CN217694394U - Multifunctional operation robot for orchard - Google Patents

Abstract

The utility model relates to a mechanical automation technical field specifically discloses a multi-functional work robot in orchard, including walking support and a plurality of functional components of taking on walking support, walking support up end is equipped with the two mesh range finding cameras that are used for measuring with the fruit tree distance, a controller that is used for the signal receiver of received signal transmitter signal and is used for receiving camera and signal receiver's data and control function subassembly, functional component is including locating walking support both sides and being used for the subassembly of mowing, locate walking support both sides and be used for fertilizing assembly for fruit tree fertilization and locate walking support both sides and be used for spraying the medicine subassembly for the fruit tree, the walking support lower extreme still is equipped with the drive wheel by controller control, the operation robot function singleness in orchard of traditional use has been solved, only can realize the problem of single operation.

Description

Multifunctional operation robot for orchard

Technical Field

The application relates to the technical field of mechanical automation, and particularly discloses a multifunctional operation robot for an orchard.

Background

With the continuous development of mechanical automation, the application field is also continuously expanded. In modern technological production environments, mechanical automation is used in the agricultural field. The common mechanical equipment such as a rotary cultivator, a ditcher, a fertilizer applicator and the like is not lacked. The application of the automatic machinery greatly improves the production efficiency of crops and reduces the production cost.

With the promotion and development of agricultural automation, a large amount of automatic equipment is put into production of various crops, and various automatic farms and fruit and vegetable planting bases are further extended by the automatic equipment.

However, the orchard in China has a large area, and needs to be subjected to regular soil loosening, weeding, fertilizing, pesticide spraying and the like every year. In the prior art, a channel special for a robot to run is created in some orchards, the robot walks and guides through the signal butt joint of a transmitter arranged at the two ends of the channel and a receiver arranged on the robot, and functional components carried on the robot work on the two sides of the channel.

However, in the prior art, the orchard weeding machine disclosed in application No. cn202220101242.X includes a base, a grass cutting mechanism, a weeding mechanism, a dust suction mechanism and a grass pushing mechanism, and can only realize the weeding function through the grass cutting mechanism and the weeding mechanism, and for performing other functional operations in the orchard: such as fertilizing and dispensing. The application function is single.

Accordingly, the present inventors have made an effort to provide a multifunctional working robot for an orchard in order to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that traditional work robot who uses in the orchard function singleness only can realize single operation.

In order to achieve the purpose, the basic scheme of the utility model provides a multifunctional orchard operation robot, which comprises a walking bracket and a plurality of functional components arranged on the walking bracket, wherein the upper end surface of the walking bracket is provided with a binocular distance measuring camera used for measuring the distance between the walking bracket and a fruit tree, a signal receiver used for receiving signals of a signal transmitter and a controller used for receiving data of the camera and the signal receiver and controlling the functional components;

the functional components comprise mowing components arranged on two sides of the walking bracket and used for mowing, fertilizing components arranged on two sides of the walking bracket and used for fertilizing fruit trees, and pesticide spraying components arranged on two sides of the walking bracket and used for spraying pesticide to the fruit trees;

the lower end of the walking bracket is also provided with a driving wheel controlled by a controller.

The principle and effect of this basic scheme lie in:

1. the utility model discloses a walking support and drive wheel drive, accessible signal receiver receive the data that are sent by the signal transmitter at channel both ends, through the distance between two mesh range finding cameras monitoring and the fruit tree, and then control the distance between walking direction and functional component and the fruit tree through the controller, prevent to hinder and reach the fruit tree when carrying out the function operation.

2. The utility model discloses a three group's functional unit who takes can realize respectively or realize three group's operations in step, can realize independently advancing with the selection of functional unit through the control of controller, wherein, the subassembly of mowing can clear up weeds, and the fertilization subassembly can fertilize for the fruit tree, spouts the medicine subassembly and can spray the medicament for the fruit tree, has solved traditional operation robot function singleness of using in the orchard, only can realize the problem of single operation.

