Automatic tillage type micro-tillage robot

Abstract

The utility model relates to the technical field of mini-tilling robots, and discloses an automatic tilling type mini-tilling robot which comprises a robot body and a control system, a driving mechanism is arranged outside the robot body, and the driving mechanism comprises a driving motor, a gear assembly, crawler-type wheels and a connecting framework. The driving motors are arranged on the periphery of the exterior of the robot body, and the gear assemblies are rigidly connected to the output ends of the driving motors. According to the automatic tillage type micro-tillage robot, the driving motor drives the gear assembly and drives the crawler-type wheels to operate, efficient transmission of power is achieved through meshing transmission of the driving gear and the driven gear, and the robot body still has good maneuverability under the complex terrain condition; and an electric actuator and a hydraulic press in the movement mechanism enable the robot main body to realize multi-degree-of-freedom movement, so that different operation requirements are met, and the flexibility and adaptability of cultivation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of micro-tillage robots, in particular to an automatic tillage type micro-tillage robot. Background Art

[0002] As an intelligent agricultural machinery and equipment, the micro-tillage robot is mainly used for soil cultivation and cultivation management in agricultural production. It combines mechanical power with intelligent control systems through high-tech means to achieve refined management and automated operations of farmland. However, the existing automatic tillage micro-tillage robots are unable to adapt to various terrains and work stably during use, and their work efficiency during the tillage process is poor. At the same time, it is impossible to monitor the working status of the robot in real time during work, which poses certain safety hazards. Utility Model Content

[0003] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0004] In view of the fact that the above or existing technologies cannot adapt to various terrains to work stably, and the work efficiency during tillage is poor, and at the same time, the working status of the robot during work cannot be monitored in real time, there are certain safety hazards.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An automatic tillage type micro-tillage robot comprises a robot body and a control system, wherein a driving mechanism is arranged outside the robot body, wherein the driving mechanism comprises a driving motor, a gear assembly, a crawler wheel and a connecting structure, wherein the driving motor is arranged around the outside of the robot body, the gear assembly is rigidly connected to the output end of the driving motor, the crawler wheel is meshedly connected to the outside of the gear assembly, and the connecting structure is fixedly installed between the robot body and the driving motor;

[0007] The gear assembly also includes a driving gear, a driven gear and a fastener. The driving gear is rigidly connected to the output end of the driving motor, the driven gear is meshedly connected to the outer side of the driving gear, and the fastener is threadedly installed on the surfaces of the driving gear and the driven gear respectively.

[0008] As a further solution of the utility model: a motion mechanism is arranged on the outside of the robot body, and the motion mechanism includes an electric actuator, a hydraulic pressure, a connecting rod, a joint and a mechanical arm. The electric actuator is communicatively connected to the output end of the control system, the hydraulic pressure is arranged on the outside of the robot body, the connecting rod is movably connected to the end of the hydraulic pressure, the joint is movably installed at multiple locations on the surface of the connecting rod, and the mechanical arm is fixedly connected to the end of the connecting rod.

[0009] As a further solution of the present invention: the interior of the control system includes a central control module, a remote control module, a 5G communication module, a sensor module, an actuator module and a power module. The output end of the central control module is communicatively connected to the input ends of the remote control module and the 5G communication module, respectively. The input end of the actuator module is electrically connected to the output end of the central control module. The output end of the power module is electrically connected to the input ends of the central control module, the remote control module, the 5G communication module, the sensor module and the actuator module, respectively.

[0010] As a further solution of the present invention: the interior of the sensor module specifically further includes a position sensor and a force feedback sensor, and both are communicatively connected to the central control module in the control system.

[0011] As a further solution of the utility model: the driving motor, the driving gear, the driven gear and the crawler wheel are transmission-type connecting components that cooperate with each other.

[0012] As a further solution of the utility model: a protective mechanism is arranged on the outside of the robot body, and the protective mechanism includes a shell, a sealing cover, a mounting base and a shock absorbing assembly. The shell is fixedly installed on the outside of the robot body, the sealing cover is clamped and installed on the outside of the shell, the mounting base is fixedly installed in the inner cavity of the shell, and the shock absorbing assembly is arranged on the outside of the mounting base.

