CN218588066U

CN218588066U - Agricultural robot

Info

Publication number: CN218588066U
Application number: CN202222432163.XU
Authority: CN
Inventors: 罗超; 范秋垒; 高辉
Original assignee: Chongqing Robotics Institute
Current assignee: Chongqing Robotics Institute
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2023-03-10
Anticipated expiration: 2032-09-14

Abstract

The utility model discloses an agricultural robot, including displacement platform, parallel robot and actuating mechanism, this actuating mechanism carries on parallel robot's the platform that moves, parallel robot carries on displacement platform, displacement platform includes carrying platform and a plurality of travel drive device, all travel drive device respectively through the structure unanimous turn to drive arrangement with carrying platform connects. Can reduce the labor burden and is suitable for different farming modes.

Description

Agricultural robot

Technical Field

The utility model relates to an automatic device technical field for agricultural production, concretely relates to agricultural robot.

Background

With the rapid development of electronic computers and automatic control technologies and the application and popularization of high and new agricultural technologies, agricultural robots gradually enter the field of agricultural production, and will promote the development of modern agriculture towards the mechanization of equipment and the intellectualization of production. Automation and intellectualization are trends in global agricultural development, and agricultural robots undertake complex and efficient work.

At present, weeding, pesticide spraying, crop watering, fertilizing, seeding and the like in farmlands mostly adopt manual modes, a large amount of labor is consumed, different equipment is adopted in different farming modes, and operation is complex.

Disclosure of Invention

For solving above technical problem, the utility model provides an agricultural robot can reduce the work burden, is applicable to different farming methods.

The technical scheme is as follows:

the utility model provides an agricultural robot, includes displacement platform, parallel robot and actuating mechanism, and this actuating mechanism carries on parallel robot's movable platform, parallel robot carries on displacement platform, displacement platform is including carrying platform and a plurality of travel drive device, all travel drive device respectively through the structure unanimous turn to drive arrangement with carry on the platform and connect.

Furthermore, the walking driving device comprises a walking driving motor, a chain transmission mechanism and wheels, and the walking driving motor is in transmission connection with the wheels through the chain transmission mechanism.

In order to facilitate transmission, the chain transmission mechanism comprises a driving chain wheel, a driven chain wheel and a chain, wherein the driving chain wheel and the driven chain wheel are sequentially arranged on the outer side wall surface of the mounting base from top to bottom and are connected through the chain.

In order to protect chain drive mechanism sets up the protective cover on the installation base, the protective cover covers drive sprocket, driven sprocket and chain.

Furthermore, turn to drive arrangement and include and turn to driving motor and connecting axle, this connecting axle is installed through bearing frame carry on the side of platform, and one end with travel drive connects, the other end through the shaft coupling with turn to driving motor and connect, turn to driving motor and install carry on the platform.

Preferably, the both sides of carrying platform set up a fixing base, turn to driving motor fixed mounting on the fixing base, and its axis of rotation passes through the shaft coupling to be connected with the one end of the vertical connecting axle that sets up in below, and the connecting axle passes through the bearing to be connected with the fixing base, and the other end and the installation base fixed connection of the walking drive device who is located the below, turn to driving motor and pass through turned angle control the direction of advancing or retreating of wheel.

Furthermore, the front end and the rear end of the displacement platform are provided with illuminating lamps.

Furthermore, the solar energy power supply system is also included and is carried on the displacement platform.

Has the advantages that: by adopting the agricultural robot of the utility model, the executing mechanism is accurately moved to the operating target position for operation by the parallel robot according to the relative position between the operating target and the executing mechanism, thereby avoiding the influence of large-scale indifference operation on crops, environment and the like; the executing mechanism can be set in a targeted manner according to the operation type of the robot, and when the operation type is irrigation, the executing mechanism adopts a spray head; when the operation type is seeding, a seeding mechanism is adopted; when the operation type is picking, the actuating mechanism can be a picking mechanism, different agricultural tools are integrated into a whole, the displacement platform, the parallel robot and the actuating mechanism cooperate together to replace the agricultural operation of personnel, and the device is suitable for operations such as weeding, spraying, watering crops, fertilizing, sowing and the like, and reduces the burden of agricultural operation.

Drawings

Fig. 1 is a schematic structural diagram of an agricultural robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a walking drive of the agricultural robot shown in fig. 1;

fig. 3 is a schematic structural diagram of an agricultural robot according to another embodiment of the present invention;

fig. 4 is a schematic structural diagram of an agricultural robot according to another embodiment of the present invention;

fig. 5 is a schematic view of the construction of an actuator of the agricultural robot shown in fig. 4;

in the figure, 1 represents a displacement platform, 2 represents a parallel robot, 3 represents an actuating mechanism, 4 represents a carrying platform, 5 represents a walking driving device, 6 represents a steering driving device, 7 represents a walking driving motor, 8 represents a chain transmission mechanism, 9 represents wheels, 10 represents a driving chain wheel, 11 represents a driven chain wheel, 12 represents a chain, 13 represents a mounting base, 14 represents a protective cover, 15 represents a steering driving motor, 16 represents a connecting shaft, 17 represents a fixing base, 18 represents a visual camera, 19 represents an illuminating lamp, 20 represents a solar cell panel, 21 represents a water tank, 22 represents a spray head, 23 represents a connecting base, 24 represents an actuating motor, 25 represents scissors, 26 represents a color camera, and 27 represents an ultrasonic sensor.