Further, the controller is a single chip microcomputer, and the single chip microcomputer is used for receiving data transmitted by the binocular ranging camera and the signal receiver and respectively controlling the mowing assembly, the fertilizing assembly, the pesticide spraying assembly and the driving wheel. The single chip microcomputer is high in cost performance and easy to program, and the number of serial ports of the single chip microcomputer can meet the requirements of data input and output.

Furthermore, the walking bracket comprises a rectangular plate, connecting plates arranged on two sides of the rectangular plate and semicircular plates arranged on the outer sides of the connecting plates on two sides respectively. The walking bracket is divided into three parts, so that the functional components can be conveniently installed and positioned.

Furthermore, the mowing assembly comprises a first motor arranged at the circle center of the semicircular plate, a rotating plate coaxially connected with an output shaft of the motor, a first hydraulic push rod parallel to the rotating plate and fixedly connected with the rotating plate, a switching frame arranged at the output end of the first hydraulic push rod, a second motor arranged in the switching frame and a cutting blade coaxially connected with the output shaft of the second motor. The first motor can be used for rotating the rotating plate to change the weeding position, and the position of the whole switching frame relative to the semicircular plate can be controlled by stretching out and retracting the output end of the first hydraulic push rod to control the mowing radius. The start and stop of the cutting blade are controlled by the output of the second motor.

Further, the subassembly of fertilizeing is including locating the brace table of connecting plate below, locating the brace table outside and being used for the shovel of digging and backfill soil and locating the third hydraulic push rod that is used for driving the shovel on the brace table, still is equipped with the workbin that is used for saving fertilizer on the support brace table, and the workbin top is equipped with the feed inlet, and workbin bottom one side is equipped with the discharge gate, and the workbin discharge gate is equipped with the solenoid valve by controller control, and the shovel rear end face is equipped with the discharging pipe that communicates with the discharge gate. The third hydraulic pressure drives a push rod of the shovel to excavate and fill soil, and the controller controls the electromagnetic valve to open and close to automatically fertilize.

Furthermore, the top of mud shovel is equipped with the connecting rod, and the connecting rod top is articulated with third hydraulic push rod's output, and mud shovel rear end face both sides symmetry respectively articulate has first bull stick and second bull stick, and the mud shovel rear end still is equipped with the third bull stick all articulated with the both ends of the first bull stick in both sides and second bull stick, and connecting rod one side is equipped with the fourth hydraulic push rod who is used for driving the third bull stick. The third rotating rod can be controlled to rotate through the fourth hydraulic push rod, then the mud shovel is driven to rotate through the first rotating rod and the second rotating rod, the output end of the third hydraulic push rod is hinged to the top end of the connecting rod, and the mud shovel can shovel soil and backfill the soil more conveniently.

Further, spout the medicine subassembly including locating the water tank that the rectangular plate upper end is used for saving the medicament and rotating the honeycomb duct of connection on the connecting plate of both sides respectively, be equipped with water inlet and delivery port on the water tank, delivery port department is equipped with the water valve by controller control, honeycomb duct and delivery port intercommunication, the honeycomb duct still all communicates there are a plurality of water pipes, the water pipe end all is equipped with the shower nozzle, still be equipped with a plurality of bracing pieces that support the water pipe respectively on the honeycomb duct, still be equipped with the driving piece that is used for driving the mutual antiport of honeycomb duct on the rectangular plate. The water outlet and the pesticide spraying are automatically controlled through the water valve, and the angle of the water pipe can be adjusted through the driving piece.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic diagram of an orchard multifunctional operation robot proposed by an embodiment of the application;

fig. 2 shows a schematic diagram of an orchard multifunctional operation robot proposed by an embodiment of the application;

fig. 3 shows a schematic diagram of an orchard multifunctional working robot according to an embodiment of the application;

fig. 4 shows a schematic diagram of an orchard multifunctional operation robot proposed by the embodiment of the application;

fig. 5 shows a schematic diagram of an orchard multifunctional working robot provided by the embodiment of the application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The following is further detailed by the specific embodiments:

