Agricultural spraying robot

Abstract

The utility model discloses an agricultural spraying robot. The agricultural spraying robot comprises a chassis, a water tank, a first spray head and a spraying movement mechanism; the first nozzle is connected with the water tank which is arranged on the chassis; the spraying movement mechanism comprises a first telescopic assembly, a first sliding assembly and a second sliding assembly; the first sliding assembly is vertically arranged on the chassis; the second sliding assembly can slide in the z-axis direction through the first sliding assembly. The first telescopic assembly can slide in the y-axis direction through the second sliding assembly. The telescopic direction of the first telescopic assembly is perpendicular to the sliding direction of the second sliding assembly, and the first spray head is installed on the first telescopic assembly and can move in the x-axis direction through the first telescopic assembly. The first spray head can move from three degrees of freedom, pesticide spraying can be carried out on plants at different height positions or different distances, repeated operation can be reduced, the labor cost is reduced, and meanwhile pesticide poisoning of pesticide spraying personnel can be prevented by replacing manual pesticide spraying operation.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying robots, in particular to an agricultural spraying robot. Background Art

[0002] China is a major agricultural country with 1.8 billion mu of basic farmland, which requires a large amount of agricultural plant protection operations every year. Currently, unmanned spraying robots are used to replace manual spraying of pesticides. However, the existing spraying robots mainly spray from the top of the plant downwards, and the pesticides mainly cover the upper layer of the plant. The plants in the middle and lower parts are not easily sprayed, and manual secondary spraying is required.

[0003] Manual secondary spraying has the problems of high labor cost, repeated work, long working time and low work efficiency. At the same time, the manual spraying method cannot separate the pesticide from the person, which can easily cause poisoning of the sprayer. Utility Model Content

[0004] Aiming at the above problems, the utility model proposes an agricultural spraying robot.

[0005] The technical solution adopted by the utility model is as follows:

[0006] The present application provides an agricultural spraying robot, comprising a chassis, a water tank, a first spray head, and a spraying motion mechanism;

[0007] The first nozzle is connected to the water tank, and the water tank is arranged on the chassis;

[0008] The spraying motion mechanism includes a first telescopic assembly, a first sliding assembly and a second sliding assembly;

[0009] The first sliding assembly is vertically arranged on the chassis;

[0010] The second sliding component is horizontally arranged on the first sliding component, and the second sliding component can slide along the z-axis direction through the first sliding component;

[0011] The first telescopic component is horizontally arranged on the second sliding component, and the first telescopic component can slide along the y-axis direction through the second sliding component;

[0012] The telescopic direction of the first telescopic component is perpendicular to the sliding direction of the second sliding component. The first nozzle is installed on the first telescopic component, and the first nozzle can be moved along the x-axis direction through the first telescopic component.

[0013] The first spray head, the first telescopic assembly and the second sliding assembly also constitute a first spraying mechanism, and at least one first spraying mechanism is installed on the first sliding assembly.

[0014] In the existing technology, agricultural plant protection operations consume a lot of water, and handheld spraying operations combined with electric sprayers require more human resources. In addition, today's handheld plant protection machines have not been effectively planned, and cannot achieve intelligent development and refined management, resulting in high labor costs for manual spraying, repetitive operations, long actual working time, and low work efficiency.

[0015] The agricultural spraying robot provided in the present application can replace manual labor in pesticide spraying operations, and through the spraying motion mechanism, the first nozzle can move in three degrees of freedom in three-dimensional space, and can spray pesticides on plants at different heights or different distances. The spraying effect is good, and there is no need for manual secondary spraying, which is conducive to reducing repetitive operations and reducing high labor costs. At the same time, the spraying robot replaces manual labor in pesticide spraying operations, which can prevent pesticide poisoning among sprayers.

[0016] Furthermore, the spraying movement mechanism further includes a second telescopic assembly and a third sliding assembly, and the agricultural spraying robot further includes a second spray head connected to the water tank;

[0017] The third sliding component is horizontally arranged above the second sliding component, and the third sliding component is relatively fixed to the first sliding component;

[0018] The second telescopic component is horizontally arranged on the third sliding component, and the second telescopic component can slide along the y-axis direction through the third sliding component;

[0019] The telescopic direction of the second telescopic component is perpendicular to the sliding direction of the third sliding component, the second nozzle is mounted on the second telescopic component, and the second nozzle can be moved along the x-axis direction through the second telescopic component;

[0020] The second spray head, the second telescopic assembly and the third sliding assembly also constitute a second spraying mechanism, and at least one second spraying mechanism is installed on the first sliding assembly.

