阅读说明：本技术 一种用于玫瑰种植的水肥一体化施肥喷灌机器人 (A liquid manure integration fertilization sprinkling irrigation robot for rose is planted ) 是由 程琴 彭欣怡 庞新华 谭秦亮 卢业飞 朱鹏锦 吕平 王丽萍 欧克纬 周全光 李佳 于 2021-07-05 设计创作，主要内容包括：本发明公开了一种用于玫瑰种植的水肥一体化施肥喷灌机器人,包括可在田间行进的履带式喷灌机器人、设置于所述喷灌机器人上的喷灌头、水肥一体机、连接于水肥一体机与喷灌头之间的水管和用于缠绕水管的盘管车；所述履带式喷灌机器人包括履带式底盘和设置于履带式底盘上的机械臂；所述喷灌头设置于所述机械臂的末端；该机器人可以在玫瑰种植园的的非规则路面行驶时,通过性极强,配合水肥一体机实现玫瑰的自动化肥水喷灌。(The invention discloses a water and fertilizer integrated fertilization sprinkling irrigation robot for rose planting, which comprises a crawler-type sprinkling irrigation robot capable of travelling in the field, a sprinkling irrigation head arranged on the sprinkling irrigation robot, a water and fertilizer integrated machine, a water pipe connected between the water and fertilizer integrated machine and the sprinkling irrigation head, and a pipe coiling vehicle for winding the water pipe; the crawler-type sprinkling irrigation robot comprises a crawler-type chassis and a mechanical arm arranged on the crawler-type chassis; the sprinkling irrigation head is arranged at the tail end of the mechanical arm; this robot can be when the irregular road surface of rose plantation is gone, and trafficability characteristic is extremely strong, cooperates the liquid manure all-in-one to realize the automatic liquid manure sprinkling irrigation of rose.)

1. A liquid manure integration fertilization sprinkling irrigation robot for rose is planted, its characterized in that: the crawler-type sprinkling irrigation robot capable of traveling in the field, a sprinkling irrigation head arranged on the sprinkling irrigation robot, a water-fertilizer all-in-one machine, a water pipe connected between the water-fertilizer all-in-one machine and the sprinkling irrigation head and a pipe coiling vehicle for winding the water pipe are included; the crawler-type sprinkling irrigation robot comprises a crawler-type chassis and a mechanical arm arranged on the crawler-type chassis; the sprinkling irrigation head is arranged at the tail end of the mechanical arm;

the crawler-type chassis comprises a frame, a pair of triangular crawler wheels arranged on two sides of the front part of the frame, a pair of strip-shaped crawler devices arranged on two sides of the rear part of the frame, and a driving system for driving the triangular crawler wheels and the strip-shaped crawler devices to operate;

the triangular crawler wheels comprise two regular triangular side plates arranged in parallel, three crawler wheels I distributed at three top corners of the regular triangular side plates, a crawler driving wheel arranged at the middle point of the regular triangular side plates and a crawler I surrounding the three crawler wheels I; the crawler driving wheel and one crawler wheel I are in transmission through a synchronous belt; the strip-shaped crawler device comprises a strip-shaped crawler mounting frame, two crawler wheels II arranged on the crawler mounting frame and a crawler II surrounding the two crawler wheels II;

the driving system comprises two advancing driving motors arranged at the front part of the frame, two obstacle crossing driving motors, two transmission boxes, an adjusting motor arranged at the rear part of the frame and a worm and gear reducer; the transmission case comprises a transmission shaft fixedly connected with the crawler driving wheel and a sleeve sleeved outside the transmission shaft through a needle bearing and fixedly connected with the regular triangle side plate; a driving gear I is fixedly mounted on a rotating shaft of the advancing driving motor, and a driven gear I meshed with the driving gear I is fixedly mounted on the transmission shaft; a driven gear II is fixedly arranged on the sleeve, and a driving gear II meshed with the driven gear II is fixedly arranged on the obstacle crossing driving motor; the power of the adjusting motor is transmitted to two coaxially arranged wheel shafts through the worm gear reducer; the wheel shaft penetrates through the crawler belt II and is fixedly connected with the crawler belt mounting frame; the wheel shaft is provided with a double-row driven chain wheel fixedly connected with the crawler wheel II through a needle bearing; the transmission shaft is fixedly provided with double rows of driving chain wheels, and the double rows of driven chain wheels are connected with the double rows of driving chain wheels through chains.

2. The water and fertilizer integrated fertilization and sprinkling irrigation robot for planting the roses according to claim 1, wherein: the water and fertilizer integrated machine comprises a control cabinet, a water pump, a water inlet pipe, a water discharge pipe and a fertilizer suction pipe assembly; inhale fertile pipe subassembly includes parallel arrangement's last main water pipe, down main water pipe, connect four branch pipes between last main water pipe and lower main water pipe, set up in the venturi of branch pipe bypass, connect in the fertile pipe of inhaling of venturi constriction portion.

3. The water and fertilizer integrated fertilization and sprinkling irrigation robot for planting the roses as claimed in claim 2, wherein: the coil pipe vehicle comprises a wheel type chassis, a winding disc arranged on the wheel type chassis and a rotary driving mechanism used for driving the winding disc to rotate; the rotary driving mechanism comprises a hand wheel, a reduction box 32 and a synchronous belt; and the rotating power of the hand wheel is transmitted to the winding disc through the reduction gearbox and the synchronous belt in sequence.

4. The water and fertilizer integrated fertilization and sprinkling irrigation robot for planting the roses as claimed in claim 3, wherein: and a camera is arranged on the mechanical arm.

5. The water and fertilizer integrated fertilization and sprinkling irrigation robot for planting the roses as claimed in claim 4, wherein: and the Venturi tube is provided with a flow control valve with the opening controlled by a control cabinet.

Technical Field

The invention belongs to the field of rose planting equipment, and particularly relates to a water and fertilizer integrated fertilization and sprinkling irrigation robot for rose planting.

Background

The roses belong to Rosales, Rosaceae deciduous shrubs, branches and stems with multiple needles, odd feathery compound leaves, 5-9 small leaves, ellipse, edge thorn, inverted oval petals, heavy petals to half heavy petals, purple red flowers, white flowers, and oblate spheroids with fruit period of 8-9 months. Rose need fertilize to it when planting and cultivating to improve its growth efficiency, traditional rose fertilization mode utilizes large-scale agricultural machinery or manpower animal power to broadcast in the field usually, but the even degree of its fertilization is relatively poor, needs in addition at the field back and forth movement, and the fertilization becomes a thing that consumes physical power comparatively, and work efficiency is also very low. Many high-efficient chemical fertilizers can dissolve in aqueous rapidly at present, irrigate through mixing liquid manure an organic whole, can ensure that the fertilization is more even. Therefore, the application provides a water and fertilizer integrated fertilization and sprinkling irrigation robot for rose planting; the robot can be configured with appropriate water and fertilizer as required, and the configured water and fertilizer is sprayed to the rose plants by utilizing the crawler-type sprinkling irrigation robot which can be freely carried out in the field, so that the automatic fertilization and irrigation of the rose planting are realized, and the planting efficiency of the rose is remarkably improved.

Disclosure of Invention

In view of the above, the invention aims to provide a water and fertilizer integrated fertilization and sprinkling irrigation robot for rose planting, which has strong trafficability when driving on irregular roads in a rose plantation and is matched with a water and fertilizer integrated machine to realize automatic fertilization and sprinkling irrigation of roses.

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

the invention relates to a spraying device for rose, which comprises a crawler-type spraying robot capable of traveling in the field, a spraying head arranged on the spraying robot, a water-fertilizer all-in-one machine, a water pipe connected between the water-fertilizer all-in-one machine and the spraying head, and a pipe coiling vehicle for winding the water pipe, wherein the spraying head is arranged on the spraying robot; the crawler-type sprinkling irrigation robot comprises a crawler-type chassis and a mechanical arm arranged on the crawler-type chassis; the sprinkling irrigation head is arranged at the tail end of the mechanical arm;

the crawler-type chassis comprises a frame, a pair of triangular crawler wheels arranged on two sides of the front part of the frame, a pair of strip-shaped crawler devices arranged on two sides of the rear part of the frame, and a driving system for driving the triangular crawler wheels and the strip-shaped crawler devices to operate;

the triangular crawler wheels comprise two regular triangular side plates arranged in parallel, three crawler wheels I distributed at three top corners of the regular triangular side plates, a crawler driving wheel arranged at the middle point of the regular triangular side plates and a crawler I surrounding the three crawler wheels I; the crawler driving wheel and one crawler wheel I are in transmission through a synchronous belt; the strip-shaped crawler device comprises a strip-shaped crawler mounting frame, two crawler wheels II arranged on the crawler mounting frame and a crawler II surrounding the two crawler wheels II;

the driving system comprises two advancing driving motors arranged at the front part of the frame, two obstacle crossing driving motors, two transmission boxes, an adjusting motor arranged at the rear part of the frame and a worm and gear reducer; the transmission case comprises a transmission shaft fixedly connected with the crawler driving wheel and a sleeve sleeved outside the transmission shaft through a needle bearing and fixedly connected with the regular triangle side plate; a driving gear I is fixedly mounted on a rotating shaft of the advancing driving motor, and a driven gear I meshed with the driving gear I is fixedly mounted on the transmission shaft; a driven gear II is fixedly arranged on the sleeve, and a driving gear II meshed with the driven gear II is fixedly arranged on the obstacle crossing driving motor; the power of the adjusting motor is transmitted to two coaxially arranged wheel shafts through the worm gear reducer; the wheel shaft penetrates through the crawler belt II and is fixedly connected with the crawler belt mounting frame; the wheel shaft is provided with a double-row driven chain wheel fixedly connected with the crawler wheel II through a needle bearing; the transmission shaft is fixedly provided with double rows of driving chain wheels, and the double rows of driven chain wheels are connected with the double rows of driving chain wheels through chains.

Further, the water and fertilizer integrated machine comprises a control cabinet, a water pump, a water inlet pipe, a water discharging pipe and a fertilizer sucking pipe assembly; inhale fertile pipe subassembly includes parallel arrangement's last main water pipe, down main water pipe, connect four branch pipes between last main water pipe and lower main water pipe, set up in the venturi of branch pipe bypass, connect in the fertile pipe of inhaling of venturi constriction portion.

Further, the coil pipe vehicle comprises a wheel type chassis, a winding disc arranged on the wheel type chassis and a rotary driving mechanism for driving the winding disc to rotate; the rotary driving mechanism comprises a hand wheel, a reduction box 32 and a synchronous belt; and the rotating power of the hand wheel is transmitted to the winding disc through the reduction gearbox and the synchronous belt in sequence.

Further, a camera is arranged on the mechanical arm.

Furthermore, a flow control valve with the opening controlled by a control cabinet is arranged on the Venturi tube.

The invention has the beneficial effects that: according to the water and fertilizer integrated fertilization sprinkling irrigation robot for planting the roses, the triangular crawler wheels and the strip-shaped crawler devices of the crawler-type sprinkling irrigation robot can normally advance or integrally rotate to cross obstacles, so that the sprinkling irrigation head can be carried to freely advance in the field; the water and fertilizer integrated machine can be used for preparing liquid fertilizer in a proper proportion according to requirements, so that automatic fertilization and irrigation of rose planting are realized, and the planting efficiency of roses is remarkably improved.

Drawings

The invention is further illustrated by the non-limiting examples given in the accompanying drawings;

FIG. 1 is a schematic overall structure diagram of a water and fertilizer integrated fertilization and sprinkling irrigation robot for planting roses, provided by the invention;

FIG. 2 is a schematic view of the track assembly of the present invention;

FIG. 3 is a schematic view of the internal structure of the track assembly of the present invention;

FIG. 4 is a schematic view of the mounting of the drive motor of the present invention;

FIG. 5 is a schematic structural diagram of the transmission system of the present invention;

fig. 6 is a schematic structural view of the tension mechanism of the present invention.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.

As shown in fig. 1, the water and fertilizer integrated fertilization sprinkling irrigation robot for planting roses of the embodiment comprises a crawler-type sprinkling irrigation robot 1 capable of traveling in a field, a sprinkling irrigation head arranged on the sprinkling irrigation robot, a water and fertilizer integrated machine 2 for manufacturing liquid fertilizer, a water pipe connected between the water and fertilizer integrated machine 2 and the sprinkling irrigation head, and a coil pipe vehicle 3 for winding the water pipe;

the crawler-type sprinkling irrigation robot 1 comprises a crawler-type chassis and a mechanical arm 2 arranged on the crawler-type chassis; the sprinkling irrigation head is arranged at the tail end of the mechanical arm 2;

the crawler-type chassis comprises a frame, a pair of triangular crawler wheels arranged on two sides of the front portion of the frame, a pair of strip-shaped crawler devices arranged on two sides of the rear portion of the frame, and a driving system used for driving the triangular crawler wheels and the strip-shaped crawler devices to operate.

The triangular crawler wheels comprise two regular triangular side plates 16 arranged in parallel, three crawler wheels I17 distributed at three top corners of the regular triangular side plates 16, a crawler driving wheel 14 arranged at the middle point of the regular triangular side plates 16 and a crawler I15 surrounding the three crawler wheels I17; the track driving wheel 14 and one track wheel I17 are in synchronous belt transmission.

