CN208402372U - A kind of agricultural robot of canopy room rotary tillage and fertilising - Google Patents
A kind of agricultural robot of canopy room rotary tillage and fertilising Download PDFInfo
- Publication number
- CN208402372U CN208402372U CN201821107133.9U CN201821107133U CN208402372U CN 208402372 U CN208402372 U CN 208402372U CN 201821107133 U CN201821107133 U CN 201821107133U CN 208402372 U CN208402372 U CN 208402372U
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- rotary tillage
- rotary
- rack
- fertilising
- motor
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Abstract
The utility model discloses the agricultural robots of a kind of canopy room rotary tillage and fertilising, including rack and as the crawler body of walking power, the rack is fixed on crawler body, the rack is equipped with hoisting mechanism and dismountable fertilizing mechanism and rotary tillage mechanism, the fertilizing mechanism is installed on front end of rack, for arable land or Crops in Applying Fertilizer；The hoisting mechanism is installed on central rack；The rotary tillage mechanism includes rotary tillage pedestal, Rotary tillage blade, rotary knife axis and rotary tillage motor, rotary knife axis is mounted on rotary tillage base bottom by bearing, rotary tillage motor is connected with rotary knife axis power transmission, Rotary tillage blade is fixedly mounted on rotary knife axis, rotary tillage pedestal is equipped with connecting plate, and connecting plate is equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block.The utility model is using crawler body shared module as the load bearing component of other each functional modules, and rotary tillage and fertilizing functions module are replaceable, and farming is high-efficient, and fertilising is accurate.
Description
Technical field
The utility model belongs to farm machine field, is related to a kind of agricultural robot, and in particular to a kind of canopy room rotary tillage and
The agricultural robot of fertilising.
Background technique
Vegetable cultivation is mechanical in widely used canopy room at this stage, is mostly the simple transplanting version of field planting machinery, makes
With there are problems in the process, if exhaust emission is serious, noise is big；Because canopy room narrow space leads to turn to inconvenient, mini-tiller
It easily balks, labor intensity of operating staff is big and agricultural machinery utilization rate is not high.The appearance of agricultural robot is in order to solve the above problem
New method is provided, but is suitable for the machinery of greenhouse cultivation, develops more slow, large labor intensity, low efficiency.
Utility model content
The purpose of this utility model is to design a kind of agriculture machine for greenhouse rotary tillage and fertilising for above situation
Device people, agricultural robot use modular design method, complete rotary tillage and fertilising operation by the coordinated of each functional module
Task, mechanical structure composition are as shown in Figure 1.The robot is made of chassis walking module, rotary tillage module, fertilising module.Rotation
It ploughs module and completes farmland farming, fertilising module is then to impose appropriate agricultural fertilizer to field during rotary tillage, increases soil fertility, mentions
High percentage of seedgermination.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is:
A kind of agricultural robot of canopy room rotary tillage and fertilising, it is described including rack and as the crawler body of walking power
Rack is fixed on crawler body, it is characterised in that: the rack be equipped with hoisting mechanism and dismountable fertilizing mechanism and
Rotary tillage mechanism, the fertilizing mechanism are installed on front end of rack, for arable land or Crops in Applying Fertilizer；The hoisting mechanism is installed on
The sliding block of central rack, hoisting mechanism removably connects rotary tillage mechanism；The hoisting mechanism is mainly by promotion motor, motor
Seat, sliding block and lead screw composition, the lead screw is vertical to be mounted on the rack, and lead screw is equipped with the nut by being threadedly engaged, machine
The guide rail parallel with lead screw is additionally provided on frame, the sliding block is mounted on guide rail, and is fixedly linked with nut, the promotion electricity
Machine is mounted on the rack by motor cabinet, promotes the output shaft and lead screw axis connection of motor, and sliding block is equipped with and rotary tillage mechanism phase
Wedge groove even, the sliding block above wedge groove are equipped with connecting hole；The rotary tillage mechanism includes rotary tillage pedestal, Rotary tillage blade, rotation
Coulter axis and rotary tillage motor, the rotary knife axis are mounted on rotary tillage base bottom by bearing, and rotary tillage motor is mounted on rotary tillage base
On seat, and it is connected with rotary knife axis power transmission, Rotary tillage blade is fixedly mounted on rotary knife axis, and the rotary tillage pedestal is equipped with
Connecting plate, connecting plate are equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block.
As an improvement, the rotary tillage pedestal below the rotary tillage motor is equipped with the mud guard that surrounding tilts down.
