Full-automatic irrigation device

Abstract

The utility model discloses a full-automatic irrigation device and relates to the field of shrub irrigation equipment. The manipulator comprises a lifting arm, a telescopic arm, a large arm, a middle arm, a connecting arm and a small arm which are connected through a steering engine, the hydraulic cylinder controls the lifting arm to move up and down along the supporting stand column, the steering engine controls the deflection angles of the telescopic arm, the large arm, the middle arm, the connecting arm and the small arm, one end of the hose is connected with the water pump, and the other end of the hose is connected with the water pump. The telescopic arms and the large arm are symmetrically arranged on the two sides of the lifting arm, and the water channels are communicated with the middle arm, the connecting arm and the small arm. The ultrasonic sensor can be used for detecting the position between the manipulator and an irrigated shrub in real time, then the control system controls the steering engine to adjust the opening and closing degree of the manipulator, the hydraulic cylinder controls the lifting arm to reciprocate up and down along the supporting stand column, and the irrigation speed and the irrigation position are adjusted. Precise irrigation of shrubs is achieved, waste of water resources is reduced, and the irrigation efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of shrub irrigation equipment, specifically a fully automatic irrigation device. Background Technology

[0002] Traditional shrub irrigation devices are mostly made of materials such as stainless steel and copper. They are usually fixed by robotic arms, resulting in rigid mechanical structures that lack flexibility. They cannot automatically adjust irrigation parameters according to different trunk diameters and growth stages, leading to low irrigation efficiency. Furthermore, the control methods are limited and lack intelligence, making it difficult to achieve seamless connection and collaborative work with other agricultural equipment. It is also difficult to control the irrigation volume and speed. The complex mechanical structure, single irrigation method, and water waste also contribute to the problem. Summary of the Invention

[0003] To overcome the shortcomings of the existing technology, the purpose of this invention is to provide a fully automatic irrigation device that can automatically adjust the irrigation speed and position while avoiding water waste.

[0004] To achieve the above-mentioned objectives, the robotic arm of the fully automatic irrigation device of this invention includes a lifting arm, a telescopic arm, a large arm, a middle arm, a connecting arm, and a small arm. The lifting arm, telescopic arm, large arm, middle arm, connecting arm, and small arm are connected by a servo motor. A hydraulic cylinder controls the lifting arm to move up and down along the support column, and the servo motor controls the deflection angle of the telescopic arm, large arm, middle arm, connecting arm, and small arm. One end of the hose is connected to a water pump, and the other end passes through the lifting arm and the telescopic arm and large arm symmetrically arranged on both sides of the lifting arm, communicating with the water passages in the middle arm, connecting arm, and small arm.

[0005] Furthermore, the two support columns are symmetrically fixed on the upper surface of the base, and the cylinder ends of each pair of hydraulic cylinders are respectively fixed on the upper surface of the base, symmetrically arranged on both sides of the support columns, with the piston rod ends connected and fixed to the bottom surface of the lifting arm.

[0006] Furthermore, one end of the telescopic arm on both sides of the lifting arm is connected to the lifting arm via a large servo motor, one end of the main arm is connected to the other end of the telescopic arm via a large servo motor, one end of each pair of middle arms is connected to the other end of the main arm via a small servo motor, one end of each pair of connecting arms is connected to the other end of each pair of middle arms via a small servo motor, and one end of each pair of forearms is connected to the other end of each pair of connecting arms via a small servo motor.

[0007] Furthermore, the front surface of the upper arm is equipped with an ultrasonic sensor.

[0008] Furthermore, several irrigation nozzles are evenly distributed on the inner sides of the middle arm, connecting arm, and forearm, and the irrigation nozzles are connected to the water channels inside the middle arm, connecting arm, and forearm; a sealing ring is provided between the hose and the middle arm, and the outer side of the forearm is a closed structure.

[0009] Furthermore, an oil pump is fixedly mounted on the upper surface of the base.

[0010] Furthermore, the water pump is mounted on the upper surface of the base.

[0011] Furthermore, a limiting frame is installed on the upper surface of the base, the water tank is fixed inside the limiting frame, and the water tank cover is fixed on the upper surface of the water tank.

[0012] Furthermore, the large servo motor is model TD-8135MG, the small servo motor is model TD-8120MG, and the water pump, hydraulic cylinder, large servo motor, small servo motor, ultrasonic sensor, oil pump and control system are connected.

