A micro tillage robot

Abstract

This invention relates to the field of micro-tiller robots and discloses a micro-tiller robot. The invention includes a front frame, with a rear frame located adjacent to the front frame. Both the front and rear frames are equipped with boom and arm assemblies, each comprising a boom, forearm, connecting rod, and forearm connecting plate. Each of the four booms supports independent lifting and lowering control, allowing for individual adjustment of height and posture according to terrain undulations and operational needs, flexibly adapting to different working conditions. The rear frame has an auxiliary turning and swinging function, resulting in smoother and more flexible steering, effectively reducing the turning radius and improving the overall machine's adaptability to field turning and movement. When moving between fields on a separate road surface, the boom, forearm, and connecting rod simultaneously retract and lift upwards, reducing the machine's footprint and the risk of scraping, while improving mobility and movement efficiency.

Description

Technical Field

[0001] This invention belongs to the field of micro-tiller robot technology, specifically a micro-tiller robot. Background Technology

[0002] Traditional mini-tillers rely on manual operation, which is labor-intensive and results in inconsistent tillage precision. With the development of smart agriculture, there is an urgent market demand for miniaturized, lightweight, and intelligent tillage equipment.

[0003] While some micro-tillers are currently electric, their autonomous navigation, environmental perception, and automatic obstacle avoidance capabilities are insufficient, often requiring manual remote control, which limits their operational efficiency and safety. Furthermore, they exhibit poor consistency in tillage depth and high soil compaction, making it difficult to meet the requirements of precision farming.

[0004] However, common tillage robots are difficult to adapt to complex and ever-changing terrain environments during actual operation, have low stability, and cannot flexibly adjust the large and small arms within their structure, resulting in low efficiency in field tillage operations. Summary of the Invention

[0005] The purpose of this invention is to provide a micro-tiller robot that can be adapted to complex terrain environments and has high stability, in order to solve the aforementioned problem.

[0006] The technical solution adopted in this invention is as follows: a micro-tiller robot, including a front frame, a rear frame is arranged at an adjacent position of the front frame, and a large arm assembly is arranged on the outside of both the front frame and the rear frame. The large arm assembly includes a large arm, a small arm, a connecting rod, and a small arm connecting plate. The lower end of the upper arm is rotatably connected to a connecting rod, the lower end of the connecting rod is fixedly connected to a forearm, and the lower end of the forearm is fixedly connected to a forearm connecting plate.

[0007] By adopting the above technical solution, the boom, forearm, and connecting rod are designed for use in conjunction with the subsequent operation and adjustment of the front frame. The connecting rod connects the boom to the forearm, allowing the forearm's working position to be rotated and adjusted. This is suitable for use in conjunction with the tillage operation of the front frame and is applicable to complex working scenarios. The forearm connecting plate is designed for use in conjunction with the installation of the frame drive components and drive motor, ensuring the stable operation of the structure.

[0008] In a preferred embodiment, a frame drive assembly is provided at the outer end of the forearm connecting plate, and a drive motor is provided on the side of the forearm connecting plate opposite to the frame drive assembly. The frame drive assembly includes a connecting frame, tracked wheels, a drive gear, and a driven gear. The drive gear is rigidly connected to the output end of the drive motor, the driven gear is meshed with the outside of the drive gear, the tracked wheel is meshed with the outside of the drive gear and the driven gear, the connecting structure is fixedly installed between the boom connecting plate and the drive motor, and the tracked wheel, drive gear and driven gear are transmission-type connecting components that cooperate with each other.

[0009] By adopting the above technical solution, the drive motor drives the tracked wheels through the driving gear and the driven gear. The good connection between the driving gear and the driven gear ensures the stable operation of the structure and guarantees that the transmission system can operate stably, which is convenient for use in conjunction with the position adjustment operation of the front frame.

[0010] In a preferred embodiment, a front frame plate is fixedly connected to the upper end of the front frame, and a first mounting plate is fixedly connected to the side of the front frame plate.

