CN210928577U

CN210928577U - Urban micro agricultural robot

Info

Publication number: CN210928577U
Application number: CN201921367518.3U
Authority: CN
Inventors: 黎静; 许天皓; 薛龙; 刘木华; 伍臣鹏; 张一帆; 何梁; 王威; 黄博翰; 郑珊珊
Original assignee: Jiangxi Agricultural University
Current assignee: Jiangxi Agricultural University
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2020-07-07
Anticipated expiration: 2029-08-22

Abstract

The utility model discloses a little agricultural robot in city to the Arduino singlechip is control core, and the hardware design includes the design of the removal walking design of totality, functional mechanism, actuating mechanism's design, and wherein functional mechanism includes watering mechanism, sowing mechanism and soil moisture survey mechanism. In order to save the operating time of the mechanism and improve the operating efficiency, a functional mechanism for setting the double-shaft linkage of YZ and quickly switching the actuating mechanism is added to each actuating mechanism. Three stepping motors are controlled by programming to drive XYZ three shafts to perform seeding and watering operations according to the specified row spacing. The utility model discloses an accurate removal linkage executive component of Arduino single chip microcomputer control X axle, Y axle, Z axle triaxial carries out the waste of automatic seeding, test soil moisture automatic irrigation in order to reduce the water resource to alleviate intensity of labour.

Description

Urban micro agricultural robot

Technical Field

The utility model relates to the field of urban micro agriculture, in particular to the seeding and watering of vegetables.

Background

Urban agriculture has been widely used in agriculture around the world. In recent years, the vegetable growing and flower industry based on urban areas, such as greenhouses, roofs, balconies, houses, leisure areas, yards and parks, has been growing faster. At present, manpower for cultivating is reduced, automatic seeding and watering equipment is adopted, the working efficiency of people is greatly improved, and a large amount of manpower and material resources are saved.

Most of the prior agricultural activities such as seeding, watering and the like still stay in manual operation, and a large amount of labor is occupied. The existing seeder has single function and larger equipment, only has seeding capacity and completely does not have the capacity of automatic irrigation. The conditions of missed seeding, multicast, inconsistent row spacing of seeds and the like can be caused under many conditions in the manual seeding process, a large amount of water resource waste can be caused in the manual watering process, and the use requirements of people can not be well met. Aiming at the situation, the urban micro agricultural robot which can be used for seeding and watering and is suitable for facility agriculture is designed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can sow the little agricultural robot in city suitable for urban agriculture that also can water, in order to reduce the waste of water resource and save a large amount of labor productivity to planting horticulture through knowing vegetables comes to sow in order to reach the biggest productivity effect according to corresponding planting row spacing and plant spacing are reasonable.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a little agricultural robot in city, includes organism and controller, the organism be planer-type structure frame, the bottom four aluminium alloy link together into rectangular frame through screw, right angle sign indicating number, the left and right sides be the X axle. Four corners at the bottom of the frame are respectively connected with four connecting rods which are connected with the universal wheels, so that the urban micro agricultural robot can walk.

The X-axis drives the X-axis sliding device to move through the rotation of the X-axis stepping motor. The X-axis sliding device is composed of 8 idle wheels, a synchronous belt and an aluminum plate.

Preferably, the synchronous belt is installed on a rotating shaft of the X-axis stepping motor, the X-axis stepping motor rotates to drive the synchronous wheel to rotate and mesh on the synchronous belt to realize accurate movement for a specified distance, the synchronous belt is compressed by two idle wheels, and therefore the phenomenon that the transmission ratio is inaccurate due to the fact that the synchronous belt is loosened and drives the Y-axis to move back and forth is prevented.

Preferably, the limit switch is arranged at the starting position of the X axis, and when the Y axis moves back and forth and touches the limit switch, the Y axis returns to the set starting position.

The Y axis is horizontally connected with the X axis through aluminum profiles, is reinforced by the right-angle corner brace and the right-angle fixing piece, and forms a gantry type frame with the X axis.

Preferably, the Y shaft is provided with a stepping motor and a linkage device of the Y shaft and the Z shaft. The linkage device comprises two aluminum plates, a Y-axis idler wheel, a Z-axis idler wheel and a synchronous belt, wherein the Y-axis stepping motor is fixed on the linkage device, and when the Y-axis stepping motor rotates to drive the synchronous wheel to rotate and mesh on the synchronous belt to realize accurate designated distance of movement, so that the Z-axis is driven to move left and right.