[0013] The ultrasonic sensor on the robotic arm can detect the position between the robotic arm and the shrubs being watered, and then feed the feedback to the control system. The control system drives the large and small servo motors to control the coordinated movement of the telescopic arm, the main arm, the middle arm connecting arm, and the forearm, thereby controlling the opening and closing size of the robotic arm to meet the various watering needs of the shrubs. Then, the water pump draws water from the water tank, and through the hose through the lifting arm, telescopic arm, and main arm, the water is pumped into the water channels of the middle arm, connecting arm, and forearm, and then reaches the watering nozzle of the robotic arm. The water is sprayed out from the watering nozzle. With the hydraulic cylinder controlling the lifting arm to move up and down along the support column, the robotic arm can automatically and accurately water the shrubs.

[0014] Compared with the prior art, this utility model can use ultrasonic sensors to detect the position between the robotic arm and the shrubs being watered in real time. Then, the control system controls the servo motor to adjust the opening and closing of the robotic arm, and the hydraulic cylinder controls the lifting arm to move up and down along the support column to adjust the watering speed and watering position, so as to achieve precise watering of shrubs, reduce water waste, improve watering efficiency, reduce labor intensity, and be applicable to different watering occasions. Attached Figure Description

[0015] Figure 1 This is a structural diagram of the overall appearance of this utility model.

[0016] Figure 2 for Figure 1 The structural diagram of the robotic arm.

[0017] Figure 3 for Figure 1 The structural diagram of the supporting columns.

[0018] Figure 4 for Figure 1 A partial view of the waterway.

[0019] Figure 5 for Figure 1 A partial view of the sealing ring.

[0020] In the diagram: 1. Base; 2. Water pump; 3. Support column; 4. Hydraulic cylinder; 5. Lifting arm; 6. Telescopic arm; 7. Main arm; 8. Middle arm; 9. Connecting arm; 10. Forearm; 11. Ultrasonic sensor; 12. Large servo motor; 13. Small servo motor; 14. Water tank; 15. Hoses; 16. Irrigation nozzle; 17. Limiting frame; 18. Oil pump; 19. Water tank cover; 20. Sealing ring. Detailed Implementation

[0021] To make the invention's objectives, technical solutions, and advantages clearer, the present invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of protection of the present invention.

[0022] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the robotic arm of the fully automatic irrigation device of this utility model includes a lifting arm 5, a telescopic arm 6, a large arm 7, a middle arm 8, a connecting arm 9, and a small arm 10. The lifting arm 5, telescopic arm 6, large arm 7, middle arm 8, connecting arm 9, and small arm 10 are connected by a servo motor. The hydraulic cylinder 4 controls the lifting arm 5 to move up and down along the support column 3. The servo motor controls the deflection angle of the telescopic arm 6, large arm 7, middle arm 8, connecting arm 9, and small arm 10. One end of the hose 15 is connected to the water pump 2, and the other end passes through the lifting arm 5 and the telescopic arm 6 and large arm 7 symmetrically arranged on both sides of the lifting arm 5, and is connected to the water passage in the middle arm 8, connecting arm 9, and small arm 10.

[0023] Preferably, the two support columns 3 are symmetrically fixed on the upper surface of the base 1, and the cylinder ends of each pair of hydraulic cylinders 4 are respectively fixed on the upper surface of the base 1, symmetrically arranged on both sides of the support columns 3, and the piston rod ends are connected and fixed to the bottom surface of the lifting arm 5.

[0024] Preferably, one end of the telescopic arms 6 on both sides of the lifting arm 5 is connected to the lifting arm 5 via a large servo motor 12, one end of the large arm 7 is connected to the other end of the telescopic arm 6 via a large servo motor 12, one end of each pair of middle arms 8 is connected to the other end of the large arm 7 via a small servo motor 13, one end of each pair of connecting arms 9 is connected to the other end of each pair of middle arms 8 via a small servo motor 13, and one end of each pair of small arms 10 is connected to the other end of each pair of connecting arms 9 via a small servo motor 13.

[0025] Preferably, the front surface of the boom 7 is equipped with an ultrasonic sensor 11; the upper surface of the base 1 is fixedly equipped with an oil pump 18; the water pump 2 is installed on the upper surface of the base 1; the upper surface of the base 1 is equipped with a limiting frame 17, the water tank 14 is fixed inside the limiting frame 17, and the water tank cover 19 is fixed on the upper surface of the water tank 14.

[0026] Preferably, a plurality of irrigation nozzles 16 are evenly distributed on the inner side of the middle arm 8, connecting arm 9, and forearm 10, and the irrigation nozzles 16 are connected to the water channels in the middle arm 8, connecting arm 9, and forearm 10; a sealing ring 20 is provided between the hose 15 and the middle arm 8, and the outer side of the forearm 10 is a closed structure.

