CN218302108U

CN218302108U - Agricultural intertillage robot

Info

Publication number: CN218302108U
Application number: CN202222444602.9U
Authority: CN
Inventors: 王蓬勃; 黄锋; 王天健
Original assignee: Suzhou University
Current assignee: Suzhou University
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2023-01-17
Anticipated expiration: 2032-09-15

Abstract

The utility model relates to an agricultural intertillage robot, a walking platform comprises a square frame and walking wheels, the walking wheels are connected with the square frame through a steering mechanism, and the walking wheels are driven to rotate through a walking transmission mechanism; the weeding machine comprises a machine tool assembly and a weeding assembly, wherein the three-point suspension mechanism is arranged on a side beam of a square rack, the weeding assembly comprises a main beam connected with the three-point suspension mechanism and a plurality of groups of weeding shovels, the weeding shovels are arranged at the lower end of a long rod, and the upper end of the long rod is rotationally connected with the main beam through a driving mechanism; the navigation system comprises a GPS sensor and at least one vision camera, wherein the GPS sensor is arranged above the square rack through a connecting piece, and the vision camera is arranged at the front end of the square rack. The utility model discloses a setting of rotatable weed removal shovel has both realized weeding on a large scale, can dodge the crop again, and simple structure, weeding are efficient, and the navigation of GPS sensor and vision camera combination has improved the degree of automation of operation precision and weeding robot.

Description

Agricultural intertillage robot

Technical Field

The utility model relates to the technical field of agricultural equipment, in particular to an agricultural intertillage robot.

Background

Crops cannot absorb sufficient light and nutrients under the influence of weeds, and the risk of pest and disease damage is increased, so that the yield and the nutritional value are reduced. About 30000 weeds have now been found worldwide, of which more than six will affect crop yield. Nearly 15000 weeds are planted in farmlands in China, and nearly 10 percent of weeds in the farmlands have severe harm to crops. Thus, weeds have become an important limiting factor affecting crop harvest and quality. Manual weeding and herbicide spraying are the main traditional weeding modes, and 35% of weeds are misjudged or missed at present. While the use of a large amount of herbicide has a certain inhibition effect on the growth of weeds, serious environmental pollution is caused at the same time, and the problem of drug resistance of the weeds is increasingly serious along with the wide use of pesticides. In order to reduce the use of pesticides, many countries and regions have enacted legislation relating to the use of pesticides. Increased living standards place more emphasis on food safety, which further reduces the sustainability of herbicide use.

Therefore, in order to solve the above problems, the conventional chemical weeding mode does not meet the development requirements of precision agriculture, mechanical weeding is used as an effective substitute for chemical weeding, and weeding is efficient and free of chemical agent residue, thereby meeting the development requirements of green precision agriculture. Present weeding machinery is usually by manual drive, and is high to driving technical requirement, and machinery drifts off and harms the crop easily, and the weed shovel rigidity of present weeding machinery simultaneously, for dodging the crop, the weed shovel staggers the setting with the crop usually, however in this kind of mode of setting, can only realize the ruderal shovel in crop both sides, and weeds between the crop is difficult for driving, and weeding is inefficient.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to solve the technical problem lie in overcoming the defect that weeding machine efficiency is low among the prior art, provide an agricultural intertillage robot, can full-automatic operation, the operation precision is high, and can realize dodging the crop through the swing of weed shovel, improves weeding efficiency.

In order to solve the technical problem, the utility model provides an agricultural intertillage robot, include:

the walking platform comprises a square rack and walking wheels, the walking wheels are connected with the square rack through a steering mechanism, and the walking wheels are driven to rotate through a walking transmission mechanism;

the weeding machine comprises a machine tool assembly, wherein the machine tool assembly comprises a three-point suspension mechanism and a weeding component, the three-point suspension mechanism is arranged on a side beam of the square rack, the weeding component comprises a main beam connected with the three-point suspension mechanism and a plurality of groups of weeding shovels, the weeding shovels are arranged at the lower end of a long rod, and the upper end of the long rod is rotatably connected with the main beam through a driving mechanism;

the navigation system comprises a GPS sensor and a vision camera, wherein the GPS sensor is arranged above the square rack through a connecting piece, and the vision camera is arranged at the front end of the square rack.

