Soil improvement robot

Abstract

The utility model relates to a soil improvement robot, and belongs to the technical field of robots. The soil improvement robot comprises a machine body and an improvement mechanism arranged on the machine body, the improvement mechanism comprises a stock bin, a lifting frame and a rotary tillage piece, the stock bin is obliquely arranged, and a discharging door controlled by a steering engine is arranged at the bottom end of the stock bin; the lifting frame is arranged on the machine body in a lifting mode, the rotary tillage piece is rotationally supported on the lifting frame, and the rotary tillage piece is arranged behind the stock bin and used for stirring and mixing materials output by the stock bin with soil. According to the soil improvement robot, the machine body is used for walking, the stock bin is used for containing and releasing the materials, and after the materials fall on the soil, the rotary tillage piece can stir and mix the materials and the soil, so that the materials extend into the soil, mixing of the materials and the soil is more uniform, and the soil improvement effect is better.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a soil improving robot. Background Art

[0002] Soil improvement robots can replenish soil fertility or missing elements, thereby quantitatively repairing materials and supplementing relevant elements for farmland that has been overused, maintaining the farmland and improving land productivity.

[0003] Please refer to the utility model patent with application number CN201920620375.6 and name “A soil fertilization device”. Existing soil improvement robots usually spread fertilizer directly on the soil surface, which easily leads to nutrient loss. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a soil improvement robot, which can release materials into the soil to improve the soil. At the same time, the rotary tillage component can stir and mix the materials with the soil, so that the material distribution is more uniform and the improvement effect is better.

[0005] The technical solution of the utility model is as follows:

[0006] The utility model provides a soil improvement robot, comprising a body and an improvement mechanism arranged on the body, the improvement mechanism comprising a silo, a lifting frame and a rotary tillage member, the silo is inclined and a discharge door controlled by a servo is arranged at the bottom; the lifting frame can be lifted and lowered on the body, the rotary tillage member is rotatably supported on the lifting frame, the rotary tillage member is arranged at the rear of the silo and is used to stir and mix the material output from the silo with the soil.

[0007] As an optional solution, the rotary tilling member includes a plurality of rotary tilling heads, and the rotary tilling heads include a plurality of rotary blades distributed in a ring shape, and the rotary blades are J-shaped, and at least two of the rotary blades of each rotary tilling head face in opposite directions.

[0008] As an optional solution, the rotary tiller head also includes a plurality of connectors, each of which is provided with a socket and a locking piece, one end of the rotary tiller blade is inserted into the socket, and the locking piece is used to lock or unlock the rotary tiller blade and the connector.

[0009] As an optional solution, the locking member includes a locking frame and a locking spring, the locking frame can be movably arranged on the connecting head and has a wedge block, the locking spring makes the locking frame have a tendency to reset, and the rotary tiller is provided with a plurality of wedge-shaped locking grooves; when the rotary tiller is inserted into the socket, the rotary tiller can squeeze the wedge block outward and the locking spring makes the wedge block have a tendency to get stuck in the locking groove; when the locking frame is pressed or pulled, the wedge block can be disengaged from the locking groove, so that the rotary tiller can be disengaged from the socket.

[0010] As an optional solution, at least two vertical guide rails are provided on the machine body, and the lifting frame is provided with a slider, the slider is slidably matched with the guide rail, and the lifting frame and the machine body are lifted and lowered by a ball screw.

[0011] As an optional solution, the silo includes a containing box, a guide bin and a plurality of containing bins, the plurality of containing bins are distributed side by side in the containing box, the discharge door is arranged at the bottom end of the containing bin and is located in the guide bin, and the opening of the guide bin faces downward.

[0012] As an optional solution, a weighing sensor is provided at the bottom of the containing bin.

[0013] As an optional solution, the containing box is provided with a filling port, the filling port matches the feed port of the containing bin, and a shielding door that can be opened and closed is provided at the filling port.

[0014] As an optional solution, an obstacle clearing component is provided on the lifting frame, and the obstacle clearing component is arranged in front of the rotary tillage component. The obstacle clearing component includes a plurality of obstacle clearing strips arranged at intervals, and the obstacle clearing strips are arranged vertically.

[0015] As an optional solution, a plurality of the obstacle clearing strips are divided into two obstacle clearing groups, and the two obstacle clearing groups are distributed in an inverted V shape.

[0016] The beneficial effects of the utility model are:

[0017] The soil improvement robot provided by the utility model has a body for walking, a silo for containing and releasing materials, and after the materials fall on the soil, the rotary tillage element can stir and mix the materials with the soil, so that the materials extend into the soil, the mixing of the two is more uniform, and the improvement effect on the soil is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. As shown in the drawings, the above and other purposes, features and advantages of the utility model will be clearer. The same reference numerals in all the drawings indicate the same parts. The drawings are not deliberately scaled according to the actual size, and the focus is on showing the main purpose of the utility model.

