CN107598891B - A intelligent robot for multi-functional watering based on thing networking - Google Patents
A intelligent robot for multi-functional watering based on thing networking Download PDFInfo
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- CN107598891B CN107598891B CN201710939475.0A CN201710939475A CN107598891B CN 107598891 B CN107598891 B CN 107598891B CN 201710939475 A CN201710939475 A CN 201710939475A CN 107598891 B CN107598891 B CN 107598891B
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Abstract
The invention relates to an intelligent robot for multifunctional watering based on the Internet of things, which comprises a base, a first motor, a rotating shaft, a bending mechanism, two mechanical arm mechanisms, two push-pull mechanisms and two moving mechanisms, wherein the first motor is arranged in the base, the first motor is in transmission connection with the rotating shaft, the bending mechanism is arranged above the rotating shaft, the two push-pull mechanisms are respectively arranged on two sides of the rotating shaft, the push-pull mechanisms are in transmission connection with the mechanical arm mechanisms, and the two moving mechanisms are respectively arranged on two sides below the base.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an intelligent robot for multifunctional watering based on the Internet of things.
Background
The intelligent robot is provided with various internal information sensors and external information sensors, such as vision, hearing, touch and smell. In addition to having a receptor, it has an effector as a means of acting on the surrounding environment. This is the muscle or tendon, or self-paced motor, which moves the hands, feet, long nose, tentacles, etc. From this, it can be seen that the intelligent robot has at least three elements: sensory elements, reactive elements and thought elements.
Present intelligent robot is mostly fixed embedded by the wide application in each field, wherein the robot that waters, and the irrigation scope is fixed, greatly reduced the practicality, when the object blocks, the water column of spraying is blockked, leads to leaking watering, and the rotation type is watered same region of repeated watering, and repeatability is too high, causes serious wasting of resources phenomenon, greatly reduced the market competition of this product.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the intelligent robot based on the Internet of things and used for multifunctional watering is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: an intelligent robot for multifunctional watering based on the Internet of things comprises a base, a first motor, a rotating shaft, a bending mechanism, two mechanical arm mechanisms, two push-pull mechanisms and two moving mechanisms, wherein the first motor is arranged in the base, the first motor is in transmission connection with the rotating shaft, the bending mechanism is arranged above the rotating shaft, the two push-pull mechanisms are respectively arranged on two sides of the rotating shaft, the push-pull mechanisms are in transmission connection with the mechanical arm mechanisms, and the two moving mechanisms are respectively arranged on two sides below the base;
the mechanical arm mechanism comprises a rotating assembly, a grabbing assembly, a first fixing plate, a second fixing plate, a driving assembly and a driven assembly, wherein the rotating assembly is arranged in the first fixing plate, one end of the second fixing plate is fixedly connected with the first fixing plate, the driving assembly is in transmission connection with the driven assembly, and the grabbing assembly is arranged in the driven assembly;
the rotating assembly comprises a second motor, a driving shaft and a rotating wheel, the second motor is in transmission connection with the rotating wheel through the driving shaft, and the rotating wheel is fixedly connected with the first fixing plate;
the grabbing assembly comprises a third motor, a first flywheel, a first connecting rod, a first slide way, a first sliding block, a first connecting block and two clamping jaw units, the first connecting block is arranged above the first slide way, the third motor is in transmission connection with the first flywheel, one end of the first connecting rod is hinged to the first flywheel, the other end of the first connecting rod is hinged to the first sliding block, the first sliding block is arranged in the first slide way and matched with the first slide way, and the clamping jaw units are arranged above the first sliding block;
the moving mechanism comprises a fourth motor, a second gear, a third gear, a track and a plurality of second driven teeth, the fourth motor is in transmission connection with the second gear, the second gear and the third gear are respectively arranged at two ends of the track, the second driven teeth are uniformly distributed on the inner side of the track, and the second gear and the third gear are meshed with the second driven teeth.
