CN110720381B - Walking robot for field sprinkling irrigation system - Google Patents
Walking robot for field sprinkling irrigation system Download PDFInfo
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- CN110720381B CN110720381B CN201911060118.2A CN201911060118A CN110720381B CN 110720381 B CN110720381 B CN 110720381B CN 201911060118 A CN201911060118 A CN 201911060118A CN 110720381 B CN110720381 B CN 110720381B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Water Supply & Treatment (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
A walking robot for a field sprinkling irrigation system; the traveling system comprises a main frame and a side frame, and the main frame is connected with the side frame through a telescopic mechanism; the lower end of the frame is provided with a travelling wheel; the frame is provided with a coiling device which is provided with a micro-spray belt reel; the driving system comprises a walking driving mechanism, a rotation driving mechanism and a lifting driving mechanism: the sprinkling irrigation system comprises a micro-sprinkling belt folding mechanism: the water tank is arranged on the rack and communicated with the water tank; the main frame of the traveling system is provided with a main control box, a PLC controller is arranged in the main control box, and motors of all driving mechanisms are connected with the PLC controller to be controlled. The invention can lay or curl a plurality of micro-spraying belts at the same time, adjust the interval, realize the laying or curling of the micro-spraying belts at the appointed position of the field, and pertinently adjust the height and the sprinkling irrigation quantity of the sprinkling irrigation mechanism, has strong controllability, realizes the automatic sprinkling irrigation operation of the field, has small labor intensity, high working efficiency and good sprinkling irrigation effect.
Description
Technical Field
The invention relates to an automatic farmland irrigation system, in particular to a walking robot applied to a field sprinkling irrigation system.
Background
With rapid development of agricultural technological technology, automation equipment for field sprinkling irrigation is increasingly favored by users.
In the field operation process, the field area is relatively large, so that the crop species planted in the field are relatively large, and in order to improve the efficiency of the water supplementing operation, drip irrigation water supplementing is implemented in the field, and before drip irrigation, a micro-spraying belt is paved in the field. However, the crop in a field can be changed according to the change of seasons, the drip irrigation position of the crop can be changed, the conventional micro-spraying belt is required to be laid at a fixed position manually or semi-automatically, and the curling and re-laying of the micro-spraying belt are required to be carried out once for every change of one crop due to different requirements of the water supplementing positions of the crop and different gaps of the crop, so that the working strength of a user is increased virtually, and the service life of the micro-spraying belt can be shortened due to repeated curling of the micro-spraying belt.
In addition, the water supplementing form of field crops is affected by regions of the field crops, and the limitation is large. Some crops are supplied with water by micro-sprinkling irrigation. The existing micro-sprinkling irrigation method is usually fixed water supplementing, namely a micro-sprinkling belt is arranged at the middle upper part (namely the top of the crop) of the greenhouse, and the crop which is put down by the pipe body is subjected to micro-sprinkling belt watering, but the water supplementing mode is limited to the planting in the greenhouse at present, and cannot be realized for the field crop.
Disclosure of Invention
First, the present invention solves the problems
The invention aims to solve the following technical defects in the background art:
firstly, in the existing micro-spray belt water supplementing form, the micro-spray belt needs to be repeatedly curled and paved according to drip irrigation requirements (drip irrigation points, drip irrigation intervals and the like) of different crops, and the operation is completed by a manual or semi-automatic winding mechanism, so that the labor intensity is high, the damage to the micro-spray belt in the repeated pulling process is large, and the service life of the micro-spray belt is influenced.
Secondly, the existing field irrigation can not realize sprinkling irrigation to crops, the water supplementing form is single, and the limitation is strong.
