CN114532094A

CN114532094A - Intelligent robot for pruning plants such as date palm and oil palm

Info

Publication number: CN114532094A
Application number: CN202210158156.7A
Authority: CN
Inventors: 程双红; 徐中亮; 吴春燕; 魏凡翠; 王永林; 李东徽; 王有国; 白天; 吴雅文; 孟静; 张敬丽; 白成元; 王挥; 刘蕊; 吴翼; 朱辉; 赵松林; 叶剑秋; 曹红星; 晁祖德
Original assignee: Yunnan Agricultural University
Current assignee: Yunnan Agricultural University
Priority date: 2022-02-21
Filing date: 2022-02-21
Publication date: 2022-05-27
Anticipated expiration: 2042-02-21
Also published as: CN114532094B

Abstract

The invention belongs to the technical field and discloses an intelligent robot for pruning plants such as date palm, oil palm and the like, which comprises a machine body, a rotary cutter, a horizontal motion main body, a vertical motion main body and a driving main body, wherein the lower end of the driving main body is fixedly connected to the upper end of the machine body, the driving main body is electrically connected with the machine body, the vertical motion main body is slidably sleeved on the outer wall of the driving main body, the inner end of the vertical motion main body is in threaded connection with the inner end of the driving main body, the outer wall of the lower part of the horizontal motion main body is slidably arranged on the inner wall of the vertical motion main body, and the upper part of the horizontal motion main body is fixedly arranged on the upper part of the vertical motion main body. The invention cuts the target branches and leaves by adopting a mode that the motor drives the rotating shaft to rotate and then drives the blade to rotate, and simultaneously, the blocking cover is blocked at the upper part of the motor to prevent the branches and leaves from contacting with the connecting point of the motor and the rotating shaft, thereby reducing the possibility that the branches and leaves are wound with the rotary cutter in the cutting process.

Description

Intelligent robot for pruning plants such as date palm and oil palm

Technical Field

The invention belongs to the technical field of agricultural production equipment, and particularly relates to an intelligent robot for pruning plants such as date palms, oil palms and the like.

Background

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots are puppet robots built by the inventor of the invention, the inventor of the invention, the inventor of the invention, the inventor of the invention, the puppet, the.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the technology: when partial pruning robots adopt a cutter rotating at high speed to cut and prune branches and leaves, the branches and leaves cut off in the process are easily clamped at the joint of the rotating cutter head and the motor, and after long-time work, the running load of the machine is increased, so that the problem that the rotary cutter of the conventional pruning robot is easily clamped is caused.

Therefore, the intelligent robot for pruning the plants such as the date palm and the oil palm is provided to solve the problems.

Disclosure of Invention

The invention aims to solve the problem that a rotary cutter of a conventional robot for pruning is easy to clamp materials in the prior art, and provides an intelligent robot for pruning plants such as date palm and oil palm.

In order to achieve the purpose, the invention adopts the following technical scheme: an intelligent robot for pruning plants such as date palm and oil palm comprises a machine body, a rotary cutter, a horizontal motion main body, a vertical motion main body and a drive main body, wherein the lower end of the drive main body is fixedly connected to the upper end of the machine body, the drive main body is electrically connected with the machine body, the vertical motion main body is slidably sleeved on the outer wall of the drive main body, the inner end of the vertical motion main body is in threaded connection with the inner end of the drive main body, the outer wall of the lower part of the horizontal motion main body is slidably mounted on the inner wall of the vertical motion main body, the upper part of the horizontal motion main body is fixedly mounted on the upper part of the vertical motion main body, the lower end of the rotary cutter is fixedly connected to the front part of the horizontal motion main body, the rotary cutter comprises a blade, a rotating shaft, a baffle cover and a motor, the lower end of the motor is fixedly connected to the upper end of the horizontal motion main body, and the motor is electrically connected with the machine body, the pivot runs through fender cover fixed connection in the rotor upper end of motor, pivot and fender cover fixed connection, blade rotational symmetry fixed mounting is in the upper portion outer end of pivot.

