A soil loosening manipulator for a farming robot

Abstract

The present invention provides a soil loosening manipulator for a farming robot, which relates to the field of farming equipment. The soil loosening manipulator for the farming robot comprises two buckets and a screw rod. The two buckets are respectively located on both sides of the screw rod. The end of the screw rod threadedly penetrates through the buckets. A connecting rod is arranged on the side of the bucket. The lower end of the connecting rod is connected with a sliding rod, and the upper end of the connecting rod is connected with a motor. The transmission shaft of the motor is connected with the end of the screw rod. The sliding rod is flush with the screw rod. The sliding rod penetrates through the bucket, and an opening is formed at the rear side of the bucket. A hollow disk is pivotally connected to the front side of the bucket, and a motor is connected to the rear side of the bucket. For the soil loosening manipulator of the farming robot, two buckets, a screw rod, a vertical rod, a sliding rod and a motor are provided to form a manipulator for loosening soil. The bucket is provided with a disk, a turntable and a motor, and a steel wire is arranged between the disk and the turntable. Through the cooperation of the winding mechanism, the steel wire and the motor, the steel wire is used to crush the over-sized bumps in the bucket. In this way, the soil loosening effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of farming equipment, and specifically to a soil loosening manipulator for a farming robot. Background Art

[0002] With the development of agricultural automation, farming robots have received extensive attention. Existing farming robots usually need to loosen the soil manually before farming. In the prior art, the soil loosening process usually pries the soil from the back to the front along the forward direction. Although a certain soil loosening effect is achieved in this way, large soil blocks will appear during the soil loosening process, resulting in poor soil loosening effect. Therefore, it is of great significance to design a soil loosening manipulator that can be installed on a farming robot. Summary of the Invention

[0003] (I) Technical Problems to be Solved

[0004] In view of the deficiencies of the prior art, the present invention provides a soil loosening manipulator for a farming robot, which solves the problem that large bumps are likely to appear in the existing mechanical soil loosening, resulting in poor soil loosening effect as mentioned in the above background art.

[0005] (II) Technical Solutions

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: A soil loosening manipulator for a farming robot includes two buckets and a screw rod. The two buckets are respectively located on both sides of the screw rod. The end of the screw rod threadedly penetrates through the bucket. A connecting rod is provided on the side of the bucket. The lower end of the connecting rod is connected to a sliding rod, and the upper end of the connecting rod is connected to a motor. The motor drive shaft is connected to the end of the screw rod. The sliding rod is flush with the screw rod. The sliding rod passes through the bucket, and an opening is provided at the rear of the bucket.

[0007] A hollow disk is pivotally connected to the front side of the bucket. A motor is connected to the rear side of the bucket. The motor drive shaft extends into the bucket and is connected to the center of the disk. A turntable aligned with the disk is pivotally connected to the rear side of the bucket. The motor drive shaft is welded to the turntable.

[0008] A plurality of steel wires are provided around the motor drive shaft. The plurality of steel wires are arranged at equal angles around the center. The rear ends of the steel wires are connected to the surface of the turntable, and the front ends of the steel wires extend into the disk.

[0009] The steel wires are inclined. A converging mechanism is provided in the disk. The converging mechanism is used to tighten the steel wires. When the motor drives the disk to rotate, the tightened steel wires will crush large soil blocks.

[0010] A connecting plate is provided above the two buckets. The side of the connecting plate is connected to the connecting rod. A control module is provided at the bottom of the connecting plate. The control module is used to control the operation of each electronic component.

[0011] Preferably, the converging mechanism includes an electromagnet module, a support rod, a rotating rod, and an elastic belt. The electromagnet module is arranged at the center of the inner wall of the disc. The support rods are arranged around the electromagnet module, with each support rod corresponding to a steel wire. The center of the rotating rod is hinged to the support rod. The front end of the steel wire passes through the rotating rod in an "S" shape and is connected to the inner wall of the disc. One end of the rotating rod close to the electromagnet module is wrapped with iron sheet.