[0011] By adopting the above technical solution, the front frame plate and the first mounting plate are used in conjunction with the installation of the boom and arm movement components, which facilitates the adjustment of the boom and arm components set on the side of the front frame.

[0012] In a preferred embodiment, a rear frame plate is fixed to the upper end of the rear frame, and a second mounting plate is fixedly connected to the side of the rear frame plate. The upper ends of both the first mounting plate and the second mounting plate are rotatably connected to a large and small arm movement assembly.

[0013] By adopting the above technical solution, the second mounting plate and the rear frame are used in conjunction with the large and small arm components set on the side of the rear frame for adjustment and operation, which facilitates the subsequent use of the front frame for cultivation operations.

[0014] In a preferred embodiment, the boom and arm motion assembly includes a connecting flange lug, a telescopic rod, a hydraulic cylinder, and a mounting plate; The mounting plate has a connecting flange lug fixedly connected to its side, and a telescopic rod is rotatably connected to the side of the connecting flange lug. A hydraulic cylinder is provided at the lower end of the telescopic rod, and multiple hydraulic cylinders are respectively installed at the upper ends of the first mounting plate and the second mounting plate.

[0015] By adopting the above technical solution, the position of the telescopic rod is adjusted by the hydraulic cylinder, which in turn adjusts the position of the connecting flange lug. The hydraulic cylinder is installed on the upper end of the second mounting plate and the first mounting plate to ensure the stability of the position of the boom and arm movement components, which facilitates the adjustment and use of the boom and arm components.

[0016] In a preferred embodiment, both the front frame and the rear frame are made of a robust and corrosion-resistant material.

[0017] By adopting the above technical solution, and using the front and rear frames made of corrosion-resistant materials, the stability of the system structure is ensured, which is conducive to long-term operation.

[0018] In a preferred embodiment, a mounting plate is fixedly connected to the side of the rear frame, a bearing seat base plate is provided on the side of the mounting plate, the bearing seat base plate is fixedly connected to the mounting plate by a first bolt, a bearing seat is fixedly connected to the side of the bearing seat base plate, and the bearing seat is installed on the upper end of the front frame.

[0019] By adopting the above technical solution, the bearing seat base plate and the fixed mounting plate are used in conjunction with the bearing seat installation operation. The bearing seat base plate is fixedly installed on the side of the fixed mounting plate by the first bolt, thereby ensuring that the bearing seat and the rear frame are connected. When adjusting the boom and arm assembly, the bearing seat can perform auxiliary bending and swinging with a swing amplitude of 3°-5°.

[0020] In a preferred embodiment, a mounting plate is provided on the side of the boom, and the mounting plate is fixedly mounted on the side of the boom by a third bolt. The mounting disc is provided on the side of the mounting plate, and the mounting disc is fixedly mounted on the side of the mounting plate by a fourth bolt.

[0021] By adopting the above technical solution, the fixed mounting plate is fixedly installed on the side of the boom by the third bolt, and the fourth bolt facilitates the installation of the mounting plate on the side of the fixed mounting plate, so that the boom and arm assembly are connected to the boom and arm movement assembly, which facilitates the adjustment and use of the boom and arm assembly.

[0022] In a preferred embodiment, a main drive mechanism is provided at the upper end of the front frame, and the main drive mechanism is fixedly installed at the upper end of the front frame by a second bolt.

[0023] By adopting the above technical solution, the main drive mechanism is fixedly installed on the upper end of the front frame by the second bolt, ensuring the stability of the structure.

[0024] In a preferred embodiment, a protective plate is provided at the lower end of the front frame, and a transmission mechanism is provided at the lower end of the protective plate. A rotating disk is provided inside the transmission mechanism, and a rotating shaft is provided on the side of the rotating disk. Multiple tillage blades are fixedly connected to the side of the rotating shaft. A fixing rod is fixedly connected to the upper end of the transmission mechanism, and the other end of the fixing rod is fixedly connected to the front frame. The transmission mechanism is connected to the main drive mechanism through a transmission belt.