In one embodiment of the utility model, two adjacent weed removal shovels are relatively arranged as a set, the stock with be provided with the mounting panel between the girder, actuating mechanism includes L type rotor plate, the stock is connected in rotor plate one end, the rotor plate middle part with the mounting panel is articulated, the cam bearing is installed to the rotor plate other end, two be provided with the slider between the rotor plate, the cam bearing inserts the spacing inslot of slider, the slider passes through ejector pad cylinder drive lift.

In an embodiment of the utility model, two sets of adjacent weed control shovels are provided with depth wheels, the depth wheels are connected with the main beam through connecting pieces.

In an embodiment of the utility model, the weeding subassembly still includes a plurality of S-shaped bullet teeth, S-shaped bullet tooth one end through the fork board with the girder links to each other, and the other end is provided with arrow-shaped shovel.

In an embodiment of the present invention, the S-shaped elastic teeth correspond to the rear outside of the weeding shovel.

In an embodiment of the present invention, the three-point suspension mechanism includes a lifting beam and a suspension assembly, the lifting beam is vertically installed on the square frame, the suspension assembly includes an upper rotating arm, a lower rotating arm and a linkage member, two ends of the upper rotating arm are respectively hinged to a first suspension point in the middle of the upper lifting beam and the main beam, the lower rotating arm is arranged on two sides of the upper rotating arm, and is connected to a second suspension point on the lower lifting beam and the main beam, one end of the linkage member is hinged to the upper lifting beam corresponding to the position of the lower rotating arm, and the other end is hinged to the middle of the lower rotating arm.

In an embodiment of the present invention, a sliding groove is fixed on the square frame and is disposed opposite to each other in the vertical direction, a plurality of positioning holes are provided in the sliding groove, and both ends of the lifting beam are inserted into the positioning holes through connecting rods.

In an embodiment of the present invention, the main beam includes a main beam, a lower connecting rod and an upper support, the weeding shovel is installed under the main beam, the main beam and the lower connecting rod enclose a rectangular frame, the upper support is connected with the main beam and the lower connecting rod in an inverted V shape, the upper rotating arm is hinged with the top of the upper support, and the lower rotating arm is hinged with the lower connecting rod.

The utility model discloses an in one embodiment, still include the roll adjustment cantilever, the roll adjustment cantilever connect in between walking wheel and the square frame, roll adjustment cantilever one end with the square frame side is rotated and is connected, and the other end is connected the walking wheel.

The utility model discloses an in the embodiment, still include control system, control system includes a plurality of switch boards, and is a plurality of the switch board is installed respectively below each frame of square frame.

Compared with the prior art, the technical scheme of the utility model have following advantage:

intertillage robot, through the setting of rotatable weed shovel, both realized weeding on a large scale, can dodge the crop again, simple structure, weeding are efficient, adopt the navigation of GPS sensor and vision camera combination simultaneously, improved the degree of automation of operation precision and weeding robot.

Drawings

In order to make the content of the invention more clearly understood, the invention will now be described in further detail with reference to specific embodiments thereof, in conjunction with the accompanying drawings, in which

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

FIG. 2 is a schematic view of an embodiment of the implement assembly of the present disclosure;

FIG. 3 is a schematic view of the walking path of the weeding shovel of the present invention;

FIG. 4 is a schematic view of the present invention;

FIG. 5 is a schematic view of a second embodiment of the implement assembly of the present disclosure;

fig. 6 is a schematic view of the installation structure of the adjustable-pitch cantilever of the present invention.

Description reference numbers indicate: 10. a walking platform; 11. a square frame; 12. a traveling wheel; 13. a steering mechanism; 14. a traveling transmission mechanism; 15. a chute; 16 a controllable pitch cantilever;

20. a three-point suspension mechanism; 21. a lifting beam; 22. rotating the arm upwards; 23. a lower rotating arm; 24. a linkage member;

30. a herbicidal assembly; 31. a main beam; 311. a body beam; 312. a lower connecting rod; 313. an upper support; 32. a weeding shovel; 33. a long rod; 34. a drive mechanism; 341. a rotating plate; 342. a cam bearing; 343. a slider; 344. a limiting groove; 345. a push block cylinder; 35. a depth wheel; 35. s-shaped spring teeth;

40. a navigation system; 41. a connecting member; 42. a GPS sensor; 43. a vision camera;

50. a control system; 51. a control cabinet;

60. a crop.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not limited to the present invention.

