An integrated drilling and material precise feeding integrated six-legged robot device

Abstract

The application discloses a six-legged robot device integrating drilling and material precise feeding, which comprises a base plate, a drilling device, a feeding device, a piston cylinder pressing mechanism and a moving mechanism. The drilling device comprises a drill rod guide pipe, a drill rod, a drill rod lifting mechanism and a rotary driving mechanism; the drill rod guide pipe is vertically fixed to the base plate, and the drill rod is in sliding fit with the drill rod guide pipe. The lifting mechanism is fixed to the base plate, and the rotary driving mechanism is arranged on the lifting seat and connected with the upper end of the drill rod through a shaft coupling. The feeding device comprises a first material box and a first guide pipe, and the material box is communicated with the lower side of the drill rod guide pipe through the guide pipe. A pushing material piston cylinder is slidingly arranged in the drill rod guide pipe, the outer wall of the piston cylinder is in gap sealing with the inner wall of the guide pipe, and the central hole is in gap fit with the drill rod. The piston cylinder pressing mechanism is installed on the base plate, the pressing plate of the piston cylinder pressing mechanism is in butt joint with the upper end of the pushing material piston cylinder, and the moving mechanism is arranged below the base plate to realize the displacement of the whole device.

Description

Technical Field

[0001] This invention relates to agricultural machinery technology, and in particular to a six-legged robot device that integrates drilling and precise material delivery. Background Technology

[0002] In agricultural production and ecological protection, operations such as red imported fire ant control, precision seeding, and stratified fertilization all require precise application of pesticides, seeds, or fertilizers at specific soil depths to improve operational efficiency and reduce material waste and environmental pollution. Traditional surface application methods are prone to material loss, low utilization rates, limited effectiveness on deep soil targets, and can easily cause problems such as seedling burn. Therefore, deep subsurface application has become the mainstream technology in the industry.

[0003] Existing agricultural deep-submersion equipment mostly adopts a step-by-step operation process of drilling / ditching first, followed by material feeding. This process involves a time interval between drilling and feeding, during which soft soil is prone to borehole wall collapse, causing material to deviate from its landing point and affecting feeding accuracy. Furthermore, existing equipment generally suffers from problems such as poor conveying, clogging, and material backflow when dealing with different forms of materials, including granules, powders, and liquids: gravity-based feeding is prone to jamming, while pneumatic conveying is energy-intensive and generates significant dust; pesticide backflow also contaminates the equipment and increases maintenance and safety risks. With the development of precision agriculture and integrated pest management (IPM), the market increasingly demands integrated and intelligent equipment with controllable feeding depth, precise positioning, variable-rate feeding, and multi-material compatibility. Traditional step-by-step, single-function equipment can no longer meet these needs.

[0004] Existing technologies still have significant shortcomings. For example, the deep tillage counter-rotating triaxial layered fertilization seeder with publication number CN116075909A (patent number: CN202310097488.3), although integrating multiple agricultural functions, still adopts a separate structure of first opening furrows and then placing the fertilizer. This results in soil subsidence leading to insufficient placement accuracy, and the fertilizer and seeds are close together, posing a risk of "burning" the seedlings. The red imported fire ant spraying device with publication number CN117014622A (patent number: CN202410945280.7) integrates a drill bit and a spraying structure, enabling deep injection of the pesticide. However, it requires manual hand-held operation, resulting in low automation and operating efficiency. The ground support of the frame has poor stability on complex terrains such as slopes and grasslands, making it difficult to guarantee the verticality of the drilling and the accuracy of the pesticide application. At the same time, the exposed drill bit and pesticide pose risks of mechanical injury and pesticide contact, and operators working at close range also face the risk of being stung by red imported fire ants.

[0005] In summary, existing underground delivery equipment still has significant shortcomings in terms of the synchronization of drilling and delivery, the reliability of conveying various types of materials, adaptability to complex terrain, automation level, and human-machine safety. There is an urgent need for an integrated automated solution that deeply integrates drilling and precise delivery of various types of materials, enables synchronous operation, and is stable, reliable, safe, and efficient. Summary of the Invention

[0006] To address the aforementioned shortcomings, the present invention aims to propose a six-legged robot device that integrates drilling and precise material delivery.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A six-legged robot device integrating drilling and precise material delivery includes a base plate, a drilling device, and a delivery device.

