Water removal and air drying robot for open-air rubber land

Abstract

The invention provides a water removing and air drying robot for an open-air rubber field. The water removing and air drying robot comprises a robot frame body; the water scraping module is movably connected to the front end of the robot frame body through a vertical lifting mechanism; the water absorption mechanism is movably connected into the robot frame body through a vertical lifting mechanism; the air drying mechanism is mounted at the tail end of the robot frame body; the laser radar is installed at the front end of the robot frame body, and a data processing module used in cooperation with the laser radar is further installed on the robot frame body. The robot can sequentially complete water scraping, water absorption, extrusion, water collection and air drying, and after the water collection tank is full of water, the robot can automatically go to a drainage point to drain water and then return to continue working. The device is high in automation degree and good in water removal effect, does not damage the ground, effectively solves the problem of cleaning accumulated water in the open-air rubber land, and is convenient to popularize and use.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an open-air rubber plantation dewatering and drying robot. Background Technology

[0002] Open-air rubber fields are prone to water accumulation after rain, and the natural drying time is long, which affects normal use, accelerates the aging of the ground, and poses safety hazards. Currently, cleaning mainly relies on manual labor, which is inefficient and labor-intensive.

[0003] Existing dewatering equipment is mostly suitable for hard surfaces, but it is poorly adapted to rubber fields, easily damages the field, and is difficult to achieve efficient and automated dewatering. Therefore, there is a need for a simple, non-damaging, and automated open-air rubber field dewatering robot to improve dewatering efficiency and reduce labor costs.

[0004] Based on this, a robot for dewatering and drying open-air rubber plantations is proposed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an open-air rubber plantation dewatering and drying robot to address the shortcomings of the prior art mentioned above.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an open-air rubber plantation dewatering and drying robot, comprising: Robot frame; A wiper module, which is movably connected to the front end of the robot frame via a vertical lifting mechanism; A water-absorbing mechanism, which is movably connected to the robot frame via a vertical lifting mechanism; A drying mechanism is installed at the tail end of the robot frame; A lidar is installed at the front end of the robot frame, and a data processing module for use with the lidar is also installed on the robot frame.

[0007] As a further explanation of the present invention, the robot frame is also provided with a walking mechanism, which consists of a driven wheel, a drive motor, a drive wheel and a drive shaft; The robot frame has two driven wheels, which are installed at the front end of the robot frame. The rear end of the robot frame is movably connected to a drive shaft, which is driven by a drive motor. A drive wheel is connected to each end of the drive shaft.

[0008] As a further explanation of the present invention, the vertical lifting mechanism is composed of a pressure ring, a support base, a bearing plate, a connecting plate, a lifting motor, a lifting rod, a top rod, and a guide rail. The bearing plate is movably connected to the robot frame through the guide rail. Two support bases are fixed at the front end and the rear end of the bearing plate, and a pressure ring is installed at the bottom end of each support base. The push rod is fixed to the robot frame and is movably connected to the support plate through two lifting motors. Connecting plates are also installed on both sides of the support plate. The rear end of the support plate is also movably connected to a lifting rod.

[0009] As a further explanation of the present invention, the wiping module consists of a baffle plate, an annular wiping plate and a fixing block. Two annular wiping plates are provided, and the two annular wiping plates are respectively installed at the bottom ends of two pressure rings at the front and rear ends of the robot frame. The robot frame has fixing blocks installed on both sides of the annular wiper blade at the front end, and a water baffle is installed on the outer side of each fixing block.

[0010] As a further explanation of the present invention, the annular scraper at the front end of the robot frame is also provided with a plurality of water-permeable holes at equal intervals.

[0011] As a further explanation of the present invention, the water absorption mechanism consists of a water-absorbing sponge roller, a roller shaft, a water collection trough, a water collection tank, a lifting guide rail, and a rotary motor; The absorbent sponge roller is fixed on the roller shaft and coaxially connected. The roller shaft is rotatably installed between two connecting plates. Lifting guide rails are also provided on both sides of the roller shaft. The lifting guide rails are movably connected to the robot frame. The roller shaft is driven to rotate by a rotary motor installed on the connecting plate. The water collection tank is fixed on the lifting rod inside the robot frame. A water collection trough is also provided at the water inlet of the water collection tank, and the water collection trough is fixedly connected to the water collection tank.

[0012] As a further explanation of the present invention, a pressure roller shaft is also installed on the water collection tank, the pressure roller shaft is in close contact with the water-absorbing sponge roller, and baffles are respectively fixed on the upper two sides of the water collection tank.