(II) the technical proposal adopted by the invention
A walking robot for a field sprinkling irrigation system comprises a walking system, a driving system and a sprinkling irrigation system;
the walking system comprises a main frame and a side frame, and the main frame is connected with the side frame through a telescopic mechanism; the lower ends of the main frame and the side frames are respectively provided with travelling wheels; the main frame and the side frames are respectively provided with a coiling device through a connecting piece, and the coiling device is hung with a micro-spray belt reel;
the driving system comprises a walking driving mechanism, a rotation driving mechanism and a lifting driving mechanism:
the walking driving mechanism comprises a support plate arranged on the walking wheel, a rotating shaft, a walking driving motor, a walking transmission chain wheel group, a driving disc, a brake disc and a brake which are arranged on the wheel shaft of the walking wheel; the walking transmission chain wheel group is respectively connected with the walking driving motor and the driving disc for transmission through chain wheels;
the rotary driving mechanism comprises a rotary driving motor, a steering transmission gear set and a mounting seat, the mounting seat is arranged on the support plate through a connecting piece, a large gear in the steering transmission gear set is arranged on the rotating shaft, a small gear in the steering transmission gear set is sleeved on an output shaft of the rotary driving motor, and the large gear is meshed with the small gear for transmission;
the lifting driving mechanism comprises a lifting outer sleeve, a lifting inner sleeve, a lifting bevel gear set, a screw rod and a lifting driving motor; the screw rod is arranged at the top of the lifting inner sleeve, the bottom of the lifting inner sleeve is arranged on the mounting seat, the top of the lifting outer sleeve is connected with the frame through a connecting piece, the lifting inner sleeve is arranged in the lifting outer sleeve in a sliding manner, and the screw rod is connected with the lifting driving motor through a lifting bevel gear set;
the sprinkling irrigation system comprises a micro-sprinkling belt folding mechanism: the micro-spraying belt folding mechanism is arranged at the top of the frame through a folding bracket, and a micro-spraying belt in the micro-spraying belt folding mechanism is communicated with a water tank arranged on the frame;
the main frame of the traveling system is provided with a main control box, a PLC controller is arranged in the main control box, and motors of all driving mechanisms are connected with the PLC controller to be controlled.
As a preferable technical scheme: the walking system is of an X-shaped structure and comprises a main frame and a side frame which are arranged in an X-shaped structure, the central parts of the main frame and the side frame are hinged together, one end of the telescopic mechanism is hinged with the center of the main frame, and the other end of the telescopic mechanism is hinged with the middle and rear parts of the side frame, so that the side frame can move in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
As a preferable technical scheme: the walking system is of a T-shaped structure and comprises a main frame and side frames which are arranged in the T-shaped structure, the side frames are vertically arranged at the central position of the main frame, the side frames are connected with the main frame through telescopic mechanisms, and the telescopic mechanisms realize the telescopic operation of the side frames in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
As a preferable technical scheme: the walking system is of a 'Bu' -shaped structure and comprises a main frame and a side frame which are arranged in a 'Bu' -shaped structure, and one end of the side frame is hinged with the middle part of the main frame; one end of the telescopic mechanism is hinged with the center of the main frame, the other end of the telescopic mechanism is hinged with the middle part of the side frame, and the telescopic mechanism realizes the movement of the side frame in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
As a preferable technical scheme: the telescopic mechanism specifically comprises a telescopic arm, a guide groove seat, a screw rod and a fixed end cover;
the telescopic arm is transversely and movably connected in the guide groove seat;
the right side of the screw rod is movably connected in the guide groove seat through a fixed end cover, and the external thread on the right side of the screw rod is connected with the transverse internal thread on the left side of the telescopic arm.
As a preferable technical scheme: the specific structure of the tape coiling device comprises a reel frame, a connecting frame, a micro-spray tape reel, a transmission mechanism, a tape coiling power motor, a tape pressing frame, a tape pressing wheel and a reel control box;
a connecting frame is fixedly connected to one side of the lower surface of the outer side of the reel frame;
one side of the lower surface of the connecting frame is movably connected with the micro-spraying belt reel;
the coiling power motor is fixedly connected to the outer side of the reel frame, and an output shaft of the coiling power motor is connected with a central shaft of the micro-spray coil through a transmission mechanism;
the lower side of the belt pressing frame is fixedly connected to the side surface of the upper surface of the connecting frame, and one side of the upper surface of the belt pressing frame is movably connected with a belt pressing wheel;
the outside of the reel control box is fixedly connected to the inside of the center of the reel frame;
the pinch roller is positioned on the right upper side of the micro-spray tape reel.
