CN212629653U - High-obstruction crop field walking robot - Google Patents
High-obstruction crop field walking robot Download PDFInfo
- Publication number
- CN212629653U CN212629653U CN202021159718.2U CN202021159718U CN212629653U CN 212629653 U CN212629653 U CN 212629653U CN 202021159718 U CN202021159718 U CN 202021159718U CN 212629653 U CN212629653 U CN 212629653U
- Authority
- CN
- China
- Prior art keywords
- platform
- telescopic
- robot
- telescopic legs
- translation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Catching Or Destruction (AREA)
- Manipulator (AREA)
Abstract
A high-obstruction crop field walking robot belongs to the technical field of agricultural robots. The device comprises a mobile platform parallel to the ground and four telescopic legs, wherein the platform is provided with a translation rack, and each telescopic leg is provided with a translation gear meshed with the translation rack; the telescopic legs are provided with lifting racks, and lifting gears meshed with the lifting racks are arranged inside the telescopic legs; the telescopic legs do telescopic motion in the vertical direction relative to the platform by driving the lifting gear; the platform can do translational motion relative to the telescopic legs in the horizontal direction by driving the translation gear. The utility model discloses avoided wheeled robot to move the shortcoming that resistance is big, destroys the plant when the field translation walking of planting higher plant, can replace the peasant to accomplish the pesticide spraying work to higher plant, stopped the pesticide effectively and sprayed the harm of process to the human body. The utility model discloses a device for spraying insecticide that platform carried on also can be changed into other agricultural devices, has extensive application prospect.
Description
Technical Field
The utility model relates to a robot specifically is a high hindrance crops field walking robot, is applicable to the pesticide in cotton field or other high crops fields and sprays the operation, belongs to agricultural robot technical field.
Background
The demand of high-efficiency and large-scale production of modern agriculture promotes the automatic and intelligent development of agriculture. The pesticide spraying can effectively prevent and control plant diseases and insect pests, but the phenomenon of pesticide poisoning can occur in manual spraying operation, and in order to improve the working conditions of farmers, the adoption of a pesticide spraying robot is imperative. The existing agricultural robot usually adopts a wheel type or crawler type walking mechanism, the running resistance is large when the agricultural robot moves in a field with higher height (larger than 1 m) plants, the wheels or the crawler type walking mechanism can damage crops, the wheels are easy to collapse when the agricultural robot encounters a concave road surface, and the adaptability to the complex road surface environment is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the not enough of above-mentioned prior art, provide a high hindrance crops field walking robot.
The technical scheme of the utility model as follows:
a robot walking in a high-obstruction crop field is characterized by comprising a platform and four telescopic legs, wherein the platform is provided with a translation rack, and each telescopic leg is provided with a translation gear meshed with the translation rack; the telescopic legs are provided with lifting racks, and the walking robot is also provided with lifting gears meshed with the lifting racks; the telescopic legs do telescopic motion in the vertical direction relative to the platform by driving the lifting gear; the platform can do translational motion relative to the telescopic legs in the horizontal direction by driving the translation gear.
Preferably, each telescopic leg is provided with a shell, a first stepping motor is arranged in the shell, square holes for the telescopic legs to penetrate through are respectively formed in the top and the bottom of the shell, and dovetail grooves are formed in the shell; the lifting gear is arranged in the shell and meshed with a lifting rack arranged on the front side wall of the telescopic leg; the dovetail sliding blocks are arranged on the rear side walls of the telescopic legs and are in sliding fit with dovetail grooves of the shell, so that the telescopic legs can be limited to move only in the vertical direction; the lifting gear is driven by the first stepping motor, so that the telescopic legs are driven to move up and down.
Preferably, each telescopic leg is provided with a pair of translation gears, and the two translation gears are symmetrically arranged at the front side and the rear side of the telescopic leg and are respectively arranged at the bottom of the shell through a bracket; the translation rack is arranged at the bottom of the platform along the length direction of the platform, and a second stepping motor is fixed on the side surface of the shell; two translation gears are driven by the second stepping motor, so that the platform and the telescopic legs move relatively in the horizontal direction.
Preferably, the bottom of the shell is provided with a guide wheel, the platform is provided with a groove matched with the guide wheel, and when the platform and the telescopic legs move relatively in the horizontal direction, the shell moves back and forth along the groove of the platform through the guide wheel.
