Foldable arm structure for an agricultural irrigation robot

Abstract

This utility model discloses a foldable arm structure for an agricultural irrigation robot, relating to the field of agricultural irrigation technology. It includes a robot body with a drive wheel at its bottom and storage grooves at the center of both sides of its upper end. Two drive rails are symmetrically arranged around the storage grooves on the upper middle part of the robot body. Drive sliders are slidably connected within each drive rail. A folding drive motor is fixedly connected to the rear upper end of the robot body. When the folding drive motor is started, its output shaft drives a double-threaded screw to rotate. Since the threads on the outer walls of the two drive rails have opposite directions, the two drive sliders move towards or away from each other along the drive rails, thereby causing the scissor folding mechanism to unfold or fold.

Description

Technical Field

[0001] This utility model relates to the field of agricultural irrigation technology, specifically to a foldable arm structure for an agricultural irrigation robot. Background Technology

[0002] With the development of technology, agriculture is gradually moving towards automation and intelligence. As agricultural land is now being centralized and unified, agricultural operations are becoming more collective and standardized. Furthermore, agriculture cannot function without various mechanical equipment. Therefore, the emergence of agricultural robots is beneficial for improving agricultural production models, alleviating labor pressure, and is of great significance for developing precision agriculture and green agriculture, improving agricultural production efficiency, and promoting agricultural technological innovation. The main function of agricultural irrigation robots is to irrigate agricultural products, reducing the daily workload of growers and saving them irrigation time. Moreover, the irrigation efficiency of irrigation robots is far higher than that of manual irrigation.

[0003] To ensure coverage during irrigation, irrigation robots require irrigation booms on both sides for spraying. However, traditional irrigation booms are often fixed in structure, making them inconvenient to store and transport, and they lack flexibility and adaptability when facing farmland with different terrains. Therefore, we propose a foldable boom structure for agricultural irrigation robots. Utility Model Content

[0004] The purpose of this invention is to address the problem that irrigation robots require irrigation booms on both sides to ensure coverage during irrigation, and spraying operations are performed through these booms. However, traditional irrigation booms are often fixed in structure, making them inconvenient to store and transport, and they lack flexibility and adaptability when facing farmland with different terrains. This invention provides a foldable boom structure for an agricultural irrigation robot.

[0005] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0006] A foldable arm structure for an agricultural irrigation robot includes a robot body with a drive wheel at the bottom. Storage grooves are located at the center of both sides of the upper end of the robot body. Two drive rails are symmetrically arranged around the storage grooves at the center of the upper side of the robot body. Drive sliders are slidably connected within each drive rail. A folding drive motor is fixedly connected to the rear upper end of the robot body. A double-threaded screw is fixedly connected to the output shaft of the folding drive motor. The double-threaded screw passes through the two front drive rails and is threadedly connected to the two drive sliders respectively. The threads on the outer walls of the inner cavities of the two drive rails have opposite directions. The double-threaded screw drives the two drive sliders to move towards or away from each other. Scissor folding mechanisms are respectively arranged on the left and right sides of the two front and rear drive sliders. The movement of the two drive sliders towards or away from each other drives the scissor folding mechanisms to unfold or retract. An irrigation hose is fixedly connected to the bottom of the scissor folding mechanism corresponding to the storage groove.

[0007] Furthermore, the scissor folding mechanism includes multiple pairs of cross links, with the middle of the same pair of cross links hinged together, and the multiple pairs of cross links are hinged together side by side.

[0008] Furthermore, pipe fixing clamps are fixedly connected to the bottom of the central cross pins of multiple pairs of cross links, and the irrigation hose is fixed at equal intervals by multiple pipe fixing clamps.

[0009] Furthermore, multiple irrigation nozzles are fixedly connected at equal intervals to the outer wall of the irrigation hose, and the irrigation hose is stored in a storage groove.

[0010] Furthermore, both sides of the drive slider are fixedly provided with drive cams, and the innermost pair of cross links are respectively rotatably connected to the drive cams on the same side of the two drive sliders.