[0019] Figure 1 A schematic diagram of the structure of the soil improvement robot provided in the embodiment of the utility model Figure 1 ;

[0020] Figure 2 A schematic diagram of the structure of the soil improvement robot provided in the embodiment of the utility model Figure 2 ;

[0021] Figure 3 A schematic diagram of the structure of the improvement mechanism of the soil improvement robot provided in an embodiment of the utility model;

[0022] Figure 4 for Figure 3 The structural diagram of the silo in FIG.

[0023] Figure 5 for Figure 4 Schematic diagram of the internal structure;

[0024] Figure 6 for Figure 3 Schematic diagram of the structure of the lifting frame (without obstacle removal parts) and rotary tillage parts Figure 1 ;

[0025] Figure 7 for Figure 3 Schematic diagram of the structure of the lifting frame (without obstacle removal parts) and rotary tillage parts Figure 2 ;

[0026] Figure 8 for Figure 7 A schematic diagram of the structure of the rotary tillage member;

[0027] Fig. 9 for Figure 8 Schematic diagram of the matching relationship between the rotary tiller blade and the connector;

[0028] Fig.10 for Figure 8 Schematic diagram of the matching relationship between the rotary tiller blade and the connector;

[0029] Fig.11 for Figure 3Schematic diagram of the structure of the lifting frame (with obstacle removal parts) and rotary tillage parts Figure 1 ;

[0030] Fig.12 for Figure 3 Schematic diagram of the structure of the lifting frame (with obstacle removal parts) and rotary tillage parts Figure 2 .

[0031] Icons: 100-soil improvement robot; 10-machine body; 30-improvement mechanism; 31-silo; 32-lifting frame; 33-rotary tillage piece; 310-containment box; 311-guide bin; 312-holding bin; 313-discharging door; 314-servo; 315-weighing sensor; 320-guide rail; 321-slider; 322-obstacle clearing piece; 323-obstacle clearing strip; 330-rotary tillage head; 331-rotary tillage blade; 332-connecting head; 333-locking piece; 334-locking frame; 335-locking spring; 336-wedge block; 337-locking groove. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0036] Please refer to Figure 1 , Figure 2 As shown, an embodiment of the utility model provides a soil improvement robot 100, which is mainly used in farmland and can supplement the moisture or geological elements required by the soil, so that the soil quality is improved and the land productivity is increased.

[0037] The soil improvement robot 100 is mainly composed of a body 10 and an improvement mechanism 30. The improvement mechanism 30 is arranged on the body 10. Each component is discussed in detail below.

[0038] The main function of the body 10 is to move. The structure of the body 10 can refer to the existing technology. For example, the body 10 can adopt a wheeled robot or a tracked robot. In this embodiment, the body 10 includes a main body and two track assemblies. The two track assemblies are located on both sides of the main body. The track assemblies can be supported on the ground and walk. The main body can also be equipped with a camera, a GPS module, an ultrasonic module, etc., which can divide the area according to the size of the land and plan the repair path, and can automatically identify and avoid obstacles to prevent collisions.

[0039] The improvement mechanism 30 can hold and release the materials for improving the soil, and can mix the released materials with the soil. The types of materials for improving the soil are not limited, such as water-based materials, granular materials, nitrogen fertilizers, amine fertilizers, etc.

[0040] For details, please combine Figure 3 As shown, the improved mechanism 30 includes a silo 31 , a lifting frame 32 and a rotary tiller 33 .

[0041] The structure of the silo 31 is not limited. In this embodiment, the silo 31 can adopt but is not limited to the following solutions: Figure 4 , Figure 5 As shown, the material bin 31 includes a containing box 310 , a guide bin 311 and a plurality of containing bins 312 .

[0042] The containing box 310 is provided with a cavity, and a plurality of containing bins 312 are distributed side by side in the containing box 310 . The containing box 310 is provided with a filling port, which matches the feed port of the containing bins 312 , and a shielding door that can be opened and closed is provided at the filling port.

[0043] The bottom of the holding bin 312 is tilted to allow the material to flow out smoothly. A weighing sensor 315 is provided at the bottom of the holding bin 312. The weighing sensor 315 is used to weigh the total weight of the holding bin 312 and the material inside, and calculate the mass of the outflowing material by the difference between the two weights.

[0044] The discharge door 313 is disposed at the bottom end of the storage bin 312 , and the two can be hinged. The discharge door 313 can be driven by the steering gear 314 so that the discharge door 313 can be opened or closed.

[0045] The discharge door 313 is located in the guide bin 311, and the opening of the guide bin 311 is downward, so that the material can flow out smoothly downward and is not easily dispersed, which can ensure that the material is put in more accurately.