reference numerals in the drawings of the specification include: the device comprises a walking support 1, a first hydraulic push rod 2, a second hydraulic push rod 3, a third hydraulic push rod 4, a fourth hydraulic push rod 5, a fifth hydraulic push rod 6, a first motor 7, a second motor 8, a rotating plate 9, a switching frame 10, a cutting blade 11, a mud shovel 12, a water tank 13, a water pipe 14, a feed box 15, a driving wheel 16, a transverse plate 17, a camera 18, a signal receiver 19, a rack 20, a second rotating rod 21, a first rotating rod 22, a third rotating rod 23, a driving gear 24 and a driven gear 25.

A multifunctional operation robot for an orchard is shown in figure 1 and comprises a walking support 1 running in a channel, supporting tables arranged on two sides of the walking support 1, a mowing assembly arranged on the supporting tables, a fertilizing assembly arranged below the supporting tables, pesticide spraying assemblies arranged on two sides of the top ends of the supporting tables, a camera 18 arranged on the top end of the walking support 1 and a controller arranged on the top end of the walking support 1 and used for receiving data and sending instructions. The bottom of the walking bracket 1 is also provided with a walking component. The front side and the rear side of the end face of the top end of the walking bracket 1 are respectively provided with a signal receiver 19, and two ends of the channel are respectively provided with a signal emitter relative to the signal receiver 19. The lower end of the walking bracket 1 is also provided with a driving wheel 16 controlled by a controller.

In the present embodiment, the camera 18 used is a binocular ranging camera 18, and the binocular ranging camera 18 uses a tree image ranging method based on binocular vision. The controller is a single chip microcomputer, a program preset in the single chip microcomputer can receive image data collected by the camera 18, the distance measurement of the tree is carried out by using a tree image distance measurement method, and a control instruction is sent out, wherein the control instruction comprises control over the walking assembly, the mowing assembly, the fertilizing assembly and the pesticide spraying assembly. The controller is also electrically connected with the signal receiver 19, the signal receiver 19 receives the signal sent by the signal transmitter and then transmits the signal to the controller, and the controller combines the data of the camera 18 and the signal receiver 19 to judge and control each functional component.

As shown in fig. 1, the walking frame 1 comprises a rectangular plate, two connecting plates respectively connected to both sides of the rectangular plate, and two semicircular plates respectively connected to the outer sides of the connecting plates.

The mid-mounting of rectangular plate top end terminal surface has a mount pad, and it has a jack to open on the mount pad, and a rotatable bracing piece is installed through the jack to the mount pad, then installs a rotatable camera 18 on the top of bracing piece, and this camera 18 possesses 360 rotatory functions.

The semicircular plates are respectively provided with a first rotating hole, the lower parts of the semicircular plates are respectively provided with a first motor 7, and the output shafts of the first motors 7 respectively penetrate through the first rotating holes on the semicircular plates. And an arc section taking the center of the semicircular plate as the center of a circle is also arranged at one section of the semicircular plate close to the outer edge. The output shaft of the first motor 7 is positioned at one section of the upper end of the semicircular plate and is coaxially connected with a rotating plate 9, and the rotating plate 9 is positioned at one section of the lower end surface above the arc-shaped section and is integrally formed with a clamping rod capable of sliding in the arc-shaped section. When the output shaft of the first motor 7 rotates, the rotating plate 9 rotates between the arc-shaped section and the first rotating hole around the center of the semicircular plate by taking the first rotating hole as the center of circle.