[0011] Furthermore, an auxiliary traction mechanism is provided at the upper center of the robot body. The auxiliary traction mechanism includes a traction center frame, which is fixedly connected to the upper center of the robot body. A double-threaded screw passes through the middle of the traction center frame and is rotatably connected to the traction center frame through a bearing. Multiple side rotating frames are provided at the upper ends of both sides of the traction center frame, and a rope drum is rotatably installed inside the multiple side rotating frames. A coil spring tensioner is provided on the outside of the rotating shaft of the rope drum, and traction ropes are wound around the multiple rope drums. The inner end of the traction rope is fixedly connected to the rope drum, and the outer end of the traction rope is fixedly connected to the upper end of the middle cross pin of multiple pairs of cross links.

[0012] The beneficial effects of this utility model are as follows:

[0013] This utility model features a robot body with scissor folding mechanisms on both sides of the upper end that can extend and retract to push out and retract the irrigation hose, forming an irrigation arm for irrigation. When the folding drive motor is started, its output shaft drives the double-threaded screw to rotate. Since the threads on the outer walls of the two drive guides have opposite directions, the two drive sliders will move towards or away from each other along the drive guides, thereby driving the scissor folding mechanism to unfold or fold.

[0014] This invention utilizes multiple interlocking links that slide along a drive rail under the influence of a drive slider. This allows for adjustments to the retraction or unfolding of the irrigation hose, enabling flexible adjustments to meet the irrigation needs of different farmlands and significantly improving irrigation efficiency and flexibility. Furthermore, the hinged connection of the interlocking links ensures the scissor folding mechanism fits snugly against the robot body during retraction, reducing space requirements and facilitating robot movement and storage.

[0015] This invention utilizes a traction center frame. Multiple rope drums on the traction center frame can wind and unwind traction ropes as multiple pairs of cross-links fold and retract. The rewinding force of the coil spring tensioner on the rope drum pulls the upper side of the irrigation boom, preventing it from bending downwards due to gravity during irrigation and improving its stability. Simultaneously, the traction ropes, through the tension of the coil spring tensioner, maintain a certain tension on the multiple pairs of cross-links when the irrigation boom is extended, further enhancing the stability of the irrigation boom and the irrigation effect. The entire auxiliary traction mechanism design not only improves the stability and reliability of the irrigation boom but also ensures smooth irrigation operations, effectively improving the working efficiency and irrigation quality of agricultural irrigation robots. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention;

[0017] Figure 2 This is a rear-view sectional view of the present invention;

[0018] Figure 3 This is the utility model Figure 2 Enlarged view of point A in the middle;

[0019] Figure 4 This is a top sectional view of the present invention.

[0020] Reference numerals: 1. Robot body; 2. Drive wheel; 3. Folding drive motor; 4. Storage groove; 5. Drive guide rail; 6. Drive slider; 7. Double-ended threaded screw; 8. Drive cam shaft; 9. Cross link; 10. Traction rope; 11. Traction center frame; 12. Side rotating frame; 13. Rope reel; 14. Pipe fixing clamp. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0022] Please see Figures 1-4 This utility model provides a foldable boom structure for an agricultural irrigation robot, including a robot body 1 and a drive wheel 2 at the bottom of the robot body 1. The structure of the robot body 1 and the drive wheel 2 is not the main protected feature of this utility model, and existing technical solutions can be adopted, which will not be described in detail here.

[0023] The upper sides of the robot body 1 have storage grooves 4 at their center. Two drive rails 5 are set in the middle of the upper side of the robot body 1. The two drive rails 5 are symmetrically arranged with the storage grooves 4 as the center. Drive sliders 6 are slidably connected in the two drive rails 5. A folding drive motor 3 is fixedly connected to the upper rear side of the robot body 1. The output shaft of the folding drive motor 3 is fixedly connected to a double-threaded screw 7. The double-threaded screw 7 passes through the two front drive rails 5 and is threadedly connected to the two drive sliders 6 respectively. The threads on the outer wall of the double-threaded screw 7 corresponding to the inner cavity of the two drive rails 5 have opposite directions. The double-threaded screw 7 drives the two drive sliders 6 to move towards or away from each other. Scissor folding mechanisms are set on the left and right sides of the two front and rear drive sliders 6 respectively. The movement of the two drive sliders 6 towards or away from each other drives the scissor folding mechanisms to unfold or retract. An irrigation hose is fixedly connected to the bottom of the scissor folding mechanism at the storage groove 4.

