Sand stabilization robot

Abstract

The utility model discloses a sand stabilization robot, which relates to the technical field of desertification control engineering and comprises a robot main body frame, moving mechanisms are symmetrically arranged on two sides of the robot main body frame, two sets of grass paving mechanisms are symmetrically arranged on the robot main body frame, and the distance between grass paving tracks between the two sets of grass paving mechanisms is 1 meter. Each grass paving mechanism comprises a furrow opener, a grass scattering device, a grass pressing device and a soil covering device which are sequentially arranged on the robot body frame from front to back. The grass checkered sand barrier can be automatically bound in the sand land, the use of manpower can be effectively reduced, and the sand control cost can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to sand control engineering technical field, concretely relates to a sand fixation robot. BACKGROUND

[0002] In sand control engineering technical field, artificial grass checkerboard sand barrier is a common sand control method, the specific method is that wheat straw is evenly laid on the sand, an iron shovel is used to be inserted from the middle of the wheat straw, the wheat straw is inserted into the sand by 20cm as a base, and about 15cm is exposed on the sand surface to form a straw wall; the straw wall is arranged in horizontal and vertical rows to form a grass checkerboard sand barrier with a spacing of 1m. However, the artificial method is time-consuming and laborious, the labor intensity is large, and long-time regional labor is needed, so that the sand control cost is high. CONTENT

[0003] The utility model discloses a sand fixation robot can automatically make grass checkerboard sand barrier in the sand, which can effectively reduce the use of artificial labor and reduce the sand control cost.

[0004] The utility model provides a sand fixation robot, including robot main part frame, the both sides symmetry of robot main part frame is provided with mobile mechanism, two sets of straw laying mechanism are symmetrically arranged on the robot main part frame, and the spacing of straw laying track between the two sets of straw laying mechanism is 1m.

[0005] Specifically, any mobile mechanism includes a front electric wheel and a rear electric wheel, the front electric wheel is rotatably arranged on the front end side of the robot main body frame based on the first support, and the rear electric wheel is rotatably arranged on the rear end side of the robot main body frame based on the second support.

[0006] Specifically, the side, away from the front electric wheel, of the first support is provided with a first gyroscope, and the side, away from the rear electric wheel, of the second support is provided with a second gyroscope.

[0007] Specifically, the ditching device includes a ditching support, a hydraulic cylinder and a ditching block, the ditching support is fixedly arranged on the front end of the robot main body frame, the hydraulic cylinder is fixedly arranged on the ditching support, the ditching block is movably arranged on the ditching support based on a ditching guide rod, the output end of the hydraulic cylinder is fixedly connected with the ditching block, and the ditching block is driven by the hydraulic cylinder to move away from or close to the ground.

[0008] Specifically, the grass spreading device comprises a grass spreading hopper, a guide chute and a grass spreading motor, the grass spreading hopper is fixedly arranged on the robot body frame, the grass spreading hopper is located above the guide chute, the discharge port of the grass spreading hopper is aligned with the feed port of the guide chute, and the discharge port of the guide chute faces the rear end of the robot body frame.

[0009] A first grass separating roller shaft and a second grass separating roller shaft are rotationally arranged at the discharge port of the grass spreading hopper, the first grass separating roller shaft and the second grass separating roller shaft are parallel to each other, there is a grass separating gap between the first grass separating roller shaft and the second grass separating roller shaft, one end of the first grass separating roller shaft and the second grass separating roller shaft is engaged based on a first gear, and one end of the first grass separating roller shaft or the second grass separating roller shaft is connected to the output end of the grass spreading motor based on a transmission belt.

[0010] Specifically, the grass spreading device further comprises an extension hopper, the extension hopper is arranged on the robot body frame based on a spring support column, the extension hopper is arranged above the grass spreading hopper in a spaced manner, the discharge port of the extension hopper is aligned with the feed port of the grass spreading hopper, the body of the extension hopper extends towards the rear end of the robot body frame, and the bottom plate of the extension hopper is inclined from front to back and upwards.