Preferably, in order to drive the driven assembly more stably, the driving assembly includes a second air pump, a second air cylinder, a second piston and a first driving rod, the second air pump is hinged to the first fixed plate, the second air pump is communicated with the second air cylinder, one end of the second piston is disposed in the second air cylinder, the other end of the second piston is hinged to one end of the first driving rod, the middle end of the first driving rod is hinged to the second fixed plate, and the other end of the first driving rod is in transmission connection with the driven assembly.
Preferably, in order to adjust the watering angle, the driven assembly comprises a first driven rod and a guide rod, one end of the first driven rod is hinged with one end of the first driving rod, which is far away from the second piston, the other end of the first driven rod is hinged with the middle end of the guide rod, and the guide rod is hinged with the first fixing plate.
Preferably, in order to more stably grab the watering can, the clamping jaw unit comprises a second connecting rod, a crank and a guide plate, one end of the second connecting rod is hinged to the first sliding block and is far away from the first connecting rod, the other end of the second connecting rod is hinged to the middle end of the crank, one end of the crank is hinged to the first connecting block, and the other end of the crank is fixedly connected to the guide plate.
Preferably, in order to expand the recognition range of the detector, the bending mechanism includes a third fixing plate, the detector, a third connecting rod and two rotating assemblies, the third connecting rod is fixed on the third fixing plate, and the two rotating assemblies are respectively disposed at two ends of the third connecting rod.
Preferably, in order to control the bending angle more accurately, the rotating assembly includes a fifth motor, a second flywheel, a fourth connecting rod, a fifth connecting rod and a second connecting block, the fifth motor is in transmission connection with the second flywheel, one end of the fourth connecting rod is hinged to the second flywheel, the other end of the fourth connecting rod is hinged to the middle end of the fifth connecting rod, one end of the fifth connecting rod is hinged to one end of the third connecting rod, and the other end of the fifth connecting rod is hinged to the second connecting block.
Preferably, in order to adjust the distance between the mechanical arm mechanism and the rotating shaft and save time, the push-pull mechanism comprises a first air pump, a first air cylinder and a first piston, the first air pump is fixed on the rotating shaft, the first air cylinder is communicated with the first air pump, and one end of the first piston is arranged in the first air cylinder.
Preferably, the second gear and the third gear are both made of stainless steel in order to prolong the service life of the gears.
Preferably, in order to improve the precision of the motor and prolong the service life of the motor, the first motor, the second motor, the third motor and the fourth motor are all servo motors.
Preferably, the track is a metal rubber hinged track in order to prolong the service life of the track and reduce the noise in use.
The intelligent robot for multifunctional watering based on the Internet of things has the advantages that the watering angle is adjusted through the rotating assembly, the driving assembly and the driven assembly, so that the watering requirements under various conditions are met, the watering range can be expanded through the moving mechanism, the maneuverability is improved, and the market competitiveness of the product is greatly improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of an intelligent robot for multifunctional watering based on the internet of things;
FIG. 2 is a schematic structural diagram of a mechanical arm mechanism of the intelligent robot for multifunctional watering based on the Internet of things;
FIG. 3 is a schematic structural diagram of a rotating assembly of the intelligent robot for multifunctional watering based on the Internet of things;
FIG. 4 is a schematic structural diagram of a grabbing component of the intelligent robot for multifunctional watering based on the Internet of things;
fig. 5 is a schematic structural diagram of a moving mechanism of the intelligent robot for multifunctional watering based on the internet of things;
FIG. 6 is a schematic structural diagram of a bending mechanism of the intelligent robot for multifunctional watering based on the Internet of things;
FIG. 7 is a schematic structural diagram of a rotating assembly of the intelligent robot for multifunctional watering based on the Internet of things;
FIG. 8 is a schematic structural diagram of a push-pull mechanism of the intelligent robot for multifunctional watering based on the Internet of things;