Preferably, a fan-shaped storage battery is arranged below the center of the platform, and the storage battery is connected with the stepping motors of the telescopic legs through spring wires. The fan-shaped storage battery can be used as a fan-shaped balancing weight in a walking robot balancing weight mechanism, the balancing weight mechanism further comprises a balancing weight support and a stepping motor III, the balancing weight support is fixed at the center of the platform, the fan-shaped balancing weight is rotationally connected to the balancing weight support, and the stepping motor III is connected with the fan-shaped balancing weight through a gear set; when one of the telescopic legs is about to be lifted, the stepping motor controls the fan-shaped balancing weight to rotate in a three-control mode, the gravity center of the robot is transferred to the position above a triangle formed by connecting lines of contact points of the other three telescopic legs and the ground, and the robot can stand stably.
Preferably, the telescopic legs comprise upper square tubes and lower L-shaped square tubes, and the upper square tubes and the lower L-shaped square tubes are connected through universal joints; when the telescopic legs touch crops, the universal joint can enable the lower L-shaped square tube to deflect so as to prevent trampling the crops; the laser ranging sensor is installed on the platform and used for sensing the distance between the platform and the plant and matching with the universal joint to correct the advancing path of the robot in real time.
Preferably, the bottom of each telescopic leg is provided with a pressure sensor, the pressure sensors sense the ground, signals are fed back to the controller in real time, and the controller controls the first stepping motor to control the telescopic state of the corresponding telescopic leg.
Preferably, the platform is provided with a three-dimensional angular velocity sensor, signals are fed back to the controller in real time, and once the platform inclines, the height of the corresponding telescopic leg is adjusted in time, so that the platform is guaranteed to move in a stable plane.
Preferably, the platform is loaded with a plastic tank for storing the pesticide, and the plastic tank sprays the pesticide through a water pump, a pipeline and an atomizing nozzle.
Preferably, a pan-tilt camera is arranged above the platform and used for sensing the position of the robot in the field.
The utility model discloses can regard as intelligent pesticide spraying robot, adopt a platform and four-legged walking running gear that flexible leg is constituteed. The translation of the platform in the horizontal direction is completed by means of the engagement and relative movement of a translation rack on the platform and a translation gear on a telescopic leg; the telescopic motion of the telescopic legs in the vertical direction is completed by the relative motion between the lifting gear and the lifting rack (arranged on the telescopic legs) inside the telescopic leg shell; the vertical extension of the telescopic legs and the horizontal translation of the platform are alternately reciprocated, so that the robot can freely move in a horizontal plane above the height of crops. A plastic box and a nozzle are fixed on the platform, and the liquid medicine can be sprayed to crops by using a water pump.
The utility model discloses avoided wheeled robot to move the shortcoming that resistance is big, destroys the plant when the field translation walking of planting higher plant, can replace the peasant to accomplish the pesticide spraying work to higher plant (like the cotton), stopped the pesticide effectively and sprayed the harm of process to the human body. The utility model discloses a device for spraying insecticide that platform carried on also can be changed into other agricultural devices, has extensive application prospect.
Drawings
FIG. 1 is a schematic structural view of the robot of the present invention;
FIG. 2 is a schematic structural view between a single telescopic leg and a platform in the present invention;
fig. 3 is a schematic view of the internal structure between the telescopic leg and the corresponding shell (upper plane of the shell) of the present invention;
fig. 4 is a schematic structural diagram of the platform of the present invention;
fig. 5 is a schematic view of a counterweight mechanism of the present invention;
FIG. 6 is a schematic view of the movement of a fan-shaped counterweight block in the counterweight mechanism;
FIG. 7 is a motion cycle chart of the middle telescopic leg and the platform of the present invention;
in the figure: the device comprises a platform 1, telescopic legs 2, a translation rack 3, a translation gear 4, a lifting rack 5, a lifting gear 6, a shell 7, a first stepping motor 8, a support 9, a second stepping motor 10, a guide wheel 11, a groove 12 on the platform, a counterweight block support 13, a sector counterweight block 14, a third stepping motor 15, an upper square tube 16, a lower L-shaped square tube 17, a universal joint 18, a pressure sensor 19, a dovetail groove 20, a dovetail slide block 21, a controller 22, a plastic box 23, a water pump 24, an atomizing nozzle 25, a pan-tilt camera 26, a laser ranging sensor 27, a three-dimensional angular velocity sensor 28 and a belt 29.
Detailed Description
A robot walking in high-obstruction crop field mainly comprises a mobile platform and telescopic legs which are parallel to the ground, and the specific parts comprise a platform 1 with a hollow structure, a plastic box 23, a pipeline, a water pump 24, an atomizing nozzle 25, telescopic legs 2, a universal joint 18, a stepping motor, a pressure sensor 19, a three-dimensional angular velocity sensor, a controller, a power supply, a gear, a support, a belt, a holder camera 26 and the like.