The motor is adopted to drive the rotating shaft to rotate and then drive the blade to rotate, the target branches and leaves are cut, and meanwhile, the blocking cover is blocked at the upper part of the motor to prevent the branches and leaves from being in contact with the connecting point of the motor and the rotating shaft, so that the possibility that the branches and leaves are wound by the rotary cutter in the cutting process is reduced.

Preferably, the horizontal movement main part includes balladeur train, first step motor, first gear and rack, the upper end fixed connection of first gear is at the rotor lower extreme of first step motor, first step motor is fixed through the vertical motion main part, balladeur train and rack fixed connection are as an organic whole, the balladeur train slides with the rack and runs through the vertical movement main part, first gear and rack toothing, first step motor is connected with the organism electricity, the lower extreme fixed connection of motor is in the upper end of balladeur train.

The mode that the horizontal movement main body drives the rotary cutter to adjust the horizontal distance is adopted, so that the rotary cutter is convenient to replace the cutting position.

Preferably, the outer wall parcel of horizontal motion main part has the leather sheath, balladeur train and rack slip alternate the inner wall at the leather sheath, the leather sheath is provided with a pair ofly, the balladeur train is passed through to the one end of leather sheath and is fixed, the other end and the vertical motion main part of leather sheath are fixed.

The leather sleeve is adopted to block the gap between the sliding frame and the vertical movement main body and the gap between the rack and the vertical movement main body to prevent foreign matters from being clamped.

Preferably, a buffer ring is arranged at the front part of the sliding frame, and the buffer ring is fixedly sleeved with the sliding frame.

The adoption cushion ring cushions the mode of balladeur train to the impact of vertical motion main part, has ensured the life of balladeur train and vertical motion main part.

Preferably, the horizontal movement body further comprises a balance weight, and the upper part of the balance weight is fixedly connected to the rear ends of the carriage and the rack.

The gravity of the balance block is utilized to reduce the forward-leaning gravity influence of the horizontal motion main body, and the using balance degree is improved.

Preferably, the vertical motion main part includes slide, guide pin bushing, spring, extrusion thread piece and thread piece, first step motor fixed connection is at the upper portion inner wall of slide, balladeur train and rack slide run through the slide, the slide sliding sleeve is at the outer wall of drive main part, guide pin bushing fixed connection is at the side of slide, the one end fixed connection of spring is at the outer wall of guide pin bushing, the other end fixed connection of spring is at the outer wall of extrusion thread piece, extrusion thread piece slides and runs through to the inner wall of slide, extrusion thread piece and thread piece screw clamp are in the inner of drive main part.

Adopt the spring to support the elasticity of extrusion screw thread piece, after extrusion screw thread piece and the inside card of screw thread piece go into the foreign matter, can break away from the control of drive main part through the mode of extrusion screw thread piece extrusion spring, prevent drive main part overload operation, improved drive main part operation security.

Preferably, the vertical motion main body further comprises a guide rod, one end of the guide rod is fixedly connected to the outer end of the extrusion thread block, the guide rod penetrates through the guide sleeve in a sliding mode, and the spring is sleeved on the outer side of the guide rod in a sliding mode.

The guide rod is adopted to guide the deformation direction of the spring, so that the stability of the deformation and contraction state of the spring is improved.

Preferably, the driving main body comprises a guide frame, a threaded column, a second stepping motor, a second gear and a third stepping motor, the lower ends of the second stepping motor and the third stepping motor are fixed through a machine body, the second stepping motor and the third stepping motor are electrically connected with the machine body, the sliding seat is slidably sleeved on the outer wall of the guide frame, the threaded block and the extrusion threaded block are clamped on the outer wall of the threaded column in a threaded manner, the upper end of the threaded column is rotatably installed on the upper portion of the guide frame, the lower end of the guide frame is fixedly connected to the upper end of a rotor of the second stepping motor, the lower end of the second gear is fixedly connected to the lower end of the rotor of the third stepping motor, a balance support is meshed with the side end of the second gear, and the balance support is rotatably installed on the upper portion of the second stepping motor.

