Earthworm bionic soil loosening robot

Abstract

The invention relates to an earthworm bionic soil loosening robot. According to the robot, two sets of bionic telescopic motion structures comprising multiple pairs of planar connecting rod telescopic systems are matched with a gear and rack mechanism to alternately move so as to simulate the wriggling motion principle of earthworms, contraction and relaxation of the earthworms are simulated, meanwhile, a soil layer is smashed, equipment is pushed to move in the deep soil layer, and the problem that the deep soil layer cannot be dredged in the prior art is effectively solved; a soil detection system probe in the robot detects the nitrogen, phosphorus and potassium content, pH, conductivity, temperature and humidity data of soil all the time and transmits the data to a nutrient conveying system, the nutrient conveying system can adjust and increase the nutrient flow through a controller, and at the moment, the broken hardened soil layer structure is looser and can be more fully combined with nutrients.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to an earthworm bionic robot capable of loosening soil. Background Art

[0002] Soil compaction is a common problem in agricultural production, seriously affecting crop growth and the soil ecosystem. Currently, soil compaction control and loosening technologies mainly fall into two categories: physical loosening and chemical treatment. Physical loosening methods mainly include manual loosening and large-scale mechanical tillage. Manual loosening usually relies on simple agricultural tools. Although easy to use, it is inefficient and can only affect the surface soil. Large-scale mechanical tillage, while more efficient, also has difficulty reaching deeper soil layers and may damage soil structure, making the problem prone to recurrence. Chemical treatment includes biochar technology and pesticide application. Although pesticides can improve soil biomass, long-term use may lead to soil contamination and also have difficulty reaching deeper soil layers. Biochar technology improves soil quality by increasing soil organic matter, but its mechanism of action is relatively slow and is unlikely to be effective in the short term. Earthworms burrow through the soil by contracting and stretching their bodies. They have significant advantages in loosening the soil, improving soil aggregate structure, and enhancing soil aeration and water permeability. They are a natural soil improvement tool. However, due to the earthworms' stringent requirements for temperature, humidity, and soil pH, their large-scale application still faces practical difficulties in areas with complex soil conditions or limited manpower and material resources. Summary of the Invention

[0003] The purpose of the present invention is to provide an earthworm bionic soil loosening robot, which effectively solves the problems in the existing technology that physical loosening and chemical nutrients are difficult to reach the deep soil layer, as well as the difficulty of large-scale earthworm breeding, and achieves a more efficient and sustainable soil compaction control effect.

[0004] The present invention provides an earthworm bionic soil loosening robot, the structure of which includes: a body frame, two groups of bionic telescopic motion systems, two groups of drilling probes (6), a bionic segment surface, a soil detection system, and a nutrient delivery system;

[0005] The fuselage main body frame comprises a main frame (1) and a connecting rod fixing slot (2);

[0006] The bionic telescopic motion system comprises: a telescopic shaft (3), a connecting rod fixing sleeve (7), a gear rack transmission system, and eight sets of planar connecting rod telescopic systems;

[0007] The rack and pinion transmission system comprises: a transmission rack (14), two motors (15), and two transmission gears (16); a connecting rod fixing sleeve (7) is installed on the outside of the telescopic shaft (3); the telescopic shaft (3) is installed in a channel on one side of the main frame (1) and is connected to the transmission rack (14); the transmission rack (14) and the transmission gear (16) are combined, driven by the motor (15), and fixed inside the main frame (1).

[0008] The planar connecting rod telescopic system comprises: an outer rotating rod (4) and an inner rotating rod (5); the front portion of the outer rotating rod (4) is mounted in a connecting rod fixing sleeve (7) slot, and the rear portion is connected to the front portion of the inner rotating rod (5); the rear portion of the inner rotating rod (5) is connected to a connecting rod fixing slot (2) on the outside of the main frame (1);

[0009] The bionic segment surface comprises: an outer fixing ring (13), an inner fixing ring (12), a flexible segment outer skin (8), and a metal segment strip (9). The outer fixing ring (13) is mounted on the outer layer of the motion sleeve (3), the inner fixing ring (12) is mounted on the main frame (1), the front end of the flexible segment outer skin (8) is mounted on the inner side of the outer fixing ring (13), and the rear end is mounted on the inner side of the inner fixing ring (12); and the metal segment strip (9) is mounted on the outer protrusion of the flexible segment outer skin.

[0010] The drilling probe (6) is mounted on the front end of the telescopic shaft (3) via a connecting rod fixing sleeve (7).

[0011] When the engine (15) is started, the two transmission gears (16) rotate, driving the transmission rack (14) and the telescopic shaft (3) to alternately extend and retract toward the main body frame, driving the outer rotating rod (4) and the inner rotating rod (5) to move, simulating the contraction and expansion of the earthworm, thereby completing the movement of the robot.

