CN216752686U - Ridge-spanning type fertilizing robot based on Mecanum wheels - Google Patents

Abstract

The utility model relates to a ridge-spanning fertilizing robot based on Mecanum wheels. According to the ridge-crossing type fertilizing robot, Mecanum wheels are used as moving wheels, the defect that the traditional wheels are not suitable for steering in a narrow space can be overcome, the working efficiency is improved, and the ridge-crossing type fertilizing robot can be well suitable for various terrains; the direct-current speed reduction motor with the encoder is used as a main execution mechanism, the stability and the anti-interference capability of the system are improved through closed-loop control, the torque is improved by selecting a proper speed reduction ratio, and the load carrying capability is improved; replace traditional arm with the slide rail device, reduce research and development cost and the degree of difficulty, and have reliable fertilization success rate.

Description

Ridge-spanning type fertilizing robot based on Mecanum wheels

Technical Field

The utility model belongs to the technical field of agricultural machinery, and particularly relates to a ridge-spanning type fertilizing robot based on Mecanum wheels.

Background

The problems of strong dependence on manpower and labor and low efficiency still exist in the prior fertilizing operation. The design research and development of a ridge-crossing operation fertilizing robot based on Mecanum wheels is specially designed for fertilizing among ridges. The device is suitable for various terrains and can be operated automatically. Effectively reduce the human labor.

SUMMERY OF THE UTILITY MODEL

The utility model achieves the above purpose through the following technical scheme:

the ridge-crossing type fertilizing robot based on the Mecanum wheels comprises a rack, wherein the rack is of a rectangular cage type framework, and a motion control module, a seedling position identification module and an operation execution module are arranged on the rack;

the motion control module comprises four metal microphone receiving main wheels and direct current speed reducing motors which respectively drive the four metal microphone receiving main wheels to rotate, supporting legs are respectively installed at four corners of the bottom of the rack, and the direct current speed reducing motors are fixedly installed on the corresponding supporting legs;

the seedling position identification module comprises an identification component, the identification component comprises an acquisition unit, one end of the acquisition unit is fixedly provided with an elastic connecting plate, the upper end of the elastic connecting plate is fixed at the bottom of the box body, the box body is clamped in the rack, an opening is formed in the upper part of the box body, and an upper attaching plate movably attached to the upper surface of the rack is fixedly arranged at the edge of the opening;

the operation execution module comprises a slide rail device and an adjusting component, the slide rail device is communicated with the bottom of the box body, the slide rail device is communicated with one end of the bottom of the box body and is provided with an elastic section, an opening of the slide rail device faces the lower portion of the rack, the adjusting component comprises a pushing unit, a base plate, a rotating unit and a rotating shaft, a connecting sleeve for fixedly connecting the lower end of the pushing unit is welded at the upper end of the base plate, the rotating unit is fixedly welded on the lower surface of the base plate, the rotating shaft is connected with the lower end of the rotating unit in a transmission manner, the rotating shaft and the pushing unit are coaxially and vertically distributed, and the adjusting component is correspondingly provided with a group at the positions of the identification component and the slide rail device.

As a further optimization scheme of the utility model, the metal microphone receiving female wheel is arranged on one side of the support leg, which is far away from the direct-current speed reduction motor, and the metal microphone receiving female wheel is positioned on the outer side of the rack.

It should be noted that, the frame is rectangle cage framework, can the flexible formula move between the ridge, motion control module includes that four metal mike receive the female wheel and drive four metal mike respectively and receive female wheel pivoted direct current gear motor, the area load capacity is strong, it is convenient to remove, the whole frame can be removed above the ridge along the length direction of ridge, the metal mike at frame both ends receives the female wheel and is located the land surface removal of ridge both sides, the purpose of making things convenient for seedling position identification module discernment seedling position and the accurate operation of operation execution module on the frame has been realized, when frame overall movement reaches the ridge end, the frame can need not to turn to and just removes the position of adjacent a set of ridge through metal mike receive the female wheel, then continue to remove along the ridge length direction here, very big required time when changing the ridge has been saved.

As a further optimization scheme of the utility model, the identification components are arranged in a group at the front side and the rear side of the rack.