[0013] As a further solution of the utility model: the shock absorbing assembly also includes sound insulation cotton, a spring and a pad, the sound insulation cotton is bonded to the connection between the shell and the sealing cover, the spring is arranged at the connection between the robot body and the motion mechanism, and the pad is fixedly installed on the outside of the mounting base.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] By driving the motor to drive the gear assembly and drive the crawler wheels to run, the meshing transmission of the active gear and the driven gear realizes efficient power transmission, so that the robot body still has good maneuverability under complex terrain conditions. The electric actuator and hydraulic valve in the motion mechanism enable the robot body to achieve multi-degree-of-freedom movement, so as to meet different operational requirements and improve the flexibility and adaptability of farming. The robotic arm is connected through multiple joints and can complete precise operations, which can effectively improve the work efficiency in farming and other agricultural operations. Equipped with a 5G communication module, the robot body can be remotely controlled and transmit real-time data, supporting efficient management and operation of large areas of farmland. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an automatic tillage type micro-tillage robot;

[0017] Figure 2 This is an exploded top view of the structure of an automatic tillage type micro-tillage robot;

[0018] Figure 3 It is a partial three-dimensional schematic diagram of the structure of an automatic tillage type micro-tillage robot;

[0019] Figure 4 It is a partial three-dimensional schematic diagram of the structure of an automatic tillage type micro-tillage robot.

[0020] In the figure: 1. Robot body; 2. Control system; 3. Driving mechanism; 301. Driving motor; 302. Gear assembly; 303. Tracked wheels; 304. Connecting structure; 302a. Driving gear; 302b. Driven gear; 302c. Fastener; 4. Motion mechanism; 401. Electric actuator; 402. Hydraulic valve; 403. Connecting rod; 404. Joint; 405. Robot arm; 5. Protection mechanism; 501. Shell; 502. Sealing cover; 503. Mounting base; 504. Shock-absorbing assembly; 504a. Sound insulation cotton; 504b. Spring; 504c. Pad. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0024] Example

[0025] See also Figure 1-4 , which is the first embodiment of the utility model, and provides an automatic tillage type micro-tillage robot, including a robot body 1 and a control system 2. A driving mechanism 3 is arranged outside the robot body 1, and the driving mechanism 3 includes a driving motor 301, a gear assembly 302, a crawler wheel 303 and a connecting frame 304. The driving motor 301 is arranged around the outside of the robot body 1, the gear assembly 302 is rigidly connected to the output end of the driving motor 301, the crawler wheel 303 is meshed and connected to the outside of the gear assembly 302, and the connecting frame 304 is fixedly installed between the robot body 1 and the driving motor 301;

[0026] The gear assembly 302 also includes a driving gear 302a, a driven gear 302b and a fastener 302c. The driving gear 302a is rigidly connected to the output end of the driving motor 301, and the driven gear 302b is meshedly connected to the outer side of the driving gear 302a. The fastener 302c is threadedly installed on the surfaces of the driving gear 302a and the driven gear 302b respectively.

[0027] Specifically, a motion mechanism 4 is arranged on the outside of the robot body 1, and the motion mechanism 4 includes an electric actuator 401, a hydraulic pressure device 402, a connecting rod 403, a joint 404 and a mechanical arm 405. The electric actuator 401 is communicatively connected to the output end of the control system 2, the hydraulic pressure device 402 is arranged on the outside of the robot body 1, the connecting rod 403 is movably connected to the end of the hydraulic pressure device 402, the joint 404 is movably installed at multiple locations on the surface of the connecting rod 403, and the mechanical arm 405 is fixedly connected to the end of the connecting rod 403.

[0028] Furthermore, through the combination of the electric actuator 401, the hydraulic actuator 402 and multiple joints 404, the robot arm 405 can perform multi-angle and multi-degree-of-freedom movements, which is suitable for complex working scenarios. The electric actuator 401 is communicated with the control system 2, so that the robot body 1 can receive precise instructions, thereby improving the accuracy and efficiency of the operation.

