CN114868480A - Multipurpose agricultural intelligent robot - Google Patents
Multipurpose agricultural intelligent robot Download PDFInfo
- Publication number
- CN114868480A CN114868480A CN202210364624.6A CN202210364624A CN114868480A CN 114868480 A CN114868480 A CN 114868480A CN 202210364624 A CN202210364624 A CN 202210364624A CN 114868480 A CN114868480 A CN 114868480A
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- control system
- vehicle body
- castration
- module
- frame body
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 241001057636 Dracaena deremensis Species 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 240000008042 Zea mays Species 0.000 description 2
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 2
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H1/00—Processes for modifying genotypes ; Plants characterised by associated natural traits
- A01H1/02—Methods or apparatus for hybridisation; Artificial pollination ; Fertility
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Abstract
The invention discloses a multipurpose agricultural intelligent robot, which comprises a vehicle body, a control system and a battery module, wherein a frame body is arranged in the vehicle body, advancing power mechanisms which can slide along the left side and the right side and can lift up and down are respectively arranged at four corners of the frame body, a plurality of groups of castration mechanisms are symmetrically arranged at the bottom of the frame body in the vehicle body, a camera module is hung at the bottom of the frame body between the castration mechanisms, and a combined navigation positioning module is arranged at the top of the vehicle body; the control system comprises a main control system, a vehicle control unit, a mechanical arm control unit, a wireless data transmission module and a peripheral remote controller; and the battery module is used for supplying power to the advancing power mechanism, the castration mechanism, the camera module, the combined navigation positioning module and the control system. The invention can meet the use requirements in different scenes and has small limitation.
Description
Technical Field
The invention relates to a multipurpose agricultural intelligent robot, and belongs to the field of agricultural robots.
Background
With the national emphasis on agriculture and sustainable development, an intelligent and automatic agricultural robot becomes the mainstream of future development of agricultural machines, but the use of the robot in the agricultural field is still in the primary stage at present, and the existing agricultural robot has single realized function, cannot meet the use requirements under different scenes and has great limitation.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the multipurpose agricultural intelligent robot which can meet the use requirements in different scenes and has small limitation.
The technical scheme adopted by the invention is as follows:
a multi-purpose agricultural intelligent robot, which comprises a robot body,
the combined navigation positioning device comprises a vehicle body, wherein a frame body is arranged in the vehicle body, advancing power mechanisms which can slide along the left side and the right side and can lift up and down are arranged at the four corners of the frame body, a plurality of groups of castration mechanisms are symmetrically arranged at the bottom of the frame body in the vehicle body, a camera module is hung at the bottom of the frame body between the castration mechanisms, and a combined navigation positioning module is arranged at the top of the vehicle body;
the control system comprises a main control system, a vehicle control unit, a mechanical arm control unit, a wireless data transmission module and a peripheral remote controller, wherein a user operates the remote controller, transmits an operation instruction to the main control system through the wireless data transmission module, recognizes the operation instruction through the main control system and transmits the operation instruction to the vehicle control unit or the mechanical arm control unit, the vehicle control unit is used for receiving the instruction to control the motion of a traveling power mechanism, and the mechanical arm control unit is used for receiving the instruction to control the motion of a emasculation mechanism; the camera module provides image data for the main control system, the main control system identifies the image data and identifies the position of the operation target object through the collected position data of the combined navigation positioning module, and then the main control system controls the advancing power mechanism and the emasculation mechanism to act; the data on the camera module and the navigation positioning module collected by the main control system can be transmitted to the remote controller through the wireless data transmission module for the user to call and view;
and the battery module is used for supplying power to the advancing power mechanism, the castration mechanism, the camera module, the combined navigation positioning module and the control system.
Preferably, the power unit of marcing includes the fork, and the top of fork is provided with the intermediate junction seat, and the bottom of intermediate junction seat is provided with the rotatory steering mechanism of drive intermediate junction seat, is provided with automobile body elevating gear at the top of intermediate junction seat, and the bottom inboard of fork is provided with the walking wheel and is used for the pivoted in-wheel motor of walking wheel, extends to framework top and is provided with the fixed plate at two automobile body elevating gear's top at two automobile body elevating gear that lie in the automobile body with one side, the fixed plate passes through the bolt and is connected with the framework and can follow left right side direction slide adjusting.