Furthermore, discernment subassembly both sides all are provided with a set ofly around the frame, and it is required to make things convenient for the frame to switch to another group ridge from the ridge end and discernment seedling position when reverse movement at no steering formula, has replaced the frame bottom to be provided with a set of discernment subassembly and need rotate the mode that can carry out seedling position discernment to the ridge surface of direction of advance after one hundred eighty degrees transposition with the frame, improves the operating efficiency.

As a further optimized scheme of the present invention, the upper end of the pushing unit at the position of the identification component is fixedly connected to the connecting sleeve arranged on the lower surface of the box body, the lower end of the rotating shaft at this position is fixedly connected to the connecting sleeve arranged on the upper surface of the acquisition unit, the upper end of the pushing unit at the position of the slide rail device is fixedly connected to the connecting sleeve arranged on the lower surface of the box body, and the lower end of the rotating shaft at this position is fixedly connected to the connecting sleeve arranged on the upper surface of the slide rail device.

Specifically, the pushing unit can use a device such as an electric push rod or an air cylinder, the rotating unit can use a device such as a small motor, the elastic connecting plate can be elastically deformed but is difficult to be stretched again, the purpose of front-back pitching type adjustment of one end, far away from the elastic connecting plate, of the acquisition unit can be controlled when the pushing unit stretches is formed, and when the rotating unit drives the rotating shaft to rotate, the acquisition unit can be driven to rotate within sixty degrees or other angle ranges, so that seedling positions and seedlings can be identified by the acquisition unit, excessive elastic deformation of the elastic connecting plate can not be caused, and the identification range of the acquisition unit can be conveniently adjusted;

when the device is used, the acquiring unit can use a camera, an infrared sensor, an ultrasonic sensor and other devices and is used for identifying the coordinates of the fertilization position accurately acquired by combining an OpenMV (open video frame) and an image processing algorithm, the fertilization qualified rate is improved, the seedling position can also be accurately identified, and the seedling efficiency is improved.

As a further optimized scheme of the utility model, the sliding rail device is of a rectangular pipeline structure, and arc-shaped surfaces are arranged at the corners of the sliding rail device.

The device can be used in the agricultural operation aspects of seedling raising, fertilization and the like, and particularly, when the device is applied to the seedling raising field, the position of a seedling pit can be identified through an identification assembly, the root of a seedling is downward from the upper end position of a guide partition plate, the seedling slides into a slide rail device along the surface of the guide partition plate, and the seedling just falls from the end part of the slide rail device and is planted in the seedling pit, the slide rail device is reasonable in structure arrangement and can achieve the purpose of guiding the seedling, the section width and the length of the slide rail device are set according to the size of the seedling, the seedling is prevented from overturning in the slide rail device, in actual practice, the slide rail device can be designed to be in a circular tube-shaped structure, the seedling can slide in the slide rail device more conveniently, multiple groups of the slide rail device can be arranged in parallel, and the seedling is controlled according to actual requirements to determine the position of a row spacing for planting;

when this device was used in the fertilization field, during granular fertilizer or powdered fertilizer stored in the box slided to the slide rail device along guide baffle surface to exert fertilizer in fixed position through the slide rail device.

As a further optimization scheme of the utility model, the box body is of a rectangular box body structure, guide partition plates are arranged on two sides inside the lower end of the box body, a blanking groove is formed at the bottom of each of the two groups of guide partition plates and is communicated with the inside of an adjusting section arranged at the upper end of an elastic section, a fixed base plate is fixedly welded at the end part of the box body, a horizontally arranged transverse moving unit is fixedly installed at one side of the fixed base plate, a baffle is connected at the end part of the transverse moving unit, and a side opening which is communicated with the inside of the adjusting section and is used for the baffle to stretch into is formed in one side of the adjusting section.

In the device, the lateral shifting unit can use devices such as electric putter or cylinder, but lateral shifting unit movable baffle when starting, thereby the size that the inside opening of control regulation section was opened, with the control volume of fertilizing, and when the regulation section is inside to be closed by the baffle, the seedling along guide baffle landing can not get into in the regulation section here, when the in-service use, can be provided with the baffle that the multiunit distributes along guide baffle length direction on the surface of guide baffle, thereby inside the regulation section that corresponds with the position of certain length distance with the seedling direction landing, the regulation section of other positions is inside to pass through the baffle seal, avoid the seedling in order to follow the phenomenon that different positions dropped.