As a preferable technical scheme: the sprinkling irrigation system is also provided with a manipulator which is matched with the micro-sprinkling belt folding mechanism for use;
the manipulator specifically comprises a frame connecting frame, a bracket, a guide wheel, a guide rail, a water outlet, a mounting frame, an opposite joint, a telescopic outer pipe, a telescopic joint, a telescopic inner pipe, a water pipe, a valve, a water pump mounting frame and a fertilizer injection port;
the left side of the upper surface of the frame connecting frame is fixedly connected with a bracket, the right side of the upper surface is fixedly connected with a bracket, and the lower end of the frame connecting frame is movably connected with a plurality of guide wheels; a water outlet is formed in the right side of the inner part of the frame connecting frame cavity, and a guide rail is arranged in the water outlet;
the telescopic outer tube is positioned between the bracket and the bracket, the upper surface of the rack connecting frame is provided with an opposite interface, and the telescopic outer tube is arranged in the opposite interface; the top end of the telescopic outer tube is provided with a telescopic joint; a telescopic inner pipe is connected in the telescopic outer pipe in a sliding way; the top end of the telescopic inner tube is fixedly connected with a water pipe; the water pipe is also provided with a valve and a fertilizer injection port; the mounting frame is fixedly connected to the bracket, and the water pump mounting frame is fixedly connected to the mounting frame; the water pump fixed connection is on the water pump mounting bracket.
As a preferable technical scheme: the device also comprises a water hose, a guide roller, a top belt wheel, a lifting cylinder, a first pressure pipe, a bearing, a water drainage wheel, a water drainage motor, a butt joint lifting cylinder and a second pressure pipe;
two guide rollers are arranged on the left side surface of the mounting frame; a top belt wheel is movably connected in the left side of the lower end of the frame connecting frame; a lifting cylinder is fixedly connected to the right side surface of the mounting frame; the output end of the lifting cylinder is fixedly connected with a first pressing pipe, and the lower end of the first pressing pipe is movably connected with a water draining wheel through a bearing;
a drainage motor is fixedly connected to the side surface of the first pressure pipe, and the output end of the drainage motor is connected with the input end of the drainage wheel through a belt;
the water belt sequentially passes through a guide roller, a water drainage wheel, a top belt wheel, a guide rail and a guide wheel; one end of the water belt is communicated with the water pipe, and the other end of the water belt is communicated with the micro-spraying belt in the micro-spraying belt folding mechanism;
the inner side surfaces of the bracket and the bracket are fixedly connected with a butt joint lifting cylinder; and the output ends of the butt joint lifting cylinders are fixedly connected with second pressing pipes.
As a preferable technical scheme: the micro-spraying belt folding mechanism comprises a folding bracket, an auxiliary bracket, a rotating shaft, a lock catch, a lock sheet, a bracket hoop, a main micro-spraying pipe, a tee joint, an auxiliary micro-spraying pipe, a plug and a connecting hose;
auxiliary supports are hinged on the left side and the right side of the folding bracket through rotating shafts; locking plates are fixedly connected to two sides of the upper surface of the folding bracket; the inner side end positions of the upper surfaces of the two auxiliary brackets are respectively provided with a lock catch, and the lock catches are connected with corresponding lock plates;
the folding bracket is connected with a main micro spray pipe through a plurality of bracket hoops; the auxiliary brackets are connected with auxiliary micro spray pipes through a plurality of bracket hoops; the left end of the main micro spray pipe is communicated with the left auxiliary micro spray pipe through a connecting hose;
the right end of the main micro spray pipe is communicated with the right auxiliary micro spray pipe in sequence through a tee joint and a connecting hose; plugs are fixedly communicated with the outer side ends of the two auxiliary micro spray pipes.
As a preferable technical scheme: the total control box is in wireless connection with an external remote controller, so that the remote controller can realize remote control of the whole robot.
(III) the beneficial effects achieved by the invention
1. The robot disclosed by the invention can be used for simultaneously paving or curling a plurality of micro-spraying belts, can be used for adjusting the interval according to the paving requirements of different actual crops, and can be used for realizing random conversion of the micro-spraying belts with different specifications, and a traveling system drives a plurality of belt coiling devices to travel in a large Tian Nahang way so as to realize paving or curling of the micro-spraying belts at the designated positions of a field.
2. The robot disclosed by the invention can complete sprinkling irrigation and water supplementing of crops on two sides in the walking process, the sprinkling irrigation and water supplementing form is perfectly applied to field crops, and the height and sprinkling irrigation quantity of a sprinkling irrigation mechanism are adjusted in a targeted manner according to different actual crop types, so that the controllability is strong.