[0012] A soil detection system is installed inside the drilling probe (6), including a soil multi-parameter sensor (11) composed of five groups of electrode probes, which is used to detect soil nitrogen, phosphorus and potassium content, pH, conductivity, temperature and humidity data, and perform data analysis to facilitate staff to analyze soil quality.

[0013] A nutrient delivery system is provided inside the main frame (1), comprising a controller, a nutrient storage unit, and a bionic shell (10), wherein the bionic shell (10) is provided with dense micropores;

[0014] The data detected by the soil detection system can be transmitted to the nutrient delivery system. The controller can adjust the number of open micropores according to the soil environmental data to achieve the purpose of controlling the nutrient flow rate and treating soil problems in a targeted manner.

[0015] The earthworm bionic soil loosening robot of the present invention has the following advantages:

[0016] 1. Reduce the labor cost of grassland resource maintenance such as soil loosening, and reduce the time-consuming, labor-intensive and safety issues caused by manual operations;

[0017] 2. The two sets of bionic telescopic motion systems contract and relax alternately. This motion pattern fully simulates the movement mechanism of earthworms in the soil, breaking up the soil layer and pushing the equipment to move deep in the soil, achieving the purpose of loosening the deep soil layer.

[0018] 3. The surface of the bionic segment can effectively reduce the contact area with the soil and reduce the resistance to movement;

[0019] 4. The nutrient delivery system slowly delivers nutrients to the soil layer through dense micropores, allowing the nutrients to fully combine with the soil. At the same time, the nutrients and the link structure work together to form a lubricating layer, reducing resistance;

[0020] 5. The soil detection system detects and records soil nitrogen, phosphorus, potassium content, pH, conductivity, temperature and humidity data through the electrode probe at the front end of the drill bit. It automatically adjusts the nutrient delivery rate based on the data and facilitates staff to analyze soil quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a cross-sectional diagram of the overall structure of the earthworm bionic soil loosening robot;

[0022] Figure 2 This is the overall effect diagram of the earthworm bionic soil loosening robot;

[0023] Figure 3 This is the bionic structure diagram of the earthworm bionic soil loosening robot;

[0024] Figure 4 This is the structural diagram of the earthworm bionic soil loosening robot in motion;

[0025] Figure 5 This is a schematic diagram of the mechanical movement of the earthworm bionic soil loosening robot;

[0026] Figure 6 This is the overall picture of the earthworm bionic soil loosening robot in motion;

[0027] Figures 1-6 In the figure, the reference numerals are as follows: main frame (1), connecting rod fixing groove (2), telescopic shaft (3), outer rotating rod (4), inner rotating rod (5), drilling head (6), connecting rod fixing sleeve (7), flexible link outer skin (8), metal link bar (9), bionic link shell (10), soil multi-parameter sensor (11), inner fixing ring (12), outer fixing ring (13), transmission rack (14), motor (15), transmission gear (16); DETAILED DESCRIPTION

[0028] A bionic earthworm loosening robot, the structure of which includes: a main body frame, two groups of bionic telescopic motion systems, two groups of drilling probes (6), a bionic segment surface, a soil detection system, and a nutrient delivery system;

[0029] The fuselage main body frame comprises a main frame (1) and a connecting rod fixing slot (2);

[0030] The bionic telescopic motion system comprises: a telescopic shaft (3), a connecting rod fixing sleeve (7), a gear rack transmission system, and eight sets of planar connecting rod telescopic systems;

[0031] The rack and pinion transmission system comprises: a transmission rack (14), two motors (15), and two transmission gears (16); a connecting rod fixing sleeve (7) is installed on the outside of the telescopic shaft (3); the telescopic shaft (3) is installed in a channel on one side of the main frame (1) and is connected to the transmission rack (14); the transmission rack (14) and the transmission gear (16) are combined, driven by the motor (15), and fixed inside the main frame (1).

[0032] The planar connecting rod telescopic system comprises: an outer rotating rod (4) and an inner rotating rod (5); the front portion of the outer rotating rod (4) is mounted in a connecting rod fixing sleeve (7) slot, and the rear portion is connected to the front portion of the inner rotating rod (5); the rear portion of the inner rotating rod (5) is connected to a connecting rod fixing slot (2) on the outside of the main frame (1);

[0033] The bionic segment surface comprises: an outer fixing ring (13), an inner fixing ring (12), a flexible segment outer skin (8), and a metal segment strip (9). The outer fixing ring (13) is mounted on the outer layer of the motion sleeve (3), the inner fixing ring (12) is mounted on the main frame (1), the front end of the flexible segment outer skin (8) is mounted on the inner side of the outer fixing ring (13), and the rear end is mounted on the inner side of the inner fixing ring (12); and the metal segment strip (9) is mounted on the outer protrusion of the flexible segment outer skin.

[0034] The drilling probe (6) is mounted on the front end of the telescopic shaft (3) via a connecting rod fixing sleeve (7).