[0009] The drilling device includes a drill rod guide, a drill rod, a drill rod lifting mechanism, and a drill rod rotation drive mechanism; the drill rod guide passes vertically through and is fixed to the base plate, and the drill rod and the drill rod guide are slidably assembled with a gap;

[0010] The drill pipe lifting mechanism is fixedly installed on the base plate, the drill pipe rotation drive mechanism is installed on the lifting seat of the drill pipe lifting mechanism, and the drill pipe drive mechanism is assembled with the upper end of the drill pipe through a coupling.

[0011] The dispensing device includes a first material box and a first conduit, wherein the first material box is connected to the lower side of the drill pipe conduit via the first conduit;

[0012] A pusher piston cylinder is slidably installed inside the drill pipe guide tube. The outer wall of the pusher piston cylinder and the inner wall of the drill pipe guide tube are in clearance sealing fit. The central hole of the pusher piston cylinder is in clearance fit with the drill pipe.

[0013] It also includes a piston cylinder pressing mechanism, which is mounted on the base plate, and the pressing plate of the piston cylinder pressing mechanism is mounted on the upper end of the pusher piston cylinder;

[0014] A moving mechanism is installed below the base plate.

[0015] Preferably, the bottom of the first material box is a discharge port, and a discharge valve is installed at the discharge port. The discharge port of the discharge valve is connected to the inlet of the first conduit.

[0016] The dispensing device also includes a second material box and a second conduit. The lower end of the second conduit is connected to the lower part of the first conduit. A discharge valve is installed at the bottom of the second material box, and the discharge port of the discharge valve is connected to the inlet of the second conduit.

[0017] Preferably, the second material box is connected to an air supply pipe, and the air inlet end of the air supply pipe is connected to an air source.

[0018] Preferably, the drill pipe lifting mechanism is a synchronous belt lifting mechanism;

[0019] The drill pipe rotation drive mechanism is mounted on the lifting seat of the synchronous belt lifting mechanism.

[0020] Furthermore, the piston cylinder pressing mechanism includes a rack and pinion sliding seat, a sliding rack, a pressing plate, and a gear drive device;

[0021] The rack sliding seat is fixedly installed on the base plate, the back of the rack is slidably installed on the rack sliding seat, one end of the pressing plate is fixedly installed on the upper end of the rack, and the other end of the pressing plate is fixed to the upper end of the pusher piston cylinder through a connecting rod.

[0022] The gear drive device is fixedly installed on the rack sliding seat. The gear drive device meshes with the sliding rack and drives the sliding rack to move up and down, thereby driving the pusher piston cylinder to rise and push down inside the drill pipe guide.

[0023] Furthermore, the moving mechanism includes six mechanical legs, which are arranged symmetrically on the left and right sides and evenly in a front-to-back array along the base plate.

[0024] One of the above technical solutions includes the following beneficial effects: This device integrates drilling and precise material delivery functions into one unit. It relies on the drill rod guide tube to vertically guide the drill rod, and works with the drill rod lifting mechanism and the rotary drive mechanism to achieve drilling. The material is delivered to the lower side of the drill rod guide tube through the first material box and the first guide tube to achieve fixed-point delivery into the hole, avoiding material scattering. At the same time, the material can be smoothly pushed through the push piston cylinder and the piston cylinder pressing mechanism to prevent material blockage. All components are centrally arranged on the base plate, and the bottom moving mechanism facilitates the movement of the whole machine. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the device installation structure of the base plate of the present invention;

[0027] Figure 3 This is a schematic diagram of the device mounting structure of the base plate from another perspective of the present invention.

[0028] Figure 4 This is a schematic cross-sectional view of the drill pipe guide of the present invention.

[0029] The components include: base plate 100, drilling device 200, drill rod guide tube 210, drill rod 220, drill rod lifting mechanism 230, drill rod rotation drive mechanism 240, pushing piston cylinder 250, feeding device 300, first material box 310, first guide tube 320, second material box 330, second guide tube 340, piston cylinder pressing mechanism 400, rack and pinion sliding seat 410, sliding rack 420, pressing plate 430, gear drive device 440, air supply pipe 500, and six mechanical legs 600. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a hexapod robot device integrating drilling and precise material delivery is provided, including a base plate 100, characterized in that it further includes a drilling device 200 and a delivery device 300.

[0032] The drilling device 200 includes a drill rod guide 210, a drill rod 220, a drill rod lifting mechanism 230, and a drill rod rotation drive mechanism 240; the drill rod guide 210 passes vertically through and is fixed to the base plate 100, and the drill rod 220 and the drill rod guide 210 are slidably assembled with a gap.

