A robot used to water crops

Abstract

This utility model provides a robot for watering crops, belonging to the field of agricultural irrigation, to solve the problem that existing watering robots cannot flexibly meet the differentiated watering requirements of the top and bottom of crops; it includes a base, a walking module, a lifting module, a water tank, a water pump, a robotic arm, a differential transmission module, and a flow regulation module; the walking module is mounted on the base; the lifting module is mounted on the base; the robotic arm is mounted on the lifting module; the differential transmission module is mounted at the end of the robotic arm; and the flow regulation module is mounted on the differential transmission module; the differential transmission module includes a first input mechanism, a second input mechanism, and an output mechanism; the flow regulation module includes a moving valve assembly, a fixed valve assembly, and a nozzle; through differential transmission, the spraying posture and flow rate can be independently and collaboratively adjusted to meet the needs of refined irrigation in multiple scenarios.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural irrigation, and in particular relates to a robot for watering crops. Background Technology

[0002] In agricultural production and horticulture, irrigation is a crucial step in ensuring healthy crop growth and increasing yield. Traditional crop irrigation methods mainly rely on manual watering, fixed sprinkler irrigation systems, or drip irrigation systems. Manual watering is labor-intensive, inefficient, and struggles to guarantee uniform and timely watering, making it unsuitable for the demands of modern large-scale farming. While fixed sprinkler and drip irrigation systems have achieved a degree of automation, their initial construction costs are high, and their fixed pipeline layout makes it difficult to flexibly adjust to the actual growth conditions of the crops.

[0003] In recent years, with the development of automation technology, mobile agricultural irrigation robots have gradually been applied. Existing mobile irrigation robots typically include a walking mechanism and a spraying device, enabling them to move along a preset path in the field and perform irrigation operations. However, current irrigation robots have significant shortcomings in their structural design. Specifically, the nozzles equipped on existing irrigation robots are mostly fixed in position or can only achieve simple up-and-down swinging, with very limited adjustment range for the watering angle and height. In actual agricultural operations, different growth stages of crops and different operational needs require different irrigation methods: for example, during the seedling stage or in dry seasons, it is often necessary to water from the top of the crop downwards to simulate natural rainfall, which is beneficial for the leaves to absorb water and cool down; while in the middle and late growth stages, or for certain crops with significant root water requirements (such as solanaceous crops and melons), it is more necessary to precisely water from the bottom of the crop (i.e., near the rootstock) to avoid prolonged dampness of leaves and fruits, which can lead to pests and diseases, and to improve water use efficiency.

[0004] Because existing watering robots cannot flexibly meet the differentiated watering requirements of the top and bottom of crops, they have poor environmental adaptability and unsatisfactory operating results, making it difficult to meet the needs of refined and multi-scenario agricultural irrigation. Utility Model Content

[0005] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a robot for watering crops, which solves the problem that existing watering robots cannot flexibly meet the differentiated watering requirements of the top and bottom of crops.

[0006] To achieve the above and other related objectives, this utility model provides a robot for watering crops, comprising a base, a walking module, a lifting module, a water tank, a water pump, a robotic arm, a differential transmission module, and a flow regulation module. The walking module is mounted on the base and is used to move the base. The lifting module is mounted on the base, and the robotic arm is mounted on the lifting module, which is used to move the robotic arm vertically. The differential transmission module is located at the end of the robotic arm, and the flow regulation module is mounted on the differential transmission module. The differential transmission module includes a first input mechanism, a second input mechanism, and an output mechanism, with the output mechanism connected to the first input mechanism and the second input mechanism respectively. The mechanism is connected by a transmission; the flow regulation module includes a moving valve assembly, a fixed valve assembly, and a nozzle. The moving valve assembly and the fixed valve assembly are in contact to form a fluid channel. The nozzle is mounted on the output mechanism and communicates with the moving valve assembly. A water tank and a water pump are mounted on the base. The water tank is connected to the inlet of the water pump, and the outlet of the water pump is connected to the fixed valve assembly. When the first input mechanism and the second input mechanism rotate in the same direction, the differential transmission module drives the flow regulation module to rotate as a whole to adjust the spraying posture of the nozzle. When the first input mechanism and the second input mechanism rotate in opposite directions, the output mechanism drives the moving valve assembly to rotate relative to the fixed valve assembly to change the flow cross-sectional area of ​​the fluid channel.

[0007] Optionally, the differential transmission module further includes a mounting base; the first input mechanism includes a first drive assembly and a first bevel gear mounted on the mounting base, the first drive assembly driving the first bevel gear to rotate; the second input mechanism includes a second drive assembly and a second bevel gear mounted on the mounting base, the second drive assembly driving the second bevel gear to rotate; the output mechanism includes a fixed base mounted on the mounting base and a third bevel gear rotatably mounted on the fixed base, the third bevel gear meshing with both the first and second bevel gears; when the first and second bevel gears rotate in the same direction, the third bevel gear drives the fixed base to rotate relative to the mounting base; when the first and second bevel gears rotate in opposite directions, the third bevel gear rotates relative to the fixed base.

