Jet drive mechanism, jet mechanism and robot dog

Abstract

This utility model discloses a jetting drive mechanism, a jetting mechanism, and a robotic dog, including a mounting base, a driver, a lever, and a rotating shaft. The lever is rotatably connected to the rotating shaft. The lever has a driving end and a trigger end. The driving end of the lever is rotatably connected to the driver, and the trigger end is positioned corresponding to the valve of the high-pressure tank. When the driver drives the lever to rotate, the trigger end moves closer to or away from the valve. This improves the convenience and reliability of triggering the high-pressure tank valve within a limited installation space and optimizes the structural compactness of the drive mechanism.

Description

Technical Field

[0001] This utility model relates to an automatic walking robot, specifically a jet drive mechanism, a jet mechanism, and a robot dog. Background Technology

[0002] Robot dogs are now widely used as vehicles capable of autonomous movement. To achieve greater portability, flexibility, and size, the accessories mounted on robot dogs also require greater compactness.

[0003] Based on the robot dog's self-propelled capability, it can carry spray components such as high-pressure water tanks and high-pressure powder tanks. This enables it to be used for general spraying operations such as agricultural pest control and watering, and can form a land-air cooperation system with existing drones.

[0004] Generally, these high-pressure water tanks and high-pressure powder tanks are equipped with valves. The valves need to be driven by a drive mechanism to trigger the high-pressure injection function. Currently, the most common method is to trigger them by a handle.

[0005] A fixed handle and a movable handle are installed at the valve position. The valve is triggered by pressing the movable handle, thereby realizing the injection.

[0006] After removing the fixed handle and the movable handle, the valve can be exposed for triggering. However, the triggering component of this type of valve is generally just a pin-shaped structure, so it is small in size and requires high triggering accuracy. Moreover, the space available for the robot dog itself is small, especially in the width direction, while the high-pressure tank occupies a very large portion of the installation space. Therefore, the space for installing the drive mechanism is very limited and needs to be optimized towards a more compact design. Utility Model Content

[0007] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a jet drive mechanism, a jet mechanism and a robot dog, which can improve the convenience and reliability of triggering the high-pressure tank valve in a limited installation space, and optimize the structural compactness of the drive mechanism.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A jet driving mechanism, comprising a mounting base, a driver, a lever, and a rotating shaft, wherein the lever is rotatably connected to the rotating shaft, the lever has a driving end and a trigger end, the driving end of the lever is rotatably connected to the driver, and the position of the trigger end corresponds to the valve of the high-pressure tank, wherein when the driver drives the lever to rotate, the trigger end approaches the trigger valve or moves away from the trigger valve.

[0009] As a further improvement of this utility model, the trigger end of the lever is provided with a relief groove for the corresponding valve, and the valve is located in the relief groove.

[0010] As a further improvement of this utility model, the clearance groove is formed by bending the trigger end of the lever.

[0011] As a further improvement of this utility model, the driver is an electric actuator with a driving part and a pushing part, the pushing part being rotatably connected to the lever; the driving part is movably connected to the mounting base, and the driving part can move laterally along the driving direction on the mounting base to adapt to the rotation trajectory of the lever.

[0012] As a further improvement of this utility model, the driving part is connected to the mounting base in a flip-up and flip-down manner via a pin, the driving part can move laterally along the driving direction on the pin, and the pushing part is rotatably connected to the lever.

[0013] As a further improvement of this utility model, the driving part is supported by a mounting base, and the pushing part is supported by a lever, and the driving part and the pushing part are suspended in the air.

[0014] As a further improvement of this utility model, the lever is pressed down on the rotating shaft by the weight of the driving part and the pushing part to prevent the lever from disengaging from the rotating shaft.

[0015] As a further improvement of this utility model, a notch is provided at the position of the push part connecting the lever, the lever is located in the notch, and is rotatably connected by a pin.

[0016] A jetting mechanism is also provided, including the jetting drive mechanism as described in any of the preceding claims.

[0017] A robot dog is also provided, including the jet drive mechanism as described in any of the above.