Referring to fig. 1, it is a schematic view of the overall structure of an agricultural cultivating robot of the present invention.

The utility model discloses an agricultural intertillage robot includes:

walking platform 10, walking platform 10 includes square frame 11 and walking wheel 12, and square frame 11 forms the supporting framework of robot, adopts square frame 11 for walking wheel 12 can be located crop 60 both sides, avoids removing the in-process walking wheel 12 and causes the damage to crop 60. Meanwhile, the machine tool assembly can be arranged on the inner side of the square frame 11, so that the machine tool assembly is prevented from extending to the outer side of the walking platform 10, and the complexity of the structure of the machine tool assembly is reduced. In order to realize free walking of the robot, the walking wheels 12 are connected with the square rack 11 through a steering mechanism 13, and the walking wheels 12 are driven to rotate through a walking transmission mechanism 14, so that the walking wheels 12 can steer and move in any direction.

An implement assembly, as shown in FIG. 2, is a schematic diagram of an embodiment of an implement assembly. The machine assembly comprises a three-point suspension mechanism 20 and a weeding component 30, wherein the three-point suspension mechanism 20 is installed on a side beam of the square rack 11, the weeding component 30 comprises a main beam 31 connected with the three-point suspension mechanism 20 and a plurality of groups of weeding shovels 32, and the lifting of the weeding shovels 32 can be directly controlled by driving the three-point suspension mechanism 20, so that the height and the depth required by the weeding shovels 32 can be adjusted, the machine assembly is suitable for different crops 60 and soil qualities, and the operation is more humanized. In this embodiment, the weed removing shovel 32 is installed at the lower end of the long rod 33, and the upper end of the long rod 33 is rotatably connected with the main beam 31 through the driving mechanism 34. The during operation, weed shovel 32 inserts in the soil with the gesture of perpendicular to robot moving direction, thereby the scope that weed shovel 32 covered is big, can all eradicate weeds between crop 60, when being close to crop 60, actuating mechanism 34 drive weed shovel 32 removes to crop 60 side, make weed shovel 32 avoid crop 60, the removal of weed shovel 32 can adopt rotatory mode, make weed shovel 32 rotatory to being on a parallel with moving direction from the perpendicular to moving direction, perhaps weed shovel 32 can overturn to crop 60 both sides, remove to the side from the position that corresponds crop 60, realize dodging, at this moment, weed shovel 32 still can weed crop 60 side, and can not harm crop 60, high weeding efficiency.

Further, a navigation system 40 is included to realize automatic operation of the robot. Navigation system 40 includes GPS sensor 42 and vision camera 43, GPS sensor 42 is in through connecting piece 41 square frame 11 top is provided with at least one, vision camera 43 is installed square frame 11 front end. In the working section, the navigation control is preferably based on the visual camera 43, the GPS sensor 42 is assisted, the visual camera 43 acquires the position information of the crop 60, then a leading line is fitted, and the robot tracks by the leading line in the working process, so that the navigation can improve the working accuracy because the working object and the tracking object are the same. In the non-working section, namely the section without the crops 60, the GPS sensor 42 is preferably used as the main navigation control, and the vision camera 43 is used as the auxiliary navigation control, so that the autonomous navigation of the robot under the working condition without the crops 60 is realized, and the automation degree of the robot is improved.

