Unicycle sand compactor robot

Abstract

The application discloses a single-wheel sand-pressing robot, which comprises a driving motor system, a rolling bearing and a shaft blocking ring, a driving arm assembly, left and right plates of a frame, a primary transmission swing plate and a main arm, the primary transmission swing plate, a secondary swing mechanism plate, a tertiary swing tripod and the main arm constitute a secondary four-link swing mechanism, the tertiary swing mechanism plate, the tertiary swing tripod, a robot leg arm and the main arm constitute a tertiary four-link swing mechanism, and all the components are arranged in left-right symmetry except the driving motor system, the driving arm assembly, a battery and a control system assembly, so as to constitute the left and right legs of the robot. The single-wheel sand-pressing robot is driven by the battery and the control system assembly, the middle driving shaft rotates continuously by 360 degrees, the driving arm assembly is driven to move, the two output arms of the driving arm assembly are arranged in 180-degree reverse directions, and the relevant driving arms of the robot are driven to realize continuous stride walking.

Description

Technical Field

[0001] This invention relates to the field of agricultural and forestry robot technology, specifically a single-wheel sand-pressing robot. Background Technology

[0002] Robots are mechatronic devices that can complete tasks autonomously or semi-autonomously without real-time human control. They possess sensing, computing, and action capabilities. They have a mobile mechanical body, equipped with sensors such as cameras and radar to perceive the environment, and rely on built-in chips and programs to process data and autonomously judge actions, unlike ordinary electric toys. Robots are mainly divided into industrial robots for precise factory operations, service robots for daily life, humanoid robots that mimic human shapes and movements, and special robots for dealing with high-risk scenarios. Robots can be used when it is necessary to press sand barrier materials such as loose grass, straw curtains, and nets into the sand. Sand pressing is a professional operation for windbreak and sand control. It refers to spreading straw such as wheat straw and rice straw on shifting sand dunes, and then shoveling sand to compact the straw to make straw grid sand barriers, thereby fixing the shifting sand and intercepting moisture. Therefore, a single-wheel sand pressing robot is needed.

[0003] When carrying out sand compaction work, operators often use manual labor. The high temperature, sandstorms, and strong ultraviolet radiation in the desert make manual labor extremely strenuous. Long-term bending over to lay grass and compact sand can easily cause fatigue and there are also safety hazards such as heatstroke and sandstorm damage. Manual laying relies entirely on personal experience, and the depth, spacing, and degree of compaction of grass squares vary. The standards for sand barriers are not uniform, and the quality of sand fixation is unstable, which reduces the efficiency and quality of sand compaction. Summary of the Invention

[0004] The purpose of this invention is to provide a single-wheel sand-pressing robot to address the issues raised in the background art, where operators often perform sand-pressing work manually. The high temperatures, sandstorms, and strong ultraviolet radiation in the desert environment make manual labor extremely strenuous. Prolonged bending over to lay straw and compact sand can easily cause fatigue and poses safety hazards such as heatstroke and sandstorm damage. Furthermore, manual laying relies entirely on personal experience, resulting in inconsistent straw grid depth, spacing, and compaction levels, as well as inconsistent sand barrier standards and unstable sand-fixing quality. This reduces both the efficiency and quality of sand-pressing.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a unicycle sand-pressing robot, comprising a drive motor system, a drive arm assembly, left and right frame plates, a battery and control system assembly, a primary force transmission swing plate, a pin system, a secondary swing mechanism plate, a tertiary swing mechanism plate, a tertiary swing triangle, robot legs, a foot pedal assembly, a work plate shaft, a main arm, a work plate, rolling bearings, and a retaining ring for the shaft. The drive arm assembly, left and right frame plates, primary force transmission swing plate, and main arm constitute a primary four-bar swing mechanism; the primary force transmission swing plate, secondary swing mechanism plate, tertiary swing triangle, and main arm constitute a secondary four-bar swing mechanism; and the tertiary swing mechanism plate, tertiary swing triangle, robot legs, and main arm constitute a tertiary four-bar swing mechanism. Except for the drive motor system, drive arm assembly, battery, and control system assembly, the remaining components are arranged symmetrically to form the robot's left and right legs.

[0006] Preferably, the drive motor system, drive arm assembly, left and right frame plates, battery and control system assembly together constitute the upper structure of the robot, and the four components are connected left and right by a shaft.

[0007] Preferably, the drive motor system consists of a permanent magnet motor and an output shaft, with the output shaft arranged in a 180° circumference, which can achieve 360° circumferential rotation under the drive of the drive motor system.

[0008] Preferably, the battery and control system assembly consists of a power rechargeable battery, a battery controller, a motor wiring harness, a robot controller, a remote control transceiver, an ESC center of gravity controller, a charging port, and a switch.

