Intelligent irrigation robot

Abstract

The utility model discloses an intelligent irrigation robot. The intelligent irrigation robot comprises a robot main body, an irrigation device and a controller, a storage box is arranged in the robot body, irrigation mechanical arms are arranged on the two sides of the robot body and hinged to the robot body, each irrigation mechanical arm communicates with the interior of the storage box based on a connecting pipe, and a water pump is arranged on the connecting pipe; each irrigation mechanical arm is provided with a first circulation pipeline and a plurality of second circulation pipelines, the first fluid pipeline is communicated with the connecting pipe, the second circulation pipelines are communicated with the first circulation pipeline, each irrigation mechanical arm is further provided with a plurality of irrigation spray heads, and each irrigation spray head is communicated with the first circulation pipeline based on one second circulation pipeline. According to the intelligent irrigation robot, a plurality of irrigation nozzles are arranged on the irrigation mechanical arm, so that the intelligent irrigation robot can utilize the irrigation mechanical arm to irrigate multiple rows of crops at the same time, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to an intelligent irrigation robot. Background Art

[0002] An agricultural robot is a machine that is used in agricultural production. It is a new generation of unmanned automatic machinery that can be controlled by different software programs to adapt to various operations, can sense and adapt to changes in crop types or environment, and has artificial intelligence such as detection (such as vision) and calculation.

[0003] The irrigation robots currently in use can only irrigate a row of crops on the left and right sides of the location of the irrigation robot during the irrigation process. This design requires a lot of time when irrigating a large area. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art. The utility model provides an intelligent irrigation robot. By arranging multiple irrigation nozzles on an irrigation mechanical arm, the intelligent irrigation robot can use the irrigation mechanical arm to irrigate multiple rows of crops at the same time, thereby improving work efficiency.

[0005] Accordingly, the present invention provides an intelligent irrigation robot, which includes: a robot body;

[0006] A storage tank is provided in the robot body, and irrigation mechanical arms are provided on both sides of the robot body, the irrigation mechanical arms are hinged to the robot body, and each irrigation mechanical arm is connected to the interior of the storage tank via a connecting pipe, and a water pump is provided on the connecting pipe;

[0007] Each of the irrigation mechanical arms has a first flow pipe and multiple second flow pipes, and the first fluid pipe is connected to the connecting pipe, and the second flow pipe is connected to the first flow pipe. Each of the irrigation mechanical arms is also provided with multiple irrigation sprinklers, and each irrigation sprinkler is connected to the first flow pipe based on one of the second flow pipes.

[0008] Preferably, the irrigation mechanical arm further includes a plurality of fixing rods, wherein the fixing rods connect the first flow pipe and the second flow pipe, and a plurality of the fixing rods connect two adjacent second flow pipes.

[0009] Preferably, each of the irrigation sprinklers has a flow control valve, and the flow control valve is located at the input end of the irrigation sprinkler, and the flow control valve is located on a side of the irrigation sprinkler close to the second flow pipe.

[0010] Preferably, a first drive motor is provided at a hinge point between any one of the irrigation mechanical arms and the robot body, and the irrigation mechanical arm is driven to rotate by the first drive motor.

[0011] Preferably, a moving device is provided below the robot body, and the moving device includes a plurality of lifting mechanisms and a plurality of crawler mechanisms;

[0012] The upper end of any of the lifting mechanisms is connected to the bottom of the robot body, and the lower end of any of the lifting mechanisms is connected to the corresponding crawler mechanism.

[0013] Preferably, a shock absorber is provided between the robot body and the moving device.

[0014] Preferably, the lifting mechanism comprises: a first connecting rod, a second connecting rod and a lifting motor;

[0015] The fixed end of the first connecting rod is connected to the bottom of the robot body, the fixed end of the second connecting rod is connected to the corresponding crawler mechanism, and the connecting end of the first connecting rod is inserted into the connecting end of the second connecting rod;

[0016] The first connecting rod is driven by the lifting motor to move inside the second connecting rod.

[0017] Preferably, a waterproof rubber sleeve is provided on the outside of the lifting mechanism.

[0018] Preferably, the crawler mechanism comprises: a track shoe, a drive wheel and a second drive motor;

[0019] The output end of the second drive motor is connected to the drive wheel, and the rotation of the drive wheel drives the track shoe to move.

[0020] Preferably, a power indicator light is provided on the robot body.