[0033] The drill pipe lifting mechanism 230 is fixedly installed on the base plate 100, the drill pipe rotation drive mechanism 240 is installed on the lifting seat of the drill pipe lifting mechanism 230, and the drill pipe 220 drive mechanism is assembled with the upper end of the drill pipe 220 through a coupling.

[0034] The dispensing device 300 includes a first material box 310 and a first conduit 320, wherein the first material box 310 is connected to the lower side of the drill pipe conduit 210 through the first conduit 320;

[0035] A pusher piston cylinder 250 is slidably installed inside the drill rod guide tube 210. The outer wall of the pusher piston cylinder 250 and the inner wall of the drill rod guide tube 210 are in clearance sealing fit. The center hole of the pusher piston cylinder 250 and the drill rod 220 are in clearance fit.

[0036] It also includes a piston cylinder pressing mechanism 400, which is mounted on the base plate 100, and the pressing plate 430 of the piston cylinder pressing mechanism 400 is mounted on the upper end of the pusher piston cylinder 250.

[0037] A moving mechanism is installed below the base plate 100.

[0038] This device integrates drilling and precise material delivery functions. The drill rod 220 is vertically guided by the drill rod guide tube 210, and drilling is achieved in conjunction with the drill rod lifting mechanism 230 and the rotary drive mechanism 240. The material is delivered to the lower side of the drill rod guide tube 210 through the first material box 310 and the first guide tube 320 to achieve fixed-point delivery into the hole, avoiding material spillage. At the same time, the material is smoothly pushed by the pusher piston cylinder 250 and the piston cylinder pressing mechanism 400 to prevent material blockage. All components are centrally arranged on the base plate 100, and the bottom moving mechanism facilitates the relocation of the whole machine.

[0039] like Figure 2-3 As shown, the bottom of the first material box 310 is the discharge port, and a discharge valve is installed at the discharge port. The discharge port of the discharge valve is connected to the inlet of the first conduit 320.

[0040] The dispensing device 300 also includes a second material box 330 and a second conduit 340. The lower end of the second conduit 340 is connected to the lower part of the first conduit 320. A discharge valve is installed at the bottom of the second material box 330, and the discharge port of the discharge valve is connected to the inlet of the second conduit 340.

[0041] A second material box 330 and a corresponding second conduit 340 are added. The two materials can be independently controlled through the bottom discharge valve of their respective material boxes, and then fed into the first conduit 320 and then into the drill pipe conduit 210. This enables two different materials to be fed separately as needed, mixed and fed in proportion or at different times. The discharge valve can be opened and closed separately to control the on / off state, avoiding material mixing and mutual interference.

[0042] The second material box 330 is connected to an air supply pipe 500, and the air inlet end of the air supply pipe 500 is connected to an air source.

[0043] By connecting the air supply pipe 500 to the second material box 330 and connecting it to an external air source, air pressure can be used to push the material inside the box. This not only helps the material fall and be conveyed smoothly, but also prevents the material from getting damp, clumping, or accumulating and blocking. At the same time, air pressure can be used to achieve uniform material conveying and quantitative feeding. Furthermore, airflow can quickly send the material into the conduit 210 and the drilled holes, improving the feeding speed and uniformity, and meeting the stable feeding requirements of powdery and granular materials.

[0044] Furthermore, the drill pipe lifting mechanism 230 is a synchronous belt lifting mechanism;

[0045] The drill pipe rotation drive mechanism 240 is mounted on the lifting seat of the synchronous belt lifting mechanism.

[0046] The synchronous belt lifting mechanism is used as the drill pipe lifting mechanism, which has smooth transmission, low operating noise, and high precision in lifting displacement control, and can accurately control the drilling depth of the drill pipe. The drill pipe rotation drive mechanism is installed as a whole on the lifting base, which can lift and lower synchronously with the drill pipe, ensuring the coaxial stability of the drill pipe transmission throughout the entire process, avoiding transmission offset and jamming. The structure is simple and compact, and the lifting and rotation actions are coordinated and reliable.

[0047] 5. The six-legged robot device integrating drilling and precise material delivery as described in claim 4, characterized in that the piston cylinder pressing mechanism 400 includes a rack sliding seat 410, a sliding rack 420, a pressing plate 430, and a gear drive device 440.