in the figure: 1. the device comprises a base, 2, a moving mechanism, 3, a first motor, 4, a rotating shaft, 5, a push-pull mechanism, 6, a bending mechanism, 7, a detector, 8, a rotating assembly, 9, a rotating assembly, 10, a first fixing plate, 11, a second fixing plate, 12, a second air pump, 13, a second air cylinder, 14, a second piston, 15, a first driving rod, 16, a first driven rod, 17, a guide rod, 18, a second motor, 19, a driving shaft, 20, a rotating wheel, 21, a first connecting block, 22, a third motor, 23, a first flywheel, 24, a first connecting rod, 25, a first slideway, 26, a first sliding block, 27, a second connecting rod, 28, a crank, 29, 30, a fourth motor, 31, a second gear, 32, a third gear, 33, a crawler belt, 34, a second driven gear, 35, a third fixing plate, 36, a third connecting rod, 37, a first piston, 38, a rotating assembly, 39. the hydraulic control system comprises a second connecting block, 40, a fifth connecting rod, 41, a fifth motor, 42, a second flywheel, 43, a fourth connecting rod, 44, a mechanical arm mechanism, 45, a first air pump and 46, and a first air cylinder.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1-8, an intelligent robot for multifunctional watering based on the internet of things comprises a base 1, a first motor 3, a rotating shaft 4, a bending mechanism 6, two mechanical arm mechanisms 44, two push-pull mechanisms 5 and two moving mechanisms 2, wherein the first motor 3 is arranged in the base 1, the first motor 3 is in transmission connection with the rotating shaft 4, the bending mechanism 6 is arranged above the rotating shaft 4, the two push-pull mechanisms 5 are respectively arranged on two sides of the rotating shaft 4, the push-pull mechanisms 5 are in transmission connection with the mechanical arm mechanisms 44, and the two moving mechanisms 2 are respectively arranged on two sides below the base 1;
the watering angle is adjusted through the rotating assembly 8, the driving assembly and the driven assembly, so that the watering requirement under various conditions is met, the watering range can be enlarged through the moving mechanism 2, the mobility is improved, and the product has stronger competitiveness.
The mechanical arm mechanism 44 comprises a rotating assembly 8, a grabbing assembly 9, a first fixing plate 10, a second fixing plate 11, a driving assembly and a driven assembly, wherein the rotating assembly 8 is arranged in the first fixing plate 10, one end of the second fixing plate 11 is fixedly connected with the first fixing plate 10, the driving assembly is in transmission connection with the driven assembly, and the grabbing assembly 9 is arranged in the driven assembly;
the rotating assembly 8 comprises a second motor 18, a driving shaft 19 and a rotating wheel 20, the second motor 18 is in transmission connection with the rotating wheel 20 through the driving shaft 19, and the rotating wheel 20 is fixedly connected with the first fixing plate 10;
the grabbing assembly 9 comprises a third motor 22, a first flywheel 23, a first connecting rod 24, a first slide way 25, a first sliding block 26, a first connecting block 21 and two clamping jaw units, wherein the first connecting block 21 is arranged above the first slide way 25, the third motor 22 is in transmission connection with the first flywheel 23, one end of the first connecting rod 24 is hinged with the first flywheel 23, the other end of the first connecting rod 24 is hinged with the first sliding block 26, the first sliding block 26 is arranged in the first slide way 25 and matched with the first slide way 25, and the clamping jaw units are arranged above the first sliding block 26;
the second motor 18 drives the rotating wheel 20 to rotate through the driving shaft 19, so that the first fixing plate 10 is driven to swing, the driving assembly and the driven assembly are driven to swing, the third motor 22 drives the first flywheel 23 to rotate, the first connecting rod 24 is driven to swing, the first sliding block 26 slides along the first slide way 25, the clamping jaw unit is driven to rotate, the purpose of adjusting the watering angle through the rotating assembly 8, the driving assembly and the driven assembly is achieved, and the watering requirements under various conditions are met;
the moving mechanism 2 comprises a fourth motor 30, a second gear 31, a third gear 32, a crawler 33 and a plurality of second driven teeth 34, the fourth motor 30 is in transmission connection with the second gear 31, the second gear 31 and the third gear 32 are respectively arranged at two ends in the crawler 33, the second driven teeth 34 are uniformly distributed at the inner side of the crawler 33, and both the second gear 31 and the third gear 32 are meshed with the second driven teeth 34;
Preferably, in order to drive the driven assembly more stably, the driving assembly includes a second air pump 12, a second air cylinder 13, a second piston 14 and a first driving rod 15, the second air pump 12 is hinged to the first fixing plate 10, the second air pump 12 is communicated with the second air cylinder 13, one end of the second piston 14 is disposed in the second air cylinder 13, the other end of the second piston 14 is hinged to one end of the first driving rod 15, the middle end of the first driving rod 15 is hinged to the second fixing plate 11, the other end of the first driving rod 15 is in transmission connection with the driven assembly, the second air pump 12 and the second air cylinder 13 drive the second piston 14 to perform piston movement through air pressure, so as to drive the first driving rod 15 to swing, and the driven assembly is driven more stably by pushing and pulling the second piston 14, so that the purpose of driving the driven assembly more stably is achieved.