As an improvement, the wedge groove is upper small lower wide wedge groove, threaded hole, the wedge shape of sliding block are equipped at the top of wedge block
Slot is equipped with the through-hole opposite with threaded hole, is threaded into hole by bolt across through-hole and sliding block is connected with connecting plate, leads to
It crosses wedge groove and the effect of wedge block bevel edge guarantees the positive connection of rotary tillage mechanism and sliding block.
As an improvement, the fertilizing mechanism includes mainly being made of fertilizer box, fertile box, roller and transmission shaft, the fertilizer box
Be fixedly mounted on the rack, it is described fertilizer box have it is multiple, at one column be mounted on fertilizer box bottom and be connected in fertilizer box, it is each fertilizer box
It is inside equipped with a roller, all rollers are connected by the way that transmission shaft is fixed, and rotation axis is electric by the fertilising being set in fertilizer box
Machine driving rotation, the fertilizer box lower section are equipped with the cross-tie parallel with transmission shaft, are equipped with a fertilising below each fertilizer box and open
Ditch plough, fertilising ditching plow are mounted on cross-tie by connector, and each fertilizer cassette bottom portion's fertilizer outlet is equipped with a fertilizer hose,
The fertilizer hose is extend into the groove of fertilising ditching plow bottom.
As an improvement, the connector includes pressing plate and U-shaped card hoop, the U-shaped card cuff passes through pressure on cross-tie
After plate by nut fasten, fertilising ditching plow be fixedly linked with pressing plate, release fastening nut, can regulated fertilization ditching plow in cross
Position on pull rod.
The utility model beneficial effect is:
The utility model is using crawler body shared module as the load bearing component of other each functional modules, rotary tillage and fertilising function
Energy module is replaceable, so that agricultural robot executing agency is converted to fertilising operation from rotary tillage process equipment, very
Just accomplishing a tractor serves several purposes of agricultural robot, the utility model makes the machinery without standing a variety of farming functions, effective to drop
Low agriculture production cost, improves agricultural production efficiency.
Detailed description of the invention
Fig. 1 is each functional module transformational relation figure of the utility model agricultural robot；
Fig. 2 is the utility model agricultural robot shared module structure chart；
Fig. 3 is hoisting mechanism structure chart；
Fig. 4 is fertilizing mechanism structural representation；
Fig. 5 is rotary tillage mechanism structure chart；
Fig. 6 is the connecting plate of rotary tillage mechanism and the sliding block scheme of installation of hoisting mechanism.
1 rack；2 battery groups；3 hoisting mechanisms；4 expansion tightening wheels；5 crawler belts；6 chassis overhangs；7 thrust wheels；8 fertilizing mechanisms；9
Control cabinet；10 crawler bodies；11 movable motors；1-1 promotes motor；1-2 motor cabinet；1-3 sliding block；1-4 lead screw；2-1 fertilizer box；2-
2 bearing blocks；2-3 fertilizer box；2-4 cross-tie；2-5 pressing plate；2-6U type clip；2-7 roller；2-8 fertilising ditching plow；3-1 rotation
Coulter piece；3-2 rotary tillage motor；3-3 mud guard；3-4 retarder；3-5 rotary knife axis；3-6 connecting plate；3-7- rotary tillage pedestal.
Specific embodiment
Shared module: being mainly made of the several majors such as crawler body, rack, hoisting mechanism and fertilizing mechanism, power supply,
Shared module structure chart is as depicted in figs. 1 and 2.
Crawler body: conventional structure is used, for providing walking power for whole device, mainly by battery group 2, tensioner
Wheel 4, crawler belt 5, chassis overhang 6, thrust wheel 7, control cabinet 9, driving wheel 10, movable motor 11 form.11 power of movable motor warp
Driving wheel 10 is passed to after retarder deceleration torque increase, tooth engagement in 10 external tooth of driving wheel and crawler belt 5 drives crawler body movement.