The second gear is driven by the third stepping motor to drive the balance support to rotate, the supporting direction of the balance support is adjusted, the third stepping motor is used for matching the working direction of the horizontal movement main body, the purpose of pertinently supporting is achieved, and therefore the working stability of the device is improved.

Preferably, the upper side end of the guide frame is fixedly connected with a limiting block.

The mode that the limiting block limits the upward sliding amplitude of the sliding seat is adopted, so that the sliding seat is prevented from being separated from the guide frame.

Preferably, the driving body further comprises hydraulic rods, and the hydraulic rods are symmetrically and fixedly connected to the side ends of the balance bracket.

The balance support is convenient to rotate and then support with the ground through the hydraulic rod.

In conclusion, the technical effects and advantages of the invention are as follows: 1. the motor is adopted to drive the rotating shaft to rotate and then drive the blade to rotate, the target branches and leaves are cut, and meanwhile, the blocking cover is blocked at the upper part of the motor to prevent the branches and leaves from being in contact with the connecting point of the motor and the rotating shaft, so that the possibility that the branches and leaves are wound by the rotary cutter in the cutting process is reduced.

2. Adopt the spring to support the elasticity of extrusion screw thread piece, after extrusion screw thread piece and the inside card of screw thread piece go into the foreign matter, can break away from the control of drive main part through the mode of extrusion screw thread piece extrusion spring, prevent drive main part overload operation, improved drive main part operation security.

3. The second gear is driven by the third stepping motor to drive the rotation direction of the balance support, the supporting direction of the balance support is adjusted, the working direction of the horizontal movement main body is matched, the targeted supporting effect is achieved, and the working stability of the device is improved.

Drawings

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

FIG. 2 is a schematic view of a rotary cutter according to the present invention;

FIG. 3 is a schematic view of the horizontal motion body of the present invention in a disassembled configuration;

FIG. 4 is a schematic illustration of the disassembled structure of the vertical motion body of the present invention;

fig. 5 is a schematic structural diagram of the driving body of the present invention.

In the figure: 1. a body; 2. rotating the cutter; 3. a horizontal moving body; 4. a vertical moving body; 5. a drive body; 6. a leather sheath; 21. a blade; 22. a rotating shaft; 23. a shield; 24. a motor; 31. a carriage; 32. a first stepper motor; 33. a first gear; 34. a rack; 35. a counterbalance; 41. a slide base; 42. a guide sleeve; 43. a guide bar; 44. a spring; 45. extruding the thread block; 46. a thread block; 51. a guide frame; 52. a threaded post; 53. a second stepping motor; 54. a second gear; 55. a third step motor; 56. a balance bracket; 57. a hydraulic rod.

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.

Referring to fig. 1 and 2, an intelligent robot for pruning date palm, oil palm and other plants comprises a machine body 1, a rotary cutter 2, a horizontal motion main body 3, a vertical motion main body 4 and a drive main body 5, wherein the lower end of the drive main body 5 is fixedly connected to the upper end of the machine body 1, the drive main body 5 is electrically connected with the machine body 1, the vertical motion main body 4 is slidably sleeved on the outer wall of the drive main body 5, the inner end of the vertical motion main body 4 is in threaded connection with the inner end of the drive main body 5, the outer wall of the lower part of the horizontal motion main body 3 is slidably mounted on the inner wall of the vertical motion main body 4, the upper part of the horizontal motion main body 3 is fixedly mounted on the upper part of the vertical motion main body 4, the lower end of the rotary cutter 2 is fixedly connected to the front part of the horizontal motion main body 3, the rotary cutter 2 comprises a blade 21, a rotating shaft 22, a baffle cover 23 and a motor 24, and the lower end of the motor 24 is fixedly connected to the upper end of the horizontal motion main body 3, the motor 24 is electrically connected with the machine body 1, the rotating shaft 22 penetrates through the blocking cover 23 and is fixedly connected to the upper end of a rotor of the motor 24, the rotating shaft 22 is fixedly connected with the blocking cover 23, and the blades 21 are fixedly arranged at the outer end of the upper portion of the rotating shaft 22 in a rotationally symmetrical mode. The target branches and leaves are cut in a mode that the motor 24 drives the rotating shaft 22 to rotate and then drives the blade 21 to rotate, and meanwhile, the blocking cover 23 is blocked at the upper part of the motor 24 to prevent the branches and leaves from contacting with the connecting point of the motor 24 and the rotating shaft 22.