[0011] Specifically, the grass pressing device comprises a grass pressing motor, a grass pressing support and a grass pressing disc, the grass pressing motor is fixedly arranged on the robot body frame, the grass pressing support is movably arranged in the robot body frame, the grass pressing disc is vertically rotationally arranged at the lower end of the grass pressing support, a first tooth trace surface is formed on the body of the grass pressing support, and the output end of the grass pressing motor is engaged with the first tooth trace surface based on a second gear; the grass pressing disc is driven by the grass pressing motor to move away from or close to the ground.

[0012] Specifically, the grass pressing device comprises a grass pressing motor, a grass pressing support and a grass pressing disc, the grass pressing motor is fixedly arranged on the robot body frame, the grass pressing support is movably arranged in the robot body frame, the grass pressing disc is vertically rotationally arranged at the lower end of the grass pressing support, a first tooth trace surface is formed on the body of the grass pressing support, and the output end of the grass pressing motor is engaged with the first tooth trace surface based on a second gear; the grass pressing disc is driven by the grass pressing motor to move away from or close to the ground.

[0013] Specifically, the robot body frame is provided with a control box and a battery box, the control box is located between the two sets of grass laying mechanisms, and the battery box is located at the rear end of the robot body frame.

[0014] Specifically, the front end of the robot body frame is provided with a first binocular camera, the rear end of the robot body frame is provided with a second binocular camera, and the first binocular camera and the second binocular camera are located between the two sets of grass laying mechanisms.

[0015] Compared with the prior art, the utility model has the advantages of:

[0016] The sand-fixing robot can move autonomously by using the moving mechanism, and can automatically perform ditching, grass spreading, grass pressing and soil covering by using the grass laying mechanism, and the two sets of grass laying mechanisms can simultaneously lay two grass walls with an interval of 1 meter, so that the sand-fixing robot can replace manual work to efficiently complete the laying of the grass square sand barrier in the sand ground, thereby effectively reducing the use of manual work and reducing the sand-fixing cost. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.

[0018] Figure 1 It is the structure schematic diagram of the upper side view of the sand-fixing robot in the embodiment of the utility model;

[0019] Figure 2 It is the structure schematic diagram of the lower side view of the sand-fixing robot in the embodiment of the utility model;

[0020] Figure 3 It is the structure schematic diagram of the grass laying mechanism in the embodiment of the utility model;

[0021] Figure 4 It is the structure schematic diagram of the extension hopper in the embodiment of the utility model.

[0022] In the drawings, 10, moving mechanism; 20, grass laying mechanism; 31, front electric wheel; 32, first support; 33, first gyroscope; 41, rear electric wheel; 42, second support; 43, second gyroscope; 100, furrow opener; 110, furrow support; 120, hydraulic cylinder; 130, furrowing block; 140, furrowing guide rod; 200, grass spreader; 210, grass spreading hopper; 211, first grass separating roller shaft; 212, second grass separating roller shaft; 220, guide chute; 230, grass spreading motor; 240, extension hopper; 241, spring support column; 300, grass roller; 310, grass rolling motor; 320, grass rolling support; 330, grass rolling disc; 400, coverer; 410, covering motor; 420, covering support; 430, covering disc; 500, control box; 600, battery box; 710, first binocular camera; 720, second binocular camera; 800, laser radar. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0024] The utility model provides a sand fixing robot, Figure 1 The utility model discloses a sand fixing robot, Figure 2 The utility model discloses a sand fixing robot, which comprises a robot main body frame, moving mechanisms 10 are symmetrically arranged on the two sides of the robot main body frame, two sets of grass laying mechanisms 20 are symmetrically arranged on the robot main body frame, and the interval of the grass laying tracks between the two sets of grass laying mechanisms 20 is 1 m. Any grass laying mechanism 20 comprises, from front to back, a furrow opener 100, a grass spreader 200, a grass roller 300 and a coverer 400 arranged on the robot main body frame in sequence.

