technology is rapidly transferred from the traditional industrial field to the innovative agricultural field, and the agricultural wheel type robot provides an effective solution for reducing the labor intensity and improving the agricultural production efficiency.
The traditional agricultural wheeled robot has a relatively complex structure, has some defects in the aspects of steering capacity, instantaneous driving capacity, road surface environment adaptive capacity, maintainability, research and development design cycle and the like, and cannot adapt to future application requirements. In addition, in terms of mobility, the two-wheel drive agricultural robot has insufficient climbing power and limited environment adaptability, and on the other hand, part of four-wheel independent drive agricultural robot research is mainly based on microminiature or indoor application and the like, cannot meet the working condition requirement of field operation of the agricultural robot, and lacks of a reasonable production and manufacturing mode, so that the application and popularization difficulty of the agricultural robot is high.
Most of the seeding robots that use at present change the depth of planting through mechanical type ground regulation depth wheel height to lift up the furrow opener through adjusting back suspension height, the structure integration degree is not high.
Therefore, the multi-crop sowing robot in the hilly and mountainous areas is provided.
Disclosure of Invention
The invention aims to provide a multi-crop sowing robot in hilly and mountainous areas, and aims to solve or improve at least one of the technical problems.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a multi-crop sowing robot in hilly and mountainous areas, which comprises a robot chassis, a lifting assembly, a sowing assembly and an electric control assembly, wherein the robot chassis is provided with a lifting mechanism;
the robot chassis comprises a chassis frame and four module wheels, wherein each module wheel comprises a hub motor and a steering motor, wherein the hub motors are arranged at four corners of the bottom of the chassis frame, and the steering motors are in driving connection with the hub motors;
the lifting assembly comprises a lifting mechanism, an earthing pressing mechanism and a furrow opener, the lifting mechanism comprises a lifting motor arranged on the chassis frame, a crank connecting rod assembly fixedly connected to an output shaft of the lifting motor and a lifting frame fixedly connected to one end, far away from the lifting motor, of the crank connecting rod assembly, and the earthing pressing mechanism and the furrow opener are both arranged on the lifting frame;
the seeding assembly is arranged on the chassis frame, and the output end of the seeding assembly is arranged on the furrow opener;
the electric control assembly comprises a control box and a battery box, the control box and the battery box are all installed on the chassis frame, and the hub motor, the steering motor, the lifting motor, the seeding assembly and the battery box are all electrically connected with the control box.
Preferably, the four steering motors are respectively and fixedly installed at four corners of the top surface of the chassis frame through a steering shaft frame, a steering connection part is installed on an output shaft of each steering motor, a shock absorber is installed at the bottom of each steering connection part, a hub end connection part is installed at the bottom of each shock absorber, the bottom of each hub end connection part is fixedly connected with the corresponding hub motor, a shock absorption support frame is arranged on one side of each shock absorber, and two ends of each shock absorption support frame are respectively and rotatably connected with the corresponding hub end connection part and the corresponding steering connection part.
Preferably, the crank connecting rod assembly comprises a lifting crank, a lifting connecting rod and a fixed mounting, the lifting connecting rod and the fixed mounting are connected to the bottom of the lifting crank, the limiting frame is arranged at the bottom of the chassis frame, a sliding groove is vertically formed in the limiting frame, the lifting connecting rod is far away from one end of the lifting crank and fixedly connected with the lifting frame, a protrusion in the lifting frame is connected with the limiting frame in a sliding mode, the top of the lifting crank is fixedly mounted on an output shaft of a lifting motor through an elastic coupling, and the lifting motor is fixedly mounted on the chassis frame through a lifting motor base.
Preferably, earthing suppression mechanism is equipped with two sets ofly, earthing suppression mechanism is connected including rotating earthing wheel frame, two on the lifting frame are connected the earthing wheel of earthing wheel frame bottom, rigid coupling are in suppression gear regulating plate, the torsional spring at earthing wheel frame top, set up a plurality of regulation shelves mouth on the suppression gear regulating plate, two earthing wheel frame rotates through the pivot respectively and connects the both ends of lifting frame, the torsional spring cover is established outside the pivot, the one end of torsional spring with lifting frame rigid coupling, the other end with adjust the shelves mouth and can dismantle the connection.