As a further optimization scheme of the utility model, the material guide partition plate divides the interior of the lower end of the box body into a working cavity, an internal partition plate is fixedly welded in the interior of the upper end of the working cavity, the internal partition plate divides the interior of the working cavity into an upper cavity and a lower cavity which are distributed up and down, water is stored in the lower cavity, a pumping unit is fixedly arranged on the upper surface of the internal partition plate, the lower end of the pumping unit is communicated with the interior of the lower end of the lower cavity through a suction pipe, the upper end of the pumping unit is communicated with the interior of the upper cavity through an atomizing spray head, and a plurality of groups of micropores penetrating through the upper surface of the material guide partition plate are arranged above the upper cavity.

When the seedling planting device works, water is stored in the lower chamber, the water in the lower chamber can be pumped out by the pumping-out unit and sprayed out through the spray head, the form that the spray acts on the root of the seedling from the micropores is realized, the seedling is wetted to a certain degree when the seedling is planted, the seedling is directly buried after the seedling is planted, the soil in the ridge is not required to be excessively reduced or lost due to secondary water application, and the water resource is saved due to directional water application;

when the seedling was planted, the root of seedling was planted along with the soil piece together, had guaranteed the survival rate of seedling, and this has also guaranteed that the seedling root is heavier, can fall in the seedling hole behind the slide rail device along the whereabouts of guide baffle, and micropore department spun water smoke can be abundant be used in the seedling root, and hydroenergy enough is absorbed in the soil piece in a large number, and it is enough to have guaranteed that the water of seedling root is.

As a further optimized scheme of the utility model, the length direction of the slide rail device is arranged along the length direction or the width direction of the whole equipment of the rack.

When in actual use, the length trend of slide rail device sets up along the width direction of the whole equipment of frame, but the direction slide rail device applys fertilizer or seedling on the ridge, and the regulation subassembly of slide rail device position adjusts slide rail device's every single move gradient and left and right sides gradient with same direction to directional formula's fertilization or planting, adjust convenient to use.

As a further optimization scheme of the utility model, two groups of identification components are distributed on the front side and the rear side of the length direction of the slide rail device.

Furthermore, the pumping unit can use devices such as a water pump, the direct-current speed reduction motor can adopt an MD36N planetary speed reduction motor, and the whole box body device is located in a clamping groove in the upper end of the rack, so that the assembly, disassembly and maintenance are convenient.

As a further optimization scheme of the utility model, the supporting leg comprises a supporting shell, an internal cavity penetrating through the upper surface of the supporting shell is arranged in the supporting shell, a lifting unit is fixedly welded at the bottom of the internal cavity, the upper end of the lifting unit is fixed at the bottom of the rack, and the upper end of the supporting shell is movably attached to the bottom surface of the rack.

Specifically, the lifting unit can use a device such as an electric push rod or an air cylinder, and the lifting unit can drive the supporting shell to lift when being started, so that the position of the bottom of the rack away from the surface of the ridge can be adjusted, the height of fertilizing and planting seedlings can be conveniently adjusted, fertilizer can be conveniently and accurately applied to the surface of the ridge, the seedlings can also be vertically and accurately planted in seedling pits, and the structure is reasonable;

the lower surface of the box body is also provided with a control box, and components such as a controller and the like used for controlling the work of the direct current speed reducing motor are arranged in the control box.

The utility model has the beneficial effects that: the vehicle body of the utility model adopts Mecanum wheels as the moving wheels, which can make up the defect that the traditional wheels are not suitable for steering in a narrow space, improve the working efficiency and be well suitable for various terrains;

the direct-current speed reduction motor with the encoder is used as a main execution mechanism, the stability and the anti-interference capability of the system are improved through closed-loop control, the torque is improved by selecting a proper speed reduction ratio, and the load carrying capability is improved;

the sliding rail device replaces the traditional mechanical arm, so that the research and development cost and difficulty are reduced, and the reliable fertilization success rate is achieved;

the inter-ridge movement under the complex terrain environment can be realized by the product, the automatic tracking and the automatic fertilizing operation are realized, the practical problem is effectively solved, the labor is saved, and the working efficiency is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a cross-sectional view of the present invention;

FIG. 4 is an enlarged view of the structure at A in FIG. 3 according to the present invention;

FIG. 5 is an enlarged view of the structure at B in FIG. 3 according to the present invention;

FIG. 6 is an enlarged view of the structure at C in FIG. 3 according to the present invention;

FIG. 7 is a schematic view of a support leg configuration of the present invention.

