Lifting type irrigation mechanical arm synchronously driven by double shafts

Abstract

The utility model relates to the technical field of agricultural irrigation, in particular to a double-shaft synchronously-driven lifting type irrigation mechanical arm which comprises a main frame body, a lifting mechanism and a sprinkling irrigation assembly. The main frame body is provided with a sliding rail and a moving assembly, the lifting mechanism achieves stable lifting through transmission of a double-lead-screw synchronous belt, the angle of the sprinkling irrigation assembly is adjusted through hinging and a gear and rack structure, and the sprinkling irrigation assembly is provided with a flow-adjustable sprinkling irrigation head. The auxiliary supporting assembly and the counterweight assembly improve stability, the sensor assembly ensures that the sprinkling height is constant, and the protective cover reduces noise and protects the internal structure. The system can meet the requirements of complex terrains and diversified crops, and the irrigation efficiency and accuracy are remarkably improved.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural automation equipment technology, specifically a dual-axis synchronously driven lifting irrigation robotic arm. Background Technology

[0002] With the continuous development of agricultural irrigation technology, the application of robotic arms in irrigation is gradually increasing. However, existing irrigation robotic arms still have limitations in terms of drive methods and motion control. For example, some robotic arms use a single drive mode, which is inefficient in lifting and synchronous movement, resulting in limited irrigation coverage. In addition, some robotic arms are designed with multi-degree-of-freedom motion control in mind, but their drive systems lack synchronization and stability, which can easily cause the robotic arm to vibrate or deviate in positioning during lifting, affecting irrigation accuracy.

[0003] A search revealed a water and fertilizer integrated sprinkler irrigation device for fruit tree cultivation, with publication number CN117178866B and publication date March 19, 2024. This device uses a self-propelled trolley carrying a multi-degree-of-freedom robotic arm to irrigate fruit trees. However, because its execution end is a horizontally positioned sprinkler, it has limited adaptability to crops of different heights and cannot meet the precise irrigation needs of complex terrain.

[0004] A search revealed a turf laying device with a double-fork gripping mechanism, publication number CN114223470B, published on July 28, 2023. This device is equipped with a YZ two-axis robotic arm, which, in conjunction with irrigation and fertilization functions, completes irrigation operations after turf laying. However, its vertical movement range is limited, and it lacks dual-axis synchronous drive capability, resulting in low efficiency during rapid lifting and adjustment. Furthermore, its overall structure is complex, and its manufacturing and maintenance costs are high.

[0005] The aforementioned problems indicate that existing irrigation robotic arms have certain limitations in terms of drive method, synchronization performance, and adaptability, making it difficult to fully meet the demands of modern agriculture for efficient and precise irrigation. Therefore, this invention provides a dual-axis synchronously driven lifting irrigation robotic arm to improve lifting efficiency and synchronization performance, enhance adaptability to complex terrain and diverse crop environments, and provide a more intelligent and efficient solution for modern agricultural irrigation. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the existing defects and provide a dual-axis synchronous drive lifting irrigation robotic arm. While achieving efficient lifting and synchronous movement, it enhances the adaptability of the robotic arm in complex terrain and diverse crop environments, thereby improving irrigation efficiency and accuracy.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a dual-axis synchronously driven lifting irrigation robotic arm, comprising a main frame, a lifting mechanism, and a sprinkler assembly. The main frame includes two vertically arranged support plates, and a horizontally arranged crossbeam is fixed between the two support plates. Two parallel slide rails are installed on the crossbeam, and a slider is slidably connected to each slide rail. The two sliders are respectively fixedly connected to both ends of the lifting mechanism.

[0008] The lifting mechanism includes two vertically arranged lead screws, which are located on both sides of the crossbeam. The upper and lower ends of the two lead screws are fixed to the support plate through bearing seats. Each lead screw is threaded with a nut seat, and the two nut seats are fixedly connected to two sliders respectively. The lower ends of the two lead screws are connected through a synchronous belt drive mechanism. The synchronous belt drive mechanism includes two synchronous pulleys and a synchronous belt. The two synchronous pulleys are fixed to the lower ends of the two lead screws respectively, and the synchronous belt is wound around the two synchronous pulleys. The central axis of one of the synchronous pulleys is fixedly connected to the output shaft of an external drive motor.

