CN112726715A - Channel cleaning robot based on crops are irrigated - Google Patents
Channel cleaning robot based on crops are irrigated Download PDFInfo
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- CN112726715A CN112726715A CN202011537393.1A CN202011537393A CN112726715A CN 112726715 A CN112726715 A CN 112726715A CN 202011537393 A CN202011537393 A CN 202011537393A CN 112726715 A CN112726715 A CN 112726715A
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- control
- shaft
- fixedly connected
- channel
- transmission
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/02—Conveying equipment mounted on a dredger
Abstract
The invention belongs to the technical field of agricultural robots, and particularly relates to a channel cleaning robot based on crop irrigation. According to the invention, the bottom end and the side wall of the channel can be cleaned by the water cleaning structure and the inclined cleaning mechanism, so that soil attached to the bottom wall or the side wall of the channel can be scraped, the scraped soil can be smoothly shoveled into the groove under the action of the fixed shovel, and then the soil in the groove can be cleaned and discharged under the action of the lifting assembly and the connecting cylinder.
Description
Technical Field
The invention belongs to the technical field of agricultural robots, and particularly relates to a channel cleaning robot based on crop irrigation.
Background
Irrigation channels are water channels connecting irrigation water sources and irrigation lands, and convey and distribute water quantities drawn from the water sources to various parts of irrigation areas, and the irrigation channels need to have a certain water passing capacity to meet the requirements of conveying or distributing irrigation water, and also need to have a certain water level to meet the requirements of controlling irrigation areas.
And present channel has soil to enter into the channel usually in the use, soil will pile up at the channel bottom after the channel is used for a long time, and the piling up of soil will make the water passing of channel, water delivery ability weaken greatly, can make the channel block up even when serious, this use that will seriously influence the channel, and when clearing up to the channel at present, the clearance process is comparatively difficult, this is mainly because soil piles up in the channel, will make soil adhere to inside the channel, the cohesion of soil and channel lateral wall or diapire is stronger, make soil difficult to separate.
To this end, we propose a channel cleaning robot based on crop irrigation to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems and provides a channel cleaning robot based on crop irrigation.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a channel clearance robot based on crops are irrigated, includes the connecting plate, the connecting plate bottom is equipped with a plurality of first pneumatic cylinders, first hydraulic cylinder bottom end fixedly connected with control panel, the control panel bottom is equipped with respectively inhales material mechanism, the clean mechanism of level and the clean mechanism of slope, the clean mechanism of slope is equipped with two, be equipped with link gear in the control panel, be connected through the link gear transmission between the clean mechanism of slope and the clean mechanism of level.
In foretell channel clearance robot based on crops irrigation, the clean mechanism of level comprises first cleaning roller, connecting axle, transmission shaft, spliced pole and worm wheel, the spliced pole top and control panel bottom fixed connection, first cleaning roller is equipped with two and coaxial settings, and two first cleaning roller rotates with two relative lateral walls of spliced pole respectively to be connected, be equipped with the control chamber in the spliced pole, the connecting axle rotates to be connected in the control intracavity, the connecting axle both ends respectively with two first cleaning roller fixed connection, just the worm wheel is connected with the transmission shaft meshing, just worm wheel axial fixed connection is on the connecting axle, the vertical and control chamber of transmission shaft axis rotates to be connected.
In foretell channel clearance robot based on crops irrigation, the clean mechanism of slope comprises second cleaning roller, coupling assembling, universal joint and control shaft, the control shaft rotates with the control panel to be connected, the control shaft is connected with coupling assembling through the universal joint, coupling assembling is connected with the second cleaning roller.
In foretell channel clearance robot based on crops irrigation, coupling assembling comprises fixed plate and first axis of rotation, fixed plate and control panel bottom fixed connection, first axis of rotation is connected with the fixed plate rotation, first axis of rotation one end and second cleaning roller fixed connection, the first axis of rotation other end with through universal joint and control shaft transmission be connected.
In foretell channel clearance robot based on crops irrigation, coupling assembling comprises control block, second axis of rotation and second pneumatic cylinder, the second pneumatic cylinder rotates to be connected in the control panel bottom, second pneumatic cylinder output rotates with the control block to be connected, the second axis of rotation runs through the control block and rotates with the control block to be connected, second axis of rotation one end is passed through the universal joint and is connected with the control shaft transmission, the second axis of rotation other end and the clean roller fixed connection of second.