In the figure: the device comprises a rack 1, a clamping groove 2, a box body 3, an upper attaching plate 4, an identification component 5, a sliding rail device 6, an adjusting component 7, a direct current speed reducing motor 8, a metal microphone female wheel 9, a supporting leg 10, a material guide partition plate 11, a working cavity 12, a lifting unit 13, a control box 14, an elastic section 15, a pushing unit 16, a base plate 17, a rotating unit 18, a rotating shaft 19, an acquisition unit 20, an elastic connecting plate 21, a lower cavity chamber 22, a fixed base plate 23, a transverse moving unit 24, a side opening 25, a baffle 26, an adjusting section 27, a lower cavity 28, micropores 29, an upper cavity chamber 30, an internal partition plate 31, a drawing unit 32, an atomizing spray head 33, a suction pipe 34, a supporting shell 35 and an internal cavity 36.

Detailed Description

The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.

As shown in fig. 1 to 7, a mecanum wheel-based ridge-spanning fertilization robot is disclosed.

The device comprises three parts, namely a motion control module, a seedling position identification module and an operation execution module. The car body adopts a cage type framework, and is beneficial to providing a stable mechanical operation platform for the identification and execution module. The motion control module comprises four direct-current speed reducing motors and a metal microphone receiving mother wheel, the loading capacity is high, the movement is convenient, and the robot can flexibly move and turn between narrow ridges. The collection of environmental data uses infrared sensor, and ultrasonic sensor is the dominant mode, through perception ridge position, combines PI D algorithm to keep and the interval between the ridge for the robot can avoid the collision along walking between the ridge. Adopt open source hardware platform OpenMV as main identification sensor, put in the seedling through slide rail device, the camera constantly scans the ridge, carries out filtering treatment, feature extraction in proper order with the photo of catching to obtain the position coordinate that needs the fertilization, the controller carries out accurate fertilization according to position coordinate control slide rail device redirecting.

The product can realize inter-ridge movement, automatic tracking and automatic fertilizing operation under a complex terrain environment, effectively solves the practical problem, saves manpower and improves the working efficiency;

in the device, the PID algorithm is utilized to accurately control the rotating speed of the motor and the space between the motor and the ridge;

driving Mecanum wheels by using a vector control principle to keep the running posture of the robot;

accurately identifying the fertilization positions by using color block identification and combining an edge detection algorithm;

during actual production, the length of the whole vehicle is 660mm, the width is 26mm, the height is 40mm, the self weight is about 15kg, the vehicle can continue to travel for 5-7 hours, and the maximum stable vehicle speed is 2 m/s;

by adopting the MD36N planetary gear motor, the reduction ratio can reach 1: 27, rated rotating speed of 230rpm and rated torque of 13.5KG.cm of a single motor.

The vehicle body adopts a ridge-spanning mechanical structure, and provides a stable operation platform for fertilization and transplantation. The application of the Mecanum wheels increases the flexibility and the free maneuverability of the vehicle body and realizes omnidirectional movement. The OpenMV is combined with an image processing algorithm to accurately obtain the coordinates of the fertilization position, so that the fertilization qualification rate is improved. The automatic fertilizing and transplanting robot can liberate manual labor of people, the transplanting quality is stable, and the high efficiency is kept for a long time.

This device proves the course of the work through using, weak point consuming time, stable performance, the good reliability, and fertilization efficiency is high, can popularize and apply to the greenhouse field of growing seedlings, to improving the mechanized level of growing seedlings, improve quality and the efficiency of growing seedlings and have important meaning.

