阅读说明：本技术 一种农耕机器人及其控制方法 (Farming robot and control method thereof ) 是由 辜晓林 于 2020-07-02 设计创作，主要内容包括：本发明公开一种农耕机器人,包括动力组件、液压组件、控制组件、底盘组件、传动刀具组件和动力输出组件,所述动力组件包括柴油机、油门组件和离合器,所述柴油机输出端设有主动皮带轮,所述主动皮带轮通过三角皮带与动力输出组件连接,所述液压组件包括液压站、左转向油缸、右转向油缸、机具升降油缸、油门控制油缸、离合油缸和档位调整油缸,所述液压站依次通过分配液压油管和控制液压油管分别与左转向油缸、右转向油缸、机具升降油缸、油门控制油缸、离合油缸和档位调整油缸连通。本发明功能多样,智能化程度高。(The invention discloses an agricultural tillage robot which comprises a power assembly, a hydraulic assembly, a control assembly, a chassis assembly, a transmission cutter assembly and a power output assembly, wherein the power assembly comprises a diesel engine, an accelerator assembly and a clutch, a driving belt pulley is arranged at the output end of the diesel engine and is connected with the power output assembly through a V-belt, the hydraulic assembly comprises a hydraulic station, a left steering oil cylinder, a right steering oil cylinder, an implement lifting oil cylinder, an accelerator control oil cylinder, a clutch oil cylinder and a gear adjusting oil cylinder, and the hydraulic station is respectively communicated with the left steering oil cylinder, the right steering oil cylinder, the implement lifting oil cylinder, the accelerator control oil cylinder, the clutch oil cylinder and the gear adjusting oil cylinder sequentially through a distribution hydraulic oil pipe and a control hydraulic oil pipe. The invention has multiple functions and high intelligent degree.)

1. An agricultural robot is characterized by comprising a power assembly, a hydraulic assembly, a control assembly, a chassis assembly, a transmission cutter assembly and a power output assembly, wherein the power assembly comprises a diesel engine, an accelerator assembly and a clutch, a driving belt pulley is arranged at the output end of the diesel engine and is connected with the power output assembly through a V-belt, the hydraulic assembly comprises a hydraulic station, a left steering oil cylinder, a right steering oil cylinder, an implement lifting oil cylinder, an accelerator control oil cylinder, a clutch oil cylinder and a gear adjusting oil cylinder, the hydraulic station is respectively communicated with the left steering oil cylinder, the right steering oil cylinder, the implement lifting oil cylinder, the accelerator control oil cylinder, the clutch oil cylinder and the gear adjusting oil cylinder through a distribution hydraulic oil pipe and a control hydraulic oil pipe in sequence, the distribution hydraulic oil pipe and the control hydraulic oil pipe are respectively provided with a hydraulic distribution valve and an electromagnetic valve, the left steering oil cylinder and the right steering oil cylinder are connected with a walking power output shaft of the power output assembly, the machine tool lifting oil cylinder, the throttle control oil cylinder, the clutch oil cylinder and the gear adjusting oil cylinder are respectively connected with a shell of the transmission cutter assembly, a throttle assembly, a clutch and a gear shift lever of the power output assembly, the control assembly comprises a transmitter, a micro control unit, a storage battery, a generator, a starter, a Beidou positioning assembly, an inertia measuring unit and a storage chip, the transmitter is communicated with the micro control unit sequentially through an antenna and a wireless transceiving module, the micro control unit is communicated with the storage chip and is connected with the starter and each electromagnetic valve through a relay, signal output ends of the Beidou positioning assembly and the inertia measuring unit are connected with a signal input end of the micro control unit, and the generator is connected with a power interface of the storage battery through, the storage battery is connected with a power interface of the micro control unit through a power line, and the starter is connected with the diesel engine and drives the diesel engine to start.

2. An agricultural robot of claim 1, wherein: the device further comprises a key, and the key is connected with the micro control unit through the IO port.

3. The agricultural robot of claim 1, further comprising a display screen, wherein the signal output of the micro control unit is connected to the signal input of the display screen.