Detailed Description

The present invention will be further described with reference to the following examples and the accompanying drawings.

As shown in fig. 1, an agricultural robot includes a displacement platform 1, a parallel robot 2, and an actuator 3, the actuator 3 is mounted on a movable platform of the parallel robot 2, and the parallel robot 2 is mounted on the displacement platform 1.

Specifically, the agricultural robot is composed of a displacement platform 1, a parallel robot 2 and an actuating mechanism 3. The actuator 3 is mounted on the movable platform of the parallel robot 2, and the fixed platform of the parallel robot 2 is mounted on the displacement platform 1.

The parallel robot 2 can accurately move the actuating mechanism 3 to the position of the operating target according to the relative position between the operating target and the actuating mechanism 3 to operate, so that the influence of large-range indifference operation on crops, environment and the like is avoided.

The displacement platform 1 will be described in detail with reference to fig. 1 and 2.

In this embodiment, optionally, the displacement platform 1 includes a carrying platform 4 and a plurality of traveling driving devices 5, and all the traveling driving devices 5 are connected to the carrying platform 4 through steering driving devices 6 having the same structure.

Specifically, in the present embodiment, the displacement platform 1 is composed of a mounting platform 4 and 4 traveling driving devices 5. The parallel robot 2 can be installed at the bottom of the carrying platform 4, and the 4 walking driving devices 5 can be distributed on two sides of the carrying platform 4 in a pairwise opposite mode and are connected with the carrying platform 4 through the steering driving device 6 with the same structure.

The traveling driving device 5 can drive the carrying platform 4 to move, and the steering driving device 6 can control the moving direction of the connected traveling driving device 5.

In this embodiment, optionally, the walking driving device 5 includes a walking driving motor 7, a chain transmission mechanism 8 and wheels 9, and the walking driving motor 7 is in transmission connection with the wheels 9 through the chain transmission mechanism 8.

Specifically, in the present embodiment, the travel driving device 5 is composed of a travel driving motor 7, a chain transmission mechanism 8 and wheels 9. The chain transmission mechanism 8 comprises a driving sprocket 10, a driven sprocket 11 and a chain 12, wherein the driving sprocket 10 and the driven sprocket 11 are sequentially arranged on the outer side wall surface of the mounting base 13 from top to bottom and are connected through the chain 12. In order to protect the driving sprocket 10, the driven sprocket 11, and the chain 12, a protecting cover 14 may be provided on the mounting base 13, and the protecting cover 14 may cover the driving sprocket 10, the driven sprocket 11, and the chain 12.

The traveling driving motor 7 may be installed on an inner side surface of the installation base 13 at the position of the driving sprocket 10, and the driving shaft may pass through the installation base 13 to be connected with the driving sprocket 10. The wheel 9 may be located outside the guard cover 14 at the position of the driven sprocket 11, and the axle of the wheel 9 may be connected to the driven sprocket 11 through the guard cover 14.

The walking driving motor 7 drives the driving chain wheel 10 to rotate, the driving chain wheel 10 can drive the driven chain wheel 11 to rotate through the chain 12, and then the wheels 9 are driven to rotate, so that the carrying platform 4 is driven to move. The walking driving motor 7 rotates forward and backward, and then controls the carrying platform 4 to move forward and backward.

In this embodiment, optionally, the steering driving device 6 includes a steering driving motor 15 and a connecting shaft 16, the connecting shaft 16 is installed on the side surface of the carrying platform 4 through a bearing seat, and one end of the connecting shaft is connected with the traveling driving device 5, the other end of the connecting shaft is connected with the steering driving motor 15 through a coupling, and the steering driving motor 15 is installed on the carrying platform 4.

Specifically, in the present embodiment, the steering driving device 6 is composed of a steering driving motor 15 and a connecting shaft 16. The both sides of carrying platform 4 can set up 4 fixing bases 17, turns to driving motor 15 and can fixed mounting on fixing base 17, and its axis of rotation can be connected with the one end of the connecting axle 16 of the vertical setting in below through the shaft coupling, and connecting axle 16 can be connected with fixing base 17 through the bearing, and the other end can with the installation base 13 fixed connection of the walking drive 5 that is located the below. The steering driving motor 15 controls the forward or backward direction of the wheels 9 through the rotation angle, thereby controlling the moving direction of the displacement platform 1.

In this embodiment, the displacement platform further comprises 3 groups of vision cameras 18, wherein the 3 groups of vision cameras 18 are a left side camera, a right side camera and a front camera respectively arranged at the front end of the carrying platform 4, and the 3 groups of vision cameras 18 respectively collect a left side image, a right side image and a front image of the displacement platform 1

In this embodiment, optionally, the front end and the rear end of the displacement platform 1 are provided with illuminating lamps 19. The light can be supplemented when the illumination is weak through the arranged illuminating lamp 19.