[0021] In actual use, the first spray head sprays the upper layer of the plant canopy through the first telescopic component, the first sliding component and the second sliding component; the second spray head sprays the middle and lower layers of the plant canopy through the second telescopic component and the third sliding component. This makes the spraying effect better and the utilization rate of pesticides is also improved. That is, in actual use, the second spraying mechanism is used to spray the upper layer of the canopy, and the first spraying mechanism is used to spray the middle and lower layers of the canopy. The number of the first spraying mechanism and the second spraying mechanism can be set according to the actual specifications of the plants to be sprayed. When multiple first spraying mechanisms or multiple second spraying mechanisms are set, the first spray heads of the multiple first spraying mechanisms or the second spray heads of the multiple second spraying mechanisms can spray from different directions.

[0022] In actual use, according to the distance between the agricultural spraying robot and the tree crown, the first telescopic component and the second telescopic component can respectively drive the first nozzle and the second nozzle to move, so as to carry out targeted pesticide spraying.

[0023] Furthermore, the first nozzle and the second nozzle may include a plurality of nozzles, and the first nozzle and the second nozzle are detachably mounted on the first telescopic component and the second telescopic component, respectively, and can be arranged as needed.

[0024] Furthermore, the first nozzle and the second nozzle are rotatably mounted on the first telescopic assembly and the second telescopic assembly respectively.

[0025] Furthermore, the first sliding assembly, the second sliding assembly and the third sliding assembly are all linear modules;

[0026] The linear module includes a motor, a linear guide rail and a slide seat. The slide seat is slidably arranged on the linear guide rail, and the motor is used to drive the slide seat to move.

[0027] The linear module can achieve high-speed, smooth and precise movement.

[0028] Furthermore, the linear module is a synchronous belt linear module or a ball screw linear module.

[0029] In actual use, the synchronous belt linear module is preferred. The synchronous belt linear module has a larger load-bearing capacity and is more affordable than the ball screw linear module.

[0030] Furthermore, the spraying motion mechanism further comprises a gantry-type mounting frame, and the mounting frame is fixed on the chassis;

[0031] The first sliding components include two groups, and the two groups of first sliding components are respectively located on two vertical arms of the gantry type mounting frame.

[0032] Furthermore, the linear guide rail of the first sliding assembly is fixed on the mounting frame;

[0033] Both ends of the linear guide rail of the second sliding assembly are respectively fixed to the slide seats of the two first sliding assemblies;

[0034] The linear guide rail of the third sliding assembly is fixed on the mounting frame.

[0035] Furthermore, the first telescopic assembly and the second telescopic assembly respectively include a mounting seat, a telescopic rod, and a power source for driving the telescopic rod to extend and retract;

[0036] The mounting seat is used to fix the telescopic rod on the third sliding assembly or the second sliding assembly;

[0037] The first nozzle and the second nozzle are respectively fixed on the telescopic rods of the first telescopic assembly and the second telescopic assembly.

[0038] Furthermore, the power source for driving the telescopic rod to extend and retract is a servo motor, the output end of the servo motor is connected to a gear, the telescopic rod is a rack, the rack is meshed with the gear, and when the motor drives the gear to rotate, the gear drives the rack to perform telescopic movement.

[0039] In actual use, the telescopic component can also adopt a turbine worm gear structure to achieve telescopic movement.

[0040] Furthermore, the first telescopic assembly and the second telescopic assembly are fixed on the sliding seat of the third sliding assembly or the second sliding assembly through the mounting seat.

[0041] Furthermore, the agricultural spraying robot also includes an image acquisition device and a GPS navigation device respectively connected to the controller by electrical signals;

[0042] The image acquisition device is used to identify the size of the plant to be sprayed with pesticide;

[0043] The GPS navigation device is used to implement automatic positioning and navigation.