Hoisting mechanism: as shown in figure 3, being mainly made of promotion motor 1-1, motor cabinet 1-2, sliding block 1-3, lead screw 1-4.It mentions
It rises mechanism 3 and is fixed on 1 corresponding position of rack (the present embodiment is middle part), rotary tillage mechanism is mounted on hoisting mechanism 3 by connecting plate
Sliding block 1-3 on, controlled by control system and promote motor 1-1 and go up and down sliding block 1-3 along lead screw 1-4, it is adjustable to be mounted on cunning
The liftoff spacing of each functional module end effector (i.e. rotary tillage mechanism) on block 1-3.Be illustrated in figure 6 rotary tillage mechanism connecting plate with
Hoisting mechanism sliding block connection schematic diagram, for the positive connection for ensuring feed screw nut top shoe 1-3 and rotary tillage mechanism, before sliding block 1-3
There is wedge groove on end face, also has wedge block with matching on same rotary tillage mechanism connecting plate 3-6.The upper end sliding block 1-3 is provided with
Two through-holes, there are two threaded holes for the wedge block upper end on rotary tillage mechanism connecting plate 3-6, are connected by bolts sliding block 1-3 and rotation
Plough mechanism connecting plate 3-6.Due to the effect of wedge shape, it is held essentially constant the stress of attachment bolt during the work time, thus
It will not fail because of the vibration in operation process.
Fertilizing mechanism: as shown in figure 4, mainly by fertilizer box 2-1, bearing block 2-2, fertile box 2-3, cross-tie 2-4, pressing plate 2-
5, the composition such as U-shaped card hoop 2-6, roller 2-7, fertilising ditching plow 2-8, fertilizer-guiding plate 2-9, fertilising motor 2-10.
Entire fertilizing mechanism is bolted on 1 front end of rack, and (specially fertilizer box 2-1 is bolted on rack 1
On), the bottom the fertilizer box 2-1 is equipped with multiple fertile box 2-3 as fertile channel out, is equipped with a fertilizer in each fertilizer box 2-3
2-7 is taken turns, the roller 2-7 is surface runner with groove, and all rollers pass through the fixed series connection of a transmission shaft, rotation axis
By the fertilising motor driven rotation being set in fertilizer box, the bearing block 2-2 on the left of fertilizer box 2-1 is used to be secured across in fertile box 2-3
Transmission shaft one end of portion roller 2-7, fertilising motor 2-10 are motor reducer integral structure, pass through respective bolt on retarder
Fertilising motor 2-10 is fixed on the right side of fertilizer box 2-1 by hole, and the transmission shaft other end passes through fertilising motor 2-10 retarder axis hole and fixes,
Under fertilising motor 2-10 driving, transmission shaft drives roller 2-7 rotation, realizes seeding movement, it is pointed out that this implementation
Roller 2-7 can also be using the rotating blanking valve for being used for blanking in the prior art in example.It is described as a kind of more preferable embodiment
Fertile box 2-3 is interior to be equipped with inclined fertilizer-guiding plate 2-9, and the fertilizer-guiding plate 2-9 is located at the two sides roller 2-7 inside fertile box 2-3, and being used for will
Agricultural fertilizer is guided to roller 2-7 groove, so that agricultural fertilizer passes through the fertilizer outlet that roller 2-7 flows to fertile box 2-3, adjustment fertilising
The defertilizing amount in the unit time can be changed in motor 2-10 revolving speed.Each fertilizer cassette bottom portion is corresponding to be equipped with a fertilising ditching plow 2-8,
Fertilising ditching plow 2-8 can select triangle ditching plow conventional in the prior art, and fertilising ditching plow 2-8 passes through pressing plate 2-5, U
Type clip 2-6 is fixed on the corresponding position cross-tie 2-4, and the U-shaped card cuff is on cross-tie 2-4, after passing through pressing plate 2-5
It is fastened by nut, fertilising ditching plow 2-8 and pressing plate 2-5 is fixedly linked, and unclamps fastening nut, can regulated fertilization ditching plow 2-
8 position on cross-tie 2-4；Be connected at the fertilizer outlet of the lower end fertile box 2-3 plastics defertilizing tube (i.e. bellows, concretely
Plastic flexible pipe or bellows), defertilizing tube lower part is embedded in along the vertical direction in fertilising ditching plow 2-8 groove, is extended to
It applies fertilizer in ditching plow 2-8 bottom-rear groove, due to the good plasticity of defertilizing tube, when for different spacings fertilizer operation, only needs
Each fertilising ditching plow 2-8 spacing on cross-tie 2-4 is adjusted, without changing fertile box 2-3 installation site.Fertilising operation is realized
Process: for operator by crop row away from requirement, regulating each fertilising ditching plow 2-8 spacing is that agricultural fertilizer is avoided to burn seedling to death, fertile ditch and
Kind ditch is generally different ditches, and be staggered certain distance between each other.And embedded depth, in the process that Robot crop row is advanced
In, fertilising ditching plow 2-8, which buries, outputs certain depth fertilizer ditch, and agricultural fertilizer is discharged through roller 2-7 from the fertilizer outlet of fertile box 2-3, and
Fei Gou is discharged into along defertilizing tube.