Further preferably, the castration mechanism includes that the X-axis linear guide rail of establishing in the framework bottom along controlling the side direction and along the Z-axis linear guide rail of upper and lower side setting on X-axis linear guide rail, be provided with the bracing piece on the slider of Z-axis linear guide rail, the bottom of bracing piece is set up and is provided with two motor connecting rods forward or backward inclining and in the bottom of bracing piece, two brushless motor that turn to opposite that are provided with to the symmetry on two motor connecting rods, all be provided with the castration roller on two brushless motor's execution end, two castration rollers are located the low side of bracing piece slope end.
Further preferably, the castration mechanism further comprises a sheath arranged outside the two castration rollers, and the sheath is fixedly connected with the supporting rod.
Further preferred, camera module includes the camera connecting rod and sets up the camera in camera connecting rod bottom, the top and the framework bottom fixed connection of camera connecting rod.
Preferably, the front end of the vehicle body and the front end of the steering mechanism on the advancing power mechanism positioned at the front end of the vehicle body are provided with illuminating lamps, the illuminating lamps are powered by the battery module, a user operates the remote controller and transmits an operation instruction to the master control system through the wireless data transmission module, and then the master control system identifies the operation instruction and transmits the operation instruction to the vehicle control unit to control the action of the illuminating lamps.
Further preferred, still be provided with the divider at the front end of walking wheel, the divider includes the pyramid shell that the top set up forward, is provided with two limiting plates at the rear end bilateral symmetry of pyramid shell, is provided with the connecting rod at the top of pyramid shell, all is provided with the dead lever forward in every steering mechanism's bottom, is provided with the fixed cover that supplies the connecting rod to alternate at the front end of dead lever, connecting rod and fixed cover fixed connection.
The invention has the beneficial effects that:
1. unmanned driving, the amount of labor is reduced: related operations are completed by remotely controlling the robot within a sufficient remote control distance instead of manpower, so that labor force is saved;
2. and (3) designing the inclination angle of the castration mechanism: the operation direction of the castration roller is not completely vertical, but forms a certain angle with the vertical direction, so that the movement state of the castration roller is more consistent with the actual operation; another advantage is that the stamens are prevented from falling back to the corn plants due to an excessively large included angle between the throwing angle and the horizontal when being vertically thrown out, so that the workload of stamens recovery is increased;
3. the expansibility is good: castration mechanism adopts the modularization setting, can change into different devices in order to accomplish different work, if spray insecticide, fruit are picked, are weeded, can accomplish the work of other trades even: if a trailer hook is additionally arranged, short-distance cargo carrying can be carried; the alarm calling device is additionally arranged, so that the work of patrol for police and the like can be completed; the explosion-proof partition plate is additionally arranged, so that the explosion-proof detection work in a dangerous area can be completed manually.
Drawings
FIG. 1 is a perspective view of a robot;
FIG. 2 is a logical relationship diagram of the control system;
FIG. 3 is a rear view of the robot;
FIG. 4 is a left side view of the robot;
FIG. 5 is a schematic view of a structure of a traveling power mechanism;
FIG. 6 is a schematic structural view of a castration mechanism;
FIG. 7 is an enlarged view of the detasseling mechanism;
the main reference numerals in the figures have the following meanings:
1. the car body, 2, the power unit of marcing, 21, the wheel fork, 22, the intermediate junction seat, 23, steering mechanism, 24, car body elevating gear, 25, the walking wheel, 26, in-wheel motor, 3, castration mechanism, 31, the linear guide rail of X axle, 32, the linear guide rail of Z axle, 33, the bracing piece, 34, the motor connecting rod, 35, brushless motor, 36, castration roller, 37, the sheath, 4, camera module, 41, the camera connecting rod, 42, the camera, 5, the combination navigation orientation module, 6, the light, 7, the divider, 71, the pyramid shell, 72, limiting plate, 73, the connecting rod, 74, the dead lever, 75, the fixed cover.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1-7: the embodiment is a multipurpose agricultural intelligent robot, which comprises a vehicle body 1, a control system and a battery module,