A first hydraulic push rod 2 is installed on the upper end face of the rotating plate 9, the first hydraulic push rod 2 is parallel to the rotating plate 9 in direction, and the whole length of the first hydraulic push rod 2 is smaller than that of the rotating plate 9. The output end of the first hydraulic push rod 2 is located on the outer side of the transfer plate 9, the tail end of the first hydraulic push rod 2 is provided with a transfer frame 10, and the transfer frame 10 comprises a transfer table and a transfer plate arranged on the rear end face of the transfer table. As shown in fig. 1, the adapter is formed by splicing three baffles, wherein the two baffles are respectively arranged at the upper end part and the lower end part of the left side of the baffle. And a second hydraulic push rod 3 is arranged on the inner top surface of the adapter table, and the output end of the second hydraulic push rod 3 points to the inner bottom surface of the adapter plate. A slide is installed to the bottom at the output of second hydraulic ram 3, and the medial surface of switching platform has all opened vertical spout one, and the equal integrated into one piece in inboard of slide has the slider that can slide into the spout respectively. Through the drive of second hydraulic push rod 3 and the spacing cooperation of spout and slider, the slide can slide along vertical direction in the switching platform.

A second motor 8 is installed on the bottom surface of the sliding plate, a second rotating hole is formed in the bottom surface of the adapter plate, an output shaft of the second motor 8 extends out of the second rotating hole, a first rotating shaft is further coaxially connected to one section of the output shaft of the second motor 8, which is located below the second rotating hole, and a cutting blade 11 is installed at the tail end of the first rotating shaft. The adapter plate is installed in the below of changeing board 9 and with changeing board 9 syntropy, and the adapter plate is located under the arc section Fang Yiduan terminal surface also the integrated into one piece have can be in the gliding card rod of arc section, and still open on the adapter plate and can supply the gliding syntropy groove of card rod syntropy, the adapter plate plays spacing, direction and auxiliary stay's effect. The output shaft of the first motor 7 rotates to drive the rotating plate 9 to rotate on the semicircular plate, and further drive the adapting frame 10 to rotate. The position of the whole adapter frame 10 relative to the semicircular plate can be controlled through the extension and retraction of the output end of the first hydraulic push rod 2, and the mowing radius can be controlled. The height of mowing can be controlled through the second hydraulic push rod 3 in the adapter frame 10, and the starting and stopping of the cutting blade 11 are controlled through the output of the second motor 8.

The fertilization component is arranged below the connecting plate. The fertilization subassembly is including installing the brace table in the connecting plate below, installing workbin 15 that is used for saving fertilizer on the brace table, installing mud shovel 12 in the brace table outside and third hydraulic push rod 4 and fourth hydraulic push rod 5 that are used for driving mud shovel 12.

Wherein, the support platform still can be two parts respectively: riser and the diaphragm 17 of installing in the riser bottom outside, two round rods have all been welded to the bottom outside of riser, and the round hole that is used for holding the round rod has all been opened to diaphragm 17 inboard, still all installs a fifth hydraulic push rod 6 on the diaphragm 17, and the outside at the riser is installed to the output of fifth hydraulic push rod 6. The top end of the feed box 15 is provided with a feed inlet, the discharge outlet at the bottom end of the feed box 15 is provided with an electromagnetic valve controlled by a controller, and the electromagnetic valve is used for controlling the opening and closing of the discharge outlet so as to control the discharge of the feed box 15. As shown in fig. 4, a connecting rod is integrally formed at the top end of the mud shovel 12, the top end of the connecting rod is hinged to the output end of the third hydraulic push rod 4, a first rotating rod 22 is hinged to the top end of the back of the mud shovel 12, a boss is integrally formed at the back rear side of the back of the mud shovel 12, a second rotating rod 21 is hinged to the boss, and the free ends of the first rotating rod 22 and the second rotating rod 21 are hinged to two ends of a third rotating rod 23. The fourth hydraulic push rod 5 is arranged on the connecting rod, and the output end of the fourth hydraulic push rod 5 is hinged with the third rotating rod 23. And the back of the mud shovel 12 is also integrally formed with two conical blocks, the tips of which face the bottom surface. The back of the mud shovel 12 is also provided with a discharge pipe communicated with the discharge hole and the electromagnetic valve.

