Multifunctional robot

Abstract

The utility model discloses a multifunctional robot which comprises a machine frame, a main machine device, a bearing device and a function module, the main machine device, the bearing device and the function module are installed on the machine frame, the main machine device comprises a main machine box, and the main machine box comprises a control module, a power module and an inspection tour assembly. According to the utility model, the artificial intelligence technology, the green agricultural technology, the mechanical technology and the electric appliance technology are comprehensively applied to an agricultural base with extremely high requirements on labor force, so that the aims of liberating productivity and improving production benefits are fulfilled; according to the utility model, networked and intelligent agricultural technology development is realized, whole-course recording and whole-course auxiliary guidance of the plant planting process are realized, and traceability of the plant planting process can be realized while the output value of agricultural products can be improved.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural machinery and relates to a multifunctional robot. Background Art

[0002] At present, agriculture mostly uses robots in areas with flat terrain, modern greenhouses, and modern breeding farms. However, high-standard farmland and mountainous and hilly areas still rely on human and animal power to solve operations such as irrigation, fertilization, and transportation. Machinery cannot enter areas with incomplete water and electricity infrastructure. In addition, existing robots are mostly used for simple operations such as watering, spraying, and fertilizing, and the degree of automation and intelligence is low. The utility model effectively solves this problem. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a multifunctional robot.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a multifunctional robot, characterized in that it includes a frame, a main unit, a supporting device and a functional module, the main unit, the supporting device and the functional module are installed on the frame, the main unit includes a main box, the main box includes a control module, a power module and an inspection component, and the control module controls the power module, the inspection component and the operation of the robot.

[0005] Furthermore; the frame includes a frame cross bar and a frame straight bar, and there are two groups of frame cross bars. The two groups of frame cross bars are arranged in parallel and fixedly connected by a frame cross short bar. The frame straight bar and the frame cross bar are fixedly connected by a frame connecting plate, and the two are perpendicular to each other, and the length direction of the frame straight bar is consistent with the moving direction of the robot. The frame straight bar and the frame cross bar are connected by a frame reinforcement plate. An antenna assembly is fixedly provided on the frame. There are two groups of antenna assemblies, and the two groups of antenna assemblies are installed at both ends of the frame straight bar. The antenna assembly includes an antenna and an antenna mounting block. The antenna mounting block is fixedly provided on the frame straight bar, and the antenna is installed on the antenna mounting block. Information transmission and interaction are performed through the antenna.

[0006] Furthermore; the control module includes a communication interface, and the control module exchanges information with the communication device through the wireless or wired communication module of the communication interface to remotely control the robot. The main box is also equipped with a voice operation component, and the robot is voice-controlled through the voice operation component. The communication device includes a mobile phone APP or / and a central control room or / and VR glasses. The communication interface receives the control instructions of the communication device and the voice data recognized by the voice operation component. The communication interface includes various wired or wireless communication interfaces on the main box. The control module controls the robot to move back and forth along the track through the power module; the inspection component includes a receiving module, a storage module and an operation module. The storage module is configured with information on a variety of planted crops and cultured organisms. The operation module inputs the set crop information and planting or breeding information and operations. The receiving module receives the real-time crop data collected by the monitoring module. The functional module includes a monitoring module. The monitoring module performs hourly network video monitoring on the crop area. The receiving module compares the real-time crop data with the crop data in the storage module, performs analysis and diagnosis, and determines the real-time status of the crop. According to the judgment result, the operation module performs corresponding operations; the robot's inspection mode is performed through the inspection component.

[0007] Furthermore; it also includes a power supply module, which supplies power to the robot. The power supply module uses a battery or a charging control module. The power supply module includes a photovoltaic panel and a photovoltaic mounting board. The power supply module is installed on the side of the frame, the photovoltaic mounting board is installed on the frame, the photovoltaic panel is installed on the photovoltaic mounting board, the photovoltaic mounting board includes a rack mounting part installed with the frame and a photovoltaic mounting part installed with the photovoltaic panel, the rack mounting part is horizontally arranged, and the photovoltaic mounting part and the rack mounting part are inclined.

[0008] Furthermore; the supporting device includes two groups of pulley assemblies and two groups of guide wheel assemblies, one group of guide wheel assemblies includes a guide wheel fixing plate, two groups of guide wheels are fixedly arranged on the guide wheel fixing plate, the two groups of guide wheels are distributed along the length direction of the frame cross bar, the two groups of guide wheel assemblies are symmetrically fixed on the frame straight rod and are located at the front and rear positions of the main box, one group of pulley assemblies includes a pulley fixing plate, two groups of pulleys are fixedly arranged on the pulley fixing plate, the two groups of pulleys are distributed along the length direction of the frame straight rod, the two groups of guide wheels and the two groups of pulleys on the same side are collinear or approximately collinear, and the robot cooperates with the steel cable device through the two groups of pulley assemblies and the two groups of guide wheel assemblies.

[0009] Furthermore; the functional module includes a loading module, which is detachably mounted on the frame, and is used for heavy-load transportation. The loading module includes two groups of loading racks, and loading components are fixedly arranged on the loading racks, and the loading components are used to mount functional accessories, and the functional accessories include a film laying module and / or a sowing module and / or a punching module and / or a feeding module and / or a watering module and / or a harvesting module, and the functional accessories are mounted on the bottom of the frame through the loading module, and the two groups of loading racks are symmetrically mounted on the frame of the frame, and the distribution direction of the two groups of loading racks is perpendicular to the moving direction of the robot, and a loading fixing plate is fixedly arranged under the loading rack, and two groups of loading components are fixedly arranged at both ends of the loading fixing plate, and the cross-section of the loading component in the vertical direction is set to be C-shaped, and the opening direction of the C-shape is horizontal and faces the frame, and the C-shaped design of the loading component facilitates the hanging or mounting of the functional accessories.

[0010] Furthermore; the functional module includes a water and fertilizer module, which is installed on a frame. The water and fertilizer module includes a water and fertilizer pipe and a water and fertilizer assembly. The host device controls the water and fertilizer module to spray water and fertilizer to the crop area. The water and fertilizer assembly includes a water and fertilizer telescopic assembly, a water and fertilizer rack and a water and fertilizer barrel. The water and fertilizer telescopic assembly controls the position of the water and fertilizer barrel. The water and fertilizer barrel is installed on the water and fertilizer rack. The water and fertilizer barrel is connected to the water and fertilizer pipe. The water and fertilizer telescopic assembly includes a telescopic frame and a hydraulic rod. The hydraulic rod is fixedly connected to the telescopic frame in a vertical direction. After the hydraulic rod is extended or retracted, it controls the extension and retraction of the telescopic frame in the vertical direction. A water and fertilizer connecting assembly is fixedly provided above the water and fertilizer telescopic assembly, and the water and fertilizer connecting assembly is fixedly connected to the frame.