The ridge-crossing type fertilizing robot based on the Mecanum wheels comprises a rack 1, wherein the rack 1 is of a rectangular cage type framework, and a motion control module, a seedling position identification module and an operation execution module are arranged on the rack 1;

the motion control module comprises four metal microphone receiving main wheels 9 and direct current speed reducing motors 8 which respectively drive the four metal microphone receiving main wheels 9 to rotate, supporting legs 10 are respectively installed at four corners of the bottom of the rack 1, and the direct current speed reducing motors 8 are fixedly installed on the corresponding supporting legs 10;

the seedling position identification module comprises an identification component 5, the identification component 5 comprises an acquisition unit 20, one end of the acquisition unit 20 is fixedly provided with an elastic connecting plate 21, the upper end of the elastic connecting plate 21 is fixed at the bottom of the box body 3, the box body 3 is clamped in the rack 1, an opening is formed in the upper part of the box body 3, and an upper attaching plate 4 movably attached to the upper surface of the rack 1 is fixedly arranged at the edge of the opening;

the operation execution module includes slide rail device 6 and adjusting part 7, slide rail device 6 communicates in the bottom of box 3, slide rail device 6 communicates and is provided with elasticity section 15 in the one end of box 3 bottom, slide rail device 6's opening is towards the below of frame 1, adjusting part 7 is including promoting unit 16, base plate 17, rotation unit 18, pivot 19, the fixed welding in upper end of base plate 17 has the adapter sleeve that supplies to promote 16 lower extreme fixed connection of unit, the fixed welding of rotation unit 18 is at the lower surface of base plate 17, the lower extreme at rotation unit 18 is connected in the transmission of pivot 19, pivot 19 and the coaxial and vertical distribution of promotion unit 16, adjusting part 7 all corresponds in the position of discernment subassembly 5 and slide rail device 6 and is provided with a set ofly.

The metal microphone receiving female wheel 9 is arranged on one side, away from the direct current speed reducing motor 8, of the supporting leg 10, and the metal microphone receiving female wheel 9 is located on the outer side of the rack 1.

It should be noted that the frame 1 is a rectangular cage-type framework, can flexibly move between the ridges, the motion control module comprises four metal mike receiving main wheels 9 and a direct current speed reduction motor 8 which respectively drives the four metal mike receiving main wheels 9 to rotate, has strong loading capacity and convenient movement, the whole frame 1 can move above the ridges along the length direction of the ridges, the metal mike receiving main wheels 9 at the two ends of the frame 1 are positioned on the land surfaces at the two sides of the ridges to move, the purposes of facilitating the seedling position identification module on the frame 1 to identify the seedling position and accurately operating the operation execution module are realized, when the whole frame 1 moves to the end of the ridge, the frame 1 can move to the position of the adjacent group of ridges through the metal Mikana primary wheel 9 without turning, then, the movable part moves continuously along the length direction of the ridge, so that the time required for replacing the ridge is greatly saved.

The identification components 5 are arranged in a group at the front side and the rear side of the frame 1.

Further, discernment subassembly 5 all is provided with a set ofly in frame 1 front and back both sides, makes things convenient for frame 1 to switch to another group ridge from the ridge end at the non-steering formula and discerns the seedling position required when reverse movement, has replaced 1 bottoms of frame to be provided with a set of discernment subassembly 5 and has just can carry out the mode that the seedling position discerned to advancing direction's ridge surface after rotating one hundred eighty degrees transposition with frame 1, improves the operating efficiency.

The upper end of the pushing unit 16 fixed connected to the position of the identification component 5 is connected to the connecting sleeve arranged on the lower surface of the box body 3, the lower end of the rotating shaft 19 is connected to the connecting sleeve arranged on the upper surface of the acquisition unit 20, the upper end of the pushing unit 16 fixed connected to the position of the sliding rail device 6 is connected to the connecting sleeve arranged on the lower surface of the box body 3, and the lower end of the rotating shaft 19 is connected to the connecting sleeve arranged on the upper surface of the sliding rail device 6.