4. A method for controlling an agricultural robot, comprising the steps of:

a. switching on the power supply of the transmitter, and entering the step a or the step g;

b. c, sending a control command, and entering the step c;

c. d, the micro control unit receives the control command, controls the functional component corresponding to the control command to start through the relay, and enters the step d;

d. recording inertia measurement data by an inertia measurement unit, acquiring Beidou positioning real-time data by a Beidou positioning component, recording operation parameter data by each functional component to form a data packet, and entering the step e;

e. transmitting the data packet to a micro control unit, associating various data of the data packet to form control information, and entering the step f;

f. transmitting the control information to a storage chip for storage, and entering the step i;

g. calling control information, sending the control information to a micro control unit, entering the step h,

h. automatically controlling the starting of each functional component according to the information recorded in the control information, and entering the step h;

i. and finishing tillage and stopping the machine.

5. The method as claimed in claim 3, wherein the real-time data from step c to step h is transmitted to the transmitter via an antenna and a wireless transceiver module.

6. The method for controlling an agro-farming robot according to claim 3, wherein in step e, the control information is named.

Technical Field

The invention belongs to the field of agricultural machinery, and particularly relates to an agricultural tillage robot and a control method thereof.

Background

An agro-farming robot generally refers to an intelligent machine for agricultural cultivation. At present, the conventional farming robot has single function and cannot meet the requirement of actual farming. Meanwhile, the existing farming robot is difficult to achieve the real intelligence in the aspect of intelligence and still needs manual operation.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an agricultural tillage robot and a control method thereof, aiming at the defects of the prior art, and the agricultural tillage robot has various functions and high intelligence degree.

The technical scheme adopted by the invention is as follows: an agricultural tillage robot comprises a power assembly, a hydraulic assembly, a control assembly, a chassis assembly, a transmission cutter assembly and a power output assembly, wherein the power assembly comprises a diesel engine, an accelerator assembly and a clutch, the output end of the diesel engine is provided with a driving belt pulley, the driving belt pulley is connected with the power output assembly through a V-belt, the hydraulic assembly comprises a hydraulic station, a left steering oil cylinder, a right steering oil cylinder, a machine lifting oil cylinder, an accelerator control oil cylinder, a clutch oil cylinder and a gear adjusting oil cylinder, the hydraulic station is respectively communicated with the left steering oil cylinder, the right steering oil cylinder, the machine lifting oil cylinder, the accelerator control oil cylinder, the clutch oil cylinder and the gear adjusting oil cylinder through a distribution hydraulic oil pipe and a control hydraulic oil pipe in sequence, the distribution hydraulic oil pipe and the control hydraulic oil pipe are respectively provided with a hydraulic distribution valve and an electromagnetic valve, and the left steering oil cylinder and the right steering oil cylinder are both, the machine tool lifting oil cylinder, the accelerator control oil cylinder, the clutch oil cylinder and the gear adjusting oil cylinder are respectively connected with a shell of a transmission cutter assembly, an accelerator assembly, a clutch and a gear shift lever of a power output assembly, the control assembly comprises a transmitter, a micro control unit, a storage battery, a generator, a starter, a Beidou positioning assembly, an inertia measuring unit and a storage chip, the transmitter is communicated with the micro control unit sequentially through an antenna and a wireless receiving and transmitting module, the micro control unit is communicated with the storage chip, the micro control unit is connected with the starter and each electromagnetic valve through a relay, signal output ends of the Beidou positioning assembly and the inertia measuring unit are connected with a signal input end of the micro control unit, the generator is connected with a power interface of the storage battery through a power line, the storage battery is connected with the power, the starter is connected with the diesel engine and drives the diesel engine to start.

In one embodiment, the system further comprises a key, and the key is connected with the micro control unit through an IO port.

In one embodiment, the micro-control unit further comprises a display screen, and the signal output end of the micro-control unit is connected with the signal input end of the display screen.

The invention also discloses a control method of the farming robot, which comprises the following steps:

a. switching on the power supply of the transmitter, and entering the step a or the step g;

b. c, sending a control command, and entering the step c;

c. d, the micro control unit receives the control command, controls the functional component corresponding to the control command to start through the relay, and enters the step d;

d. recording inertia measurement data by an inertia measurement unit, acquiring Beidou positioning real-time data by a Beidou positioning component, recording operation parameter data by each functional component to form a data packet, and entering the step e;

e. transmitting the data packet to a micro control unit, associating various data of the data packet to form control information, and entering the step f;

f. transmitting the control information to a storage chip for storage, and entering the step i;

g. calling control information, sending the control information to a micro control unit, entering the step h,

h. automatically controlling the starting of each functional component according to the information recorded in the control information, and entering the step h;

i. and finishing tillage and stopping the machine.

