CN216674437U - Multifunctional agricultural robot - Google Patents

Multifunctional agricultural robot Download PDF

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Publication number
CN216674437U
CN216674437U CN202122740227.8U CN202122740227U CN216674437U CN 216674437 U CN216674437 U CN 216674437U CN 202122740227 U CN202122740227 U CN 202122740227U CN 216674437 U CN216674437 U CN 216674437U
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China
Prior art keywords
frame
rack
robot
spray
wheels
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Expired - Fee Related
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CN202122740227.8U
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Chinese (zh)
Inventor
田富洋
郑文德
宋占华
于镇伟
闫银发
李法德
林雪彦
初春阳
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Shandong Agricultural University
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Shandong Agricultural University
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Abstract

The utility model relates to a multifunctional agricultural robot, which comprises a rack provided with a walking device, a spraying device and a liquid medicine box, wherein the bottom surface of the rack is detachably and fixedly connected with a connecting device, and the connecting device is connected with a seeding device or a fertilizing device through a bolt; the walking device comprises two rear wheels and two front wheels, the two rear wheels are arranged on a rear cross beam, the rear cross beam is rotatably connected with the rack through a transverse pin shaft, and the two rear wheels and the two front wheels are respectively connected with a walking servo motor. The utility model adopts a modular design, uses a connecting device to connect different working modules such as seeding, fertilizing, weeding and the like to a robot frame by using a connecting facility, realizes the integration of the functions of seeding, fertilizing, weeding and pesticide spreading, achieves the effect of one machine with multiple functions, uses a radar depth camera to automatically identify, automatically changes the working state of the robot according to the actual situation, and improves the automation and intelligence level; and (4) carrying out route planning by using ROS robot simulation software, and finally realizing the full-automatic working state of the robot.

