阅读说明：本技术 果园旋耕地机器人 (Rotary tillage robot for orchard ) 是由 何龙 佟灵茹 甄世婵 谢知轩 张�成 玉苏甫江·艾米都力 李潇 张国锋 于 2019-04-02 设计创作，主要内容包括：本发明提供一种能够利用发射机完成机器人耕耘作业的果园旋耕地机器人,包括行走单元、旋耕单元和控制单元,行走单元包括由无刷电机驱动的履带车,旋耕单元包括旋耕机,旋耕机通过连杆铰接在履带车的尾部,且履带车上固定安装有提升拉杆电机,提升拉杆电机的驱动杆通过提升拉杆与旋耕机的顶部铰接,通过提升拉杆电机拉动提升拉杆可将旋耕机提升,履带车上还固定有旋耕电机,旋耕电机通过连轴器与旋耕机上的动力输出轴连接；控制单元包括控制模块、发射机及地面控制站,无刷电机、提升拉杆电机、旋耕电机均与控制模块连接,控制模块上连接有接收机,控制模块通过接收机以无线方式与发射机及地面控制站通信连接。(The invention provides an orchard rotary tillage robot capable of finishing the tillage operation of the robot by using a transmitter, which comprises a walking unit, a rotary tillage unit and a control unit, wherein the walking unit comprises a crawler driven by a brushless motor, the rotary tillage unit comprises a rotary cultivator, the rotary cultivator is hinged at the tail part of the crawler through a connecting rod, a lifting pull rod motor is fixedly arranged on the crawler, a driving rod of the lifting pull rod motor is hinged with the top part of the rotary cultivator through a lifting pull rod, the rotary cultivator can be lifted by pulling the lifting pull rod through the lifting pull rod motor, the crawler is also fixedly provided with a rotary tillage motor, and the rotary tillage motor is connected with a power output shaft on the rotary cultivator through a coupling; the control unit comprises a control module, a transmitter and a ground control station, the brushless motor, the lifting pull rod motor and the rotary tillage motor are all connected with the control module, the control module is connected with a receiver, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.)

1. The utility model provides an orchard ploughs machine people soon, includes walking unit, rotary tillage unit and the control unit, its characterized in that: the walking unit comprises a crawler driven by a brushless motor, the rotary tillage unit comprises a rotary cultivator, the rotary cultivator is hinged to the tail of the crawler through a connecting rod, a lifting pull rod motor is fixedly mounted on the crawler, a driving rod of the lifting pull rod motor is hinged to the top of the rotary cultivator through a lifting pull rod, the rotary cultivator can be lifted through the lifting pull rod motor by pulling the lifting pull rod, a rotary tillage motor is further fixed on the crawler, and the rotary tillage motor is connected with a power output shaft on the rotary cultivator through a shaft coupler and drives a blade rotary tillage cutter in the rotary cultivator through the rotary tillage motor;

the control unit comprises a control module, a transmitter and a ground control station, the brushless motor, the lifting pull rod motor and the rotary tillage motor are all connected with the control module, the control module is connected with a receiver, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.

2. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises an electric regulator, the electric regulator is connected with the control module, and the output end of the electric regulator is connected with the brushless motor, the lifting pull rod motor and the rotary tillage motor.

3. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises a raspberry pi connected with the control module, and the receiver is connected with the control module through the raspberry pi.

4. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises a wireless data transmission antenna and a 4G communication module connected with the control module, the wireless data transmission antenna is connected with the 4G communication module and the receiver, the receiver is in wireless communication connection with the transmitter through the wireless data transmission antenna, and the control module is in wireless communication connection with the ground station through the 4G communication module.

5. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit also comprises a difference module connected with the control module.

6. An orchard rotary tilling robot as claimed in claim 1, wherein: the control unit further comprises a direction-finding antenna, a positioning antenna and an inertial navigation module which are connected with the control module.

7. An orchard rotary tilling robot as claimed in claim 1, wherein: the ground station includes a computer.

Technical Field

The invention relates to the technical field of modern farmland mechanical tillage devices, in particular to a rotary tillage robot for an orchard.