The motion of the output through third hydraulic push rod 4 can drive the up-and-down motion of mud shovel 12, the motion through fourth hydraulic push rod 5 can drive the removal of third bull stick 23, the motion that drives first bull stick 22 and second bull stick 21 through third bull stick 23 and then drive the motion of mud shovel 12, make the action of digging groove is accomplished to mud shovel 12, later open the solenoid valve again and realize the action of fertilizeing, then shrink third hydraulic push rod 4 and fourth hydraulic push rod 5 in proper order and realize the action that earth was backfilled, the toper piece at mud shovel 12 back can assist and take back earth.

The water tank 13 for storing the medicament is further installed on the upper end face of the rectangular plate, the top end of the water tank 13 is a water inlet, one side of the water tank 13 is a water outlet, a water valve controlled by a controller is installed on the water outlet, a rotary table is evenly divided into two sides of the top end of the connecting plate, a rotatable flow guide pipe is installed between the rotary tables of the same rectangular plate, and the flow guide pipe is evenly communicated with the water valve. Still open on the honeycomb duct and have a plurality of limbers, install a plurality of water pipes 14 with the limbers intercommunication respectively on the honeycomb duct, water pipe 14 end-to-end connection has the shower nozzle, has a plurality of bracing pieces that are used for supporting water pipe 14 respectively in the welding on the honeycomb duct.

And a fourth rotating rod coaxially connected with the flow guide pipe is respectively arranged on the rectangular plate, a driven gear 25 is arranged on each fourth rotating rod, a third motor is also arranged on the rectangular plate, a driving gear 24 is arranged on an output shaft of the third motor, the driving gear 24 is meshed with a transmission gear, a rack 20 is meshed between the driving gear 24 and the driven gear 25 on one side, and a rack 20 is meshed between the transmission gear and the driven gear 25 on the other side.

The driven gears 25 are all located on the inner side of the rack 20, and the driven gears 25 are at the same height. The fourth rotating rod on one side and the flow guide pipe on the same side can be driven to rotate by the rotation of the driving gear 24 and the transmission of the rack 20. The fourth rotating rod on one side and the flow guide pipe on the side can be driven to rotate reversely relative to the flow guide pipe on the other side through the rotation of the driving gear 24 and the transmission of the transmission gear and the rack 20.

The utility model discloses during the use, earlier control the direction of travel through signal receiver 19 and signal transmitter, then come to cooperate the controller to carry out the regulation of distance through the camera 18 of installing on walking support 1 top, wherein at the in-process of mowing and fertilizeing, can not injure the fruit tree, consequently mow the subassembly and fertilize the subassembly all can not contact with the fruit tree. The distance adjustment in the mowing assembly can be adjusted by the first hydraulic push rod 2 and the second hydraulic push rod 3 respectively. The distance of the fertilization component can be adjusted through a fifth hydraulic push rod 6, and the landfill depth of the fertilization component can be adjusted through a fourth hydraulic push rod 5.

After the distance is adjusted, the functions of weeding, fertilizing and spraying can be respectively carried out.

Wherein the weeding, fertilizing and spraying functions can be carried out independently or synchronously. When weeding and fertilization need be carried out simultaneously, need control the distance between two, the accessible is adjusted the mode of first hydraulic push rod 2 and fifth hydraulic push rod 6 and is carried out the accuse of distance.

When weeding is carried out, the first motor 7 can be used for rotating the rotating plate 9 to change the weeding position, and the position of the whole adapter frame 10 relative to the semicircular plate can be controlled through the extension and the retraction of the output end of the first hydraulic push rod 2, so that the mowing radius is controlled. The height of mowing can be controlled through the second hydraulic push rod 3 in the adapter frame 10, and the starting and stopping of the cutting blade 11 are controlled through the output of the second motor 8.

When carrying out fertilization work, the motion of the output through third hydraulic push rod 4 can drive the up-and-down motion of mud shovel 12, the motion through fourth hydraulic push rod 5 can drive the removal of third bull stick 23, the motion that drives first bull stick 22 and second bull stick 21 through third bull stick 23 and then drive mud shovel 12 motion, make mud shovel 12 accomplish the action of digging a groove, later open the action that the solenoid valve realized the fertilization again, then shrink third hydraulic push rod 4 and fourth hydraulic push rod 5 in proper order and realize the action that earth backfilled, the toper piece at mud shovel 12 back can assist and take back earth.