Referring to fig. 3, the horizontal movement body 3 includes a carriage 31, a first stepping motor 32, a first gear 33 and a rack 34, an upper end of the first gear 33 is fixedly connected to a lower end of a rotor of the first stepping motor 32, the first stepping motor 32 is fixed by the vertical movement body 4, the carriage 31 and the rack 34 are fixedly connected into a whole, the carriage 31 and the rack 34 slidably penetrate through the vertical movement body 4, the first gear 33 is engaged with the rack 34, the first stepping motor 32 is electrically connected to the body 1, and a lower end of the motor 24 is fixedly connected to an upper end of the carriage 31. The first gear 33 is driven to rotate by the first stepping motor 32, so that the first gear 33 drives the rack 34 to drive the sliding frame 31 to move, and the sliding frame 31 drives the rotary cutter 2 to horizontally slide for adjusting the distance.

Referring to fig. 1 and 3, the leather sheath 6 wraps the outer wall of the horizontal moving body 3, the sliding frame 31 and the rack 34 are inserted into the inner wall of the leather sheath 6 in a sliding manner, a pair of leather sheaths 6 are arranged, one end of each leather sheath 6 is fixed through the sliding frame 31, and the other end of each leather sheath 6 is fixed with the vertical moving body 4. The gap between the carriage 31 and the rack 34 and the vertically moving body 4 is shielded by the leather sheath 6.

Referring to fig. 3, a buffer ring is disposed at the front of the carriage 31, and the buffer ring is fixedly sleeved with the carriage 31. The sliding range of the carriage 31 is restricted by the cushion ring while the impact force is cushioned.

Referring to fig. 3, the horizontal movement body 3 further includes a balance weight 35, and an upper portion of the balance weight 35 is fixedly connected to the rear ends of the carriage 31 and the rack 34. The weight 35 is used to balance the front gravity of the horizontally moving body 3.

Referring to fig. 3 and 4, the vertical movement body 4 includes a sliding base 41, a guide sleeve 42, a spring 44, an extrusion screw block 45 and a screw block 46, the first stepping motor 32 is fixedly connected to an upper inner wall of the sliding base 41, the sliding base 31 and the rack 34 slidably penetrate through the sliding base 41, the sliding base 41 is slidably sleeved on an outer wall of the driving body 5, the guide sleeve 42 is fixedly connected to a side end of the sliding base 41, one end of the spring 44 is fixedly connected to an outer wall of the guide sleeve 42, the other end of the spring 44 is fixedly connected to an outer wall of the extrusion screw block 45, the extrusion screw block 45 slidably penetrates through the inner wall of the sliding base 41, and the extrusion screw block 45 and the screw block 46 are threadedly clamped at an inner end of the driving body 5. The driving main body 5 drives the extrusion thread block 45 and the thread block 46 to move, the extrusion thread block 45 and the thread block 46 are used for driving the sliding seat 41 to move up and down, the sliding seat 41 is used for driving the horizontal movement main body 3 to move up and down, the up and down position of the horizontal movement main body 3 is adjusted, and the spring 44 is used for supporting the elastic force of the extrusion thread block 45 to prevent the driving main body 5 from running in an overload mode.