In foretell channel clearance robot based on crops irrigation, be equipped with the transmission chamber in the control panel, link gear is located the transmission intracavity, link gear comprises first motor, drive belt, action wheel and follow driving wheel, first motor fixed connection control panel top, the transmission shaft run through the control panel and with first motor output fixed connection, action wheel and transmission shaft fixed connection, the control shaft top extend to the transmission intracavity and with from driving wheel fixed connection, the action wheel is connected through the transmission of drive belt between with the follow driving wheel.
In foretell channel clearance robot based on crops irrigate, inhale material mechanism and constitute by fixed shovel, connecting cylinder and lifting unit, the vertical setting of connecting cylinder, the connecting cylinder run through the control panel and with control panel fixed connection, connecting cylinder bottom and fixed shovel fixed connection, the lifting unit sets up inside the connecting cylinder.
In foretell channel clearance robot based on crops irrigate, one side lateral wall that fixed shovel is close to the clean mechanism of level sets up for the slope, just be equipped with the recess in the fixed shovel, connecting cylinder bottom and recess diapire fixed connection.
The invention has the beneficial effects that: set up the clean mechanism of water and slope and can realize clearing up the bottom and the lateral wall of channel, and then can scrape the earth of attaching to on channel diapire or lateral wall down, earth after scraping will be shoveled to the recess in the effect of fixed shovel is smooth down, then earth in the recess will realize clearing up the earth in the channel under the effect of promotion subassembly and connecting cylinder and discharge.
Through setting up the extension of second pneumatic cylinder self and shorten the inclination that realizes changing the second cleaning roller, and then can ensure that the device can adapt to the channel of different inclination, for example the channel that the lateral wall is the straight flange, or the U-shaped channel that the lateral wall inclination is different.
Drawings
FIG. 1 is a schematic structural view of a front view of an embodiment 1 of a channel cleaning robot based on crop irrigation according to the present invention;
FIG. 2 is a schematic structural view of a channel cleaning robot 1 based on crop irrigation according to an embodiment of the present invention, taken along the direction A-A in FIG. 1;
FIG. 3 is an enlarged view of the structure at B in FIG. 1;
FIG. 4 is a schematic side view of an embodiment 1 of a channel cleaning robot based on crop irrigation according to the present invention;
FIG. 5 is a schematic structural view of a front view of an embodiment 2 of a channel cleaning robot based on crop irrigation according to the present invention;
fig. 6 is an enlarged schematic view of C in fig. 5.
In the figure: 1 connecting plate, 2 first hydraulic cylinders, 3 control plates, 31 transmission cavities, 4 material suction mechanisms, 41 fixed shovels, 42 connecting cylinders, 43 lifting components, 431 lifting shafts, 432 rotating vortex blades, 44 grooves, 45 second motors, 46 material inlet ports, 47 material outlet pipes, 5 horizontal cleaning mechanisms, 51 first cleaning rollers, 52 connecting shafts, 53 transmission shafts, 54 connecting columns, 55 worm wheels, 56 control cavities, 6 inclined cleaning mechanisms, 61 second cleaning rollers, 62 connecting components, 621 fixed plates, 622 first rotating shafts, 623 control blocks, 624 second rotating shafts, 625 second hydraulic cylinders, 63 universal joints, 64 control shafts, 7 linkage mechanisms, 71 first motors, 72 transmission belts, 73 driving wheels and 74 driven wheels.
Detailed Description
The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1-4, a channel cleaning robot based on crop irrigation comprises a connecting plate 1, wherein the bottom end of the connecting plate 1 can be fixedly connected to a vehicle body such as a tractor, the whole driving device is driven to move by the movement of the vehicle body, the specific movement principle of the vehicle body is a technology disclosed in the field, and detailed description is omitted here.
The 1 bottom of connecting plate is equipped with a plurality of first pneumatic cylinders 2, 2 bottom fixedly connected with control panels 3 of first pneumatic cylinder.
