Main vehicle and auxiliary vehicle cooperative type small comprehensive agricultural robot

Abstract

The utility model discloses a main vehicle and auxiliary vehicle cooperative type small comprehensive agricultural robot which comprises a main vehicle robot and an auxiliary vehicle robot. The main vehicle robot and the auxiliary vehicle robot are in butt joint through a detachable structure. The main vehicle robot comprises a main vehicle walking mechanism, a mechanical arm and a spraying assembly, wherein the mechanical arm and the spraying assembly are arranged on the main vehicle walking mechanism. The spraying assembly comprises a spray head and a spraying pipeline, the spray head is connected to one end of the spraying pipeline, and the spray head is arranged on the manipulator; the auxiliary vehicle robot comprises an auxiliary vehicle walking mechanism and a liquid supply assembly arranged on the auxiliary vehicle walking mechanism, the liquid supply assembly comprises a liquid storage tank, a liquid supply pipeline and a liquid supply pump, one end of the liquid supply pipeline is connected to the liquid storage tank, and in the cooperative mode, the other end of the liquid supply pipeline is communicated with the other end of the spraying pipeline in a sealed mode. The agricultural robot adopts a working mode of cooperation of the main vehicle and the auxiliary vehicle which can be separated and combined, the working mode can be switched according to actual needs, the flexibility is improved, and the endurance is prolonged.

Description

Technical Field

[0001] The utility model relates to an agricultural robot, in particular to a main vehicle and auxiliary vehicle cooperative small-sized integrated agricultural robot. Background Art

[0002] With the continuous advancement of artificial intelligence technology, my country's agricultural robot market has developed rapidly and the market size has continued to increase. According to the new industrial environment, robots can no longer be limited to ideal farmland environments for autonomous agricultural operations. Non-structural farmland operations in complex environments are the development trend of agricultural robots in the future, which poses new challenges and requirements for the design of agricultural robots.

[0003] In order to improve their capabilities, existing agricultural robots generally have multiple operating mechanisms, such as mechanical arms, spraying, irrigation mechanisms, etc. Although they can perform different tasks, they also have the following shortcomings:

[0004] In plant protection work, agricultural robots generally only perform one task at a time, such as picking, spraying or irrigation. It can be seen that when performing the current operation, other operating mechanisms are in standby state. At this time, the load is not doing work, which will undoubtedly increase the weight of the agricultural robot and reduce its endurance. Moreover, integrating multiple operating mechanisms into the same robot will also increase the size of the robot and make it less flexible. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned problems and provide a small integrated agricultural robot with a main vehicle and a secondary vehicle cooperating. The agricultural robot adopts a separable main vehicle and a secondary vehicle cooperating working mode, and can switch the working mode according to actual needs, which is conducive to improving flexibility and extending battery life.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] A main vehicle and auxiliary vehicle cooperative small integrated agricultural robot, comprising a main vehicle robot and an auxiliary vehicle robot;

[0008] The main vehicle robot and the auxiliary vehicle robot are connected via a detachable structure;

[0009] The main vehicle robot includes a main vehicle walking mechanism, a manipulator and a spraying assembly arranged on the main vehicle walking mechanism, and a terminal clamp is arranged on the end joint of the manipulator; the spraying assembly includes a spray head and a spraying pipeline, the spray head is connected to one end of the spraying pipeline, and the spray head is arranged on the manipulator;

[0010] The auxiliary vehicle robot includes an auxiliary vehicle traveling mechanism and a liquid supply component arranged on the auxiliary vehicle traveling mechanism. The liquid supply component includes a liquid storage tank, a liquid supply pipeline and a liquid supply pump. One end of the liquid supply pipeline is connected to the liquid storage tank. In the collaborative mode, the other end of the liquid supply pipeline is sealed and connected to the other end of the spraying pipeline.