[0046] The lifting frame 32 can be lifted and lowered on the machine body 10. The structure of the lifting frame 32 is not limited, and the connection method between the lifting frame 32 and the machine body 10 is not limited. In this embodiment, please combine Figure 6 , Figure 7 As shown, at least two vertical guide rails 320 are provided on the machine body 10, and the lifting frame 32 is provided with a slider 321. The slider 321 is slidably matched with the guide rail 320, and the lifting frame 32 is lifted and lowered with the machine body 10 through a ball screw.

[0047] The rotary tiller 33 is rotatably supported on the lifting frame 32 . The rotary tiller 33 is disposed behind the silo 31 . The rotary tiller 33 can rotate so as to mix the material output from the silo 31 with the soil.

[0048] The structure of the rotary tillage member 33 is not limited, and can refer to the prior art. In this embodiment, the following solutions can be adopted but not limited to: Figure 7 , Figure 8 As shown, the rotary tiller 33 includes a rotating shaft and a plurality of rotary tilling heads 330. The number of the rotary tilling heads 330 can be set as needed, such as three groups, four groups, etc. The plurality of rotary tilling heads 330 are distributed at intervals along the axial direction of the rotating shaft.

[0049] The rotary tiller 330 includes a plurality of rotary tillers 331, and the number of the rotary tillers 331 can be set as needed, for example, three, four, etc. The plurality of rotary tillers 331 are distributed in a ring shape, and each rotary tiller 331 is J-shaped. At least two rotary tillers 331 of each rotary tiller 330 are oriented in opposite directions. For example, it is assumed that each rotary tiller 330 includes three rotary tillers 331, wherein the ends of two rotary tillers 331 extend to the right, and the other rotary tiller 331 extends to the left.

[0050] The connection method between the rotary tiller 330 and the rotating shaft is not limited, for example, the two can be welded, detachably connected, etc. In this embodiment, the following solutions can be adopted but are not limited to: Fig. 9 , Fig.10 As shown, the rotary tiller 330 also includes a plurality of connectors 332, on which a socket and a locking member 333 are provided. One end of the rotary tiller 331 is inserted into the socket, and the locking member 333 is used to lock or unlock the rotary tiller 331 and the connector 332. When the rotary tiller 331 needs to be installed, one end of the rotary tiller 331 is inserted into the socket of the connector 332, and then the rotary tiller 331 is fixed to the connector 332 through the locking member 333; when the rotary tiller 331 needs to be disassembled or replaced, it is only necessary to unlock the locking member 333 and then pull the rotary tiller 331 out of the socket. The operation is simple and convenient, and the rotary tiller 331 is easily replaced. In addition, it is only necessary to replace the corresponding rotary tiller 331 without disassembling or replacing the rotary tiller 330.

[0051] The structure of the locking member 333 is not limited. For example, in some embodiments, the locking member 333 is a bolt, and a threaded hole is provided on the connecting head 332. The bolt is threadedly engaged with the threaded hole, and the bolt can extend into the socket. When the bolt is tightened, the bolt can press the rotary blade 331.

[0052] In other embodiments, the locking member 333 can also adopt the following scheme: the locking member 333 includes a locking frame 334 and a locking spring 335, the locking frame 334 is movably arranged on the connecting head 332 and has a wedge block 336, the locking spring 335 makes the locking frame 334 have a tendency to reset, and a plurality of wedge-shaped locking grooves 337 are arranged on the rotary tiller 331; when the rotary tiller 331 is inserted into the socket, the rotary tiller 331 can squeeze the wedge block 336 outward and the locking spring 335 makes the wedge block 336 have a tendency to get stuck in the locking groove 337; when the locking frame 334 is pressed or pulled, the wedge block 336 can be disengaged from the locking groove 337, so that the rotary tiller 331 can be disengaged from the socket.

[0053] In addition, it is well known that when the rotary tillage member 33 is used to mix the material and the soil, there may be hard materials such as stones and metals on the land, which may damage the rotary tillage blade 331. Therefore, in some embodiments, the following solutions can be used to improve the mixing process: Fig.11 , Fig.12 As shown, an obstacle clearing member 322 is provided on the lifting frame 32, and the obstacle clearing member 322 is provided in front of the rotary tillage member 33. The obstacle clearing member 322 includes a plurality of obstacle clearing strips 323 arranged at intervals. The obstacle clearing strips 323 can be made of hard metal material, and the obstacle clearing strips 323 are arranged vertically in a long strip shape. As the machine body 10 moves, when the rotary tillage member 33 is working, the obstacle clearing member 322 can comb the soil in front of it, and can clean up a part of metal or stone, etc., to reduce safety hazards. It should be noted that if the soil is hard soil, when the obstacle clearing member 322 drops to the bottom, the bottom end of the obstacle clearing member 322 contacts the soil. If the soil is soft soil, when the obstacle clearing member 322 drops to the bottom, the obstacle clearing member 322 can be inserted into the soil.