3. The whole robot can be controlled wirelessly and remotely by remote control, so that automatic field sprinkling operation is realized, the labor intensity is low, the working efficiency is high, and the sprinkling irrigation effect is good.
Drawings
Fig. 1 is a schematic structural diagram of a T-shaped traveling system according to the present invention.
Fig. 2 is a schematic structural diagram of an X-type walking system according to the present invention.
Fig. 3 is a schematic structural diagram of the walking system in the shape of a Chinese character 'bo'.
Fig. 4 is a schematic structural view of a rotary lifting mechanism in the present invention.
Fig. 5 is a schematic structural diagram of a pipe docking manipulator according to the present invention.
FIG. 6 is a schematic structural view of a folding mechanism of a micro-spray tape according to the present invention.
Fig. 7 is a schematic view of a telescopic mechanism according to the present invention.
Fig. 8 is a schematic view of a walking driving mechanism according to the present invention.
Fig. 9 is a schematic structural view of a tape coiling device in the present invention.
Fig. 10 is a schematic view of a connection assembly of the folding mechanism according to the present invention.
Fig. 11 is a schematic view of a rotary driving mechanism according to the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The walking robot for the farmland sprinkling irrigation system is mainly used for finishing the operation of paving a drip irrigation belt and micro sprinkling irrigation in the farmland sprinkling irrigation process and comprises a walking system, a driving system and a sprinkling irrigation system.
The traveling system comprises a main frame 1 and a side frame 2, and the main frame 1 and the side frame 2 are connected through a telescopic mechanism 7; the traveling wheels 3 are respectively arranged at the lower ends of the main frame and the side frames; the main frame and the side frame are respectively provided with a coiling device 6 through a hanging seat 4, and the coiling device is hung with a micro-spray coil 5. The main frame is also provided with a main control box 8. The main frame of the traveling system is provided with a main control box, a PLC controller is arranged in the main control box, and motors of all driving mechanisms are connected with the PLC controller to be controlled. The main control box is in wireless connection with an external remote controller, so that the remote controller can realize remote control of the whole robot.
The following three forms of running system are described in detail as examples.
Example 1
Referring to the attached drawings, 2, the walking system is of an X-shaped structure and comprises a main frame and a side frame which are arranged in an X-shaped structure, wherein the central parts of the main frame and the side frame are hinged together, one end of the telescopic mechanism is hinged with the center of the main frame, and the other end of the telescopic mechanism is hinged with the middle rear part of the side frame, so that the side frame can move in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
Example two
Referring to fig. 1, the traveling system is of a T-shaped structure and comprises a main frame and side frames which are arranged in the T-shaped structure, wherein the side frames are vertically arranged at the central position of the main frame, the side frames are connected with the main frame through telescopic mechanisms, and the telescopic mechanisms realize the telescopic operation of the side frames in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
Example III
Referring to fig. 3, the walking system is of a 'Bu' -shaped structure and comprises a main frame and a side frame which are arranged in a 'Bu' -shaped structure, wherein one end of the side frame is hinged with the middle part of the main frame; one end of the telescopic mechanism is hinged with the center of the main frame, the other end of the telescopic mechanism is hinged with the middle part of the side frame, and the telescopic mechanism realizes the movement of the side frame in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
Referring to fig. 7, the specific structure of the telescopic mechanism 7 comprises a telescopic arm 7-4, a guide groove seat 7-3, a screw rod 7-2 and a fixed end cover 7-1; the telescopic arm is transversely and movably connected in the guide groove seat; the right side of the screw rod is movably connected in the guide groove seat through a fixed end cover, and the external thread on the right side of the screw rod is connected with the transverse internal thread on the left side of the telescopic arm. The free end of the telescopic arm is connected with the side frame, and the displacement change of the side wall connected with the telescopic arm is realized through the telescopic action of the telescopic arm. The mechanism can be adjusted according to the distance between farmland ridges to ensure that the micro-spraying belt is suitable for the distance between farmland ridges, and in addition, farmland crops can be protected from being damaged.