[0013] As a further explanation of the present invention, the water collection tank is provided with a cover plate, a water level sensor is also provided inside the water collection tank, and two drain plugs are also provided on the inner bottom surface of the water collection tank.

[0014] As a further explanation of the present invention, the air drying mechanism consists of an air outlet, an electric air pump, an air outlet duct, and an air inlet. Multiple air outlet ducts are provided, and the multiple air outlet ducts are fixed at equal intervals at the tail end of the robot frame. The electric air pump is fixed on the robot frame, and an air inlet is provided on the electric air pump. The air outlet of the electric air pump is connected to the air inlet of the air outlet duct.

[0015] As a further explanation of the present invention, the air outlet duct is an L-shaped duct, and the air outlet of the air outlet duct faces the ground.

[0016] Compared with the prior art, the present invention has the following advantages: The annular squeegee and water baffle in this invention are both made of polyurethane elastic material. They will not damage the rubber floor during the process of pressing and squeegeeing water on the ground. Moreover, the annular squeegee adopts a double-lip structure, which can form a double-layer seal and water baffle after being pressed down. The front half of the annular squeegee has water-permeable holes, and the rear half is sealed, which can stably collect the water inside, prevent the water from spreading everywhere, and facilitate concentrated water absorption.

[0017] The robot in this invention is equipped with a drying mechanism that blows air to dry the ground after water absorption, thereby accelerating the evaporation of residual moisture and improving the water removal effect.

[0018] The tilt angle of the outer side of the annular wiper blade and the diameter of the permeable holes in this invention can be flexibly adjusted. When the equipment is used in rainy, large-area, and deep-water scenarios in the south, the angle between the outer side of the annular wiper blade and the ground is increased and the diameter of the permeable holes is enlarged to improve the rapid wiping ability of deep and large-area water accumulation. When the equipment is used in dry, localized shallow-water scenarios in the north, the angle between the outer side of the annular wiper blade and the ground is reduced and the diameter of the permeable holes is reduced to improve the water removal efficiency and fit in shallow water areas and ensure the wiping effect. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the wiper module of the present invention; Figure 3 This is a cross-sectional schematic diagram of the vertical lifting mechanism of the present invention; Figure 4 This is a cross-sectional schematic diagram of the water absorption mechanism of the present invention; Figure 5 This is a cross-sectional schematic diagram of the water collection tank of the present invention; Figure 6 This is a schematic diagram of the air-drying mechanism of the present invention; Figure 7 This is a schematic diagram of the walking mechanism of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1-Wipe module; 2-Vertical lifting mechanism; 3-Water suction mechanism; 4-Drying mechanism; 5-Walking mechanism; 6-Robot frame; 7-Data processing module; 8-LiDAR; 11-Water baffle; 12-Annular wiper blade; 13-Water-permeable hole; 14-Fixing block; 21-Pressure ring; 22-Support base; 23-Bearing plate; 24-Connecting plate; 25-Lifting motor; 26-Lifting rod; 27-Top rod; 28-Guide rail ; 31-Absorbent sponge roller; 32-Roller shaft; 33-Pressure roller shaft; 34-Water collection trough; 35-Water collection tank; 36-Baffle; 37-Lifting guide rail; 38-Rotating motor; 351-Water level sensor; 352-Drain plug; 353-Cover plate; 41-Air outlet; 42-Electric air pump; 43-Air outlet duct; 44-Air inlet; 51-Driven wheel; 52-Drive motor; 53-Drive wheel; 54-Drive shaft. Detailed Implementation

[0021] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are only a part of the embodiments of this application, not all of them. The specific embodiments described herein are only used to explain the invention and are not intended to limit the invention. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] like Figure 1-7 As shown, the present invention provides a technical solution: an open-air rubber plantation dewatering and drying robot, comprising: a robot frame 6, a water scraping module 1, a water suction mechanism 3, a drying mechanism 4, and a lidar 8; In this embodiment, the robot frame 6 is also provided with a walking mechanism 5, which is composed of a driven wheel 51, a drive motor 52, a drive wheel 53 and a drive shaft 54. Two driven wheels 51 are provided, and the two driven wheels 51 are installed at the front end of the robot frame 6. The tail end of the robot frame 6 is movably connected to a drive shaft 54. The drive shaft 54 ​​is driven by a drive motor 52. A drive wheel 53 is connected to each end of the drive shaft 54. The self-driven movement of the robot frame 6 is completed by the cooperation of the drive wheel 53 and the driven wheel 51.