[0027] The large servo motor 12 is model TD-8135MG, the small servo motor 13 is model TD-8120MG, and the water pump 2, hydraulic cylinder 4, large servo motor 12, small servo motor 13, ultrasonic sensor 11, and oil pump 18 are connected to the control system.

[0028] In a specific implementation of this utility model, the ultrasonic sensor 11 on the robotic arm 7 can detect the position between the robotic arm and the shrub being watered, and then feed the feedback to the control system. The control system drives the large servo motor 12 and the small servo motor 13 to control the coordinated movement of the telescopic arm 6, the large arm 7, the middle arm 8, the connecting arm 9, and the forearm 10, thereby controlling the opening and closing size of the robotic arm and meeting the various watering needs of the shrub. Then, the water pump 2 draws water from the water tank 14, and through the hose 15 through the lifting arm 5, the telescopic arm 6, and the large arm 7, the water is pumped into the water path of the middle arm 8, the connecting arm 9, and the forearm 10, and then reaches the watering nozzle 16 of the robotic arm. The water is sprayed out from the watering nozzle 16. With the hydraulic cylinder controlling the lifting arm 5 to move up and down along the support column 3, the robotic arm can accurately water the shrub.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A fully automatic irrigation device, characterized by: The mechanical arm of the full-automatic irrigation device comprises a lifting arm (5), an extension arm (6), a large arm (7), a middle arm (8), a connecting arm (9), and a small arm (10), the lifting arm (5), the extension arm (6), the large arm (7), the middle arm (8), the connecting arm (9), and the small arm (10) are connected through a rudder, a hydraulic cylinder (4) controls the lifting arm (5) to move up and down along a supporting column (3), the rudder controls the deflection angles of the extension arm (6), the large arm (7), the middle arm (8), the connecting arm (9), and the small arm (10), one end of a hose (15) is connected with a water pump (2), the other end of the hose (15) passes through the lifting arm (5) and the extension arm (6), the large arm (7) symmetrically arranged on both sides of the lifting arm (5), and is communicated with water channels in the middle arm (8), the connecting arm (9), and the small arm (10).

2. The fully automatic irrigation device according to claim 1, characterized in that: Two supporting columns (3) are symmetrically fixed on the upper surface of the base (1), the cylinder body ends of each pair of hydraulic cylinders (4) are fixed on the upper surface of the base (1) and symmetrically arranged on both sides of the supporting column (3), and the piston rod ends are fixedly connected with the bottom surface of the lifting arm (5).

3. The full-automatic irrigation device according to claim 1, characterized in that: One end of the extension arm (6) on the both sides of the lifting arm (5) is connected with the lifting arm (5) through a large rudder (12), one end of the large arm (7) is connected with the other end of the extension arm (6) through the large rudder (12), one end of each pair of middle arms (8) is connected with the other end of each large arm (7) through a small rudder (13), one end of each pair of connecting arms (9) is connected with the other end of each pair of middle arms (8) through the small rudder (13), and one end of each pair of small arms (10) is connected with the other end of each pair of connecting arms (9) through the small rudder (13).

4. The full-automatic irrigation device according to claim 1, characterized in that: The front surface of the large arm (7) is provided with an ultrasonic sensor (11).

5. The fully automatic irrigation device according to claim 1, characterized in that: The inner surfaces of the middle arm (8), the connecting arm (9), and the small arm (10) are provided with a plurality of irrigation nozzles (16), the irrigation nozzles (16) are communicated with the water channels in the middle arm (8), the connecting arm (9), and the small arm (10), a sealing ring (20) is arranged between the hose (15) and the middle arm (8), and the outer side of the small arm (10) is a closed structure.

6. The full-automatic irrigation device according to claim 2, characterized in that: The upper surface of the base (1) is fixedly provided with an oil pump (18).

7. The fully automatic watering device according to claim 1, characterized in that: The water pump (2) is arranged on the upper surface of the base (1).

8. The full-automatic irrigation device according to claim 2, characterized in that: The upper surface of the base (1) is provided with a limiting frame (17), a water tank (14) is fixed in the limiting frame (17), and a water tank cover (19) is fixed on the upper surface of the water tank (14).

9. The full-automatic irrigation device according to claim 3, characterized in that: The model of the large rudder (12) is TD-8135MG, the model of the small rudder (13) is TD-8120MG, the water pump (2), the hydraulic cylinder (4), the large rudder (12), the small rudder (13), the ultrasonic sensor (11), and the oil pump (18) are connected with a control system.

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