Can realize adjusting the height of device through first pneumatic cylinder 2, control panel 3 bottom is equipped with respectively inhales material mechanism 4, the clean mechanism 5 of level and the clean mechanism 6 of slope, and the clean mechanism 6 of slope is equipped with two and sets up about the clean 5 symmetries of mechanism of level.
The surface of the first cleaning roller 51 is of a steel wire structure, the transmission shaft 53 can realize rotation of the connecting shaft 52 through the worm gear 55, the connecting shaft 52 rotates to drive the first cleaning roller 51 fixedly connected with the connecting shaft to rotate, the first cleaning roller 51 rotates to clean the bottom of the channel, and soil in the channel is prevented from being attached to the bottom wall of the channel.
The inclined cleaning mechanism 6 is composed of a second cleaning roller 61, a connecting assembly 62, a universal joint 63 and a control shaft 64, the axis of the control shaft 64 is vertically arranged and rotatably connected with the control plate 3, the control shaft 64 is connected with the connecting assembly 62 through the universal joint 63, and the connecting assembly 62 is connected with the second cleaning roller 61.
The connecting assembly 62 is composed of a fixing plate 621 and a first rotating shaft 622, the fixing plate 621 is fixedly connected with the bottom end of the control panel 3, the first rotating shaft 622 is rotatably connected with the fixing plate 621, one end of the first rotating shaft 622 is fixedly connected with the second cleaning roller 61, and the other end of the first rotating shaft 622 is in transmission connection with the control shaft 64 through a universal joint 63.
In-process control shaft 64 will drive first axis of rotation 622 through universal joint 63 and rotate, and first axis of rotation 622 will drive second cleaning roller 61 and rotate, and second cleaning roller 61 surface is the steel wire structure equally, realizes cleaning the channel lateral wall through the rotation of second cleaning roller 61, avoids soil to adhere to on the channel lateral wall.
A linkage mechanism 7 is arranged in the control plate 3, and the inclined cleaning mechanism 6 is in transmission connection with the horizontal cleaning mechanism 5 through the linkage mechanism 7.
Be equipped with transmission chamber 31 in the control panel 3, link gear 7 is located transmission chamber 31, link gear 7 is by first motor 71, the drive belt 72, action wheel 73 and follow driving wheel 74 are constituteed, first motor 71 fixed connection control panel 3 top, transmission shaft 53 run through control panel 3 and with first motor 71 output fixed connection, action wheel 73 and transmission shaft 53 fixed connection, control shaft 64 top extend to in transmission chamber 31 and with follow driving wheel 74 fixed connection, action wheel 73 is connected through drive belt 72 transmission between the driving wheel 74 and the follow driving wheel.
When the first motor 71 works, the first motor 71 will drive the transmission shaft 53 fixedly connected with it to rotate, the transmission shaft 53 will drive the driven wheel 74 to rotate through the driving wheel 73, and the driven wheel 74 will drive the control shaft 64 to rotate.
Inhale material mechanism 4 and constitute by fixed shovel 41, connecting cylinder 42 and lifting unit 43, the vertical setting of connecting cylinder 42, connecting cylinder 42 run through control panel 3 and with control panel 3 fixed connection, connecting cylinder 42 bottom and fixed shovel 41 fixed connection, lifting unit 43 sets up inside connecting cylinder 42.
The side wall of one side of the fixed shovel 41 close to the horizontal cleaning mechanism 5 is obliquely arranged, a groove 44 is arranged in the fixed shovel 41, and the bottom end of the connecting cylinder 42 is fixedly connected with the bottom wall of the groove 44.
The second motor 45 is fixedly connected to the top end of the connecting cylinder 42, the lifting assembly 43 is composed of a lifting shaft 431 and a rotating vortex blade 432, the lifting shaft 431 is rotatably connected to the inside of the connecting cylinder 42, the top end of the lifting shaft 431 is fixedly connected to the output end of the second motor 45, the rotating vortex blade 432 is located inside the connecting cylinder 42 and is slidably connected to the inner wall of the connecting cylinder 42, and the rotating vortex blade 432 is fixedly connected to the lifting shaft 431.