[0035] The drilling probe (6) is internally installed with a soil detection system, including a soil multi-parameter sensor (11) composed of five groups of electrode probes, and a sensor for detecting soil nitrogen, phosphorus, potassium content, pH, conductivity, temperature and humidity data, and performing data analysis to facilitate staff to analyze soil quality.

[0036] A nutrient delivery system is provided inside the main frame (1), comprising a controller, a nutrient storage unit, and a bionic shell (10), wherein the bionic shell (10) is provided with dense micropores;

[0037] After the robot enters the soil layer, the front-end drilling probe (6) rotates to break up the compacted soil layer. Two sets of bionic telescopic motion structures including multiple pairs of planar connecting rod telescopic systems are used to simulate the creeping motion principle of earthworms in conjunction with the rack and pinion mechanism. The contraction and relaxation of the two sets of mechanisms are alternately performed to propel the robot forward in the soil.

[0038] The soil detection system probe at the front end of the drilling probe (6) constantly detects the soil nitrogen, phosphorus and potassium content, pH, conductivity, temperature and humidity data, and transmits them to the nutrient delivery system. When the data is detected to be lower than the standard soil content, the nutrient delivery system can adjust the valve opening and closing through the controller to increase the number of open micropores to increase the nutrient flow rate. At this time, the broken compacted soil layer structure is looser and can be more fully combined with nutrients.

[0039] The metal link strip (9) on the surface of the bionic link is connected to a pressure sensor. In conjunction with a high-precision gyroscope, the robot can accurately locate its position and depth information deep in the soil. After completing a work cycle or when the power is insufficient or the nutrients are exhausted, it returns to the starting point for replenishment to start the next work cycle.

[0040] The above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of protection of the present invention.

[0041] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A earthworm bionic soil loosening robot, characterized in that: include: The main body frame, two sets of bionic telescopic motion systems, two sets of drilling probes (6), bionic segment surfaces, soil detection system, and nutrient delivery system; The fuselage main body frame comprises a main frame (1) and a connecting rod fixing slot (2); The bionic telescopic motion system comprises: a telescopic shaft (3), a connecting rod fixing sleeve (7), a gear rack transmission system, and eight sets of planar connecting rod telescopic systems; The rack and pinion transmission system comprises: a transmission rack (14), two motors (15), and two transmission gears (16); a connecting rod fixing sleeve (7) is installed on the outside of the telescopic shaft (3); the telescopic shaft (3) is installed in a channel on one side of the main frame (1) and is connected to the transmission rack (14); the transmission rack (14) and the transmission gear (16) are combined, driven by the motor (15), and fixed inside the main frame (1); The planar connecting rod telescopic system comprises: an outer rotating rod (4) and an inner rotating rod (5); the front portion of the outer rotating rod (4) is mounted in a connecting rod fixing sleeve (7) slot, and the rear portion is connected to the front portion of the inner rotating rod (5); the rear portion of the inner rotating rod (5) is connected to a connecting rod fixing slot (2) on the outside of the main frame (1); The bionic segment surface comprises: an outer fixing ring (13), an inner fixing ring (12), a flexible segment outer skin (8), and a metal segment strip (9), wherein the outer fixing ring (13) is mounted on the outer layer of the motion sleeve (3), the inner fixing ring (12) is mounted on the main frame (1), the front end of the flexible segment outer skin (8) is mounted on the inner side of the outer fixing ring (13), and the rear end is mounted on the inner side of the inner fixing ring (12); and the metal segment strip (9) is mounted on the protrusion of the outer layer of the flexible segment outer skin.

2. The earthworm bionic soil loosening robot according to claim 1, characterized in that: The drilling probe (6) is mounted on the front end of the telescopic shaft (3) via a connecting rod fixing sleeve (7).

3. The earthworm bionic soil loosening robot according to claim 1, characterized in that: When the engine (15) is started, the two transmission gears (16) rotate, driving the transmission rack (14) and the telescopic shaft (3) to alternately telescope toward the main body frame, driving the outer rotating rod (4) and the inner rotating rod (5) to move, thereby completing the movement of the robot.

4. The earthworm bionic soil loosening robot according to claim 1, characterized in that: A soil detection system is installed inside the drilling probe (6), including a soil multi-parameter sensor (11) composed of five groups of electrode probes, which is used to detect soil nitrogen, phosphorus and potassium content, pH, conductivity, temperature and humidity data, and perform data analysis.

5. The earthworm bionic soil loosening robot according to claim 1, characterized in that: A nutrient delivery system is provided inside the main frame (1), comprising a controller, a nutrient storage portion, and a bionic shell (10), wherein the bionic shell (10) is provided with dense micropores.

6. The earthworm bionic soil loosening robot according to claim 1, characterized in that: The metal link strip (9) on the surface of the bionic link is connected with a pressure sensor and a high-precision gyroscope, which is used to accurately locate the position and depth information of the robot in the deep soil layer.

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