Preferably, the limit switch is arranged at the starting position of the Y axis, and when the Z axis moves left and right and touches the limit switch, the set starting position is returned.

The Z axle fix at Y axle aluminium alloy, Z axle step motor fix at Z axle top, executive component fix the bottom at the Z axle. The Z axis is driven by the Z axis stepping motor to rotate the screw rod, the rotary motion of the screw rod is converted into the linear motion of the Z axis through the screw rod screw block, and the Z axis is clamped in the groove of the aluminum profile by the idler wheel to prevent inclination.

Preferably, the system also comprises a seed taking disc, a water pump, an air pump, a controller, a serial port screen and a tank chain. The controller and the serial port screen are arranged in the control box and are mounted on the Y shaft to move along with the Y shaft, and the power line, the water pipe, the controller and the serial port screen are arranged on the side face of the X shaft in order through the tank chain. The executing component carries out seeding and irrigation by moving front and back, left and right and up and down of the X-axis, the Y-axis and the Z-axis. The seed taking disc is arranged on the right side of the X axis, and the air pump and the water pump are fixed on the left side of the control box.

Preferably, the design of the controller and the serial port screen is further included. The controller and the serial port screen are configured to facilitate simpler and more convenient operation for users, and the interface design of the serial port screen is provided with seeding, irrigation, humidity, setting and resetting. The row spacing that sets up seed seeding or irrigation at first is clicked to set up, the interval and the broadcast of seed are dark, and serial ports screen can feed back corresponding data to Arduino single chip microcomputer controller after setting up, Arduino single chip microcomputer controller can handle received data through corresponding procedure. The desired operations of seeding, irrigation and testing soil moisture can then be clicked on. After the operations are clicked, the serial port screen can transmit different signals to the Arduino single-chip microcomputer controller according to different operations, and the single-chip microcomputer receives the signals and performs the operations through different subprograms. When the reset operation is clicked, the Arduino single chip microcomputer receives a signal and returns to a set original point.

Compared with the prior art, the utility model obtains the following technical achievements.

The utility model discloses a little agricultural robot in city writes program control operation X axle, Y axle, Z axle triaxial through Arduino and drives function execution part and sow, irrigate, test soil moisture, strictly sow in order to avoid planting rare or too close according to the planting horticulture of vegetables. And the soil humidity is tested, and unnecessary water resource waste is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used 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 for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Figure 1 is the utility model discloses city agricultural robot's overall structure schematic diagram a little.

Fig. 2 is an X-axis slide.

FIG. 3 shows a Y-axis and Z-axis linkage.

Fig. 4 is a sowing performing part.

Fig. 5 is an irrigation implement.

Fig. 6 is a test soil moisture performing part.

Description of reference numerals: 1, universal wheels; 2 connecting rods; 3X axis; 4X-axis slide; a 5X-axis stepper motor; 6, right-angle corner connectors; 7 an execution unit; an 8Z-axis limit switch; 9, a screw rod; a 10Z axis; 11 a right-angle fixing piece; 12Y-axis limit switches; 13Z-axis stepper motors; a 14Y-axis stepper motor; 15Y-axis and Z-axis linkage devices; a 16Y axis; a 17X-axis limit switch; 18 tank chains; 19 an air pump; 20, a controller and a serial port screen; 21 a water pump; 22, taking the seed plate; 23, a power supply; 24 aluminum plate; 25 synchronous belts; a 26X axis idler; a 27Z-axis idler; 28Y-axis idler.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model aims at providing a little agricultural robot in city for urban agriculture.

In order to make the above 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.

As shown in figure 1, the embodiment provides a urban micro-agricultural robot, and the seeding space and the row spacing can be controlled according to vegetable planting gardening in the seeding process, so that over-dense planting or over-sparse planting is avoided.

The urban micro agricultural robot comprises an X-axis 3 bottom rectangular frame forming a gantry type frame and a Y-axis 16 frame horizontally connected with the two sides of the X-axis 3, wherein the X-axis 3 bottom rectangular frame is fixedly installed by four aluminum profiles through right-angle corner connectors 16, and the bottom support is connected with universal wheels 1 through four connecting rods 2 to support and walk.