[0011] The working principle of the above-mentioned main-vehicle cooperative small integrated agricultural robot is:

[0012] When working, in non-cooperative mode, the main robot and the auxiliary robot are separated, and the main robot can perform plant protection operations alone, such as picking and weeding. In cooperative mode, the main robot approaches the auxiliary robot and docks the two through a detachable structure. At the same time, the liquid supply pipeline is also connected to the spraying pipeline. Under the action of the liquid supply pump, the liquid supply pipeline and the spraying pipeline transport the water or nutrient solution or pesticide in the liquid storage tank to the nozzle, which is then sprayed onto the crops. At the same time, the manipulator drives the nozzle to move in space to complete the corresponding spraying or irrigation operations.

[0013] A preferred embodiment of the utility model, wherein the detachable structure includes a magnetic attraction component and an electromagnet, the magnetic attraction component includes a magnetic attraction sleeve and a magnetic attraction guide column, and the electromagnet is arranged inside the magnetic attraction sleeve to limit the magnetic attraction guide column inside the magnetic attraction sleeve, thereby achieving a secure connection.

[0014] In a preferred embodiment of the utility model, the main vehicle travel mechanism comprises a main vehicle frame, main vehicle travel wheels and a main vehicle travel drive mechanism, and the main vehicle travel wheels are rotatably connected to the main vehicle frame and connected to the main vehicle travel drive mechanism.

[0015] Furthermore, the main vehicle travel drive mechanism includes a travel drive motor, which is arranged on the main vehicle frame and connected to at least one set of main vehicle travel wheels.

[0016] A preferred solution of the utility model, wherein the terminal clamp includes a clamping jaw and a clamping drive mechanism, the clamping jaw is provided with two and is arranged opposite to each other, the clamping drive mechanism includes a clamping drive servo and a clamping transmission assembly, and the clamping transmission assembly is connected between the clamping drive servo and the clamping jaw.

[0017] In a preferred embodiment of the utility model, the other end of the spraying pipeline that is connected to the liquid supply pipeline is a rigid structure, and the remaining part of the spraying pipeline is a flexible structure.

[0018] Furthermore, a sealing gasket is provided at the other end of the spraying pipe.

[0019] In a preferred embodiment of the present invention, the main vehicle robot further comprises a hopper, and the hopper is fixed on a main vehicle frame of the main vehicle traveling mechanism.

[0020] In a preferred embodiment of the present invention, the main vehicle robot is also provided with a camera, an infrared sensor and a radar.

[0021] In a preferred embodiment of the utility model, the auxiliary vehicle traveling mechanism comprises an auxiliary vehicle frame and auxiliary vehicle traveling wheels, and the auxiliary vehicle traveling wheels are rotatably connected to the auxiliary vehicle frame.

[0022] In a preferred embodiment of the present invention, the liquid storage tank is provided in plurality; the liquid supply pipeline includes a front-end pipeline and a rear-end pipeline, and the front-end pipeline is provided in plurality;

[0023] The liquid supply assembly also includes a multi-port electromagnetic valve; the front-end pipeline is connected between the liquid storage tank and the multi-port electromagnetic valve, and the rear-end pipeline is connected between the multi-port electromagnetic valve and the spraying pipeline.

[0024] Compared with the prior art, the utility model has the following beneficial effects:

[0025] The main-vehicle cooperative small-scale integrated agricultural robot of the utility model adopts a separable main vehicle robot and an auxiliary vehicle robot, each of which carries a different operating mechanism and can switch the working mode according to actual needs. For example, in the non-cooperative mode, the main vehicle robot and the auxiliary vehicle robot are separated, and the main vehicle robot can perform plant protection operations alone, such as picking and weeding, which is conducive to improving flexibility and extending battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the main vehicle and auxiliary vehicle cooperative small-scale integrated agricultural robot of the utility model.

[0027] Figure 2 It is a three-dimensional structural schematic diagram of the main vehicle robot of the present utility model.