[0008] Optionally, the first drive assembly includes a first rotary motor, a first pulley, a second pulley, and a first belt; the first rotary motor is mounted on a mounting base, the first pulley is connected to the output shaft of the first rotary motor, the second pulley is connected to a first bevel gear, and the first belt is sleeved on the first and second pulleys; and / or, the second drive assembly includes a second rotary motor, a third pulley, a fourth pulley, and a second belt; the second rotary motor is mounted on a mounting base, the third pulley is connected to the output shaft of the second rotary motor, the fourth pulley is connected to a second bevel gear, and the second belt is sleeved on the third and fourth pulleys.

[0009] Optionally, the moving valve assembly includes a first connecting pipe and a baffle plate, and the fixed valve assembly includes a second connecting pipe; the first end of the first connecting pipe is used to connect to the nozzle, and the outer side wall of the second end of the first connecting pipe is provided with a baffle plate; the first end of the second connecting pipe is used to connect to the water pump, and the second end face of the second connecting pipe is in movable contact with the baffle plate and the second end face of the first connecting pipe; when the first bevel gear and the second bevel gear rotate in the same direction, the first connecting pipe rotates synchronously with the third bevel gear to change the relative circumferential position of the baffle plate and the second end face of the second connecting pipe, thereby adjusting the communication area between the first connecting pipe and the second connecting pipe.

[0010] Optionally, a rotary seal is provided at the movable contact point between the second end face of the second connecting pipe and the second end face of the first connecting pipe and the baffle plate.

[0011] Optionally, the lifting module includes a mounting frame, a guide, a drive component, and a transmission assembly; the mounting frame is mounted on the base, and the drive, guide, and transmission assembly are mounted on the mounting frame; the robotic arm is connected to the transmission assembly and slidably connected to the guide; the drive drives the robotic arm to move vertically through the transmission assembly.

[0012] Optionally, the transmission assembly includes a first sprocket, a second sprocket, and a chain; the driving component is a third rotary motor; the first sprocket is connected to the output shaft of the driving component; the second sprocket is rotatably connected to the mounting frame; the chain is sleeved on the first and second sprockets and is connected to the robotic arm.

[0013] Optionally, there are two guide members, which are spaced apart on the mounting bracket.

[0014] Optionally, the robotic arm includes a rotating base, a first rotating joint, a second rotating joint, and a rotary joint; the rotating base is connected to a first end of the first rotating joint, the second end of the first rotating joint is connected to a first end of the second rotating joint, and the second end of the second rotating joint is connected to the rotary joint; the first and second rotating joints are configured to rotate on a horizontal plane, and the rotary joint is configured to rotate on a plane perpendicular to the horizontal plane; a differential transmission module is disposed on the rotating joint.

[0015] Optionally, the robotic arm further includes a first direct drive motor, a second direct drive motor, and a third direct drive motor; the first direct drive motor is mounted on a rotating base and connected to a first end of a first rotating joint, for driving the first rotating joint to rotate; the second direct drive motor is mounted on a second end of the first rotating joint and connected to a first end of the second rotating joint, for driving the second rotating joint to rotate; the third direct drive motor is mounted on a second end of the second rotating joint and connected to a rotary joint, for driving the rotary joint to rotate.

[0016] As described above, the robot for watering crops according to this invention has at least the following beneficial effects: This invention decouples the motion of two input mechanisms into two independent output modes through a differential transmission module: when the two input mechanisms rotate in the same direction, the output mechanism drives the entire flow regulation module to rotate, achieving continuous adjustment of the nozzle spraying posture; when the two input mechanisms rotate in opposite directions, the output mechanism only drives the moving valve assembly to rotate relative to the fixed valve assembly, thereby changing the flow cross-sectional area of ​​the fluid channel and achieving flow regulation. This structural design ensures that the spraying posture and flow control do not interfere with each other, allowing for precise control of the water output without changing the nozzle orientation, or adjustment of the spray angle while maintaining a constant flow rate. Combined with a lifting module and a multi-degree-of-freedom robotic arm, the robot can flexibly switch between top spraying and root-point irrigation modes according to the needs of different growth stages of crops, significantly improving its adaptability to complex agronomic scenarios and water resource utilization efficiency. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic diagram of the overall structure of this utility model from one angle.

[0018] Figure 2 This is a schematic diagram of the overall structure of the present invention from another angle.

[0019] Figure 3 The diagram shown is a structural schematic of the lifting module and robotic arm of this utility model.

[0020] Figure 4 The diagram shown is a schematic diagram of the flow regulation module and differential transmission module of this utility model from one angle.

[0021] Figure 5 This is a schematic diagram of the flow regulation module and differential transmission module of this utility model from another angle.

[0022] Figure 6 The diagram shown is a schematic representation of the flow regulation module and differential transmission module of this utility model from another angle.

[0023] Figure 7 The diagram shown is a schematic representation of the flow regulation module of this invention, omitting the connecting side plate at one angle.

[0024] Figure 8 This is a schematic diagram of the flow regulation module of this utility model, omitting the connecting side plate, from another angle.

[0025] Component designation explanation: 1. Base; 2. Walking module; 3. Lifting module; 31. Mounting bracket; 32. Guide component; 33. Drive component; 34. Transmission assembly; 341. First sprocket; 342. Second sprocket; 343. Chain; 4. Water tank; 5. Water pump; 6. Robotic arm; 61. Rotating seat; 62. First rotating joint; 63. Second rotating joint; 64. Rotary joint; 65. First direct drive motor; 66. Second direct drive motor; 67. Third direct drive motor; 7. Differential transmission module; 71. First input mechanism; 711. First drive assembly; 7111. First rotary motor; 7112. First pulley; 7113. Second pulley... 7114. First belt, 712. First bevel gear, 72. Second input mechanism, 721. Second drive assembly, 7211. Second rotary motor, 7212. Third pulley, 7213. Fourth pulley, 7214. Second belt, 722. Second bevel gear, 73. Output mechanism, 731. Fixed seat, 732. Third bevel gear, 74. Mounting seat, 8. Flow regulating module, 81. Dynamic valve assembly, 811. First connecting pipe, 812. Baffle plate, 813. First mounting plate, 82. Fixed valve assembly, 821. Second connecting pipe, 822. Second mounting plate, 83. Nozzle, 84. Rotary seal. Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0027] Please refer to all the accompanying drawings below. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0028] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0029] Please see Figures 1-8This utility model provides a robot for watering crops. The robot includes a base 1, a walking module 2, a lifting module 3, a water tank 4, a water pump 5, a robotic arm 6, a differential transmission module 7, and a flow regulation module 8. The walking module 2 is mounted on the base 1 and can be in the form of tracks, wheels, etc. It can be directly driven by a motor or engine to move the base 1, thereby adjusting the robot's position in field ridges or greenhouse floors. The specific structure and working principle of the walking module 2 are existing technologies and will not be described in detail in this embodiment. The lifting module 3 is mounted on the base 1, and the robotic arm 6 is mounted on the lifting module 3. The lifting module 3 is used to move the robotic arm 6 vertically to adapt to the height of the crops. The differential transmission module 7 is located at the end of the robotic arm 6, and the flow regulation module 8 is mounted on the differential transmission module 7. Specifically, by coordinating the vertical displacement of the lifting module 3 with the multi-degree-of-freedom motion of the robotic arm 6, the working envelope of the end effector can be significantly expanded, enabling the robot to reach both the rootstock of low-lying crops and the top of the canopy of tall crops. This effectively solves the irrigation blind spot problem caused by the non-adjustable height of traditional fixed sprinkler heads 83. The water tank 4 and water pump 5 are mounted on the base 1. The water tank 4 is connected to the inlet of the water pump 5, and the outlet of the water pump 5 is connected to the fixed valve assembly 82. This layout, which places the water source and power source at the bottom, helps to lower the center of gravity of the entire machine and improves the stability of the robot when navigating complex terrain.

[0030] The differential transmission module 7 includes a first input mechanism 71, a second input mechanism 72, and an output mechanism 73. The output mechanism 73 is connected to the first input mechanism 71 and the second input mechanism 72 in a transmission manner. It should be understood that "transmission connection" here should be interpreted broadly, encompassing both direct contact transmissions such as gear meshing and belt drives, and non-contact transmissions such as magnetic coupling, as long as the motion of the two input ends can be synthesized and transmitted to the output end. The flow regulation module 8 includes a moving valve assembly 81, a fixed valve assembly 82, and a nozzle 83. The moving valve assembly 81 and the fixed valve assembly 82 are movably abutted against each other to form a fluid channel. The nozzle 83 is mounted on the output mechanism 73 and communicates with the moving valve assembly 81.

[0031] The robot in this embodiment has two orthogonal working modes. When the first input mechanism 71 and the second input mechanism 72 rotate in the same direction, the differential transmission module 7 drives the flow regulation module 8 to rotate as a whole to adjust the spraying posture of the nozzle 83. For example, when it is necessary to simulate natural rainfall to spray the top of seedlings, the control system drives the two input mechanisms to rotate synchronously in the same direction (i.e., in... Figure 5From the perspective of the camera, the output mechanism 73 rotates clockwise simultaneously. At this time, the output mechanism 73, acting as a rigid carrier, drives the entire flow regulation module 8 to deflect, causing the nozzle 83 to face downwards towards the crop canopy. During this process, the moving valve assembly 81 and the stationary valve assembly 82 remain relatively stationary, and the flow cross-sectional area of ​​the fluid channel remains unchanged, thus ensuring the uniformity of the spray water volume. In addition, because crops are in the external environment, especially when crops are near roads, mud or dust generated by vehicles driving on the road will adhere to the leaves or fruits of the crops, affecting the photosynthesis of the leaves or the appearance of the fruits. The control system drives the two input mechanisms to rotate synchronously in the same direction (i.e., at the same time). Figure 5 (From the perspective of rotating counterclockwise simultaneously), at this time, the output mechanism 73, as a rigid carrier, drives the entire flow regulation module 8 to deflect, causing the nozzle 83 to tilt upwards, so that the water flow sprayed from the nozzle 83 can perform reverse cleaning on the leaves or fruits, ensuring that the mud or dust on the leaves or fruits can be cleaned. It should be understood that when cleaning the leaves or fruits, it is not limited to reverse cleaning, but can also spray water vertically downwards to achieve a combination of vertical downward cleaning and reverse cleaning. In another case, that is, when the first input mechanism 71 and the second input mechanism 72 rotate in opposite directions at the same speed (i.e., the first input mechanism 71 is in the position of rotating counterclockwise), the output mechanism 73 acts as a rigid carrier to drive the entire flow regulation module 8 to deflect, so that the nozzle 83 tilts upwards, thereby allowing the water flow sprayed from the nozzle 83 to perform reverse cleaning on the leaves or fruits, ensuring that the mud or dust on the leaves or fruits can be cleaned. Figure 5 Rotating clockwise from the perspective of the second input mechanism 72 Figure 5 From the perspective of the fixed valve assembly 82, the two components rotate counterclockwise at the same speed. The output mechanism 73 drives the actuating valve assembly 81 to rotate relative to the fixed valve assembly 82, thereby changing the flow cross-sectional area of ​​the fluid channel. For example, when the robot switches to the root precision watering mode, if it is necessary to reduce the water output to prevent soil erosion, the control system can drive the two input mechanisms to rotate in opposite directions at the same speed (i.e., the first input mechanism 71 rotates counterclockwise from the perspective of the fixed valve assembly 82, and the two components rotate at the same speed). Figure 5 Rotating clockwise from the perspective of the second input mechanism 72 Figure 5 From the perspective of the output mechanism 73, it rotates counterclockwise (and the rotation speeds of the two are the same). At this time, the revolution component of the output mechanism 73 is converted into internal relative motion, which specifically drives the moving valve assembly 81 to undergo angular displacement relative to the fixed valve assembly 82, thereby continuously adjusting the flow area and realizing fine control of the flow rate, while the direction of the nozzle 83 remains unchanged.

[0032] Through the aforementioned differential decoupling mechanism, this embodiment successfully achieves physical orthogonal separation of the two degrees of freedom, "attitude adjustment" and "flow rate adjustment," which often interfere with each other in traditional structures. This means that operators or control algorithms can precisely control the water output without changing the orientation of the nozzle 83, or flexibly adjust the spray angle while maintaining a constant flow rate. Compared to existing technologies that rely on a single motor linkage or manual nozzle replacement, this solution not only significantly improves the flexibility of agricultural operations but also dynamically matches the optimal irrigation strategy according to the crop growth cycle. For example, during the fruiting period, low-flow lateral drip irrigation can be used to prevent water from getting into the fruit and causing diseases, while during drought periods, high-flow top spraying can quickly replenish water and cool the crop, thereby significantly improving water resource utilization efficiency and crop yield.

[0033] The differential transmission module 7 also includes a mounting base 74, which is fixed to the end of the robotic arm 6. The first input mechanism 71 includes a first drive assembly 711 and a first bevel gear 712 mounted on the mounting base 74. The first drive assembly 711 drives the first bevel gear 712 to rotate. The second input mechanism 72 includes a second drive assembly 721 and a second bevel gear 722 mounted on the mounting base 74. The second drive assembly 721 drives the second bevel gear 722 to rotate. In this embodiment, both the first drive assembly 711 and the second drive assembly 721 are preferably belt-driven. Specifically, the first drive assembly 711 includes a first rotary motor 7111, a first pulley 7112, a second pulley 7113, and a first belt 7114. The first rotary motor 7111 is mounted on the mounting base 74. The first pulley 7112 is connected to the output shaft of the first rotary motor 7111. The second pulley 7113 is connected to the first bevel gear 712. Specifically, the first pulley 7112 and the first bevel gear 712 are connected through a first transmission shaft. The first transmission shaft is rotatably connected to the mounting base 74. A bearing may also be provided at the connection between the first transmission shaft and the mounting base 74. That is, the inner ring of the bearing is fitted on the first transmission shaft, and the outer ring is connected to the mounting hole on the mounting base 74. The first belt 7114 is fitted on the first pulley 7112 and the second pulley 7113. Similarly, the second drive assembly 721 includes a second rotary motor 7211, a third pulley 7212, a fourth pulley 7213, and a second belt 7214. The second rotary motor 7211 is mounted on the mounting base 74. The third pulley 7212 is connected to the output shaft of the second rotary motor 7211. The fourth pulley 7213 is connected to the second bevel gear 722. Specifically, the fourth pulley 7213 and the second bevel gear 722 are connected through a second transmission shaft. The second transmission shaft is rotatably connected to the mounting base 74. A bearing may also be provided at the connection between the second transmission shaft and the mounting base 74. That is, the inner ring of the bearing is fitted on the second transmission shaft, and the outer ring is connected to the mounting hole on the mounting base 74. The second belt 7214 is fitted on the third pulley 7212 and the fourth pulley 7213. This layout, where the motor and gears are separated and driven by a belt, utilizes the elastic sliding characteristics of the belt to achieve overload protection, preventing damage to the motor and gears when the nozzle 83 accidentally collides with crops or obstacles. On the other hand, it effectively isolates the transmission of motor vibration to the gear system, improving transmission smoothness and service life.

[0034] The output mechanism 73 includes a fixed base 731 mounted on a mounting base 74 and a third bevel gear 732 rotatably mounted on the fixed base 731. The third bevel gear 732 meshes with both a first bevel gear 712 and a second bevel gear 722, thus forming a miniature differential gear train. In this structure, the first bevel gear 712 and the second bevel gear 722 are symmetrically arranged on both sides of the third bevel gear 732, and the axes of the first bevel gear 712 and the second bevel gear 722 are coincidentally arranged, perpendicular to the axis of the third bevel gear 732. When the first bevel gear 712 and the second bevel gear 722 move in the same direction at the same speed (i.e., when...), the output mechanism 731 engages with the first bevel gear 712 and the second bevel gear 722. Figure 5 When the first bevel gear 712 and the second bevel gear 722 rotate simultaneously clockwise or counterclockwise at the same speed from the perspective of the first and second bevel gears, the third bevel gear 732 does not rotate on its own axis, but revolves around the common axis of the first and second bevel gears, thereby driving the fixed base 731 to rotate relative to the mounting base 74, thus adjusting the attitude of the nozzle 83. Conversely, when the first bevel gear 712 and the second bevel gear 722 rotate in opposite directions at the same speed (i.e., when the first bevel gear 712 and the second bevel gear 722 rotate in opposite directions at the same speed), the third bevel gear 732 does not rotate on its own axis, but revolves around the common axis of the first and second bevel gears, thereby driving the fixed base 731 to rotate relative to the mounting base 74, thus adjusting the attitude of the nozzle 83. Figure 5 From the perspective of [unclear context], the first bevel gear 712 rotates clockwise, the second bevel gear 722 rotates counterclockwise (and both rotate at the same speed), and the revolution components of the third bevel gear 732 cancel each other out, only rotating around its own axis, that is, the third bevel gear 732 rotates relative to the fixed base 731. At this time, the fixed base 731 remains stationary, while the rotational motion of the third bevel gear 732 is transmitted to the dynamic valve assembly 81, realizing independent regulation of the flow rate.

[0035] For the flow regulation function, the dynamic valve assembly 81 includes a first connecting pipe 811, a baffle plate 812, and a first mounting plate 813, while the fixed valve assembly 82 includes a second connecting pipe 821 and a second mounting plate 822. The third bevel gear 732 is rotatably connected to the fixed base 731 via a third drive shaft. Specifically, a bearing is mounted on the third drive shaft, and the outer ring of the bearing is rotatably connected to a mounting hole on the fixed base 731. Bearing end caps are provided at both ends of the bearing to fix it to the fixed base 731. The third rotating shaft is a hollow shaft, and the center of the third bevel gear 732 is hollow and connected to the third drive shaft. The nozzle 83 is mounted on the third bevel gear 732, and its inlet is connected to the hollow portion of the third bevel gear 732. The first end of the first connecting pipe 811 is used to connect to the nozzle 83, i.e., the first end of the first connecting pipe 811 is connected to the nozzle 83 via the third drive shaft and the hollow portion of the third bevel gear 732. A baffle plate 812 is provided on the outer wall of the second end of the first connecting pipe 811. The first connecting pipe 811 is a rigid pipe made of a hard material such as stainless steel. The first mounting plate 813 is mounted on the fixed base 731 via the mounting seat 74, and the side of the baffle plate 812 near the nozzle 83 is slidably connected to the first mounting plate 813. The first mounting plate 813 is provided with an arc-shaped groove, through which the second end of the first connecting pipe 811 passes. The second mounting plate 822 is fixedly connected to the first mounting plate 813 via a connecting side plate. The second mounting plate 822 is provided with a connecting hole. The first end of the second connecting pipe 821 is used to connect to the water pump 5, and the end face of the second connecting pipe 821 can pass through the connecting hole and movably abut against the baffle plate 812 and the end face of the second connecting pipe 811. The part of the second connecting pipe 821 that movably abuts against the baffle plate 812 and the end face of the second connecting pipe 811 is a rigid pipe made of a hard material such as stainless steel.