[0018] The beneficial effects of this utility model are that, through the cooperation of the mounting base, driver, lever and rotating shaft, the driver can drive the lever to rotate around the rotating shaft, so that the trigger end is close to the trigger valve or away from the disengagement valve. Through the setting of the lever, the position of the driver can be flexibly set. At the same time, the rotating shaft is used to position the lever, making the triggering action more stable and improving the convenience and reliability of triggering the high-pressure tank valve in a limited installation space. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the spraying mechanism of this utility model; Figure 2 This is a three-dimensional schematic diagram of the spraying mechanism of this utility model (without the high-pressure tank). Figure 3 This is a side view of the spraying mechanism of this utility model; Figure 4 This is a top view schematic diagram of the spraying mechanism of this utility model; Figure 5 for Figure 2Enlarged view of part A in the image; Figure 6 for Figure 3 Enlarged view of part B in the image; Figure 7 for Figure 4 Enlarged view of section C in the image; Reference numerals: 1. Mounting base; 2. Driver; 21. Drive unit; 22. Push unit; 221. Notch; 3. Lever; 31. Drive end; 32. Trigger end; 321. Clearance groove; 4. Shaft; 5. Valve. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the embodiments shown in the accompanying drawings.

[0021] Reference Figure 1-7 As shown, a jetting drive mechanism in this embodiment includes a mounting base 1, a driver 2, a lever 3, and a rotating shaft 4. The lever 3 is rotatably connected to the rotating shaft 4. The lever 3 has a driving end 31 and a trigger end 32. The driving end 31 of the lever 3 is rotatably connected to the driver 2. The position of the trigger end 32 corresponds to the valve 5 of the high-pressure tank. When the driver 2 drives the lever 3 to rotate, the trigger end 32 moves closer to the trigger valve 5 or moves away from the trigger valve 5.

[0022] Mounting base 1 is used to fix the entire drive mechanism to the load-bearing structure of the robot dog or spraying equipment. The rotating shaft 4 is mounted on mounting base 1 and provides a fulcrum for the lever 3. The lever 3 has a drive end 31 and a trigger end 32 at both ends. The drive end 31 is rotatably connected to the output end of the driver 2, and the trigger end 32 is positioned corresponding to the valve 5 of the high-pressure tank. When spraying material for pest control, watering, or other actions, the driver 2 pushes or pulls the drive end 31 of the lever 3, causing the lever 3 to rotate around the rotating shaft 4. The trigger end 32 then swings towards the valve 5 and presses the valve 5, allowing the medium inside the high-pressure tank to be sprayed out through the valve 5. When spraying needs to be stopped, the driver 2 reverses its movement or retracts, causing the lever 3 to rotate. The trigger end 32 moves away from the valve 5, and the valve 5 closes under the action of its own reset mechanism. Through the transmission action of the lever 3, the driver 2 only needs to provide a small stroke to effectively trigger the valve 5, improving the convenience and reliability of triggering the high-pressure tank valve 5 within a limited installation space. By setting lever 3, the position of driver 2 can be flexibly set. At the same time, lever 3 is positioned by rotating shaft 4, making the triggering action more stable and improving the convenience and reliability of triggering high-pressure tank valve 5 in limited installation space.

[0023] In order to facilitate the positional coordination between the trigger end 32 of lever 3 and valve 5, in one optional scheme, the trigger end 32 of lever 3 is provided with a relief groove 321 corresponding to valve 5, and valve 5 is located at the position of relief groove 321.

[0024] The clearance groove 321 forms a recessed structure at the trigger end 32 of the lever 3. When the lever 3 is in its initial position (as shown in the figure), the triggering component of the valve 5 is located within the clearance groove 321, maintaining a reasonable distance between the lever 3 and the valve 5 without interference. When the lever 3 rotates under the action of the actuator 2, the trigger end 32 approaches the valve 5, and the edge or bottom of the clearance groove 321 contacts the valve 5 and applies pressure, triggering the valve 5. The cooperation between the clearance groove 321 and the valve 5 allows for a more flexible and compact assembly space for the lever 3. This solves the problem of positional conflict between the lever 3 and the valve 5 when space is limited.

[0025] Further optimization can be achieved by bending the trigger end 32 of the lever 3. Specifically, the clearance groove 321 is formed by bending the lever 3.

[0026] During the manufacturing process, the trigger end 32 of the lever 3 is bent (either by stamping or by directly forming a bent position). Therefore, this bending does not simply mean bending, but rather that a bending structure is formed to create the clearance groove 321. After bending, a groove-shaped clearance groove 321 is naturally formed. This bending structure simplifies the manufacturing process of the clearance groove 321 and reduces manufacturing costs.