a frame body is arranged in the vehicle body 1, advancing power mechanisms 2 which can slide along the left side and the right side and can lift up and down are arranged at the four corners of the frame body, then the distance between the advancing power mechanisms 2 at the two sides of the vehicle body 1 is adjusted according to the ridge width requirement, and then the fixed plate is fixedly connected with the frame body by bolts; a plurality of groups of castration mechanisms 3 are symmetrically arranged at the bottom of a frame body positioned in the vehicle body 1, a camera module 4 is hung at the bottom of the frame body positioned between the castration mechanisms 3, and a combined navigation positioning module 5 is arranged at the top of the vehicle body 1;
the control system comprises a main control system, a vehicle control unit, a mechanical arm control unit, a wireless data transmission module and a peripheral remote controller, wherein the main control system, the vehicle control unit, the mechanical arm control unit and the wireless data transmission module can be arranged on two sides of the front end of the vehicle body in an integrated mode in practical application, a user operates the remote controller and transmits an operation instruction to the main control system through the wireless data transmission module, the operation instruction is recognized through the main control system and then transmitted to the vehicle control unit or the mechanical arm control unit, the vehicle control unit is used for receiving the instruction to control the action of the advancing power mechanism 2, and the mechanical arm control unit is used for receiving the instruction to control the action of the emasculation mechanism 3; in practical application, the camera module 4 provides image data for the main control system, an AI recognition algorithm is operated in the main control system, the position of the operation target object is recognized by utilizing the image data and the collected position data of the combined navigation positioning module 5, and then the advancing power mechanism 2 and the emasculation mechanism 3 are controlled to act; the data on the camera module 4 and the navigation positioning module 5 collected by the main control system can be transmitted to the remote controller through the wireless data transmission module for the user to call and view;
the battery module is used for supplying power to the advancing power mechanism 2, the castration mechanism 3, the camera module 4, the combined navigation positioning module 5 and the control system.
Referring to fig. 5, the advancing power mechanism includes a wheel fork 21, a middle connecting seat 22 is disposed at the top end of the wheel fork 21, a steering mechanism 23 for driving the middle connecting seat 22 to rotate is disposed at the bottom of the middle connecting seat 22, a vehicle body lifting device 24 is disposed at the top of the middle connecting seat 22, two vehicle body lifting devices 24 located on the same side of the vehicle body 1 extend to the upper part of the frame body, and a fixing plate is disposed at the tops of the two vehicle body lifting devices 24, and the fixing plate is connected with the frame body through a bolt and can be adjusted in a sliding manner along the left and right directions; the bottom end inner side of wheel fork 21 is provided with walking wheel 25 and is used for driving walking wheel 25 pivoted in-wheel motor 26, and through the above-mentioned design, steering mechanism 23 can drive the walking wheel and rotate in certain angle, has improved power unit's that advances dexterity, and wherein, steering mechanism 23, in-wheel motor 26 all adopt prior art, and the restriction is not specific here, generally comprises common mechanical mechanism such as motor housing, stator, coil, external rotor.
Referring to fig. 6 and 7, the detasseling mechanism 3 includes an X-axis linear guide rail 31 erected at the bottom of the frame body along the left and right directions and a Z-axis linear guide rail 32 erected on the X-axis linear guide rail 31 along the up and down directions, a support rod 33 is arranged on a slide block of the Z-axis linear guide rail 32, two motor links 34 are arranged at the bottom end of the support rod 33, two brushless motors 35 with opposite rotation directions are symmetrically arranged on the two motor links 34, detasseling rollers 36 are arranged on the executing ends of the two brushless motors 35, the detasseling rollers 36 are preferably rubber tire members with patterns, the surface of the rubber tire members is provided with friction patterns, when the detasseling rollers 36 are in close contact with each other, the two detasseling rollers 36 are arranged at the lower end of the inclined end of the support rod 33, so that the axis angle and the horizontal angle of the detasseling rollers 36 have a certain elevation angle compared with the horizontal angle, the castration with a small inclination angle is adopted to make the extracted stamens more easily drop outside the corn plant after being rolled and not drop back on the plant.
Referring to fig. 6 and 7, the castration mechanism 3 further comprises a sheath 37 disposed outside the two castration rollers 36, and the sheath 37 is fixedly connected with the support rod 33.
Referring to fig. 4, the camera module 4 includes a camera connecting rod 41 and a camera 42 disposed at the bottom end of the camera connecting rod 41, the top of the camera connecting rod 41 is fixedly connected to the bottom end of the frame, and the camera 42 is an industrial camera including an industrial camera and an active lighting device.