Preferably, the number of the furrow openers is two, the two furrow openers are fixedly mounted at two ends of the lifting frame, and the two furrow openers are positioned at the outer sides of the two soil covering wheel frames.
Preferably, the seeding assembly is provided with two sets, the seeding assembly comprises a seed metering device, a driving motor connected with the seed metering device in a driving mode, and a seed guide pipe fixedly connected with the output end of the seed metering device, the seed metering device is fixedly installed on the chassis frame through a seed metering device base, the driving motor is fixedly installed on the chassis frame through a driving motor base, and the seed guide pipe is fixedly installed on the furrow opener.
Preferably, the control box comprises a motor controller and a single chip microcomputer electrically connected with the motor controller, the motor controller and the single chip microcomputer are installed on the chassis frame, and the motor controller is electrically connected with the hub motor, the steering motor, the lifting motor, the driving motor and the battery box.
Preferably, the furrow opener comprises a furrow handle fixedly installed at the end part of the lifting frame, a core ploughshare fixedly connected at the bottom of the side wall of the furrow handle and a wing plate fixedly connected at the end part of the core ploughshare, the seed guide pipe is fixedly installed on the side wall of the furrow handle far away from the core ploughshare, and the furrow handles are positioned at the outer sides of the two soil covering wheel racks.
The invention discloses the following technical effects:
1. the invention designs a four-wheel independently-driven and independently-steered wheeled robot by adopting a modular wheel idea integrating driving, steering, suspension and braking and a method of multi-wheel integration and remote electric control technology on the basis of a traditional wheeled mobile robot chassis, and the robot mainly completes the seeding operation on various crops such as corn, soybean, sorghum, peanut and the like, thereby improving the reusability of the robot.
2. The robot is driven to walk by adopting distributed power, namely the control box controls the rotation speed or torque of each hub motor and each steering motor respectively to control the walking and steering of the wheeled robot, the walking speed and the driving force are easy to distribute, the power is more sufficient, the climbing performance is stronger, the steering is controlled independently, the steering is more flexible, the instantaneous steering performance is superior, the steering adaptability of the robot to uneven road surfaces in complex environments is obviously improved, and compared with the traditional centralized driving, the robot has better field block passing performance.
3. The remote electric control assembly is used for the robot chassis, so that dangerous conditions of machine rollover and the like faced by an operator can be avoided, the safety is higher, the robot chassis can be debugged on site in time according to actual field operation conditions, and the like.
4. The invention innovatively designs an electric control lifting assembly, the height of a lifting frame is controlled by a lifting motor and a crank connecting rod assembly, so that the ditching depth of a ditcher and the lifting and the putting down of an earthing press mechanism are adjusted, the control box is used for controlling the lifting assembly, the smoothness is good, the control precision is high, the ground clearance of a chassis can be increased after the lifting frame is lifted, and the chassis frame with high ground clearance is more favorable for field transportation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an isometric view of a multi-crop planting robot in hilly and mountainous areas in accordance with the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is an isometric view of the lift assembly of the present invention;
FIG. 4 is a partial enlarged view of B in FIG. 1;
FIG. 5 is a front view of the multi-crop sowing robot in hilly and mountainous areas of the present invention;
wherein, 1, a robot chassis; 11. a chassis frame; 12. a module wheel; 121. a hub motor; 122. a hub end connection member; 123. a shock-absorbing support frame; 124. a shock absorber; 125. a steering link member; 126. a steering motor; 127. a steering shaft frame; 2. a lifting assembly; 21. a lifting mechanism; 211. a lifting motor; 212. an elastic coupling; 213. lifting the crank; 214. a lifting link; 215. lifting the frame; 216. a limiting frame; 217. lifting the motor base; 22. a soil covering and compacting mechanism; 221. soil covering wheels; 222. a soil covering wheel frame; 223. a suppressing gear adjusting plate; 224. a torsion spring; 23. a furrow opener; 231. a core share; 232. a share handle; 233. a wing plate; 3. a seeding assembly; 31. a seed sowing device; 32. a seed guiding pipe; 33. a seed sowing device base; 34. a drive motor; 35. a drive motor base; 4. a control box; 41. a motor controller; 42. a single chip microcomputer; 5. a battery box.