[0012] Preferably, the rear end of the support rod is connected to the rear side of the inner wall of the disc, and the front end of the support rod is hinged to the center of the rotating rod. One end of the rotating rod away from the electromagnet module is connected to an elastic belt, and one end of the elastic belt away from the rotating rod is connected to the rear side of the inner wall of the disc. When the electromagnet module is energized to generate magnetic force, the electromagnet module attracts the iron sheet, causing the rotating rod to flip, and the rotating rod flips to tighten the steel wire.

[0013] Preferably, an electronic remote control switch and a storage battery are fixedly installed at the center of the disc, and the electromagnet module, the electronic remote control switch, and the storage battery are electrically connected.

[0014] Preferably, the front end of the connecting plate is hinged with a vertical rod, the lower end of the vertical rod is connected to the rod body of the connecting rod, the rod body of the vertical rod is hinged with an electric push rod, the upper end of the electric push rod is hinged to the side of the connecting plate, the control module is electrically connected with a wireless transmission module, and the electronic remote control switch is electrically connected with a wireless receiving module.

[0015] Preferably, the bottom of the bucket is provided with an inclined surface, small holes are opened at the bottom of the bucket, threaded holes adapted to the screw are opened in the bucket, and sliding holes adapted to the sliding rod are opened in the bucket, and the sliding rod is in sliding fit with the sliding hole.

[0016] Preferably, the bucket is inlaid with an arc-shaped block with a hollow interior. There are balls in the arc-shaped block, and a pressure sensor is arranged at the top of the inner wall of the arc-shaped block.

[0017] (III) Beneficial effects

[0018] The present invention provides a soil loosening mechanical hand for a farming robot, which has the following beneficial effects:

[0019] 1. For the soil loosening mechanical hand for the farming robot, two buckets, a screw rod, a vertical rod, a sliding rod, and a motor are provided to form a mechanical hand for loosening soil. The bucket is provided with a disc, a turntable, and a motor, and a steel wire is arranged between the disc and the turntable. Through the cooperation of the converging mechanism, the steel wire, and the motor, the steel wire is used to crush the over-sized bumps in the bucket, thereby improving the soil loosening effect.

[0020] 2. For the soil loosening mechanical hand for the farming robot, through the cooperation of the arc-shaped strip, the ball, the pressure sensor, and the electric push rod, the bucket is flipped upward to pour out the processed over-sized bumps from the bucket, achieving the effect of automatic unloading. Description of the drawings

[0021] Figure 1Stereogram of the structure of the present invention;

[0022] Figure 2 Side view of the structure of the present invention;

[0023] Figure 3 Cross-sectional view of the structure of the present invention;

[0024] Figure 4 Schematic diagram of the bucket structure of the present invention;

[0025] Figure 5 Diagram showing the internal structure of the rotating block of the present invention;

[0026] Figure 6 Schematic diagram of the rotating rod structure of the present invention;

[0027] Figure 7 Schematic diagram of the internal structure of the arc-shaped block of the present invention.

[0028] In the figure: 1 bucket, 11 inclined plane, 12 small holes, 13 opening, 14 threaded hole, 15 sliding hole, 2 screw rod, 3 connecting rod, 31 sliding rod, 32 motor, 4 disc, 41 electromagnet module, 42 support rod, 43 rotating rod, 431 iron sheet, 44 elastic belt, 5 steel wire, 6 arc-shaped block, 61 ball, 62 pressure sensor, 7 connecting plate, 71 vertical rod, 72 electric push rod, 8 motor, 81 turntable. Detailed implementation mode

[0029] The embodiment of the present invention provides a soil loosening manipulator for a farming robot, as Figure 1-7 shown, including two buckets 1 and a screw rod 2. The two buckets 1 are respectively located on both sides of the screw rod 2, and the end of the screw rod 2 threadedly penetrates through the bucket 1. A connecting rod 3 is provided on the side of the bucket 1. A sliding rod 31 is welded to the lower end of the connecting rod 3, and a motor 32 is fixedly installed at the upper end of the connecting rod 3. The transmission shaft of the motor 32 is welded to the end of the screw rod 2. The sliding rod 31 is flush with the screw rod 2, and the sliding rod 31 passes through the bucket 1. An opening 13 is provided at the rear side of the bucket 1.