[0036] Specifically, the baffle plate 812 is positioned close to the second end face of the second connecting pipe 821. When the third bevel gear 732 rotates and drives the first connecting pipe 811 and the baffle plate 812 to rotate relative to the second connecting pipe 821, the first connecting pipe 811 moves within the arc-shaped groove, driving the baffle plate 812 to move as well. During this movement, the effective flow area between the baffle plate 812 and the opening of the second connecting pipe 821 changes accordingly. For example, when the baffle plate 812 completely covers the opening, the fluid channel is closed; as the relative angle increases, the opening gradually becomes exposed, increasing the flow cross-sectional area, thereby achieving continuous flow regulation from drip irrigation to sprinkler irrigation. Compared to traditional needle valve or ball valve structures, this end-face rotary valve structure is less sensitive to sediment and impurities in the flow channel, less prone to jamming, and particularly suitable for agricultural irrigation scenarios with poor water quality. It should be noted that although the first connecting pipe 811 will also rotate synchronously with the third bevel gear 732 when the first bevel gear 712 and the second bevel gear 722 rotate in the same direction, the first connecting pipe 811 is connected to the fixed base 731 through the first mounting plate 813, and the second connecting plate is fixedly connected to the first mounting plate 813 through the connecting side plate. At this time, the communication area between the two will not be changed, thus ensuring the stability of the water flow during the attitude adjustment process.

[0037] Furthermore, considering the frequent dynamic flow adjustments required by the robot during operation, a rotary seal 84 is provided at the contact point between the second end face of the second connecting pipe 821 and the second end face of the first connecting pipe 811, as well as the movable contact point of the baffle plate 812, to prevent leakage at the mating surface of the driven and fixed valves under high pressure. This rotary seal 84 can be embedded in an annular sealing groove on the end face of the second connecting pipe 821, or attached to the end face of the second connecting pipe 821. In terms of material, wear-resistant, corrosion-resistant, and low-friction engineering materials, such as polytetrafluoroethylene composite materials or modified polyurethane rubber, are preferred to ensure sealing reliability and low resistance characteristics under long-term rotational friction. By setting the rotary seal 84, not only is water waste and the risk of short circuits in electrical components avoided, but the pressure within the pipeline is also maintained stably, ensuring the accuracy of flow regulation at different opening degrees, further improving the quality of the robot's agricultural operations.

[0038] The lifting mechanism includes a mounting frame 31, a guide member 32, a drive member 33, and a transmission assembly 34. The mounting frame 31 is mounted on the base 1, serving as the load-bearing skeleton of the lifting system. Its bottom is securely connected to the base 1 by bolts or welding to withstand the dynamic loads generated by the robotic arm 6 and the end effector during movement. The drive member 33, guide member 32, and transmission assembly 34 are all mounted on the mounting frame 31, forming a highly integrated vertical motion unit. The robotic arm 6 is connected to the transmission assembly 34 and slidably connected to the guide member 32; the drive member 33 drives the robotic arm 6 to move vertically through the transmission assembly 34.

[0039] The transmission assembly 34 includes a first sprocket 341, a second sprocket 342, and a chain 343. The drive unit 33 is a third rotary motor. The first sprocket 341 is connected to the output shaft of the drive unit 33, the second sprocket 342 is rotatably connected to the mounting frame 31, and the chain 343 is sleeved on the first sprocket 341 and the second sprocket 342, and is connected to the robotic arm 6. To ensure the reliability of the transmission, a tensioning mechanism, such as a spring-loaded plate type or a screw-adjustable tensioning wheel, can be installed on the mounting frame 31 to compensate for the plastic elongation of the chain 343 due to long-term use and prevent tooth skipping or chain derailment.

[0040] To ensure the stability of the robotic arm 6 during lifting and lowering, especially to resist the overturning moment generated when the robotic arm 6 extends horizontally, two guide members 32 are provided, spaced apart on the mounting frame 31. Specifically, these two guide members 32 can be in the form of cylindrical optical shafts, rectangular guide rails, or dovetail grooves, etc., and they are arranged vertically parallel while maintaining a certain lateral spacing. The rotating seat 61 of the robotic arm 6 is provided with two sets of sliding fit parts, which are respectively sleeved or fitted onto these two guide members 32. This dual-guide structure constitutes a frame system with extremely high bending stiffness.

[0041] The robotic arm 6 includes a rotating base 61, a first rotating joint 62, a second rotating joint 63, and a rotary joint 64. The rotating base 61 is used to connect with the lifting module 3. In this embodiment, the rotating base 61 is slidably connected to the guide member 32 via a sliding fit and is connected to the chain 343. The rotating base 61 is connected to the first end of the first rotating joint 62, the second end of the first rotating joint 62 is connected to the first end of the second rotating joint 63, and the second end of the second rotating joint 63 is connected to the rotary joint 64. The mounting base 74 is connected to the rotary joint 64. The first rotating joint 62 and the second rotating joint 63 are configured to rotate on a horizontal plane, and the rotary joint 64 is configured to rotate on a plane perpendicular to the horizontal plane. Specifically, the rotation axes of the first rotating joint 62 and the second rotating joint 63 are both perpendicular to the ground, which allows the robotic arm 6 to perform a wide-range sweeping motion in the horizontal direction, thereby achieving large-area coverage of crops. The rotation axis of the rotary joint 64 is parallel to the ground, so as to drive the nozzle 83 to perform circular motion on a plane perpendicular to the ground, thereby ensuring the spraying range of the nozzle 83.