Referring to fig. 4, the vertical movement body 4 further includes a guide rod 43, one end of the guide rod 43 is fixedly connected to an outer end of the extrusion screw block 45, the guide rod 43 slidably penetrates through the guide sleeve 42, and the spring 44 is slidably sleeved outside the guide rod 43. The direction of deformation of the spring 44 is guided by the guide rod 43.

Referring to fig. 5, the driving body 5 includes a guide frame 51, a threaded column 52, a second stepping motor 53, a second gear 54 and a third stepping motor 55, lower ends of the second stepping motor 53 and the third stepping motor 55 are fixed by the machine body 1, the second stepping motor 53 and the third stepping motor 55 are electrically connected to the machine body 1, the sliding base 41 is slidably fitted on an outer wall of the guide frame 51, the threaded block 46 and the extrusion threaded block 45 are threadedly clamped on an outer wall of the threaded column 52, an upper end of the threaded column 52 is rotatably mounted on an upper portion of the guide frame 51, a lower end of the guide frame 51 is fixedly connected to an upper end of a rotor of the second stepping motor 53, a lower end of the second gear 54 is fixedly connected to a lower end of a rotor of the third stepping motor 55, a side end of the second gear 54 is engaged with a balance bracket 56, and the balance bracket 56 is rotatably mounted on an upper portion of the second stepping motor 53. The third stepping motor 55 is utilized to drive the second gear 54 to drive the balance bracket 56 to rotate, so as to adjust the supporting direction of the balance bracket 56.

Referring to fig. 5, a limiting block is fixedly connected to an upper side end of the guide frame 51. The limiting block is used for limiting the upward sliding range of the sliding seat 41.

Referring to fig. 5, the driving body 5 further includes hydraulic rods 57, and the hydraulic rods 57 are symmetrically and fixedly connected to the side ends of the balance bracket 56. When the balance bracket 56 is rotated, the hydraulic rod 57 is extended and supported by the hydraulic rod 57 on the ground.

The working principle is as follows: utilize third step motor 55 to drive second gear 54, drive balanced support 56 direction of rotation through second gear 54, for the working direction of matching horizontal motion main part 3, when needing to walk, the reverse balanced support 56 that will turn back of the same reason, make balanced support 56 operate and keep within three hundred sixty degrees, drive screw post 52 through second step motor 53 and rotate, make extrusion screw block 45 and screw block 46 drive slide 41 up-and-down direction and move, drive horizontal motion main part 3 up-and-down direction through slide 41 and move, adjust the up-and-down position of horizontal motion main part 3, drive pivot 22 through motor 24 and rotate and drive the mode cutting target branch and leaf of blade 21 commentaries on classics again, utilize fender cover 23 to keep off on motor 24 upper portion simultaneously, prevent branch and leaf and motor 24 and pivot 22's tie point contact.

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 equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The utility model provides an intelligent robot that is used for plants such as date palm, oil palm to prune, includes organism (1), rotary cutter (2), horizontal motion main part (3), vertical motion main part (4) and drive main part (5), its characterized in that: the lower extreme fixed connection of drive main part (5) is in the upper end of organism (1), drive main part (5) is connected with organism (1) electricity, vertical motion main part (4) sliding sleeve is at the outer wall of drive main part (5), the inner of vertical motion main part (4) and the inner threaded connection of drive main part (5), the lower part outer wall slidable mounting of horizontal motion main part (3) is at the inner wall of vertical motion main part (4), the upper portion fixed mounting of horizontal motion main part (3) is on the upper portion of vertical motion main part (4), the lower extreme fixed connection of rotary cutter (2) is in the front portion of horizontal motion main part (3), rotary cutter (2) includes blade (21), pivot (22), fender cover (23) and motor (24), the lower extreme fixed connection of motor (24) is in the upper end of horizontal motion main part (3), motor (24) are connected with organism (1) electricity, pivot (22) run through fender cover (23) fixed connection in the rotor upper end of motor (24), pivot (22) and fender cover (23) fixed connection, blade (21) rotational symmetry fixed mounting is in the upper portion outer end of pivot (22).

2. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 1, wherein the robot comprises: horizontal motion main part (3) include balladeur train (31), first step motor (32), first gear (33) and rack (34), the upper end fixed connection of first gear (33) is at the rotor lower extreme of first step motor (32), first step motor (32) are fixed through vertical motion main part (4), balladeur train (31) and rack (34) fixed connection are as an organic whole, vertical motion main part (4) is run through in balladeur train (31) and rack (34) slip, first gear (33) and rack (34) meshing, first step motor (32) are connected with organism (1) electricity, the lower extreme fixed connection of motor (24) is in the upper end of balladeur train (31).

3. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 2, characterized in that: the outer wall parcel of horizontal motion main part (3) has leather sheath (6), balladeur train (31) and rack (34) slip interlude are at the inner wall of leather sheath (6), leather sheath (6) are provided with a pair ofly, it is fixed that balladeur train (31) are passed through to the one end of leather sheath (6), the other end and the vertical motion main part (4) of leather sheath (6) are fixed.

4. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 2, characterized in that: the front part of the sliding frame (31) is provided with a buffer ring, and the buffer ring is fixedly sleeved with the sliding frame (31).

5. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 2, characterized in that: the horizontal motion body (3) further comprises a balance weight (35), and the upper part of the balance weight (35) is fixedly connected to the rear ends of the sliding frame (31) and the rack (34).

6. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 2, characterized in that: vertical motion main part (4) are including slide (41), guide pin bushing (42), spring (44), extrusion screw block (45) and screw block (46), first step motor (32) fixed connection is at the upper portion inner wall of slide (41), balladeur train (31) and rack (34) slide and run through slide (41), slide (41) sliding sleeve is at the outer wall of drive main part (5), guide pin bushing (42) fixed connection is at the side of slide (41), the one end fixed connection of spring (44) is at the outer wall of guide pin bushing (42), the other end fixed connection of spring (44) is at the outer wall of extrusion screw block (45), extrusion screw block (45) slides and runs through to the inner wall of slide (41), extrusion screw block (45) and screw block (46) thread clamp are in the inner of drive main part (5).

7. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 6, wherein the robot comprises: the vertical motion main body (4) further comprises a guide rod (43), one end of the guide rod (43) is fixedly connected to the outer end of the extrusion thread block (45), the guide rod (43) penetrates through the guide sleeve (42) in a sliding mode, and the spring (44) is sleeved on the outer side of the guide rod (43) in a sliding mode.

8. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 6, wherein the robot comprises: the driving main body (5) comprises a guide frame (51), a threaded column (52), a second stepping motor (53), a second gear (54) and a third stepping motor (55), the lower ends of the second stepping motor (53) and the third stepping motor (55) are fixed through the machine body (1), the second stepping motor (53) and the third stepping motor (55) are electrically connected with the machine body (1), the sliding seat (41) is sleeved on the outer wall of the guide frame (51) in a sliding mode, the thread block (46) and the extrusion thread block (45) are clamped on the outer wall of the threaded column (52) in a threaded mode, the upper end of the threaded column (52) is rotatably installed on the upper portion of the guide frame (51), the lower end of the guide frame (51) is fixedly connected to the upper end of a rotor of the second stepping motor (53), the lower end of the second gear (54) is fixedly connected to the lower end of the rotor of the third stepping motor (55), and a balance support (56) is meshed with the side end of the second gear (54), the balance bracket (56) is rotatably installed at the upper part of the second stepping motor (53).

9. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 8, wherein the robot comprises: the upper side end of the guide frame (51) is fixedly connected with a limiting block.

10. The intelligent robot for pruning the date palm, the oil palm and other plants according to claim 8, wherein the robot comprises: the driving body (5) further comprises hydraulic rods (57), and the hydraulic rods (57) are symmetrically and fixedly connected to the side ends of the balance brackets (56).