[0025] The sand fixing robot can move autonomously by using the moving mechanism 10 and can automatically perform furrowing, grass spreading, grass rolling and covering by using the grass laying mechanism 20. Moreover, the two sets of grass laying mechanisms 20 can simultaneously lay two grass walls with an interval of 1 m. The sand fixing robot can replace manual work to efficiently complete the laying of grass checkerboard sand barriers in the sand ground, thereby effectively reducing the use of manual work and being favorable for reducing the cost of sand control.

[0026] In some embodiments, please refer to Figure 2Each of the aforementioned moving mechanisms 10 includes a front electric wheel 31 and a rear electric wheel 41. The front electric wheel 31 is rotatably mounted on the front side of the robot's main frame based on a first bracket 32, and the rear electric wheel 41 is rotatably mounted on the rear side of the robot's main frame based on a second bracket 42. Both the front electric wheel 31 and the rear electric wheel 41 are drive wheels that integrate the motor and the wheel into one unit. Each wheel can be controlled independently, facilitating continuously variable transmission and differential steering.

[0027] For details, please refer to Figure 2 The first bracket 32 ​​has a first gyroscope 33 mounted on the side opposite to the front electric wheel 31, and the second bracket 42 has a second gyroscope 43 mounted on the side opposite to the rear electric wheel 41. The first gyroscope 33 and the second gyroscope 43 work together to monitor the attitude and movement of the sand-fixing robot at both ends in real time, ensuring its stable operation in the sand and thus facilitating the smooth progress of the grass wall laying work.

[0028] Furthermore, the tires of the front electric wheel 31 and the rear electric wheel 41 are both sand tires with wide treads, which can reduce the pressure of a single wheel on the sand and make it less likely to get stuck in the sand; moreover, sand tires have many treads, which provide strong grip; and the large spacing between the treads makes it easy to expel sand.

[0029] Figure 3 A schematic diagram of the grass-laying mechanism in an embodiment of this utility model is shown. The trencher 100 includes a trenching support 110, a hydraulic cylinder 120, and a trenching block 130. The trenching support 110 is fixedly mounted on the front end of the robot's main frame. The hydraulic cylinder 120 is fixedly mounted on the trenching support 110. The trenching block 130 is movably mounted on the trenching support 110 based on a trenching guide rod 140. The output end of the hydraulic cylinder 120 is fixedly connected to the trenching block 130. The trenching block 130 is driven by the hydraulic cylinder 120 to move away from or towards the ground. The use of the hydraulic cylinder 120 allows the trenching block 130 to flexibly adjust its sand penetration depth according to actual needs, adapting to different sandy conditions. The trenching guide rod 140 not only enhances the stability and accuracy of the trenching process but also effectively disperses the load during trenching, protecting the hydraulic cylinder 120.

[0030] Specifically, the trenching block 130 has a pointed end that can be easily inserted into the sand; moreover, the back of the trenching block 130 is provided with reinforcing ribs, which helps to enhance the strength of the trenching block 130 and make it more durable.

[0031] In some specific embodiments, please refer to Figure 3The grass spreader 200 includes a grass spreading hopper 210, a guide chute 220, and a grass spreading motor 230, which are fixedly mounted on the main frame of the robot. The grass spreading hopper 210 is located above the guide chute 220, and the outlet of the grass spreading hopper 210 is aligned with the inlet of the guide chute 220. The outlet of the guide chute 220 faces the rear end of the main frame of the robot. The guide chute 220 can reduce the interference of wind on the grass spreading process and is conducive to guiding the grass to be evenly spread on the ground in front of the grass compactor 300.

[0032] The outlet of the hay spreading hopper 210 is rotatably equipped with a first hay-dividing roller shaft 211 and a second hay-dividing roller shaft 212. The first hay-dividing roller shaft 211 and the second hay-dividing roller shaft 212 are parallel to each other, and there is a hay-dividing gap between them. One end of the first hay-dividing roller shaft 211 and the second hay-dividing roller shaft 212 is engaged by a first gear, and one end of the first hay-dividing roller shaft 211 or the second hay-dividing roller shaft 212 is connected to the output end of the hay spreading motor 230 by a transmission belt. Driven by the hay spreading motor 230, the first hay-dividing roller shaft 211 and the second hay-dividing roller shaft 212 can evenly split and output bundles of hay, which is beneficial for evenly spreading hay on the ground.