[0054] In addition, the plurality of obstacle clearing strips 323 are divided into two obstacle clearing groups, each obstacle clearing group includes a plurality of obstacle clearing strips 323, each obstacle clearing group can be distributed on a plane, and the two obstacle clearing groups are distributed in an inverted V shape, and in the direction from front to back, each obstacle clearing group gradually tilts backward from the middle to one side. In this way, the obstacle clearing member 322 can guide some obstacles to both sides to prevent obstacles from accumulating in front.

[0055] The method of using the soil improvement robot 100 provided in this embodiment is as follows:

[0056] Delineate the scope of the land to be inspected and plan the walking path;

[0057] The machine body 10 is made to move along the walking path by means of manual control or automatic control through a built-in program;

[0058] When the soil improvement robot 100 reaches the position to be detected, the lifting frame 32 descends to make the rotary tillage member 33 contact the soil;

[0059] The soil improvement robot 100 walks, discharges materials, and tills the soil: the body 10 moves forward; the steering gear 314 controls the corresponding discharge door 313 to open, so that the materials in the storage bin 312 flow out into the guide bin 311 and fall down to the ground; the tillage member 33 rotates, and stirs and mixes the materials with the soil, so that the materials and the soil are fully mixed and evenly mixed. At this time, the obstacle clearing member 322 can also comb the soil in front of the tillage member 33, and can push some obstacles to the left and right sides to avoid affecting the normal operation of the tillage member 33, and effectively prevent the tillage member 33 from being damaged.

[0060] The above steps can be increased, decreased, modified, or the order can be adjusted as needed.

[0061] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A soil improvement robot, characterized in that: The invention comprises a machine body and an improved mechanism arranged on the machine body, wherein the improved mechanism comprises a silo, a lifting frame and a rotary tillage member. The silo is arranged obliquely and a discharge door controlled by a servo is arranged at the bottom; the lifting frame is arranged on the machine body in a liftable manner, the rotary tillage member is rotatably supported on the lifting frame, and the rotary tillage member is arranged at the rear of the silo and is used to stir and mix the material output from the silo with the soil.

2. The soil improvement robot according to claim 1, characterized in that: The rotary tilling member includes a plurality of rotary tilling heads, and the rotary tilling heads include a plurality of rotary tilling blades distributed in a ring shape. The rotary tilling blades are J-shaped, and at least two rotary tilling blades of each rotary tilling head face in opposite directions.

3. The soil improvement robot according to claim 2, characterized in that: The rotary tiller also includes a plurality of connectors, each of which is provided with a socket and a locking member, one end of the rotary tiller is inserted into the socket, and the locking member is used to lock or unlock the rotary tiller and the connector.

4. The soil improvement robot according to claim 3, characterized in that: The locking member includes a locking frame and a locking spring. The locking frame is movably arranged on the connecting head and has a wedge-shaped block. The locking spring enables the locking frame to have a tendency to reset. A plurality of wedge-shaped locking grooves are provided on the rotary tiller. When the rotary tiller is inserted into the socket, the rotary tiller can squeeze the wedge-shaped block outward and the locking spring enables the wedge-shaped block to have a tendency to get stuck in the locking groove. When the locking frame is pressed or pulled, the wedge-shaped block can be disengaged from the locking groove, so that the rotary tiller can be disengaged from the socket.

5. The soil improvement robot according to claim 1, characterized in that: At least two vertical guide rails are arranged on the machine body, and the lifting frame is provided with a slider, the slider is slidably matched with the guide rails, and the lifting frame is lifted and lowered with the machine body through a ball screw.

6. The soil improvement robot according to claim 1, characterized in that: The silo includes a containing box, a guide bin and a plurality of containing bins, wherein the plurality of containing bins are arranged side by side in the containing box, the discharge door is arranged at the bottom end of the containing bin and is located in the guide bin, and the opening of the guide bin faces downward.

7. The soil improvement robot according to claim 6, characterized in that: A weighing sensor is arranged at the bottom of the containing bin.

8. The soil improvement robot according to claim 6, characterized in that: The containing box is provided with a filling port, the filling port matches the feeding port of the containing bin, and a shielding door which can be opened and closed is provided at the filling port.

9. The soil improvement robot according to claim 1, characterized in that: The lifting frame is provided with an obstacle-clearing component, which is arranged in front of the rotary tillage component. The obstacle-clearing component comprises a plurality of obstacle-clearing strips arranged at intervals, and the obstacle-clearing strips are arranged vertically.

10. The soil improvement robot according to claim 9, characterized in that: A plurality of the obstacle-clearing strips are divided into two obstacle-clearing groups, and the two obstacle-clearing groups are distributed in an inverted V shape.

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