[0044] Furthermore, the chassis is an off-road wheeled chassis or a crawler chassis, preferably a crawler chassis;

[0045] The driving element of the chassis is a diesel engine.

[0046] Furthermore, the agricultural spraying robot also includes a controller, which is also used to control the movement of the agricultural spraying robot according to the GPS navigation device.

[0047] When the image acquisition device identifies the plant to be sprayed with pesticides and the plant is located in the middle of the image acquisition field of view, the controller controls the spraying robot to stop moving and controls the first spraying mechanism and the second spraying mechanism to spray the pesticides. When spraying pesticides, the first spraying mechanism and the second spraying mechanism can spray at the same time or in sequence. When the first spraying mechanism needs to spray in layers, it sprays in layers from top to bottom or from bottom to top.

[0048] The spraying robot provided in this application is in line with the existing development trend of smart agriculture. The equipment can intelligently drive automatically and automatically protect plants, can control automatic height management, and can better solve the low labor efficiency and facilitate later management.

[0049] Furthermore, the capacity of the water tank is 300L~600L. A large-capacity water tank can meet the needs of plant protection in a large area with higher efficiency.

[0050] The beneficial effects of the utility model are:

[0051] (1) The agricultural spraying robot provided in this application can replace manual labor in pesticide spraying operations, and through the spraying motion mechanism, the first spray head can move in three degrees of freedom in three-dimensional space, and can spray pesticides on plants at different heights or different distances. The spraying effect is good, and there is no need for manual secondary spraying, which is conducive to reducing repeated operations and reducing high labor costs. At the same time, the spraying robot replaces manual labor in pesticide spraying operations, which can prevent pesticide poisoning among sprayers.

[0052] (2) The second spraying mechanism is used to spray the upper layer of the tree crown, and the first spraying mechanism is used to spray the middle and lower layers of the tree crown. The number of the first spraying mechanism and the second spraying mechanism can be set according to the actual specifications and dimensions of the plants to be sprayed. When multiple first spraying mechanisms or multiple second spraying mechanisms are set, the first nozzles of the multiple first spraying mechanisms or the second nozzles of the multiple second spraying mechanisms can spray from different directions.

[0053] (3) The linear module can achieve high-speed, smooth and precise movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of the first axis side structure of the agricultural spraying robot according to an embodiment of the utility model;

[0055] Figure 2 yes Figure 1 A is a schematic diagram of the partially enlarged structure of the middle part;

[0056] Figure 3 It is a schematic diagram of the second axis side structure of the agricultural spraying robot in an embodiment of the utility model.

[0057] The reference numerals in the figures are:

[0058] 10. chassis; 110. diesel engine; 20. water tank; 30. first nozzle; 40. spraying movement mechanism; 410. first telescopic assembly; 420. first sliding assembly; 430. second sliding assembly; 440. second telescopic assembly; 450. third sliding assembly; 460. mounting frame; 461. vertical arm; 401. motor; 402. linear guide rail; 403. slide seat; 404. mounting seat; 405. telescopic rod; 50. second nozzle; 60. image acquisition device; 70. GPS navigation device; 80. first spraying mechanism; 90. second spraying mechanism. DETAILED DESCRIPTION

[0059] The utility model is described in detail below in conjunction with the accompanying drawings.

[0060] like Figure 1~Figure 3As shown, the present application provides an agricultural spraying robot, including a chassis 10, a water tank 20, a first spray head 30 and a spraying motion mechanism 40;

[0061] The first nozzle 30 is connected to the water tank 20, and the water tank 20 is arranged on the chassis 10;

[0062] The spraying motion mechanism 40 includes a first telescopic assembly 410, a first sliding assembly 420 and a second sliding assembly 430;

[0063] The first sliding assembly 420 is vertically disposed on the chassis 10;

[0064] The second sliding assembly 430 is horizontally disposed on the first sliding assembly 420, and the second sliding assembly 430 can slide along the z-axis direction through the first sliding assembly 420;

[0065] The first telescopic assembly 410 is horizontally disposed on the second sliding assembly 430, and the first telescopic assembly 410 can slide along the y-axis direction through the second sliding assembly 430;

[0066] The telescopic direction of the first telescopic assembly 410 is perpendicular to the sliding direction of the second sliding assembly 430. The first nozzle 30 is mounted on the first telescopic assembly 410. The first nozzle 30 can move along the x-axis direction through the first telescopic assembly 410.