[0030] A disc 4 with a hollow interior is pivotally connected to the front side of the bucket 1. A motor 8 is fixedly installed at the rear side of the bucket 1. The transmission shaft of the motor 8 extends into the bucket 1 and is welded to the center of the disc 4. A turntable 81 aligned with the disc 4 is pivotally connected to the rear side of the bucket 1. The transmission shaft of the motor 8 is welded to the turntable 81.

[0031] A plurality of steel wires 5 are provided around the transmission shaft of the motor 8. The plurality of steel wires 5 are arranged at equal angles around the center. The rear ends of the steel wires 5 are fixedly tied to the surface of the turntable 81, and the front ends of the steel wires 5 extend into the disc 4.

[0032] Threaded grooves are provided at both ends of the screw rod 2, and the threaded grooves at both ends are symmetrically arranged. When the screw rod 2 rotates forward, the two buckets 1 approach each other, and when the screw rod 2 rotates backward, the two buckets 1 move away from each other.

[0033] The steel wire 5 is inclined, and a converging mechanism is provided inside the disc 4. The converging mechanism is used to tighten the steel wire 5. Working principle: The motor 32 drives the screw rod 2 to rotate forward, causing the two buckets 1 to approach each other. After the two buckets 1 are combined, the converging mechanism tightens the steel wire 5, and the motor 8 drives the disc 4 and the turntable 81 to rotate, so that the tightened steel wire 5 crushes large soil clods.

[0034] The reason for using the steel wire 5 is that the steel wire 5 itself has toughness and is slender, enabling the bucket 1 to have a larger capacity and reducing the occupied space inside the bucket 1. And there are stones in the soil. When using traditional tools to crush, the blades collide with hard objects for a long time, which easily causes the blades to break.

[0035] A connecting plate 7 is provided above the two buckets 1. The side of the connecting plate 7 is connected to the connecting rod 3, and a control module is fixedly installed at the bottom of the connecting plate 7. The control module is used to control the operation of each electronic component.

[0036] A lifting mechanism can also be fixedly installed on the top of the connecting plate 7. The lifting mechanism is used to insert the bucket 1 into the soil or pull the bucket 1 out of the ground. Since the control module and the lifting mechanism are both conventional technical means, no detailed description will be given and they will not be drawn in the drawings.

[0037] The converging mechanism includes an electromagnet module 41, a support rod 42, a rotating rod 43, and an elastic belt 44. The electromagnet module 41 is fixedly installed at the center of the inner wall of the disc 4. The support rods 42 are arranged around the electromagnet module 41, and the support rods 42 correspond to the steel wires 5 one by one.

[0038] As shown in the attached Figure 6 figure, the center of the rotating rod 43 is hinged to the support rod 42. The front end of the steel wire 5 passes through the rotating rod 43 in an "S" shape and is welded to the inner wall of the disc 4. One end of the rotating rod 43 close to the electromagnet module 41 is wrapped with iron sheet 431.

[0039] The rear end of the support rod 42 is welded to the rear side of the inner wall of the disc 4. The front end of the support rod 42 is hinged to the center of the rotating rod 43. One end of the rotating rod 43 far from the electromagnet module 41 is fixedly tied with an elastic belt 44, and one end of the elastic belt 44 far from the rotating rod 43 is fixedly tied to the rear side of the inner wall of the disc 4.