[0023] In this embodiment, the wiping module 1 is movably connected to the front end of the robot frame 6 via the vertical lifting mechanism 2, and the water suction mechanism 3 is movably connected inside the robot frame 6 via the vertical lifting mechanism 2. Specifically, the vertical lifting mechanism 2 consists of a pressure ring 21, a support base 22, a bearing plate 23, a connecting plate 24, a lifting motor 25, a lifting rod 26, a top rod 27, and a guide rail 28. The bearing plate 23 is movably connected to the robot frame 6 via the guide rail 28. Two support bases 22 are fixed at the front and rear ends of the bearing plate 23, and a pressure ring 21 is installed at the bottom end of each support base 22. The top rod 27 is fixed on the robot frame 6. The top rod 27 is movably connected to the support plate 23 through two lifting motors 25. Connecting plates 24 are also installed on both sides of the support plate 23. The rear end of the bearing plate 23 is also movably connected to a lifting rod 26.

[0024] The wiper module 1 consists of a baffle plate 11, an annular wiper plate 12, and a fixing block 14. Both the baffle plate 11 and the annular wiper plate 12 are made of polyurethane elastic material. There are two annular wiper plates 12, and the annular wiper plate 12 adopts a double-lip structure. The two annular wiper plates 12 are respectively installed at the bottom ends of the two pressure rings 21 at the front and rear ends of the robot frame 6. On both sides of the annular wiper blade 12 at the front end of the robot frame 6, there are fixing blocks 14 respectively, and a water baffle 11 is also installed on the outer side of each fixing block 14.

[0025] The water absorption mechanism 3 consists of a water-absorbing sponge roller 31, a roller shaft 32, a water collection trough 34, a water collection tank 35, a lifting guide rail 37, and a rotary motor 38; The water-absorbing sponge roller 31 is fixed on the roller shaft 32 and coaxially connected. The roller shaft 32 is rotatably installed between two connecting plates 24. Lifting guide rails 37 are also provided on both sides of the roller shaft 32. The lifting guide rails 37 are movably connected inside the robot frame 6. The roller shaft 32 is driven to rotate by a rotary motor 38 installed on the connecting plate 24. The water collection tank 35 is fixed on the lifting rod 26 inside the robot frame 6. A water collection trough 34 is also provided at the water inlet of the water collection tank 35. The water collection trough 34 is fixedly connected to the water collection tank 35.

[0026] As one possible implementation method in this embodiment, the annular scraper 12 at the front end of the robot frame 6 is also provided with a plurality of water-permeable holes 13 at equal intervals. Specifically, the tilt angle of the outer side of the annular wiper blade 12 and the aperture of the permeable holes 13 can be flexibly adjusted; When the equipment is used in rainy, large-area, and deep-water scenarios in the south, the angle between the outer side of the annular wiper blade 12 and the ground is increased and the aperture of the permeable holes 13 is enlarged to improve the rapid wiping ability of deep and large-area water accumulation. When the equipment operates in northern regions with little rain and only localized shallow water accumulation, the angle between the outer side of the annular wiper blade 12 and the ground is reduced, and the diameter of the permeable holes 13 is reduced to improve the water removal efficiency and adhesion in shallow water areas, ensuring the wiping effect.

[0027] As one possible implementation of this embodiment, a pressure roller shaft 33 is also installed on the water collection tank 34. The pressure roller shaft 33 is in close contact with the water-absorbing sponge roller 31, and baffles 36 are respectively fixed on the upper two sides of the water collection tank 34.

[0028] As one possible implementation of this embodiment, the water collection tank 35 is provided with a cover plate 353, a water level sensor 351 is also provided inside the water collection tank 35, and two drain plugs 352 are also provided on the inner bottom surface of the water collection tank 35.

[0029] In this embodiment, the air drying mechanism 4 is installed at the tail end of the robot frame 6. The air drying mechanism 4 consists of an air outlet 41, an electric air pump 42, an air outlet duct 43, and an air inlet 44. Multiple air outlet ducts 43 are provided, and the multiple air outlet ducts 43 are fixed at equal intervals at the tail end of the robot frame 6. The electric air pump 42 is fixed on the robot frame 6, and an air inlet 44 is provided on the electric air pump 42. The air outlet 42 of the electric air pump 42 is connected to the air inlet of the air outlet duct 43.

[0030] As one possible implementation method in this embodiment, the air outlet duct 43 is an L-shaped pipe, and the air outlet of the air outlet duct 43 faces the ground.