The telescopic legs 2 are made of aluminum alloy sections, so that the weight is light and the bearing performance is good. The universal joint 18 divides the whole telescopic leg into an upper part and a lower part, a lifting rack 5 is arranged on the front side wall of the upper square tube 16, a lifting gear 6 of the lifting rack is meshed, and the lifting gear is arranged in the shell through a support. A first stepping motor 8 and a lifting gear 6 are assembled by a belt according to the winding method of the figure 2, and the lifting and descending of the telescopic leg can be realized by controlling the forward and reverse rotation of the first stepping motor.
The top and the top of the shell are respectively provided with a square hole, so that the telescopic legs can be conveniently and freely stretched. A dovetail slide block 21 is arranged on the rear side wall of the upper square tube 16, and a dovetail groove 20 is arranged in the shell; the dovetail slide block is in sliding fit with a dovetail groove of the shell (as shown in figure 3), so that other degrees of freedom of the upper square tube are limited, and the square tube can only move vertically.
A second stepping motor 10 is fixed on the side face of the shell, two translation gears 4 are fixed on a support 9 extending out of the bottom of the shell, and the second stepping motor is connected with the two translation gears through a belt (winding method is shown in figure 2). When the four telescopic legs of the robot are all grounded and are not moved, the translation gear is driven to enable the platform to do translation motion. When the other three legs fall to the ground and one leg is lifted, the driving translation gear can enable the one leg to translate. And two functions of a translation platform and a translation single leg can be realized by controlling the forward and reverse rotation of the stepping motor II.
A three-dimensional angular velocity sensor 28 is mounted on the platform, signals are fed back to the controller in real time, the height of the telescopic leg can be adjusted in time once the platform is inclined, and the platform is guaranteed to move in a stable plane in the air.
The laser ranging sensor 27 is arranged on the side surface of the platform, can detect the distance between the robot and crops, and is used for correcting the advancing path of the robot in real time. The universal joint on the telescopic leg can deflect the lower L-shaped square pipe below the universal joint by slight lateral force, the lower L-shaped square pipe can rotate for 360 degrees, and once the leg part collides with crops, the lower L-shaped square pipe can be immediately avoided so as to prevent the telescopic leg from trampling the crops.
The foot of the telescopic leg is provided with a pressure sensor 19, once a pressure signal is measured, the pressure signal can be transmitted to a single chip microcomputer (controller) to indicate that the single leg falls to the ground; when the robot meets a road surface pit, the telescopic legs extend to the longest position, the pressure sensor still cannot acquire a ground contact signal, and the controller can control the other three telescopic legs to enable the platform to descend until the four legs are grounded.
The platform is overall rectangular and made of stainless steel pipes (as shown in figure 4), and is light in weight and capable of bearing large heavy objects. Grooves 12 are formed in the two sides of the platform and are matched with guide wheels on the lower surface of the telescopic leg shell, so that the single degree of freedom of the telescopic leg in the front-back movement of the platform plane is limited, and the telescopic leg is prevented from shaking left and right.
The platform carries a plastic tank 23 for storing the pesticide, which is connected to a water pump 24, pipes and atomizing nozzles 25. The water pump is controlled by PWM signals, and the rotating speed of the water pump can be changed by adjusting the duty ratio of the PWM signals, so that the spraying speed is adjusted. The laser ranging sensor on the side face of the platform corrects the advancing path of the robot in real time, and the robot can uniformly spray pesticides in the advancing process. A pan-tilt camera 26 is mounted above the platform for sensing the position of the robot in the field.
The configuration mechanism can automatically adjust the position of the mass center according to the road surface condition, a fan-shaped balancing weight 14 (which can be replaced by a fan-shaped storage battery) is arranged at the position below the center of the platform, the fan-shaped balancing weight is fixed by a balancing weight support 13 shown in figure 5, a roller bearing is arranged at the bottom of the balancing weight support to be rotationally connected with the balancing weight support, and the fan-shaped balancing weight can only do circular motion in the plane of the balancing weight support. The weight is driven by a stepping motor III 15 (fixed on the platform), and the rotating angle is 90 degrees each time. In fig. 6, when the telescopic leg at D is lifted, the counter weight block rotates to the black filling position, and at this time, the center of gravity of the robot can be ensured to fall into the triangle ABC. In a similar way, when each telescopic leg is lifted up, the balancing weight rotates to the triangular area where the other three supporting legs are located, so that the automatic gravity center adjustment of the robot is realized, the stable movement of the robot is ensured, and the robot cannot tip over.