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.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Referring to fig. 1-5, the invention provides a multi-crop sowing robot in hilly and mountainous areas, which comprises a robot chassis 1, a lifting assembly 2, a sowing assembly 3 and an electric control assembly;
the robot chassis 1 comprises a chassis frame 11 and four module wheels 12, wherein each module wheel 12 comprises a hub motor 121 arranged at four corners of the bottom of the chassis frame 11 and a steering motor 126 in driving connection with the hub motor 121; with such arrangement, the hub motor 121 can perform forward rotation, reverse rotation and rotation speed adjustment under the action of the control box 4, so as to realize forward and backward movement and speed adjustment of the robot chassis 1, and the hub motor 121 is driven by the steering motor 126 to complete steering movement;
the lifting assembly 2 comprises a lifting mechanism 21, an earthing press mechanism 22 and a furrow opener 23, wherein the lifting mechanism 21 comprises a lifting motor 211 arranged on the chassis frame 11, a crank connecting rod assembly fixedly connected to an output shaft of the lifting motor 211 and a lifting frame 215 fixedly connected to one end, far away from the lifting motor 211, of the crank connecting rod assembly, and the earthing press mechanism 22 and the furrow opener 23 are both arranged on the lifting frame 215; with the arrangement, the lifting motor 211 rotates to drive the crank connecting rod assembly to rotate, so as to drive the lifting frame 215 to vertically move upwards, and the purpose of vertical lifting is achieved; the earthing and pressing mechanism 22 is positioned at the rear side of the furrow opener 23, and after the furrow opener 23 finishes furrowing and the seeding assembly 3 seeds, the earthing and pressing mechanism 22 carries out subsequent earthing and pressing operation;
the seeding assembly 3 is arranged on the chassis frame 11, and the output end of the seeding assembly 3 is arranged on the furrow opener 23; the output end of the sowing assembly 3 is arranged on the reverse side of the ditching surface of the ditcher 23; with the arrangement, after the furrow opener 23 finishes furrowing, the sowing assembly 3 can be used for sowing;
the electric control assembly comprises a control box 4 and a battery box 5, the control box 4 and the battery box 5 are both arranged on the chassis frame 11, and the hub motor 121, the steering motor 126, the lifting motor 211, the seeding assembly 3 and the battery box 5 are all electrically connected with the control box 4; so set up, battery box 5 is used for in-wheel motor 121, turn to motor 126, lifting motor 211, seeding assembly 3 power supply, and control box 4 is used for controlling in-wheel motor 121, turn to motor 126, lifting motor 211, seeding assembly 3, battery box 5 according to user's instruction, realizes control seeding robot's walking drive, turns to, lifting and seeding.
According to a further optimized scheme, four steering motors 126 are fixedly mounted at four corners of the top surface of the chassis frame 11 through steering shaft frames 127 respectively, a steering connecting part 125 is mounted on an output shaft of each steering motor 126, a shock absorber 124 is mounted at the bottom of each steering connecting part 125, a hub end connecting part 122 is mounted at the bottom of each shock absorber 124, the bottom of each hub end connecting part 122 is fixedly connected with a hub motor 121, a shock absorption support frame 123 is arranged on one side of each shock absorber 124, two ends of each shock absorption support frame 123 are rotatably connected with the hub end connecting part 122 and the steering connecting part 125 respectively, and a rotating shaft is arranged in the middle section of each shock absorption support frame 123; so set up, bumper shock absorber 124 and shock attenuation support frame 123 can play the shock attenuation effect, improve seeding robot's overall stability.
According to a further optimization scheme, the crank connecting rod assembly comprises a lifting crank 213, a lifting connecting rod 214 and a limiting frame 216, the lifting connecting rod 214 is rotatably connected to the bottom of the lifting crank 213, the limiting frame 216 is fixedly installed at the bottom of the chassis frame 11, a sliding groove is vertically formed in the limiting frame 216, one end, far away from the lifting crank 213, of the lifting connecting rod 214 is fixedly connected with the lifting frame 215, a protrusion on the lifting frame 215 is in sliding connection with the sliding groove in the limiting frame 216, the top of the lifting crank 213 is fixedly installed on an output shaft of the lifting motor 211 through an elastic coupling 212, and the lifting motor 211 is fixedly installed on the chassis frame 11 through a lifting motor base 217; so set up, control box 4 receives control lifting motor 211 after user's instruction and rotates to drive lifting crank 213 and rotate, thereby lifting crank 213 drives lifting connecting rod 214 motion, and lifting connecting rod 214 drives lifting frame 215 at last and moves in vertical direction under the limiting displacement of the spout of spacing 216, reaches the purpose of vertical lifting.