Referring to fig. 1, the front end of the vehicle body 1 and the front end of the steering mechanism 23 on the advancing power mechanism 2 at the front end of the vehicle body 1 are both provided with an illuminating lamp 6, the illuminating lamp 6 is powered by a battery module, a user operates on a remote controller and transmits an operation instruction to a master control system through a wireless data transmission module, and then the master control system recognizes the operation instruction and transmits the operation instruction to a vehicle control unit to control the operation of the illuminating lamp 6.
Referring to fig. 1, 3 and 5, a divider 7 is further disposed at the front end of the traveling wheel 25, the divider 7 includes a quadrangular pyramid housing 71 with a forward top end, two limiting plates 72 are symmetrically disposed at two sides of the rear end of the quadrangular pyramid housing 71, a connecting rod 73 is disposed at the top of the quadrangular pyramid housing 71, a fixing rod 74 is disposed forward at the bottom end of each steering mechanism 23, a fixing sleeve 75 for the connecting rod 73 to penetrate through is disposed at the front end of the fixing rod 74, and the connecting rod 73 is fixedly connected to the fixing sleeve 75.
In practical application, the fixing plate is slid along the left and right sides according to ridge width requirements to adjust the distance between the advancing power mechanisms 2 on the two sides of the vehicle body 1, then the fixing plate is fixed with the frame body by bolts, and the vehicle body 1 is wholly upwards supported or downwards pulled by the action of the vehicle body lifting device 24 according to the height of crops to meet the requirements; when corn emasculation is needed, the brushless motor 35 starts to rotate and drives the emasculation roller 36 to start rotating, and corn emasculation is carried out in the moving process of the vehicle body 1; when the castration position of the castration roller 36 needs to be changed, the relative position of the supporting rod 33 is adjusted on the X-axis linear guide rail 31 to carry out the movement adjustment in the corresponding axis direction, the relative position of the supporting rod 33 is adjusted on the Z-axis linear guide rail 32 to carry out the movement adjustment in the corresponding axis direction, so as to drive the castration roller 36 to carry out the position change in the horizontal direction and (or) the vertical direction, thereby reaching the castration height which is enough for coiling the stamen out and not pulling the stamen off, the axis angle and the horizontal angle of the castration roller 36 have certain elevation angles, compared with the castration in the horizontal angle, the castration with a small inclination angle is easier to drop the extracted stamen out of the corn plant after being coiled without dropping back to the plant.
The nearside dividers 7 arranged at the front ends of the travelling wheels 25 can advance forwards along with the vehicle body when the advancing power mechanism 2 acts, and the quadrangular pyramid shells 71 can separate the miscellaneous leaves below the crops, so that the advancing of the vehicle body 1 is facilitated; the height of the quadrangular pyramid shell 71 is adjusted by adjusting the height of the connecting rod 73 up and down in the fixing sleeve 75 so that the height can meet the seedling dividing requirements under different conditions.
The above description is only a preferred embodiment of the present patent, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the inventive concept, and these modifications and decorations should also be regarded as the protection scope of the present patent.
Claims (7)
1. The utility model provides a multipurpose agricultural intelligent robot which characterized in that:
the combined navigation positioning device comprises a vehicle body (1), wherein a frame body is arranged in the vehicle body (1), four corners of the frame body are respectively provided with a traveling power mechanism (2) which can slide along the left side and the right side and can lift up and down, a plurality of groups of castration mechanisms (3) are symmetrically arranged at the bottom of the frame body positioned in the vehicle body (1), a camera module (4) is hung at the bottom of the frame body positioned between the castration mechanisms (3), and a combined navigation positioning module (5) is arranged at the top of the vehicle body (1);
the control system comprises a main control system, a vehicle control unit, a mechanical arm control unit, a wireless data transmission module and a peripheral remote controller, wherein a user operates the remote controller, transmits an operation instruction to the main control system through the wireless data transmission module, recognizes the operation instruction through the main control system and transmits the operation instruction to the vehicle control unit or the mechanical arm control unit to act, the vehicle control unit is used for receiving the instruction to control the action of a traveling power mechanism (2), and the mechanical arm control unit is used for receiving the instruction to control the action of a castration mechanism (3); the camera module (4) provides image data for the main control system, the main control system identifies the image data and identifies the position of the operation target object through the collected position data of the combined navigation positioning module (5), and then the advancing power mechanism (2) and the castration mechanism (3) are controlled to act; the data on the camera module (4) and the navigation positioning module (5) collected by the master control system can be transmitted to the remote controller through the wireless data transmission module for the user to call and view;
the battery module is used for supplying power to the advancing power mechanism (2), the castration mechanism (3), the camera module (4), the combined navigation positioning module (5) and the control system.