[0027] In some options, the actuator 2 is an electric actuator with a drive part 21 and a push part 22, the push part 22 being rotatably connected to the lever 3; the drive part 21 is movably connected to the mounting base 1, and the drive part 21 can move laterally in the drive direction on the mounting base 1 to adapt to the rotation trajectory of the lever 3.

[0028] The drive unit 21 of the electric actuator is connected to the mounting base 1 as a fixed end or support end, while the push unit 22 is a movable end that extends and retracts relative to the drive unit 21. Since the drive end 31 undergoes not only angular displacement but also an arc-shaped trajectory change in space during the rotation of the lever 3, a rotatable connection is used between the push unit 22 and the lever 3. Simultaneously, the drive unit 21 retains space on the mounting base 1 for lateral movement. When the lever 3 rotates, the push unit 22 moves with the lever 3 and changes angle relative to the drive unit 21. The drive unit 21 then experiences a slight lateral displacement on the mounting base 1 to match the arc-shaped trajectory of the drive end 31 of the lever 3, preventing jamming or wear during transmission and improving the smoothness and service life of the transmission between the electric actuator and the lever 3.

[0029] To facilitate the installation of the drive unit 21, in one alternative embodiment, the drive unit 21 is connected to the mounting base 1 by a pin that can be flipped up and down. The drive unit 21 can move laterally along the driving direction on the pin, and the push unit 22 is rotatably connected to the lever 3.

[0030] The drive unit 21 engages with the mounting base 1 via a pin, allowing it to rotate up and down within a certain angle range around the pin's axis. During installation, the drive unit 21 can be flipped upwards to connect the push unit 22 to the lever 3, then flipped downwards to move the lever 3 to the corresponding position. The rotating shaft 4 is then inserted to position the lever 3 and allow it to rotate. This method facilitates installation in tight spaces.

[0031] Further optimization can be achieved by selecting the following method: the drive unit 21 is supported by the mounting base 1, and the push unit 22 is supported by the lever 3, with the drive unit 21 and the push unit 22 suspended in the air.

[0032] One end of the drive unit 21 is connected to the mounting base 1 via a pin, and is supported by the mounting base 1. The push unit 22 extends from the drive unit 21 and is rotatably connected to the lever 3. The lever 3 is mounted in a fixed position via a pivot 4, and supports the push unit 22. The drive unit 21 and the push unit 22 are suspended between the two support points, eliminating the need for additional support structures in the middle or below the electric actuator. This suspended arrangement fully utilizes the lever 3 and the mounting base 1 as supports, further reducing the installation space requirements of the electric actuator. Through the above technical solution, the problem of insufficient installation and support space for electric actuators in situations where height space is limited can be solved.

[0033] In some options, lever 3 is pressed down on pivot 4 by the weight of drive part 21 and push part 22 to prevent lever 3 from disengaging from pivot 4.

[0034] The pivot 4 provides rotational support for the lever 3. After the lever 3 is mounted on the pivot 4, the weight of the drive part 21 and the push part 22 of the electric actuator is transmitted to the lever 3, thereby pressing the lever 3 firmly against the pivot 4 or a fixed support (the component used to mount the pivot, as shown in the figure). This downward pressure maintains stable contact and engagement between the lever 3 and the pivot 4. During daily operation or when subjected to external forces such as vibration or bumps, the lever 3 is less likely to jump off or shift from the pivot 4, improving the stability of the engagement between the lever 3 and the pivot 4 and reducing reliance on additional limiting structures. This alleviates the problem of the lever 3 accidentally detaching from the pivot 4 due to vibration during the operation of a mobile vehicle.

[0035] To facilitate the connection between the push part 22 and the lever 3, in one alternative embodiment, a notch 221 is provided at the position where the push part 22 connects to the lever 3, the lever 3 is located in the notch 221, and is rotatably connected by a pin.

[0036] A notch 221 is provided at the end of the push part 22 to provide coarse positioning for the lever 3 during installation. This facilitates quick and easy connection between the lever 3 and the push part 22.

[0037] A jetting mechanism is also provided, including the above-described jetting drive mechanism.