In fig. 7, the black filled-in pattern indicates prohibition of movement, and the diagonal filled-in pattern indicates movement. The initial positions of the four telescopic legs of the left front, the left back, the right front and the right back are all positioned behind the platform (as shown in a square frame 1 in the figure). According to the sequence of the boxes 2-5 in the figure, the platform is fixed relative to the ground, and the four telescopic legs are respectively lifted off and translated forwards relative to the platform, and then are descended to the ground when moving to the forefront end of the platform. The four telescopic legs move to the back of the foremost end of the platform (the state of a square frame 5 in the figure), the four telescopic legs are not moved relative to the ground, and the platform moves forwards. When the platform moves to the extreme position, the platform returns to the state of the box 1 in the figure, and a motion cycle is completed. The continuous reciprocation of the motion cycle can realize the continuous operation of the robot and the pesticide spraying.
The controller 22 (a single chip microcomputer can be adopted) is installed on the platform, the laser ranging sensor, the pressure sensor and the three-dimensional angular velocity sensor are respectively in signal connection with the controller, and the controller is respectively in control connection with the first stepping motor, the second stepping motor, the third stepping motor, the universal joint and the water pump. The controller can control the on-off and positive and negative rotation of the first, second and third stepping motors and control the working state of the water pump. The laser ranging sensor feeds signals back to the controller in real time, detects the distance between the robot and crops and is used for correcting the advancing path of the robot in real time. The universal joint can freely deflect around the longitudinal axis by 360 degrees, and once the leg part collides with the crops, the universal joint can be immediately avoided so as to prevent the telescopic leg from trampling the crops; the three-dimensional angular velocity sensor feeds back signals to the controller in real time, once the platform inclines, the controller controls the first stepping motor to lift, the height of the corresponding telescopic leg is adjusted in time, and the platform is guaranteed to move in a stable plane; the pressure sensor senses the ground, signals are fed back to the controller in real time, and the controller controls the first stepping motor to control the stretching state of the corresponding stretching leg; when the telescopic legs are lifted up, the third stepping motor is controlled by the controller to rotate the fan-shaped balancing weight, so that the platform can move stably.
Claims (10)
1. A robot walking in a high-obstruction crop field is characterized by comprising a platform (1) and four telescopic legs (2), wherein the platform is provided with a translation rack (3), and each telescopic leg is provided with a translation gear (4) meshed with the translation rack; the telescopic legs are provided with lifting racks (5), and the walking robot is also provided with lifting gears (6) meshed with the lifting racks; the telescopic legs do telescopic motion in the vertical direction relative to the platform by driving the lifting gear; the platform can do translational motion relative to the telescopic legs in the horizontal direction by driving the translation gear.
2. A robot walking in high obstruction crop field according to claim 1, characterized in that each telescopic leg is provided with a shell (7), a first stepping motor (8) is arranged in the shell, square holes for the telescopic legs to pass through are respectively arranged at the top and the bottom of the shell, and dovetail grooves (20) are arranged in the shell; the lifting gear is arranged in the shell and meshed with a lifting rack arranged on the front side wall of the telescopic leg; the rear side wall of each telescopic leg is provided with a dovetail slide block (21) which is in sliding fit with a dovetail groove of the shell to limit the telescopic legs to move only in the vertical direction; the lifting gear is driven by the first stepping motor, so that the telescopic legs are driven to move up and down.
3. A robot walking in high obstruction crop field as claimed in claim 2, wherein each telescopic leg is provided with a pair of translation gears, and the two translation gears are symmetrically arranged at the front and rear sides of the telescopic leg and are respectively mounted at the bottom of the shell through a bracket (9); the translation rack is arranged at the bottom of the platform along the length direction of the platform, and a second stepping motor (10) is fixed on the side surface of the shell; two translation gears are driven by the second stepping motor, so that the platform and the telescopic legs move relatively in the horizontal direction.
4. A robot walking in high obstruction crop field as claimed in claim 3, wherein the bottom of the housing is provided with a guide wheel (11), the platform is provided with a groove (12) matched with the guide wheel, and when the platform and the telescopic legs move relatively in the horizontal direction, the housing moves back and forth along the groove of the platform through the guide wheel.
5. The robot for walking in the high obstruction crop field as claimed in claim 1, wherein the platform center is provided with a counterweight mechanism, the mechanism comprises a counterweight block bracket (13), a fan-shaped counterweight block (14) and a three-step motor (15), the counterweight block bracket is fixed at the platform center, the fan-shaped counterweight block is rotatably connected to the counterweight block bracket, and the three-step motor is connected with the fan-shaped counterweight block through a gear set; when one of the telescopic legs is about to be lifted, the stepping motor controls the fan-shaped balancing weight to rotate in a three-control mode, the gravity center of the robot is transferred to the position above a triangle formed by connecting lines of contact points of the other three telescopic legs and the ground, and the robot can stand stably.