2. The multipurpose agricultural intelligent robot is characterized in that the traveling power mechanism comprises a wheel fork (21), an intermediate connecting seat (22) is arranged at the top end of the wheel fork (21), a steering mechanism (23) for driving the intermediate connecting seat (22) to rotate is arranged at the bottom of the intermediate connecting seat (22), a vehicle body lifting device (24) is arranged at the top of the intermediate connecting seat (22), and a traveling wheel (25) and a hub motor (26) for driving the traveling wheel (25) to rotate are arranged on the inner side of the bottom end of the wheel fork (21); two vehicle body lifting devices (24) positioned on the same side of the vehicle body (1) extend to the upper part of the frame body, and a fixing plate is arranged at the top parts of the two vehicle body lifting devices (24), is connected with the frame body through a bolt and can be adjusted in a sliding mode along the left side and the right side.
3. The multipurpose agricultural intelligent robot is characterized in that the emasculation mechanism (3) comprises an X-axis linear guide rail (31) erected at the bottom of the frame body along the left and right side directions and a Z-axis linear guide rail (32) arranged on the X-axis linear guide rail (31) along the up and down directions, a support rod (33) is arranged on a sliding block of the Z-axis linear guide rail (32), the bottom end of the support rod (33) is arranged forwards or backwards, two motor connecting rods (34) are arranged at the bottom end of the support rod (33), two brushless motors (35) with opposite rotation directions are symmetrically arranged on the two motor connecting rods (34), an emasculation roller (36) is arranged at each execution end of the two brushless motors (35), and the two emasculation rollers (36) are positioned at the lower end of the inclined end of the support rod (33).
4. A multipurpose agricultural intelligence robot according to claim 3 wherein the castration mechanism (3) further includes a sheath (37) disposed outside the two castration rollers (36), the sheath (37) being fixedly connected to the support rod (33).
5. The multipurpose agricultural intelligent robot according to claim 1, wherein the camera module (4) comprises a camera connecting rod (41) and a camera (42) arranged at the bottom end of the camera connecting rod (41), and the top of the camera connecting rod (41) is fixedly connected with the bottom end of the frame body.
6. The multipurpose agricultural intelligent robot is characterized in that illuminating lamps (6) are arranged at the front end of the vehicle body (1) and the front end of a steering mechanism (23) on a traveling power mechanism (2) positioned at the front end of the vehicle body (1), the illuminating lamps (6) are powered by a battery module, a user operates on a remote controller and transmits an operation instruction to a master control system through a wireless data transmission module, and then the master control system recognizes the operation instruction and transmits the operation instruction to a vehicle control unit to control the action of the illuminating lamps (6).
7. The multipurpose agricultural intelligent robot as claimed in claim 2, wherein a crop divider (7) is further arranged at the front end of the travelling wheel (25), the crop divider (7) comprises a quadrangular pyramid shell (71) with a forward top end, two limiting plates (72) are symmetrically arranged on two sides of the rear end of the quadrangular pyramid shell (71), a connecting rod (73) is arranged at the top of the quadrangular pyramid shell (71), a fixing rod (74) is forwardly arranged at the bottom end of each steering mechanism (23), a fixing sleeve (75) for the connecting rod (73) to penetrate through is arranged at the front end of the fixing rod (74), and the connecting rod (73) is fixedly connected with the fixing sleeve (75).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210364624.6A CN114868480A (en) | 2022-04-08 | 2022-04-08 | Multipurpose agricultural intelligent robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210364624.6A CN114868480A (en) | 2022-04-08 | 2022-04-08 | Multipurpose agricultural intelligent robot |
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| CN114868480A true CN114868480A (en) | 2022-08-09 |
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| CN202210364624.6A Withdrawn CN114868480A (en) | 2022-04-08 | 2022-04-08 | Multipurpose agricultural intelligent robot |
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2022
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| CN111418490A (en) * | 2020-05-18 | 2020-07-17 | 新疆大学 | Novel corn castration machine |
| CN113491180A (en) * | 2021-06-03 | 2021-10-12 | 天津工程机械研究院有限公司 | Garden operation robot |
| CN113892471A (en) * | 2021-09-03 | 2022-01-07 | 皖西学院 | Intelligent agricultural robot and use method thereof |
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Application publication date: 20220809 |