Referring to fig. 3 and 4, during operation, whether the robot is in a working section or a non-working section is judged according to the number of visual information samples uploaded by the GPS sensor 42 and the visual camera 43, a navigation line is fitted according to the determined information, and the motion of each walking unit is controlled, so that the robot moves along a planned navigation line. In the non-working section, the three-point suspension mechanism 20 lifts the weeding shovel 32, so that the weeding shovel 32 is far away from the ground, and the robot can move smoothly. In the working section, the three-point suspension mechanism 20 puts down the weeding shovel 32, and when the weeding shovel 32 is positioned between the crops 60, the weeding shovel 32 is inserted into the ground in a state of being vertical to the moving direction of the robot, so that when the robot moves, the weeding shovel 32 can cover a large range to cut off the weed roots between two adjacent crops 60 to achieve the weeding purpose; when meeting crops 60, the driving mechanism 34 enables the weeding shovel 32 to move, the moved weeding shovel 32 can avoid the crops 60, meanwhile, weeds on the side edges of the crops 60 are eradicated, and the weeding efficiency is high.

To control the robot operation, a control system 50 is also included. The upper computer in the control system 50 receives information of external sensors such as the vision camera 43 and the GPS sensor 42, and issues an execution instruction to the lower computer in the control system 50 through an algorithm, and after receiving the execution instruction, the lower computer analyzes and controls the execution mechanisms including the traveling wheels 12, the three-point suspension mechanism 20, the driving mechanism 34, and the like. In this embodiment, in order to fully utilize the space, the control system 50 is configured as a plurality of control cabinets 51, and the plurality of control cabinets 51 are respectively installed below each frame of the square rack 11.

Referring to fig. 2, in order to avoid the crop 60 and weed both sides of the crop 60, in the present embodiment, two adjacent weeding shovels 32 are oppositely arranged to form a group, when weeding between the crops 60, the end portions of the two weeding shovels 32 are opposite, and when encountering the crop 60, the two weeding shovels 32 are respectively turned over and opened to both sides to avoid the crop 60. Specifically, in order to realize the synchronous action of the two weed shovels 32, a mounting plate is arranged between the long rod 33 and the main beam 31, the driving mechanism 34 comprises an L-shaped rotating plate 341, the long rod 33 is connected to one end of the rotating plate 341, and the end of the rotating plate 341 extends along the direction in which the long rod 33 is arranged, so that the connection stability of the long rod 33 is ensured. The middle part of the rotating plate 341 is hinged with the mounting plate, a cam bearing 342 is mounted at the other end of the rotating plate 341, a slider 343 is arranged between the two rotating plates 341, the cam bearing 342 is inserted into a limit groove 344 of the slider 343, and the slider 343 is driven to lift by a push block cylinder 345. When the sliding block 343 is lifted, one end of the rotating plate 341 connected to the sliding block 343 is lifted therewith, and since the middle part of the rotating plate 341 is hinged and fixed to the mounting plate, the cam bearing 342 connected to the rotating plate 341 slides in the limiting groove 344 during the lifting process with the sliding block 343, and the rotating plate 341 rotates around the hinged part as an axis, driving the long rod 33 and the weed shovel 32 at the lower end thereof to turn over and avoid the crop 60. Further, in order to control the depth of the weeding shovel 32 inserted into the ground, a depth limiting wheel 35 is arranged between two adjacent groups of the weeding shovels 32, so that the depth limiting wheel 35 is positioned between two rows of crops 60 to avoid crushing the crops 60. The depth wheel 35 is connected with the main beam 31 through a connecting piece 41, and the height of the depth wheel 35 is adjusted by connecting different positions of the connecting piece 41 with the main beam 31.

Referring to FIG. 5, a second embodiment of the implement assembly is shown. For improving the weeding effect, weeding subassembly 30 still includes a plurality of S-shaped bullet teeth 35, S-shaped bullet tooth 35 one end pass through the fork board with girder 31 links to each other, and the other end is provided with arrow shape shovel. The arrow-shaped shovel shovels the soil blocks, and the S-shaped elastic teeth 35 can generate pulse vibration during working, so that the soil blocks are crushed, and the surface soil achieves the effect of fine tillage and fine cropping. The S-shaped elastic teeth 35 are matched with the weeding shovel 32 and the depth limiting wheel 35, so that deep loosening, soil crushing and land preparation can be realized through one-time operation, and the purpose of intertillage is achieved. Furthermore, the working direction of the S-shaped elastic tooth 35 is determined, so that the position of the S-shaped elastic tooth 35 is not suitable to be adjusted, and in order to avoid the interference between the S-shaped elastic tooth 35 and the crop 60, the S-shaped elastic tooth 35 is arranged corresponding to the rear part of the outer side of the weeding shovel 32. As shown in fig. 3, the weeding shovel 32 is provided with two sets, two weeding shovels 32 of each set are arranged oppositely, one depth wheel 35 is installed in the middle of two sets of weeding shovels 32, the S-shaped elastic teeth 35 are provided three, the two sets of weeding shovels 32 are arranged on the outer side, the rear of the outer side position of the corresponding robot is provided with one respectively, the two sets of weeding shovels 32 are arranged on the outer side, the middle position of the corresponding robot is arranged between the two weeding shovels 32, therefore, one can be arranged, and the S-shaped elastic teeth 35 are positioned behind the depth wheel 35.