[0040] In the initial state, the electromagnet module 41 is not energized. Due to the existence of the elastic belt 44, the rotating rod 43 is originally inclined, and the end of the rotating rod 43 wrapped with the iron sheet 431 is far from the electromagnet module 41. At this time, the steel wire is in a loose state

[0041] Working principle: When the electromagnet module 41 is energized to generate magnetic force, the electromagnet module 41 attracts the iron sheet 431, causing the rotating rod 43 to flip. The end of the rotating rod 43 carrying the iron sheet 431 approaches the electromagnet 41, thereby pulling more parts of the steel wire 5 into the disc 4 and achieving the purpose of tightening the steel wire 5.

[0042] An electronic remote control switch and a storage battery are also fixedly installed at the center of the disk 4. The electromagnet module 41, the electronic remote control switch, and the storage battery are electrically connected. The control module is electrically connected with a wireless transmission module, and the electronic remote control switch is electrically connected with a wireless receiving module. Through wireless transmission technology, the control module can remotely control the electrified and powered-off states of the electronic iron module 41.

[0043] The front end of the connecting plate 7 is hinged with a vertical rod 71. The lower end of the vertical rod 71 is welded to the rod body of the connecting rod 3. The rod body of the vertical rod 71 is hinged with an electric push rod 72, and the upper end of the electric push rod 72 is hinged with the side of the connecting plate 7.

[0044] The bottom of the bucket 1 is provided with an inclined surface 11. Small holes 12 are opened at the bottom of the bucket 1. The bucket 1 is provided with a threaded hole 14 adapted to the screw rod 2, and the bucket 1 is provided with a sliding hole 15 adapted to the sliding rod 31. The sliding rod 31 is slidably matched with the sliding hole 15. The small holes 12 serve the purpose of screening, and the originally loose and fine soil particles in the bucket 1 are discharged.

[0045] The bucket 1 is inlaid with an arc-shaped block 6 with a hollow interior. The arc-shaped block 6 is provided with a ball 61, and a pressure sensor 62 is provided at the top of the inner wall of the arc-shaped block 6. The pressure sensor 62 is electrically connected with the control module.

[0046] Working principle: The large soil blocks inside the bucket 1 are cut and crushed by the steel wire 5 into smaller soil blocks. Although these soil blocks meet the requirements, they cannot be discharged through the small holes 12. At this time, the electric push rod 71 extends, causing the bucket 1 to turn upward. The ball 61 rolls and contacts the pressure sensor 62. The pressure sensor 62 feeds back the information to the control module. The control module stops the extension of the electric push rod 71. The small soil blocks in the bucket 1 can fall out from the opening 13.

[0047] In summary, for the soil loosening manipulator of the farming robot, two buckets 1, screw rods 2, vertical rods 3, sliding rods 31 and motors 32 are provided to form a manipulator for loosening soil. The bucket 1 is provided with a disk 4, a turntable 81 and a motor 8. A steel wire 5 is provided between the disk 8 and the turntable 81. Through the cooperation of the closing mechanism, the steel wire 5 and the motor 8, the steel wire 5 crushes the oversized convex blocks in the bucket 1. Thereby improving the soil loosening effect.

[0048] Moreover, through the cooperation of the arc-shaped strip 6, the ball 61, the pressure sensor 62 and the electric push rod 72, the bucket 1 is turned upward to pour out the processed oversized convex blocks from the bucket 1. Realize the effect of automatic unloading.