[0021] Beneficial effects of the utility model:

[0022] The utility model articulates the irrigation mechanical arm with the robot body, so that the irrigation mechanical arm can rotate to different angles, so that the irrigation mechanical arm sprays crops at different positions, thereby improving the working efficiency of the intelligent irrigation robot; the utility model also provides multiple irrigation nozzles on the irrigation mechanical arm, so that the intelligent irrigation robot can irrigate multiple rows of crops at the same time, thereby improving irrigation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the structure of the intelligent irrigation robot in the present utility model;

[0025] Figure 2 This is a cross-sectional view of the intelligent irrigation robot in the present utility model;

[0026] Figure 3 This is a left view of the intelligent irrigation robot in the present utility model;

[0027] Figure 4 This utility model Figure 2 A magnified view of point A in the figure;

[0028] Figure 5 This utility model Figure 2 Enlarged view of point B in .

[0029] In the accompanying drawings, 1. Robot body; 11. Storage box; 12. Irrigation robot arm; 121. First circulation pipe; 122. Second circulation pipe; 123. Irrigation nozzle; 1231. Control flow valve; 124. Fixing rod; 13. Connecting pipe; 131. Water pump; 14. First drive motor; 2. Moving device; 21. Lifting mechanism; 211. First connecting rod; 212. Second connecting rod; 213. Lifting motor; 22. Track mechanism; 221. Track shoe; 222. Drive wheel; 3. Shock absorber; 4. Waterproof rubber sleeve; 5. Power indicator light. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Figure 1 The schematic diagram of the structure of the intelligent irrigation robot in the present invention is shown. Figure 2 A cross-sectional view of the intelligent irrigation robot in the present invention is shown. Figure 3 Shows the left side view of the intelligent irrigation robot in the utility model, Figure 4 Shown in the utility model Figure 2 The enlarged view of point A in the figure, Figure 5 Shown in the utility model Figure 2 As shown in the enlarged view at point B in FIG, the intelligent irrigation robot comprises: a robot body 1; a storage tank 11 disposed within the robot body 1; and irrigation arms 12 disposed on either side of the robot body 1, i.e., two irrigation arms 12 disposed on the left and right sides of the robot body 1. Each irrigation arm 12 is hingedly connected to the robot body 1. Each irrigation arm 12 is connected to the interior of the storage tank 11 via a connecting pipe, and each connecting pipe is equipped with a water pump 131. Each irrigation arm 12 has a first flow channel 121 and multiple second flow channels 122, wherein the first fluid channel is connected to the connecting pipe, and the second flow channels 122 are connected to the first flow channel 121. Each irrigation arm 12 is also equipped with multiple irrigation nozzles 123, each of which is connected to the first flow channel 121 via a second flow channel 122. In this embodiment, each irrigation robot arm 12 is equipped with three second flow pipes 122 and three irrigation nozzles 123, meaning the intelligent irrigation robot is equipped with a total of six second flow pipes 122 and six irrigation nozzles 123. This allows the intelligent irrigation robot to simultaneously irrigate six rows of crops, improving irrigation efficiency. The water pump 131 is used to transport the solution within the storage tank 11 to the first flow pipe 121 within the irrigation robot. The first flow pipe 121 is used to transport the solution to the second flow pipe 122, and the second flow pipe 122 is used to transport the solution to the corresponding irrigation nozzle 123. The irrigation nozzle 123 is used to spray the solution onto the crops.

[0032] Furthermore, the irrigation robot arm 12 also includes multiple fixing rods 124, each of which connects the first circulation pipe 121 and the second circulation pipe 122. Multiple fixing rods 124 also connect two adjacent second circulation pipes 122. In this embodiment, each irrigation robot arm 12 also includes four fixing rods 124, two of which connect the first circulation pipe 121 and the second circulation pipe 122, and the remaining two connecting two adjacent second circulation pipes 122. The fixing rods 124 serve as support points for the robot arm, enhancing the structural stability of the irrigation robot arm 12 and reducing the amplitude of vibration and shaking of the irrigation robot arm 12, thereby maintaining stability during the movement of the intelligent irrigation robot and improving the precision and stability of irrigation.

[0033] Furthermore, each irrigation nozzle 123 has a flow control valve 1231, and the flow control valve 1231 is located at the input end of the irrigation nozzle 123, and the flow control valve 1231 is located on the side of the irrigation nozzle 123 close to the second circulation pipe 122. The flow control valve 1231 is used to accurately control the flow through the valve, thereby controlling the amount of solution sprayed by the irrigation nozzle 123, ensuring that the irrigation nozzle 123 sprays an appropriate amount of solution each time, avoiding excessive or insufficient solution sprayed by the irrigation nozzle 123, and improving irrigation accuracy.