Description

Multifunctional agricultural robot
Technical Field
The utility model relates to the technical field of agricultural equipment, in particular to a multifunctional agricultural robot integrating sowing, fertilizing, pesticide spraying and the like, which is particularly applied to sowing, fertilizing and nursing of small-sized seeds such as alfalfa and the like.
Background
Currently, although the agricultural machinery level in China develops rapidly in recent years, the agricultural machinery level has obvious defects on the whole, the most important is that the intelligent, automatic and modularized development of the agricultural machinery is slow, the high-tech technology is difficult to combine with the traditional agricultural production, the quality and efficiency of the rural agricultural production are not high, and the agricultural machinery level is a short board in the agricultural development process. In recent years, China also develops a plurality of quality assurance robots, but the quality assurance robots have certain defects in the aspect of intelligent automation, most of the robots control the motion of the robots by using remote control devices, and the functional modules are single and do not achieve the effect of one machine with multiple functions. With the development of science and technology, the degree of mechanization is enhanced, some agricultural machines gradually become the mainstream of new agriculture, but the degree of automation and modularization is low, and the use requirement of large-scale agriculture in China is difficult to meet.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides the multifunctional agricultural robot, which realizes multiple purposes of one machine, improves the automation and intelligence levels and meets the development requirements of new agriculture.
The utility model is realized by the following technical scheme, and provides a multifunctional agricultural robot, which comprises a rack, a spraying device and a liquid medicine tank, wherein the rack is provided with a walking device, the spraying device is arranged at the front end of the rack, the liquid medicine tank is fixedly arranged on the rack, a liquid outlet of the liquid medicine tank is communicated with the spraying device, the bottom surface of the rack is detachably and fixedly connected with a connecting device, and the connecting device is connected with a seeding device or a fertilizing device through a bolt; the walking device comprises two rear wheels and two front wheels, the two rear wheels are mounted on a rear cross beam, the rear cross beam is rotatably connected with the rack through a transverse pin shaft, and the two rear wheels and the two front wheels are respectively connected with a walking servo motor.
The whole machine can walk through the walking device, liquid medicines such as herbicide and liquid fertilizer are stored in the liquid medicine box, and the liquid medicine is sprayed out through the spraying device, so that the purpose of weeding or applying liquid fertilizer is achieved; when the fertilizing device is connected with the connecting device, granular fertilizer can be applied, and when the seeding device is connected with the connecting device, seeding can be carried out, so that multiple purposes of one machine are realized; the four traveling wheels of the two rear wheels and the two front wheels are arranged, so that the stability of the whole machine is improved, the two rear wheels and the two front wheels are respectively connected with a traveling servo motor, each traveling wheel is independently driven by one servo motor, differential turning is convenient, the traveling capability is improved, and the traveling requirements of different road conditions are met; the rear cross beam is rotatably connected with the rack, so that the rear cross beam can rotate at a certain angle around the transverse pin shaft, and the robot main body and the rear wheels can deflect at a certain angle, so that the robot can well walk on a rugged road; the connecting device is detachably and fixedly connected with the rack, so that the connecting device is convenient to detach from and replace the rack.
And as optimization, the rack is also provided with a control system electrically connected with each walking servo motor, and the front end of the rack is provided with a radar depth camera electrically connected with the control system. According to the optimization scheme, the working target and the working state are identified through the radar depth camera, then the robot automatically adjusts the working state and the working capacity of the robot through the control system according to the received information, and the automation and intelligence levels are improved.
As optimization, the two front wheels are respectively arranged on the two front wheel frames, the upper ends of the front wheel frames are fixedly connected with front steering shafts extending vertically, and the frame is fixedly provided with front crossbeams rotationally connected with the front steering shafts and a front steering motor for driving the front steering shafts to rotate; the two rear wheels are respectively arranged on the two rear wheel frames, the upper end of each rear wheel frame is fixedly connected with a rear steering shaft which extends vertically, the rear steering shaft is rotatably connected with the rear cross beam, a rear steering motor which drives the rear steering shaft to rotate is arranged on the rear cross beam, and the two rear steering motors and the two front steering motors are electrically connected with the control system. The optimized scheme controls the actions of all the steering motors through a control system, each steering motor correspondingly drives one wheel carrier to rotate, and the wheel carriers drive the travelling wheels to steer when rotating, so that the whole machine can turn.
Preferably, the liquid medicine tank is located in the middle of the front and back of the frame, a control box fixedly connected with the frame is arranged in front of the liquid medicine tank, the control system is arranged in the control box, a generator fixedly connected with the frame is arranged behind the liquid medicine tank and used for providing electric energy for electric parts, and top covers respectively located above the control box and the generator are fixedly arranged on the frame. According to the optimized scheme, the medicine water tank with larger weight is arranged in the middle position in the front-back direction, so that the gravity center of the whole machine is closer to the middle position, and the stability of the whole machine is improved; the control box is arranged, so that the control system is protected conveniently; the generator is arranged, so that electric energy can be conveniently supplied to all electric components, and the operation time of the robot in the field can be conveniently prolonged; the control box and the generator are respectively arranged on two sides of the liquid medicine tank, and the control system and the generator are separated by the liquid medicine tank, so that electromagnetic interference on the control system is avoided; the control box and the generator are protected by arranging the top cover, and the use safety is improved.