Referring to fig. 9, the specific structure of the tape coiling device 6 comprises a reel frame 6-1, a connecting frame 6-2, a micro-spray tape reel 6-3, a transmission mechanism 6-4, a tape coiling power motor 6-5, a tape pressing frame 6-6, a tape pressing wheel 6-7 and a reel control box 6-8. A connecting frame is fixedly connected to one side of the lower surface of the outer side of the reel frame; one side of the lower surface of the connecting frame is movably connected with the micro-spraying belt reel; the coiling power motor is fixedly connected to the outer side of the reel frame, and an output shaft of the coiling power motor is connected with a central shaft of the micro-spray coil through a transmission mechanism; the lower side of the belt pressing frame is fixedly connected to the side surface of the upper surface of the connecting frame, and one side of the upper surface of the belt pressing frame is movably connected with a belt pressing wheel; the outside of the reel control box is fixedly connected to the inside of the center of the reel frame; the pinch roller is positioned on the right upper side of the micro-spray tape reel.
The drive system in the present invention includes a travel drive mechanism 9, a rotation drive mechanism 10, and a lift drive mechanism 11.
Referring to fig. 8, the traveling driving mechanism includes a support plate 9-1 mounted on a traveling wheel, on which a rotation shaft 9-3, a traveling driving motor 9-8, a traveling transmission sprocket set 9-5, and a driving disc 9-6, a brake disc 9-7 and a brake 9-2 mounted on the wheel shaft of the traveling wheel are mounted; the walking transmission chain wheel group 9-5 is respectively connected with a walking driving motor and a driving disc for transmission through chain wheels.
Referring to fig. 4 and 11, a mounting seat 10-3 in the rotation driving mechanism is fixedly connected to a support plate 9-1, a connecting plate 10-7 is arranged above the mounting seat, and a rotary inner sleeve 10-6 is fixedly connected between the mounting seat and the connecting plate; the outer surface of the rotary inner sleeve 10-6 is sleeved with a large gear 10-5 in a rotary transmission gear set, the large gear 10-5 is fixedly connected with the top end of a steering shaft 9-3, and the steering shaft 9-3 is concentric with the large gear 10-5; the outer side of the upper surface of the connecting plate 10-7 is fixedly connected with a steering driving motor 10-1, an output shaft of the steering motor is fixedly connected with a pinion 10-4, and the pinion and the large gear are meshed with each other. The lifting driving mechanism comprises a lifting outer sleeve 11-1, a lifting inner sleeve 11-2, a lifting bevel gear set 11-3, a screw rod 11-4 and a lifting driving motor 11-5; the lifting three gear sets form a spiral lifting structure, a screw rod is arranged at the top of a lifting inner sleeve, the bottom of the lifting inner sleeve is arranged on the mounting seat, the top of a lifting outer sleeve is connected with a frame of a running system through a connecting piece such as a high-strength bolt, the lifting inner sleeve is arranged in the lifting outer sleeve in a sliding manner, and the screw rod is connected with a lifting driving motor through the lifting bevel gear sets.
When walking, the walking driving motor drives the walking driving chain wheel set to rotate and then drives the wheel driving disc to rotate, so that the wheels are driven to walk; when steering, the steering driving motor drives the pinion to rotate, the pinion drives the bull gear to rotate, and the bull gear drives the steering shaft to rotate, so that steering is realized; when the height is adjusted, the lifting driving motor drives the lifting bevel gear set to rotate, and the screw rod is displaced in the second bevel gear, so that the height is adjusted.
Referring to fig. 6 and 10, the sprinkler irrigation system comprises a micro-spray belt folding mechanism 12, which comprises a folding bracket 12-1, an auxiliary bracket 12-2, a rotating shaft 12-3, a lock catch 12-4, a locking plate 12-5, a bracket hoop 12-6, a main micro-spray pipe 12-7, a tee joint 12-8, an auxiliary micro-spray pipe 12-9, a plug 12-10 and a connecting hose 12-11. The left side and the right side of the folding bracket are hinged with auxiliary brackets through rotating shafts; locking plates are fixedly connected to two sides of the upper surface of the folding bracket; the inner side end positions of the upper surfaces of the two auxiliary brackets are respectively provided with a lock catch, and the lock catches are connected with corresponding lock plates; the folding bracket is connected with a main micro spray pipe through a plurality of bracket hoops; the auxiliary brackets are connected with auxiliary micro spray pipes through a plurality of bracket hoops; the left end of the main micro spray pipe is communicated with the left auxiliary micro spray pipe through a connecting hose; the right end of the main micro spray pipe is communicated with the right auxiliary micro spray pipe in sequence through a tee joint and a connecting hose; and plugs are fixedly communicated with the outer side ends of the two auxiliary micro spray pipes. The micro-spraying belt folding mechanism is arranged at the top of the frame through a folding bracket, and a micro-spraying belt in the micro-spraying belt folding mechanism is communicated with a water tank arranged on the frame. In the actual use process, the micro-jet pipe can be used for replacing the micro-jet belt.