[0033] For details, please refer to Figure 3 The surfaces of the first grass-splitting roller shaft 211 and the second grass-splitting roller shaft 212 are both formed with multiple transverse convex strips. The multiple transverse convex strips are evenly distributed, which is beneficial for evenly splitting and outputting bundled grass.

[0034] Figure 4 A schematic diagram of the extended hopper structure in an embodiment of this utility model is shown. The grass spreader 200 further includes an extended hopper 240, which is mounted on the robot's main frame based on spring support columns 241. The extended hoppers 240 are spaced above the grass spreading hopper 210, with the outlet of the extended hopper 240 aligned with the inlet of the grass spreading hopper 210. The body of the extended hopper 240 extends towards the rear end of the robot's main frame, and the bottom plate of the extended hopper 240 slopes upward from front to back. The extended hopper 240 effectively increases the grass capacity and continuous operation capability of the grass spreader 200, while the design of the spring support columns 241 allows the extended hopper 240 to sway during the movement of the sand-fixing robot. Combined with the inclined bottom plate, this promotes the automatic sliding of grass into the grass spreading hopper 210.

[0035] In some specific embodiments, please refer to Figure 3The grass compactor 300 includes a grass compacting motor 310, a grass compacting bracket 320, and a grass compacting wheel 330. The grass compacting motor 310 is fixedly mounted on the robot's main frame, the grass compacting bracket 320 is movably mounted within the robot's main frame, and the grass compacting wheel 330 is vertically rotatably mounted at the lower end of the grass compacting bracket 320. The grass compacting bracket 320 has a first toothed surface formed on its body. The output end of the grass compacting motor 310 meshes with the first toothed surface based on a second gear. The grass compacting wheel 330 is driven by the grass compacting motor 310 to move away from or towards the ground. The grass compacting motor 310 can flexibly adjust the depth of the grass compacting wheel 330 into the sand according to actual needs, facilitating the embedding of grass into the prepared trenches and exposing it at a suitable height to form a grass wall.

[0036] In some specific embodiments, please refer to Figure 3 The soil covering device 400 includes a soil covering motor 410, a soil covering support 420, and two soil covering discs 430. The soil covering motor 410 is fixedly mounted on the robot's main frame, the soil covering support 420 is movably mounted within the robot's main frame, and the two soil covering discs 430 are rotatably mounted at the lower end of the soil covering support 420. The two soil covering discs 430 are symmetrical to each other, and the distance between them gradually decreases from top to bottom. A second toothed surface is formed on the body of the soil covering support 420, and the output end of the soil covering motor 410 meshes with the second toothed surface based on a third gear. The two soil covering discs 430 are driven by the soil covering motor 410 to move away from or towards the ground. The soil covering motor 410 can flexibly adjust the sand penetration depth of the soil covering discs 430 according to actual needs, ensuring that the base of the grass wall is effectively covered and fixed by sand, avoiding the problem of the grass wall loosening or collapsing, thereby ensuring the long-term stability of the grass checkerboard sand barrier.

[0037] In some specific embodiments, please refer to Figure 1 The robot's main frame is equipped with a control box 500 and a battery box 600. The control box 500 is located between the two sets of grass-laying mechanisms 20, which facilitates the connection of various electrical components. The battery box 600 is located at the rear end of the robot's main frame, which helps to balance the center of gravity of the sand-fixing robot and improves its stability in the sand.

[0038] Specifically, the control box 500 is equipped with a control chip, a communication module, a GPS locator, etc.

[0039] In some specific embodiments, please refer to Figure 1The robot's main frame has a first binocular camera 710 at its front end and a second binocular camera 720 at its rear end. Both cameras are located between the two grass-laying mechanisms 20. The first binocular camera 710 captures three-dimensional information of the environment in front of the robot, helping it to accurately locate itself and plan its path. The second binocular camera 720 captures three-dimensional information of the environment behind the robot, helping it to check the grass wall's laying status and promptly correct its grass-laying trajectory.