[0011] Furthermore; the functional module includes a sterilization module, the sterilization module includes a gas sterilization device and a liquid sterilization device, the gas sterilization device includes an ultraviolet lamp and a sterilization net, the liquid sterilization device includes a sterilizing liquid and a mist spray mechanism, the host device controls the operation of the gas sterilization device and / or the liquid sterilization device, the gas sterilization device includes a turbofan, the inlet end size of the turbofan is larger than the outlet end size, and the size of the turbofan gradually decreases along the air flow direction, the turbofan includes a turbine casing and a turbine frame, the turbine frame constitutes the overall frame of the turbofan, the turbine casing is installed on the outer surface of the turbine frame, the turbine frame and the equipment installed in the turbine frame are wrapped as a whole inside, and an air circulation channel is formed; sound insulation cotton is arranged inside the turbine casing, and high-strength thermal insulation and fireproof cotton is arranged outside, a fan is also arranged inside the turbofan, the fan is installed at the inlet end of the turbofan, the fan is used to form a negative pressure environment inside the turbofan, the ultraviolet lamp and the sterilization net are installed in the turbofan, the sterilization net is installed obliquely in the turbofan, and a number of sterilization nets are distributed in sequence along the air circulation direction to perform multiple and multi-level purification treatments on the air.

[0012] Furthermore, the sterilizing liquid is formed by mixing the diluent and the sterilizing original liquid in proportion, the mist spray mechanism includes a mist spray pipe and a mist spray head, the sterilizing liquid is sprayed outward by the mist spray pipe or the mist spray head for sterilization, the liquid sterilization device also includes a sterilization telescopic component, a sterilization rack, a dilution barrel, a sterilization barrel and a liquid outlet pipe, the liquid outlet pipe is installed at the outlet end of the turbofan, one end of the liquid outlet pipe is connected with the dilution barrel and the sterilization barrel respectively through pipelines, a proportional pump is arranged in the pipeline, the other end of the liquid outlet pipe is connected with the mist spray head, the sterilization barrel is filled with the sterilization original liquid, the dilution barrel is filled with the dilution liquid, the dilution dilutes the sterilization original liquid, the proportional pump adjusts the liquid delivery ratio of the dilution barrel and the sterilization barrel, the dilution liquid in the dilution barrel and the sterilization original liquid in the sterilization barrel are directly delivered to the liquid outlet pipe according to the set ratio, and the prepared sterilizing liquid is sprayed outward through the mist spray head or the mist spray pipe.

[0013] Furthermore, the main chassis is fixed to the rack through a chassis mounting frame, the chassis mounting frame includes two sets of chassis fixing components and a chassis connecting rod connecting the two sets of chassis fixing components, the two sets of chassis fixing components are symmetrically arranged along the length direction of the rack straight rod, the chassis connecting rod fixedly connects the two sets of chassis fixing components, the chassis fixing components include two sets of rack card boards, the two sets of rack card boards are symmetrically arranged up and down, the two sets are connected by the rack card board connecting rod, the rack card board is fixed with a card board recess, and the card board recess is composed of a number of grooves with a step-like structure The notches on the two sets of rack card plates are positioned opposite to each other to form a through cavity, the rack straight rod passes through the two sets of through cavities, and the two are fixedly connected by a corresponding structure. The rack straight rod of this embodiment passes through a number of notches with a step-like structure, which can avoid positional displacement of the rack straight rod during installation on the one hand, and on the other hand, different notches can adapt to rack straight rods of different sizes, thereby improving the efficiency of installing the rack straight rod and the chassis mounting frame; a chassis mounting plate is also fixedly provided on the chassis mounting frame, and the main chassis is mounted on the chassis mounting frame through the chassis mounting plate.

[0014] In summary, the utility model is beneficial in that:

[0015] The benefits of the present invention are as follows: the present invention, through distributed ground-insertion operation base stations, comprehensively applies artificial intelligence technology, green agricultural technology, mechanical technology, and electrical technology to agricultural bases with extremely high labor requirements, thereby achieving the goal of liberating productivity and improving production efficiency; the present invention realizes the development of networked and intelligent agricultural technology, realizes the full recording and full auxiliary guidance of the plant planting process, and can realize the traceability of the plant planting process while increasing the output value of agricultural products. It can realize the rapid conversion of various operation functions through a detachable hanging platform, thereby being suitable for various operation tasks in agricultural production and improving the utilization rate and performance of agricultural robots. The utility model has a high cost-effectiveness and reduces the operating cost. The utility model walks on a suspended track, which can obtain a better inspection angle and more ample space for picking and spraying, and is particularly suitable for planting scenes such as open fields and closed greenhouses. Moreover, since the robot does not need to touch the ground, it can also avoid damage to crops by the robot. The utility model has an automatic inspection function, and can execute the inspection mode before starting tasks such as picking and spraying. Specifically, it can identify whether crops need to be sprayed and fruits need to be picked based on machine vision technology. It has a stronger level of automation and can greatly improve agricultural production efficiency. The utility model can realize functions such as air purification, picking, formula fertilization (water and fertilizer), spraying, and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of an agricultural crop system equipped with a robot according to the utility model.

[0017] Figure 2 for Figure 1 A is an enlarged schematic diagram.

[0018] Figure 3 This is a bottom view of the robot of the present utility model.

[0019] Figure 4 It is a schematic diagram of a chassis mounting frame of the present utility model.

[0020] Figure 5 It is a schematic diagram of the frame of the utility model.

[0021] Figure 6 This is a schematic diagram of the photovoltaic installation panel of the present utility model.

[0022] Figure 7 It is a schematic diagram of a base station of the utility model.

[0023] Figure 8 This is a schematic diagram of an agricultural crop system equipped with a loading module according to the utility model.

[0024] Fig. 9 for Figure 8 A magnified schematic diagram of B.

[0025] Fig.10 This is a schematic diagram of an agricultural crop system equipped with a water-fertilizer module according to the utility model.

[0026] Fig.11 for Fig.10 A magnified schematic diagram of C in the middle.

[0027] Fig.12 It is a schematic diagram of the water-fertilizer module of the utility model.

[0028] Fig.13 This is a schematic diagram of an agricultural crop system equipped with a sterilization module according to the utility model.

[0029] Fig.14 for Fig.13 A magnified schematic diagram of D in the middle.

[0030] Fig.15 It is a schematic diagram of the turbofan mounting frame of the present utility model.

[0031] Fig.16 It is a schematic diagram of the internal structure of the turbofan of the present utility model.

[0032] Fig.17 It is a schematic diagram of the second embodiment of the present utility model.

[0033] Fig.18 This is a schematic diagram of the third embodiment of the present invention.

[0034] Fig.19 It is a schematic diagram of the fourth embodiment of the present utility model.