[0024] The working principle of this utility model is as follows: When in use, the robot body 1 and the two scissor folding mechanisms on both sides of the upper end of the robot body 1 can extend and retract to push out and retract the irrigation hose, forming an irrigation arm for irrigation. When the folding drive motor 3 is started, its output shaft drives the double-threaded screw 7 to rotate. Since the threads on the outer walls of the two drive rails 5 have opposite directions of rotation, the two drive sliders 6 will move towards or away from each other along the drive rails 5, thereby driving the scissor folding mechanism to unfold or fold.

[0025] To facilitate a better understanding of this utility model by those skilled in the art, the specific structure of the scissor folding mechanism and the connection structure between the drive slider 6 and the scissor folding mechanism will be described in detail below.

[0026] The scissor folding mechanism includes multiple pairs of cross links 9, which are hinged together in the middle of the same pair of cross links 9, and the multiple pairs of cross links 9 are hinged together side by side. Drive shafts 8 are fixedly connected to the middle of the slide rails on both sides of the drive slider 6, and the innermost pair of cross links 9 are rotatably connected to the drive shafts 8 on the same side of the two drive sliders 6 respectively.

[0027] Through the multiple interlocking links 9, driven by the slider 6, the scissor folding mechanism can slide along the drive guide rail 5 and change the angle between adjacent interlocking links 9, thereby adjusting the retraction or unfolding of the irrigation hose. This allows the irrigation hose to be flexibly adjusted according to the irrigation needs of different farmlands, greatly improving irrigation efficiency and flexibility. Simultaneously, the hinged connection of the interlocking links 9 ensures that the scissor folding mechanism fits tightly against the robot body 1 when retracted, reducing space occupation and facilitating the robot's movement and storage.

[0028] The drive shaft 8 connects to the scissor folding mechanism and drives its movement. This allows the scissor folding mechanism to slide along the drive guide rail 5 under the influence of the drive slider 6, thereby adjusting the unfolding or retraction of the irrigation hose. Furthermore, the drive shaft 8 enhances the connection stability between the drive slider 6 and the scissor folding mechanism, making the entire structure more robust and reliable.

[0029] In this embodiment, preferably, the bottom of the cross pins in the middle of multiple pairs of cross links 9 are all fixedly connected with pipe fixing clamps 14, and the irrigation hose is fixed at equal intervals by multiple pipe fixing clamps 14; the multiple pipe fixing clamps 14 facilitate the fixing of the irrigation hose.

[0030] Multiple irrigation nozzles are fixedly connected at equal intervals to the outer wall of the irrigation hose, which is stored within the storage groove 4. The length of the U-shaped bend in the irrigation hose is equal to the distance between adjacent pipe fixing clamps 14 after the scissor-folding mechanism is unfolded. This allows the unfolded irrigation arm to straighten and fix the irrigation hose, enabling irrigation operations to be performed through the irrigation nozzles on the outer wall of the hose, effectively improving the uniformity and coverage of irrigation. Simultaneously, the U-shaped bend design allows the irrigation hose to fit tightly into the storage groove 4 when stored, further reducing space occupation and improving the robot's portability and flexibility.

[0031] In this embodiment, to further improve stability, an auxiliary traction mechanism is provided at the upper center of the robot body 1. The auxiliary traction mechanism includes a traction center frame 11, which is fixedly connected to the upper center of the robot body 1. A double-threaded screw 7 passes through the middle of the traction center frame 11 and is rotatably connected to the traction center frame 11 via a bearing. Multiple side rotating frames 12 are provided on the upper ends of both sides of the traction center frame 11, and a rope drum 13 is rotatably installed inside the multiple side rotating frames 12. A coil spring tensioner is provided on the outside of the rotating shaft of the rope drum 13, and traction ropes 10 are wound around the multiple rope drums 13. The inner end of the traction rope 10 is fixedly connected to the rope drum 13, and the outer end of the traction rope 10 is fixedly connected to the upper end of the cross pins in the middle of multiple pairs of cross links 9. Through the traction center frame 11, the multiple rope drums 13 on the traction center frame 11 can wind and unwind the traction rope 10 as the multiple pairs of cross links 9 fold and retract. The resetting winding force of the coil spring tensioner of the rope drum 13 pulls the upper side of the irrigation boom, preventing the irrigation boom from bending downwards due to gravity during irrigation and improving the stability of the irrigation boom. At the same time, the traction rope 10 also allows the multiple pairs of cross links 9 to maintain a certain tension when the irrigation boom is extended, through the pulling force of the coil spring tensioner, further enhancing the stability of the irrigation boom and the irrigation effect. The design of the entire auxiliary traction mechanism not only improves the stability and reliability of the irrigation boom but also ensures the smooth progress of irrigation operations, effectively improving the working efficiency and irrigation quality of the agricultural irrigation robot.