As optimizing, sprinkler includes the spray pump, the link before the machine, electric telescopic handle and spray tube, the spray pump sets up with frame relatively fixed, the inlet of spray pump and the liquid outlet intercommunication of liquid medicine case, the liquid outlet and the spray tube intercommunication of spray pump have seted up the orifice on the spray tube, the spray tube is installed on the link before the machine, the rear end of link before the machine is articulated through first cross axle and frame, electric telescopic handle's one end is articulated with the frame, the other end is articulated with the link before the machine. The spraying device of the optimized scheme pumps the medicine in the medicine water tank to the medicine spraying pipe through the spraying pump and sprays the medicine from the spraying holes, so that the spraying of the medicine is realized, the structure is simple, and the use and the control are convenient; through electric telescopic handle's extension and shortening, drive the top-to-bottom rotation of link before the machine, realized the adjustment of spray tube height, satisfy more spray and operation requirement.
As optimization, the spray holes are located at the bottom of the spray pipe, and the spray pipe is hinged with the front connecting frame through a second transverse shaft. This optimization scheme will spout the medicine pipe and articulate through second cross axle and quick-witted preceding link, when quick-witted preceding link reciprocated, spout the medicine pipe and rotate relative quick-witted preceding link under the dead weight effect, make the orifice face down all the time to the crop in the field, avoided the liquid medicine extravagant.
As optimization, the connecting device comprises a rectangular frame vertically arranged and three hanging plates fixedly connected with a top plate of the rectangular frame, a connecting plate is welded at the upper end of each hanging plate and connected with the rack through a U-shaped threaded buckle, a plurality of through holes are formed in the top plate of the rectangular frame and a bottom plate of the rectangular frame, and the seeding device and the fertilizing device are connected with the rectangular frame through bolts. The optimized connecting device is conveniently connected with the seeding device and the fertilizing device by arranging the rectangular frame and the through holes; through setting up three hanger plates, both guaranteed joint strength, still guaranteed simultaneously connecting device along horizontal biography force performance, improved the reliability of fertilization and seeding operation, the connecting plate passes through U type threaded buckle with the frame to be connected, both easy to assemble and dismantlement have guaranteed the ability of shearing of junction simultaneously.
The utility model has the beneficial effects that: the robot has the advantages that the modular design is adopted, different working modules such as seeding, fertilizing, weeding and the like can be connected to the robot frame through a connecting facility by using the connecting device, the functions of seeding, fertilizing, weeding and pesticide spreading are integrated, the effect of multiple purposes of one machine is achieved, the radar depth camera is used for automatic identification, the working state of the robot is automatically changed according to actual conditions, and the automation and intelligence level is improved; and on the other hand, route planning is carried out by using ROS robot simulation software, and finally, the full-automatic working state of the robot is realized.
Drawings
FIG. 1 is a schematic view of the overall structure of a multifunctional agricultural robot of the present invention;
FIG. 2 is a schematic view of the connection state of the connection device and the frame;
FIG. 3 is a schematic view of the connecting device;
FIG. 4 is a schematic view of the structure of the seeding apparatus;
FIG. 5 is a schematic structural view of the fertilizer applicator;
FIG. 6 is a schematic diagram of a radar depth camera;
FIG. 7 is a schematic view of a spraying device;
FIG. 8 is a schematic view of a walking device;
shown in the figure:
1. spraying device, 2, control box, 3, liquid medicine box, 4, top cover, 5, outer baffle, 6, walking servo motor, 7, preceding steering motor, 8, U type threaded buckle, 9, connecting device, 10, fastening nut, 11, frame, 12, U type buckle fixed orifices, 13, through-hole, 14, seeder, 15, fertilizer injection unit, 16, radar depth camera, 17, spray pump, 18, electric telescopic handle, 19, the preceding link of machine, 20, spray pipe, 21, back crossbeam, 22, generator, 23, front wheel, 24, preceding wheel carrier, 25, front crossbeam, 26, steering motor support.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in fig. 1, a multifunctional agricultural robot, including installing running gear's frame 11, and install sprinkler 1 at the frame front end and set firmly liquid medicine case 3 in the frame, the liquid outlet and the sprinkler intercommunication of liquid medicine case, liquid medicine case 3 is located the intermediate position of frame fore-and-aft direction, improve complete machine stability, the place ahead of liquid medicine case is equipped with control box 2 with the frame rigid coupling, be provided with control system in the control box, the rear of liquid medicine case is equipped with generator 22 with the frame rigid coupling, the generator is used for providing the electric energy for each power consumption part of robot, still be equipped with the large capacity battery in the frame, be used for storing the electric energy, and supply power for control and motion part, the generator of this embodiment adopts the petrol generator. The top cover 4 which is respectively positioned above the control box and the generator is fixedly arranged on the rack so as to protect the control box and the generator, and the outer baffles 5 are respectively fixedly arranged at the left side and the right side of the rack so as to form side protection.