Two sides of the X shaft 3 are horizontally connected through two aluminum profiles to build a Y shaft 16 crossbeam, and the Y shaft 16 crossbeam is fixedly installed by two right-angle corner connectors 6 and two right-angle fixing pieces 11. An X-axis sliding device 4 is arranged at the joint of the X-axis 3 and the Y-axis 16, and comprises an X-axis stepping motor 5, an X-axis idle wheel 26, a synchronous belt 25 and an aluminum plate 24. The X-axis 3 and the Y-axis 16 are accurate movement appointed distance by driving the synchronous wheels to rotate and mesh on the synchronous belt 25 through the X-axis stepping motor 5, and the synchronous belt is compressed by two idle wheels, so that the inaccurate transmission ratio caused by the looseness of the synchronous belt 25 is prevented. The two shafts of the X shaft and the Y shaft are clamped in the groove of the aluminum profile through two symmetrical groups of X-axis idle wheels 26 so as to prevent the aluminum profile from laterally falling. A back and forth movement of the Y axis 16 is achieved.

The Z-axis 10 and the Y-axis 16 are installed together by a Y-axis and Z-axis linkage 15, and the Y-axis and Z-axis linkage 15 is composed of a Z-axis idle wheel 27, a Y-axis idle wheel 28, a synchronous belt 25 and a Y-axis stepping motor 14. The Z-axis 10 and the Y-axis 14 realize accurate movement of a designated distance by driving the synchronous wheels to rotate and mesh on the synchronous belt 25 through the Y-axis stepping motor 14, and the synchronous belt is compressed by two idle wheels, so that inaccurate transmission ratio caused by the loosening of the synchronous belt 25 is prevented. The Z-axis and the Y-axis are clamped in the groove of the aluminum profile through the Y-axis idle wheel 28 and the Z-axis idle wheel 27 which are symmetrical to prevent the aluminum profile from laterally inclining, and the left and right movement of the Z-axis 10 is realized.

The Z shaft 10 is fixed on the Y shaft 16, the Z shaft stepping motor 13 is installed at the top of the Z shaft 10, the executive component 7 is installed at the bottom, and the screw rod 9 is fixed on one side of the Y shaft and Z shaft linkage device 15. The Z shaft 10 drives the screw rod 9 to rotate by the Z shaft stepping motor 13, the rotary motion of the screw rod 9 is converted into the linear motion of the Z shaft 10 by the screw rod screw block, and the Z shaft 10 is clamped in a groove of the aluminum profile by an idler wheel to prevent inclination similarly.

The controller and the serial port screen 20 are placed into the control box, the mount is moved along with the Y shaft 16 on the Y shaft 16, the power supply 23 is fixed on one side of the bottom frame and does not influence the movement of the machine, the power line, the water pipe and the controller (the serial port screen) are regularly distributed on the side face of the X shaft 3 through the tank chain 18, the air pump 19 and the water pump 21 are fixed on the left side of the control box, and the seed taking plate 22 is fixed on the right side of the X shaft 3.

The design of the limit switch is respectively provided with three limit switches, namely an X-axis limit switch 17, a Y-axis limit switch 12 and a Z-axis limit switch 8, which are used for resetting operation. After an operator presses a reset key on the serial port screen, the X-axis, the Y-axis and the Z-axis move the touch limit switches respectively to return to the initial position, the limit switches convert mechanical signals at the moment into electric signals to feed back to the main control chip, and the origin of coordinates can be set manually.

The execution component 6 can be replaced, and different execution functions, such as seeding, irrigation, soil humidity testing and the like, can be realized by replacing different execution components 7.

The above structure only explains the structure of the urban micro agricultural robot, and the following describes the seeding execution operation of automatic seeding in detail, and the seeding process can be executed by pressing the seeding key of the serial port screen 20, and then the corresponding program is run to realize the operation. First, the G code is reset to the initial position, the sowing executing component 29 is replaced, the G code controls the executing component 29 to move to the position right above the seed plate position to perform the seed taking operation, then the Z shaft 10 descends and simultaneously the air pump 19 is started to suck the seeds, the seed taking operation is completed, and the Z shaft 10 ascends to the position right above the seed taking plate 22. According to the distance and the sowing depth of the seeds which are set in advance, the sowing suction head is inserted into the soil, the air pump 19 is closed after the sowing suction head descends to the designated sowing depth, the seeds fall off, and single sowing is completed. The planting grain number, the row spacing interval and the sowing depth of the seeds are set according to the planting gardening of the vegetables, so that the over-thin or over-dense planting of the vegetables is effectively prevented, and a better environment is provided for the growth of the seeds. After the sowing is completed, the seed is returned to the position of the seed-taking plate 22 to be ready for the next sowing.