[0049] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A soil loosening manipulator for a farming robot, characterized in that: It includes two buckets (1) and a screw (2). The two buckets (1) are respectively located on both sides of the screw (2). The end of the screw (2) has threads passing through the bucket (1). A connecting rod (3) is provided on the side of the bucket (1). A sliding rod (31) is connected to the lower end of the connecting rod (3), and a motor (32) is connected to the upper end of the connecting rod (3). The transmission shaft of the motor (32) is connected to the end of the screw (2). The sliding rod (31) is flush with the screw (2). The sliding rod (31) passes through the bucket (1), and an opening (13) is formed at the rear side of the bucket (1). A hollow disk (4) is pivotally connected to the front side of the bucket (1). A motor (8) is connected to the rear side of the bucket (1). The transmission shaft of the motor (8) extends into the bucket (1) and is connected to the center of the disk (). A turntable (81) aligned with the disk (4) is pivotally connected to the rear side of the bucket (). The transmission shaft of the motor (8) is welded to the turntable (81). A plurality of steel wires (5) are provided around the transmission shaft of the motor (8). The plurality of steel wires (5) are arranged at equal angles around the center. The rear ends of the steel wires (5) are connected to the surface of the turntable (81), and the front ends of the steel wires (5) extend into the disk (4). The steel wires (5) are inclined. A converging mechanism is provided in the disk (4). The converging mechanism is used to tighten the steel wires (5). When the motor (8) drives the disk (4) to rotate, the tightened steel wires (5) will crush large soil blocks. A connecting plate (7) is provided above the two buckets (1). The side of the connecting plate (7) is connected to the connecting rod (3). A control module is provided at the bottom of the connecting plate (7). The control module is used to control the operation of each electronic component. The converging mechanism includes an electromagnet module (41), a support rod (42), a rotating rod (43), and an elastic belt (44). The electromagnet module (41) is provided at the center of the inner wall of the disk (4). The support rods (42) are provided around the electromagnet module (41). The support rods (42) correspond to the steel wires (5) one by one. The center of the rotating rod (43) is hinged to the support rod (42). The front end of the steel wire (5) passes through the rotating rod (43) in an "S" shape and is connected to the inner wall of the disk (4). An iron sheet (431) is wrapped around one end of the rotating rod (43) close to the electromagnet module (41). The rear end of the support rod (42) is connected to the rear side of the inner wall of the disk (4). The front end of the support rod (42) is hinged to the center of the rotating rod (43). An elastic belt (44) is connected to one end of the rotating rod (43) away from the electromagnet module (41). One end of the elastic belt (44) away from the rotating rod (43) is connected to the rear side of the inner wall of the disk (4). When the electromagnet module (41) is energized to generate a magnetic force, the electromagnet module (41) attracts the iron sheet (431) to cause the rotating rod (43) to flip, and the rotating rod (43) flips to pull the steel wire (5) tight.

2. The soil-loosening manipulator for a farming robot according to claim 1, characterized in that: An electronic remote control switch and a storage battery are also fixedly installed at the center of the disk (4). The electromagnet module (41), the electronic remote control switch, and the storage battery are electrically connected.

3. The soil loosening manipulator for a farming robot according to claim 2, characterized in that: The front end of the connecting plate (7) is hinged with a vertical rod (71), the lower end of the vertical rod (71) is connected to the rod body of the connecting rod (3), the rod body of the vertical rod (71) is hinged with an electric push rod (72), the upper end of the electric push rod (72) is hinged with the side of the connecting plate (7), the control module is electrically connected with a wireless transmission module, and the electronic remote control switch is electrically connected with a wireless receiving module.

4. The soil loosening manipulator for a farming robot according to claim 3, characterized in that: The bottom of the bucket (1) is provided with an inclined surface (11), small holes (12) are formed in the bottom of the bucket (1), threaded holes (14) adapted to the screw rod (2) are formed in the bucket (1), sliding holes (15) adapted to the sliding rod (31) are formed in the bucket (1), and the sliding rod (31) is in sliding fit with the sliding holes (15).

5. The soil loosening manipulator for a farming robot according to claim 4, characterized in that: The bucket (1) is inlaid with an arc-shaped block (6) with a hollow interior. The arc-shaped block (6) is provided with balls (61), and a pressure sensor (62) is arranged at the top of the inner wall of the arc-shaped block (6).

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