[0025] By adopting the above technical solution, the fixed rod facilitates the rotation of the rotating disk in the transmission mechanism. The rotation of the rotating disk drives the rotation of the rotating shaft and the tilling blade. The protective plate prevents soil from splashing during tilling and ensures the cleanliness of the upper area of ​​the front frame.

[0026] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: In this invention, all four booms support independent lifting and lowering control, allowing for individual adjustment of height and posture according to terrain undulations and operational needs, adapting flexibly to different working conditions. The rear frame has an auxiliary turning and swinging function, making steering smoother and more flexible, effectively reducing the turning radius, and improving the overall machine's adaptability to field turning and movement. When traversing slopes, climbing embankments, and traveling on uneven terrain, the boom and forearm work together to adaptively adjust the support angle and ground clearance, smoothly crossing obstacles and traversing gentle slopes, avoiding tilting and imbalance, and ensuring stability. When performing parallel tillage operations, the boom, forearm, and connecting rod extend downwards in coordination to support and keep the machine level and stable, ensuring a neat working posture. When traveling on separate roads, the boom, forearm, and connecting rod retract upwards simultaneously, reducing the machine's footprint and the risk of scraping, and improving mobility and efficiency. Meanwhile, relying on the extension and swing amplitude linkage adjustment of the large and small arms, the soil penetration depth of the tillage operation can be precisely controlled, and the deep tillage and shallow tillage levels can be finely adjusted as needed to adapt to the tillage requirements of different soil types and crop planting. The entire process ensures that the tillage robot can operate stably and reliably in various scenarios such as complex farmland terrain, field transfer and tillage operations, greatly improving the adaptability and practicality of field operations. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the micro-tiller robot structure of the present invention; Figure 2 This is a schematic diagram of the side structure of the micro-tiller robot in this invention; Figure 3 This is a schematic diagram of the lower structure of the micro-tiller robot in this invention; Figure 4 This is a schematic diagram of the boom and arm assembly and the frame drive assembly in this invention; Figure 5 In this invention Figure 1 Enlarged view of point A in the middle; Figure 6 In this invention Figure 3 Enlarged view of section B in the middle.

[0028] Marked in the image: 1-Front frame; 2-Arm and boom assembly; 201-Arm; 202-Forearm; 203-Connecting rod; 204-Forearm connecting plate; 3-Rack drive assembly; 301-Connection structure; 302-Tracked wheels; 303-Drive gear; 304-Driven gear; 4-Drive motor; 5-Arm and boom motion assembly; 501-Connecting flange lug; 502-Telescopic rod; 503-Hydraulic cylinder; 504-Mounting plate; 6-Bearing seat base plate; 7-Fixed mounting plate; 8-First bolt; 9-Front frame plate; 10-Main drive mechanism; 11-Second bolt; 12-Bearing seat; 13-Protective plate; 14-Rotating shaft; 15-Tilling blade; 16-Rear frame; 17-Fixed mounting plate; 18-Third bolt; 19-Fourth bolt; 20-Rear frame plate; 21-First mounting plate; 22-Second mounting plate; 23-Transmission mechanism; 24-Fixing rod; 25-Transmission belt. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0030] Reference Figure 1-6 A micro-tiller robot includes a front frame 1, a rear frame 16 is provided adjacent to the front frame 1, and a large arm assembly 2 is provided on the outside of both the front frame 1 and the rear frame 16. The large arm assembly 2 includes a large arm 201, a small arm 202, a connecting rod 203, and a small arm connecting plate 204. The lower end of the boom 201 is rotatably connected to a connecting rod 203, the lower end of the connecting rod 203 is fixedly connected to a forearm 202, and the lower end of the forearm 202 is fixedly connected to a forearm connecting plate 204. The boom 201, forearm 202 and connecting rod 203 are used in conjunction with the subsequent operation and adjustment of the front frame 1. The connecting rod 203 connects the boom 201 to the forearm 202, so the working position of the forearm 202 can be rotated and adjusted to cooperate with the cultivation operation of the front frame 1. It is suitable for complex working scenarios. The forearm connecting plate 204 is used in conjunction with the installation of the frame drive assembly 3 and drive motor 4 to ensure the stable operation of the structure.