Preferably, in order to adjust the watering angle, the driven assembly comprises a first driven rod 16 and a guide rod 17, one end of the first driven rod 16 is hinged to one end of the first driving rod 15, which is far away from the second piston 14, the other end of the first driven rod 16 is hinged to the middle end of the guide rod 17, the guide rod 17 is hinged to the first fixing plate 10, and the first driving rod 15 drives the first driven rod 16 to do circular motion, so as to drive the guide rod 17 to swing, so as to drive the clamping jaw unit to swing, so as to adjust the watering angle.
Preferably, in order to grasp the watering can more stably, the clamping jaw unit comprises a second connecting rod 27, a crank 28 and a guide plate 29, one end of the second connecting rod 27 is hinged with the first sliding block 26 and is far away from the first connecting rod 24, the other end of the second connecting rod 27 is hinged with the middle end of the crank 28, one end of the crank 28 is hinged with the first connecting block 21, the other end of the crank 28 is fixedly connected with the guide plate 29, and the first sliding block 26 drives the second connecting rod 27 to swing so as to drive the crank 28 to swing and thus drive the guide plate 29 to swing back and forth, so that the watering can is grasped more stably.
Preferably, in order to expand the recognition range of the detecting instrument 7, the bending mechanism 6 includes a third fixing plate 35, the detecting instrument 7, a third connecting rod 36 and two rotating assemblies 38, the third connecting rod 36 is fixed on the third fixing plate 35, the two rotating assemblies 38 are respectively disposed at two ends of the third connecting rod 36, and the rotating assemblies 38 drive the detecting instrument 7 to rotate, so as to expand the recognition range of the detecting instrument 7.
Preferably, in order to control the bending angle more accurately, the rotating assembly 38 includes a fifth motor 41, a second flywheel 42, a fourth connecting rod 43, a fifth connecting rod 40 and a second connecting block 39, the fifth motor 41 is in transmission connection with the second flywheel 42, one end of the fourth connecting rod 43 is hinged to the second flywheel 42, the other end of the fourth connecting rod 43 is hinged to the middle end of the fifth connecting rod 40, one end of the fifth connecting rod 40 is hinged to one end of the third connecting rod 36, the other end of the fifth connecting rod 40 is hinged to the second connecting block 39, the fifth motor 41 drives the second flywheel 41 to rotate, so as to drive the fourth connecting rod 43 to swing, so that the fifth connecting rod 40 makes reciprocating motion, and the swinging angle of the fifth connecting rod 40 can be controlled by adjusting the rotating angle of the second flywheel 41, so as to control the bending angle more accurately.