[0042] In terms of drive mechanism, the robotic arm 6 also includes a first direct-drive motor 65, a second direct-drive motor 66, and a third direct-drive motor 67. The first direct-drive motor 65 is mounted on the rotating base 61 and connected to the first end of the first rotating joint 62, for driving the first rotating joint 62 to rotate. The second direct-drive motor 66 is mounted on the second end of the first rotating joint 62 and connected to the first end of the second rotating joint 63, for driving the second rotating joint 63 to rotate. The third direct-drive motor 67 is mounted on the second end of the second rotating joint 63 and connected to the rotary joint 64, for driving the rotary joint 64 to rotate.

[0043] Through the combination of the aforementioned multi-degree-of-freedom configuration and direct-drive layout, the robotic arm 6 in this embodiment can form a highly efficient collaboration with the aforementioned differential transmission module 7. In actual operation, the robot can identify the crop growth area through a preset farmland electronic map or onboard visual sensors (such as RGB cameras or depth cameras), and obtain plant height information by combining LiDAR or ultrasonic ranging sensors, thereby distinguishing between the "seedling area" and the "fruiting crop area"; or, the operator can manually delineate the work area and set the corresponding lifting height and arm posture through the human-machine interface. When the robot travels to the seedling area, the control system sends a lifting command to the drive component 33 of the lifting module 3 according to the preset crop height threshold or visual recognition results, driving the robotic arm 6 to rise to the target height. At the same time, the first rotating joint 62 and the second rotating joint 63 unfold in the horizontal plane, and the rotating joint 64 flips in the vertical plane so that the nozzle 83 faces downward. At this time, if it is necessary to continuously fine-tune the pitch angle of the nozzle 83, the control system controls the first drive component 711 and the second drive component 721 to be in the same direction and at the same speed (i.e., at... Figure 5 From the perspective of the robot, the first bevel gear 712 and the second bevel gear 722 rotate synchronously, causing the third bevel gear 732 to revolve around the common axis of the first and second bevel gears without rotating on its own axis. This causes the fixed seat 731 to generate a continuous angular displacement relative to the mounting seat 74, thereby causing the entire flow regulation module 8 to deflect to the required angle. The magnitude of this angular displacement is proportional to the cumulative rotation angle of the two input mechanisms. By controlling the number of rotations of the motor, the direction of the nozzle 83 can be continuously and steplessly adjusted. During this process, the moving valve assembly 81 and the fixed valve assembly 82 remain relatively stationary, and the flow cross-sectional area is constant, ensuring the uniformity of the spray water volume. When the robot enters the crop area in the fruiting stage, the control system drives the lifting module 3 to descend to a low position according to the preset strategy or sensor feedback. The horizontal joint drives the robotic arm 6 to probe into the gap between the plants at a low position, and the rotating joint 64 is adjusted to the side. At this time, if precise control of the irrigation flow is required, the control system controls the first drive assembly 711 and the second drive assembly 721 to rotate in opposite directions at the same speed (i.e., in... Figure 5From the perspective of [unclear context], the first bevel gear 712 rotates clockwise, and the second bevel gear 722 rotates counterclockwise (both rotate at the same speed), causing the third bevel gear 732 to rotate and drive the moving valve assembly 81 to rotate relative to the fixed valve assembly 82. This continuously changes the flow cross-sectional area of ​​the fluid channel, achieving stepless flow regulation from drip irrigation to spraying, while the direction of the sprinkler head 83 remains unchanged. This hierarchical control strategy, combining macroscopic boom movement with microscopic end-point adjustment, not only solves the technical problem that traditional fixed sprinkler heads 83 cannot simultaneously cover both top and bottom watering, but also ensures the flexibility and reliability of agronomic execution through the high precision characteristics of the direct-drive structure and the decoupling capability of differential transmission. This fully demonstrates the practical value and creative height of this utility model's structural design in multi-scenario precision irrigation.

[0044] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A robot for watering a crop, characterized in that, include: Base, walking module, lifting module, water tank, water pump, robotic arm, differential transmission module and flow regulation module; The walking module is mounted on the base and is used to move the base. The lifting module is mounted on the base, the robotic arm is mounted on the lifting module, the lifting module is used to drive the robotic arm to move vertically, the differential transmission module is mounted at the end of the robotic arm, and the flow regulation module is mounted on the differential transmission module. The differential transmission module includes a first input mechanism, a second input mechanism, and an output mechanism, wherein the output mechanism is connected to the first input mechanism and the second input mechanism respectively. The flow regulation module includes a moving valve assembly, a fixed valve assembly, and a nozzle. The moving valve assembly and the fixed valve assembly are movably abutted against each other to form a fluid channel. The nozzle is disposed on the output mechanism and communicates with the moving valve assembly. The water tank and the water pump are disposed on the base. The water tank is connected to the inlet of the water pump, and the outlet of the water pump is connected to the fixed valve assembly. When the first input mechanism and the second input mechanism rotate in the same direction, the differential transmission module drives the flow regulation module to rotate as a whole to adjust the spraying posture of the nozzle; When the first input mechanism and the second input mechanism rotate in opposite directions, the output mechanism drives the moving valve assembly to rotate relative to the fixed valve assembly, thereby changing the flow cross-sectional area of ​​the fluid channel.