According to a further optimized scheme, two groups of soil covering and pressing mechanisms 22 are arranged, each soil covering and pressing mechanism 22 comprises a soil covering wheel frame 222 rotatably connected to the lifting frame 215, two soil covering wheels 221 rotatably connected to the bottom of the soil covering wheel frame 222, a pressing gear adjusting plate 223 fixedly connected to the top of the soil covering wheel frame 222 and a torsion spring 224, a plurality of adjusting gear openings are formed in the pressing gear adjusting plate 223, the two soil covering wheel frames 222 are respectively rotatably connected to two ends of the lifting frame 215 through rotating shafts, the torsion spring 224 is sleeved outside the rotating shafts, one end of the torsion spring 224 is fixedly connected with the lifting frame 215, and the other end of the torsion spring 224 is detachably connected with the adjusting gear openings; with the arrangement, the soil covering and pressing mechanism 22 can complete soil covering and pressing after seeding, and the soil covering wheels 221 are arranged in pairs at a certain angle with the longitudinal vertical plane of the machine body and are V-shaped, so that the soil covering and pressing effect can be achieved; install the different moment of torsion that can change torsional spring 224 in suppression gear regulating plate 223 through torsional spring 224's one end, and then produce different suppression pressure to earthing wheel frame 222 to the realization is adjusted the suppression dynamics of a plurality of gears of earthing wheel 221, is convenient for control the dynamics size of suppression.
In a further optimized scheme, two furrow openers 23 are arranged, the two furrow openers 23 are fixedly arranged at two ends of the lifting frame 215, and the two furrow openers 23 are positioned at the outer sides of the two soil covering wheel frames 222;
the seeding assemblies 3 are provided with two groups, each seeding assembly 3 comprises a seed metering device 31, a driving motor 34 in driving connection with the seed metering device 31 and a seed guide 32 fixedly connected to the output end of the seed metering device 31, the seed metering device 31 is fixedly arranged on the chassis frame 11 through a seed metering device base 33, the driving motor 34 is fixedly arranged on the chassis frame 11 through a driving motor base 35, and the seed guide 32 is fixedly arranged on the furrow opener 23; the seed guide tube 32 is fixedly arranged on the reverse side of the ditching surface of the ditcher 23, and is arranged in such a way that the driving motor 34 drives the materials in the seed metering device 31 to be guided out along the seed guide tube 32, thereby completing the seeding operation.
In a further optimized scheme, the furrow opener 23 comprises a furrow handle 232 fixedly arranged at the end part of the lifting frame 215, a core furrow 231 fixedly connected at the bottom of the side wall of the furrow handle 232 and a wing plate 233 fixedly connected at the end part of the core furrow 231, a seed guiding pipe 32 is fixedly arranged on the side wall of the furrow handle 232 far away from the core furrow 231, and the two furrow handles 232 are positioned at the outer sides of the two soil covering wheel frames 222; so set up, ditching field ground through core ploughshare 231, pterygoid lamina 233 is equipped with two, and two pterygoid laminas 233 rigid coupling are used for exporting the outside of pterygoid lamina 233 fast at the both ends of core ploughshare 231 with soil, are convenient for carry out follow-up operation.
In a further optimized scheme, the control box 4 comprises a motor controller 41 and a single chip microcomputer 42 electrically connected with the motor controller 41, the motor controller 41 and the single chip microcomputer 42 are both installed on the chassis frame 11, and the motor controller 41 is electrically connected with the hub motor 121, the steering motor 126, the lifting motor 211, the driving motor 34 and the battery box 5; the type of the singlechip 42 is an STM32 singlechip; so set up, put up the hot spot for the server through WIFI module ESP8266 on the STM32 singlechip and supply cell-phone APP to connect to receive the instruction that the cell-phone sent and control seeding robot's walking drive, turn to, lifting and seeding through STM32 singlechip.