[0009] The sprinkler assembly includes a sprinkler arm, one end of which is hinged to the middle of a lifting mechanism via a hinge shaft, and the other end of which is fixed with a sprinkler head. A support rod is provided below the sprinkler arm, one end of which is hinged to the middle of the sprinkler arm and the other end of which is hinged to the middle of the lifting mechanism. A gear is fixed on the hinge shaft of the sprinkler arm, and the gear meshes with a rack fixed on the lifting mechanism. The rack is arranged along the length of the lifting mechanism.

[0010] Two lead screws rotate synchronously through a synchronous belt drive mechanism. The rotation of the lead screws causes the nut seat to move along the axial direction of the lead screw. The movement of the nut seat causes the slider to slide along the slide rail. The sliding of the slider causes the entire lifting mechanism to rise and fall in the vertical direction. The rising and falling of the lifting mechanism causes the sprinkler arm to rise and fall synchronously. During the rising and falling of the sprinkler arm, the meshing of the gear and rack causes the sprinkler arm to rotate around the hinge axis, thereby adjusting the angle of the sprinkler head.

[0011] As a preferred technical solution of this utility model, the bottom of the main frame is provided with a moving component. The moving component includes two parallel guide rails, each guide rail having a sliding block slidably connected to it. The two sliding blocks are respectively fixedly connected to the bottom of two support plates. Each sliding block has a roller installed at its bottom, and the roller makes rolling contact with the guide rail. A drive motor is fixed on one of the sliding blocks, and the output shaft of the drive motor is fixedly connected to the central shaft of the roller. Limit blocks are fixed at both ends of the guide rail.

[0012] The outer side of the roller is provided with an annular groove, and a rubber ring is embedded in the annular groove. The outer surface of the rubber ring is provided with anti-slip texture. The roller makes rolling contact with the upper surface of the guide rail through the annular groove. The limiting block restricts the movement range of the slide and prevents the slide from falling off the guide rail.

[0013] As a preferred embodiment of this utility model, the sprinkler head includes a housing, an inlet on the top side of the housing, and several nozzles on the bottom side. The housing has a flow-dividing cavity inside, with the top of the flow-dividing cavity communicating with the inlet and the bottom communicating with the nozzles. An adjusting plate is provided inside the flow-dividing cavity, and several adjusting holes are provided on the adjusting plate. The adjusting plate is rotatably connected to the housing via a rotating shaft. A handle is fixed to the outside of the housing, and the handle is fixedly connected to the rotating shaft of the adjusting plate.

[0014] The adjustment plate rotates around the shaft by turning the handle. The rotation of the adjustment plate changes the relative position of the adjustment hole and the diversion chamber, thereby adjusting the flow rate and velocity of water entering the nozzle from the diversion chamber, and realizing the adjustment of the spraying mode of the sprinkler head.

[0015] As a preferred technical solution of this utility model, the lifting mechanism is provided with an auxiliary support component in the middle. The auxiliary support component includes a support plate, and the two ends of the support plate are respectively fixedly connected to two bracket plates. The support plate is provided with a through hole in the middle, and a linear bearing is fixed in the through hole. A guide rod is inserted in the linear bearing. The upper end of the guide rod is fixedly connected to the middle of the sprinkler arm, and the lower end extends through the linear bearing to the bottom of the support plate.

[0016] The lower end of the guide rod is fixed with a limiting block. The diameter of the limiting block is larger than the inner diameter of the linear bearing to prevent the guide rod from coming out of the linear bearing. The guide rod slides along the linear bearing as the sprinkler arm rises and falls, guiding and stabilizing the rising and falling process of the sprinkler arm.

[0017] As a preferred embodiment of the present invention, a counterweight assembly is provided in the middle of the sprinkler arm. The counterweight assembly includes a counterweight block, which is fixed to the middle of the sprinkler arm by bolts. The weight of the counterweight block is adjusted according to the length of the sprinkler arm and the weight of the sprinkler head to balance the center of gravity of the sprinkler arm.