[0032] The auxiliary pulling mechanism can pull the upper side of the irrigation boom after the scissor folding mechanism is extended, thereby improving the load-bearing capacity and stability of the irrigation boom.

[0033] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A foldable arm structure of an agricultural irrigation robot, comprising a robot main body (1), the bottom of the robot main body (1) is provided with a driving wheel disc (2), characterized in that: The upper sides of the robot body (1) are provided with storage grooves (4) at the center. Two drive rails (5) are provided in the middle of the upper side of the robot body (1). The two drive rails (5) are symmetrically arranged with the storage grooves (4) as the center. Drive sliders (6) are slidably connected in the two drive rails (5). A folding drive motor (3) is fixedly connected to the upper rear side of the robot body (1). A double-ended threaded screw (7) is fixedly connected to the output shaft of the folding drive motor (3). The double-ended threaded screw (7) passes through the front side. Two drive rails (5) are threadedly connected to two drive sliders (6) respectively. The double-ended threaded screw (7) has opposite threads on the outer wall of the inner cavity of the two drive rails (5). The double-ended threaded screw (7) drives the two drive sliders (6) to move towards or away from each other. The left and right sides of the two drive sliders (6) are respectively provided with scissor folding mechanisms. The movement of the two drive sliders (6) towards or away from each other drives the scissor folding mechanisms to unfold or retract. The bottom of the scissor folding mechanism is fixedly connected to the storage groove (4).

2. The foldable arm structure of an agricultural irrigation robot according to claim 1, wherein: The scissor folding mechanism includes multiple pairs of cross links (9), which are hinged together in the middle of the same pair of cross links (9), and the multiple pairs of cross links (9) are hinged together side by side.

3. A foldable boom structure for an agricultural irrigation robot according to claim 2, wherein: The bottom of the cross pins in the middle of the multiple pairs of cross links (9) are fixedly connected with pipe fixing clamps (14), and the irrigation hose is fixed at equal intervals by multiple pipe fixing clamps (14).

4. The foldable arm structure of an agricultural irrigation robot according to claim 3, wherein: The irrigation hose has multiple irrigation nozzles fixedly connected at equal intervals on its outer wall, and the irrigation hose is stored in the storage groove (4).

5. The foldable arm structure of an agricultural irrigation robot according to claim 2, wherein: Both sides of the drive slider (6) are fixedly provided with drive cams (8), and the innermost pair of cross links (9) are rotatably connected to the drive cams (8) on the same side of the two drive sliders (6).

6. The foldable arm structure of an agricultural irrigation robot according to claim 1, wherein: An auxiliary traction mechanism is provided at the upper center of the robot body (1). The auxiliary traction mechanism includes a traction center frame (11). The traction center frame (11) is fixedly connected to the upper center of the robot body (1). The double-headed threaded screw (7) passes through the traction center frame (11) and is rotatably connected to the traction center frame (11) through a bearing. Multiple side rotating frames (12) are provided at the upper ends of both sides of the traction center frame (11). A rope drum (13) is rotatably installed inside the multiple side rotating frames (12). A coil spring tensioner is provided on the outside of the rotating shaft of the rope drum (13). A traction rope (10) is wound around the multiple rope drums (13). The inner end of the traction rope (10) is fixedly connected to the rope drum (13). The outer end of the traction rope (10) is fixedly connected to the upper end of the middle cross pin of multiple pairs of cross links (9).

Images