Earthworm robot for black soil structure regulation

Abstract

The application discloses an earthworm robot for black soil structure regulation, in order to overcome the problems that the existing black soil structure regulation technology cannot construct staggered soil macropore structure, macropore connectivity is poor, and live earthworm inoculation is difficult, etc., and the earthworm robot comprises a drill bit assembly, an outer shell assembly, a steering assembly, a ground grabbing driving assembly and a battery assembly. The robot as a whole is in a sealed state, so that the soil cannot enter and cause damage; the position state of the robot underground can be monitored, so that timely adjustment can be made; the route can be controlled through programming; the robot is multi-section hinged, and the outer shell is made of soft material, so that the turning performance is better; and these designs are beneficial to controllable operation of the robot underground, flexible movement, simulation of the earthworm movement route, construction of staggered soil macropore structure, and improvement of soil conditions. The application has important significance for black soil structure regulation and development of other miniature soil detection robots.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and more specifically, the present application relates to an earthworm robot for regulating soil structure of black land. BACKGROUND

[0002] At present, it is urgent to improve soil structure to improve soil environment, and deep loosening is an effective means to improve soil structure. However, the large pores created by the current machinery will have large cracks, which is not conducive to root growth, far less than the interlaced pores created by earthworms. At present, many places are not suitable for earthworms to survive, and the cost of cultivating and using live earthworms is high, and it involves animal protection problems. Therefore, it is of great significance to invent an earthworm robot for regulating soil structure of black land to replace live earthworms to construct soil macropore structure. SUMMARY

[0003] The technical problem to be solved by the present application is that the prior art cannot construct interlaced soil macropore structure, the macropore connectivity is poor, and live earthworms are difficult to inoculate. The present application provides an earthworm robot for regulating soil structure of black land.

[0004] An earthworm robot for regulating soil structure of black land, with a diameter of about 10-20 mm and a length of about 100-200 mm, comprises a drill bit assembly, an outer shell assembly, a steering assembly, a ground grabbing driving assembly and a battery assembly.

[0005] The drill bit assembly, the steering assembly, the ground grabbing driving assembly and the battery assembly are linearly arranged, the outer shell assembly is sleeved outside the steering assembly, the ground grabbing driving assembly and the battery assembly, the drill bit assembly is connected with the steering assembly through a fixing part, the ground grabbing driving assembly is connected with the outer shell assembly through bolts, bearings and other parts, and the battery assembly is connected with the outer shell assembly through a hinge.

[0006] The drill bit assembly comprises a drill bit, a drill bit shell, a speed reducer and a motor.

[0007] The drill bit is a spiral conical drill bit, which can better scatter the obstacles in front to the surrounding, effectively reduce the resistance of the machine advancing and give the robot a forward driving force. The drill bit is connected with the speed reducer and then connected with the motor. The motor is selected from R13 type. The drill bit is driven to rotate by the motor, and the speed is adjusted by installing the speed reducer. The drill bit shell is sleeved outside the drill bit and connected with the first connecting part through bolts, which prevents soil from entering the inside of the machine.

[0008] The outer shell assembly comprises a first connecting part, a universal flexible connection, a second connecting part, a main shell, a flexible connection and a rear shell.

[0009] The first connecting piece, the universal flexible connecting piece, the second connecting piece, the main shell, the flexible connecting piece and the rear shell are connected by bolts and the like, which are convenient for disassembly, convenient for checking and replacing parts, and make the machine in a sealed state, which can prevent soil from entering. The material of the universal flexible connecting piece and the flexible connecting piece is rubber, which is a soft material and belongs to an elastic bellows, which is convenient for the machine to turn. The first connecting piece, the second connecting piece, the main shell and the rear shell are made of the same material, which is a rigid material, and can prevent the machine body from being crushed by soil. The main shell is provided with a hole for placing a gear shaft, and the shaft hole is elongated and thickened inward to facilitate the installation of a bearing;

[0010] The steering assembly comprises a gyroscope sensor, a fixing member, a programmed control chip, a second motor, a universal joint and a universal joint fixing member.

[0011] The second motor is connected with the universal joint, and the second motor can adopt a R13 model, and the universal joint can adopt a parameter of an inner diameter of 6 mm and an outer diameter of 12 mm.

[0012] The programmed control chip is connected with the second motor, and can adopt an EQ6GL9 model, which has the advantages of small size and ultra-low static power consumption. The route can be controlled by programming the programmed control chip. The programmed control chip controls the second motor to control the universal joint, realizes the steering function of the machine, and the universal joint can rotate by 360 degrees, so that the earthworm robot can rotate in any direction up, down, left and right.