[0031] In this embodiment, the lidar 8 is installed at the front end of the robot frame 6, and a data processing module 7 for use with the lidar 8 is also installed on the robot frame 6. Specifically, the sensing module pre-installed in the lidar 8 uses 360° scanning TOF to collect three-dimensional point cloud data of the ground, and the data processing module 7 is an embedded edge computing unit implemented using the ROS and PCL open source framework. It can automatically identify the work area and plan the route to realize automated water removal operation.

[0032] In summary, the robot in this embodiment is used in the following steps; S1. The robot is placed in the rubber plantation dewatering work area. The data processing module 7 plans the dewatering path based on the rubber plantation environmental information collected by the lidar 8, and then starts the drive motor 52 to drive the robot to move along the planned path.

[0033] S2. Before starting the water removal operation, the data processing module 7 starts the lifting motor 25 to press down the bearing plate 23 and simultaneously press down the pressure ring 21, so that the pressure ring 21 presses down the annular scraper 12. At the same time, the connecting plate 24 drives the roller shaft 32 to move downward. Through the limiting and guiding cooperation of the pressing path, the annular scraper 12 is pressed against the ground, and the water-absorbing sponge roller 31 is simultaneously pressed against the ground, realizing the synchronous pressing and contact of the scraping and water-absorbing mechanisms with the ground.

[0034] S3, the data processing module 7 starts the rotary motor 38 to drive the drum shaft 32 to rotate, and at the same time turns on the electric air pump 42.

[0035] S4. During the movement, the annular scraper 12 pushes the water flow to both sides, and the baffle 11 restricts the water flow within the movement path for collection. When the water flow reaches a certain amount, it enters the interior of the annular scraper 12 through the water-permeable holes 13 above it. The water-absorbing sponge roller 31 absorbs the water that enters the interior. During the rotation of the roller shaft 32 driven by the rotary motor 38, the pressure roller shaft 33 is in close contact with the water-absorbing sponge roller 31 and squeezes it. The squeezed water falls into the water collection trough 34 and flows into the water collection tank 35.

[0036] S5. During the movement, the annular wiper blade 12 is located at the front end of the robot frame 6 to wipe and collect water on the ground in front of the movement route. The water suction mechanism 3 sucks water from the inner area of ​​the annular wiper blade 12. The electric air pump 42 delivers airflow to the air outlet duct 43 through the air outlet 41 to dry the ground after water suction, realizing the continuous operation of the machine walking, wiping, suctioning and drying in one integrated manner.

[0037] S6. The robot continues to operate along the planned route. The water level sensor 351 inside the water tank 35 detects the water level in real time. When the water level reaches the set threshold, the operation is suspended. The data processing module 7 proceeds to the preset water discharge point according to the route planned by the lidar 8.

[0038] S7. Before proceeding to the water discharge point, the data processing module 7 controls the lifting motor 25 to pull up, raising the annular scraper 12 and the water-absorbing sponge roller 31 off the ground to their initial state, and turns off the rotating motor 38 and the lifting motor 25. After arriving at the water discharge point, the drain plug 352 at the bottom of the water collection tank is opened manually to drain the water.

[0039] S8. After drainage is completed, the data processing module 7 returns to the work area according to the drainage route planned by the lidar 8. The data processing module 7 controls the lifting motor 25 to press down again, so that the annular scraper 12 and the water-absorbing sponge roller 31 are pressed tightly against the ground again, and the water removal operation is repeated.

[0040] S9. After all the water removal and drying work is completed, the data processing module 7 controls the vertical lifting motor 25 to lift the annular scraper 12 and the water-absorbing sponge roller 31 off the ground. The data processing module 7 travels along the planned route to the water discharge point according to the lidar 8. After the drainage is completed by manually opening the drain plug 352, the operation is completed.

[0041] It should be further noted that the accompanying drawings and embodiments of the present invention mainly describe the concept of the present invention. Based on this concept, some specific forms and arrangements of connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, under the premise that those skilled in the art understand the concept of the present invention, they can implement the above-mentioned specific forms and arrangements in a well-known manner.

[0042] When a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0043] The directional terms "inner" and "outer" refer to the inner and outer sides relative to the outline of each component itself. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," or "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0044] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, and the spatial relative descriptions used herein will be interpreted accordingly.

[0045] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, and "several" means one or more, unless otherwise explicitly specified.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for dewatering and drying open-air rubber plantations, characterized in that, include: Robot frame (6); The wiper module (1) is movably connected to the front end of the robot frame (6) via a vertical lifting mechanism (2); A water-absorbing mechanism (3) is movably connected to the robot frame (6) via a vertical lifting mechanism (2); A drying mechanism (4) is installed at the tail end of the robot frame (6); A lidar (8) is installed at the front end of the robot frame (6), and a data processing module (7) for use with the lidar (8) is also installed on the robot frame (6).