[0018] The bottom of the counterweight is provided with a groove, and a magnet is embedded in the groove. The magnet is attracted and fixed to the surface of the sprinkler arm to prevent the counterweight from loosening or shifting during the raising and lowering of the sprinkler arm.

[0019] As a preferred embodiment of this utility model, a sensor assembly is provided in the middle of the crossbeam. The sensor assembly includes a distance sensor, which is fixed to the bottom side of the crossbeam. The detection end of the distance sensor is set facing the ground, and the signal output end of the distance sensor is electrically connected to an external controller.

[0020] The distance sensor detects the distance between the sprinkler head and the ground and transmits the detection signal to an external controller. The external controller adjusts the lifting height of the lifting mechanism according to the detection signal to keep the distance between the sprinkler head and the ground constant.

[0021] As a preferred technical solution of this utility model, a protective cover is provided on the outer side of the support plate. The top side of the protective cover is fixedly connected to the crossbeam, and the bottom side is fixedly connected to the slide. An opening is provided on the side of the protective cover, and the opening is set corresponding to the position of the lead screw and the synchronous belt transmission mechanism. A sound insulation cotton layer is provided on the inner side of the protective cover.

[0022] The sound insulation cotton layer is attached to the inner wall of the protective cover to reduce the noise generated during the operation of the lead screw and synchronous belt drive mechanism. The opening of the protective cover facilitates the maintenance and repair of the lead screw and synchronous belt drive mechanism.

[0023] As a preferred technical solution of this utility model, the hinge shaft of the sprinkler arm is provided with a positioning component. The positioning component includes a positioning pin, which is inserted into the side of the hinge shaft. One end of the positioning pin is provided with a handle, and the other end is provided with a locking block. The locking block is fixed in place with the positioning hole on the hinge shaft.

[0024] The positioning pin is pulled by the handle to disengage the locking block from the positioning hole, thereby releasing the locking state of the hinge shaft and facilitating the adjustment of the sprinkler arm angle. After adjustment, the handle is pushed to re-insert the locking block into the positioning hole, thereby locking the hinge shaft.

[0025] This invention achieves efficient lifting and synchronous movement of the robotic arm through a dual-axis synchronously driven lifting mechanism. By adjusting the angle of the sprinkler arm and the flow rate of the sprinkler head, it meets the irrigation needs of crops of different heights and complex terrains. At the same time, the stability and balance of the robotic arm are improved through auxiliary support components and counterweight components, ensuring the accuracy and reliability of the irrigation process. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model, showing the layout relationship of the main frame, lifting mechanism, sprinkler assembly and moving assembly.

[0027] Figure 2 This is a partial enlarged view of the lifting mechanism and the synchronous belt drive mechanism, focusing on the connection method of the lead screw, nut seat, synchronous pulley, and synchronous belt.

[0028] Figure 3 This is a structural diagram of a sprinkler assembly, showing the sprinkler arm, sprinkler head, meshing relationship between gears and racks, and connection position of the support rod.

[0029] Figure 4 This is a cross-sectional view of the internal structure of the sprinkler head, mainly showing the arrangement of the diversion chamber, regulating plate, and regulating holes.

[0030] Figure 5 The enlarged view of the auxiliary support components shows in detail the assembly relationship of the guide rod, linear bearing and limit block.

[0031] Figure 6 This is a side view of the protective cover, highlighting the location of the sound insulation layer and the design details of the openings.

[0032] The attached figures are labeled as follows:

[0033] 1. Main frame; 2. Support plate; 3. Crossbeam; 4. Slide rail; 5. Slider; 6. Lead screw; 7. Nut seat; 8. Synchronous pulley; 9. Synchronous belt; 10. Sprinkler arm; 11. Sprinkler head; 12. Support rod; 13. Gear; 14. Rack; 15. Guide rail; 16. Slide seat; 17. Roller; 18. Water inlet; 19. Nozzle; 20. Diverter chamber; 21. Adjusting plate; 22. Handle; 23. Support plate; 24. Linear bearing; 25. Guide rod; 26. Counterweight; 27. Distance sensor; 28. Protective cover; 29. ​​Sound insulation layer; 30. Positioning pin. Detailed Implementation