[0035] Fig. 20 This is a schematic diagram of the water and fertilizer installation frame in the fourth embodiment of the present utility model. DETAILED DESCRIPTION

[0036] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0038] All directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, horizontal, vertical...) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0039] Embodiment 1:

[0040] like Figure 1-16 As shown, an agricultural crop operation system includes a robot 1, a cable device 3, a drive device 4, a functional module and a plurality of base stations 2. The cable device 3 connects two groups of base stations 2, the cable device 3 supports the robot 1, the drive device 4 controls the robot 1 to move along the cable device 3, and the functional module can be detachably installed on the robot 1.

[0041] The functional modules include a monitoring module and / or a loading module 9 and / or a water and fertilizer module 5 and / or a sterilization module 6 and / or a power supply module 7 .

[0042] In this embodiment, at least one of the functional modules is installed on the robot 1, and the functional module and the robot 1 are installed in a detachable manner to achieve rapid conversion of multiple operating functions, thereby being suitable for various operating tasks in agricultural production, improving the utilization rate and cost-effectiveness of the agricultural robot, and reducing operating costs.

[0043] like Figure 1-6 As shown, the robot 1 includes a frame 11, a main unit, and a supporting device 14. The main unit, the supporting device 14 and the functional modules are installed on the frame 11. The supporting device 14 is used for the frame 11, the main unit and the functional modules. The functional modules include a monitoring module, a loading module 9, a water and fertilizer module 5, a sterilization module 6, and a power supply module 7. The frame 11 is installed with at least one of the functional modules.

[0044] The frame 11 includes a frame cross bar 111 and a frame straight bar 112. The frame cross bar 111 is provided with two groups. The two groups of frame cross bars 111 are arranged in parallel and fixedly connected by a frame cross short bar. The frame straight bar 112 is fixedly connected to the frame cross bar 111 by a frame connecting plate 116, and the two are perpendicular to each other, and the length direction of the frame straight bar 112 is consistent with the moving direction of the robot 1. Further, in order to ensure the stability between the two, the frame straight bar 112 and the frame cross bar 111 are connected with a frame reinforcement plate 113, and the frame reinforcement plate 113 is used to ensure the fixed stability of the two to prevent the heavy objects from being applied. The two below are deformed. In order to reduce the overall weight of the robot 1, in this embodiment, the frame 11 adopts a hollow structure and the shape is square, but it is not limited to square, and even an irregular shape can be adopted as long as the requirements can be met; an antenna assembly 12 is fixedly provided on the frame 11, and the antenna assembly 12 is provided with two groups, and the two groups of antenna assemblies 12 are installed at both ends of the frame straight rod 112. The antenna assembly 12 includes an antenna 121 and an antenna mounting block 122. The antenna mounting block 122 is fixed on the frame straight rod 112, and the antenna 121 is installed on the antenna mounting block 122. Information transmission and interaction are realized through the antenna 121.

[0045] The host device includes a main box 13, which is the control center of the operation system and the operation of the robot 1. The main box 13 includes a control module, a power module and an inspection component. The control module controls the operation of the power module and the inspection component. The control module includes a communication interface. The control module interacts with the communication device through the wireless or wired communication module of the communication interface to achieve remote control of the robot. The main box 13 is also equipped with a voice operation component, which realizes voice control of the robot through the voice operation component. The communication equipment in this embodiment includes a mobile phone APP and / or a central control room and / or VR glasses.

[0046] The central control room can adopt the existing design, or it can directly use voice to recognize the voice instructions through the voice operation component to realize the monitoring module, loading module 9, driving device 4, water and fertilizer module 5, sterilization module 6, power supply module 7, and realize remote control of the robot in various ways, thereby expanding the diversity, richness and convenience of the control methods, so that the robot can adapt to the requirements of different environments and various operation tasks of agricultural production; the communication interface receives the control instructions of the communication equipment and the voice data recognized by the voice operation component, and the communication interface includes various wired or wireless communication interfaces on the main box 13, such as network interface, USB interface, video interface, Bluetooth, WI FI, 4G\5G, etc.; the control module controls the robot to move back and forth along the track through the power module; the inspection component includes a receiving module, a storage module and an operating module. The storage module is configured with information of various crops and farmed organisms. The operating module inputs the set crop information and planting or farming information and operations. The receiving module receives the real-time crop data collected by the monitoring module. The monitoring module performs 24-hour network video monitoring on the crop area. The receiving module compares the real-time crop data with the crop data of the storage module, performs analysis and diagnosis, and determines the real-time state of the crop. For example, when planting crops, it determines the growth stage of the crop and determines whether the crop is growing well at this stage based on factors such as the color and shape of the crop leaves. According to the judgment result, the operating module performs corresponding operations, that is, the robot realizes the automatic planting and farming functions through machine vision technology; in this embodiment, the inspection mode of the robot 1 can be realized through the inspection component. The inspection mode can be executed before starting the operation tasks such as picking and spraying. Based on the machine vision technology, it can be identified whether the crop spraying and fruit picking are needed. It has a stronger level of automation and can greatly improve the agricultural production efficiency.

[0047] This embodiment realizes the development of networked and intelligent agricultural technology through inspection components, realizes the full recording and full auxiliary guidance of the plant planting process, and can realize the traceability of the plant planting process while increasing the output value of agricultural products.

[0048] In this embodiment, the monitoring module may include a camera and / or a thermal imager, a sound collector and / or a speaker. The monitoring module uses a camera and / or a thermal imager to collect images and / or thermal imaging data of crops. The monitoring module collects sound data of crops through the sound collector, and the speaker transmits signal data.

[0049] In this embodiment, the control module can be configured as a mobile terminal, such as a mobile phone, a notebook, etc., or a fixed terminal.

[0050] The main chassis 13 is fixed on the rack 11 through the chassis mounting frame 10. The chassis mounting frame 10 includes two sets of chassis fixing components 102 and a chassis connecting rod 101 connecting the two sets of chassis fixing components 102. The two sets of chassis fixing components 102 are symmetrically arranged along the length direction of the rack straight rod 112. The chassis connecting rod 101 fixes and connects the two sets of chassis fixing components 102. The chassis fixing components 102 include two sets of rack card boards 1021. The two sets of rack card boards 1021 are symmetrically arranged up and down. The two sets are connected by a rack card board connecting rod 1023. The rack card board 1021 is fixed with a card board notch 10211. The card board notch 10211 is composed of a plurality of step-like The slots of the structure are formed, the card recesses 10211 on the two groups of rack card plates 1021 are positioned opposite to each other to form a through cavity, the rack straight rod 112 passes through the two groups of through cavities, and the two are fixedly connected by a corresponding structure. In this embodiment, the rack straight rod 112 passes through a number of slots similar to the step-type structure. On the one hand, it can avoid the position displacement of the rack straight rod 112 during the installation process. On the other hand, different slots can adapt to rack straight rods 112 of different sizes, thereby improving the installation efficiency of the rack straight rod 112 and the chassis mounting frame 10; a chassis mounting plate 1022 is also fixedly provided on the chassis mounting frame 10, and the main chassis 13 is installed on the chassis mounting frame 10 through the chassis mounting plate 1022.