2. The open-air rubber plantation dewatering and drying robot according to claim 1, characterized in that, The robot frame (6) is also equipped with a walking mechanism (5), which consists of a driven wheel (51), a drive motor (52), a drive wheel (53) and a drive shaft (54); Two driven wheels (51) are provided. The two driven wheels (51) are installed at the front end of the robot frame (6). The tail end of the robot frame (6) is movably connected to a drive shaft (54). The drive shaft (54) is driven by a drive motor (52). A drive wheel (53) is connected to each end of the drive shaft (54).

3. The open-air rubber plantation dewatering and drying robot according to claim 1, characterized in that, The vertical lifting mechanism (2) consists of a pressure ring (21), a support base (22), a bearing plate (23), a connecting plate (24), a lifting motor (25), a lifting rod (26), a top rod (27), and a guide rail (28). The bearing plate (23) is movably connected to the robot frame (6) through the guide rail (28). Two support bases (22) are fixed at the front and rear ends of the bearing plate (23), and a pressure ring (21) is installed at the bottom end of each support base (22). The top rod (27) is fixed on the robot frame (6). The top rod (27) is movably connected to the support plate (23) through two lifting motors (25). Connecting plates (24) are also installed on both sides of the support plate (23). The rear end of the bearing plate (23) is also movably connected to a lifting rod (26).

4. The open-air rubber plantation dewatering and drying robot according to claim 3, characterized in that, The wiper module (1) consists of a baffle plate (11), an annular wiper plate (12) and a fixing block (14). There are two annular wiper plates (12), which are respectively installed at the bottom of the two pressure rings (21) at the front and rear ends of the robot frame (6). Fixing blocks (14) are installed on both sides of the annular scraper (12) at the front end of the robot frame (6), and a baffle plate (11) is installed on the outer side of each fixing block (14).

5. The open-air rubber plantation dewatering and drying robot according to claim 4, characterized in that, The annular scraper (12) at the front end of the robot frame (6) is also provided with multiple permeable holes (13) at equal intervals.

6. The open-air rubber plantation dewatering and drying robot according to claim 4, characterized in that, The water absorption mechanism (3) consists of a water-absorbing sponge roller (31), a roller shaft (32), a water collection trough (34), a water collection tank (35), a lifting guide rail (37), and a rotary motor (38); The absorbent sponge roller (31) is fixed on the roller shaft (32) and coaxially connected. The roller shaft (32) is rotatably installed between two connecting plates (24). Lifting guide rails (37) are also provided on both sides of the roller shaft (32). The lifting guide rails (37) are movably connected inside the robot frame (6). The roller shaft (32) is driven to rotate by a rotary motor (38) installed on the connecting plate (24). The water collection tank (35) is fixed on the lifting rod (26) inside the robot frame (6). A water collection trough (34) is also provided at the water inlet of the water collection tank (35). The water collection trough (34) is fixedly connected to the water collection tank (35).

7. The open-air rubber plantation dewatering and drying robot according to claim 6, characterized in that, The water collection trough (34) is also equipped with a pressure roller shaft (33), which is in close contact with the water-absorbing sponge roller (31). Baffles (36) are also fixed on the upper two sides of the water collection trough (34).

8. The open-air rubber plantation dewatering and drying robot according to claim 7, characterized in that, The water collection tank (35) is provided with a cover plate (353), and a water level sensor (351) is also provided inside the water collection tank (35). Two drain plugs (352) are also provided on the inner bottom surface of the water collection tank (35).

9. The open-air rubber plantation dewatering and drying robot according to claim 8, characterized in that, The air drying mechanism (4) consists of an air outlet (41), an electric air pump (42), an air outlet duct (43), and an air inlet (44). Multiple air outlet ducts (43) are provided, and multiple air outlet ducts (43) are fixed at equal intervals at the tail end of the robot frame (6). The electric air pump (42) is fixed on the robot frame (6), and an air inlet (44) is provided on the electric air pump (42). The air outlet (41) of the electric air pump (42) is connected to the air inlet of the air outlet duct (43).

10. The open-air rubber plantation dewatering and drying robot according to claim 9, characterized in that, The air outlet duct (43) is an L-shaped duct, and the air outlet of the air outlet duct (43) faces the ground.

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