[0034] This utility model provides a dual-axis synchronously driven lifting irrigation robotic arm, the specific implementation of which is described in detail with reference to the accompanying drawings and reference numerals. Figure 1 As shown, the main frame 1 includes two vertically arranged support plates 2, with a horizontally arranged crossbeam 3 fixed between the two support plates 2. Two parallel slide rails 4 are mounted on the crossbeam 3, and a slider 5 is slidably connected to each slide rail 4. The two sliders 5 are fixedly connected to both ends of the lifting mechanism. The lifting mechanism includes two vertically arranged lead screws 6, located on both sides of the crossbeam 3 and fixed to the support plates 2 via bearing seats. Each lead screw 6 is threaded with a nut seat 7, and the two nut seats 7 are fixedly connected to the two sliders 5. The lower ends of the two lead screws 6 are connected via a synchronous belt drive mechanism, which includes two synchronous pulleys 8 and a synchronous belt 9. The two synchronous pulleys 8 are fixed to the lower ends of the two lead screws 6, and the synchronous belt 9 is wound around the two synchronous pulleys 8. The central axis of one of the synchronous pulleys 8 is fixedly connected to the output shaft of an external drive motor.

[0035] like Figure 2As shown, the synchronous belt drive mechanism enables the synchronous rotation of the two lead screws 6. When the external drive motor starts, its output shaft drives the synchronous pulley 8 connected to it to rotate, and the synchronous belt 9 drives the other synchronous pulley 8 to rotate synchronously, thereby driving the two lead screws 6 to rotate synchronously. The rotation of the lead screw 6 causes the nut seat 7 to move along the axial direction of the lead screw 6. The movement of the nut seat 7 further drives the slider 5 to slide along the slide rail 4. The sliding of the slider 5 causes the entire lifting mechanism to rise and fall vertically. The lifting process of the lifting mechanism is ensured by the cooperation between the slider 5 and the slide rail 4, while the threaded connection between the lead screw 6 and the nut seat 7 ensures precise control of the lifting.

[0036] The sprinkler assembly includes a sprinkler arm 10. One end of the sprinkler arm 10 is hinged to the middle of a lifting mechanism via a hinge shaft, and the other end is fixed with a sprinkler head 11. A support rod 12 is provided below the sprinkler arm 10. One end of the support rod 12 is hinged to the middle of the sprinkler arm 10, and the other end is hinged to the middle of the lifting mechanism. A gear 13 is fixed on the hinge shaft of the sprinkler arm 10. The gear 13 meshes with a rack 14 fixed to the lifting mechanism. The rack 14 is arranged along the length of the lifting mechanism. Figure 3 As shown, the lifting mechanism drives the sprinkler arm 10 to lift synchronously. During the lifting process of the sprinkler arm 10, the meshing of the gear 13 and the rack 14 causes the sprinkler arm 10 to rotate around the hinge axis, thereby adjusting the angle of the sprinkler head 11.

[0037] The structure of the sprinkler head 11 is as follows Figure 4 As shown, the sprinkler head 11 includes a housing with a water inlet 18 on the top side and several nozzles 19 on the bottom side. Inside the housing is a flow-dividing chamber 20, with its top connected to the water inlet 18 and its bottom connected to the nozzles 19. An adjusting plate 21 is located inside the flow-dividing chamber 20, with several adjusting holes. The adjusting plate 21 is rotatably connected to the housing via a rotating shaft. A handle 22 is fixed to the outside of the housing and is fixedly connected to the rotating shaft of the adjusting plate 21. By rotating the handle 22, the adjusting plate 21 rotates around the rotating shaft. This rotation changes the relative position of the adjusting holes and the flow-dividing chamber 20, thereby adjusting the flow rate and velocity of water entering the nozzles 19 from the flow-dividing chamber 20, thus adjusting the spraying mode of the sprinkler head 11.