In one embodiment, the real-time data of the steps c-h is transmitted to the transmitter through the antenna and the wireless transceiver module.

In one embodiment, in step e, the control information may be named.

The invention has the beneficial effects that:

1. the power assembly is driven by the diesel engine through a V-belt, and controls the chassis assembly to walk and controls the power output assembly to output power so as to meet the walking and cultivating requirements;

2. the hydraulic system component realizes each function of the robot through each oil cylinder, and ensures the independence and stability of each function;

3. the control assembly controls the whole farming robot through a relay, a wireless transceiver module and the like, and the intelligent degree is high.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the hydraulic assembly and control assembly of the present invention;

FIG. 3 is a schematic view of the support adjustment assembly of the present invention;

FIG. 4 is a schematic view of the tension adjustment assembly and wheel connection assembly of the present invention;

FIG. 5 is a schematic view of the construction of the transmission tool assembly of the present invention;

FIG. 6 is a schematic view of the transmission assembly of the present invention;

FIG. 7 is a schematic structural view of a power take-off assembly of the present invention;

FIG. 8 is a schematic view of the power take off assembly of the present invention coupled to a transmission cutter assembly;

fig. 9 is a schematic structural view of the power output cartridge of the present invention.

In the figure: 1. a diesel engine; 2. a throttle assembly; 3. a clutch; 4. a drive pulley; 5. a V-belt; 6. a hydraulic station; 7. a left steering cylinder; 8. a right steering cylinder; 9. a machine tool lifting oil cylinder; 10. the throttle controls the oil cylinder; 11. a clutch oil cylinder; 12. a gear adjusting oil cylinder; 13. distributing hydraulic oil pipes; 14. controlling a hydraulic oil pipe; 15. a hydraulic distribution valve; 16. an electromagnetic valve; 17. a transmitter; 18. a micro control unit; 19. a storage battery; 20. a generator; 21. a starter; 22. a relay; 23. a Beidou positioning component; 24. an inertial measurement unit; 25. a memory chip; 26. an antenna; 27. a wireless transceiver module; 28. a power line; 29. pressing a key; 30. a display screen; 31. a chassis; 32. a tension wheel; 33. a working wheel; 34. a drive wheel; 35. a rubber track; 36. a support adjustment assembly; 37. a wheel connection assembly; 38. a tension adjustment assembly; 39. a housing; 40. an upper bearing; 41. a lower bearing; 42. an upper shaft; 43. a lower shaft; 44. a first upper sprocket; 45. a second upper sprocket; 46. a lower sprocket; 47. a cutter chain; 48. a hexagonal shaft of the cutter; 49. a fixing hole; 50. fixing a tool rest; 51. a blade; 52. a bi-directional control gearbox; 53. a driven pulley; 54. a power output connection box; 55. a shift lever; 56. a power take-off cartridge; 57. closing the plate; 58. a connecting box gear; 59. connecting a chain wheel; 60. a power take-off chain; 61. a walking power output shaft; 62. oil sealing; 321. a wheel body; 361. a wheel support; 362. a support frame; 363. supporting a tension spring; 364. a connecting spring; 365. a bracket bushing; 371. a wheel bushing; 372. a wheel bearing; 373. a wheel sleeve; 381. tensioning the hexagonal sleeve; 382. tensioning the hexagonal rod; 383. a spring centering block; 384. adjusting the tension spring; 385. adjusting the nut; 386. a tensioning seat; 561. a box body; 562. a mounting cavity; 563. an output cavity; 564. sealing the groove.

Detailed Description

The invention will be described in further detail with reference to the following drawings and specific embodiments.