The bottom surface of frame can be dismantled the rigid coupling and have connecting device 9, connecting device passes through bolted connection seeder 14 or fertilizer injection unit 15, and seeder 14 and fertilizer injection unit 15 all adopt prior art. Specifically, as shown in fig. 3, connecting device 9 includes the rectangle frame along vertical setting, and with three hanger plates of the roof rigid coupling of rectangle frame, hanger plate upper portion leans out, and the hanger plate is 15 ~30 with the contained angle of vertical direction, the upper end welding of hanger plate has the connecting plate, U type buckle fixed orifices 12 has been seted up on the connecting plate, the connecting plate passes through U type threaded buckle 8 with the frame, fastening nut 10 fixed connection, a plurality of through-holes 13 have all been seted up on the roof of rectangle frame and the bottom plate of rectangle frame, seeder and fertilizer injection unit pass through bolt or round pin axle and are connected with the rectangle frame. Among the three hanger plates, first hanger plate and second hanger plate weld as an organic whole with the relative both sides limit of rectangle frame respectively, and the third hanger plate slopes forward to extend, undertakes the main pulling force when driving seeder or fertilizer injection unit and remove through the third hanger plate, has guaranteed joint strength.
As shown in fig. 8, the traveling device includes two rear wheels and two front wheels 23, the two rear wheels are mounted on the rear cross beam 21, the rear cross beam 21 is rotatably connected with the frame through a transverse pin, the two rear wheels and the two front wheels are respectively connected with four traveling servo motors 6, each of the four traveling servo motors 6 is a dc motor, and each of the four traveling servo motors correspondingly drives one traveling wheel. The transverse pin shaft is vertically and fixedly connected with the rear end face of the rack, a pin hole is formed in the middle of the rear cross beam, a rotating bearing is installed in the pin hole of the rear cross beam, and the transverse pin shaft is fixedly arranged in an inner hole of the rotating bearing in a penetrating mode.
The two front wheels are respectively arranged on the two front wheel frames 24, the walking servo motor 6 for driving the front wheels is fixedly connected with the front wheel frames through bolts, the upper ends of the front wheel frames are fixedly connected with front steering shafts extending vertically, and the frame is fixedly provided with a front cross beam 25 rotationally connected with the front steering shafts and a front steering motor 7 for driving the front steering shafts to rotate; the two rear wheels are respectively arranged on the two rear wheel frames, and a traveling servo motor 6 for driving the rear wheels is fixedly connected with the rear wheel frames through bolts.
The upper end rigid coupling of back wheel carrier has along the vertical rear steering shaft that extends, and the rear steering shaft rotates with the rear beam to be connected, installs the rear steering motor who drives rear steering shaft pivoted on the rear beam, and two rear steering motors and two preceding steering motor all with control system electric connection, turn to the motor and be four, are DC servo motor, and every turns to the motor and corresponds a walking wheel of drive and turns to. Steering motor supports 26 are fixedly arranged on the front cross beam and the rear cross beam respectively and used for mounting steering motors, steering bearings are fixed at the top and the bottom of each steering motor support 26, inner holes of the steering bearings are in interference fit with steering shafts at the tops of the wheel frames, so that the wheel frames can rotate relative to the steering motor supports, the steering shafts are driven to rotate through the steering motors, the wheel frames and the travelling wheels are driven to steer, and the robot turns.
As shown in fig. 7, sprinkler 1 includes spray pump 17, link 19 before the machine, electric telescopic handle 18 and spray tube 20, spray pump and frame relatively fixed set up, the inlet of spray pump communicates with the liquid outlet of liquid medicine case, the liquid outlet and the spray tube intercommunication of spray pump, the orifice has been seted up on the spray tube, the spray tube is installed on the link before the machine, the rear end of link before the machine is articulated with the frame through first cross axle, electric telescopic handle's one end is articulated with the frame, the other end is articulated with the link before the machine, the operating condition of spray tube is adjusted in the action through electric telescopic handle. The spray holes are positioned at the bottom of the spray pipe, the spray pipe is hinged with the front connecting frame through a second transverse shaft, and the spray holes on the spray pipe are kept to be always aligned with crops in the field.
Still be equipped with control system and each servo motor of walking, steering motor electric connection in the frame, the front end of frame is equipped with the radar depth camera 16 with control system electric connection, and this embodiment fixes radar depth camera 16 on left place ahead steering motor support, combines together with TX2, and different operating mode of automatic identification and seedling are avoided sheltering from by sprinkler. The control system uses an embedded singlechip STM32F767, an industrial touch screen is matched, a man-machine interaction interface is established, ROS robot development software is combined, the robot is subjected to master control and route planning, a radar depth camera is used for automatic identification, and the working state of the robot is controlled.
The embedded single chip microcomputer STM32F767 used by the control system is matched with a remote control device, a wireless transceiver module is added, and the remote controller is utilized to perform manual control when the functions of each module are performed, so that the working state of the robot can be controlled through the remote controller, the robot can automatically work under the permission of conditions, the working state of the robot is controlled in total in two modes, and different control modes are used under different conditions.
This embodiment one side can be adjusted the robot into automatic operating condition, and the robot has added the automatic identification function, combines ROS robot development software, utilizes ROS to control and route planning the robot to use radar and degree of depth camera to discern work target and operating condition automatically under automatic operating condition, then the operating condition and the operational capability of robot automatically regulated self. On the other hand, the robot can also manually and remotely control the working state of the robot, so that semi-automation is realized.
The multifunctional agricultural robot adopts a modularized and automatic design, and all the functional modules are connected with the robot by using the connecting device, so that the multifunctional agricultural robot really realizes the function of one machine for multiple purposes.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; while the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes, modifications, additions and substitutions may be made without departing from the spirit of the utility model and the scope of the utility model as defined in the accompanying claims.