[0040] Specifically, the robot's main frame is equipped with LiDAR 800 at both the front and rear ends, which can better perceive environmental information, improve the path planning and obstacle avoidance capabilities of the sand-fixing robot, and also ensure the standardization of the spacing of the grass checkerboard sand barrier.

[0041] The working process of this sand-fixing robot is as follows:

[0042] First, the trench opener 100, the straw presser 300, and the soil coverer 400 are activated. The trenching block 130, driven by the hydraulic cylinder 120, is driven into the sand. The straw presser disc 330, driven by the straw presser motor 310, is driven into the sand. The two soil coverer discs 430, driven by the soil coverer motor 410, hold the sand in place. Next, the straw spreader 200 is activated. The first straw separating roller shaft 211 and the second straw separating roller shaft 212, driven by the straw spreading motor 230, evenly separate and output the bundled straw from the straw spreading hopper 210, and evenly spread it onto the straw presser discs 330 via the guide chute 220. On the sandy ground ahead; then, the moving mechanism 10 is activated, and the sand-fixing robot moves forward. The trenching block 130 digs trenches in the sand, the grass spreader 200 evenly spreads grass on the trenches, the grass pressing wheel 330 rolls to press the grass into the trenches to form grass walls, and the soil covering wheel 430 rolls to squeeze the sand on both sides of the trenches into the trenches, so that the base of the grass walls can be effectively covered and fixed by the sand. The sand-fixing robot of this utility model can lay two grass walls with a 1-meter interval at the same time. After laying the grass walls in a crisscross pattern multiple times, the grass grid sand barrier can be efficiently laid in the sandy ground.

[0043] The sand-fixing robot of this utility model can move autonomously using the mobile mechanism 10 and automatically perform ditching, spreading grass, pressing grass and covering soil using the grass-laying mechanism 20. Moreover, it has two sets of grass-laying mechanisms 20 that can simultaneously lay two grass walls spaced 1 meter apart. It can replace manual labor to efficiently complete the laying of grass checkerboard sand barriers in sandy areas, thereby effectively reducing the use of manpower and helping to reduce the cost of sand control.

[0044] Furthermore, the sand-fixing robot of this invention uses individually controllable electric wheels as its mobility base, enabling stepless speed regulation and differential steering. Each electric wheel is equipped with a gyroscope, which can monitor the posture and movement status of the front and rear ends of the sand-fixing robot in real time, ensuring its stable operation in the sand and thus facilitating the smooth progress of the grass wall laying work. The outlet of the grass spreading hopper 210 is equipped with a pair of grass-dividing rollers, and a guide chute 220 is also provided below, which can evenly split and output bundles of grass, which is conducive to guiding the grass to be evenly spread on the ground in front of the grass compactor 300. The grass spreading hopper 210 is also equipped with a swayable extension hopper 240, which can not only effectively increase the grass capacity and continuous operation capability of the grass spreader 200, but also, in conjunction with the inclined bottom plate, promote the grass to automatically slide down into the grass spreading hopper 210.

[0045] In addition, the sand-fixing robot can achieve multi-source heterogeneous data perception through binocular cameras, LiDAR 800, GPS locators, etc., which can effectively improve the path planning and obstacle avoidance capabilities of the sand-fixing robot, while also ensuring the standardization of the spacing of the grass checkerboard sand barrier.

[0046] The above provides a detailed description of a sand-fixing robot provided by the embodiments of this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A sand-fixing robot, characterized in that, The system includes a robot main frame, with symmetrically arranged moving mechanisms on both sides of the robot main frame, and two symmetrically arranged grass-laying mechanisms on the robot main frame, with a grass-laying trajectory spacing of 1 meter between the two grass-laying mechanisms; each of the grass-laying mechanisms includes a trencher, a grass spreader, a grass presser, and a soil coverer arranged sequentially from front to back on the robot main frame.