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9, the farming robot comprises a power assembly, a hydraulic assembly, a control assembly, a chassis 31 assembly, a transmission cutter assembly and a power output assembly, wherein the power assembly comprises a diesel engine 1, an accelerator assembly 2 and a clutch 3, the output end of the diesel engine 1 is provided with a driving belt pulley 4, the driving belt pulley 4 is connected with the power output assembly through a V-belt 5, the hydraulic assembly comprises a hydraulic station 6, a left steering cylinder 7, a right steering cylinder 8, an implement lifting cylinder 9, an accelerator control cylinder 10, a clutch cylinder 11 and a gear adjusting cylinder 12, the hydraulic station 6 is respectively connected with the left steering cylinder 7, the right steering cylinder 8, the implement lifting cylinder 9, the accelerator control cylinder 10, the left steering cylinder 7, the right steering cylinder 8, the implement lifting cylinder 9, the accelerator control cylinder 10 and, The clutch oil cylinder 11 is communicated with the gear adjusting oil cylinder 12, the distribution hydraulic oil pipe 13 and the control hydraulic oil pipe 14 are respectively provided with a hydraulic distribution valve 15 and an electromagnetic valve 16, the left steering oil cylinder 7 and the right steering oil cylinder 8 are both connected with a walking power output shaft 61 of the power output assembly, the machine tool lifting oil cylinder 9, the accelerator control oil cylinder 10, the clutch oil cylinder 11 and the gear adjusting oil cylinder 12 are respectively connected with a shell 39 of the transmission cutter assembly, the accelerator assembly 2, the clutch 3 and a gear shift lever 55 of the power output assembly, the control assembly comprises a transmitter 17, a micro control unit 18, a storage battery 19, a generator 20, a starter 21, a Beidou positioning assembly 23, an inertia measuring unit 24 and a storage chip 25, the transmitter 17 is communicated with the micro control unit 18 through an antenna 26 and a wireless transceiving module 27, the micro control unit 18 is communicated with the storage chip 25, the micro control unit 18 is connected with the starter 21 and each electromagnetic valve 16 through the relay 22, the signal output ends of the Beidou positioning component 23 and the inertia measuring unit 24 are connected with the signal input end of the micro control unit 18, the generator 20 is connected with the power supply interface of the storage battery 19 through the power line 28, the storage battery 19 is connected with the power supply interface of the micro control unit 18 through the power line 28, and the starter 21 is connected with the diesel engine 1 and drives the diesel engine 1 to start.

In this embodiment, the electronic device further includes a key 29, and the key 29 is connected to the micro control unit 18 through an IO port.

In this embodiment, the device further includes a display screen 30, and a signal output end of the micro control unit 18 is connected to a signal input end of the display screen 30.

When the invention works, the generator 20 generates electricity, stores the electricity into the storage battery 19, and supplies power to each electric component through the micro control unit 18. The transmitter 17 sends corresponding instructions to the micro control unit 18 via the antenna 26 and the radio transceiver module 27. If the farming robot needs to be operated, the micro control unit 18 controls the starter 21 to be started through the relay 22, so that the diesel engine 1 is started. The diesel engine 1 is started, power is transmitted to the power output assembly through the driving belt pulley 4 and the V-belt 5, the power output assembly can output the power to the driving wheel 34 of the chassis 31 assembly and the transmission assembly of the transmission cutter assembly through the bidirectional control gearbox 52, and therefore the farming robot is driven to walk and the tool assembly of the farming robot is driven to run, and farming starts. In the process, the hydraulic station 6 distributes the driving oil to the control hydraulic oil pipe 14 through the distribution hydraulic oil pipe 13, the micro control unit 18 can respectively control the left steering oil cylinder 7, the right steering oil cylinder 8, the implement lifting oil cylinder 9, the accelerator control oil cylinder 10, the clutch oil cylinder 11 and the gear adjusting oil cylinder 12 to correspond to the electromagnetic valve 16 of the control hydraulic oil pipe 14 through the relay 22, and control oil is added into each oil cylinder, so that the functions of left turning, right turning, implement lifting, accelerator control, clutch control and gear adjustment are realized. In the operation process of the oil cylinders, the left steering oil cylinder 7 and the right steering oil cylinder 8 are started simultaneously to realize braking. In the cultivation process of the farming robot, the Beidou positioning component 23 and the inertial measurement unit 24 record real-time data and finally transmit the real-time data to the storage chip 25 for storage. The key 29 is connected to the micro control unit 18 through an IO port, and can control the micro control unit 18.

