An agricultural robot

Abstract

The utility model discloses an agricultural robot, including 2 walking devices and at least 1 loading mechanism, and the loading mechanism includes loading platform and support mechanism, and each walking device includes a spiral advancing mechanism and at least one motor, and the spiral advancing mechanism is the cylindrical structure that is provided with the external thread outside, and each spiral advancing mechanism is connected with at least one motor, including at least one battery, and the physical axis of 2 spiral advancing mechanisms is parallel to each other, and the rotation direction of the external thread of 2 spiral advancing mechanisms set up on 2 walking devices is opposite, through to the specific setting of walking device, has realized the agricultural robot for rice field this specific use environment can prevent the injury rice root, can scatter the soil structure in the process of rotating and advancing, cut off the weed root system, increases the oxygen content and the air permeability of soil simultaneously, promotes crop root system respiration and growth, makes this agricultural robot can be completely efficiently used in the rice field.

Claims

1. An agricultural robot, characterized in that, It includes two walking devices and at least one loading mechanism, the loading mechanism including a loading platform and a support mechanism; each of the walking devices includes a spiral travel mechanism and at least one motor; The spiral travel mechanism is a cylindrical structure with external threads on the outside; The spiral travel mechanism is rotatably connected to the bottom end of the support mechanism, and the upper end of the support mechanism is connected to the loading platform. Each of the aforementioned spiral travel mechanisms is directly or indirectly connected to at least one motor; Includes at least one battery; The physical axes of the two spiral propulsion mechanisms are parallel to each other; the external threads of the two spiral propulsion mechanisms on the two walking devices rotate in opposite directions; motors drive the rotation of the spiral propulsion mechanisms respectively, and the external threads contact the soft ground directly or indirectly through water; the two spiral propulsion mechanisms rotate simultaneously in opposite directions to achieve forward and backward movement of the agricultural robot; the two spiral propulsion mechanisms rotate simultaneously in the same direction to achieve lateral movement of the agricultural robot; the two spiral propulsion mechanisms rotate at the same speed to achieve linear movement of the agricultural robot; the two spiral propulsion mechanisms rotate at different speeds to achieve curvilinear movement of the agricultural robot. The external threads of the two spiral travel mechanisms are both double-start threads; the nominal diameter of the external thread is D1, which is the imaginary cylinder diameter of the thread crest, the diameter of the external thread is D2, which is the imaginary cylinder diameter of the thread root, and the thread profile height is H, where H = (D1 - D2) / 2, and the pitch K of the external thread satisfies the requirement that K > 0.6H.

2. The agricultural robot according to claim 1, characterized in that, The nominal diameter, root diameter, thread height, and pitch of the external threads of the two described helical travel mechanisms are all the same; The cylindrical structure of the spiral travel mechanism is a hollow structure, and the inner diameter D3 of the hollow structure of the spiral travel mechanism satisfies the requirement that H>(D1-D3) / 15. The total power of the motor is P, in watts, and satisfies D1 < As required, the length L of the threaded portion of the external thread satisfies L>1.5D1; the units of D1, D2, D3, K, H and L are mm.

3. The agricultural robot according to claim 1 or 2, characterized in that: The overall material of the spiral travel mechanism is wear-resistant steel, polytetrafluoroethylene (PTFE), or PTFE composite material. Alternatively, the cylindrical or cylindrical part and external thread of the spiral travel mechanism may be made of steel, with PTFE or PTFE composite material covering the steel exterior.

4. The agricultural robot according to claim 1, characterized in that, Each of the aforementioned spiral travel mechanisms is indirectly connected to at least one motor via a reducer, the reducer having a reduction ratio of 2.5-10 times.

5. The agricultural robot according to claim 4, characterized in that, The reducer can be a planetary gear structure, a synchronous belt structure, a chain and sprocket structure, a cylindrical gear structure, a bevel gear structure, or a worm gear structure.

6. The agricultural robot according to claim 1, characterized in that, The loading platform of the loading mechanism and the two supporting mechanisms form a portal structure; The bottom end of the support mechanism is rotatably connected to the end of the spiral travel mechanism, and the top end is connected to the loading platform; The rotational connection between the support mechanism and the screw travel mechanism is achieved through a sliding bearing structure or a rolling bearing structure. The distance between the rotation axis of the spiral travel mechanism and the lowest plane of the loading platform is greater than or equal to 600 mm.

7. The agricultural robot according to claim 1, characterized in that, Two spiral travel mechanisms are symmetrically arranged, and both are parallel or substantially parallel to the loading platform and equidistant from each other; The loading mechanism is equipped with a battery, and the total capacity C of the battery satisfies C>P×0.7, where P is the total power of the motor, C is in watt-hours, and P is in watts.

8. The agricultural robot according to claim 1 or 7, characterized in that, The loading mechanism is equipped with at least two cameras, one of which is located at a vertical distance of more than 500 mm from the spiral axis, and the other is located at a vertical distance of less than 400 mm from the spiral axis.

9. The agricultural robot according to claim 1, characterized in that, The loading mechanism is equipped with a power generation device; the power generation device is a photovoltaic panel, a fuel generator, or a fuel cell. The area A of the photovoltaic panel satisfies the requirement A > P / 475; the unit of A is m. 2 ; The power generation D of the fuel generator or fuel cell is greater than P×1.1, where P is the total power of the motor, D is in watt-hours, and P is in watts. A mounting structure is provided on the support mechanism. The mounting structure is used to lift or mount the working tools; or to attach multiple robots to move or travel in series, so as to enhance the ability to cross obstacles.

10. The agricultural robot according to claim 2, characterized in that, An electric lead screw is installed at a height above the axis of the spiral travel mechanism to connect the two agricultural robots in front and behind, so that at least two agricultural robots are connected in series. The electric lead screw actively pulls to increase the tilt angle of the two agricultural robots to the ground, further enhancing their obstacle-crossing ability. Wireless or wired communication devices are installed on the front and rear robots for communication and coordinated movement between the two agricultural robots. The loading platform also includes a low-level loading platform, at least one of which is provided and located in the middle or lower part of the support mechanism. A spray module and a battery are provided on the low-level loading platform. The spacing between the two support mechanisms is adjustable, and the adjustable connection is a sliding sleeve structure, a track structure, or a nut and screw structure. The internal hollow structure of the spiral travel mechanism is a closed cavity, and the overall density of the spiral travel mechanism is less than 1.

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