Specifically, the pushing unit 16 may use a device such as an electric push rod or an air cylinder, the rotating unit 18 may use a device such as a small motor, and the elastic connecting plate 21 may be elastically deformed but is difficult to be stretched again, so as to achieve the purpose of controlling the front-back pitching adjustment of the end of the acquiring unit 20 away from the elastic connecting plate 21 when the pushing unit 16 is stretched, and the rotating unit 18 may drive the rotating shaft 19 to rotate within sixty degrees or other angle ranges, so as to ensure that the acquiring unit 20 can recognize the seedling position and the seedling, and avoid excessive elastic deformation of the elastic connecting plate 21, and facilitate adjustment of the recognition range of the acquiring unit 20;

when the device is used, the obtaining unit 20 can use a camera, an infrared sensor, an ultrasonic sensor and other devices for identifying the coordinates of the fertilization position accurately obtained by combining the OpenMV with an image processing algorithm, so that the fertilization qualification rate is improved, the seedling position can be accurately identified, and the seedling efficiency is improved.

The slide rail device 6 is a rectangular pipeline structure, and the corners of the slide rail device 6 are provided with arc-shaped surfaces.

Wherein, the device can be used in the agricultural operation aspects of seedling culture, fertilization and the like, in particular, when the device is applied in the seedling culture field, the position of the seedling pit can be identified by the identification component 5, the root of the seedling is downward from the upper end position of the material guiding clapboard 11, the seedling slides along the surface of the material guiding clapboard 11 to the slide rail device 6, but just fall from the falling part at the end part of the slide rail device 6 and plant in the seedling pit, the structure of the slide rail device 6 is reasonable, can play the role of guiding the seedlings, the section width and the length of the slide rail device 6 are set according to the size of the seedlings, the seedlings are prevented from turning over in the slide rail device 6, in practice, the slide rail device 6 can be designed into a circular tubular structure, which is more beneficial to the seedling to slide in the slide rail device 6, a plurality of groups of the slide rail devices 6 can be arranged in parallel, and the seedlings are controlled according to actual requirements to determine the position of the line spacing for planting;

when the device is applied to the fertilization field, the granulated fertilizer or powdered fertilizer stored in the box body 3 slides down to the slide rail device 6 along the surface of the material guide partition plate 11, so that the fertilizer is applied to a fixed position through the slide rail device 6.

Box 3 is rectangle box structure, the inside both sides of lower extreme of box 3 all are provided with guide baffle 11, silo 28 under two sets of guide baffle 11 bottoms formation, the inside intercommunication of regulation section 27 that silo 28 and elastic segment 15 upper ends were equipped with, the end fixing welding of box 3 has PMKD 23, one side fixed mounting of PMKD 23 has the lateral shifting unit 24 that the level set up, the end connection of lateral shifting unit 24 has baffle 26, one side of regulation section 27 is provided with its inside and side opening 25 that supplies baffle 26 to stretch into of intercommunication.

In the device, lateral shifting unit 24 can use devices such as electric putter or cylinder, but lateral shifting unit 24 when starting up movable baffle 26, thereby the size that the inside opening of control regulation section 27 was opened, with control amount of fertilizer application, and when adjusting section 27 inside by baffle 26 and seal, along the regulation section 27 of guide baffle 11 landing, in the regulation section 27 here, when in actual use, can be provided with the baffle that the multiunit distributes along guide baffle 11 length direction on the surface of guide baffle 11, thereby inside adjusting section 27 with the position of certain length distance with the seedling direction landing of seedling direction to corresponding, the regulation section 27 of other positions is inside to be sealed through baffle 26, avoid the seedling in order to be the phenomenon that drops from different positions.

The material guide partition plate 11 divides the lower end of the box body 3 into the working cavity 12, the inner partition plate 31 is fixedly welded in the upper end of the working cavity 12, the inner partition plate 31 divides the inside of the working cavity 12 into an upper cavity 30 and a lower cavity 22 which are distributed up and down, water is stored in the lower cavity 22, the upper surface of the inner partition plate 31 is fixedly provided with the extracting unit 32, the lower end of the extracting unit 32 is communicated with the inside of the lower end of the lower cavity 22 through an extracting pipe 34, the upper end of the extracting unit 32 is communicated with the inside of the upper cavity 30 through an atomizing head 33, and a plurality of groups of micropores 29 penetrating through the upper surface of the material guide partition plate 11 are arranged above the upper cavity 30.

When the seedling planting device works, water is stored in the lower chamber 22, the pumping unit 32 can pump the water in the lower chamber 22 out and spray the water out through the spray head 33, the spraying is realized in a mode that the micro-holes 29 act on the roots of the seedlings, the seedlings are wetted to a certain degree when the seedlings are planted, the seedlings are directly buried after the seedlings are planted, the soil in ridges is not required to be excessively reduced or lost through water application again, and the water resource is saved through directional water application;

when the seedling was planted, the root of seedling was planted along with the soil piece together, had guaranteed the survival rate of seedling, and this has also guaranteed that the seedling root is heavier, can drop in the seedling hole behind slide rail device 6 along the whereabouts of guide baffle 11, and micropore 29 department spun water smoke can be abundant be used in the seedling root, and hydroenergy enough is absorbed in the soil piece in a large number, and it is enough to have guaranteed that the water of seedling root is.

The length direction of the slide rail device 6 is arranged along the length direction or the width direction of the whole equipment of the frame 1.

During the in-service use, the length trend of slide rail device 6 sets up along the width direction of the whole equipment of frame 1, but direction slide rail device 6 applys fertilizer or seedling on the ridge, and the regulation subassembly 7 of slide rail device 6 position adjusts the every single move gradient and the left and right sides gradient of slide rail device 6 with the same direction to directional fertilization or planting, adjust convenient to use.

The two groups of identification components 5 are distributed on the front side and the rear side of the length direction of the sliding rail device 6.

Furthermore, the pumping unit 32 can use a water pump or other devices, the direct current speed reduction motor 8 can use an MD36N planetary speed reduction motor, and the whole box body 3 is located in the clamping groove 2 at the upper end of the rack 1, so that the assembly, disassembly and maintenance are convenient.

The supporting leg 10 comprises a supporting shell 35, an inner cavity 36 penetrating through the upper surface of the supporting shell 35 is formed in the supporting shell 35, a lifting unit 13 is fixedly welded at the bottom of the inner cavity 36, the upper end of the lifting unit 13 is fixed at the bottom of the rack 1, and the upper end of the supporting shell 35 is movably attached to the bottom surface of the rack 1.

Specifically, the lifting unit 13 can use a device such as an electric push rod or an air cylinder, and the lifting unit 13 can drive the supporting shell 35 to lift when being started, so that the position of the bottom of the rack 1 away from the surface of the ridge can be adjusted, the height of fertilizing and planting seedlings can be conveniently adjusted, fertilizer can be conveniently and accurately applied to the surface of the ridge, the seedlings can also be vertically and accurately planted in seedling pits, and the structure is reasonable;

the lower surface of the box body 3 is also provided with a control box 14, and components such as a controller for controlling the operation of the direct current reduction motor 8 are arranged in the control box 14.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (10)

1. The ridge-crossing type fertilization robot based on the Mecanum wheels comprises a rack (1) and is characterized in that the rack (1) is of a rectangular cage type framework, and a motion control module, a seedling position identification module and an operation execution module are arranged on the rack (1);

the motion control module comprises four metal microphone receiving main wheels (9) and direct current speed reducing motors (8) which respectively drive the four metal microphone receiving main wheels (9) to rotate, supporting legs (10) are respectively installed at four corners of the bottom of the rack (1), and the direct current speed reducing motors (8) are fixedly installed on the corresponding supporting legs (10);

the seedling position identification module comprises an identification component (5), the identification component (5) comprises an acquisition unit (20), one end of the acquisition unit (20) is fixedly provided with an elastic connecting plate (21), the upper end of the elastic connecting plate (21) is fixed at the bottom of the box body (3), the box body (3) is clamped in the rack (1), an opening is formed in the upper part of the box body (3), and an upper binding plate (4) movably attached to the upper surface of the rack (1) is fixedly arranged at the edge of the opening;

the operation execution module comprises a slide rail device (6) and an adjusting component (7), the slide rail device (6) is communicated with the bottom of the box body (3), one end of the slide rail device (6) communicated with the bottom of the box body (3) is provided with an elastic section (15), the opening of the slide rail device (6) faces the lower part of the frame (1), the adjusting component (7) comprises a pushing unit (16), a base plate (17), a rotating unit (18) and a rotating shaft (19), a connecting sleeve for fixedly connecting the lower end of the pushing unit (16) is fixedly welded at the upper end of the base plate (17), the rotating unit (18) is fixedly welded on the lower surface of the base plate (17), the rotating shaft (19) is connected with the lower end of the rotating unit (18) in a transmission way, the rotating shaft (19) and the pushing unit (16) are coaxially and vertically distributed, and a group of adjusting assemblies (7) are correspondingly arranged at the positions of the identification assembly (5) and the sliding rail device (6).

2. The mecanum wheel-based monopod fertilizing robot of claim 1, wherein: the metal microphone receiving female wheel (9) is arranged on one side, away from the direct-current speed reduction motor (8), of the supporting leg (10), and the metal microphone receiving female wheel (9) is located on the outer side of the rack (1).

3. The mecanum wheel-based monopod fertilizing robot of claim 1, wherein: and the identification components (5) are arranged in groups on the front side and the rear side of the rack (1).

4. The mecanum wheel-based monopod fertilizing robot of claim 1, wherein: the utility model discloses a sliding rail device, including discernment subassembly (5) position, the link of promotion unit (16) upper end fixed connection of discernment subassembly (5) position is on the link that box (3) lower surface was provided with, and the lower extreme fixed connection of pivot (19) here is on the link that obtains unit (20) upper surface, the link that promotion unit (16) upper end fixed connection of sliding rail device (6) position was provided with is on the link that box (3) lower surface was provided with, and the lower extreme fixed connection of pivot (19) here is on the link of sliding rail device (6) upper surface.

5. The mecanum wheel-based monopod fertilizing robot of claim 1, wherein: the sliding rail device (6) is of a rectangular pipeline structure, and arc-shaped surfaces are arranged at the corners of the sliding rail device (6).

6. The mecanum wheel-based monopod fertilizing robot of claim 1, wherein: box (3) are rectangle box structure, and the inside both sides of lower extreme of box (3) all are provided with guide baffle (11), and silo (28) under two sets of guide baffle (11) bottoms formation, the inside intercommunication of regulation section (27) that feed trough (28) and elasticity section (15) upper end were equipped with, the end fixing welding of box (3) has PMKD (23), one side fixed mounting of PMKD (23) has lateral shifting unit (24) that the level set up, the end connection of lateral shifting unit (24) has baffle (26), one side of adjusting section (27) is provided with inside and side opening (25) that supply baffle (26) to stretch into of intercommunication.

7. The mecanum wheel-based monopod fertilizing robot of claim 6, wherein: the utility model discloses a water-saving box, including guide baffle (11), upper chamber (22), lower chamber (22), fixed welding has inside baffle (31) in the upper end of working chamber (12), and inside baffle (31) separates the inside of working chamber (12) into upper chamber (30), the lower chamber (22) that distribute from top to bottom, the storage has water in lower chamber (22), and the fixed surface of upper surface of inside baffle (31) is provided with draws unit (32), and the lower extreme of drawing unit (32) is inside through the lower extreme of draft tube (34) intercommunication lower chamber (22), draws the inside of upper end through atomising head (33) intercommunication upper chamber (30) of unit (32), the top of going up chamber (30) is provided with multiunit micropore (29) that run through to guide baffle (11) upper surface.

8. The mecanum wheel-based monopod fertilizing robot of claim 1, wherein: the length direction of the slide rail device (6) is arranged along the length direction or the width direction of the whole equipment of the rack (1).

9. The Mecanum wheel-based ridge-spanning fertilizing robot as claimed in claim 3, wherein: the two groups of identification components (5) are distributed on the front side and the rear side of the length trend of the sliding rail device (6).

10. The mecanum wheel-based monopoly fertilizing robot of claim 1, wherein: the supporting leg (10) is including supporting casing (35), the inside of supporting casing (35) is provided with inside cavity (36) of running through its upper surface, the fixed welding in bottom of inside cavity (36) has lift unit (13), the bottom in frame (1) is fixed to the upper end of lift unit (13), the activity laminating between the upper end of supporting casing (35) and frame (1) bottom surface.

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