[0067] The first spray head 30 , the first telescopic assembly 410 and the second sliding assembly 430 further constitute a first spray mechanism 80 , and a first spray mechanism 80 is mounted on the first sliding assembly 420 .

[0068] In the existing technology, agricultural plant protection operations consume a lot of water, and handheld spraying operations combined with electric sprayers require more human resources. In addition, today's handheld plant protection machines have not been effectively planned, and cannot achieve intelligent development and refined management, resulting in high labor costs for manual spraying, repetitive operations, long actual working time, and low work efficiency.

[0069] The agricultural spraying robot provided in the present application can replace manual labor in pesticide spraying operations, and through the spraying motion mechanism 40, the first nozzle 30 can move in three degrees of freedom in three-dimensional space, and can spray pesticides on plants at different heights or different distances. The spraying effect is good, and there is no need for manual secondary spraying, which is conducive to reducing repetitive operations and reducing high labor costs. At the same time, the spraying robot replaces manual labor in pesticide spraying operations, which can prevent pesticide poisoning among sprayers.

[0070] In this embodiment, the spraying motion mechanism 40 further includes a second telescopic assembly 440 and a third sliding assembly 450 , and the agricultural spraying robot further includes a second spray head 50 connected to the water tank 20 ;

[0071] The third sliding assembly 450 is horizontally disposed above the second sliding assembly 430, and the third sliding assembly 450 is relatively fixed to the first sliding assembly 420;

[0072] The second telescopic assembly 440 is horizontally disposed on the third sliding assembly 450, and the second telescopic assembly 440 can slide along the y-axis direction through the third sliding assembly 450;

[0073] The telescopic direction of the second telescopic assembly 440 is perpendicular to the sliding direction of the third sliding assembly 450. The second nozzle 50 is mounted on the second telescopic assembly 440. The second nozzle 50 can move along the x-axis direction through the second telescopic assembly 440.

[0074] The second spray head 50 , the second telescopic assembly 440 and the third sliding assembly 450 further constitute a second spray mechanism 90 . A second spray mechanism 90 is mounted on the first sliding assembly 420 .

[0075] In actual use, the first spray head 30 sprays the upper layer of the plant canopy through the first telescopic component 410, the first sliding component 420 and the second sliding component 430; the second spray head 50 sprays the middle and lower layers of the plant canopy through the second telescopic component 440 and the third sliding component 450. This makes the spraying effect better and the utilization rate of pesticides is also improved. That is, in actual use, the second spraying mechanism 90 is used to spray the upper layer of the canopy, and the first spraying mechanism 80 is used to spray the middle and lower layers of the canopy. The number of the first spraying mechanism 80 and the second spraying mechanism 90 can be set according to the actual specifications of the plants to be sprayed. When multiple first spraying mechanisms 80 or multiple second spraying mechanisms 90 are set, the first spray heads 30 of multiple first spraying mechanisms 80 or the second spray heads 50 of multiple second spraying mechanisms 90 can spray from different directions.

[0076] In actual use, according to the distance between the agricultural spraying robot and the tree crown, the first telescopic component 410 and the second telescopic component 440 can respectively drive the first nozzle 30 and the second nozzle 50 to move, so as to carry out targeted pesticide spraying.

[0077] In other embodiments, the first spraying mechanism 80 and the second spraying mechanism 90 may include a plurality of them.

[0078] In this embodiment, the first nozzle 30 and the second nozzle 50 are rotatably mounted on the first telescopic assembly 410 and the second telescopic assembly 440 , respectively.

[0079] In this embodiment, the first sliding assembly 420 , the second sliding assembly 430 , and the third sliding assembly 450 are all linear modules;

[0080] The linear module includes a motor 401 , a linear guide rail 402 and a slide 403 . The slide 403 is slidably disposed on the linear guide rail 402 , and the motor 401 is used to drive the slide 403 to move.

[0081] The linear module can achieve high-speed, smooth and precise movement.

[0082] In this embodiment, the linear module is a synchronous belt linear module.

[0083] In other embodiments, the linear module may also be a ball screw linear module, which can achieve a self-locking function, and is more conducive to stable locking when the sliding component stops moving.