[0038] The lifting mechanism is equipped with an auxiliary support component in the middle, such as... Figure 5As shown, the auxiliary support assembly includes a support plate 23, with both ends of the support plate 23 fixedly connected to two bracket plates 2 respectively. A through hole is provided in the middle of the support plate 23, and a linear bearing 24 is fixed inside the through hole. A guide rod 25 is inserted into the linear bearing 24. The upper end of the guide rod 25 is fixedly connected to the middle of the irrigation arm 10, and the lower end extends through the linear bearing 24 to the bottom of the support plate 23. A limit block is fixed to the lower end of the guide rod 25. The diameter of the limit block is larger than the inner diameter of the linear bearing 24 to prevent the guide rod 25 from dislodging from the linear bearing 24. The guide rod 25 slides along the linear bearing 24 as the irrigation arm 10 rises and falls, guiding and stabilizing the rising and falling process of the irrigation arm 10.

[0039] A counterweight assembly is provided in the middle of the sprinkler arm 10. The counterweight assembly includes a counterweight block 26, which is fixed to the middle of the sprinkler arm 10 by bolts. The weight of the counterweight block 26 is adjusted according to the length of the sprinkler arm 10 and the weight of the sprinkler head 11 to balance the center of gravity of the sprinkler arm 10. A groove is provided at the bottom of the counterweight block 26, and a magnet is embedded in the groove. The magnet is attracted and fixed to the surface of the sprinkler arm 10 to prevent the counterweight block 26 from loosening or shifting during the raising and lowering of the sprinkler arm 10.

[0040] A sensor assembly is located in the middle of the crossbeam 3. The sensor assembly includes a distance sensor 27, which is fixed to the bottom side of the crossbeam 3. The detection end of the distance sensor 27 faces the ground, and the signal output end of the distance sensor 27 is electrically connected to an external controller. The distance sensor 27 detects the distance between the sprinkler head 11 and the ground and transmits the detection signal to the external controller. The external controller adjusts the lifting height of the lifting mechanism according to the detection signal to keep the distance between the sprinkler head 11 and the ground constant.

[0041] like Figure 6 As shown, a protective cover 28 is provided on the outer side of the support plate 2. The top side of the protective cover 28 is fixedly connected to the crossbeam 3, and the bottom side is fixedly connected to the slide 16. An opening is provided on the side of the protective cover 28, which is set corresponding to the positions of the lead screw 6 and the synchronous belt drive mechanism. A sound insulation cotton layer 29 is provided on the inner side of the protective cover 28. The sound insulation cotton layer 29 is attached to the inner wall of the protective cover 28 to reduce the noise generated during the operation of the lead screw 6 and the synchronous belt drive mechanism. The opening of the protective cover 28 facilitates the maintenance and repair of the lead screw 6 and the synchronous belt drive mechanism.

[0042] The sprinkler arm 10 has a positioning assembly on its hinge shaft. The positioning assembly includes a positioning pin 30, which is inserted into the side of the hinge shaft. One end of the positioning pin 30 has a handle, and the other end has a locking block. The locking block engages with a positioning hole on the hinge shaft for fixation. By pulling the handle of the positioning pin 30, the locking block is disengaged from the positioning hole, releasing the hinge shaft from its locked state, making it easier to adjust the angle of the sprinkler arm 10. After adjustment, pushing the handle causes the locking block to re-insert into the positioning hole, thus locking the hinge shaft.

[0043] The bottom of the main frame 1 is equipped with a moving assembly, which includes two parallel guide rails 15. Each guide rail 15 has a sliding block 16 slidably connected to it. The two sliding blocks 16 are fixedly connected to the bottom of the two support plates 2, respectively. Each sliding block 16 has a roller 17 mounted on its bottom, and the roller 17 rolls in contact with the guide rail 15. A drive motor is fixed to one of the sliding blocks 16, and the output shaft of the drive motor is fixedly connected to the central axis of the roller 17. Limit blocks are fixed at both ends of the guide rail 15. The outer side of the roller 17 has an annular groove, in which a rubber ring is embedded. The outer surface of the rubber ring has anti-slip textures. The roller 17 rolls in contact with the upper surface of the guide rail 15 through the annular groove. The limit blocks restrict the movement range of the sliding block 16, preventing the sliding block 16 from detaching from the guide rail 15.