The invention also discloses a control method of the farming robot, which comprises the following steps:

a. turning on the power supply of the emitter 17, and entering the step a or the step g;

b. c, sending a control command, and entering the step c;

c. the micro control unit 18 receives the control command, controls the functional component corresponding to the control command to start through the relay 22, and enters step d;

d. the inertia measurement unit 24 records inertia measurement data, the Beidou positioning component 23 collects Beidou positioning real-time data, each functional component records operation parameter data to form a data packet, and the step e is carried out;

e. transmitting the data packet to the micro control unit 18, associating each item of data of the data packet to form control information, and entering step f;

f. transmitting the control information to a memory chip 25 for storage, and entering the step i;

g. retrieving control information, sending the control information to the micro control unit 18, proceeding to step h,

h. automatically controlling the starting of each functional component according to the information recorded in the control information, and entering the step h;

i. and finishing tillage and stopping the machine.

In this embodiment, the real-time data from step c to step h is transmitted to the transmitter 17 through the antenna 26 and the wireless transceiver module 27.

In this embodiment, in step e, the control information may be named.

The power assembly of the invention is driven by a diesel engine 1 through a V-belt 5, controls the chassis 31 assembly to walk and controls the power output assembly to output power so as to meet the requirements of walking and cultivation; the hydraulic system component realizes each function of the robot through each oil cylinder, and ensures the independence and stability of each function; the control component controls the whole farming robot through the relay 22, the wireless transceiver module 27 and the like, and the intelligent degree is high.

The chassis component comprises a chassis 31 and a traveling component arranged at two ends of the chassis 31, wherein the traveling component comprises a plurality of tension wheels 32, a plurality of working wheels 33 and a driving wheel 34 connected with a power output component, rubber tracks 35 which are driven by the driving wheel 34 to operate and are respectively contacted with the working wheels 33 and the tension wheels 32 are arranged at the outer sides of the tension wheels 32, the working wheels 33 and the driving wheel 34, a supporting and adjusting component 36 is arranged at the middle position of the inner side of the rubber track 35, the working wheels 33 are arranged below the supporting and adjusting component 36 and are contacted with the rubber track 35, the tension wheels 32 and the driving wheel 34 are arranged above the supporting and adjusting component 36 and are contacted with the rubber track 35, and the tension wheels 32 are connected through a tensioning and adjusting component 38. The tension wheels 32, the working wheels 33 and the driving wheels 34 each include two wheel bodies 321, and the two wheel bodies 321 are connected by a wheel connecting assembly 37. The wheel connecting assembly 37 comprises a wheel bushing 371, two ends of the wheel bushing 371 are provided with wheel bearings 372, and the wheel bearings 372 are connected with a wheel body 321 through wheel sleeves 373. The supporting and adjusting assembly 36 includes a wheel support 361 with an opening at the lower part and a supporting frame 362 with an opening at the lower part, the wheel support 361 and the supporting frame 362 are connected through a supporting and tensioning spring 363 and a connecting spring 364, the outer sides of the wheel support 361 and the supporting frame 362 are both provided with a support bushing 365 extending to the inner side of the opening, the support bushing 365 of the wheel support 361 and the support bushing 365 of the supporting frame 362 are connected through a support screw, and when the support screw is connected with the support bushing 365, the top of the wheel support 361 is located at the inner side of the opening at the lower part of the supporting frame 362. The tensioning adjusting assembly 38 comprises a tensioning hexagonal sleeve 381, a tensioning hexagonal rod 382 connected with a wheel bushing 371 of one tensioning wheel 32 and penetrating through the tensioning hexagonal sleeve 381, and a spring centering block 383 arranged at the top of the supporting frame 362, wherein the tensioning hexagonal rod 382 penetrates through the tensioning hexagonal sleeve 381 and can move along the axial direction of the tensioning hexagonal sleeve 381, one end of the tensioning hexagonal rod 382 far away from the tensioning wheel 32 is provided with an adjusting tensioning spring 384, one end of the adjusting tensioning spring 384 far away from the tensioning hexagonal rod 382 penetrates through the spring centering block 383 and is connected with a wheel bushing 371 of the other tensioning wheel 32, and two ends of the adjusting tensioning spring 384 are respectively provided with an adjusting nut 385. The tensioning adjustment assembly 38 further includes a tensioning seat 386 disposed on top of the support bracket 362, and the tensioning hexagonal sleeve 381 is disposed on top of the tensioning seat 386.