[0051] The power supply module 7 can be a battery or a charging control module, or an external power source such as solar energy. Figure 2 As shown, the robot 1 is powered by solar energy. Specifically, in this embodiment, the power supply module 7 includes a photovoltaic panel 71 and a photovoltaic mounting panel 72. The power supply module 7 is installed on the side of the frame 11. Specifically, a power supply mounting plate 115 for mounting the power supply module 7 is fixed on the frame cross bar 111. The photovoltaic mounting panel 72 is mounted on the power supply mounting panel 115, and the photovoltaic panel 71 is mounted on the photovoltaic mounting panel 72, so as to realize the installation of the power supply module 7 and the frame 11. In this embodiment, the power supply module 7 is provided with four groups, and a 30W photovoltaic panel 71 is used. Further, the photovoltaic mounting panel 72 includes a frame mounting portion 721 installed with the power supply mounting panel 115 and a frame mounting portion 721 installed with the photovoltaic mounting panel 115. The photovoltaic mounting portion 722 is mounted on the volt-board, and the rack mounting portion 721 is arranged horizontally. The photovoltaic mounting portion 722 and the rack mounting portion 721 are arranged at an inclination, and the inclination angle is preferably 45°, which can not only avoid the accumulation of ice, snow or dust, but also increase the amount of solar energy received by the photovoltaic panel 71. Further, a group of power supply modules 7 may include multiple groups of photovoltaic mounting panels 72, and the multiple groups of photovoltaic mounting panels 72 may be located at positions to receive the sun in different directions, thereby increasing the amount of solar energy received by the photovoltaic panel 71. Further, the shape of the photovoltaic mounting panel 72 can be set to an arc shape or other shapes, and the corresponding shape of the photovoltaic panel 71 matches the photovoltaic mounting panel 72, and can be set according to actual needs.

[0052] The supporting device 14 includes two groups of pulley assemblies and two groups of guide wheel assemblies. One group of guide wheel assemblies includes a guide wheel fixing plate 141. Two groups of guide wheels 142 are fixedly arranged on the guide wheel fixing plate 141. The two groups of guide wheels 142 are distributed along the length direction of the frame cross bar 111. The two groups of guide wheel assemblies are symmetrically fixed on the frame straight rod 112 and are located at the front and rear positions of the main box 13. One group of pulley assemblies includes a pulley fixing plate 143. Two groups of pulleys 144 are fixedly arranged on the pulley fixing plate 143. The two groups of pulleys 144 are distributed along the length direction of the frame straight rod 112. Figure 3 As shown, the two sets of guide wheels 142 and the two sets of pulleys 144 on the same side are collinear or approximately collinear, and the robot 1 cooperates with the cable device 3 through the two sets of pulley assemblies and the two sets of guide wheel assemblies to ensure the stability of the transmission of the robot 1.

[0053] The robot 1 can be applied to existing equipment alone and operated using existing methods.

[0054] In this embodiment, the base stations 2 include at least two groups, and the two groups of base stations 2 are arranged as a unit. The two groups of base stations 2 of one unit are distributed on both sides of the crop area, and the two groups of base stations 2 located on both sides of the crop area correspond one to one, and one unit corresponds to one group of robots 1. One unit is provided with a group of steel cable devices 3 and driving devices 4; preferably, a docking base station 26 can be arranged between the two groups of base stations 2 of one unit, and the height of the docking base station 26 is consistent with that of the base station 2. The docking base station 26 can be used as a supply device for supplementing energy for the robot 1, and can also support the supporting device 14, so that the utility model and the robot can realize long-distance movement and adapt to a wide range of crop areas. In this embodiment, six groups of base stations 2 are arranged. In actual situations, the number of base stations 2 can be increased or decreased according to the size of the crop area.

[0055] like Figure 7 As shown, the base station 2 includes a base standing column 22 and a base station beam 23, and the base standing column 22 and the base station beam 23 are composed of a plurality of pipes. In this embodiment, the outer dimensions of the base standing column 22 are set to 300x300x1200mm, and the outer dimensions of the base station beam 23 are set to 300x300x800mm. A plurality of base standing columns 22 are distributed and fixedly connected along the vertical direction, and the base station beam 23 is fixedly arranged on the base standing column 22 located on the upper side, and the base station beam 23 and the base standing column 22 form a T-shaped structure. A base station suspension beam 24 is arranged between the base station beam 23 and the base standing column 22, and the stability of the base station beam 23 is achieved by the base station suspension beam 24, and the strength of the base station beam 23 is enhanced. A base station fixing seat 21 is fixedly arranged at the bottom of the base standing column 22. In this embodiment, the base station fixing seat 21 is installed on the base station base 20.

[0056] To ensure the stability of the base station 2, the base station 2 also includes a base station oblique-stayed mechanism 25, which includes two groups of base station oblique-stayed bases 251. A base station oblique-stayed rope fixing seat 252 is fixedly provided on each group of base station oblique-stayed bases 251. A base station oblique-stayed rope 253 is fixedly provided between the base station oblique-stayed rope fixing seat 252 and the base station crossbeam 23. The base station oblique-stayed bases 251 are respectively located on both sides of the base station 2. The base station 2 and the two groups of base station oblique-stayed bases 251 are distributed in a triangle. After the base station 2 is installed as a whole, the base station oblique-stayed rope 253 is used to ensure the overall stability. In other embodiments, the base station fixing seat 21 can also be directly installed on the ground, and the base station oblique-stayed rope fixing seat 252 can also be directly installed on the ground, as long as the base station 2 can be stably installed, thereby ensuring the stability of the base station 2.

[0057] The base station 2 can be applied to existing equipment alone and operated using existing methods.

[0058] In this embodiment, two groups of base stations 2 of a unit are connected by a steel cable device 3. Specifically, the steel cable device 3 includes a main steel cable 30, an auxiliary steel cable 33 and a steel cable fixing mechanism. The main steel cable 30 is located above the auxiliary steel cable 33. A steel cable support bracket 32 ​​is fixedly provided on the base station 1. A main steel cable sleeve 31 is fixedly provided on the steel cable support bracket 32. The main steel cable 30 is sleeved in the main steel cable sleeve 31. An auxiliary steel cable sleeve 34 is fixedly provided on the base station 1. The auxiliary steel cable 33 is sleeved in the auxiliary steel cable sleeve 34. The main steel cable 30 and the auxiliary steel cable 33 are fixedly provided in the steel cable fixing mechanism. Specifically, For example, the cable fixing mechanism includes a cable inclined-stayed base 35, on which a cable inclined-stayed rope fixing seat 36 is fixed, and the main steel cable 30 and the auxiliary steel cable 33 are fixed to the cable inclined-stayed rope fixing seat 36 respectively, thereby ensuring the stability of the main steel cable 30 and the auxiliary steel cable 33; in other embodiments, the cable inclined-stayed base 35 can also be directly installed on the ground, as long as the main steel cable 30 and the auxiliary steel cable 33 can be stably installed, thereby ensuring the stability of the main steel cable 30 and the auxiliary steel cable 33.

[0059] Two groups of base stations 2 in one unit are connected by a main steel cable 30 and an auxiliary steel cable 33. In the present embodiment, two groups of main steel cables 30 and two groups of auxiliary steel cables 33 are provided. The spacing between the two groups of main steel cables 30 is smaller than the spacing between the two groups of auxiliary steel cables 33, forming a trapezoidal structure. The main steel cables 30 and the auxiliary steel cables 33 are respectively located at the four corners of the trapezoid. The two groups of pulley assemblies and the two groups of guide wheel assemblies of the supporting device 14 are respectively against the main steel cables 30. The robot 1 moves along the main steel cables 30. The robot 1 walks on the suspended main steel cables 30, which can obtain a better inspection perspective and more ample space for picking and spraying, and is particularly suitable for planting scenes such as open fields and closed greenhouses. Moreover, since the robot does not need to touch the ground, damage to crops by the robot can also be avoided.

[0060] The wire rope device 3 can be applied to existing equipment alone and operated using existing methods.

[0061] The driving device 4 includes a driving mounting frame 45, which is fixed on the base station beam 23 of the base station 2. A driving motor 44 and a driving frame 42 are fixed on the driving mounting frame 45. A driving cable 41 is wound around the driving frame 42. The driving cable 41 is connected to a cable sleeve 114 fixed on the frame straight rod 112. Two groups of base stations 2 in one unit are respectively connected to the two ends of the robot 1 through the driving cable 41. The driving motor 44 controls the rotation of any driving cable 41, and then controls the robot 1 to move back and forth along the main steel cable 30. The driving device 4 is generally started synchronously with the functional module, and the robot 1 realizes functions such as inspection, monitoring, feeding, watering, fertilizing, sterilization and mist spraying; the driving motor 44 controls the movement speed of the robot 1, which can adapt to the different needs of different crops.

[0062] The driving device 4 can be applied to existing equipment alone and operated using existing methods.

[0063] like Figure 8-9 As shown, the loading module 9 includes two groups of loading racks 91, and loading components 94 are fixedly provided on the loading racks 91. The loading components 94 are used to mount functional accessories.

[0064] The functional accessories include a film laying module and / or a sowing module and / or a punching module and / or a feeding module and / or a watering module and / or a harvesting module. The functional accessories are mounted under the robot 1 through the loading module 9, which lowers the center of gravity of the robot 1 and improves the stability. The loading module 9 cooperates with the main steel wire 30 and the auxiliary steel wire 33 of the steel cable device 3 to load 200 kg of weight, realizing heavy-load transportation of the operating system, thereby being suitable for various operating tasks in agricultural production. The distributed base station 2, loading module 9 and steel cable device 3 constitute all-terrain heavy-load transportation for agriculture.

[0065] Two groups of loading racks 91 are symmetrically installed on the rack cross bar 111 of the rack 11. The distribution direction of the two groups of loading racks 91 is perpendicular to the moving direction of the robot 1. The spacing between the two groups of loading racks 91 matches the spacing of the auxiliary steel cables 33. A loading fixing plate 92 is fixed under the loading rack 91. Two groups of loading components 94 are fixed at both ends of the loading fixing plate 92. The two groups of loading components 94 are distributed along the length direction of the auxiliary steel cables 33. The loading components 94 are used to carry functional accessories.

[0066] The cross-section of the loading component 94 in the vertical direction is set to be C-shaped, and the opening direction of the C-shape is horizontal and faces the auxiliary steel cable 33. The C-shaped design of the loading component 94 is conducive to hanging or carrying functional accessories. Loading wheels 951 are fixed in the upper and lower directions of the opening of the loading component 94. The loading wheels 951 are against the auxiliary steel cable 33, and the loading module 9 is supported by the auxiliary steel cable 33.

[0067] The loading module 9 also includes a limiting device 96. Two groups of limiting devices 96 are provided and installed on opposite surfaces of the two groups of loading frames 91. Limiting wheels 961 are fixed on the limiting devices 96. The limiting devices 96 limit the functional accessories that are hung or carried.

[0068] The loading module 9 can be applied to existing equipment alone and operated using existing methods.

[0069] like Figure 10-12 As shown, the water-fertilizer module 5 includes a water-fertilizer pipe 50 and a water-fertilizer assembly 51. The water-fertilizer assembly 51 includes a water-fertilizer telescopic assembly 511, a water-fertilizer rack 512 and a water-fertilizer barrel 513. The water-fertilizer telescopic assembly 511 controls the position of the water-fertilizer barrel 513. The water-fertilizer barrel 513 is installed on the water-fertilizer rack 512. The water-fertilizer barrel 513 is connected to the water-fertilizer pipe 50, and the water-fertilizer pipe 50 sprays water and fertilizer to the crop area.

[0070] The water and fertilizer pipe 50 is located between two groups of base stations 2 of a unit and is distributed along the length direction of the main steel wire 30. A plurality of evenly distributed water and fertilizer spray holes 501 are fixed on the water and fertilizer pipe 50. The water and fertilizer spray holes 501 face the crop area, and water and fertilizer are sprayed to the crop area through the water and fertilizer spray holes 501. The water and fertilizer pipe 50 can be composed of a combination of a plurality of pipes, or can be set separately by a group of pipes.

[0071] The water and fertilizer pipe 50 is located below the main steel wire 30 in the vertical direction and in the middle of the two groups of main steel wires 30 in the horizontal direction. The water and fertilizer pipe 50 is connected to the two groups of main steel wires 30 through connecting rods 502 respectively. The water and fertilizer pipe 50, the two groups of main steel wires 30 and the connecting rods 502 form a triangle to ensure the stability of the installation of the water and fertilizer pipe 50. Through the design of the water and fertilizer pipe 50, in some cases, the robot 1 can remain stationary after loading the water and fertilizer assembly 51, and the water and fertilizer pipe 50 sprays water and fertilizer to the crop area.

[0072] The water and fertilizer assembly 51 includes a water and fertilizer telescopic assembly 511, a water and fertilizer frame 512 and a water and fertilizer bucket 513. The water and fertilizer telescopic assembly 511 includes a telescopic frame 5111 and a hydraulic rod 5112. In this embodiment, the hydraulic rod 5112 is fixedly connected to the telescopic frame 5111 in the vertical direction. After the hydraulic rod 5112 is extended or retracted, it controls the extension and retraction of the telescopic frame 5111 in the vertical direction. A water and fertilizer connecting assembly 510 is fixedly provided above the water and fertilizer telescopic assembly 511, and the water and fertilizer connecting assembly 510 is fixedly connected to the frame 11 of the robot 1.