Power supply: electric energy needed for the robot works will be stored both from battery group 2 by DC-DC voltage transformation module
2 voltage of battery pack is converted into voltage rating needed for each electrical equipment of robot works.
Rotary tillage mechanism: as shown in figure 5, mainly by Rotary tillage blade 3-1, rotary tillage motor 3-2, mud guard 3-3, retarder 3-4,
The composition such as rotary knife axis 3-5, connecting plate 3-6.The rotary knife axis 3-5 is mounted on the bottom rotary tillage pedestal 3-7, rotary tillage by bearing
Motor 3-2 is mounted on rotary tillage pedestal 3-7, and is connected with rotary knife axis 3-5 power transmission, and Rotary tillage blade 3-1 is fixedly mounted on
3-5 on rotary knife axis, the rotary tillage pedestal 3-7 are equipped with connecting plate 3-6, and connecting plate 3-6 is equipped with the sliding block with hoisting mechanism
The upper wedge groove of 1-3 matches the wedge block of installation.
Rotary tillage motor 3-2 output torque is transferred to rotary knife axis 3-5 after retarder 3-4 deceleration torque increase, drives rotary blade
Piece 3-1 rotation.Rotary tillage mechanism is mounted on the sliding block 1-3 of hoisting mechanism 3 by connecting plate 3-6, controls the sliding block of hoisting mechanism 3
1-3 goes up and down adjustable Rotary tillage blade 3-1 embedded depth.When rotary tillage process: robot straight line in farming field with certain speed
Walking, rotary tillage motor 3-2 with certain revolving speed drive Rotary tillage blade 3-1 rotate, rotary blade 3-1 embedded depth it is accurate adjust according to
According to: the lead screw 1-4 screw pitch and promotion motor 1-1 of known hoisting mechanism 3 control pulse frequency, can calculate hoisting mechanism per minute
3 sliding block 1-3 moving distance along the vertical direction.I.e. the sliding block 1-3 movement speed of hoisting mechanism 3 is it has been determined that if you need to by regulation
Tilling depth operation need to only determine that rotary tillage cutter 3-1 reaches specified tilling depth at this time and needs moving distance, can control within the corresponding time
Sliding block 1-3, which is moved down, makes cutter reach specified embedded depth, and the rotary blade 3-1 in the present embodiment is using rotation conventional in the prior art
Coulter.
Control system: in order to realize automation, the utility model may be incorporated into control system, the various functions of robot
It is automatically performed in the United Dispatching of control system and coordination.Control system includes: each motor control module, image variants
Module, power supply monitoring module, communication module and remote control module etc..Control system major function includes:
1. chassis travelling control: realize the robot ambulations functions such as agricultural robot advance, retrogressing, left and right turn, and
The control of robot straight line autonomous.
2. rotary tillage, fertilising, Operation control: when rotary tillage process, realizing rotary tillage motor and promote motor control.Fertilising operation
When, realize fertilizer motor start-up and shut-down control.
3. image variants module: control camera acquires field image, to understand the operating condition at scene.
4. power supply monitoring module: real-time monitoring is carried out to electric quantity of power supply, real-time monitoring is carried out to battery group, when voltage or
After charge value is lower than setting value, warning note is carried out at once, and staff's electric quantity of power supply deficiency is reminded to need charging in time.
5. communication module: by wireless receiving module, receiving the control instruction signal issued from remote control controller.
6. remote control module: receiving the command signal from remote controller key, and it is sent out by wireless transmitter module
Give multi-function robot.