2. The robot for watering crops according to claim 1, characterized in that: The differential transmission module also includes a mounting base; The first input mechanism includes a first drive assembly and a first bevel gear disposed on the mounting base, wherein the first drive assembly is used to drive the first bevel gear to rotate; The second input mechanism includes a second drive assembly and a second bevel gear disposed on the mounting base, the second drive assembly being used to drive the second bevel gear to rotate; The output mechanism includes a fixed base disposed on the mounting base and a third bevel gear rotatably disposed on the fixed base, the third bevel gear meshing with both the first bevel gear and the second bevel gear simultaneously; When the first bevel gear and the second bevel gear rotate in the same direction, the third bevel gear drives the fixed base to rotate relative to the mounting base; When the first bevel gear and the second bevel gear rotate in opposite directions, the third bevel gear rotates relative to the fixed base.

3. The robot for watering crops according to claim 2, characterized in that: The first drive assembly includes a first rotary motor, a first pulley, a second pulley, and a first belt; the first rotary motor is mounted on the mounting base, the first pulley is connected to the output shaft of the first rotary motor, the second pulley is connected to the first bevel gear, and the first belt is sleeved on the first pulley and the second pulley; And / or, the second drive assembly includes a second rotary motor, a third pulley, a fourth pulley, and a second belt; the second rotary motor is mounted on the mounting base, the third pulley is connected to the output shaft of the second rotary motor, the fourth pulley is connected to the second bevel gear, and the second belt is sleeved on the third pulley and the fourth pulley.

4. The robot for watering crops according to claim 2, characterized in that: The moving valve assembly includes a first connecting pipe and a baffle plate, and the fixed valve assembly includes a second connecting pipe; The first end of the first connecting pipe is used to connect to the nozzle, and the baffle plate is provided on the outer side wall of the second end of the first connecting pipe. The first end of the second connecting pipe is used to connect to the water pump, and the second end face of the second connecting pipe is in movable contact with the baffle plate and the second end face of the first connecting pipe. When the first bevel gear and the second bevel gear rotate in the same direction, the first connecting pipe rotates synchronously with the third bevel gear to change the relative circumferential position of the baffle plate and the second end face of the second connecting pipe, thereby adjusting the communication area between the first connecting pipe and the second connecting pipe.

5. The robot for watering crops according to claim 4, characterized in that: A rotary seal is provided at the point where the second end face of the second connecting pipe meets the second end face of the first connecting pipe and the baffle plate.

6. The robot for watering crops according to claim 1, characterized in that: The lifting module includes a mounting frame, guide components, drive components, and transmission components; The mounting bracket is disposed on the base, and the driving component, the guide component, and the transmission assembly are disposed on the mounting bracket. The robotic arm is connected to the transmission assembly and slidably connected to the guide member; the driving member drives the robotic arm to move vertically through the transmission assembly.

7. The robot for watering crops according to claim 6, characterized in that: The transmission assembly includes a first sprocket, a second sprocket, and a chain; The driving component is a third rotary motor. The first sprocket is connected to the output shaft of the driving component, and the second sprocket is rotatably connected to the mounting frame. The chain is sleeved on the first sprocket and the second sprocket, and the chain is connected to the robotic arm.

8. The robot for watering crops according to claim 6, characterized in that: There are two guide members, which are spaced apart on the mounting frame.

9. The robot for watering crops according to claim 1, characterized in that: The robotic arm includes a rotating base, a first rotating joint, a second rotating joint, and a rotary joint; The rotating seat is connected to the first end of the first rotating joint, the second end of the first rotating joint is connected to the first end of the second rotating joint, and the second end of the second rotating joint is connected to the rotating joint. The first and second rotary joints are configured to rotate on a horizontal plane, and the rotary joint is configured to rotate on a plane perpendicular to the horizontal plane. The differential transmission module is mounted on the rotary joint.

10. The robot for watering crops according to claim 9, characterized in that: The robotic arm also includes a first direct drive motor, a second direct drive motor, and a third direct drive motor; The first direct drive motor is mounted on the rotating base and connected to the first end of the first rotating joint, for driving the first rotating joint to rotate; The second direct drive motor is disposed on the second end of the first rotating joint and connected to the first end of the second rotating joint, and is used to drive the second rotating joint to rotate; The third direct drive motor is mounted on the second end of the second rotating joint and connected to the rotating joint, and is used to drive the rotating joint to rotate.

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