[0034] Furthermore, a first drive motor 14 is provided at the hinge between any of the irrigation mechanical arms 12 and the robot body 1, and the irrigation mechanical arm 12 is driven to rotate by the first drive motor 14. In this embodiment, the irrigation robot includes two first drive motors 14, and the two first drive motors 14 work simultaneously, so as to avoid the irrigation robot being subjected to unbalanced force and falling during walking when one of the drive motors rotates and drives the corresponding irrigation mechanical arm to rotate, which is conducive to improving the stability of the intelligent irrigation robot during walking. Secondly, the rotation of the irrigation mechanical arm 12 by the first drive motor 14 can enable the irrigation mechanical arm 12 to spray crops located in different positions, thereby improving the working efficiency of the intelligent irrigation robot.

[0035] Furthermore, a mobile device 2 is provided below the robot body. The mobile device 2 includes multiple lifting mechanisms 21 and multiple track mechanisms 22. The upper end of each lifting mechanism 21 is connected to the bottom of the robot body, and the lower end of each lifting mechanism 21 is connected to the corresponding track mechanism 22. In this embodiment, the mobile rod device includes four lifting mechanisms 21 and four track mechanisms 22. The lower end of each lifting mechanism 21 is connected to a corresponding track mechanism 22, that is, the lifting mechanisms 21 and the track mechanisms 22 are connected in a one-to-one correspondence. The lifting mechanisms 21 are used to adjust the height of the irrigation robot so that the irrigation arm 12 is positioned above the corresponding crop for irrigation. The track mechanisms 22 are used to adjust the position of the irrigation robot so that the irrigation arm 12 is positioned to the side of the corresponding crop. The combination of the two positions enables the irrigation robot to be positioned at the corresponding height and position for irrigation, thereby improving the precision and stability of the intelligent irrigation robot's irrigation.

[0036] Furthermore, a shock absorber 3 is provided between the robot body and the mobile device 2. The shock absorber 3 is used to reduce the shaking between the robot body and the mobile device 2 when the robot body is walking in the soil. The shock absorber 3 is used to prevent the entire irrigation robot from falling due to the shaking of the robot body, thereby ensuring the working stability of the irrigation robot.

[0037] Furthermore, the lifting mechanism 21 includes a first connecting rod, a second connecting rod 212, and a lifting motor 213. The fixed end of the first connecting rod 211 is connected to the bottom of the robot body, and the fixed end of the second connecting rod 212 is connected to the corresponding track mechanism 22. The connecting end of the first connecting rod 211 is inserted into the connecting end of the second connecting rod 212. The first connecting rod 211 is driven by the lifting motor 213 to move within the second connecting rod 212. The lifting mechanism 21 is used to change the height of the robot body from the ground, so that the irrigation arm 12 on the robot body can irrigate above the corresponding crops. The second connecting rod 212 is fixed to the track mechanism 22, and the first connecting rod 211 is inserted into the second connecting rod 212. When the lifting motor 213 rotates, the output end of the lifting motor 213 moves upward, thereby driving the first connecting rod 211 to move upward, causing the robot body to move upward, and causing the irrigation mechanical arm 12 to rise to a designated position for irrigation or spraying pesticides; similarly, when the lifting motor 213 rotates, the output end of the lifting motor 213 moves downward, thereby driving the first connecting rod 211 to move downward, causing the robot body to move downward, and causing the irrigation mechanical arm 12 to rise to a designated position for irrigation or spraying pesticides.

[0038] Furthermore, a waterproof rubber sleeve 4 is provided on the exterior of the lifting mechanism 21, and the waterproof rubber sleeve 4 wraps around the outer surface of the lifting mechanism 21. The waterproof rubber sleeve 4 can fit tightly onto the object or equipment to be protected, preventing moisture from penetrating into the lifting mechanism 21 and causing malfunction of the lifting mechanism 21. This helps prevent the penetration of moisture, humidity, and other liquids, reduces the risk of moisture eroding the lifting mechanism 21, and extends the service life of the lifting mechanism 21.

[0039] Furthermore, the track mechanism 22 includes: track shoes 221, drive wheels 222, and a second drive motor; the output end of the second drive motor is connected to the drive wheel 222, and the rotation of the drive wheel 222 drives the track shoes 221 to move. In this embodiment, the second drive motor is located at the connection between the track mechanism 22 and the lifting mechanism 21, and the drive wheel 222 is located within the triangle formed by the track shoes 221, and the drive wheel 222 abuts against the track shoes 221. When the second drive motor rotates, it drives the drive wheel 222 to rotate, and the rotation of the drive wheel 222 drives the track shoes 221 to move, thereby causing the irrigation robot to move, which is beneficial for moving the irrigation robot to the corresponding position for sprinkler irrigation and improving the efficiency of sprinkler irrigation.