Further, the automatic irrigation is executed, the spraying process can be executed by pressing a spraying button on the serial port screen 21, the automatic irrigation is reset to the initial position through the G code, the watering execution part 30 is replaced, and the corresponding control program is executed according to the previously set line spacing and the previously set distance. The watering execution part 30 moves to the position right above each seeding point, then the water pump 21 is started to pump water in the bucket, the water flows into the soil through the water pipe, the water pump 21 is started for two seconds and is automatically closed, the water pumping amount is accurately controlled, and 100ml of water is pumped every second. According to different gardening requirements of different vegetables, accurate and quantitative watering is carried out.

And similarly, whether watering is needed or not can be judged by testing the soil humidity, and the rows and the columns need watering, so that the plants can be accurately positioned and watered, the operation is executed for watering, and the water resource is fully saved. Test soil humidity need change test soil humidity executive component, this process of survey of soil humidity is carried out to the accessible according to the humidity button on the serial ports screen, at first reset to the initial position through the G code, the executive component switches into humidity transducer, insert in soil when humidity transducer, through digital-to-analog conversion, can convert soil humidity signal into voltage signal and convey main control chip, main control chip conveys serial ports screen 21 through serial ports communication soil humidity's size and shows, the user judges whether need to water through soil humidity's size.

Furthermore, how to control the sowing depth of sowing is introduced, and different vegetable seeds and planting sowing depths are also different. The distance measuring sensor is fixed on the Y shaft 16, moves along with the Y shaft 16 and does not move along with the Z shaft 10 in a vertical mode, and the effect of measuring the height of the soil surface is achieved, so that the descending depth of the seeding execution part is controllable, the purpose of achieving the consistency of the seeding depth is achieved, and a good seeding effect is achieved.

Further, serial port screen 20 has been configured to make things convenient for the user to operate more simply and conveniently, and serial port screen 20's interface design has seeding, irrigation, humidity, setting and resets. The row spacing, the interval and the seeding depth of the seeds are set by clicking, corresponding data can be fed back to the Arduino single chip microcomputer 20 by the serial port screen after the row spacing, the interval and the seeding depth are set, and the received data can be processed by the single chip microcomputer 20 through corresponding programs. The desired operations of seeding, irrigation and testing soil moisture can then be clicked on. After the operations are clicked, the serial port screen can transmit different signals to the Arduino single chip microcomputer 20 according to different operations, and the single chip microcomputer receives the signals and performs the operations through different subprograms. When the reset operation is clicked, the Arduino single chip microcomputer receives a signal and returns to a set original point.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.

Claims

1. A city micro agricultural robot comprises a machine body and a controller, wherein the machine body is a gantry type structural frame, and is characterized in that four aluminum profiles at the bottom are connected together through screws and right-angle corner connectors to form a rectangular frame, and the left side and the right side of the rectangular frame are X-axes; four corners at the bottom of the frame are respectively connected with four connecting rods, and the bottoms of the four connecting rods are connected with universal wheels, so that the urban micro-agricultural robot can move;

the X-axis drives the X-axis sliding device to move through the rotation of the X-axis stepping motor; the X-axis sliding device consists of 8 idle wheels, a synchronous belt and an aluminum plate; the synchronous belt is arranged on a rotating shaft of the X-axis stepping motor, a synchronous wheel is driven by the X-axis stepping motor to rotate on the synchronous belt so as to realize accurate movement of a specified distance, and the synchronous belt is compressed by two idle wheels so as to prevent the inaccurate transmission ratio caused by the looseness of the synchronous belt; the X shaft is fixed with the Y shaft above through the X shaft sliding device and is reinforced by a right-angle fixing piece, and a gantry type frame is integrally formed with the X shaft;

an X-axis limit switch is installed at the X-axis starting position, and when the Y-axis moves along the X-axis and touches the X-axis limit switch, the Y-axis returns to the set starting position;

and a Y-axis limit switch is arranged at the Y-axis starting position, and when the Z-axis moves left and right along the Y-axis and touches the Y-axis limit switch, the Z-axis returns to the set starting position.