Claims (5)
1. a kind of agricultural robot of canopy room rotary tillage and fertilising, including rack and as the crawler body of walking power, the machine
Frame is fixed on crawler body, it is characterised in that: the rack is equipped with hoisting mechanism and dismountable fertilizing mechanism and rotation
Mechanism is ploughed, the fertilizing mechanism is installed on front end of rack, for arable land or Crops in Applying Fertilizer；The hoisting mechanism is installed on machine
In the middle part of frame, the sliding block of hoisting mechanism removably connects rotary tillage mechanism；The hoisting mechanism mainly by promotion motor, motor cabinet,
Sliding block and lead screw composition, the lead screw is vertical to be mounted on the rack, and lead screw is equipped with the nut by being threadedly engaged, in rack
It is additionally provided with the guide rail parallel with lead screw, the sliding block is mounted on guide rail, and is fixedly linked with nut, and the promotion motor is logical
It crosses motor cabinet to be mounted on the rack, promotes the output shaft and lead screw axis connection of motor, sliding block, which is equipped with, to be connected with rotary tillage mechanism
Wedge groove, the sliding block above wedge groove are equipped with connecting hole；The rotary tillage mechanism includes rotary tillage pedestal, Rotary tillage blade, rotary blade
Axis and rotary tillage motor, the rotary knife axis are mounted on rotary tillage base bottom by bearing, and rotary tillage motor is mounted on rotary tillage pedestal,
And be connected with rotary knife axis power transmission, Rotary tillage blade is fixedly mounted on rotary knife axis, and the rotary tillage pedestal is equipped with connection
Plate, connecting plate are equipped with the wedge block that installation is matched with wedge groove on hoisting mechanism sliding block.
2. agricultural robot as described in claim 1, it is characterised in that: the rotary tillage pedestal below the rotary tillage motor is equipped with
The mud guard that surrounding tilts down.
3. agricultural robot as claimed in claim 2, it is characterised in that: the wedge groove is upper small lower wide wedge groove, wedge
Threaded hole is equipped at the top of shape block, the wedge groove of sliding block is equipped with the through-hole opposite with threaded hole, is screwed by bolt across through-hole
Sliding block is connected with connecting plate in threaded hole, the frictional force generated is squeezed by wedge groove and wedge block bevel edge and guarantees rotary tillage mechanism
It does not fall.
4. agricultural robot as claimed in claim 3, it is characterised in that: the fertilizing mechanism include mainly by fertilizer box, fertile box,
Roller and transmission shaft composition, the fertilizer box are fixedly mounted on the rack, and the fertilizer box has multiple, are mounted on fertilizer box bottom at a column
Portion and be connected in fertilizer box, be equipped with a roller in each fertilizer box, all rollers by the fixed series connection of transmission shaft, turn
Moving axis is rotated by the fertilising motor driven being set in fertilizer box, and the cross-tie parallel with transmission shaft is equipped with below the fertilizer box,
A fertilising ditching plow is equipped with below each fertilizer box, fertilising ditching plow is mounted on cross-tie by connector, each fertilizer box
Bottom fertilizer outlet is equipped with a fertilizer hose, and the fertilizer hose is extend into the groove of fertilising ditching plow bottom.
5. agricultural robot as claimed in claim 4, it is characterised in that: the connector includes pressing plate and U-shaped card hoop, described
U-shaped card cuff is fastened after passing through pressing plate by nut on cross-tie, and fertilising ditching plow is fixedly linked with pressing plate, is unclamped tight
Gu nut, can position of the regulated fertilization ditching plow on cross-tie.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821107133.9U CN208402372U (en) | 2018-07-12 | 2018-07-12 | A kind of agricultural robot of canopy room rotary tillage and fertilising |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821107133.9U CN208402372U (en) | 2018-07-12 | 2018-07-12 | A kind of agricultural robot of canopy room rotary tillage and fertilising |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208402372U true CN208402372U (en) | 2019-01-22 |
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ID=65124783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821107133.9U Expired - Fee Related CN208402372U (en) | 2018-07-12 | 2018-07-12 | A kind of agricultural robot of canopy room rotary tillage and fertilising |
Country Status (1)
| Country | Link |
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| CN (1) | CN208402372U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699214A (en) * | 2019-01-31 | 2019-05-03 | 四川省南充市登科农业机械科技有限公司 | High-temperature disinsection heating weeding rip rooter |
| CN110140480A (en) * | 2019-05-28 | 2019-08-20 | 薛秀菊 | One kind is digged pit the covering device that applies fertilizer |
-
2018
- 2018-07-12 CN CN201821107133.9U patent/CN208402372U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699214A (en) * | 2019-01-31 | 2019-05-03 | 四川省南充市登科农业机械科技有限公司 | High-temperature disinsection heating weeding rip rooter |
| CN109699214B (en) * | 2019-01-31 | 2023-08-11 | 四川省南充市登科农业机械科技有限公司 | High-temperature insecticidal weeding molder |
| CN110140480A (en) * | 2019-05-28 | 2019-08-20 | 薛秀菊 | One kind is digged pit the covering device that applies fertilizer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190122 Termination date: 20200712 |