[0029] Specifically, the control system 2 includes a central control module, a remote control module, a 5G communication module, a sensor module, an actuator module and a power module. The output end of the central control module is communicatively connected to the input ends of the remote control module and the 5G communication module, respectively. The input end of the actuator module is electrically connected to the output end of the central control module, and the output end of the power module is electrically connected to the input ends of the central control module, the remote control module, the 5G communication module, the sensor module and the actuator module, respectively.

[0030] Furthermore, the addition of the remote control module and the 5G communication module enables the system to be remotely operated and transmit data in real time, and users can monitor and control the system anytime and anywhere2, which improves the flexibility and response speed of the system.

[0031] Specifically, the interior of the sensor module also includes a position sensor and a force feedback sensor, and both are communicatively connected to the central control module in the control system 2 .

[0032] Furthermore, the position sensor can accurately detect the position of the module and provide real-time position information to the central control module, so that the entire system can be accurately positioned and controlled. The force feedback sensor can detect the force exerted on the module and feed back the data to the central control module, so that the system can respond to changes in force in real time during operation, providing higher accuracy and stability.

[0033] Specifically, the driving motor 301, the driving gear 302a, the driven gear 302b and the crawler wheel 303 are transmission-type connecting components that cooperate with each other.

[0034] Specifically, a protective mechanism 5 is provided on the outside of the robot body 1, and the protective mechanism 5 includes a shell 501, a sealing cover 502, a mounting base 503 and a shock absorbing assembly 504. The shell 501 is fixedly installed on the outside of the robot body 1, the sealing cover 502 is clamped and installed on the outside of the shell 501, the mounting base 503 is fixedly installed in the inner cavity of the shell 501, and the shock absorbing assembly 504 is arranged on the outside of the mounting base 503.

[0035] Furthermore, the protection mechanism 5 can effectively protect the internal components of the robot body 1 through the setting of the shell 501 and the sealing cover 502, avoid the influence of dust, impurities and liquids in the external environment on the inside of the machine, and extend the service life of the robot. The setting of the shock-absorbing component 504 can effectively reduce the vibration of the robot during operation, which plays an important role in the operation stability of the robot. It can not only improve the work efficiency of the robot, but also reduce the wear of mechanical parts, and further extend the life of the equipment.

[0036] Specifically, the shock absorbing assembly 504 also includes sound insulation cotton 504a, a spring 504b and a pad 504c. The sound insulation cotton 504a is bonded to the connection between the shell 501 and the sealing cover 502, the spring 504b is arranged at the connection between the robot body 1 and the motion mechanism 4, and the pad 504c is fixedly installed on the outside of the mounting base 503.

[0037] Furthermore, the spring 504b is arranged at the connection between the robot body 1 and the motion mechanism 4. Through the elasticity and shock-absorbing characteristics of the spring 504b, the vibration generated during the movement can be absorbed and buffered, the motion mechanism 4 and other components can be protected from damage by vibration force, and the service life of the equipment can be improved.

[0038] When in use, before use, check whether the robot body 1, driving mechanism 3, motion mechanism 4 and protection mechanism 5 are intact, ensure that all fasteners 302c are firmly installed, ensure that the power module has sufficient power and is correctly connected to the robot body 1, turn on the control system 2, which includes a central control module, a remote control module, a 5G communication module, a sensor module, an actuator module and a power module. The driving motor 301 will drive the tracked wheel 303 through the gear assembly 302, ensure that the active gear 302a and the driven gear 302b in the gear assembly 302 are well engaged, ensure the smoothness of the transmission system, confirm the status of the position sensor and the force feedback sensor, ensure that they communicate normally with the central control module, start the driving motor 301 through the control system 2, drive the tracked wheel 303 to move the robot body 1, and the electric actuator 401 and the hydraulic actuator 402 drive the mechanical arm 405 through the connecting rod 403 and the joint 404 to perform farming actions.