[0038] The aforementioned high-pressure tank drive mechanism is integrated into the spraying mechanism. The high-pressure tank is mounted on the support frame of the spraying mechanism, and the drive mechanism is fixed to a structure near the high-pressure tank via mounting base 1. The trigger end 32 of the drive mechanism corresponds to the valve 5 of the high-pressure tank. When the spraying mechanism needs to perform tasks such as pest control or watering, the control system sends a command to the actuator 2. The actuator 2 triggers the valve 5 via lever 3, causing the high-pressure tank to spray the medium. This is achieved by applying a compact drive mechanism to the spraying mechanism.

[0039] A robotic dog is also provided, including the aforementioned jet drive mechanism.

[0040] In summary, the working principle of the injection drive mechanism is as follows: The mounting base 1 fixes the entire drive mechanism to the supporting structure, and the lever 3 is rotatably connected to the rotating shaft 4 to form the lever 3 structure. The drive part 21 of the electric actuator is rotatably connected to the mounting base 1 via a pin, and the push part 22 is rotatably connected to the drive end 31 of the lever 3 via a pin through a notch 221. The drive part 21 and the push part 22 are suspended in the air by the mounting base 1 and the lever 3, and the lever 3 is pressed down by the weight of the drive part 21 and the push part 22 onto the rotating shaft 4 or a fixed support. The trigger end 32 of the lever 3 is bent to form a relief groove 321, and the triggering component of the high-pressure tank valve 5 is located in the relief groove 321. When pest control or watering is required, the pusher part 22 of the electric actuator extends, driving the lever 3 to rotate around the shaft 4. The trigger end 32 swings towards the valve 5 and presses the valve 5, causing the high-pressure tank to spray the medium. When stopping is required, the pusher part 22 retracts, the lever 3 rotates in the opposite direction, the trigger end 32 moves away from the valve 5, and the valve 5 closes. During transmission, the drive part 21 moves laterally on the mounting base 1 along the arc-shaped trajectory of the drive end 31 of the lever 3, ensuring that the pusher part 22 always maintains a suitable direction of force application and ensuring smooth transmission. The above-described drive mechanism can be applied to a spraying mechanism or mounted on a robot dog.

[0041] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A jet-driven mechanism, characterized in that, Includes a mounting base (1), a driver (2), a lever (3), and a rotating shaft (4). The lever (3) is rotatably connected to the rotating shaft (4). The lever (3) has a driving end (31) and a trigger end (32). The driving end (31) of the lever (3) is rotatably connected to the driver (2). The position of the trigger end (32) corresponds to the valve (5) of the high-pressure tank. When the driver (2) drives the lever (3) to rotate, the trigger end (32) moves closer to the trigger valve (5) or away from the disengagement valve (5).

2. The injection drive mechanism according to claim 1, characterized in that, The trigger end (32) of the lever (3) is provided with a relief groove (321) for the corresponding valve (5), and the valve (5) is located in the relief groove (321).

3. The injection drive mechanism according to claim 2, characterized in that, The clearance groove (321) is formed by bending the trigger end (32) of the lever (3).

4. The injection drive mechanism according to claim 1, 2, or 3, characterized in that, The driver (2) is an electric actuator with a driving part (21) and a pushing part (22). The pushing part (22) is rotatably connected to the lever (3). The driving part (21) is movably connected to the mounting base (1). The driving part (21) can move laterally along the driving direction on the mounting base (1) to adapt to the rotation trajectory of the lever (3).

5. The injection drive mechanism according to claim 4, characterized in that, The drive unit (21) is connected to the mounting base (1) by a pin that can be flipped up and down. The drive unit (21) can move laterally along the drive direction on the pin. The push unit (22) is rotatably connected to the lever (3).

6. The injection drive mechanism according to claim 5, characterized in that, The drive unit (21) is supported by the mounting base (1), and the push unit (22) is supported by the lever (3). The drive unit (21) and the push unit (22) are suspended in the air.

7. The injection drive mechanism according to claim 6, characterized in that, The lever (3) is pressed down on the shaft (4) by the weight of the drive part (21) and the push part (22) to prevent the lever (3) from disengaging from the shaft (4).

8. The injection drive mechanism according to claim 4, characterized in that, The position of the push part (22) connected to the lever (3) is provided with a notch (221), the lever (3) is located in the notch (221) and is rotatably connected by a pin.

9. A spraying mechanism, characterized in that, Includes the jet drive mechanism as described in any one of claims 1 to 8.

10. A robotic dog, characterized in that, Includes the jet drive mechanism as described in any one of claims 1 to 8.

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