6. The robot for walking in the field of high obstruction crops according to claim 1, wherein the telescopic legs comprise an upper square tube (16) and a lower L-shaped square tube (17), and the upper square tube and the lower L-shaped square tube are connected through a universal joint (18); when the telescopic legs touch crops, the universal joint can enable the lower L-shaped square tube to deflect so as to prevent trampling the crops; and a laser ranging sensor (27) is arranged on the platform and used for sensing the distance between the platform and the plant, and the laser ranging sensor is matched with the universal joint to correct the advancing path of the robot in real time.
7. The robot for walking in the field of high obstruction crops as claimed in claim 1 or 2, wherein the bottom of the telescopic leg is provided with a pressure sensor (19), the pressure sensor senses the ground, signals are fed back to the controller in real time, and the controller controls the first stepping motor to control the telescopic state of the corresponding telescopic leg.
8. A robot as claimed in claim 1 or claim 2, wherein the platform is equipped with a three-dimensional angular velocity sensor to provide real-time feedback to the controller, and to adjust the height of the corresponding extendable legs in time to ensure that the platform moves in a stable plane once the platform is tilted.
9. The robot for high obstacle crop field walking as claimed in claim 1, wherein the platform is loaded with a plastic tank (23) for storing pesticide, and the plastic tank sprays the pesticide through a water pump (24), a pipeline and an atomizing nozzle (25).
10. A high obstacle crop field walking robot as claimed in claim 1, wherein a pan-tilt camera (26) is mounted above said platform for sensing the position of the robot in the field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021159718.2U CN212629653U (en) | 2020-06-22 | 2020-06-22 | High-obstruction crop field walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021159718.2U CN212629653U (en) | 2020-06-22 | 2020-06-22 | High-obstruction crop field walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212629653U true CN212629653U (en) | 2021-03-02 |
Family
ID=74771948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021159718.2U Active CN212629653U (en) | 2020-06-22 | 2020-06-22 | High-obstruction crop field walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212629653U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428256A (en) * | 2021-07-13 | 2021-09-24 | 许昌职业技术学院 | Leg and foot connecting device of multi-foot striding type high-trafficability traction robot cattle |
-
2020
- 2020-06-22 CN CN202021159718.2U patent/CN212629653U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428256A (en) * | 2021-07-13 | 2021-09-24 | 许昌职业技术学院 | Leg and foot connecting device of multi-foot striding type high-trafficability traction robot cattle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021253636A1 (en) | Mountainous terrain-adaptive intelligent pesticide spraying robot | |
| CN207665864U (en) | Unmanned plant protection robot | |
| CN109122644B (en) | Automatic operation plant protection robot for greenhouse | |
| CN206651269U (en) | A kind of remote control type intelligence spray robot | |
| CN102440231B (en) | Automatic spraying machine | |
| KR20120055959A (en) | Multipurpose crop-dusting robot | |
| CN212629653U (en) | High-obstruction crop field walking robot | |
| CN108703134A (en) | Intelligent pesticide spraying machine people | |
| CN208338745U (en) | Intelligent pesticide spraying machine people | |
| CN208286250U (en) | A kind of remote control self-walking hi-crop sprayer | |
| CN111838111B (en) | Orchard wind power and drug dosage targeting regulation sprayer and method based on ultrasonic sensing | |
| CN212164699U (en) | Agricultural plant protection robot | |
| CN213346975U (en) | Intelligent disinfection robot | |
| CN112425596A (en) | Pesticide spraying device and method for rice crop cultivation | |
| CN108207581A (en) | A kind of self-propelled translation cantilever irrigation sprinkler of light simplified intelligent | |
| CN110393111B (en) | Agricultural multipurpose automatic spraying robot | |
| CN208692137U (en) | A kind of intelligent distant control self-propelled sprayer promoting agricultural development | |
| CN207978792U (en) | A kind of guide tracked mechanical arm spraying system | |
| CN211379379U (en) | Small-size automatic spraying type pesticide sprayer for forest nursery | |
| CN206284203U (en) | Long-stalked crops pesticide applicator | |
| CN116034967A (en) | Hillside orchard spraying operation robot | |
| CN215752727U (en) | Laser deinsectization quadruped robot for farmland | |
| CN212306604U (en) | But gardens are with height-adjusting's laxative machine | |
| CN211960089U (en) | Corn liquid manure applying device | |
| CN213719189U (en) | Intelligent watering device of afforestation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |