CN217453915U

CN217453915U - All-terrain plant protection working robot

Info

Publication number: CN217453915U
Application number: CN202120673849.0U
Authority: CN
Inventors: 李吉
Original assignee: Nanjing Aige Huiyuan Agricultural Technology Co ltd
Current assignee: Nanjing Aige Huiyuan Agricultural Technology Co ltd
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2022-09-20
Anticipated expiration: 2031-04-02

Abstract

The utility model provides an all-terrain plant protection working robot, which comprises a carriage, wherein wheels are arranged under the carriage; be provided with operating device and camera on the railway carriage, the railway carriage head is provided with the arm, disposes two sets of motors on the railway carriage and is used for controlling the removal of the vertical direction of arm and horizontal direction respectively, and the plug is held to the arm, and the power supply wire of plug winds on the spool of railway carriage base inside after walking around the fixed pulley, and the fixed pulley is fixed on the railway carriage. The utility model discloses the robot plug can be under two sets of motor drive horizontal, longitudinal movement to can realize the automation of plug and pull out and insert, realize replacing the large capacity battery through the cable and in time supplying power to the robot, practiced thrift the cost of purchasing and maintaining the large capacity battery, prolong the operating time of robot, reduce the use of battery, simplify the structure of robot, reduce the complexity of whole device, make manufacturing cost reduce.

Description

All-terrain plant protection working robot

Technical Field

The utility model belongs to the technical field of the agricultural automation, a full topography plant protection work robot is related to.

Background

In modern crop production, intelligent robots are often used to perform such tasks as watering, fertilizing, and removing plant diseases and insect pests. Traditional robot is usually supplied power by the rechargeable battery of large capacity, and the battery is expensive, and weight is big, and routine maintenance is frequent, and operating time is short, and after having been used for a long time, the reactant in the battery gradually loses, and resistance increase, voltage reduction, the decay can take place for a long time, the continuation of the journey mileage can significantly reduce, and the battery is scrapped the aftertreatment process loaded down with trivial details, and improper handling easily causes serious pollution to the environment. In busy seasons, farmers also need to vacate time to charge batteries, thus reducing working efficiency and production efficiency.

Disclosure of Invention

In order to solve the problem, the utility model provides an all-terrain plant protection working robot is provided with the arm and can removes the plug in order to adapt to the socket position to realize the electric wire direct power supply.

In order to achieve the above object, the utility model provides a following technical scheme:

the all-terrain plant protection working robot comprises a carriage, wherein wheels are arranged below the carriage; the operating mechanism and the camera are arranged on the carriage, the mechanical arm is arranged at the head of the carriage, two groups of motors are arranged on the carriage and are respectively used for controlling the movement of the mechanical arm in the vertical direction and the movement of the mechanical arm in the horizontal direction, the mechanical arm grabs and holds the plug, a power supply wire of the plug is wound on a scroll in the base of the carriage after bypassing the fixed pulley, and the fixed pulley is fixed on the carriage.

Furthermore, the two groups of motors comprise a first motor and a second motor, the first motor is connected with the mechanical arm through a transverse sliding rail and used for controlling the mechanical arm to move in the horizontal direction, and the second motor is connected with the first motor through a longitudinal threaded rod and used for driving the first motor and the mechanical arm on the first motor to move vertically.

Furthermore, the second motor controls the rotation of the longitudinal twill rod, and the first motor is connected to the longitudinal twill rod through a movable bolt.

Furthermore, a force sensor is arranged at the outlet of the reel and used for detecting the tensile force of the wire, and the force sensor is connected with the robot processor.

Furthermore, the operating mechanism is a plurality of spray rod mechanisms.

Furthermore, a plurality of combined wheels are arranged under the carriage, and each group of combined wheels comprises a driving wheel and a guide wheel arranged below the driving wheel through a support.

Further, a protective cover is arranged on the carriage and arranged above the camera, the mechanical arm and the motor.

Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:

1. the utility model discloses the robot plug can be under two sets of motor drive horizontal, longitudinal movement to can realize the automation of plug and pull out and insert, realize replacing the large capacity battery through the cable and in time supplying power to the robot, practiced thrift the cost of purchasing and maintaining the large capacity battery, prolong the operating time of robot, reduce the use of battery, simplify the structure of robot, reduce the complexity of whole device, make manufacturing cost reduce.

2. The utility model reduces the use of large-capacity batteries and the weight of the machine, so that the robot is not easy to fall into the ground during the tillage operation; the direct power supply has larger working power and more sufficient energy, and can have more effective loads during working, so that the robot can undertake a harder task.

3. The use of force sensor can cooperate the direction and the dynamics control that realize the electric wire, avoids dragging the damage electric wire.

Drawings

Fig. 1 is the utility model provides an all-terrain plant protection work robot structure sketch map, wherein (a) is crawler-type robot, (b) is wheeled robot.

Fig. 2 is a schematic view of a reel and cable winding method.

Fig. 3 is a schematic view illustrating the operation of the all-terrain plant protection robot with the calibration column as an aid in the first embodiment.

Fig. 4 is an enlarged schematic view of a motor portion.

Detailed Description

The technical solutions provided by the present invention will be described in detail with reference to specific embodiments, and it should be understood that the following specific embodiments are only used for illustrating the present invention and are not used for limiting the scope of the present invention.

The utility model provides a utility model can carry out the operation such as soil preparation, seeding, water, spout medicine, fertilize, reap to the field in the vegetable greenhouse. The structure of the robot is a crawler type as shown in fig. 1(b) (a conventional wheel type as shown in fig. 1(b) can also be adopted), each driving mechanism of the robot is connected with a processor, and the processor controls the action of each driving mechanism after preset logic combination operation. The processor can be communicated with the control center, and the control center can acquire the working state in real time and can control the robot in real time. The structure of the robot comprises a compartment 11, four groups of combined wheels are arranged under the compartment, each group of combined wheels is triangular, the combined wheels comprise driving wheels 2 and guide wheels 1 arranged below the driving wheels through supports, the guide wheels 1 control the running direction of the robot by adjusting the differential speed of the left side and the right side of the vehicle, the driving wheels 2 are connected with gears, and the gears are connected with driving motors to provide driving power for the robot. When a wheel type structure is adopted, the direction of the vehicle is directly controlled by the steering of the wheels. The carriage is provided with a spray rod mechanism 12, spray rods with different channel numbers can be installed according to different operation requirements (two rows of spray rods with 9 channels in the drawing can simultaneously operate crops on two sides of a vehicle running path). The spray rod mechanism can also adopt other operation equipment, such as a soil preparation device and the like.

It is required to explain, wheel, operation equipment are the existing structure in the robot in the past, the utility model discloses in no longer describe, the utility model discloses improve mainly that mobilizable plug and the electric wire reel that easily emits and tighten up. Specifically, the head of the carriage is provided with a mechanical arm 6, and the mechanical arm 6 grasps the plug 5. The power supply wire 4 of the plug 5 is wound on a reel 14 in the base after passing around the fixed pulley 3, and the fixed pulley 3 is fixed on the compartment 11. In addition, two sets of motors are arranged on the carriage and used for controlling the movement of the mechanical arm 6 in the vertical direction and the horizontal direction. Specifically, as shown in fig. 4, the motor i 7 is connected with a transverse slide rail, the mechanical arm is fixed on a conveyor belt on the transverse slide rail 16, and specifically, the mechanical arm 6 is connected with the conveyor belt on the transverse slide rail 16 through a pulley. The first motor 7 drives the conveyor belt on the transverse slide rail 16 to rotate, so that the mechanical arm 6 is driven to move in the horizontal direction. The second motor is connected with the longitudinal twill rod 15, the first motor 7 is connected to the longitudinal twill rod 15 through a movable bolt and a fastener, and therefore the second motor 8 controls the first motor 7 and the vertical position of the mechanical arm on the first motor. The first motor 7 drives a conveyor belt on the transverse slide rail 16 to rotate and simultaneously drives a pulley on the mechanical arm 6, so that the mechanical arm 6 and the plug 5 grabbed by the mechanical arm are controlled to horizontally move on the transverse slide rail 16; the second motor 8 controls the first motor 7, the mechanical arm 6, the plug 5 and the transverse slide rail 16 to move longitudinally on the longitudinal diagonal rod 15 integrally, the second motor 8 controls the transverse slide rail 15 to rotate clockwise or anticlockwise and drives the movable bolt to move up and down simultaneously, and therefore the longitudinal movement of the first motor 7, the transverse slide rail 16, the mechanical arm 6 and the plug 5 integrally is achieved.

The motor controls the robot arm to insert the plug 5 it grasps into the power supply socket or to move horizontally away from the plug 5. The carriage 11 is also provided with a camera 9 for capturing the position of a power supply socket, and a half-wrapped protective cover 10 is arranged above the camera, the mechanical arm and the motor to protect the structure therein, so that the camera, the motor and the mechanical arm are prevented from being damaged by the spraying of materials and are all connected with the processor to be controlled by the processor.

The conventional design of the vegetable greenhouse is shown in fig. 3, wherein the vegetable greenhouse comprises a plurality of longitudinally arranged paths, a power supply plug is arranged at an inlet of the greenhouse, the working robot needs to insert the plug into the power supply plug before working, then walks along the paths, and pulls out the plug after working is finished. For preventing that the robot from extracting the plug and the disconnection of canopy district power because of the tensile influence of electric wire in the course of the work, can add self-lock device for the plug can comparatively firmly insert the power supply socket in operating condition, be difficult for droing. For example, the iron plate part of installing the electromagnetic lock beside the socket, the silicon steel sheet part of installing the electromagnetic lock on the plug 5, when the plug 5 is inserted into the power supply socket, the power supply in the shed area continuously supplies power to the robot through the power supply wire 4, the current flows through the silicon steel sheet, the electromagnetic lock can generate strong suction to adsorb the iron plate, and the continuity of power supply is ensured. The self-locking device is preferably controlled to open and self-lock when the plug needs to be pulled out.

In the power supply process, the electric wire is rolled out when the robot is far away from the plug, and the electric wire is retracted when the robot is close to the plug. If the wire is rotated out (or retracted) too slowly (or too fast), the wire has large tension, and the wire is easy to be pulled and damaged, even the robot is pulled down; if the wire is wound out (or retracted) too fast (or too slow), redundant wires are accumulated on the ground, which may cause blockage on the robot running road. In order to facilitate the entry and exit of the electric wire in the running process of the robot, the following two solutions are provided for adjusting the wire roll-in and roll-out direction and the speed thereof:

according to the first scheme, the radius of the whole body formed by a reel and a wound wire and the running speed of a robot are calculated and analyzed, and the speed of winding in and winding out the wire is adjusted through a built-in motor;

scheme two, set up a support in the spool last electric wire exit, force sensor 13 is equipped with in support department, be provided with outlet 17 on the force sensor 13, power supply electric wire 4 wears out from outlet 17, as shown in fig. 2, force sensor 13 can detect the pulling force that the electric wire was dragged in real time, and send for the robot treater, the treater passes through built-in motor and adjusts the electric wire roll-in and roll-out's speed according to different dynamics, for example when the dynamics surpassed certain threshold value, adjust the electric wire roll-out or accelerate current roll-out speed or reduce the roll-in speed, when the dynamics was less than certain threshold value, adjust the electric wire roll-in or accelerate the roll-in speed or reduce the roll-out speed.

The speed that can make the electric wire roll out and withdraw through above two kinds of schemes is moderate, cooperates with the robot speed of traveling well, and the electric wire that rolls out drags to the ground, and the power passes through the electric wire and continuously supplies power to the robot, guarantees that the robot can carry out the operation to the crop according to planning the route, has avoided the phenomenon emergence that the battery did not have the electricity and stop work in the course of the work, has greatly improved the work efficiency of robot.

At the robot in-process of marcing, because cable length can change, and because of the route of marcing comparatively complicated, the utility model discloses a winding problem of robot driving in-process electric wire has been solved to following mode.