Referring to fig. 5, the sprinkling irrigation system is further provided with a machine, 13, wherein the manipulator 13 is matched with a micro-sprinkling belt reel in the belt coiling device for use, and comprises a frame connecting frame 13-1, a bracket 13-2, a bracket 13-3, a guide wheel 13-4, a guide rail 13-5, a water outlet 13-6, a mounting frame 13-7, a butt joint 13-8, a telescopic outer pipe 13-9, a telescopic joint 13-10, a telescopic inner pipe 13-11, a water pipe 13-12, a valve 13-13, a water pump 13-14, a water pump mounting frame 13-15 and a fertilizer injection opening 13-16.
The left side of the upper surface of the frame connecting frame is fixedly connected with a bracket, the right side of the upper surface is fixedly connected with a bracket, and the lower end of the frame connecting frame is movably connected with a plurality of guide wheels; a water outlet is formed in the right side of the inner part of the frame connecting frame cavity, and a guide rail is arranged in the water outlet; the telescopic outer tube is positioned between the bracket and the bracket, the upper surface of the rack connecting frame is provided with an opposite interface, and the telescopic outer tube is arranged in the opposite interface; the top end of the telescopic outer tube is provided with a telescopic joint; a telescopic inner pipe is connected in the telescopic outer pipe in a sliding way; the top end of the telescopic inner tube is fixedly connected with a water pipe; the water pipe is also provided with a valve and a fertilizer injection port; the mounting frame is fixedly connected to the bracket, and the water pump mounting frame is fixedly connected to the mounting frame; the water pump fixed connection is on the water pump mounting bracket.
The manipulator further comprises a water hose 13-17, a guide roller 13-18, a top belt wheel 13-19, a lifting cylinder 13-20, a first pressing pipe 13-21, a bearing 13-21, a drainage wheel 13-22, a drainage motor 13-23, a butt joint lifting cylinder 13-24 and a second pressing pipe 13-25. Two guide rollers are arranged on the left side surface of the mounting frame; a top belt wheel is movably connected in the left side of the lower end of the frame connecting frame; a lifting cylinder is fixedly connected to the right side surface of the mounting frame; the output end of the lifting cylinder is fixedly connected with a first pressing pipe, and the lower end of the first pressing pipe is movably connected with a water draining wheel through a bearing; a drainage motor is fixedly connected to the side surface of the first pressure pipe, and the output end of the drainage motor is connected with the input end of the drainage wheel through a belt; the inner side surfaces of the bracket and the bracket are fixedly connected with a butt joint lifting cylinder; and the output ends of the butt joint lifting cylinders are fixedly connected with second pressing pipes.
In the robot system, the operation of laying the drip irrigation tape and the micro-sprinkling irrigation operation are carried out separately according to actual production requirements.