[0040] Furthermore, the triangle formed by the track shoes 221 contains planetary gears and guide wheels. The planetary gears are used to support the vehicle's weight and guide the track properly. They are evenly distributed along the inner side of the track and can rotate freely within a certain range. When the intelligent irrigation robot moves, the planetary gears contact the track shoes 221, providing support and guidance, ensuring that the track can smoothly pass around components such as the drive wheels 222 and guide wheels. The planetary gears also disperse the pressure of the vehicle on the ground, improving the vehicle's maneuverability and stability. The guide wheels mitigate impact forces from the road and reduce vibration of the machine body, which helps extend the service life of the track mechanism 22.

[0041] Furthermore, the robot body 1 is provided with a power indicator light 5, which has three colors, namely red, yellow, and green. When the power indicator light 5 is red, it warns the user that the power of the intelligent irrigation robot is between 0% and 10%. When the power indicator light 5 is yellow, it reminds the user that the power of the intelligent irrigation robot is between 11% and 40%. When the power indicator light 5 is green, it tells the user that the power of the intelligent irrigation robot is between 41% and 100%. Different colors correspond to different power ranges, which helps the user intuitively understand the corresponding power remaining of the intelligent irrigation robot according to the different colors of the power indicator light 5, and assign different tasks according to different power remaining.

[0042] To sum up, the utility model articulates the irrigation mechanical arm with the robot body, so that the irrigation mechanical arm can rotate to different angles, so that the irrigation mechanical arm sprays crops at different positions, thereby improving the working efficiency of the intelligent irrigation robot; the utility model also provides multiple irrigation nozzles on the irrigation mechanical arm, so that the intelligent irrigation robot can irrigate multiple rows of crops at the same time, thereby improving irrigation efficiency.

[0043] In addition, the above is a detailed introduction to an intelligent irrigation robot provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An intelligent irrigation robot, characterized in that: The intelligent irrigation robot comprises: a robot body; A storage tank is provided in the robot body, and irrigation mechanical arms are provided on both sides of the robot body, the irrigation mechanical arms are hinged to the robot body, and each irrigation mechanical arm is connected to the interior of the storage tank via a connecting pipe, and a water pump is provided on the connecting pipe; Each of the irrigation mechanical arms has a first circulation pipe and multiple second circulation pipes, and the first circulation pipe is connected to the connecting pipe, and the second circulation pipe is connected to the first circulation pipe. Each of the irrigation mechanical arms is also provided with multiple irrigation sprinklers, and each irrigation sprinkler is connected to the first circulation pipe based on one of the second circulation pipes.

2. The intelligent irrigation robot according to claim 1, characterized in that: Each of the irrigation mechanical arms further includes a plurality of fixing rods, wherein the fixing rods connect the first flow pipe and the second flow pipe, and a plurality of the fixing rods connect two adjacent second flow pipes.

3. The intelligent irrigation robot according to claim 1, characterized in that: Each of the irrigation sprinklers has a flow control valve, and the flow control valve is located at the input end of the irrigation sprinkler, and the flow control valve is located at a side of the irrigation sprinkler close to the second flow pipe.

4. The intelligent irrigation robot according to claim 1, characterized in that: A first drive motor is provided at a hinge point between any one of the irrigation mechanical arms and the robot body, and the irrigation mechanical arm is driven to rotate by the first drive motor.

5. The intelligent irrigation robot according to claim 1, characterized in that: A moving device is provided below the robot body, and the moving device includes a plurality of lifting mechanisms and a plurality of crawler mechanisms; The upper end of any of the lifting mechanisms is connected to the bottom of the robot body, and the lower end of any of the lifting mechanisms is connected to the corresponding crawler mechanism.

6. The intelligent irrigation robot according to claim 5, characterized in that: A shock absorber is provided between the robot body and the moving device.

7. The intelligent irrigation robot according to claim 5, characterized in that: The lifting mechanism includes: a first connecting rod, a second connecting rod and a lifting motor; The fixed end of the first connecting rod is connected to the bottom of the robot body, the fixed end of the second connecting rod is connected to the corresponding crawler mechanism, and the connecting end of the first connecting rod is inserted into the connecting end of the second connecting rod; The first connecting rod is driven by the lifting motor to move inside the second connecting rod.

8. The intelligent irrigation robot according to claim 7, characterized in that: A waterproof rubber sleeve is provided on the outside of the lifting mechanism.

9. The intelligent irrigation robot according to claim 5, characterized in that: The crawler mechanism includes: a track shoe, a driving wheel and a second driving motor; The output end of the second drive motor is connected to the drive wheel, and the rotation of the drive wheel drives the track shoe to move.

10. The intelligent irrigation robot according to claim 1, characterized in that: A power indicator light is provided on the robot body.

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