[0073] The water and fertilizer rack 512 is fixed at the lower end of the water and fertilizer telescopic assembly 511. The water and fertilizer rack 512 includes a first box body 5121 and a second box body 5122. The first box body 5121 is provided with two groups and is symmetrically fixed at both ends of the second box body 5122. The water and fertilizer barrel 513 is installed in the second box body 5122. The first box body 5121 can be installed with a raw material barrel (not shown in the figure). The raw material barrel is connected to the water and fertilizer barrel 513, and the raw materials are input into the water and fertilizer barrel 513 as needed to realize the function of automatic batching; the water and fertilizer barrel 513 can use existing equipment, and the size of the water and fertilizer barrel 513 can be set as needed.

[0074] A water and fertilizer support frame 514 is also fixedly provided below the water and fertilizer frame 512 . The water and fertilizer support frame 514 can be in contact with the ground. The water and fertilizer support frame 514 supports the water and fertilizer assembly 51 , thereby reducing the loading burden of the robot 1 .

[0075] The water and fertilizer telescopic component 511 can control the lifting and lowering position of the water and fertilizer bucket 513 to adapt to the fertilization requirements of different crops. In this embodiment, according to the design of the water and fertilizer component 51, the center of gravity of the water and fertilizer bucket 513 is lowered, which is beneficial to the stability of the robot 1.

[0076] The water-fertilizer module 5 can be applied to existing equipment alone and operated using existing methods.

[0077] like Figure 13-16 As shown, the sterilization module 6 includes a gas sterilization device and a liquid sterilization device. The gas sterilization device includes an ultraviolet lamp 622 and a sterilization net 623. The liquid sterilization device includes a sterilizing liquid and a mist spray mechanism. The ultraviolet lamp 622 and the sterilization net 623 are used for gas sterilization, and the liquid sterilization device uses a sterilizing liquid for sterilization.

[0078] The gas sterilization device includes a turbofan 62, which is installed above the frame 11 through a turbofan mounting frame 66. In the present embodiment, the size of the inlet end of the turbofan 62 is larger than the size of the outlet end, and the size of the turbofan 62 gradually decreases along the air flow direction, which is beneficial to compressing the air and enhancing the air flow speed; the gas sterilization device is provided with two groups, and the two groups are symmetrically installed on the frame 11, and the air flow direction of the turbofan 62 is consistent with the moving direction of the robot 1; in the present embodiment, the turbofan mounting frame 66 is a frame structure, and the upper surface of the turbofan mounting frame 66 is provided with an arc surface 661, and the curvature of the arc surface 661 matches the curvature of the outer surface of the inlet end of the turbofan 62, and the inlet end of the turbofan 62 is fixedly connected to the upper surface of the turbofan mounting frame 66, so that the turbofan 62 is fixedly installed on the frame 11.

[0079] The turbofan 62 includes a turbine casing 625 and a turbine frame 620. The turbine frame 620 constitutes the overall frame of the turbofan 62. The turbine casing 625 is installed on the outer surface of the turbine frame 620, wrapping the turbine frame 620 and the equipment installed in the turbine frame 620 as a whole and forming an air circulation channel. The turbine casing 625 is provided with sound insulation cotton inside and high-strength thermal insulation and fireproof cotton outside, so as to reduce interference with the external environment.

[0080] A fan 621 is also provided inside the turbofan 62. The fan 621 is installed at the inlet end of the turbofan 62. When the fan 621 is started, a negative pressure environment is formed inside the turbofan 62, so that air continuously enters the turbofan 62 for purification.

[0081] The ultraviolet lamp 622 and the sterilizing net 623 are both installed in the turbofan 62. Specifically, Fig.15 As shown, the sterilization net 623 is installed obliquely in the turbofan 62 to obtain the maximum contact area between the air and the sterilization net 623. Several sterilization nets 623 are distributed in sequence along the air flow direction to achieve multiple and multi-level purification of the air and obtain the maximum air purification effect.

[0082] The sterilization net 623 is composed of a photocatalytic net, which is composed of a photocatalyst, preferably titanium dioxide. The ultraviolet lamp 622 is installed inside the turbofan 62. The ultraviolet lamp 622 is started to emit ultraviolet light of a certain band, and the preferred band is set to 365nm. The ultraviolet light is emitted to the sterilization net 623, that is, the photocatalyst is activated, and the photocatalyst produces a strong oxidizing substance. At this time, when the air is circulated, it can effectively degrade toxic and harmful gases in the air, and effectively kill a variety of bacteria. It can also decompose and harmlessly treat toxins released by bacteria or fungi, thereby achieving the purpose of efficient air purification.

[0083] In this embodiment, the sterilizing liquid is mixed with a diluent and a sterilizing stock solution in a certain proportion, and the mist spray mechanism includes a mist spray pipe 63 and a mist spray head 60. The sterilizing liquid is sprayed outward by the mist spray pipe 63 or the mist spray head 60 to sterilize.

[0084] The liquid sterilization device further includes a sterilization telescopic assembly 611 , a sterilization rack 61 , a dilution barrel 65 and a sterilization barrel 64 . The sterilization telescopic assembly 611 controls the position of the dilution barrel 65 , and the dilution barrel 65 is mounted on the sterilization rack 61 .

[0085] The liquid sterilization device includes a liquid outlet pipe 624 installed at the outlet end of the turbofan 62, one end of the liquid outlet pipe 624 is connected to the dilution barrel 65 and the sterilization barrel 64 through a pipeline, a proportional pump (not shown) is arranged in the pipeline, and the other end of the liquid outlet pipe 624 is connected to the mist nozzle 60, and the mist nozzle 60 can adopt existing equipment. The sterilization barrel 64 is filled with a sterilization stock solution, such as Bordeaux mixture, chlorothalonil, etc., and the dilution barrel 65 is filled with a diluent. The dilution dilutes the sterilization stock solution to achieve different environments and different sterilization effects. The diluent can be Using water, a proportional pump adjusts the liquid delivery ratio of the dilution barrel 65 and the sterilization barrel 64. The diluted liquid in the dilution barrel 65 and the sterilization stock liquid in the sterilization barrel 64 are directly delivered to the liquid outlet pipe 624 according to the set ratio, and the prepared sterilization liquid is sprayed outward through the mist nozzle 60, that is, the dilution barrel 65, the sterilization barrel 64, the liquid outlet pipe 624 and the mist nozzle 60 form a first mist spray channel. The mist spray area of ​​the first mist spray channel is determined by the spraying area of ​​the mist nozzle 60. When the crop area or the disinfection and sterilization area is small, the mist nozzle 60 is preferably used for mist spraying.

[0086] The mist spray pipe 63 is connected to the liquid outlet pipe 624, and a mist spray hole (not shown) is fixedly provided on the mist spray pipe 63, that is, the dilution barrel 65, the sterilization barrel 64, the liquid outlet pipe 624 and the mist spray pipe 63 form a second mist spray channel. Preferably, the mist spray pipes 63 of adjacent units are connected to each other to form a large-area mist spray area. The mist spray area of ​​the second mist spray channel is determined by the spraying area of ​​the mist spray pipe 63. When the crop area or the disinfection and sterilization area is large, the mist spray pipe 63 is preferably used for mist spraying.