[0084] In this embodiment, the spraying motion mechanism 40 further includes a gantry-type mounting frame 460 , and the mounting frame 460 is fixed on the chassis 10 ;

[0085] The first sliding assembly 420 includes two groups, and the two groups of first sliding assemblies 420 are respectively located on the two vertical arms 461 of the gantry type mounting frame 460 .

[0086] In this embodiment, the linear guide rail 402 of the first sliding assembly 420 is fixed on the mounting frame 460;

[0087] Both ends of the linear guide rail 402 of the second sliding assembly are respectively fixed to the slide seats 403 of the two first sliding assemblies 420;

[0088] The linear guide rail 402 of the third sliding assembly 450 is fixed on the mounting frame 460 .

[0089] In this embodiment, the first telescopic assembly 410 and the second telescopic assembly 440 respectively include a mounting seat 404, a telescopic rod 405, and a power source for driving the telescopic rod 405 to extend and retract;

[0090] The mounting seat 404 is used to fix the telescopic rod 405 on the third sliding assembly 450 or the second sliding assembly 430;

[0091] The first nozzle 30 and the second nozzle 50 are respectively fixed on the telescopic rod 405 of the first telescopic assembly 410 and the second telescopic assembly 440 .

[0092] In this embodiment, the power source for driving the telescopic rod 405 to extend and retract is the motor 401 .

[0093] In this embodiment, the power source for driving the telescopic rod 405 to extend and retract is the motor 401. The output end of the motor 401 is connected to a gear. The telescopic rod 405 is a rack. The rack is meshed with the gear. When the motor 401 drives the gear to rotate, the gear drives the rack to perform telescopic movement.

[0094] In actual use, the telescopic component can also adopt a turbine worm gear structure to achieve telescopic movement.

[0095] In this embodiment, the first telescopic assembly 410 and the second telescopic assembly 440 are fixed on the third sliding assembly 450 or the sliding seat 403 of the second sliding assembly 430 via the mounting seat 404 .

[0096] In this embodiment, the agricultural spraying robot further includes an image acquisition device 60 and a GPS navigation device 70 which are respectively connected to the controller by electrical signals;

[0097] The image acquisition device 60 is used to identify the size of the plant to be sprayed with pesticides;

[0098] The GPS navigation device 70 is used to implement automatic positioning and navigation.

[0099] In this embodiment, the chassis 10 is an off-road wheeled chassis; in other embodiments, the chassis 10 may also be a tracked chassis.

[0100] The driving element of the chassis 10 is a diesel engine 110 .

[0101] In this embodiment, the agricultural spraying robot further includes a controller, which is further used to control the movement of the agricultural spraying robot according to the GPS navigation device 70.

[0102] When the image acquisition device 60 identifies the plant to be sprayed with pesticides and the plant is located in the middle of the image acquisition field of view, the controller controls the spraying robot to stop moving, and controls the first spraying mechanism 80 and the second spraying mechanism 90 to spray pesticides. When spraying pesticides, the first spraying mechanism 80 and the second spraying mechanism 90 can spray at the same time or in sequence. When the first spraying mechanism 80 needs to spray in layers, it sprays in layers from top to bottom or from bottom to top.

[0103] The spraying robot provided in this application is in line with the existing development trend of smart agriculture. The equipment can intelligently drive automatically and automatically protect plants, can control automatic height management, and can better solve the low labor efficiency and facilitate later management.

[0104] In this embodiment, the capacity of the water tank 20 is 500 L. A large-capacity water tank 20 can meet the needs of plant protection in a large area with higher efficiency.

[0105] The method for using the spraying robot provided in this application includes:

[0106] S1. Set the walking path on the spraying robot according to the GPS navigation device 70;

[0107] S2. When the spraying robot is walking, the image acquisition device 60 is turned on, and the image acquisition device 60 is used to identify the position of the plant to be sprayed;

[0108] S3. When the plant is located at a set position of the image acquisition field of view, the controller controls the first spraying mechanism 80 and the second spraying mechanism 90 to spray pesticides;

[0109] S4. After spraying is completed, the first telescopic assembly 410 and the second telescopic assembly 440 are retracted, and the spraying robot continues to move forward to perform plant protection operations in sequence.

[0110] The above description is only a preferred embodiment of the utility model, and does not limit the patent protection scope of the utility model. Any equivalent structural transformation made using the contents of the utility model specification and drawings, directly or indirectly used in other related technical fields, is also included in the protection scope of the utility model.

Claims

1. An agricultural spraying robot, characterized in that: It includes a chassis, a water tank, a first nozzle and a spraying movement mechanism; The first nozzle is connected to the water tank, and the water tank is arranged on the chassis; The spraying motion mechanism includes a first telescopic assembly, a first sliding assembly and a second sliding assembly; The first sliding assembly is vertically arranged on the chassis; The second sliding component is horizontally arranged on the first sliding component, and the second sliding component can slide along the z-axis direction through the first sliding component; The first telescopic component is horizontally arranged on the second sliding component, and the first telescopic component can slide along the y-axis direction through the second sliding component; The telescopic direction of the first telescopic component is perpendicular to the sliding direction of the second sliding component. The first nozzle is installed on the first telescopic component, and the first nozzle can be moved along the x-axis direction through the first telescopic component. The first spray head, the first telescopic assembly and the second sliding assembly also constitute a first spraying mechanism, and at least one first spraying mechanism is installed on the first sliding assembly.

2. An agricultural spraying robot as claimed in claim 1, characterized in that: The spraying motion mechanism further includes a second telescopic assembly and a third sliding assembly, and the agricultural spraying robot further includes a second spray head connected to the water tank; The third sliding assembly is horizontally arranged above the second sliding assembly, and the third sliding assembly is relatively fixed to the first sliding assembly; The second telescopic component is horizontally arranged on the third sliding component, and the second telescopic component can slide along the y-axis direction through the third sliding component; The telescopic direction of the second telescopic component is perpendicular to the sliding direction of the third sliding component, the second nozzle is mounted on the second telescopic component, and the second nozzle can be moved along the x-axis direction through the second telescopic component; The second spray head, the second telescopic assembly and the third sliding assembly also constitute a second spraying mechanism, and at least one second spraying mechanism is installed on the first sliding assembly.

3. An agricultural spraying robot as claimed in claim 2, characterized in that: The first sliding assembly, the second sliding assembly and the third sliding assembly are all linear modules; The linear module includes a motor, a linear guide rail and a slide seat. The slide seat is slidably arranged on the linear guide rail, and the motor is used to drive the slide seat to move.

4. An agricultural spraying robot as claimed in claim 3, characterized in that: The linear module is a synchronous belt linear module or a ball screw linear module.

5. An agricultural spraying robot as claimed in claim 3, characterized in that: The spraying motion mechanism further comprises a gantry-type mounting frame, and the mounting frame is fixed on the chassis; The first sliding components include two groups, and the two groups of first sliding components are respectively located on two vertical arms of the gantry type mounting frame.

6. An agricultural spraying robot as claimed in claim 5, characterized in that: The linear guide rail of the first sliding assembly is fixed on the mounting frame; Both ends of the linear guide rail of the second sliding assembly are respectively fixed to the slide seats of the two first sliding assemblies; The linear guide rail of the third sliding assembly is fixed on the mounting frame.

7. An agricultural spraying robot as claimed in claim 2, characterized in that: The first telescopic assembly and the second telescopic assembly respectively include a mounting seat, a telescopic rod, and a power source for driving the telescopic rod to extend and retract; The mounting seat is used to fix the telescopic rod on the third sliding assembly or the second sliding assembly; The first nozzle and the second nozzle are respectively fixed on the telescopic rods of the first telescopic assembly and the second telescopic assembly.

8. The agricultural spraying robot according to claim 1, characterized in that: The agricultural spraying robot also includes a controller and an image acquisition device and a GPS navigation device respectively connected to the controller by electrical signals; The image acquisition device is used to identify the size of the plant to be sprayed with pesticide; The GPS navigation device is used to implement automatic positioning and navigation.

9. The agricultural spraying robot according to claim 1, characterized in that: The chassis is an off-road wheeled chassis or a crawler chassis; The driving element of the chassis is a diesel engine.

10. The agricultural spraying robot according to claim 1, characterized in that: The capacity of the water tank is 300L~600L.

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