[0013] The gyroscope sensor is fixedly connected with the second motor through the fixing member, and can adopt a KXG07 model. The gyroscope sensor can monitor the direction of the earthworm robot in the ground. The universal joint is fixedly connected with the outer shell assembly through the universal joint fixing member.

[0014] The ground gripping driving assembly comprises two tracks, a first gear, a third motor group, six blades, twelve fixed discs, a sixth gear, a first shaft, a second shaft, a third shaft, a fourth gear, a fifth gear, a second gear and a third gear.

[0015] The third motor group is connected with the first gear, drives the first gear to rotate, and the third motor group comprises a motor and a speed reducer, the motor can be selected from R13 type, the second gear and the third gear are sleeved on the third shaft, the fourth gear and the fifth gear are sleeved on the second shaft, the sixth gear is sleeved on the first shaft, the first gear is engaged with the second gear, the third gear is connected with the fifth gear through a track, the fourth gear is connected with the sixth gear through a track, the six gears have the same parameters, the three shafts can rotate at the same speed, the gear tooth number is 37, the first shaft, the second shaft and the third shaft are connected with the main shell through bearings, two fixed discs are arranged on each side of each shaft, the fixed discs are arranged outside the main shell and closely attached to the shell, blades are clamped in the middle of the fixed discs and fastened on the outside by nuts, the blades can be made of hard alloy material and have a thickness of 1-2mm, the blades simulate the working process of rotary tillers and play the role of earthworm bristles, and the blades play the roles of gripping, loosening soil and assisting driving in the advancing process of the earthworm robot;

[0016] The battery assembly comprises a hinge, a sleeve and a battery;

[0017] The battery is fixed in the sleeve, the sleeve is connected with the main shell or the previous sleeve through the hinge, the hinge enables the connecting members to swing left and right and move up and down, and the hinge enables the connecting members to move in four directions, the hinge is connected with the sleeve through loose bolts and loose rivets, the number of battery groups in the battery assembly can be increased or reduced as required, the battery groups are conveniently disassembled through the hinge, the capacities of all the batteries are the same, and the batteries are connected in parallel, and the battery assembly is connected with the motor.

[0018] Working principle of the earthworm robot

[0019] The working principle of the earthworm robot for black soil structure regulation is as follows. The first motor drives the drill bit to rotate, and the loosening operation is started, then the third motor group starts to work, the third motor group controls the rotation of the first gear, the first gear is engaged with the second gear, thereby driving the second gear to rotate, the second gear drives the third shaft to rotate, thereby driving the third gear to rotate in the same direction, the third gear drives the track, thereby driving the fifth gear, and the above causes the three shafts to rotate in the same direction at the same speed, thereby driving the blades to move forward and loosen the soil on both sides. The movement route of the robot is controlled by programming design, a programming control chip transmits instructions to the second motor, thereby controlling the universal joint, so that the robot can turn, and the battery assembly is driven to move forward when the robot moves, and the battery assembly is turned through the hinge when the robot turns.

[0020] Compared with the prior art, the earthworm robot has the following advantages:

[0021] 1. The earthworm robot can simulate the movement route of earthworms, and can construct an interlaced soil macropore structure without causing large cracks.

[0022] 2. The resulting biopores are tubular, directional, and have better roundness and connectivity, and the macropore structure is more continuous in scale.

[0023] 3. It solves problems such as the difficulty of earthworm survival, high cost, and animal protection.

[0024] 4. The route can be controlled via programming.

[0025] 5. The robot is completely sealed, preventing soil from entering and causing damage.

[0026] 6. It can monitor the robot's location and status underground so that adjustments can be made in a timely manner.

[0027] 7. Equipped with a battery module connected in parallel with the motor, it can increase the motor's working time and extend the robot's underground operation time.

[0028] 8. The robot uses a multi-section connection, which facilitates disassembly and replacement, increasing the machine's service life.

[0029] 9. The robot has a multi-section hinge and a soft outer shell, which improves its turning performance.