[0048] The rack sliding seat 410 is fixedly installed on the base plate 100, and the back of the rack is slidably installed on the rack sliding seat 410. One end of the pressing plate 430 is fixedly installed on the upper end of the rack, and the other end of the pressing plate 430 is fixed to the upper end of the pusher piston cylinder 250 through a connecting rod.

[0049] The gear drive device 440 is fixedly installed on the rack sliding seat 410. The gear drive device 440 meshes with the sliding rack 420, drives the sliding rack 420 to move up and down, and drives the pusher piston cylinder 250 to rise and push down in the drill rod guide tube 210.

[0050] A gear drive device 440 with a gear and rack combination drives the pusher piston cylinder 250 to move up and down; the rack is limited and guided by the rack sliding seat 410, and it is not easy to deviate during the sliding process, ensuring that the pressing plate 430 rises and falls vertically; through the meshing transmission of the gear drive device 440, the pusher piston cylinder 250 can be stably driven to press down and push the material, and return to its original position, which can effectively ensure smooth material pushing and prevent material blockage.

[0051] In addition, the moving mechanism includes six mechanical legs 600, which are arranged symmetrically on the left and right sides and evenly in a front and rear array along the base plate 100.

[0052] With its six mechanical legs, the machine can move, shift, and adjust its posture flexibly, making it suitable for working on uneven terrain in the field.

[0053] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A hexapod robot device integrating drilling and precise material delivery, comprising a base plate, characterized in that, It also includes drilling equipment and delivery equipment; The drilling device includes a drill rod guide, a drill rod, a drill rod lifting mechanism, and a drill rod rotation drive mechanism; the drill rod guide passes vertically through and is fixed to the base plate, and the drill rod and the drill rod guide are slidably assembled with a gap; The drill pipe lifting mechanism is fixedly installed on the base plate, the drill pipe rotation drive mechanism is installed on the lifting seat of the drill pipe lifting mechanism, and the drill pipe drive mechanism is assembled with the upper end of the drill pipe through a coupling. The dispensing device includes a first material box and a first conduit, wherein the first material box is connected to the lower side of the drill pipe conduit via the first conduit; A pusher piston cylinder is slidably installed inside the drill pipe guide tube. The outer wall of the pusher piston cylinder and the inner wall of the drill pipe guide tube are in clearance sealing fit. The central hole of the pusher piston cylinder is in clearance fit with the drill pipe. It also includes a piston cylinder pressing mechanism, which is mounted on the base plate, and the pressing plate of the piston cylinder pressing mechanism is mounted on the upper end of the pusher piston cylinder; A moving mechanism is installed below the base plate.

2. The integrated drilling and precise material delivery hexapod robot device according to claim 1, characterized in that, The bottom of the first material box is the discharge port, and a discharge valve is installed at the discharge port. The discharge port of the discharge valve is connected to the inlet of the first conduit. The dispensing device also includes a second material box and a second conduit. The lower end of the second conduit is connected to the lower part of the first conduit. A discharge valve is installed at the bottom of the second material box, and the discharge port of the discharge valve is connected to the inlet of the second conduit.

3. The integrated drilling and precise material delivery hexapod robot device according to claim 2, characterized in that, The second material box is connected to an air supply pipe, and the air inlet of the air supply pipe is connected to an air source.

4. The integrated drilling and precise material delivery hexapod robot device according to claim 3, characterized in that, The drill pipe lifting mechanism is a synchronous belt lifting mechanism; The drill pipe rotation drive mechanism is mounted on the lifting seat of the synchronous belt lifting mechanism.

5. The integrated drilling and precise material delivery hexapod robot device according to claim 4, characterized in that, The piston cylinder pressing mechanism includes a rack and pinion sliding seat, a sliding rack, a pressing plate, and a gear drive device; The rack sliding seat is fixedly installed on the base plate, the back of the rack is slidably installed on the rack sliding seat, one end of the pressing plate is fixedly installed on the upper end of the rack, and the other end of the pressing plate is fixed to the upper end of the pusher piston cylinder through a connecting rod; The gear drive device is fixedly installed on the rack sliding seat. The gear drive device meshes with the sliding rack and drives the sliding rack to move up and down, thereby driving the pusher piston cylinder to rise and push down inside the drill rod guide.

6. The six-legged robot device integrating drilling and precise material delivery as described in claim 5, characterized in that, The moving mechanism includes six mechanical legs, which are arranged symmetrically on the left and right sides and evenly in a front and rear array along the base plate.

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