The operation steps of the medium instruction of the invention are as follows:
forward or backward movement: after the mobile phone end sends a forward or backward instruction, the STM32 single chip microcomputer receives and processes the signal, and then the signal is sent to the motor controller 41, and the motor controller 41 controls the hub motor 121 to rotate forwards or backwards, so that the robot can drive forwards or backwards; the steering angle of the sowing robot is input through a mobile phone end, the STM32 single chip microcomputer receives and processes signals, and after the angle of each wheel needing to be deflected is calculated, an instruction is sent to the steering motor controller 41, so that the steering motors 126 of the wheels are controlled to rotate respectively, and the steering requirement of the whole machine is finally met;
lifting: cell-phone end APP sends the rotation instruction and gives STM32 singlechip, STM32 singlechip is received signal to motor controller 41 behind the instruction, motor controller controls lifting motor 211 again and rotates to drive lifting crank 213 and rotate, thereby lifting crank 213 drives lifting connecting rod 214 motion, lifting connecting rod 214 drives lifting frame 215 at last and moves in vertical direction under the limiting displacement of the spout of spacing 216, reach the purpose of vertical lifting.
Sowing: cell-phone end APP sends corresponding rotational speed instruction and gives STM32 singlechip, STM32 singlechip send signal to motor controller 41 after receiving the instruction, and motor controller 41 controls driving motor 34 again and rotates, and driving motor 34 passes through sprocket transmission power to seed metering device 31 to can require nimble rotational speed of adjusting in order to reach corresponding agronomy requirement according to the different plant spacing of seeding crop.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (8)
1. The utility model provides a hills and mountainous areas multi-crop seeding robot which characterized in that includes:
the robot chassis (1), the robot chassis (1) comprises a chassis frame (11) and four module wheels (12), the module wheels (12) comprise hub motors (121) arranged at four corners of the bottom of the chassis frame (11) and steering motors (126) in driving connection with the hub motors (121);
the soil covering and pressing device comprises a lifting assembly (2), wherein the lifting assembly (2) comprises a lifting mechanism (21), a soil covering and pressing mechanism (22) and a furrow opener (23), the lifting mechanism (21) comprises a lifting motor (211) installed on the chassis frame (11), a crank connecting rod assembly fixedly connected to an output shaft of the lifting motor (211) and a lifting frame (215) fixedly connected to one end, far away from the lifting motor (211), of the crank connecting rod assembly, and the soil covering and pressing mechanism (22) and the furrow opener (23) are installed on the lifting frame (215);
the seeding assembly (3) is mounted on the chassis frame (11), and the output end of the seeding assembly (3) is mounted on the furrow opener (23);
the electric control assembly comprises a control box (4) and a battery box (5), wherein the control box (4) and the battery box (5) are installed on the chassis frame (11), and the hub motor (121), the steering motor (126), the lifting motor (211), the seeding assembly (3) and the battery box (5) are electrically connected with the control box (4).
2. The hilly and mountainous area multi-crop sowing robot of claim 1, wherein: the four steering motors (126) are fixedly mounted at four corners of the top surface of the chassis frame (11) through steering shaft frames (127), steering connecting parts (125) are mounted on output shafts of the steering motors (126), shock absorbers (124) are mounted at the bottoms of the steering connecting parts (125), hub end connecting parts (122) are mounted at the bottoms of the shock absorbers (124), the bottoms of the hub end connecting parts (122) are fixedly connected with the hub motors (121), shock absorption support frames (123) are arranged on one sides of the shock absorbers (124), and two ends of each shock absorption support frame (123) are rotatably connected with the hub end connecting parts (122) and the steering connecting parts (125) respectively.
3. The hilly and mountainous area multi-crop sowing robot of claim 2, wherein: crank link assembly includes lifting crank (213), rotates to be connected lifting connecting rod (214), the fixed mounting of lifting crank (213) bottom be in spacing (216) of chassis frame (11) bottom, the spout has vertically been seted up on spacing (216), lifting connecting rod (214) are kept away from the one end of lifting crank (213) with lifting frame (215) rigid coupling, the arch on lifting frame (215) with on spacing (216) spout sliding connection, elastic coupling (212) fixed mounting is passed through at the top of lifting crank (213) on the output shaft of lifting motor (211), lifting motor (211) are in through lifting motor cabinet (217) fixed mounting on chassis frame (11).