[0030] 10. The number of battery packs can be increased or decreased as needed. Attached Figure Description

[0031] Figure 1 This is an isometric side view of the present invention;

[0032] Figure 2 This is a diagram of the internal structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the drill bit assembly of the present invention;

[0034] Figure 4 This is a schematic diagram of the outer shell structure of the present invention;

[0035] Figure 5 This is a schematic diagram of the main housing of the present invention;

[0036] Figure 6 This is a schematic diagram of the steering component of the present invention;

[0037] Figure 7 This is a schematic diagram of the gripping drive component of the present invention;

[0038] Figure 8 This is a partial schematic diagram of the gripping drive component of the present invention;

[0039] Figure 9 This is a partial schematic diagram of the gripping drive component of the present invention;

[0040] Figure 10 Figure is a schematic diagram of the battery assembly of the application.

[0041] In the figure: A, drill bit assembly; B, outer shell assembly; C, steering assembly; D, ground gripping driving assembly; E, battery assembly; 1, drill bit; 2, drill bit shell; 3, speed reducer; 4, first motor; 5, first connecting piece; 6, universal flexible connection; 7, second connecting piece; 8, main shell; 9, flexible connection; 10, rear shell; 11, gyroscope sensor; 12, fixing piece; 13, programmed control chip; 14, second motor; 15, universal joint; 16, universal joint fixing piece; 19, track; 20, first gear; 21, third motor group; 22, blade; 23, fixed disc; 24, sixth gear; 25, first shaft; 26, second shaft; 27, third shaft; 28, fourth gear; 29, fifth gear; 30, second gear; 31, third gear; 32, hinge; 33, sleeve; 34, battery. DETAILED DESCRIPTION

[0042] Referring to Figures 1-2 An earthworm robot for regulating the structure of black soil, with a diameter of 10-20 mm and a length of about 100-200 mm, comprising a drill bit assembly (A), an outer shell assembly (B), a steering assembly (C), a ground gripping driving assembly (D), and a battery assembly (E).

[0043] The drill bit assembly (A), the steering assembly (C), the ground gripping driving assembly (D), and the battery assembly (E) are linearly arranged, the outer shell assembly (B) is sleeved outside the steering assembly (C), the ground gripping driving assembly (D), and the battery assembly (E), the drill bit assembly (A) is connected with the steering assembly (C) through the fixing piece (12), the ground gripping driving assembly (D) is connected with the outer shell assembly (B) through bolts and bearings, and the battery assembly (E) is connected with the outer shell assembly (B) through a hinge.

[0044] Referring to Figure 3 The drill bit assembly (A) comprises a drill bit (1), a drill bit shell (2), a speed reducer (3), and a motor (4).

[0045] The drill bit (1) is a spiral conical drill bit, which can better scatter the front obstacles to the surroundings, effectively reduce the resistance of the machine advancing, and give the robot a forward driving force. The drill bit (1) is connected with the speed reducer (3) and then connected with the motor (4). The motor (4) is selected to be of R13 type. The motor (4) drives the drill bit (1) to rotate. The speed reducer (3) is installed to adjust the rotating speed. The drill bit shell (2) is sleeved outside the drill bit (1) and connected with the first connecting piece (5) through bolts, thereby preventing soil from entering the inside of the machine.

[0046] Referring to Figures 4-5The outer shell assembly (B) comprises a first connecting piece (5), a universal flexible connecting piece (6), a second connecting piece (7), a main shell (8), a flexible connecting piece (9), and a rear shell (10).

[0047] The first connecting piece (5), the universal flexible connecting piece (6), the second connecting piece (7), the main shell (8), the flexible connecting piece (9), and the rear shell (10) are connected by bolts and other fixing members, facilitating disassembly, inspection and replacement of parts, and sealing of the machine, preventing soil from entering, and the universal flexible connecting piece (6) and the flexible connecting piece (9) are made of rubber, which is a soft material and belongs to an elastic bellows, facilitating turning of the machine, the first connecting piece (5), the second connecting piece (7), the main shell (8), and the rear shell (10) are made of the same rigid material, which can prevent the machine body from being crushed by soil, and the main shell (8) is provided with a hole for placing a gear shaft, and the shaft hole is elongated and thickened inward to facilitate installation of a bearing.

[0048] Referring to Figure 6 The turning assembly (C) comprises a gyroscope sensor (11), a fixing member (12), a programmed control chip (13), a second motor (14), a universal joint (15), and a universal joint fixing member (16).

[0049] The second motor (14) is connected with the universal joint (15), the second motor (14) can adopt a R13 model, and the universal joint (15) can adopt parameters of an inner diameter of 6 mm and an outer diameter of 12 mm.