Referring to fig. 2 and 5, in order to realize the lifting of the weeding shovel 32, the three-point suspension mechanism 20 comprises a lifting beam 21 and a suspension assembly, wherein the lifting beam 21 is vertically arranged on the square frame 11 and is connected with the suspension assembly. The suspension assembly comprises an upper rotating arm 22, a lower rotating arm 23 and a linkage piece 24, two ends of the upper rotating arm 22 are respectively hinged with a first suspension point between the upper part of the lifting beam 21 and the main beam 31, the lower rotating arm 23 is arranged on two sides of the upper rotating arm 22 and is connected with a second suspension point on the lower part of the lifting beam 21 and the main beam 31, one end of the linkage piece 24 is hinged with the upper part of the lifting beam 21 at a position corresponding to the lower rotating arm 23, and the other end of the linkage piece 24 is hinged with the middle part of the lower rotating arm 23. The linkage 24, the lower rotating arm 23 and the lifting beam 21 are triangular in the enclosed city, the lower rotating arm 23 is pushed out downwards or pulled back upwards along with the extension and contraction of the linkage 24, the main beam 31 connected with the lower rotating arm 23 is lifted, and the upper rotating arm 22 keeps the position of the main beam 31 stable. The linkage 24 in this embodiment is preferably an electric push rod and may be directly electrically driven, thereby eliminating the need for a bulky and heavy gas generator as would be required with a gas cylinder. Further, since the adjustment height of the three-point suspension mechanism 20 is limited, in order to improve the adaptability of the robot, sliding grooves 15 which are oppositely arranged along the vertical direction are fixed on the square rack 11, a plurality of positioning holes are arranged in the sliding grooves 15, and two ends of the lifting beam 21 are inserted into the positioning holes through connecting rods. The overall height of the three-point hitch 20 can thus be adjusted to suit different terrain. Furthermore, the main beam 31 comprises a main beam 311, a lower connecting rod 312 and an upper support 313, the weeding shovel 32 is installed below the main beam 311, in order to ensure stable connection, the main beam 311 is a square tube and has a large size, the lower connecting rod 312 is arranged to facilitate the hinging with the lower rotation arm 23, the main beam 311 and the lower connecting rod 312 enclose a rectangular frame, the upper support 313 is connected with the main beam 311 and the lower connecting rod 312 in an inverted V shape, the upper rotation arm 22 is hinged with the top of the upper support 313, and the lower rotation arm 23 is hinged with the lower connecting rod 312. The elevation beam 21, the upper rotation arm 22, the lower rotation arm 23, and the upper support 313 enclose a quadrangle, so that the height of the body beam 311 can be adjusted without changing the length of the four sides.

Referring to fig. 6, since the planting row spacing of the crops 60 is different, although the opening angle of the weed removing shovel 32 can be changed to avoid the crops 60, if the row spacing of the walking wheels 12 does not match the row spacing of the crops 60, the working efficiency is easily affected. In order to improve the adaptability of robot, the utility model discloses still set up roll adjustment cantilever 16 to realize the change of walking 12 wheel tracks. Specifically, the distance-adjusting cantilever 16 is connected between the walking wheel 12 and the square frame 11, one end of the distance-adjusting cantilever 16 is rotatably connected with the side of the square frame 11, and the other end of the distance-adjusting cantilever is connected with the walking wheel 12. When one end of the distance adjusting cantilever 16 rotates at the side of the square frame 11, the distance between the other end of the distance adjusting cantilever 16 and the side of the square frame 11 changes, so that the distance between the walking wheel 12 connected with the distance adjusting cantilever 16 and the side of the square frame 11 changes, and the change of the wheel track between two walking wheels 12 at two sides of the square frame 11 is realized.

The utility model discloses in through the setting of rotatable weed shovel 32, both realized weeding on a large scale, can dodge crop 60 again, simple structure, weeding are efficient, adopt the navigation mode of GPS sensor 42 and the combination of vision camera 43 simultaneously, have improved the degree of automation of operation precision and weeding robot.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications can be made without departing from the scope of the invention.

Claims

1. An agricultural cultivating robot, comprising:

the weeding machine comprises a machine tool assembly, a square frame side beam, a three-point suspension mechanism, a weeding assembly and a driving mechanism, wherein the machine tool assembly comprises the three-point suspension mechanism and the weeding assembly;

the navigation system comprises a GPS sensor and a vision camera, wherein the GPS sensor is arranged above the square frame through a connecting piece and is provided with at least one vision camera, and the vision camera is arranged at the front end of the square frame.

2. The agricultural cultivating robot as claimed in claim 1, wherein two adjacent weeding shovels are arranged in a group, a mounting plate is arranged between the long rod and the main beam, the driving mechanism includes an L-shaped rotating plate, the long rod is connected to one end of the rotating plate, the middle part of the rotating plate is hinged to the mounting plate, a cam bearing is arranged at the other end of the rotating plate, a sliding block is arranged between the two rotating plates, the cam bearing is inserted into a limiting groove of the sliding block, and the sliding block is driven to move up and down by a pushing block cylinder.

3. An agricultural cultivating robot according to claim 2, wherein a depth wheel is arranged between two adjacent sets of the weeding shovels, and the depth wheel is connected with the main beam through a connecting piece.

4. An agricultural cultivating robot as claimed in claim 1, wherein the weeding assembly further comprises a plurality of S-shaped elastic teeth, one end of each S-shaped elastic tooth is connected with the main beam through a fork plate, and the other end of each S-shaped elastic tooth is provided with an arrow-shaped shovel.

5. An agricultural cultivating robot as claimed in claim 4, wherein the S-shaped elastic teeth are arranged corresponding to the outer rear side of the weeding shovel.

6. An agricultural cultivating robot as claimed in claim 1, wherein the three-point suspension mechanism includes a lifting beam vertically mounted on the square frame, and a suspension assembly including an upper rotating arm, a lower rotating arm and a linkage member, wherein both ends of the upper rotating arm are respectively hinged to a first suspension point in the middle of the upper lifting beam and the main beam, the lower rotating arm is disposed on both sides of the upper rotating arm, and the linkage member is hinged at one end to the upper lifting beam at a position corresponding to the lower rotating arm and at the other end to the middle of the lower rotating arm, and is connected to a second suspension point on the lower lifting beam and the main beam.

7. An agricultural cultivating robot according to claim 6, wherein the square frame is fixed with sliding grooves which are oppositely arranged in a vertical direction, a plurality of positioning holes are arranged in the sliding grooves, and both ends of the lifting beam are inserted into the positioning holes through connecting rods.

8. An agricultural cultivating robot as claimed in claim 6, wherein the main beam includes a main beam, a lower connecting rod and an upper support, the weeding shovel is mounted under the main beam, the main beam and the lower connecting rod enclose a rectangular frame, the upper support is connected with the main beam and the lower connecting rod in an inverted V shape, the upper rotating arm is hinged with the top of the upper support, and the lower rotating arm is hinged with the lower connecting rod.

9. An agricultural cultivating robot according to claim 1, further comprising a distance-adjusting cantilever connected between the walking wheel and the square frame, one end of the distance-adjusting cantilever being rotatably connected to the side of the square frame and the other end thereof being connected to the walking wheel.

10. An agricultural cultivating robot according to claim 1, further comprising a control system including a plurality of control cabinets mounted below each side frame of the square frame.