[0044] The connection and positional relationships of the aforementioned components ensure the smooth implementation of the operating principle and process of this utility model. When the external drive motor starts, the synchronous belt transmission mechanism drives the two lead screws 6 to rotate synchronously. The rotation of the lead screws 6 is converted into the linear motion of the slider 5 through the nut seat 7. The linear motion of the slider 5 further drives the overall lifting mechanism to rise and fall. The lifting mechanism drives the sprinkler arm 10 to rise and fall synchronously. During the lifting and falling process of the sprinkler arm 10, the meshing of the gear 13 and the rack 14 causes the sprinkler arm 10 to rotate around the hinge axis, thereby adjusting the angle of the sprinkler head 11. The angle and spraying mode of the sprinkler head 11 can be flexibly adjusted by manually operating the adjustment plate 21 to meet the needs of different crops and terrains. The auxiliary support components and counterweight components improve the stability and balance of the sprinkler arm 10, ensuring the accuracy and reliability of the irrigation process. The moving components allow the entire device to move on the guide rail 15, expanding the irrigation range. At the same time, the anti-slip design of the roller 17 and the setting of the limit block ensure the safety and stability of the movement process.

[0045] To enable those skilled in the art to fully understand and implement this utility model, the following further explains the operating principle and implementation steps of this utility model in conjunction with specific application scenarios.

[0046] In practical applications, this dual-axis synchronously driven lifting irrigation robot can be deployed in farmland, orchards, or turf planting areas where precise irrigation is required. Its efficient lifting capability and flexible angle adjustment function can adapt to the irrigation needs of crops of different heights and complex terrains. The following is a detailed explanation of the specific operating steps and their operating principles.

[0047] First, the main frame 1 is installed on the guide rail 15 in the target area. The slide 16 rolls in contact with the guide rail 15, and the rubber ring on the outer side of the roller 17 enhances friction with anti-slip texture, ensuring the device remains stable during movement. Limit blocks restrict the movement range of the slide 16 to prevent derailment due to excessive movement. When the external controller starts the drive motor, the drive motor rotates the roller 17, thereby propelling the entire device along the guide rail 15 to the designated position. This process enables rapid horizontal positioning of the robotic arm, expanding the irrigation coverage area.

[0048] Then, the external drive motor is started to drive the lifting mechanism. For example... Figure 2 As shown, the output shaft of the external drive motor drives the connected synchronous pulley 8 to rotate, and the synchronous belt 9 drives the other synchronous pulley 8 to rotate synchronously, thereby driving the two lead screws 6 to rotate synchronously. The rotation of the lead screw 6 is converted into linear motion through the nut seat 7. The nut seat 7 moves along the axial direction of the lead screw 6, while simultaneously driving the slider 5 to slide along the slide rail 4. Since the two lead screws 6 operate synchronously through the synchronous belt transmission mechanism, the movement of the slider 5 remains consistent, ensuring that the lifting mechanism rises or falls smoothly as a whole. This design effectively avoids the shaking problem caused by asynchronous drives in traditional robotic arms, improving lifting efficiency and stability.

[0049] As the lifting mechanism rises and falls, the sprinkler arm 10 moves synchronously. For example... Figure 3 As shown, a gear 13 is fixed on the hinge shaft of the sprinkler arm 10, and the gear 13 meshes with a rack 14. The lifting mechanism drives the gear 13 to move along the rack 14, thereby causing the sprinkler arm 10 to rotate around the hinge shaft. This linkage design allows the angle of the sprinkler head 11 to be automatically adjusted according to the lifting height, meeting the irrigation needs of crops at different heights. For example, in fruit tree planting areas, when the robotic arm is raised to a higher position, the sprinkler head 11 will automatically tilt downwards to ensure that the water flow can accurately cover the roots of the fruit trees; while in low-growing crop areas, when the robotic arm is lowered to a lower position, the sprinkler head 11 will adjust to a near-horizontal state to expand the irrigation range.

[0050] Furthermore, the spraying mode of the sprinkler head 11 can be flexibly adjusted via the manual adjustment plate 21. For example... Figure 4 As shown, the handle 22 drives the adjusting plate 21 to rotate around the shaft. The rotation of the adjusting plate 21 changes the relative position of the adjusting hole and the diversion chamber 20, thereby controlling the flow rate and velocity of water entering the nozzle 19 from the diversion chamber 20. For example, when large-area uniform irrigation is required, the adjusting hole can be fully aligned with the diversion chamber 20 to increase the water flow; while when precise irrigation at a fixed point is required, the adjusting hole can be partially blocked to reduce the water flow velocity. This design greatly improves the adaptability of the robotic arm to different crops and terrains.