[0050] The programmed control chip (13) is connected with the second motor (14) and can adopt an EQ6GL9 model, has the advantages of small size and ultra-low static power consumption, can control the route by programming the programmed control chip (13), the programmed control chip (13) controls the second motor (14) to control the universal joint (15), realizes the turning function of the machine, and the universal joint (15) can rotate by 360 degrees, so that the earthworm robot can rotate in any direction upward, downward, leftward, and rightward.

[0051] The gyroscope sensor (11) is fixedly connected with the second motor (14) through the fixing member (12) and can adopt a KXG07 model, the gyroscope sensor (11) can monitor the direction of the earthworm robot in the ground, and the universal joint (15) is fixedly connected with the outer shell assembly (B) through the universal joint fixing member (16).

[0052] Referring to Figures 7-9The ground gripping driving assembly (D) comprises two caterpillar belts (19), a first gear (20), a third motor set (21), six blades (22), twelve fixed discs (23), a sixth gear (24), a first shaft (25), a second shaft (26), a third shaft (27), a fourth gear (28), a fifth gear (29), a second gear (30) and a third gear (31).

[0053] The third motor set (21) is connected with the first gear (20) and drives the first gear (20) to rotate. The third motor set (21) comprises a motor and a speed reducer, the motor can be selected from R13 type, the second gear (30) and the third gear (31) are sleeved on the third shaft (27), the fourth gear (28) and the fifth gear (29) are sleeved on the second shaft (26), the sixth gear (24) is sleeved on the first shaft (25), the first gear (20) is engaged with the second gear (30), the third gear (31) is connected with the fifth gear (29) through the caterpillar belt (19), the fourth gear (28) is connected with the sixth gear (24) through the caterpillar belt, the six gears have the same parameters and can make the three shafts rotate at the same speed, the gear tooth number is 37, the first shaft (25), the second shaft (26) and the third shaft (27) are connected with the main shell (8) through bearings, two fixed discs (23) are arranged on each side of each shaft, the fixed disc (23) is placed outside the main shell (8) and is tightly attached to the shell, the blade (22) is clamped in the middle of the fixed disc (23) and is fastened on the outside by a nut, the blade (22) can be made of hard alloy material and has a thickness of 1-2mm, the blade (22) simulates the working process of a rotary tiller blade and plays the role of earthworm bristles, and plays the roles of ground gripping, soil loosening and auxiliary driving in the advancing process of the earthworm robot.

[0054] Referring to Figure 10 The battery assembly (E) comprises a hinge (32), a sleeve (33) and a battery (34).

[0055] The battery (34) is fixed in the sleeve (33), the sleeve (33) is connected with the main shell (8) or the previous sleeve (33) through the hinge (32), the hinge (32) enables the connecting members to swing left and right and move up and down, and can realize movement in four directions, the hinge (32) and the sleeve (33) are connected through loose bolts and loose rivets, the battery assembly (E) can increase or reduce the number of battery packs according to needs, the battery packs are conveniently disassembled through the hinge (32), all the batteries (34) have the same capacity and are connected in parallel, the battery assembly (E) is connected with the motor, and the battery assembly (E) is installed to increase the working time of the motor and prolong the working time of the robot underground.

[0056] Working principle of the application

[0057] Referring to Figures 1-10The working principle of the earthworm robot of the present invention is as follows. The first generator (4) drives the drill bit (1) to rotate and start the soil loosening operation. Then the third generator set (21) starts to work. The third generator set (21) controls the first gear (20) to rotate. The first gear (20) meshes with the second gear (30) to drive the second gear (30) to rotate. The second gear (30) drives the third shaft (27) to rotate, thereby driving the third gear (31) to rotate in the same direction. The third gear (31) drives the track (19) to drive the fifth gear (29). As above, the three shafts rotate in the same direction and at the same speed, thereby driving the blade (23), which serves to propel the robot forward and loosen the soil on both sides. The robot's movement route is controlled by the programming design. The programming control chip (13) transmits instructions to the second motor (14) and then controls the universal joint (15) to achieve the purpose of turning. During the robot's movement, the battery assembly (E) is driven forward. When the robot turns, the battery assembly (E) achieves the purpose of turning through the hinge (32).