The calibration columns shown in fig. 3 are arranged at the starting points of the branch paths of the vegetable greenhouse, and the column bodies can help the robot (provided with a corresponding identification device or a signal receiving device) to be positioned by using methods such as special colors, special graphs, flashing light in a specific mode, emitting ultrasonic waves or electromagnetic waves and the like, so that the robot is indicated to run to a working channel. When there are several calibration columns, a guide sequence is set, and the calibration columns can be connected with control center, and the control center can control the calibration columns which can send out positioning signal.

The vegetable greenhouse robot control method in the embodiment comprises the following steps:

step one, when the robot runs to an entrance of the greenhouse, a camera 9 catches a power supply socket in a lens, the robot is controlled to run to the socket, and at the moment, a motor II 8 for controlling vertical movement is matched with a motor I7 for controlling horizontal movement to move a mechanical arm 6, so that a plug 5 grasped by the mechanical arm is inserted into the power supply socket;

step two, the robot reaches the first calibration post under the guidance of the calibration post, runs for a circle or a half circle around the post (or a mechanical device is arranged to automatically wind the electric wire on the post for a circle or a half circle) according to the modes of the attached figures 3(a) to (b), then runs to a working track (which can be preset) to operate the crops, and runs while discharging the electric wire; and returning the original path to withdraw the electric wire after the robot works, winding the column in the opposite direction for a circle to untie the electric wire on the column body (or automatically winding the electric wire in the opposite direction by using a mechanical device), then driving to the next calibration column to repeat the working steps, namely winding the column, and returning the original path to withdraw the electric wire after the operation along the working track.

Utilize the calibration post can solve the wire winding problem well, after the electric wire twines a week at the shaft, avoided the electric wire of turning to tear along with the going of robot, and can help the robot pinpoint to access point department, do benefit to follow-up operation.

When the robot works on crops, materials to be released are stored in the spray rod mechanism 12 and are sprayed towards two sides of the running direction of the vehicle.

And step three, the robot returns to the entrance of the greenhouse after finishing all the working tracks, and the mechanical arm 6 horizontally moves to be separated from the plug 5, so that the power supply (charging) is finished.

And after the work of one vegetable greenhouse is finished, the robot drives to the next vegetable greenhouse, and the working steps are repeated.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by the arbitrary combination of the above technical features. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims

1. The all-terrain plant protection working robot is characterized by comprising a carriage, wherein wheels are arranged below the carriage; be provided with operating device and camera on the railway carriage, the railway carriage head is provided with the arm, disposes two sets of motors on the railway carriage and is used for controlling the removal of the vertical direction of arm and horizontal direction respectively, and the plug is held to the arm, and the power supply wire of plug winds on the spool of railway carriage base inside after walking around the fixed pulley, and the fixed pulley is fixed on the railway carriage.

2. The all-terrain plant protection working robot as claimed in claim 1, wherein the two sets of motors comprise a motor I and a motor II, the motor I is connected with the transverse sliding rail, the transverse sliding rail is provided with a conveyor belt, the mechanical arm is connected with the conveyor belt on the transverse sliding rail, the motor I drives the conveyor belt on the transverse sliding rail to rotate, so that the mechanical arm is driven to move in the horizontal direction, the motor II is connected with the longitudinal diagonal rod, the motor I is connected with the longitudinal diagonal rod through a movable bolt and a fastener, the motor II controls the transverse sliding rail to rotate clockwise or anticlockwise, and simultaneously drives the movable bolt to move up and down, so that the longitudinal movement of the motor I, the transverse sliding rail, the mechanical arm and the plug is integrally realized.

3. The all-terrain plant protection working robot as claimed in claim 1, wherein a force sensor is provided at the outlet of the reel for detecting a wire tension.

4. An all-terrain plant protection working robot as claimed in claim 1, wherein the working mechanism is a plurality of boom mechanisms.

5. The all-terrain plant protection working robot as claimed in claim 1, wherein a plurality of combined wheels are arranged under the carriage, and each combined wheel comprises a driving wheel and a guide wheel arranged under the driving wheel through a support.

6. The all-terrain plant protection working robot as claimed in claim 1, wherein a shield is arranged on the carriage, and the shield is arranged above the camera, the mechanical arm and the motor.