[0009] Preferably, the foot pedal assembly and the robot leg arm are connected by a freely rotatable rolling bearing and are axially positioned using a shaft retaining ring.

[0010] Preferably, the working disc shaft and the working disc are connected by an involute spline, and the axial direction is limited by a shaft retaining ring to ensure that the working disc rolls in the central plane, forming a symmetrical and balanced structure.

[0011] Compared with the prior art, the beneficial effects of the present invention are: This single-wheel sand-pressing robot, during daily use, operates with a drive motor system powered by a battery and control system assembly. The central drive shaft rotates continuously 360°, driving the drive arm assembly. The two output arms of the drive arm assembly are arranged 180° opposite each other, rotating periodically at different heights during operation. This causes the robot's drive arms to continuously straddle, transmitting power to the foot pedal assembly, which in turn moves the robot's legs. The other end of the foot pedal assembly connects to the working disc shaft, which is reliably connected to the working disc via an involute spline. This transfers force to the working disc, causing it to continuously roll under the robot's straddling motion, effectively pressing loose grass, straw mats, and netting into the sand, thus achieving the sand-pressing function. This operation method automatically presses sand through the drive motor system, working disc shaft, and working disc. Its simple structure and unique professional walking operation capabilities significantly reduce the workload of manual sand control and pressing, effectively replacing manual labor and greatly liberating the workforce. Attached Figure Description

[0012] Figure 1 This is a perspective view of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the output shaft structure of the drive motor system of the present invention; Figure 4 This is a schematic diagram of the shaft retaining ring structure of the present invention; Figure 5 This is a schematic diagram of the working disc shaft structure of the present invention. Figure 6 This is the front view of the present invention.

[0013] In the diagram: 1. Drive motor system; 2. Drive arm assembly; 3. Left and right frame plates; 4. Battery and control system assembly; 5. Primary force transmission swing plate; 6. Pin system; 7. Secondary swing mechanism plate; 8. Tertiary swing mechanism plate; 9. Tertiary swing tripod; 10. Robot legs; 11. Foot pedal assembly; 12. Work plate shaft; 13. Main arm; 14. Work plate; 15. Rolling bearing; 16. Shaft retaining ring. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Example 1: Please see Figures 1-6A single-wheel sand-pressing robot includes a drive motor system 1, a drive arm assembly 2, left and right frame plates 3, a battery and control system assembly 4, a primary force transmission swing plate 5, a pin system 6, a secondary swing mechanism plate 7, a tertiary swing mechanism plate 8, a tertiary swing tripod 9, robot legs 10, a foot pedal assembly 11, a working disc shaft 12, a main arm 13, a working disc 14, rolling bearings 15, and a shaft retaining ring 16. Its distinguishing feature is that the drive arm assembly 2, the left and right frame plates 3, the primary force transmission swing plate 5, and the main arm 13 constitute a primary four-bar swing mechanism; the primary force transmission swing plate 5, the secondary... The swing mechanism plate 7, the three-stage swing tripod 9, and the main arm 13 constitute a two-stage four-bar swing mechanism. The three-stage swing mechanism plate 8, the three-stage swing tripod 9, the robot leg arm 10, and the main arm 13 constitute a third-stage four-bar swing mechanism. Except for the drive motor system 1, the drive arm assembly 2, and the battery and control system assembly 4, the remaining components are arranged symmetrically from left to right, forming the robot's left and right legs. The drive motor system 1, the drive arm assembly 2, the left and right frame plates 3, and the battery and control system assembly 4 together constitute the robot's upper structure. The four components are connected from left to right by a shaft.

[0016] In this invention, the drive motor system 1 is powered by the battery and control system assembly 4, and the intermediate drive shaft rotates continuously 360°, driving the drive arm assembly 2 to move. The two output arms of the drive arm assembly 2 are arranged in opposite directions at 180°, and rotate periodically at different heights during operation, driving the robot's related drive arms to achieve continuous stride walking. The power is finally transmitted to the foot pedal assembly 11, which drives the robot's leg arm 10 to move. The other end of the foot pedal assembly 11 is connected to the working disc shaft 12. The working disc shaft 12 and the working disc 14 are reliably connected through an involute spline, ultimately transmitting the force to the working disc 14 and realizing the sand pressing work.

[0017] Example 2: Please see Figures 1-6 The single-wheel sand-pressing robot has a drive motor system 1 consisting of a permanent magnet motor and an output shaft. The output shaft is arranged in a 180° circle and can achieve 360° circumferential rotation under the drive motor system 1. The battery and control system assembly 4 consists of a power rechargeable battery, a battery controller, a motor wiring harness, a robot controller, a remote control transceiver, an ESC center of gravity controller, a charging port, and a switch.