Claims

1. An earthworm robot for black soil structure regulation, characterized by, It comprises a drill bit assembly (A), an outer shell assembly (B), a steering assembly (C), a ground gripping driving assembly (D) and a battery assembly (E); The drill bit assembly (A), the steering assembly (C), the ground gripping driving assembly (D) and the battery assembly (E) are linearly arranged, the outer shell assembly (B) is sleeved outside the steering assembly (C), the ground gripping driving assembly (D) and the battery assembly (E), the drill bit assembly (A) is connected with the steering assembly (C) through a fixing part (12), the ground gripping driving assembly (D) is connected with the outer shell assembly (B) through bolts and bearing parts, and the battery assembly (E) is connected with the outer shell assembly (B) through a hinge. The ground gripping driving assembly (D) comprises two caterpillar belts (19), a first gear (20), a third motor group (21), six blades (22), twelve fixed discs (23), a sixth gear (24), a first shaft (25), a second shaft (26), a third shaft (27), a fourth gear (28), a fifth gear (29), a second gear (30) and a third gear (31). The third motor group (21) is connected with the first gear (20) and drives the first gear (20) to rotate, the third motor group (21) comprises a motor and a speed reducer, the motor is selected from R13, the second gear (30) and the third gear (31) are sleeved on the third shaft (27), the fourth gear (28) and the fifth gear (29) are sleeved on the second shaft (26), the sixth gear (24) is sleeved on the first shaft (25), the first gear (20) is engaged with the second gear (30), the third gear (31) is connected with the fifth gear (29) through the caterpillar belt (19), the fourth gear (28) is connected with the sixth gear (24) through the caterpillar belt, the first shaft (25), the second shaft (26) and the third shaft (27) are connected with the main shell (8) through bearings, two fixed discs (23) are arranged on each side of each shaft, the fixed disc (23) is placed outside the main shell (8) and closely adheres to the shell, the blade (22) is clamped in the middle of the fixed disc (23) and is fastened on the outside by a nut.

2. The earthworm robot for black soil structure regulation according to claim 1, wherein, The drill bit assembly (A) comprises a drill bit (1), a drill bit shell (2), a speed reducer (3) and a motor (4). The drill bit (1) is a spiral conical drill bit, the drill bit (1) is connected with the speed reducer (3) and then connected with the motor (4), the motor (4) is selected from R13, the motor (4) drives the drill bit (1) to rotate, the speed reducer (3) is installed to adjust the rotating speed, and the drill bit shell (2) is sleeved outside the drill bit (1) and connected with the first connecting part (5) through bolts.

3. The earthworm robot for black soil structure regulation according to claim 1, wherein, The outer shell assembly (B) comprises the first connecting part (5), a universal soft connecting part (6), a second connecting part (7), a main shell (8), a soft connecting part (9) and a rear shell (10). The first connecting piece (5), the universal flexible connecting piece (6), the second connecting piece (7), the main shell (8), the flexible connecting piece (9) and the rear shell (10) are connected by bolts, the material of the universal flexible connecting piece (6) and the flexible connecting piece (9) is rubber, the first connecting piece (5), the second connecting piece (7), the main shell (8) and the rear shell (10) are made of the same rigid material, the main shell (8) is provided with a hole for placing a gear shaft.

4. The earthworm robot for black soil structure regulation according to claim 1, wherein The steering assembly (C) comprises a gyroscope sensor (11), a fixing piece (12), a programmed control chip (13), a second motor (14), a universal joint (15) and a universal joint fixing piece (16). The second motor (14) is connected with the universal joint (15), the second motor (14) is of R13 type, and the universal joint (15) has an inner diameter of 6 mm and an outer diameter of 12 mm. The programmed control chip (13) is connected with the second motor (14) and is of EQ6GL9 type, the control route is written through the programmed control chip (13), the programmed control chip (13) controls the second motor (14) and thus controls the universal joint (15). The gyroscope sensor (11) is fixedly connected with the second motor (14) through the fixing piece (12) and is of KXG07 type, the direction of the earthworm robot in the ground is monitored through the gyroscope sensor (11), and the universal joint (15) is fixedly connected with the outer shell assembly (B) through the universal joint fixing piece (16).

5. The earthworm robot for black soil structure regulation according to claim 1, wherein, The battery assembly (E) comprises a hinge (32), a sleeve (33) and a battery (34). The battery (34) is fixed in the sleeve (33), the sleeve (33) is connected with the main shell (8) or a previous sleeve (33) through the hinge (32), the hinge (32) is connected with the sleeve (33) through loose bolts and loose rivets, the capacities of all the batteries (34) are the same and the batteries (34) are connected in parallel, and the battery assembly (E) is connected with the motor.

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