Preferably, in order to adjust the distance between the mechanical arm mechanism 44 and the rotating shaft 4, thereby saving time, the push-pull mechanism 5 includes a first air pump 45, a first air cylinder 46 and a first piston 37, the first air pump 45 is fixed on the rotating shaft 4, the first air cylinder 46 is communicated with the first air pump 45, one end of the first piston 37 is disposed in the first air cylinder 46, the first air pump 45 and the first air cylinder 46 drive the first piston 37 to perform piston movement through air pressure, so as to drive the mechanical arm mechanism 44 to move left and right, thereby saving the time for adjusting the position of the robot, and improving the working efficiency.
Preferably, the second gear 31 and the third gear 32 are made of stainless steel to prolong the service life of the gears.
Preferably, in order to improve the precision of the motor and prolong the service life of the motor, the first motor 3, the second motor 18, the third motor 22 and the fourth motor 30 are all servo motors.
Preferably, the crawler belt 33 is a metal rubber articulated crawler belt in order to prolong the service life of the crawler belt 33 and reduce noise during use.
Compared with the prior art, this an intelligent robot for multi-functional watering based on thing networking adjusts the angle of watering through rotating assembly 8, drive assembly and driven subassembly to the demand of watering under the adaptation various condition can enlarge the scope of watering through moving mechanism 2, has promoted mobility, has improved the market competition of this product greatly.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. The intelligent robot based on the Internet of things and used for multifunctional watering is characterized by comprising a base (1), a first motor (3), a rotating shaft (4), a bending mechanism (6), two mechanical arm mechanisms (44), two push-pull mechanisms (5) and two moving mechanisms (2), wherein the first motor (3) is arranged in the base (1), the first motor (3) is in transmission connection with the rotating shaft (4), the bending mechanism (6) is arranged above the rotating shaft (4), the two push-pull mechanisms (5) are respectively arranged on two sides of the rotating shaft (4), the push-pull mechanisms (5) are in transmission connection with the mechanical arm mechanisms (44), and the two moving mechanisms (2) are respectively arranged on two sides below the base (1);
the mechanical arm mechanism (44) comprises a rotating assembly (8), a grabbing assembly (9), a first fixing plate (10), a second fixing plate (11), a driving assembly and a driven assembly, wherein the rotating assembly (8) is arranged in the first fixing plate (10), one end of the second fixing plate (11) is fixedly connected with the first fixing plate (10), the driving assembly is in transmission connection with the driven assembly, and the grabbing assembly (9) is arranged in the driven assembly;
the rotating assembly (8) comprises a second motor (18), a driving shaft (19) and a rotating wheel (20), the second motor (18) is in transmission connection with the rotating wheel (20) through the driving shaft (19), and the rotating wheel (20) is fixedly connected with the first fixing plate (10);
the grabbing assembly (9) comprises a third motor (22), a first flywheel (23), a first connecting rod (24), a first slide way (25), a first sliding block (26), a first connecting block (21) and two clamping jaw units, the first connecting block (21) is arranged above the first slide way (25), the third motor (22) is in transmission connection with the first flywheel (23), one end of the first connecting rod (24) is hinged to the first flywheel (23), the other end of the first connecting rod (24) is hinged to the first sliding block (26), the first sliding block (26) is arranged in the first slide way (25) and matched with the first slide way (25), and the clamping jaw units are arranged above the first sliding block (26);
the moving mechanism (2) comprises a fourth motor (30), a second gear (31), a third gear (32), a crawler belt (33) and a plurality of second driven teeth (34), the fourth motor (30) is in transmission connection with the second gear (31), the second gear (31) and the third gear (32) are respectively arranged at two ends in the crawler belt (33), the second driven teeth (34) are uniformly distributed on the inner side of the crawler belt (33), and the second gear (31) and the third gear (32) are meshed with the second driven teeth (34);
the bending mechanism (6) comprises a third fixing plate (35), a detector (7), a third connecting rod (36) and two rotating assemblies (38), the third connecting rod (36) is fixed on the third fixing plate (35), and the two rotating assemblies (38) are respectively arranged at two ends of the third connecting rod (36);
the rotating assembly (38) comprises a fifth motor (41), a second flywheel (42), a fourth connecting rod (43), a fifth connecting rod (40) and a second connecting block (39), the fifth motor (41) is in transmission connection with the second flywheel (42), one end of the fourth connecting rod (43) is hinged to the second flywheel (42), the other end of the fourth connecting rod (43) is hinged to the middle end of the fifth connecting rod (40), one end of the fifth connecting rod (40) is hinged to one end of the third connecting rod (36), and the other end of the fifth connecting rod (40) is hinged to the second connecting block (39).