[0028] Figure 3 It is a three-dimensional structural schematic diagram of the auxiliary vehicle robot of the present utility model. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0030] See also Figure 1-3The main-vehicle cooperative small-scale integrated agricultural robot of this embodiment includes a main vehicle robot and an auxiliary vehicle robot; the main vehicle robot and the auxiliary vehicle robot are connected to each other through a detachable structure; wherein the detachable structure includes a magnetic suction component and an electromagnet (not shown in the figure), the magnetic suction component includes a magnetic suction sleeve 1 and a magnetic suction guide column 2, the electromagnet is arranged inside the magnetic suction sleeve 1, and is used to limit the magnetic suction guide column 2 in the magnetic suction sleeve 1, thereby achieving a reliable connection.

[0031] See also Figure 1-3 The main vehicle robot includes a main vehicle walking mechanism, a manipulator 3 and a spraying component arranged on the main vehicle walking mechanism, and a terminal clamp is provided on the end joint of the manipulator 3; the spraying component includes a nozzle (not shown in the figure) and a spraying pipe 4, and the nozzle is connected to one end of the spraying pipe 4, and the nozzle is arranged on the manipulator 3; specifically, the layout of the spraying pipe 4 on the manipulator 3 can refer to the line layout of the manipulator 3 itself.

[0032] See also Figure 1-3 The main vehicle travel mechanism includes a main vehicle frame 5, main vehicle travel wheels 6 and a main vehicle travel drive mechanism. The main vehicle travel wheels 6 are rotatably connected to the main vehicle frame 5 and connected to the main vehicle travel drive mechanism.

[0033] Furthermore, the main vehicle travel drive mechanism includes a travel drive motor 7 , which is disposed on the main vehicle frame 5 , and the travel drive motor 7 is connected to at least one set of main vehicle travel wheels 6 .

[0034] See also Figure 1-3 The terminal fixture includes a clamping claw 8 and a clamping drive mechanism. The clamping claw 8 is provided with two and arranged oppositely. The clamping drive mechanism includes a clamping drive servo 9 and a clamping transmission assembly. The clamping transmission assembly is connected between the clamping drive servo 9 and the clamping claw 8. Specifically, the clamping transmission assembly can refer to the existing structure. Specifically, the terminal fixture adopts a replaceable structure, and different execution ends can be replaced according to different agricultural production environments, avoiding the need for overall replacement due to a specific function, saving user costs, and at the same time, different execution ends can be customized and replaced according to user needs in the future, so that the entire robot can adapt to more diverse working environments.

[0035] See also Figure 1-3 The other end of the spraying pipe 4 that is connected to the liquid supply pipe 12 is a rigid structure, and the rest of the spraying pipe 4 is a flexible structure.

[0036] Furthermore, a sealing gasket is provided at the other end of the spraying pipe 4.

[0037] See also Figure 1-3The main vehicle robot also includes a hopper 10, which is fixed on the main vehicle frame 5 of the main vehicle walking mechanism.

[0038] See also Figure 1-3 The main vehicle robot is also provided with a camera, an infrared sensor and a radar. Specifically, the camera, the infrared sensor and the radar can refer to the layout of the existing automatic robot, and the data processing thereof can refer to the existing algorithm program.

[0039] See also Figure 1-3 The auxiliary vehicle robot includes an auxiliary vehicle traveling mechanism and a liquid supply component arranged on the auxiliary vehicle traveling mechanism; the liquid supply component includes a liquid storage tank 11, a liquid supply pipe 12 and a liquid supply pump; one end of the liquid supply pipe 12 is connected to the liquid storage tank 11; in the collaborative mode, the other end of the liquid supply pipe 12 is sealed and connected to the other end of the spraying pipe 4; of course, manual docking can also be used, and the docking structure can also adopt other existing structures.

[0040] See also Figure 1-3 The auxiliary vehicle running mechanism includes an auxiliary vehicle frame 13 and auxiliary vehicle running wheels 14 , and the auxiliary vehicle running wheels 14 are rotatably connected to the auxiliary vehicle frame 13 .

[0041] See also Figure 1-3 , the liquid storage tank 11 is provided with multiple; the liquid supply pipeline 12 includes a front-end pipeline and a rear-end pipeline, and the front-end pipeline is provided with multiple; the liquid supply component also includes a multi-port solenoid valve 15; the front-end pipeline is connected between the liquid storage tank 11 and the multi-port solenoid valve 15, and the rear-end pipeline is connected between the multi-port solenoid valve 15 and the spraying pipeline 4.

[0042] See also Figure 1-3 The working principle of the main-vehicle cooperative small integrated agricultural robot of this embodiment is as follows:

[0043] When working, in the non-cooperative mode, the main vehicle robot and the auxiliary vehicle robot are separated, and the main vehicle robot can perform plant protection operations alone, such as picking and weeding. In the cooperative mode, the main vehicle robot approaches the auxiliary vehicle robot, and the two are docked through a detachable structure. At the same time, under the guidance of the detachable structure, the liquid supply pipeline 12 is also connected to the spraying pipeline 4. Under the action of the liquid supply pump, the liquid supply pipeline 12 and the spraying pipeline 4 transport the water or nutrient solution or pesticide in the liquid storage tank 11 to the nozzle, and then the nozzle sprays it onto the crops. At the same time, the nozzle is driven by the manipulator 3 to move in space to complete the corresponding spraying or irrigation operations.

[0044] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A small integrated agricultural robot with a main and auxiliary vehicle cooperative, It is characterized in that Including main vehicle robot and auxiliary vehicle robot; The main vehicle robot and the auxiliary vehicle robot are connected via a detachable structure; The main vehicle robot includes a main vehicle walking mechanism, a manipulator and a spraying assembly arranged on the main vehicle walking mechanism, and a terminal clamp is arranged on the end joint of the manipulator; the spraying assembly includes a spray head and a spraying pipeline, the spray head is connected to one end of the spraying pipeline, and the spray head is arranged on the manipulator; The auxiliary vehicle robot includes an auxiliary vehicle traveling mechanism and a liquid supply component arranged on the auxiliary vehicle traveling mechanism. The liquid supply component includes a liquid storage tank, a liquid supply pipeline and a liquid supply pump. One end of the liquid supply pipeline is connected to the liquid storage tank. In the collaborative mode, the other end of the liquid supply pipeline is sealed and connected to the other end of the spraying pipeline.

2. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The detachable structure includes a magnetic attraction component and an electromagnet. The magnetic attraction component includes a magnetic attraction sleeve and a magnetic attraction guide column. The electromagnet is arranged inside the magnetic attraction sleeve and is used to limit the magnetic attraction guide column in the magnetic attraction sleeve.

3. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The main vehicle travel mechanism comprises a main vehicle frame, main vehicle travel wheels and a main vehicle travel drive mechanism, wherein the main vehicle travel wheels are rotatably connected to the main vehicle frame and are connected to the main vehicle travel drive mechanism.

4. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 3, It is characterized in that The main vehicle travel drive mechanism comprises a travel drive motor, which is arranged on the main vehicle frame and connected to at least one set of main vehicle travel wheels.

5. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The terminal clamp includes a clamping claw and a clamping drive mechanism. The clamping claw is provided with two and is arranged opposite to each other. The clamping drive mechanism includes a clamping drive servo and a clamping transmission assembly. The clamping transmission assembly is connected between the clamping drive servo and the clamping claw.

6. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The other end of the spraying pipeline that is butt-jointed with the liquid supply pipeline is a rigid structure, and the rest of the spraying pipeline is a flexible structure.

7. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 6, It is characterized in that The other end of the spraying pipe is provided with a sealing gasket.

8. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The main vehicle robot also includes a hopper, which is fixed on the main vehicle frame of the main vehicle traveling mechanism.

9. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The main vehicle robot is also provided with a camera, an infrared sensor and a radar.

10. The main vehicle and auxiliary vehicle cooperative small integrated agricultural robot according to claim 1, It is characterized in that The liquid storage tank is provided in plurality; the liquid supply pipeline includes a front-end pipeline and a rear-end pipeline, and the front-end pipeline is provided in plurality; The liquid supply assembly also includes a multi-port electromagnetic valve; the front-end pipeline is connected between the liquid storage tank and the multi-port electromagnetic valve, and the rear-end pipeline is connected between the multi-port electromagnetic valve and the spraying pipeline.

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