Claims (9)
1. The walking robot for the field sprinkling irrigation system is characterized by comprising a walking system, a driving system and a sprinkling irrigation system;
the walking system comprises a frame, wherein the frame comprises a main frame and a side frame, and the main frame is connected with the side frame through a telescopic mechanism; the walking system is of an X-shaped structure, a T-shaped structure or a 'Bu' -shaped structure; the lower ends of the main frame and the side frames are respectively provided with travelling wheels; a plurality of coiling devices are respectively arranged on the main frame and the side frames through connecting pieces, and micro-spraying tape reels are hung on the coiling devices;
the specific structure of the tape coiling device comprises a reel frame, a connecting frame, a micro-spray tape reel, a transmission mechanism, a tape coiling power motor, a tape pressing frame, a tape pressing wheel and a reel control box;
a connecting frame is fixedly connected to one side of the lower surface of the outer side of the reel frame;
one side of the lower surface of the connecting frame is movably connected with the micro-spraying belt reel;
the coiling power motor is fixedly connected to the outer side of the reel frame, and an output shaft of the coiling power motor is connected with a central shaft of the micro-spray coil through a transmission mechanism;
the lower side of the belt pressing frame is fixedly connected to the side surface of the upper surface of the connecting frame, and one side of the upper surface of the belt pressing frame is movably connected with a belt pressing wheel;
the outside of the reel control box is fixedly connected to the inside of the center of the reel frame;
the pinch roller is positioned on the right upper side of the micro-spray tape reel;
the telescopic mechanism specifically comprises a telescopic arm, a guide groove seat, a screw rod and a fixed end cover; the telescopic arm is transversely and movably connected in the guide groove seat;
the driving system comprises a walking driving mechanism, a rotation driving mechanism and a lifting driving mechanism:
the walking driving mechanism comprises a support plate arranged on the walking wheel, a rotating shaft, a walking driving motor, a walking transmission chain wheel group, a driving disc, a brake disc and a brake which are arranged on the wheel shaft of the walking wheel; the walking transmission chain wheel group is respectively connected with the walking driving motor and the driving disc for transmission through chain wheels;
the rotary driving mechanism comprises a rotary driving motor, a steering transmission gear set and a mounting seat, the mounting seat is arranged on the support plate through a connecting piece, a large gear in the steering transmission gear set is arranged on the rotating shaft, a small gear in the steering transmission gear set is sleeved on an output shaft of the rotary driving motor, and the large gear is meshed with the small gear for transmission;
the lifting driving mechanism comprises a lifting outer sleeve, a lifting inner sleeve, a lifting bevel gear set, a screw rod and a lifting driving motor; the screw rod is arranged at the top of the lifting inner sleeve, the bottom of the lifting inner sleeve is arranged on the mounting seat, the top of the lifting outer sleeve is connected with the frame through a connecting piece, the lifting inner sleeve is arranged in the lifting outer sleeve in a sliding manner, and the screw rod is connected with the lifting driving motor through a lifting bevel gear set;
the sprinkling irrigation system comprises a micro-spraying belt folding mechanism, wherein the micro-spraying belt folding mechanism is arranged at the top of the frame through a folding bracket, and a micro-spraying belt in the micro-spraying belt folding mechanism is communicated with a water tank arranged on the frame; the micro-spraying belt folding mechanism comprises a folding bracket, an auxiliary bracket, a rotating shaft, a lock catch, a locking plate, a main micro-spraying pipe and an auxiliary micro-spraying pipe; the left side and the right side of the folding bracket are hinged with auxiliary brackets through rotating shafts; locking plates are fixedly connected to two sides of the upper surface of the folding bracket; the inner side end positions of the upper surfaces of the two auxiliary brackets are respectively provided with a lock catch, and the lock catches are connected with corresponding lock plates; the folding bracket is connected with a main micro spray pipe through a plurality of bracket hoops, and the auxiliary bracket is connected with an auxiliary micro spray pipe through a plurality of bracket hoops;
the sprinkling irrigation system is also provided with a manipulator which is matched with the micro-sprinkling belt folding mechanism for use;
the main frame of the traveling system is provided with a main control box, a PLC controller is arranged in the main control box, and motors of all driving mechanisms are connected with the PLC controller to be controlled.
2. The walking robot for the field sprinkler irrigation system according to claim 1, wherein the walking system is of an X-shaped structure and comprises a main frame and a side frame which are arranged in an X-shaped structure, the central parts of the main frame and the side frame are hinged together, one end of the telescopic mechanism is hinged with the center of the main frame, and the other end of the telescopic mechanism is hinged with the middle and rear parts of the side frame, so that the movement of the side frame in the horizontal direction is realized; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
3. The walking robot for the field sprinkler irrigation system according to claim 1, wherein the walking system is of a T-shaped structure and comprises a main frame and a side frame which are arranged in the T-shaped structure, the side frame is vertically arranged at the central position of the main frame, the side frame is connected with the main frame through a telescopic mechanism, and the telescopic mechanism realizes the telescopic of the side frame in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
4. The walking robot for a field sprinkler irrigation system according to claim 1, wherein the walking system has a 'halberd' shape, and comprises a main frame and a side frame arranged in a 'halberd' shape, wherein one end of the side frame is hinged with the middle part of the main frame; one end of the telescopic mechanism is hinged with the center of the main frame, the other end of the telescopic mechanism is hinged with the middle part of the side frame, and the telescopic mechanism realizes the movement of the side frame in the horizontal direction; the lower parts of the main frame and the side frame are respectively provided with a micro-spraying belt reel, the main frame is provided with a storage battery for providing power for the driving mechanism, and the bottoms of the main frame and the side frame are respectively provided with travelling wheels.