2. The intelligent robot for multifunctional watering based on the internet of things of claim 1, wherein the driving assembly comprises a second air pump (12), a second air cylinder (13), a second piston (14) and a first driving rod (15), the second air pump (12) is hinged to the first fixing plate (10), the second air pump (12) is communicated with the second air cylinder (13), one end of the second piston (14) is arranged in the second air cylinder (13), the other end of the second piston (14) is hinged to one end of the first driving rod (15), the middle end of the first driving rod (15) is hinged to the second fixing plate (11), and the other end of the first driving rod (15) is in transmission connection with the driven assembly.
3. An intelligent internet-of-things-based robot for multifunctional watering according to claim 2, wherein the driven assembly comprises a first driven rod (16) and a guide rod (17), one end of the first driven rod (16) is hinged with one end of the first driving rod (15) far away from the second piston (14), the other end of the first driven rod (16) is hinged with a middle end of the guide rod (17), and the guide rod (17) is hinged with the first fixing plate (10).
4. An intelligent Internet of things-based robot for multifunctional watering according to claim 1, wherein the clamping jaw unit comprises a second connecting rod (27), a crank (28) and a guide plate (29), one end of the second connecting rod (27) is hinged with the first sliding block (26) and is far away from the first connecting rod (24), the other end of the second connecting rod (27) is hinged with the middle end of the crank (28), one end of the crank (28) is hinged with the first connecting block (21), and the other end of the crank (28) is fixedly connected with the guide plate (29).
5. The intelligent Internet of things-based robot for multifunctional watering is characterized in that the push-pull mechanism (5) comprises a first air pump (45), a first air cylinder (46) and a first piston (37), the first air pump (45) is fixed on the rotating shaft (4), the first air cylinder (46) is communicated with the first air pump (45), and one end of the first piston (37) is arranged in the first air cylinder (46).
6. The intelligent Internet of things-based robot for multifunctional watering according to claim 1, wherein the second gear (31) and the third gear (32) are both made of stainless steel.
7. An intelligent internet-of-things-based robot for multifunctional watering according to claim 1, wherein the first motor (3), the second motor (18), the third motor (22) and the fourth motor (30) are all servo motors.
8. An intelligent internet of things-based robot for multifunctional watering according to claim 1, wherein the crawler (33) is a metal rubber articulated crawler.
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| CN201710939475.0A CN107598891B (en) | 2017-10-11 | 2017-10-11 | A intelligent robot for multi-functional watering based on thing networking |
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| CN108393894A (en) * | 2018-05-14 | 2018-08-14 | 安徽理工大学 | Both arms casting sample detection robot |
| CN112518771B (en) * | 2020-12-03 | 2024-09-24 | 广西科技大学 | Mobile flower watering robot |
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| CN2512472Y (en) * | 2001-10-01 | 2002-09-25 | 湖南郴州通用路桥工程机械厂 | Machine head swing mechanism of table tennis serving device |
| RO129766A2 (en) * | 2013-03-29 | 2014-09-30 | Universitatea Din Piteşti | Radio-controlled multifunction platform for collecting environment samples |
| CN103314833B (en) * | 2013-07-11 | 2014-12-24 | 安徽理工大学 | Novel multipurpose intelligent telescopic sprinkling irrigation vehicle |
| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN106113031A (en) * | 2016-08-11 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of Three Degree Of Freedom carrying formula mechanical arm |
| CN106625556A (en) * | 2016-11-25 | 2017-05-10 | 南陵县襄荷产业协会 | Mechanical arm capable of achieving 360-degree rotation |
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