The transmission cutter assembly comprises a plurality of cutter assemblies and a transmission assembly which is connected with the plurality of cutter assemblies and drives the plurality of cutter assemblies to operate, the transmission assembly comprises a shell 39, an upper bearing 40 and a lower bearing 41 are respectively arranged at the positions, located at the two ends, in the shell 39, an upper shaft 42 and a lower shaft 43 are respectively arranged in the upper bearing 40 and the lower bearing 41, at least one end of the upper shaft 42 extends to the outer side of the shell 39, a first upper chain wheel 44 connected with a power output assembly is arranged at one end, located at the outer side of the shell 39 and far away from the shell 39, of the upper shaft 42, two ends of the lower shaft 43 extend to the outer side of the shell 39, a second upper chain wheel 45 and a second lower chain wheel 46 are respectively arranged on the upper shaft 42 and the lower shaft 43, located at the inner side of the shell 39 and close to the positions, located at the upper bearing 40 and the lower bearing 41, of, the cutter assembly comprises a cutter hexagonal shaft 48 connected with the two ends of the lower shaft 43, and a plurality of groups of rotary cutters are arranged on the cutter hexagonal shaft 48. One end of the cutter hexagonal shaft 48 close to the lower shaft 43 is provided with a fixing hole 49 which is tightly connected with the lower shaft 43 through a bolt. The rotary cutter includes a fixed cutter holder 50 connected to the cutter hexagonal shaft 48 and a plurality of blades 51 provided at an end of the fixed cutter holder 50 away from the cutter hexagonal shaft 48.

The power output assembly comprises a bidirectional control gearbox 52 internally provided with a speed change assembly, a driven belt pulley 53 arranged on one side of the bidirectional control gearbox 52 and connected with the power assembly, a power output connecting box 54 arranged at one end of the bidirectional control gearbox 52 far away from the driven belt pulley 53 and connected with the bidirectional control gearbox 52 and internally provided with the power output assembly, and a gear lever 55 arranged at the top of the bidirectional control gearbox 52 and used for adjusting the running speed of the bidirectional control gearbox 52, wherein the driven belt pulley 53 is connected with the speed change assembly inside the bidirectional control gearbox 52, one end of the outer side of the power output connecting box 54 close to a transmission cutter assembly is provided with a power output box 56 with a hollow inner part, a connecting box shaft with one end extending to the outer side of the power output box 56 is arranged inside the power output box 56, and a connecting box gear 58 is sleeved on the connecting box shaft and positioned in the power output box, the power output assembly in the power output connecting box 54 is connected with the connecting box gear 58 and drives the connecting box gear 58 to operate, the connecting box shaft is positioned on the outer side of the power output connecting box 54 and is provided with a connecting chain wheel 59 at one end far away from the power output connecting box 54, the connecting chain wheel 59 is connected with the first upper chain wheel 44 of the transmission cutter assembly through a power output chain 60, one end, far away from the driven belt pulley 53, of the bidirectional control gearbox 52 is provided with a walking power output shaft 61 connected with the driving wheel 34, and the speed change assembly in the bidirectional control gearbox 52 is connected with the walking power output shaft 61 and drives the walking power output shaft to operate. Oil seals 62 are respectively arranged on the connecting box shaft at the two ends of the connecting box gear 58 and at the inner side of the power output box 56. The power output box 56 comprises a box body 561, a mounting cavity 562 with two ends communicated with the outer side of the box body 561 is formed in the box body 561, and an output cavity 563 communicated with the mounting cavity 562 is formed in one end, close to the power output connecting box 54, of the box body 561. The box body 561 is provided with a sealing groove 564 at the outer side of the two ends of the mounting cavity 562, and the sealing groove 564 is provided with a sealing plate 57 hermetically connected with the sealing groove 564.

The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.