[0087] The liquid delivery ratio of the dilution barrel 65 and the sterilization barrel 64 is adjusted by a proportional pump to mix the sterilizing liquid. There is no need to prepare the sterilizing liquid in advance, which reduces the number of working steps, improves the sterilization efficiency and the degree of automation. The crop area or the sterilization area is sterilized by the mist nozzle 60 or the mist nozzle 63, which can adapt to different crop areas or sterilization areas.

[0088] The driving device 4 drives the robot 1 to move back and forth along the wire rope device 3 , so that the robot 1 is loaded with the sterilization module 6 and moves back and forth in the crop area or the sterilization area to perform sterilization.

[0089] The sterilization telescopic component 611 includes a sterilization telescopic frame 6111 and a sterilization hydraulic rod 6112. In this embodiment, the sterilization hydraulic rod 6112 is fixedly connected to the sterilization telescopic frame 6111 in the vertical direction. After the sterilization hydraulic rod 6112 is extended or retracted, it controls the extension and retraction of the sterilization telescopic frame 6111 in the vertical direction. A sterilization connection component 610 is fixedly provided above the sterilization telescopic component 611. The sterilization connection component 610 is fixedly connected to the frame 11 of the robot 1. Two groups of liquid sterilization devices are provided, which are symmetrically fixed on both sides of the frame 11. The distribution direction of the two groups of liquid sterilization devices is perpendicular to the moving direction of the robot 1.

[0090] The sterilization rack 61 is fixed at the lower end of the sterilization telescopic component 611. The sterilization rack 61 includes a first sterilization box 6121 and a second sterilization box 6122. The first sterilization box 6121 is provided with two groups and is symmetrically fixed at both ends of the second sterilization box 6122. The dilution barrel 65 is installed in the second sterilization box 6122. The sterilization barrel 64 can also be installed in the first sterilization box 6121, or the sterilization barrel 64 is installed in the second box 6122. Two groups of dilution barrels 65 are respectively installed in the first box 6121. The sterilization barrel 64 and the dilution barrel 65 are respectively connected to the liquid outlet pipe 624 through a proportional pump, and the dilution liquid and the sterilization original liquid are mixed in proportion to form a sterilization liquid, thereby realizing the function of automatic batching; the dilution barrel 65 can use existing equipment.

[0091] A sterilization support frame 614 is also fixedly provided below the sterilization frame 61 . The sterilization support frame 614 can be in contact with the ground. The sterilization support frame 614 supports the liquid sterilization device, thereby reducing the loading burden of the robot 1 .

[0092] The sterilization telescopic assembly 611 can control the lifting position of the dilution barrel 65 to adapt to the sterilization requirements of different environments. In this embodiment, according to the design of the liquid sterilization device, the center of gravity of the dilution barrel 65 is lowered, which is beneficial to the stability of the robot 1.

[0093] In this embodiment, the sterilization module 6 can be applied to crops to sterilize and disinfect the environment in which the crops are located and the crops themselves, thereby ensuring the survival rate of the crops, and taking pollution control and sterilization and disinfecting measures for public and domestic environments. The sterilization and disinfecting method is safe and has no strong pungent smell.

[0094] The sterilization module 6 can be applied to existing equipment alone and operated using existing methods.

[0095] In this embodiment, the main material of each structure is aviation aluminum material of national standard 6061-T6, which is environmentally friendly and lightweight.

[0096] In this embodiment, a control experiment was conducted on the sterilization effect of photocatalyst on crops:

[0097] Test crops: cucumber, the variety is the first generation hybrid of "Jinbei 99";

[0098] The control object of the experiment: cucumber downy mildew;

[0099] Test agent: 1% T IO2;

[0100] Control agents: 1. 80% mancozeb WP; 2. Tmax adjuvant;

[0101] The test results are shown in Table 1:

[0102] Table 1

[0103]

[0104] It can be seen from Table 1 that 1% TIO2 has a good control effect on cucumber downy mildew.

[0105] Embodiment 2:

[0106] like Fig.17 As shown, the difference between this embodiment and the first embodiment is that in the first embodiment, the power supply module 7 is installed on the side of the rack 11 and the photovoltaic panel 71 is arranged at an angle, while in this embodiment, the power supply module 7 is installed above the rack 11.

[0107] The power supply module 7 includes a photovoltaic panel 71 and a photovoltaic mounting panel 72 . The photovoltaic mounting panel 72 is provided in four groups and is distributed in a rectangular shape to connect the photovoltaic panel 71 and the frame reinforcement panel 113 . The photovoltaic panel 71 is located above the main box 13 .

[0108] Embodiment three:

[0109] like Fig.18 As shown, the difference between this embodiment and embodiment one is that in embodiment one, two groups of main steel wires 30 are provided, the main steel wires 30 support the supporting device 14, a loading module 9 is fixedly arranged under the frame 11, and the auxiliary steel wires 33 support the loading module 9, and the loading module 9 is used to carry functional accessories, while in this embodiment, the main steel wires 30 are provided as one group, the main steel wires 30 support the supporting device 14, a supporting module 16 is fixedly arranged under the frame 11, and the auxiliary steel wires 33 are used to support the supporting module 16.

[0110] The main steel wire 30 and the two sets of auxiliary steel wires form a triangle structure.

[0111] Embodiment 4:

[0112] like Figure 19-20 As shown, the difference between this embodiment and the first embodiment is that the water-fertilizer assembly 51 in the first embodiment includes a water-fertilizer telescopic assembly 511, a water-fertilizer rack 512 and a water-fertilizer bucket 513, the water-fertilizer bucket 513 is installed on the water-fertilizer rack 512, and the water-fertilizer rack 512 is connected to the frame 11 through the water-fertilizer telescopic assembly 511. In the first embodiment, the water-fertilizer assembly 51 has a telescopic function, while in the present embodiment, the water-fertilizer bucket 513 is installed on the frame 11 through the water-fertilizer mounting frame 61, and the water-fertilizer mounting frame 61 in the present embodiment does not have a telescopic function.

[0113] The water and fertilizer mounting frame 61 includes a water and fertilizer frame fixture 611, a water and fertilizer frame plate 613 and a water and fertilizer frame rod 614. The water and fertilizer frame plate 613 and the water and fertilizer frame rod 614 are connected to each other to form a hollow square structure. The water and fertilizer frame fixture 611 is fixed above the water and fertilizer frame plate 613. A water and fertilizer connecting rod 615 is fixed on the frame 11. The water and fertilizer frame fixture 611 is detachably mounted on the water and fertilizer connecting rod 615. In this embodiment, four groups of water and fertilizer mounting frames 61 are provided. Two groups of water and fertilizer mounting frames 61 are set as a unit. Two groups of a unit are symmetrically installed on both sides of the frame 11 and distributed along the moving direction of the robot. The water and fertilizer bucket 513 is installed on the two groups of water and fertilizer mounting frames 61 of a unit.

[0114] In the above embodiment, the robot is also provided with an anti-collision radar (not shown in the figure), an anti-collision plate (not shown in the figure) and an emergency braking device (not shown in the figure). The anti-collision radar is used to prevent collisions, the anti-collision plate is used for mechanical anti-collision when the anti-collision radar fails or uncontrollable situations occur, and the emergency braking device is used for emergency automatic braking when a collision occurs.

[0115] Obviously, the described embodiments are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

Claims

1. A multifunctional robot, characterized in that: It includes a frame, a main unit, a supporting device and a functional module. The main unit, the supporting device and the functional module are installed on the frame. The main unit includes a main box. The main box includes a control module, a power module and an inspection component. The control module controls the power module, the inspection component and the operation of the robot.

2. A multifunctional robot according to claim 1, characterized in that: The frame includes a frame cross bar and a frame straight bar. Two groups of frame cross bars are provided. The two groups of frame cross bars are arranged in parallel and fixedly connected by a frame cross short bar. The frame straight bar and the frame cross bar are fixedly connected by a frame connecting plate, and the two are perpendicular to each other. The length direction of the frame straight bar is consistent with the moving direction of the robot. The frame straight bar and the frame cross bar are connected by a frame reinforcement plate. An antenna assembly is fixedly provided on the frame. Two groups of antenna assemblies are provided, and the two groups of antenna assemblies are installed at both ends of the frame straight bar. The antenna assembly includes an antenna and an antenna mounting block. The antenna mounting block is fixedly provided on the frame straight bar. The antenna is installed on the antenna mounting block. Information transmission and interaction are performed through the antenna.

3. A multifunctional robot according to claim 1, characterized in that: It also includes a power supply module, which supplies power to the robot. The power supply module uses a battery or a charging control module. The power supply module includes a photovoltaic panel and a photovoltaic mounting board. The power supply module is installed on the side of the frame, the photovoltaic mounting board is installed on the frame, and the photovoltaic panel is installed on the photovoltaic mounting board. The photovoltaic mounting board includes a rack mounting part installed with the frame and a photovoltaic mounting part installed with the photovoltaic panel. The rack mounting part is horizontally arranged, and the photovoltaic mounting part and the rack mounting part are inclined.

4. A multifunctional robot according to claim 1, characterized in that: The functional module includes a loading module, which can be detachably mounted on the frame. The loading module is used for heavy-load transportation. The loading module includes two groups of loading racks. The loading racks are fixedly provided with loading components. The loading components are used to mount functional accessories. The functional accessories include a film laying module and / or a sowing module and / or a punching module and / or a feeding module and / or a watering module and / or a harvesting module. The functional accessories are mounted on the bottom of the frame through the loading module. The two groups of loading racks are symmetrically mounted on the frame of the frame. The distribution direction of the two groups of loading racks is perpendicular to the moving direction of the robot. A loading fixing plate is fixedly provided under the loading rack. The two groups of loading components are fixedly arranged at both ends of the loading fixing plate. The cross-section of the loading component in the vertical direction is set to be C-shaped. The opening direction of the C-shape is horizontal and faces the frame. The C-shaped design of the loading component facilitates the hanging or mounting of the functional accessories.

5. A multifunctional robot according to claim 1, characterized in that: The functional module includes a water and fertilizer module, which is installed on a frame. The water and fertilizer module includes a water and fertilizer pipe and a water and fertilizer assembly. The host device controls the water and fertilizer module to spray water and fertilizer to the crop area. The water and fertilizer assembly includes a water and fertilizer telescopic assembly, a water and fertilizer rack and a water and fertilizer bucket. The water and fertilizer telescopic assembly controls the position of the water and fertilizer bucket. The water and fertilizer bucket is installed on the water and fertilizer rack. The water and fertilizer bucket is connected to the water and fertilizer pipe. The water and fertilizer telescopic assembly includes a telescopic frame and a hydraulic rod. The hydraulic rod is fixedly connected to the telescopic frame in a vertical direction. After the hydraulic rod is extended or retracted, it controls the telescopic frame to extend or retract in the vertical direction. A water and fertilizer connecting assembly is fixedly arranged above the water and fertilizer telescopic assembly, and the water and fertilizer connecting assembly is fixedly connected to the frame.

6. A multifunctional robot according to claim 1, characterized in that: The functional module comprises a sterilization module, the sterilization module comprises a liquid sterilization device, the liquid sterilization device comprises a sterilization liquid and a mist spray mechanism, and the host device controls the operation of the liquid sterilization device.

7. A multifunctional robot according to claim 6, characterized in that: The sterilizing liquid is formed by mixing a diluent and a sterilizing stock liquid in proportion, the mist spray mechanism comprises a mist spray pipe and a mist spray head, the sterilizing liquid is sprayed outward by the mist spray pipe or the mist spray head for sterilization, the liquid sterilization device also comprises a sterilization telescopic component, a sterilization rack, a dilution barrel, a sterilization barrel and a liquid outlet pipe, one end of the liquid outlet pipe is connected with the dilution barrel and the sterilization barrel respectively through pipelines, a proportional pump is arranged in the pipeline, the other end of the liquid outlet pipe is connected with the mist spray head, the sterilization barrel is filled with the sterilizing stock liquid, the dilution barrel is filled with the dilution liquid, the dilution dilutes the sterilizing stock liquid, the proportional pump adjusts the liquid delivery ratio of the dilution barrel and the sterilization barrel, the dilution liquid in the dilution barrel and the sterilization stock liquid in the sterilization barrel are directly delivered to the liquid outlet pipe according to the set ratio, and the prepared sterilizing liquid is sprayed outward through the mist spray head or the mist spray pipe.

8. A multifunctional robot according to claim 2, characterized in that: The main chassis is fixed to the rack through a chassis mounting frame, the chassis mounting frame comprising two sets of chassis fixing components and a chassis connecting rod connecting the two sets of chassis fixing components, the two sets of chassis fixing components are symmetrically arranged along the length direction of the rack straight rod, the chassis connecting rod fixes and connects the two sets of chassis fixing components, the chassis fixing components comprise two sets of rack card plates, the two sets of rack card plates are symmetrically arranged up and down, the two sets are connected through the rack card plate connecting rod, the rack card plates are fixedly provided with card plate recesses, the card plate recesses are composed of a number of notches similar to step-type structures, the card plate recesses on the two sets of rack card plates are relatively positioned to form a through cavity, the rack straight rod passes through the two sets of through cavities, and the two are fixedly connected through a corresponding structure, the rack straight rod passes through a number of notches similar to step-type structures, on the one hand, it can avoid positional displacement of the rack straight rod during installation, on the other hand, different notches can adapt to rack straight rods of different sizes, thereby improving the efficiency of installing the rack straight rod and the chassis mounting frame; The chassis mounting frame is also fixed with a chassis mounting plate, and the main chassis is mounted on the chassis mounting frame through the chassis mounting plate.

Images