[0051] During the lifting and lowering process of the sprinkler arm 10, the auxiliary support components and counterweight components work together to ensure the stability and balance of the robotic arm. For example... Figure 5 As shown, the guide rod 25 slides along the linear bearing 24 as the irrigation arm 10 rises and falls, guiding and stabilizing the movement of the irrigation arm 10 and preventing vibration caused by a shift in the center of gravity. Simultaneously, the counterweight 26 is magnetically attached to the middle of the irrigation arm 10, and its weight is precisely adjusted according to the length of the irrigation arm 10 and the weight of the irrigation head 11 to balance the overall center of gravity. This design significantly improves the stability of the robotic arm during lifting and lowering, and reduces positioning deviations.

[0052] Distance sensor 27 monitors the distance between sprinkler head 11 and the ground in real time and transmits the detection signal to an external controller. The external controller adjusts the lifting height of the lifting mechanism based on the signal feedback to ensure that the distance between sprinkler head 11 and the ground remains constant. For example, on slopes or uneven terrain, the robotic arm can automatically adjust its lifting height according to changes in ground height to ensure consistent irrigation results.

[0053] The design of the protective cover 28 further enhances the reliability and ease of maintenance of the device. The sound-insulating cotton layer 29 is attached to the inner wall of the protective cover 28, effectively reducing the noise generated during the operation of the lead screw 6 and the synchronous belt drive mechanism, thus improving the working environment. At the same time, the openings on the sides of the protective cover 28 facilitate the inspection and maintenance of internal components, extending the service life of the device.

[0054] Finally, when the angle of the sprinkler arm 10 needs to be manually adjusted, the hinge shaft can be unlocked via the locating pin 30. Pull the handle of the locating pin 30 to disengage the locking block from the locating hole, releasing the lock and allowing manual adjustment of the sprinkler arm 10 angle. After adjustment, reinsert the locking block into the locating hole to lock the hinge shaft. This design ensures both flexibility in angle adjustment and stability after locking.

[0055] In summary, this invention achieves efficient and precise irrigation operations through a dual-axis synchronously driven lifting mechanism, automatic adjustment of the sprinkler arm angle, flexible adjustment of the sprinkler head flow rate, and auxiliary support and counterweight balancing design. The combination of these steps and principles not only overcomes the limitations of existing irrigation robotic arms in terms of drive method, synchronization performance, and adaptability, but also significantly improves irrigation effectiveness in complex terrains and diverse crop environments, providing a more intelligent and efficient solution for modern agriculture.

Claims

1. A dual-axis synchronously driven lifting irrigation robotic arm, characterized in that: The system includes a main frame (1), a lifting mechanism and a sprinkler assembly. The main frame (1) includes two vertically arranged support plates (2). A horizontally arranged crossbeam (3) is fixed between the two support plates (2). Two parallel slide rails (4) are installed on the crossbeam (3). A slider (5) is slidably connected to each slide rail (4). The two sliders (5) are fixedly connected to the two ends of the lifting mechanism respectively. The lifting mechanism includes two vertically arranged lead screws (6), which are located on both sides of the crossbeam (3) and fixed to the support plate (2) by bearing seats. Each lead screw (6) is threaded with a nut seat (7), and the two nut seats (7) are fixedly connected to two sliders (5). The lower ends of the two lead screws (6) are connected by a synchronous belt drive mechanism. The synchronous belt drive mechanism includes two synchronous pulleys (8) and a synchronous belt (9). The two synchronous pulleys (8) are fixed to the lower ends of the two lead screws (6), and the synchronous belt (9) is wound around the two synchronous pulleys (8). The central axis of one of the synchronous pulleys (8) is fixedly connected to the output shaft of the external drive motor. The sprinkler assembly includes a sprinkler arm (10), one end of which is hinged to the middle of the lifting mechanism via a hinge shaft. The other end of the sprinkler arm (10) is fixed with a sprinkler head (11). A support rod (12) is provided below the sprinkler arm (10). One end of the support rod (12) is hinged to the middle of the sprinkler arm (10), and the other end is hinged to the middle of the lifting mechanism. A gear (13) is fixed on the hinge shaft of the sprinkler arm (10). The gear (13) meshes with a rack (14) fixed on the lifting mechanism. The rack (14) is arranged along the length direction of the lifting mechanism.

2. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 1, characterized in that: The bottom of the main frame (1) is provided with a moving component, which includes two parallel guide rails (15). Each guide rail (15) is slidably connected to a slide block (16). The two slide blocks (16) are respectively fixedly connected to the bottom of the two support plates (2). Each slide block (16) is equipped with a roller (17) at its bottom. The roller (17) is in rolling contact with the guide rail (15). A drive motor is fixed on one of the slide blocks (16). The output shaft of the drive motor is fixedly connected to the central shaft of the roller (17). Limit blocks are fixed at both ends of the guide rail (15).

3. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 1, characterized in that: The sprinkler head (11) includes a housing, with an inlet (18) on the top side and several nozzles (19) on the bottom side. The housing has a diversion chamber (20) inside, with the top of the diversion chamber (20) connected to the inlet (18) and the bottom connected to the nozzles (19). The diversion chamber (20) has an adjustment plate (21) inside, with several adjustment holes. The adjustment plate (21) is rotatably connected to the housing via a rotating shaft. A handle (22) is fixed to the outside of the housing, and the handle (22) is fixedly connected to the rotating shaft of the adjustment plate (21).

4. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 1, characterized in that: The lifting mechanism is provided with an auxiliary support assembly in the middle. The auxiliary support assembly includes a support plate (23). The two ends of the support plate (23) are fixedly connected to two bracket plates (2) respectively. The support plate (23) has a through hole in the middle. A linear bearing (24) is fixed in the through hole. A guide rod (25) is inserted in the linear bearing (24). The upper end of the guide rod (25) is fixedly connected to the middle of the sprinkler arm (10). The lower end extends through the linear bearing (24) to the bottom of the support plate (23). A limit block is fixed at the lower end of the guide rod (25).

5. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 1, characterized in that: The sprinkler arm (10) is provided with a counterweight assembly in the middle. The counterweight assembly includes a counterweight block (26). The counterweight block (26) is fixed to the middle of the sprinkler arm (10) by bolts. The bottom of the counterweight block (26) is provided with a groove, and a magnet is embedded in the groove.

6. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 1, characterized in that: A sensor assembly is provided in the middle of the crossbeam (3). The sensor assembly includes a distance sensor (27). The distance sensor (27) is fixed to the bottom side of the crossbeam (3), and the detection end of the distance sensor (27) is set towards the ground.

7. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 1, characterized in that: The support plate (2) is provided with a protective cover (28) on the outside. The top side of the protective cover (28) is fixedly connected to the crossbeam (3), and the bottom side is fixedly connected to the slide (16). The side of the protective cover (28) is provided with an opening, which is set to correspond to the position of the lead screw (6) and the synchronous belt drive mechanism. The inner side of the protective cover (28) is provided with a sound insulation cotton layer (29).

8. The dual-axis synchronous drive lifting irrigation robotic arm according to claim 1, characterized in that: The hinge shaft of the sprinkler arm (10) is provided with a positioning component, which includes a positioning pin (30). The positioning pin (30) is inserted into the side of the hinge shaft. One end of the positioning pin (30) is provided with a handle, and the other end is provided with a locking block. The locking block is fixed in conjunction with the positioning hole on the hinge shaft.

9. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 2, characterized in that: The outer side of the roller (17) is provided with an annular groove, and a rubber ring is embedded in the annular groove. The outer surface of the rubber ring is provided with anti-slip texture.

10. The dual-axis synchronously driven lifting irrigation robotic arm according to claim 3, characterized in that: The adjustment plate (21) rotates around the shaft by rotating the handle (22), and the rotation of the adjustment plate (21) changes the relative position of the adjustment hole and the diversion cavity (20).

Images