Background

At present, the rotary cultivator is mainly applied to agricultural automatic cultivation, and the rotary cultivator is commonly used in modern agriculture in China to complete land cultivation by matching with a tractor. In the process of completing cultivation by matching with a tractor, the tractor is manually operated, even though the novel micro cultivator gets rid of the limitation of being combined with the tractor, the cultivator is still manually operated to complete the cultivation task, and the rotary cultivation depth and the rotary speed of a rotary cultivation cutter are always fixed when the rotary cultivator works.

The control center of the orchard tillage robot utilizes a PID algorithm control system to realize signal transmission among the robot, a ground station and a transmitter, and the rotary tillage of the tillage robot can be realized through the transmitter; the control center is connected with the rotary cultivator, so that the rotary cultivator can adjust the rotating speed of a cutter and the rotary tillage depth of the rotary cultivator according to the current situation of tillage, and the rotary tillage efficiency is improved.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, adapt to practical requirements, provide an orchard rotary tillage robot which can complete the tillage operation of the robot by using a transmitter and improve the rotary tillage efficiency, and solve the technical problems that the existing cultivator needs to depend on manual control operation and the rotary tillage effect is single.

In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:

the rotary tillage robot for the orchard comprises a walking unit, a rotary tillage unit and a control unit, wherein the walking unit comprises a tracked vehicle driven by a brushless motor, the rotary tillage unit comprises a rotary cultivator, the rotary cultivator is hinged to the tail of the tracked vehicle through a connecting rod, a lifting pull rod motor is fixedly mounted on the tracked vehicle, a driving rod of the lifting pull rod motor is hinged to the top of the rotary cultivator through a lifting pull rod, the rotary cultivator can be lifted through the lifting pull rod motor, a rotary tillage motor is further fixed on the tracked vehicle, and the rotary tillage motor is connected with a power output shaft on the rotary cultivator through a shaft coupler and drives a blade rotary tillage cutter in the rotary cultivator through the rotary tillage motor;

the control unit comprises a control module, a transmitter and a ground control station, the brushless motor, the lifting pull rod motor and the rotary tillage motor are all connected with the control module, the control module is connected with a receiver, and the control module is in communication connection with the transmitter and the ground control station in a wireless mode through the receiver.

The control unit further comprises an electric regulator, the electric regulator is connected with the control module, and the output end of the electric regulator is connected with the brushless motor, the lifting pull rod motor and the rotary tillage motor.

The control unit further comprises a raspberry pi connected with the control module, and the receiver is connected with the control module through the raspberry pi.

The control unit further comprises a wireless data transmission antenna and a 4G communication module connected with the control module, the wireless data transmission antenna is connected with the 4G communication module and the receiver, the receiver is in wireless communication connection with the transmitter through the wireless data transmission antenna, and the control module is in wireless communication connection with the ground station through the 4G communication module.

The control unit also comprises a difference module connected with the control module.

The control unit further comprises a direction-finding antenna, a positioning antenna and an inertial navigation module which are connected with the control module.

The ground station includes a computer.

The invention has the beneficial effects that:

the rotary cultivator tiller solves the technical problems that the existing cultivator needs to be controlled by manual operation and the rotary tillage effect is single, can control the robot to complete the rotary cultivator tillage operation through the transmitter or the ground station, and can adjust the rotary tillage depth and the rotating speed of the rotary tillage cutter to optimize the rotary tillage effect.

Drawings

FIG. 1 is a schematic diagram of the main structure of the present invention;

fig. 2 is a schematic diagram of the main electrical principle of the present invention.

In the figure:

1. a rotary cultivator; 2. the top of the rotary cultivator; 3. a direction-finding antenna; 4. an inertial navigation module; 5. a control module; 6. a difference module; 7.4G communication module; 8. a receiver; 9. a raspberry pie; 10. a wireless data transmission antenna; 11. positioning an antenna; 12. a brushless motor; 13. electrically adjusting; 14. a power source; 15. a rotary tillage motor; 16. lifting the pull rod; 17. a coupling; 18. a lifting pull rod motor.

Detailed Description

The invention is further illustrated with reference to the following figures and examples: