A ditch dredging and irrigation integrated robot

Abstract

The application discloses a ditch dredging and irrigation integrated robot, which comprises a mounting frame, support wheels are arranged at four corners of the mounting frame, the support wheels are supported to two sides of a water channel, and characterized in that a walking mechanism, a cleaning mechanism and an irrigation opening opening and closing mechanism are installed on the mounting frame, wherein the walking mechanism comprises driving wheels and a driving motor, the driving motor drives the driving wheels to rotate, and the driving wheels drive the mounting frame to move; the cleaning mechanism comprises a water pump and a spray pipe, the water pump is connected to the spray pipe, a plurality of nozzles facing the inner wall of the water channel are arranged on the spray pipe; the irrigation opening opening and closing mechanism comprises a baffle and a baffle driver, the baffle is slidably connected into an irrigation opening of the ditch, and the baffle driver is installed on the mounting frame and used for driving the baffle to move to open or close the irrigation opening. The device can complete automatic dredging and irrigation control operations of a traditional ditch.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural equipment, and more particularly, to a ditch dredging and irrigation integrated robot. BACKGROUND

[0002] In the production of agriculture and forestry, scientific and reasonable irrigation of crops and trees is one of the main works to ensure the healthy growth of plants. In order to reduce equipment cost and improve irrigation efficiency, the traditional irrigation method is to guide river water or lake water to the area to be irrigated through a ditch.

[0003] The existing ditch is a concrete structure, and a plurality of irrigation openings are formed on one side of the ditch. During irrigation, the irrigation openings need to be opened manually in sequence to complete the irrigation operation. The existing ditch irrigation is manually operated, which not only needs to open and close each irrigation opening in sequence, but also needs to be dredged regularly to avoid the sedimentation of soil causing the blockage of the ditch and affecting the irrigation efficiency. It is not only time-consuming and labor-intensive, but also low in dredging and irrigation efficiency, which does not meet the current development trend of agricultural automation and forestry automation.

[0004] Therefore, there is a need for a technical solution of an automatic device for ditch irrigation to solve the above problems. SUMMARY

[0005] An object of the present application is to provide a new technical solution for ditch dredging and irrigation, which can complete the automatic dredging and irrigation control of the traditional ditch.

[0006] According to a first aspect of the present application, a ditch dredging and irrigation integrated robot is provided, comprising a mounting frame, a support wheel is arranged at each corner of the mounting frame, the support wheel is supported on both sides of the water channel, a walking mechanism, a cleaning mechanism and an irrigation opening opening and closing mechanism are installed on the mounting frame, wherein:

[0007] The walking mechanism comprises a driving wheel and a driving motor, the driving motor drives the driving wheel to rotate, and the driving wheel drives the mounting frame to move;

[0008] The cleaning mechanism comprises a water pump and a spray pipe, the water pump is connected to the spray pipe, and a plurality of nozzles are arranged on the spray pipe and face the inner wall of the water channel;

[0009] The irrigation opening opening and closing mechanism comprises a baffle and a baffle driver, the baffle is slidably connected to the irrigation opening of the ditch, and the baffle driver is installed on the mounting frame and used to drive the baffle to move to open or close the irrigation opening.

[0010] By the scheme, the device is placed in the ditch, the walking mechanism can drive the device to reach the irrigation port, the irrigation port opening and closing mechanism can open the irrigation port of the place to be irrigated according to the need to irrigate, and after the irrigation is completed, the irrigation port is closed, and then moved to the next irrigation port for control; the cleaning mechanism can flush and clean the inner wall of the ditch, so that the deposited soil is driven into the field from the irrigation port by the water flow.

[0011] Preferably, the top of the mounting frame is provided with a waterproof plate, the water pump is mounted on the waterproof plate, the water inlet of the water pump extends downward into the water channel, and the spray pipe is a rectangular frame, and the spray head is arranged on both sides and the bottom of the pipe.

[0012] By the scheme, the waterproof plate can avoid water splashing to the top control device to cause equipment damage; the water pump can directly suck water in the water channel for flushing, without arranging a water pipe, which is more convenient; the rectangular frame can flush any place of the ditch to ensure the flushing effect.

[0013] Preferably, one side of the ditch not provided with the irrigation port is fixed with a track rack, the teeth of the track rack are arranged obliquely downward, the driving wheel is a walking gear, and the walking gear is engaged with the track rack.

[0014] By the scheme, the cooperation of the track rack and the teeth and the supporting wheel at the top can limit the position of the device, avoiding displacement of the device under the action of water buoyancy and impact, so that the opening and closing of the baffle cannot be accurately controlled.

[0015] Preferably, the bottom of the mounting frame extends downward to form a sub-frame, the walking gear is rotatably connected to the sub-frame, the driving motor is fixed above the waterproof plate, and the driving motor and the walking gear are connected through a universal joint.

[0016] By the scheme, the sub-frame can facilitate the installation of the walking gear and other components, and ensure the stability during movement; the universal joint is composed of multiple parts, and can transmit the torque of the transversely arranged driving motor to the obliquely arranged walking gear.

[0017] Preferably, the baffle driver comprises a lifting gear, a clutch mechanism and a transmission mechanism, the lifting gear is connected to the transmission mechanism, and the transmission mechanism is connected to the driving motor through the clutch mechanism.

[0018] The device drives the lifting gear to the baffle, and the lifting gear can be engaged with the rack on the baffle, the driving motor is connected to the transmission mechanism through the clutch mechanism, the rotation of the driving motor can drive the lifting gear to rotate, the forward rotation of the lifting gear can drive the baffle to rise to open the irrigation opening, and the reverse rotation of the lifting gear can drive the baffle to descend to close the irrigation opening; the baffle driver is driven by the driving motor, and no additional motor is needed, which not only reduces the weight of the device, but also reduces the cost.

[0019] Preferably, the clutch mechanism comprises a clutch cylinder, a spline sleeve and a spline shaft, the driving motor drives the spline shaft to rotate, the spline sleeve is axially sleeved on the spline shaft and is in sliding connection with the spline shaft, two clutch gears are coaxially fixed on the spline sleeve, and the clutch cylinder drives the spline sleeve to drive the clutch gears to be in driving connection with the driving wheel or the transmission mechanism.

[0020] Through the scheme, when the clutch cylinder drives the clutch gears to be connected with the transmission mechanism, the clutch gears are disconnected with the driving wheel, so that the power of the walking mechanism is disconnected during driving the baffle up and down, mutual influence is avoided, and the position stability during lifting the baffle is ensured.

[0021] Preferably, the top of the universal joint penetrates through the waterproof plate and is rotationally connected with the waterproof plate, the top of the universal joint is fixed with a walking driving gear, and one of the clutch gears can be engaged with or disengaged from the driving gear.

[0022] Through the scheme, the pushing of the clutch cylinder makes the clutch gears contact or disengage from the walking driving gear, so that the connection and disconnection between the driving motor and the walking gear are realized.

[0023] Preferably, the transmission mechanism comprises a worm, a worm shaft and a lifting driving gear, the lifting driving gear is fixed to the top of the worm shaft and cooperates with the clutch gear, the worm cooperates with the worm shaft and is installed on the auxiliary frame, and the worm is engaged with the lifting gear.

[0024] Through the scheme, the cooperation of the worm and the worm shaft can improve the torque of the lifting gear, and the worm can be conveniently arranged to be connected with the clutch mechanism.

[0025] Preferably, the lifting gear is rotationally connected to the bottom of the swing rod, the swing rod is rotationally connected to the auxiliary frame with the rotating shaft of the worm as the axis, and the top of the swing rod is connected with the clutch mechanism.

[0026] Through the scheme, the swing lever can drive the lifting gear to be close to the baffle to complete the meshing driving, or drive the lifting gear to be disengaged from the meshing with the baffle to facilitate the walking of the device, avoiding the collision between the lifting gear and the baffle to cause the damage of the equipment; the clutch mechanism can drive the rotation of the swing lever at the same time to realize the linkage with the transmission mechanism, realizing the synchronous driving and separation.

[0027] Preferably, a shaft sleeve is arranged on the piston rod of the clutch cylinder, the spline sleeve is rotationally connected with the end of the shaft sleeve, and a push frame is fixed to the bottom of the shaft sleeve and connected with the waist-shaped hole at the top of the swing lever.

[0028] Through the scheme, the clutch cylinder can not only drive the movement of the spline sleeve, but also drive the movement of the push frame, so that the clutch gear is meshed with the lifting driving gear, and the swing lever is driven to rotate to mesh the lifting gear with the baffle, completing the linkage.

[0029] According to one embodiment of the present disclosure, the ditch dredging and irrigation integrated robot can not only automatically complete the cleaning work of the ditch, but also automatically open and close the irrigation port by using the existing ditch, realizing automatic irrigation work.

[0030] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0032] Figure 1 is a top view structural schematic diagram of the ditch dredging and irrigation integrated robot in an embodiment of the present application.

[0033] Figure 2 is Figure 1 a structural schematic diagram of the cleaning mechanism in the embodiment.

[0034] Figure 3 is Figure 1 a structural schematic diagram of the walking mechanism and the irrigation port opening and closing mechanism in the embodiment.

[0035] Figure 4 is Figure 3 a position structural schematic diagram when the irrigation port opening and closing mechanism in the embodiment is started.

[0036] Figure 5 is Figure 4 a top view structural schematic diagram of the baffle in the embodiment.

[0037] Figure 6 is Figure 4 a structural schematic diagram at the clutch cylinder in the embodiment.

[0038] Figure 7 is Figure 4 Position structure diagram of middle swing rod.

[0039] Figure 8 is cross-sectional structure diagram of spline sleeve. DETAILED DESCRIPTION

[0040] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0041] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application its application or uses.

[0042] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and apparatus should be construed as being a part of the specification, where appropriate.

[0043] In all of the examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0044] It should be noted that like numbers and letters refer to like items throughout the drawings, and that once an item is defined in one drawing, it should not require further discussion in subsequent drawings.

[0045] As Figures 1 to 8 shown, the ditch dredging and irrigation integrated robot in an embodiment of the present application includes a mounting frame 10, the mounting frame 10 is provided with support wheels 111 at four corners, the support wheels 111 are supported to two sides of a water channel, a walking mechanism, a cleaning mechanism 14, and an irrigation opening opening and closing mechanism are installed on the mounting frame 10, wherein:

[0046] The walking mechanism includes a driving wheel 212 and a driving motor 20, the driving motor 20 drives the driving wheel 212 to rotate, and the driving wheel 212 drives the mounting frame 10 to move;

[0047] The cleaning mechanism 14 includes a water pump 141 and a spray pipe 142, the water pump 141 is connected to the spray pipe 142, and the spray pipe 142 is provided with a plurality of spray heads 144 facing the inner wall of the water channel;

[0048] The irrigation opening opening and closing mechanism includes a baffle 310 and a baffle driver, the baffle 310 is slidingly connected to the irrigation opening of the ditch 40, and the baffle driver is installed on the mounting frame 10 and used to drive the baffle 310 to move to open or close the irrigation opening.

[0049] Through the scheme of the embodiment, the device is placed in the ditch 40, the walking mechanism can drive the device to reach the irrigation opening, the irrigation opening opening and closing mechanism can open the irrigation opening of the place to be irrigated according to the need to irrigate, and after the irrigation is completed, the irrigation opening is closed, and then the device is moved to the next irrigation opening to control; the cleaning mechanism 14 can flush and clean the inner wall of the ditch 40, so that the deposited soil is driven into the field from the irrigation opening by the water flow.

[0050] The mounting frame 10 is also provided with a control device capable of controlling the actions of the walking mechanism, the cleaning mechanism 14 and the irrigation opening opening and closing mechanism. The control device is, for example, a single-chip microcomputer system, which can be manually set, for example, to start the baffle drive to control the opening and closing of the baffle 310 after walking a certain distance; the single-chip microcomputer system also has a wireless transmission module, which can receive remote signals to realize manual or automatic control of the device.

[0051] In an embodiment of the present application, the top of the mounting frame 10 is provided with a waterproof plate 120, which is, for example, a nylon plate, light in weight and corrosion-resistant. The water pump 141 is installed on the waterproof plate 120, the water inlet 143 of the water pump 141 extends downward into the water channel, the spray pipe 142 is a rectangular frame, and the spray head 144 is arranged on both sides and the bottom of the pipe spray. The waterproof plate 120 can prevent water from splashing onto the top control device and causing equipment damage; the water pump 141 can directly suck water from the water channel for flushing without the need for arranging water pipes, which is more convenient; the rectangular frame can flush any part of the ditch 40 to ensure the flushing effect.

[0052] In an embodiment of the present application, the side of the ditch 40 not provided with an irrigation opening is fixed with a track rack 311211, the teeth of the track rack 311211 are arranged obliquely downward, the driving wheel 212 is a walking gear 212, and the walking gear 212 is engaged with the track rack 311211. The cooperation of the track rack 311211 and the teeth, together with the support wheel 111 at the top, can limit the position of the device, avoiding displacement of the device under the action of water buoyancy and impact and failing to accurately control the opening and closing of the baffle 310.

[0053] The bottom of the waterproof plate 120 is also provided with a side wheel 112, and the four corners of the waterproof plate 120 are also provided with a side wheel 112. The side wheel 112 can abut against the top of the two side walls of the water channel, avoiding left and right shaking of the device during walking.

[0054] In an embodiment of the present application, the bottom of the mounting frame 10 extends downward to form a sub-frame 130, the walking gear 212 is rotatably connected to the sub-frame 130, the driving motor 20 is fixed above the waterproof plate 120, and the driving motor 20 is connected with the walking gear 212 through the universal joint 213. The sub-frame 130 can facilitate the installation of the walking gear 212 and other components and ensure the stability of the walking gear 212 during movement; the universal joint 213 is composed of multiple joints and can transmit the torque of the transversely arranged driving motor 20 to the obliquely arranged walking gear 212.

[0055] In an embodiment of the present application, the baffle drive includes a lifting gear 31, a clutch mechanism 22, and a transmission mechanism 30. The lifting gear 31 is connected to the transmission mechanism 30, and the transmission mechanism 30 is connected to the driving motor 20 through the clutch mechanism 22. The baffle 310 is provided with a rack 311 on the side facing the ditch 40. After the device drives the lifting gear 31 to reach the baffle 310, the lifting gear 31 can be engaged with the rack 311. After the clutch mechanism 22 drives the transmission mechanism 30 to be connected with the driving motor 20, the rotation of the driving motor 20 can drive the lifting gear 31 to rotate. The forward rotation of the lifting gear 31 can drive the baffle 310 to rise to open the irrigation opening, and the reverse rotation of the lifting gear 31 can drive the baffle 310 to descend to close the irrigation opening. The baffle drive is driven by the driving motor 20, without the need for an additional motor, which not only reduces the weight of the device but also reduces the cost.

[0056] Sliding grooves are arranged on the two side walls of the irrigation opening, and the two sides of the baffle 310 are slidingly connected to the sliding grooves, so that the baffle 310 can slide up and down.

[0057] In an embodiment of the present application, the clutch mechanism 22 includes a clutch cylinder 225, a spline sleeve 221, and a spline shaft. The driving motor 20 drives the spline shaft to rotate. The spline sleeve 221 is axially sleeved on the spline shaft and is slidingly connected with the spline shaft. Two clutch gears 222 are coaxially fixed on the spline sleeve 221. The clutch cylinder 225 drives the spline sleeve 221 to make the clutch gears 222 respectively drivingly connected with the driving wheel 212 or the transmission mechanism 30. When the clutch cylinder 225 drives the clutch gears 222 to be connected with the transmission mechanism 30, the clutch gears 222 are disconnected with the driving wheel 212, so that the power of the walking mechanism is disconnected during the driving of the baffle 310 to rise and fall, thereby avoiding mutual influence and ensuring the position stability of the baffle 310 during the rising and falling process.

[0058] The clutch cylinder 225 in this embodiment is, for example, an electric cylinder. The piston rod of the clutch cylinder 225 is arranged axially with the spline sleeve 221 and can drive the spline sleeve 221 to axially move to realize the clutching. The spline shaft is coaxially fixed on the rotating shaft of the driving motor 20 and has a length allowing the lateral displacement of the spline sleeve 221. A plurality of vertical plates are upwardly protruded on the waterproof plate 120. The spline sleeve 221 penetrates through the vertical plates and is slidingly connected with the vertical plates, and the vertical plates serve as supports.

[0059] In an embodiment of the present application, the top of the universal joint 213 penetrates through the waterproof plate 120 and is rotationally connected to the waterproof plate 120, the top of the universal joint 213 is fixed with a walking driving gear 223, and a clutch gear 222 can engage and disengage with the driving gear. The pushing of the clutch cylinder 225 makes the clutch gear 222 contact or disengage with the walking driving gear 223, so as to realize the connection and disconnection of the driving motor 20 and the walking gear 212.

[0060] In an embodiment of the present application, the transmission mechanism 30 comprises a worm 321, a worm gear 322, and a lifting driving gear 224, the lifting driving gear 224 is fixed to the top of the worm gear 322 and cooperates with the clutch gear 222, the worm 321 cooperates with the worm gear 322 and is installed on the sub-frame 130, and the worm 321 engages with the lifting gear 31.

[0061] Through the scheme, the cooperation of the worm 321 and the worm gear 322 can improve the torque of the lifting gear 31, and the worm gear 322 can be conveniently arranged to be connected with the clutch mechanism 22.

[0062] In order to ensure smooth engagement and disengagement, the clutch gear 222, the walking driving gear 223, and the lifting driving gear 224 are all bevel gears, and the two clutch gears 222 are respectively located at both ends, and the walking driving gear 223 and the lifting driving gear 224 are located in the middle. When the spline sleeve 221 moves, one clutch gear 222 engages and the other disengages, so that the walking work and the lifting work can be performed respectively, thereby avoiding the occurrence of phenomena such as tooth collision.

[0063] In an embodiment of the present application, the lifting gear 31 is rotationally connected to the bottom of a swing rod 331, the swing rod 331 is rotationally connected to the sub-frame 130 with the rotation shaft of the worm 321 as the shaft, and the top of the swing rod 331 is connected with the clutch mechanism 22. The swing rod 331 can drive the lifting gear 31 to approach the baffle 310 to complete the engagement driving, or drive the lifting gear 31 to disengage from the baffle 310 to facilitate the walking of the device, thereby avoiding the collision between the lifting gear 31 and the baffle 310 to cause damage to the equipment; the clutch mechanism 22 can simultaneously drive the rotation of the swing rod 331 to realize linkage with the transmission mechanism 30, so as to realize synchronous driving and separation.

[0064] The worm 321 is rotationally connected to the sub-frame 130, and when the swing rod 331 rotates, the lifting gear 31 rotates around the worm 321, so that the rotation of the swing rod 331 does not affect the engagement of the worm 321 and the lifting gear 31.

[0065] In an embodiment of the present application, a shaft sleeve 226 is arranged on the piston rod of the clutch cylinder 225, the spline sleeve 221 is rotatably connected with the end of the shaft sleeve 226, the bottom of the shaft sleeve 226 is fixed with a push frame 227, and the push frame 227 is connected with the waist-shaped hole at the top of the swing rod 331. The clutch cylinder 225 can not only drive the movement of the spline sleeve 221, but also drive the movement of the push frame 227, so that the clutch gear 222 is engaged with the lifting driving gear 224, the swing rod 331 is driven to rotate, the lifting gear 31 is engaged with the baffle 310, and the linkage is completed.

[0066] According to the present application, the ditch dredging and irrigation integrated robot can not only automatically complete the ditch cleaning work, but also automatically open and close the irrigation port by using the existing ditch, so as to realize automatic irrigation work.

[0067] Although some specific embodiments of the present application have been described in detail by examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A ditch dredging and irrigation integrated robot, comprising a mounting frame, wherein support wheels are provided at the four corners of the mounting frame, and the support wheels support the ditch on both sides, characterized in that, The mounting frame is equipped with a walking mechanism, a cleaning mechanism, and an irrigation inlet opening and closing mechanism, wherein: The walking mechanism includes a drive wheel and a drive motor, the drive motor drives the drive wheel to rotate, and the drive wheel drives the mounting frame to move; The cleaning mechanism includes a water pump and a spray pipe. The water pump is connected to the spray pipe, and the spray pipe is provided with a plurality of nozzles facing the inner wall of the water channel. The irrigation inlet opening and closing mechanism includes a baffle and a baffle driver. The baffle is slidably connected to the irrigation inlet of the ditch, and the baffle driver is mounted on the mounting bracket and used to drive the baffle to move to open or close the irrigation inlet.

2. The integrated robot for ditch dredging and irrigation according to claim 1, characterized in that, A waterproof plate is provided on the top of the mounting frame, the water pump is installed on the waterproof plate, the water inlet of the water pump extends downward into the water channel, the spray pipe is a rectangular frame, and the nozzles are arranged on both sides and the bottom of the spray pipe.

3. The integrated robot for ditch dredging and irrigation according to claim 2, characterized in that, A track rack is fixed to the side of the ditch where the irrigation inlet is not located. The teeth of the track rack are arranged at an angle downwards. The drive wheel is a traveling gear, which meshes with the track rack.

4. The integrated robot for ditch dredging and irrigation according to claim 3, characterized in that, The mounting bracket extends downwards at its bottom to form a sub-frame. The traveling gear is rotatably connected to the sub-frame. The drive motor is fixed above the waterproof membrane. The drive motor and the traveling gear are connected by a universal joint.

5. The integrated ditch dredging and irrigation robot according to claim 4, characterized in that, The baffle driver includes a lifting gear, a clutch mechanism, and a transmission mechanism. The lifting gear is connected to the transmission mechanism, and the transmission mechanism is connected to the drive motor through the clutch mechanism.

6. The integrated robot for ditch dredging and irrigation according to claim 5, characterized in that, The clutch mechanism includes a clutch cylinder, a spline sleeve, and a spline shaft. The drive motor drives the spline shaft to rotate. The spline sleeve is axially sleeved onto the spline shaft and slidably connected to the spline shaft. Two clutch gears are coaxially fixed on the spline sleeve. The clutch cylinder pushes the spline sleeve to drive the clutch gears to connect with the drive wheel or the transmission mechanism respectively.

7. The integrated ditch dredging and irrigation robot according to claim 6, characterized in that, The top of the universal joint extends upward through the waterproof membrane and is rotatably connected to the waterproof membrane. A travel drive gear is fixed to the top of the universal joint, and one of the clutch gears can engage and disengage with the travel drive gear.

8. The integrated robot for ditch dredging and irrigation according to claim 6, characterized in that, The transmission mechanism includes a turbine, a worm gear, and a lifting drive gear. The lifting drive gear is fixed to the top of the worm gear and engages with the clutch gear. The turbine gear engages with the worm gear and is mounted on the sub-frame. The turbine gear meshes with the lifting gear.

9. The integrated robot for ditch dredging and irrigation according to claim 8, characterized in that, The lifting gear is rotatably connected to the bottom of the rocker arm, the rocker arm is rotatably connected to the subframe about the shaft of the turbine, and the top of the rocker arm is connected to the clutch mechanism.

10. The integrated robot for ditch dredging and irrigation according to claim 9, characterized in that, The piston rod of the clutch cylinder is provided with a bushing, the spline sleeve is rotatably connected to the end of the bushing, the bottom of the bushing is fixed with a pusher, and the pusher is connected to the waist-shaped hole at the top of the rocker arm.

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