[0031] Reference Figure 1-4 A frame drive assembly 3 is provided at the outer end of the forearm connecting plate 204. A drive motor 4 is provided on the side of the forearm connecting plate 204 opposite to the frame drive assembly 3. The frame drive assembly 3 includes a connecting frame 301, tracked wheels 302, a drive gear 303, and a driven gear 304. The drive gear 303 is rigidly connected to the output end of the drive motor 4, the driven gear 304 is meshed with the outside of the drive gear 303, and the track wheel 302 is meshed with the outside of the drive gear 303 and the driven gear 304. The connecting frame 301 is fixedly installed between the boom connecting plate 204 and the drive motor 4. The track wheel 302, drive gear 303 and driven gear 304 are transmission-type connecting components that work together. The drive motor 4 drives the track wheel 302 through the drive gear 303 and the driven gear 304. The good connection between the drive gear 303 and the driven gear 304 ensures the stable operation of the structure and the stable operation of the transmission system, which is convenient for use in conjunction with the position adjustment operation of the front frame 1.

[0032] Reference Figure 1-3 The upper end of the front frame 1 is fixedly connected to the front frame plate 9, and the side of the front frame plate 9 is fixedly connected to the first mounting plate 21. The front frame plate 9 and the first mounting plate 21 are set up to cooperate with the installation of the boom and arm movement assembly 5, and facilitate the adjustment of the boom and arm assembly 2 set on the side of the front frame 1.

[0033] Reference Figure 1-3 The upper end of the rear frame 16 is fixed with a rear frame plate 20, and the side of the rear frame plate 20 is fixedly connected with a second mounting plate 22. The upper ends of the first mounting plate 21 and the second mounting plate 22 are rotatably connected with the boom and arm movement components 5. The second mounting plate 22 and the rear frame 16 are used in conjunction with the boom and arm components 2 set on the side of the rear frame 16 for adjustment and operation, which facilitates the subsequent cultivation operation of the front frame 1.

[0034] Reference Figure 1-3 , Figure 5 The boom and arm motion assembly 5 includes a connecting flange lug 501, a telescopic rod 502, a hydraulic cylinder 503, and a mounting plate 504; The mounting plate 504 has a connecting flange lug 501 fixedly connected to its side. A telescopic rod 502 is rotatably connected to the side of the connecting flange lug 501. A hydraulic cylinder 503 is provided at the lower end of the telescopic rod 502. Multiple hydraulic cylinders 503 are respectively installed on the upper ends of the first mounting plate 21 and the second mounting plate 22. The position of the telescopic rod 502 is adjusted by the hydraulic cylinders 503, which in turn adjusts the position of the connecting flange lug 501. The hydraulic cylinders 503 are installed on the upper ends of the second mounting plate 22 and the first mounting plate 21 to ensure the stability of the position of the boom and arm movement assembly 5, which facilitates the adjustment and use of the boom and arm assembly 2.

[0035] Reference Figure 1-3 Both the front frame 1 and the rear frame 16 are made of sturdy and corrosion-resistant materials. The use of corrosion-resistant materials for the front frame 1 and the rear frame 16 ensures the stability of the system structure and facilitates long-term operation.