In this embodiment, optionally, the displacement platform further includes a solar power supply system, and the solar power supply system is mounted on the displacement platform 1. The solar panel 20 of the solar power supply system can be covered on the top surface of the carrying platform 4 to obtain more illumination energy. The solar power supply system can supply power for the robot to work so as to support the robot to work for a long time.

The actuator 3 will be described in detail with reference to fig. 1.

In the present embodiment, the actuators 3 may be set specifically according to the type of work of the robot. For example, when the operation type is irrigation, the actuator 3 mounted on the movable platform of the parallel robot 2 may be the head 22, the upper tank 21 may be mounted on the mounting platform 4, and the tank 21 may communicate with the head 22.

In order to detect the moisture, the nutrients and the like of the soil, a soil detector can be further mounted on the displacement platform 1, one more parallel robot 2 can be mounted at the bottom of the displacement platform 1, a probe of the soil detector can be mounted on a movable platform of the parallel robot 2 through a force sensor, and the probe can be inserted into the soil through the parallel robot 2 to detect the moisture, the nutrients and the like in the soil. The target position to be irrigated can be determined according to the detection result of the soil detector. The acting force of the soil on the probe can be detected through a force sense sensor so as to control the depth and the force of the parallel robot 2 for driving the probe to be inserted into the soil.

It should be understood that, in the present embodiment, only one parallel robot 2 is exemplified, but the present invention is not limited thereto, and the number of parallel robots 2 mounted on the displacement platform 1 may be 2 or more. As shown in fig. 3, two parallel robots 2 are mounted on a displacement platform 1, and a seeder is provided as an actuator 3 on each of the movable platforms of the two parallel robots 2.

It should be understood that the present embodiment is only illustrated by the spray head 22, but the present invention is not limited thereto, and the actuator 3 may be a picking mechanism or the like. As shown in fig. 4 and 5, the picking mechanism may be composed of a connection base 23, an actuator motor 24, scissors 25, a color camera 26, and an ultrasonic sensor 27. The actuating motor 24, the color camera 26 and the ultrasonic sensor 27 are all arranged on the connecting base 23, and the connecting base 23 is fixed on the movable platform of the parallel robot 2 through a mounting flange. The shank of one of the scissor arms 25 can be fixed to the connection base 23, while the shank of the other scissor arm is connected to the drive shaft of the actuator motor 24 mounted on the connection base 23 via a crank-link mechanism. The actuator motor 24 may drive the two scissor arms through a crank linkage to perform a shearing action.

The color camera 26 can acquire a color image of a work target, the ultrasonic sensor 27 can detect the distance between the scissors 25 and the fruit, the parallel robot 2 is controlled according to the detection result of the ultrasonic sensor 27 to transfer the scissors 25 to the fruit, and the execution motor 24 drives the scissors 25 to pick the fruit.

Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and the scope of the present invention.

Claims

1. An agricultural robot, characterized in that: the parallel robot comprises a displacement platform, a parallel robot and an executing mechanism, wherein the executing mechanism is carried on a movable platform of the parallel robot, the parallel robot is carried on the displacement platform, the displacement platform comprises a carrying platform and a plurality of walking driving devices, and all the walking driving devices are respectively connected with the carrying platform through steering driving devices with the same structure.

2. An agricultural robot according to claim 1, characterized in that: the walking driving device comprises a walking driving motor, a chain transmission mechanism and wheels, and the walking driving motor is in transmission connection with the wheels through the chain transmission mechanism.

3. An agricultural robot according to claim 2, characterized in that: the chain transmission mechanism comprises a driving chain wheel, a driven chain wheel and a chain, wherein the driving chain wheel and the driven chain wheel are sequentially arranged on the outer side wall surface of the mounting base from top to bottom and are connected through the chain.

4. An agricultural robot according to claim 3, characterized in that: set up the protective cover on the installation base, the protective cover covers drive sprocket, driven sprocket and chain.

5. An agricultural robot according to any one of claims 2-4, characterized in that: the steering driving device comprises a steering driving motor and a connecting shaft, the connecting shaft is installed on the side face of the carrying platform through a bearing seat, one end of the connecting shaft is connected with the walking driving device, the other end of the connecting shaft is connected with the steering driving motor through a coupler, and the steering driving motor is installed on the carrying platform.

6. An agricultural robot according to claim 5, characterized in that: the two sides of the carrying platform are provided with fixing seats, a steering driving motor is fixedly installed on the fixing seats, a rotating shaft of the steering driving motor is connected with one end of a connecting shaft vertically arranged below through a coupler, the connecting shaft is connected with the fixing seats through bearings, the other end of the connecting shaft is fixedly connected with an installation base of a walking driving device located below, and the steering driving motor controls the advancing or retreating direction of the wheel through a rotating angle.

7. An agricultural robot according to any one of claims 1, 2, 3, 4 and 6, characterized in that: and the front end and the rear end of the displacement platform are provided with illuminating lamps.

8. An agricultural robot according to claim 7, characterized in that: the solar power supply system is carried on the displacement platform.