4. The hilly and mountainous area multi-crop sowing robot of claim 3, wherein: earthing suppression mechanism (22) are equipped with two sets ofly, earthing suppression mechanism (22) are connected including rotating earthing wheel frame (222), two rotation on lifting frame (215) are connected earthing wheel (221), the rigid coupling of earthing wheel frame (222) bottom are in suppression gear regulating plate (223), torsional spring (224) at earthing wheel frame (222) top, seted up a plurality of regulation shelves mouth on suppression gear regulating plate (223), two earthing wheel frame (222) rotate through the pivot respectively and connect and be in the both ends of lifting frame (215), torsional spring (224) cover is established outside the pivot, the one end of torsional spring (224) with lifting frame (215) rigid coupling, the other end with adjust the connection can be dismantled to the shelves mouth.
5. The hilly and mountainous area multi-crop sowing robot of claim 4, wherein: the number of the furrow openers (23) is two, the two furrow openers (23) are fixedly arranged at two ends of the lifting frame (215), and the two furrow openers (23) are positioned at the outer sides of the two soil covering wheel frames (222).
6. The hilly and mountainous area multi-crop sowing robot of claim 5, wherein: seeding assembly (3) are equipped with two sets ofly, seeding assembly (3) including seed metering ware (31), with driving motor (34), the rigid coupling that seed metering ware (31) drive is connected are in seed guide pipe (32) of seed metering ware (31) output, seed metering ware (31) are in through seed metering ware base (33) fixed mounting on chassis frame (11), driving motor (34) are in through driving motor base (35) fixed mounting on chassis frame (11), seed guide pipe (32) fixed mounting be in on furrow opener (23).
7. The hilly and mountainous area multi-crop sowing robot of claim 6, wherein: the control box (4) comprises a motor controller (41) and a single chip microcomputer (42) electrically connected with the motor controller (41), the motor controller (41) and the single chip microcomputer (42) are installed on the chassis frame (11), and the motor controller (41) is electrically connected with the hub motor (121), the steering motor (126), the lifting motor (211), the driving motor (34) and the battery box (5).
8. The hilly and mountainous area multi-crop sowing robot of claim 6, wherein: the furrow opener (23) comprises a furrow handle (232) fixedly arranged at the end part of the lifting frame (215), a core furrow (231) fixedly connected at the bottom of the side wall of the furrow handle (232) and a wing plate (233) fixedly connected at the end part of the core furrow (231), a seed guiding pipe (32) is fixedly arranged on the side wall of the furrow handle (232) far away from the core furrow (231), and the furrow handles (232) are positioned at the outer sides of the two soil covering wheel racks (222).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210116317.6A CN114467419A (en) | 2022-02-07 | 2022-02-07 | Multi-crop sowing robot in hilly and mountainous areas |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210116317.6A CN114467419A (en) | 2022-02-07 | 2022-02-07 | Multi-crop sowing robot in hilly and mountainous areas |
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| US20150359162A1 (en) * | 2014-06-12 | 2015-12-17 | Needham Ag Technologies, Llc | Assembly for Angle Adjustment |
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| CN112930788A (en) * | 2021-03-24 | 2021-06-11 | 中国农业大学 | Remote control self-propelled district dibbler |
| CN213768189U (en) * | 2020-12-14 | 2021-07-23 | 重庆三峡学院 | Agricultural cross type variable-wheel-track electric mobile platform |
| CN215648166U (en) * | 2021-07-23 | 2022-01-28 | 中国农业大学 | Remote control self-propelled corn wide-narrow row crutch seedling planter |
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2022
- 2022-02-07 CN CN202210116317.6A patent/CN114467419A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150359162A1 (en) * | 2014-06-12 | 2015-12-17 | Needham Ag Technologies, Llc | Assembly for Angle Adjustment |
| CN111972084A (en) * | 2020-08-07 | 2020-11-24 | 湖州绿昌生态农业有限公司 | A ditching device for vegetable planting usefulness |
| CN213768189U (en) * | 2020-12-14 | 2021-07-23 | 重庆三峡学院 | Agricultural cross type variable-wheel-track electric mobile platform |
| CN112930788A (en) * | 2021-03-24 | 2021-06-11 | 中国农业大学 | Remote control self-propelled district dibbler |
| CN215648166U (en) * | 2021-07-23 | 2022-01-28 | 中国农业大学 | Remote control self-propelled corn wide-narrow row crutch seedling planter |
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Application publication date: 20220513 |