The strip-shaped crawler device comprises a strip-shaped crawler mounting frame 11, two crawler wheels II 12 arranged on the crawler mounting frame 11 and a crawler belt II 13 surrounding the two crawler wheels II 12;

the driving system comprises two advancing driving motors 113 arranged at the front part of the frame, two obstacle crossing driving motors 114, two transmission boxes, an adjusting motor 18 arranged at the rear part of the frame and a worm gear reducer 19; the transmission case comprises a transmission shaft fixedly connected with the crawler driving wheel 14 and a sleeve sleeved outside the transmission shaft through a needle bearing and fixedly connected with the regular triangle side plate 16; a driving gear I112 is fixedly mounted on a rotating shaft of the advancing driving motor 113, and a driven gear I113 meshed with the driving gear I112 is fixedly mounted on the transmission shaft; a driven gear II 111 is fixedly arranged on the sleeve, and a driving gear II 115 meshed with the driven gear II 111 is fixedly arranged on the obstacle crossing driving motor 114; the power of the adjusting motor 18 is transmitted to two coaxially arranged wheel shafts 110 through the worm gear reducer 19; the wheel shaft 110 penetrates through the crawler belt II 13 and is fixedly connected to the crawler belt mounting frame 11; a double-row driven sprocket fixedly connected with the crawler wheel II 12 is mounted on the wheel shaft 110 through a needle bearing; the transmission shaft is fixedly provided with double rows of driving chain wheels, and the double rows of driven chain wheels are connected with the double rows of driving chain wheels through chains 116.

When the crawler-type sprinkling irrigation robot in the embodiment needs to advance in the field, one power of the advancing driving motor 113 is sequentially transmitted to the transmission shaft and the crawler driving wheel 14 through the transmission box, the other power is transmitted to the double-row driven chain wheels through the chain 116, and finally the crawler I15 and the crawler II 13 are driven to synchronously operate to realize advancing. When the robot meets an obstacle in the field, the power of the obstacle crossing driving motor 114 is transmitted to the sleeve, and finally the sleeve drives the whole triangular crawler wheel to integrally rotate to realize obstacle crossing; when the robot meets high obstacles such as steps or the whole pitching posture of the robot needs to be adjusted, the adjusting motor 18 transmits power to the two wheel shafts 110 on the two sides of the rear part through the worm gear reducer 19, the two wheel shafts 110 are utilized to drive the crawler mounting frames 11 of the strip-shaped crawler devices to rotate, and then the two strip-shaped crawler devices are driven to rotate integrally. The crawler-type sprinkling irrigation robot of this embodiment advances through two triangle athey wheels and bar crawler attachment, and two triangle athey wheels and bar crawler attachment all can be through crawler drive or whole rotation, adaptable different topography in field, and trafficability characteristic is stronger.

In the embodiment, the crawler-type sprinkling irrigation robot further comprises a mechanical arm 2 arranged on the frame, the frame can be provided with a rotating table driven by a motor, and the mechanical arm 2 is fixedly arranged on the rotating table.

In this embodiment, the water and fertilizer integrated machine 2 includes a control cabinet 21, a water pump 22, a water inlet pipe, a water outlet pipe 25 and a fertilizer suction pipe assembly; the fertilizer absorbing pipe assembly comprises an upper main water pipe 27, a lower main water pipe 24, four branch pipes 26 connected between the upper main water pipe 27 and the lower main water pipe 24, a Venturi pipe arranged on a bypass of the branch pipes 26, and a fertilizer absorbing pipe 23 connected to a contraction part of the Venturi pipe, wherein the upper main water pipe 27 and the lower main water pipe 24 are arranged in parallel; the four fertilizer suction pipes 23 can be connected with different types of fertilizer tanks; during irrigation, water pump 22 will irrigate water pump 22 and go into down main water pipe 24, then flow to last main water pipe 27 through four branch pipes 26, meanwhile, partial irrigation water will be through the venturi that is located the branch pipe 26 bypass upwards flowing, venturi's constriction will produce the negative pressure and inhale venturi with fertilizer through inhaling fertile pipe 23 in, then upwards flow into main water pipe 27 and mix with irrigation water, flow direction drain pipe 25, connect crawler-type sprinkling irrigation robot's sprinkling irrigation head behind the winding dish of drain pipe 25 process coil car. The Venturi tube is provided with a flow control valve of which the opening is controlled by a control cabinet 21; the negative pressure of the contraction part of the venturi tube can be controlled through the flow control valve, so that the amount of different types of fertilizers entering the venturi tube can be adjusted, and the fertilizer ratio is finally adjusted.

As shown in fig. 5, in the present embodiment, the coiled tubing vehicle 3 includes a wheel type chassis 31 (the bottom of which is provided with a walking wheel 34), a winding disc 35 disposed on the wheel type chassis 31, and a rotation driving mechanism for driving the winding disc 35 to rotate; the rotary driving mechanism comprises a hand wheel 33, a reduction box 32 and a synchronous belt 35; the rotating power of the hand wheel 33 is transmitted to the winding disc 35 through the reduction gearbox 32 and the synchronous belt 35 in sequence; therefore, the hand wheel 33 can drive the winding disc 35 to rotate to realize the retraction of the water pipe.

The above description of specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.