Claims (7)

1. A multifunctional agricultural robot is characterized in that: the device comprises a rack (11) provided with a walking device, a spraying device (1) arranged at the front end of the rack and a liquid medicine tank (3) fixedly arranged on the rack, wherein a liquid outlet of the liquid medicine tank is communicated with the spraying device, the bottom surface of the rack is detachably and fixedly connected with a connecting device, and the connecting device is connected with a seeding device (14) or a fertilizing device (15) through a bolt;
the walking device comprises two rear wheels and two front wheels (23), the two rear wheels are mounted on a rear cross beam (21), the rear cross beam (21) is rotatably connected with the rack through a transverse pin shaft, and the two rear wheels and the two front wheels are respectively connected with a walking servo motor (6).
2. A multi-functional agricultural robot according to claim 1 wherein: the rack is also provided with a control system electrically connected with each walking servo motor, and the front end of the rack is provided with a radar depth camera (16) electrically connected with the control system.
3. A multi-functional agricultural robot according to claim 2, characterized in that: the two front wheels are respectively arranged on two front wheel frames (24), the upper end of each front wheel frame is fixedly connected with a front steering shaft which extends vertically, and a front cross beam (25) which is rotationally connected with the front steering shaft and a front steering motor (7) which drives the front steering shaft to rotate are fixedly arranged on the rack;
the two rear wheels are respectively arranged on the two rear wheel frames, the upper end of each rear wheel frame is fixedly connected with a rear steering shaft which extends vertically, the rear steering shaft is rotatably connected with the rear cross beam, a rear steering motor which drives the rear steering shaft to rotate is arranged on the rear cross beam, and the two rear steering motors and the two front steering motors are electrically connected with the control system.
4. A multifunctional agricultural robot according to claim 3, characterized in that: medicine water tank (3) are located the intermediate position of frame fore-and-aft direction, and the place ahead of medicine water tank is equipped with control box (2) with the frame rigid coupling, and control system sets up in the control box, the rear of medicine water tank be equipped with generator (22) of frame rigid coupling, the generator is used for providing the electric energy for the power consumption part, still sets firmly in the frame and is located the top of the machine lid (4) of control box top and generator top respectively.
5. A multi-functional agricultural robot according to claim 1 wherein: spray device (1) is including spray pump (17), link (19) before the machine, electric telescopic handle (18) and spray tube (20), spray pump and frame relatively fixed set up, the inlet of spray pump and the liquid outlet intercommunication of liquid medicine case, the liquid outlet and the spray tube intercommunication of spray pump, the orifice has been seted up on the spray tube, the spray tube is installed on the link before the machine, the rear end of link before the machine is articulated through first cross axle and frame, electric telescopic handle's one end is articulated with the frame, the link is articulated before the other end and the machine.
6. A multi-functional agricultural robot according to claim 5, characterized in that: the spray hole is positioned at the bottom of the spray pipe, and the spray pipe is hinged with the front connecting frame through a second transverse shaft.
7. A multi-functional agricultural robot according to claim 1 wherein: connecting device (9) including along the vertical rectangle frame that sets up to and three hanger plates with the roof rigid coupling of rectangle frame, the upper end welding of hanger plate has the connecting plate, and the connecting plate passes through U-shaped threaded buckle (8) with the frame to be connected, has all seted up on the roof of rectangle frame and the bottom plate of rectangle frame a plurality of through-holes (13), and seeder and fertilizer injection unit pass through the bolt and are connected with the rectangle frame.
CN202122740227.8U 2021-11-10 2021-11-10 Multifunctional agricultural robot Expired - Fee Related CN216674437U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202122740227.8U CN216674437U (en) 2021-11-10 2021-11-10 Multifunctional agricultural robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202122740227.8U CN216674437U (en) 2021-11-10 2021-11-10 Multifunctional agricultural robot

Publications (1)

Publication Number Publication Date
CN216674437U true CN216674437U (en) 2022-06-07

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Application Number Title Priority Date Filing Date
CN202122740227.8U Expired - Fee Related CN216674437U (en) 2021-11-10 2021-11-10 Multifunctional agricultural robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113875730A (en) * 2021-11-10 2022-01-04 山东农业大学 Multifunctional agricultural robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113875730A (en) * 2021-11-10 2022-01-04 山东农业大学 Multifunctional agricultural robot

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Granted publication date: 20220607