The feed inlet 46 that sets up with recess 44 intercommunication is equipped with to connecting cylinder 42 bottom, and the connecting cylinder 42 top is equipped with discharging pipe 47, realizes the ejection of compact through discharging pipe 47, and then realizes discharging the soil in the recess 44.
The operating principle of the present invention will now be described as follows:
in operation, the first motor 71 and the second motor 45 are controlled to operate, the first motor 71 will drive the transmission shaft 53 fixedly connected therewith to rotate, the transmission shaft 53 will drive the driven wheel 74 to rotate through the driving wheel 73, and the driven wheel 74 will drive the control shaft 64 to rotate.
The rotation of in-process transmission shaft 53 can realize connecting axle 52 through worm wheel 55, and connecting axle 52 rotates and will drive first cleaning roller 51 of fixed connection with it and rotate, and first cleaning roller 51 rotates and will clean the channel bottom, and then avoids the soil in the channel to adhere to at the channel diapire.
The control shaft 64 drives the first rotating shaft 622 to rotate through the universal joint 63, the first rotating shaft 622 drives the second cleaning roller 61 to rotate, the surface of the second cleaning roller 61 is also of a steel wire structure, cleaning of the side wall of the channel is achieved through rotation of the second cleaning roller 61, and soil is prevented from being attached to the side wall of the channel.
After being cleaned by the first cleaning roller 51 and the second cleaning roller 61, the soil will fall on the bottom of the channel, and the fixed shovel 41 will easily shovel the soil into the groove 44 when the fixed shovel 41 moves.
And second motor 45 will drive rotatory vortex leaf 432 through promoting the axle 431 this moment and rotate, and then realize that the soil in the recess 44 will realize constantly promoting along with rotatory vortex leaf 432's rotation, realize the ejection of compact until soil from discharging pipe 47, and then realize clearing up the channel.
Example 2
As shown in fig. 5 to 6, the present embodiment is different from embodiment 1 in that: the connecting assembly 62 comprises a control block 623, a second rotating shaft 624 and a second hydraulic cylinder 625, the second hydraulic cylinder 625 is rotatably connected to the bottom end of the control plate 3, the output end of the second hydraulic cylinder 625 is rotatably connected with the control block 623, the second rotating shaft 624 penetrates through the control block 623 and is rotatably connected with the control block 623, one end of the second rotating shaft 624 is in transmission connection with the control shaft 64 through a universal joint 63, and the other end of the second rotating shaft 624 is fixedly connected with the second cleaning roller 61.
The inclination angle of the second rotating shaft 624 can be continuously changed through the operation of the second hydraulic cylinder 625, so that the device can be adapted to channels with different inclination angles, for example, channels with straight side walls or U-shaped channels with different inclination angles of the side walls, and the side walls of the channels can be well cleaned.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a channel clearance robot based on crops are irrigated, includes connecting plate (1), its characterized in that, connecting plate (1) bottom is equipped with a plurality of first pneumatic cylinders (2), first pneumatic cylinder (2) bottom fixedly connected with control panel (3), control panel (3) bottom is equipped with respectively inhales material mechanism (4), the clean mechanism of level (5) and the clean mechanism of slope (6), the clean mechanism of slope (6) are equipped with two, be equipped with link gear (7) in control panel (3), be connected through link gear (7) transmission between the clean mechanism of slope (6) and the clean mechanism of level (5).
2. The channel cleaning robot based on crop irrigation is characterized in that the horizontal cleaning mechanism (5) consists of a first cleaning roller (51), a connecting shaft (52), a transmission shaft (53), a connecting column (54) and a worm gear (55), the top end of the connecting column (54) is fixedly connected with the bottom end of the control plate (3), the first cleaning roller (51) is provided with two cleaning rollers which are coaxially arranged, the two first cleaning rollers (51) are respectively and rotatably connected with two opposite side walls of the connecting column (54), a control cavity (56) is arranged in the connecting column (54), the connecting shaft (52) is rotatably connected in the control cavity (56), the two ends of the connecting shaft (52) are respectively and fixedly connected with the two first cleaning rollers (51), the worm gear (55) is meshed with the transmission shaft (53), and the worm gear (55) is axially and fixedly connected on the connecting shaft (52), the axis of the transmission shaft (53) is vertical, and the control cavity (56) is rotationally connected.