[0039] In summary, the gear assembly 302 is driven by the driving motor 301 to drive the crawler wheels 303 to run, and the meshing transmission of the active gear 302a and the driven gear 302b realizes efficient power transmission, so that the robot body 1 still has good maneuverability under complex terrain conditions. The electric actuator 401 and the hydraulic valve 402 in the motion mechanism 4 enable the robot body 1 to achieve multi-degree-of-freedom movement, so as to meet different operational requirements and improve the flexibility and adaptability of farming. The robotic arm 405 is movably connected through multiple joints 404, and can complete precise operations, which can effectively improve the work efficiency in farming and other agricultural operations. The 5G communication module enables the robot body 1 to perform remote control and real-time data transmission, supporting efficient management and operation of large areas of farmland.

[0040] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0041] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0042] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0043] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. An automatic tillage type micro-tillage robot, comprising a robot body (1) and a control system (2), characterized in that: A driving mechanism (3) is arranged outside the robot body (1), and the driving mechanism (3) comprises a driving motor (301), a gear assembly (302), a tracked wheel (303) and a connecting structure (304); the driving motor (301) is arranged around the outside of the robot body (1); the gear assembly (302) is rigidly connected to the output end of the driving motor (301); the tracked wheel (303) is meshedly connected to the outside of the gear assembly (302); and the connecting structure (304) is fixedly installed between the robot body (1) and the driving motor (301); The gear assembly (302) further comprises a driving gear (302a), a driven gear (302b) and a fastener (302c), wherein the driving gear (302a) is rigidly connected to the output end of the driving motor (301), the driven gear (302b) is meshedly connected to the outer side of the driving gear (302a), and the fastener (302c) is threadedly mounted on the surfaces of the driving gear (302a) and the driven gear (302b), respectively.

2. The automatic tillage type micro-tillage robot according to claim 1, characterized in that: A motion mechanism (4) is arranged on the outside of the robot body (1), and the motion mechanism (4) includes an electric actuator (401), a hydraulic pressure (402), a connecting rod (403), a joint (404) and a mechanical arm (405). The electric actuator (401) is communicatively connected to the output end of the control system (2), the hydraulic pressure (402) is arranged on the outside of the robot body (1), the connecting rod (403) is movably connected to the end of the hydraulic pressure (402), the joint (404) is movably installed at multiple locations on the surface of the connecting rod (403), and the mechanical arm (405) is fixedly connected to the end of the connecting rod (403).

3. The automatic tillage type micro-tillage robot according to claim 1, characterized in that: The control system (2) includes a central control module, a remote control module, a 5G communication module, a sensor module, an actuator module and a power module. The output end of the central control module is communicatively connected to the input ends of the remote control module and the 5G communication module respectively. The input end of the actuator module is electrically connected to the output end of the central control module. The output end of the power module is electrically connected to the input ends of the central control module, the remote control module, the 5G communication module, the sensor module and the actuator module respectively.

4. The automatic tillage type micro-tillage robot according to claim 3, characterized in that: The interior of the sensor module specifically also includes a position sensor and a force feedback sensor, and both are communicatively connected to the central control module in the control system (2).

5. The automatic tillage type micro-tillage robot according to claim 1, characterized in that: The driving motor (301), the driving gear (302a), the driven gear (302b) and the crawler wheel (303) are transmission-type connection components that cooperate with each other.

6. The automatic tillage type micro-tillage robot according to claim 1, characterized in that: A protective mechanism (5) is arranged on the outside of the robot body (1), and the protective mechanism (5) comprises a shell (501), a sealing cover (502), a mounting base (503) and a shock absorbing assembly (504); the shell (501) is fixedly mounted on the outside of the robot body (1); the sealing cover (502) is clamped and mounted on the outside of the shell (501); the mounting base (503) is fixedly mounted on the inner cavity of the shell (501); and the shock absorbing assembly (504) is arranged on the outside of the mounting base (503).

7. The automatic tillage type micro-tillage robot according to claim 6, characterized in that: The shock absorbing assembly (504) also includes sound insulation cotton (504a), a spring (504b) and a pad (504c), wherein the sound insulation cotton (504a) is bonded to the connection between the shell (501) and the sealing cover (502), the spring (504b) is arranged at the connection between the robot body (1) and the motion mechanism (4), and the pad (504c) is fixedly installed on the outer side of the mounting base (503).

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