When the pesticide spraying work is carried out, the angle of the water pipe 14 is adjusted through the third motor, and pesticide spraying is carried out by opening the water valve.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (7)

1. A multifunctional operation robot for an orchard is characterized by comprising a walking support and a plurality of functional components lapped on the walking support, wherein a binocular distance measuring camera used for measuring the distance between the walking support and a fruit tree, a signal receiver used for receiving signals of a signal transmitter and a controller used for receiving data of the camera and the signal receiver and controlling the functional components are arranged on the upper end face of the walking support;

the functional components comprise mowing components arranged on two sides of the walking bracket and used for mowing, fertilizing components arranged on two sides of the walking bracket and used for fertilizing fruit trees, and pesticide spraying components arranged on two sides of the walking bracket and used for spraying pesticide to the fruit trees;

the lower end of the walking bracket is also provided with a driving wheel controlled by a controller.

2. The orchard multifunctional operation robot as claimed in claim 1, wherein the controller is a single chip microcomputer, and the single chip microcomputer is used for receiving data transmitted by the binocular ranging camera and the signal receiver and respectively controlling the mowing assembly, the fertilizing assembly, the spraying assembly and the driving wheels.

3. The multifunctional orchard working robot according to claim 2 is characterized in that the walking support comprises a rectangular plate, connecting plates arranged on two sides of the rectangular plate, and semicircular plates arranged on the outer sides of the connecting plates on two sides respectively.

4. The orchard multifunctional operation robot as claimed in claim 3, wherein the mowing assembly comprises a first motor arranged at the center of the semicircular plate, a rotating plate coaxially connected with an output shaft of the motor, a first hydraulic push rod parallel to the rotating plate and fixedly connected with the rotating plate, a switching frame arranged at the output end of the first hydraulic push rod, a second motor arranged in the switching frame and a cutting blade coaxially connected with the output shaft of the second motor.

5. The multifunctional orchard operation robot as claimed in claim 3, wherein the fertilizing assembly comprises a supporting table arranged below the connecting plate, a mud shovel arranged outside the supporting table and used for digging and backfilling soil, and a third hydraulic push rod arranged on the supporting table and used for driving the mud shovel, a feed box used for storing fertilizer is further arranged on the supporting table, a feed inlet is formed in the upper top end of the feed box, a discharge outlet is formed in one side of the bottom end of the feed box, an electromagnetic valve controlled by a controller is arranged at the discharge outlet of the feed box, and a discharge pipe communicated with the discharge outlet is formed in the rear end face of the mud shovel.

6. The orchard multifunctional working robot as claimed in claim 5, wherein a connecting rod is arranged at the top end of the mud shovel, the top end of the connecting rod is hinged to the output end of a third hydraulic push rod, a first rotating rod and a second rotating rod are symmetrically hinged to two sides of the rear end face of the mud shovel respectively, a third rotating rod hinged to two ends of the first rotating rod and the second rotating rod is further arranged at the rear end of the mud shovel, and a fourth hydraulic push rod for driving the third rotating rod is arranged on one side of the connecting rod.

7. The orchard multifunctional working robot as claimed in claim 3, wherein the pesticide spraying assembly comprises a water tank arranged at the upper end of the rectangular plate and used for storing pesticide and flow guide pipes respectively connected to the connecting plates on two sides in a rotating mode, a water inlet and a water outlet are formed in the water tank, a water valve controlled by a controller is arranged at the water outlet, the flow guide pipes are communicated with a plurality of water pipes, nozzles are arranged at the tail ends of the water pipes, a plurality of support rods for respectively supporting the water pipes are further arranged on the flow guide pipes, and driving pieces for driving the flow guide pipes to rotate in opposite directions are further arranged on the rectangular plate.

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