[0036] Reference Figure 1-3 , Figure 6 A fixed mounting plate 7 is fixedly connected to the side of the rear frame 16. A bearing seat base plate 6 is provided on the side of the fixed mounting plate 7. The bearing seat base plate 6 and the fixed mounting plate 7 are fixedly connected by a first bolt 8. A bearing seat 12 is fixedly connected to the side of the bearing seat base plate 6. The bearing seat 12 is installed on the upper end of the front frame 1. The bearing seat base plate 6 and the fixed mounting plate 7 are used in conjunction with the installation of the bearing seat 12. The bearing seat base plate 6 is fixedly installed on the side of the fixed mounting plate 7 by the first bolt 8, thereby ensuring that the bearing seat 12 and the rear frame 16 are connected. When adjusting the boom and arm assembly 2, the bearing seat 12 can perform auxiliary bending and swinging with a swing amplitude of 3°-5°.

[0037] Reference Figure 1-3 A mounting plate 17 is provided on the side of the boom 201. The mounting plate 17 is fixedly installed on the side of the boom 201 by a third bolt 18. The mounting plate 504 is provided on the side of the mounting plate 17. The mounting plate 504 is fixedly installed on the side of the mounting plate 17 by a fourth bolt 19. The mounting plate 17 is fixedly installed on the side of the boom 201 by a third bolt 18. The fourth bolt 19 facilitates the installation of the mounting plate 504 on the side of the mounting plate 17, so that the boom and arm assembly 2 is connected to the boom and arm movement assembly 5, which facilitates the adjustment and use of the boom and arm assembly 2.

[0038] Reference Figure 1-3 The upper end of the front frame 1 is provided with a main drive mechanism 10. The main drive mechanism 10 is fixedly installed on the upper end of the front frame 1 by a second bolt 11, which ensures the stability of the structure.

[0039] Reference Figure 1-3 A protective plate 13 is provided at the lower end of the front frame 1, and a transmission mechanism 23 is provided at the lower end of the protective plate 13. A rotating disk is provided inside the transmission mechanism 23, and a rotating shaft 14 is provided on the side of the rotating disk. Multiple tillage blades 15 are fixedly connected to the side of the rotating shaft 14. A fixing rod 24 is fixedly connected to the upper end of the transmission mechanism 23, and the other end of the fixing rod 24 is fixedly connected to the front frame 1. The transmission mechanism 23 is connected to the main drive mechanism 10 through a transmission belt 25. The fixing rod 24 facilitates the rotation of the rotating disk inside the transmission mechanism 23. The rotation of the rotating disk drives the rotation of the rotating shaft 14 and the tillage blades 15. The protective plate 13 prevents soil from splashing during tillage and ensures the cleanliness of the upper area of ​​the front frame 1.

[0040] The implementation principle of an embodiment of the micro-tiller robot of the present invention is as follows: The boom 201, forearm 202, and connecting rod 203 are designed for use in conjunction with the subsequent operation and adjustment of the front frame 1. The connecting rod 203 connects the boom 201 to the forearm 202, allowing the forearm 202 to be rotated and adjusted for use in the tillage operation of the front frame 1, suitable for complex working scenarios. The forearm connecting plate 204 is designed for use in conjunction with the installation of the frame drive assembly 3 and drive motor 4, ensuring the stable operation of the structure. The drive motor 4 drives the tracked wheels 302 through the drive gear 303 and driven gear 304. The good connection between the drive gear 303 and driven gear 304 ensures the stable operation of the structure and the stable operation of the transmission system, facilitating the position adjustment operation of the front frame 1. The hydraulic cylinder 503 drives the position adjustment of the telescopic rod 502, which in turn drives the position adjustment of the connecting flange lug 501. The hydraulic cylinder 503 is installed on the upper end of the second mounting plate 22 and the first mounting plate 21, ensuring the stability of the position of the boom and forearm movement assembly 5, facilitating the adjustment operation of the boom and forearm assembly 2.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mini-tiller robot comprising a front frame (1), characterized in that: A rear frame (16) is provided at an adjacent position of the front frame (1). Both the front frame (1) and the rear frame (16) are provided with boom and arm assemblies (2). The boom and arm assemblies (2) include boom (201), arm (202), connecting rod (203), and arm connecting plate (204). The lower end of the upper arm (201) is rotatably connected to a connecting rod (203), the lower end of the connecting rod (203) is fixedly connected to a forearm (202), and the lower end of the forearm (202) is fixedly connected to a forearm connecting plate (204).