3. The crop irrigation based channel cleaning robot as claimed in claim 2, wherein the inclined cleaning mechanism (6) is composed of a second cleaning roller (61), a connecting assembly (62), a universal joint (63) and a control shaft (64), the control shaft (64) is rotatably connected with the control plate (3), the control shaft (64) is connected with the connecting assembly (62) through the universal joint (63), and the connecting assembly (62) is connected with the second cleaning roller (61).
4. The channel cleaning robot based on crop irrigation as claimed in claim 3, wherein the connecting assembly (62) is composed of a fixing plate (621) and a first rotating shaft (622), the fixing plate (621) is fixedly connected with the bottom end of the control plate (3), the first rotating shaft (622) is rotatably connected with the fixing plate (621), one end of the first rotating shaft (622) is fixedly connected with the second cleaning roller (61), and the other end of the first rotating shaft (622) is in transmission connection with the control shaft (64) through a universal joint (63).
5. The crop irrigation based channel cleaning robot as claimed in claim 3, wherein the connecting assembly (62) comprises a control block (623), a second rotating shaft (624) and a second hydraulic cylinder (625), the second hydraulic cylinder (625) is rotatably connected to the bottom end of the control plate (3), the output end of the second hydraulic cylinder (625) is rotatably connected to the control block (623), the second rotating shaft (624) penetrates through the control block (623) and is rotatably connected to the control block (623), one end of the second rotating shaft (624) is in transmission connection with the control shaft (64) through a universal joint (63), and the other end of the second rotating shaft (624) is fixedly connected to the second cleaning roller (61).
6. The crop irrigation based channel cleaning robot as claimed in claim 3, wherein a transmission cavity (31) is formed in the control panel (3), the linkage mechanism (7) is located in the transmission cavity (31), the linkage mechanism (7) is composed of a first motor (71), a transmission belt (72), a driving wheel (73) and a driven wheel (74), the first motor (71) is fixedly connected with the top end of the control panel (3), the transmission shaft (53) penetrates through the control panel (3) and is fixedly connected with the output end of the first motor (71), the driving wheel (73) is fixedly connected with the transmission shaft (53), the top end of the control shaft (64) extends into the transmission cavity (31) and is fixedly connected with the driven wheel (74), and the driving wheel (73) is in transmission connection with the driven wheel (74) through the transmission belt (72).
7. The channel cleaning robot based on crop irrigation is characterized in that the material suction mechanism (4) is composed of a fixed shovel (41), a connecting cylinder (42) and a lifting assembly (43), the connecting cylinder (42) is vertically arranged, the connecting cylinder (42) penetrates through the control panel (3) and is fixedly connected with the control panel (3), the bottom end of the connecting cylinder (42) is fixedly connected with the fixed shovel (41), and the lifting assembly (43) is arranged inside the connecting cylinder (42).
8. The channel cleaning robot based on crop irrigation is characterized in that a side wall of the fixed shovel (41) close to the horizontal cleaning mechanism (5) is obliquely arranged, a groove (44) is formed in the fixed shovel (41), and the bottom end of the connecting cylinder (42) is fixedly connected with the bottom wall of the groove (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011537393.1A CN112726715A (en) | 2020-12-23 | 2020-12-23 | Channel cleaning robot based on crops are irrigated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011537393.1A CN112726715A (en) | 2020-12-23 | 2020-12-23 | Channel cleaning robot based on crops are irrigated |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112726715A true CN112726715A (en) | 2021-04-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011537393.1A Withdrawn CN112726715A (en) | 2020-12-23 | 2020-12-23 | Channel cleaning robot based on crops are irrigated |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112726715A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113976561A (en) * | 2021-10-20 | 2022-01-28 | 广东平润建设工程有限公司 | Integrated cleaning equipment for water conservancy diversion canal |
-
2020
- 2020-12-23 CN CN202011537393.1A patent/CN112726715A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113976561A (en) * | 2021-10-20 | 2022-01-28 | 广东平润建设工程有限公司 | Integrated cleaning equipment for water conservancy diversion canal |
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Application publication date: 20210430 |
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| WW01 | Invention patent application withdrawn after publication |