5. The walking robot for a field sprinkler irrigation system according to claim 1, wherein the right side of the screw rod is movably connected in the guide groove seat through a fixed end cover, and the right side external thread of the screw rod is connected with the left side transverse internal thread of the telescopic arm.
6. The walking robot for a field sprinkler irrigation system according to claim 1, wherein the manipulator specifically comprises a frame connection frame, a bracket, a support, a guide wheel, a guide rail, a water outlet, a mounting frame, an opposite interface, a telescopic outer pipe, a telescopic joint, a telescopic inner pipe, a water pipe, a valve, a water pump mounting frame and a fertilizer injection port;
the left side of the upper surface of the frame connecting frame is fixedly connected with a bracket, the right side of the upper surface is fixedly connected with a bracket, and the lower end of the frame connecting frame is movably connected with a plurality of guide wheels; a water outlet is formed in the right side of the inner part of the frame connecting frame cavity, and a guide rail is arranged in the water outlet;
the telescopic outer tube is positioned between the bracket and the bracket, the upper surface of the rack connecting frame is provided with an opposite interface, and the telescopic outer tube is arranged in the opposite interface; the top end of the telescopic outer tube is provided with a telescopic joint; a telescopic inner pipe is connected in the telescopic outer pipe in a sliding way; the top end of the telescopic inner tube is fixedly connected with a water pipe; the water pipe is also provided with a valve and a fertilizer injection port; the mounting frame is fixedly connected to the bracket, and the water pump mounting frame is fixedly connected to the mounting frame; the water pump fixed connection is on the water pump mounting bracket.
7. The walking robot for a field sprinkler irrigation system according to claim 6, further comprising a water hose, a guide roller, a top belt wheel, a lifting cylinder, a first pressure pipe, a bearing, a water drainage wheel, a water drainage motor, a butt-joint lifting cylinder and a second pressure pipe;
two guide rollers are arranged on the left side surface of the mounting frame; a top belt wheel is movably connected in the left side of the lower end of the frame connecting frame; a lifting cylinder is fixedly connected to the right side surface of the mounting frame; the output end of the lifting cylinder is fixedly connected with a first pressing pipe, and the lower end of the first pressing pipe is movably connected with a water draining wheel through a bearing;
a drainage motor is fixedly connected to the side surface of the first pressure pipe, and the output end of the drainage motor is connected with the input end of the drainage wheel through a belt;
the water belt sequentially passes through a guide roller, a water drainage wheel, a top belt wheel, a guide rail and a guide wheel; one end of the water belt is communicated with the water pipe, and the other end of the water belt is communicated with the micro-spraying belt in the micro-spraying belt folding mechanism;
the inner side surfaces of the bracket and the bracket are fixedly connected with a butt joint lifting cylinder; and the output ends of the butt joint lifting cylinders are fixedly connected with second pressing pipes.
8. The walking robot for a field sprinkler irrigation system according to claim 1, wherein the micro-spray belt folding mechanism further comprises a bracket hoop, a tee joint, a plug and a connecting hose;
the left end of the main micro spray pipe is communicated with the left auxiliary micro spray pipe through a connecting hose;
the right end of the main micro spray pipe is communicated with the right auxiliary micro spray pipe in sequence through a tee joint and a connecting hose; plugs are fixedly communicated with the outer side ends of the two auxiliary micro spray pipes.
9. The walking robot for a field sprinkler irrigation system according to claim 1, wherein the total control box is wirelessly connected with an external remote controller to realize remote control of the entire robot by the remote controller.
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| CN201911060118.2A CN110720381B (en) | 2019-11-01 | 2019-11-01 | Walking robot for field sprinkling irrigation system |
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| CN111851290B (en) * | 2020-07-27 | 2021-10-15 | 内蒙古农业大学 | Geotechnical bridge railing concrete pouring device capable of shifting in four directions |
| CN114303896A (en) * | 2021-12-20 | 2022-04-12 | 江苏大学 | Self-walking pulse reel sprinkling machine and operation method |
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