2. The micro tillage robot of claim 1, wherein: The outer end of the forearm connecting plate (204) is provided with a frame drive assembly (3), and the side of the forearm connecting plate (204) is provided with a drive motor (4) on the opposite side of the frame drive assembly (3). The frame drive assembly (3) includes a connecting frame (301), tracked wheels (302), a drive gear (303), and a driven gear (304). The drive gear (303) is rigidly connected to the output end of the drive motor (4), the driven gear (304) is meshed with the outside of the drive gear (303), the track wheel (302) is meshed with the outside of the drive gear (303) and the driven gear (304), the connecting frame (301) is fixedly installed between the arm connecting plate (204) and the drive motor (4), and the track wheel (302), drive gear (303) and driven gear (304) are transmission-type connecting components that cooperate with each other.

3. The micro-tiller robot as described in claim 1, characterized in that: The front frame (1) is fixedly connected to the upper end of the front frame plate (9), and the front frame plate (9) is fixedly connected to the side of the first mounting plate (21).

4. The micro-tiller robot as described in claim 1, characterized in that: The upper end of the rear frame (16) is fixed with a rear frame plate (20), and the side of the rear frame plate (20) is fixedly connected with a second mounting plate (22). The upper ends of the first mounting plate (21) and the second mounting plate (22) are rotatably connected with a large arm and small arm movement assembly (5).

5. A micro tillage robot as claimed in claim 4, characterized in that: The arm and boom motion assembly (5) includes a connecting flange lug (501), a telescopic rod (502), a hydraulic cylinder (503), and a mounting plate (504). The mounting plate (504) is fixedly connected to a connecting flange lug (501) on its side. The connecting flange lug (501) is rotatably connected to a telescopic rod (502) on its side. The lower end of the telescopic rod (502) is provided with a hydraulic cylinder (503). Multiple hydraulic cylinders (503) are respectively installed on the upper ends of the first mounting plate (21) and the second mounting plate (22).

6. The micro tillage robot of claim 1, wherein: Both the front frame (1) and the rear frame (16) are made of robust and corrosion-resistant materials.

7. The micro-farming robot of claim 1, wherein: A fixed mounting plate (7) is fixedly connected to the side of the rear frame (16). A bearing seat base plate (6) is provided on the side of the fixed mounting plate (7). The bearing seat base plate (6) and the fixed mounting plate (7) are fixedly connected by a first bolt (8). A bearing seat (12) is fixedly connected to the side of the bearing seat base plate (6). The bearing seat (12) is installed on the upper end of the front frame (1).

8. The micro-farming robot of claim 1, wherein: A fixed mounting plate (17) is provided on the side of the boom (201). The fixed mounting plate (17) is fixedly installed on the side of the boom (201) by a third bolt (18). The mounting plate (504) is provided on the side of the fixed mounting plate (17). The mounting plate (504) is fixedly installed on the side of the fixed mounting plate (17) by a fourth bolt (19).

9. The micro-farming robot of claim 1, wherein: The upper end of the front frame (1) is provided with a main drive mechanism (10), which is fixedly installed on the upper end of the front frame (1) by a second bolt (11).

10. The micro-farming robot of claim 1, wherein: The lower end of the front frame (1) is provided with a protective plate (13), and the lower end of the protective plate (13) is provided with a transmission mechanism (23). The transmission mechanism (23) is provided with a rotating disk inside, and a rotating shaft (14) is provided on the side of the rotating disk. Multiple tillage blades (15) are fixedly connected to the side of the rotating shaft (14). A fixing rod (24) is fixedly connected to the upper end of the transmission mechanism (23), and the other end of the fixing rod (24) is fixedly connected to the front frame (1). The transmission mechanism (23) is connected to the main drive mechanism (10) through a transmission belt (25).

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