2. The urban micro agricultural robot according to claim 1, wherein the Y-axis is provided with a Y-axis stepping motor and a linkage of the Y-axis and the Z-axis; the Y-axis and Z-axis linkage device is composed of two aluminum plates, a Y-axis idler wheel, a Z-axis idler wheel and a synchronous belt, the Y-axis stepping motor is fixed on the Y-axis and Z-axis linkage device, and when the Y-axis stepping motor rotates and drives the synchronous wheel to rotate and mesh on the synchronous belt to realize accurate designated movement distance, so that the Z-axis is driven to move left and right.

3. The urban micro agricultural robot according to claim 2, wherein the Z-axis is fixed on the Y-axis, the Z-axis stepping motor is fixed on the top of the Z-axis, and the actuator is fixed on the bottom of the Z-axis; the Z axis is driven by the Z axis stepping motor to rotate the screw rod, the rotary motion of the screw rod is converted into the linear motion of the Z axis through the screw rod screw block, and the Z axis is clamped in the groove of the aluminum profile by the idler wheel to prevent inclination.

4. An urban micro agricultural robot according to claim 3, further comprising a seed-fetching disc, a water pump, an air pump, a controller, a serial port screen and a tank chain; the controller and the serial port screen are arranged in the control box and are mounted on the Y shaft to move along with the Y shaft, and the power line, the water pipe, the controller and the serial port screen are arranged on the side face of the X shaft in order through the tank chain.

5. The urban micro agricultural robot according to claim 3, wherein seeding and irrigation are performed by the front-back, left-right and up-down movement of the X-axis, Y-axis and Z-axis according to the execution component; a seed taking pump is arranged on the right side of the X axis, and a water pump is fixed on the left side of the control box.

6. The urban micro agricultural robot according to claim 5, wherein a seeding button of a serial port screen is pressed to execute a seeding process, a seeding executing part is controlled to move to a position right above a seed plate to perform a seed taking operation, then the Z axis descends while the air pump is started to suck seeds, the seed taking operation is completed, and the Z axis ascends to a position right above the seed taking plate; according to the preset distance and the sowing depth of the seeds, inserting the sowing suction head into the soil, descending to the designated sowing depth, closing the air pump, and enabling the seeds to fall off to complete single sowing; can repeatedly take seeds by planting a plurality of seeds according to the agricultural requirements of different vegetables.

7. The urban micro agricultural robot according to claim 5, wherein a spraying button on a serial port screen is pressed to perform a spraying process, a watering execution part is replaced, the watering execution part is moved to a position right above each seeding point according to a program according to a preset line spacing interval, then the water pump is started to pump water in a water bucket and flow into soil through a water pipe, and the water pump is started for two seconds and is automatically closed to finish irrigation; the opening time can be controlled, the opening time of the water pump is controlled according to different watering quantities required by different vegetables and planting periods, and the watering quantity of the water pump is set to be 100ml after the water pump is started for one second; accurately controlling the water pumping quantity to carry out accurate and quantitative watering.

8. The urban micro agricultural robot according to claim 5, wherein the test soil humidity executing component is replaced for testing soil humidity, the process of measuring soil humidity can be executed by pressing a humidity button on the serial port screen, the executing part is switched to a humidity sensor, the humidity sensor is inserted into soil, data is fed back to the serial port screen, and a user judges whether watering is needed according to the soil humidity.

9. An urban micro agricultural robot according to claim 5, wherein a serial port screen is provided to facilitate easier and more convenient operation for a user, the interface of the serial port screen is designed for seeding, irrigation, humidity, setting and resetting; firstly, the row spacing and the spacing of seed sowing or irrigation and the sowing depth of seeds are set by clicking, after the setting is finished, a serial port screen feeds corresponding data back to the Arduino single chip microcomputer, and the single chip microcomputer processes the received data through a corresponding program; then the operations of seeding, irrigation and soil humidity test which are required to be carried out can be clicked; after the operations are clicked, the serial port screen can transmit different signals to the Arduino single chip microcomputer according to different operations, and the single chip microcomputer receives the signals and performs the operations through different subprograms; when the reset operation is clicked, the Arduino single chip microcomputer receives a signal and returns to a set original point; the origin is set, and the setting is not required to be repeated.