2. The sand-fixing robot as described in claim 1, characterized in that, Each of the aforementioned moving mechanisms includes a front electric wheel and a rear electric wheel, the front electric wheel being rotatably mounted on the front side of the robot's main frame based on a first bracket, and the rear electric wheel being rotatably mounted on the rear side of the robot's main frame based on a second bracket.

3. The sand-fixing robot as described in claim 2, characterized in that, A first gyroscope is provided on the side of the first bracket away from the front electric wheel, and a second gyroscope is provided on the side of the second bracket away from the rear electric wheel.

4. The sand-fixing robot as described in claim 1, characterized in that, The trencher includes a trenching support, a hydraulic cylinder, and a trenching block. The trenching support is fixedly mounted on the front end of the robot's main frame. The hydraulic cylinder is fixedly mounted on the trenching support. The trenching block is movably mounted on the trenching support based on a trenching guide rod. The output end of the hydraulic cylinder is fixedly connected to the trenching block. The trenching block is driven by the hydraulic cylinder to move away from or towards the ground.

5. The sand-fixing robot as described in claim 1, characterized in that, The grass spreader includes a grass spreading hopper, a guide chute, and a grass spreading motor, which are fixedly mounted on the main frame of the robot. The grass spreading hopper is located above the guide chute, the outlet of the grass spreading hopper is aligned with the inlet of the guide chute, and the outlet of the guide chute faces the rear end of the main frame of the robot. The discharge port of the grass spreading hopper is rotatably equipped with a first grass-dividing roller shaft and a second grass-dividing roller shaft. The first grass-dividing roller shaft and the second grass-dividing roller shaft are parallel to each other and there is a grass-dividing gap between the first grass-dividing roller shaft and the second grass-dividing roller shaft. One end of the first grass-dividing roller shaft and the second grass-dividing roller shaft are meshed with a first gear. One end of the first grass-dividing roller shaft or the second grass-dividing roller shaft is connected to the output end of the grass spreading motor via a transmission belt.

6. The sand-fixing robot as described in claim 5, characterized in that, The grass spreader also includes an extended hopper, which is mounted on the main frame of the robot based on spring support columns. The extended hoppers are spaced apart above the grass spreading hopper, with the outlet of the extended hopper aligned with the inlet of the grass spreading hopper. The body of the extended hopper extends toward the rear end of the main frame of the robot, and the bottom plate of the extended hopper is inclined upward from front to back.

7. The sand-fixing robot as described in claim 1, characterized in that, The grass-pressing device includes a grass-pressing motor, a grass-pressing bracket, and a grass-pressing wheel. The grass-pressing motor is fixedly mounted on the main frame of the robot, the grass-pressing bracket is movably mounted in the main frame of the robot, and the grass-pressing wheel is vertically rotatably mounted at the lower end of the grass-pressing bracket. A first toothed surface is formed on the body of the grass-pressing bracket, and the output end of the grass-pressing motor meshes with the first toothed surface based on a second gear. The grass-pressing wheel is driven by the grass-pressing motor to move away from or towards the ground.

8. The sand-fixing robot as described in claim 1, characterized in that, The soil covering device includes a soil covering motor, a soil covering support, and two soil covering discs. The soil covering motor is fixedly mounted on the main frame of the robot, and the soil covering support is movably mounted within the main frame of the robot. The two soil covering discs are rotatably mounted at the lower end of the soil covering support. The two soil covering discs are symmetrical to each other, and the distance between the two soil covering discs gradually decreases from top to bottom. A second toothed surface is formed on the body of the soil covering support. The output end of the soil covering motor and the second toothed surface are meshed by a third gear. The two soil covering discs are driven by the soil covering motor to move away from or towards the ground.

9. The sand-fixing robot as described in claim 1, characterized in that, The robot's main frame is equipped with a control box and a battery box. The control box is located between the two grass-laying mechanisms, and the battery box is located at the rear end of the robot's main frame.

10. The sand-fixing robot as described in claim 1, characterized in that, The robot's main frame is equipped with a first binocular camera at its front end and a second binocular camera at its rear end. Both the first and second binocular cameras are located between the two sets of grass-laying mechanisms.

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