[0018] In this invention, the system serves as the control center of the robot. The remote control system is used to control the robot's walking and stopping; the battery controller is used to control the power system's on / off state; the charging port supports manual plug-in charging and wireless Bluetooth charging; after the robot is fully charged, it is started by the remote control, and the system automatically performs ESC center of gravity control to ensure the robot walks smoothly. Due to the design of the drive motor system 1 and the output shaft, the robot can achieve high and low stride walking functions.

[0019] Example 3: Please see Figures 1-6 The single-wheel sand-pressing robot is connected to the foot pedal assembly 11 and the robot leg arm 10 by a freely rotatable rolling bearing 15 and is axially positioned by a shaft retaining ring 16. The working disc shaft 12 and the working disc 14 are connected by an involute spline and are axially limited by a shaft retaining ring 16 to ensure that the working disc 14 rolls in the central plane, forming a symmetrical and balanced structure.

[0020] In this invention, the involute spline connection is a detachable connection structure that uses the intermeshing of the inner and outer splines of the involute tooth profile for positioning the working disc shaft 12 and the working disc 14. It features high centering accuracy and good coaxiality, low stress concentration at the tooth root, and greater overall load-bearing torque. It can automatically compensate for assembly coaxiality errors to avoid overload on a single tooth. The processing technology is mature, the parts are highly interchangeable, the assembly guide is smooth and not prone to jamming, the tooth surface has a large contact area and low compressive stress, and it is wear-resistant and durable.

[0021] Working principle: Driven by the battery and control system assembly 4, the drive motor system 1 rotates continuously 360° through the middle drive shaft, which drives the drive arm assembly 2. The two output arms of the drive arm assembly 2 are arranged in opposite directions at 180°. During operation, they rotate periodically at different heights, driving the robot's related drive arms to achieve continuous stride walking. The power is finally transmitted to the foot pedal assembly 11, which drives the robot's leg arm 10 to move. The other end of the foot pedal assembly 11 is connected to the working disc shaft 12. The working disc shaft 12 and the working disc 14 are reliably connected through an involute spline, which ultimately transmits the force to the working disc 14, causing it to roll continuously under the robot's stride drive, effectively pressing the loose grass, grass curtains, and netting into the sand, thus achieving the sand pressing function.

[0022] 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 single-wheel sand-pressing robot, comprising a drive motor system (1), a drive arm assembly (2), left and right frame plates (3), a battery and control system assembly (4), a primary force transmission swing plate (5), a pin shaft system (6), a secondary swing mechanism plate (7), a tertiary swing mechanism plate (8), a tertiary swing tripod (9), robot legs (10), a foot pedal assembly (11), a working disc shaft (12), a main arm (13), a working disc (14), rolling bearings (15), and a retaining ring for the shaft (16), characterized in that: The drive arm assembly (2), the left and right frames (3), the primary force transmission swing plate (5) and the main arm (13) constitute a primary four-bar swing mechanism. The primary force transmission swing plate (5), the secondary swing mechanism plate (7), the tertiary swing triangle (9) and the main arm (13) constitute a secondary four-bar swing mechanism. The tertiary swing mechanism plate (8), the tertiary swing triangle (9), the robot leg arm (10) and the main arm (13) constitute a tertiary four-bar swing mechanism. Except for the drive motor system (1), the drive arm assembly (2), the battery and control system assembly (4), the other components are arranged symmetrically to the left and right to form the robot's left and right legs.

2. The single-wheel sand-pressing robot according to claim 1, characterized in that: The drive motor system (1), drive arm assembly (2), left and right frame plates (3), battery and control system assembly (4) together constitute the upper structure of the robot, and the four components are connected left and right by a shaft.

3. The single-wheel sand-pressing robot according to claim 1, characterized in that: The drive motor system (1) consists of a permanent magnet motor and an output shaft. The output shaft is arranged in a 180° circle and can achieve 360° circumferential rotation under the drive of the drive motor system (1).

4. The single-wheel sand-pressing robot according to claim 1, characterized in that: The battery and control system assembly (4) consists of a power charging battery, a battery controller, a motor wiring harness, a robot controller, a remote control transceiver, an ESC center of gravity controller, a charging port, and a switch.

5. The single-wheel sand-pressing robot according to claim 1, characterized in that: The foot pedal assembly (11) and the robot leg arm (10) are connected by a freely rotatable rolling bearing (15) and are axially positioned by a shaft retaining ring (16).

6. The single-wheel sand-pressing robot according to claim 1, characterized in that: The working disc shaft (12) and the working disc (14) are connected by an involute spline, and the axial direction is limited by a shaft retaining ring (16) to ensure that the working disc (14) rolls in the central plane and forms a symmetrical balance structure.

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