A spraying robot for solanaceous vegetables and a method for using the same

Abstract

The present application relates to a kind of medicine spraying robot for solanaceous vegetables and its use method, and the medicine spraying robot includes the rack with walking track on bottom surface, two square tubes slidably connected on the rack and moving towards each other, and several spray heads arranged in height direction on the square tube and swing synchronously, water pipe connecting port in communication with water inlet pipe is further provided on the spray head, and air jet head for spraying air to leaf blade is further fixed on the spray head.The present application controls the up and down segmented variable speed swing of spray head during spraying process by adjusting the rotating speed of double-shaft swing motor, controls the swing amplitude of spray head by adjusting the maximum distance of yoke frame reciprocating motion by connecting shaft shoulder screw with different thread holes, and generates high-pressure airflow by air compressor, air inlet pipe and air jet head, disturbs leaf blade, improves the coverage rate of mist droplet on the back of leaf blade, and enhances the mist droplet deposition consistency of closed canopy of facility solanaceous vegetables.

Description

Technical Field

[0001] This invention relates to the field of machinery, and more particularly to the field of agricultural machinery technology, specifically to a spraying robot for solanaceous vegetables and its method of use. Background Technology

[0002] In recent years, my country's facility agriculture has developed rapidly, with the area of ​​greenhouse cultivation ranking first in the world. Greenhouses can improve the utilization rate of agricultural resources and the yield and quality of agricultural products. They are a method to ensure a significant increase in the output of vegetable and fruit industries and an important way to solve the problems of modern agricultural development, resources, and the environment.

[0003] In the hot, humid, and enclosed environment of greenhouses, pest and disease problems are particularly severe. Currently, chemical control is usually achieved by spraying pesticides. However, due to the high labor intensity, low production efficiency, uneven spraying, and harm to human health associated with traditional manual spraying, spraying operations are gradually being replaced by robots.

[0004] Patent document CN113841672B discloses a variable-distance, height-adjustable plant protection robot for multi-span greenhouses and its control method, relating to the field of intelligent equipment technology for facility agriculture. The robot includes: a walking device; a bilateral moving variable-distance device disposed at the traveling end of the walking device; and a segmented spraying device mounted on the bilateral moving variable-distance device. The bilateral moving variable-distance device allows for pushing and pulling of the spraying device, adjusting the distance between the spraying device and the crop. The segmented spraying device enables segmented spraying at different heights. Furthermore, after the spraying distance is adjusted, the segmented spraying device can be controlled to spray in segments according to the crop height, improving pesticide utilization and achieving efficient and intelligent spraying within greenhouses at different crop heights and growth stages.

[0005] However, the variable-distance height-adjustable plant protection robot for multi-span greenhouses still has the following problems: First, the spraying effect on the underside of leaves is poor, especially for solanaceous vegetables in greenhouses with lush foliage that are prone to forming a closed canopy. After spraying, the amount of droplets deposited on the underside of the leaves is much less than that on the front side of the leaves. Second, the spray bar is prone to shaking, which leads to uneven spraying of pesticides and affects the overall spraying effect. Summary of the Invention

[0006] This invention addresses the shortcomings of existing technologies by providing a spraying robot for solanaceous vegetables and its usage method, which improves the droplet coverage on the underside of leaves, enhances the consistency of droplet deposition in the closed canopy of greenhouse solanaceous vegetables, and effectively prevents nozzle vibration.

[0007] The present invention is achieved through the following technical solution: a spraying robot for solanaceous vegetables, comprising a frame with a walking track on the bottom surface, two square tubes that slide laterally on the frame and move towards each other, and a plurality of nozzles arranged along the height direction on the square tubes and swinging synchronously. Each nozzle is also provided with a water pipe connection port connected to a water inlet pipe, and an air jet head for spraying air onto the leaves is also fixedly connected to the nozzle.

[0008] In use, the walking track moves the frame to the position where spraying is needed, and then moves the two square tubes towards and away from each other to adjust the distance between the plant and the nozzle. The pesticide solution is then delivered to the nozzle through the water inlet pipe and sprayed onto the plant from the nozzle nozzle. At the same time, several nozzles are driven to swing up and down synchronously, and high-pressure gas is ejected through the jet nozzle. The ejected airflow can disturb the leaves, increase the contact area between the underside of the leaves and the droplets, thereby improving the droplet coverage on the underside of the leaves and enhancing the consistency of droplet deposition in the closed canopy of greenhouse solanaceous vegetables.

[0009] Preferably, the frame is axially connected to two lead screws that correspond to the square tube and both extend laterally. A dual-axis output motor is provided between the two lead screws to drive the two lead screws to rotate simultaneously. A slide is threaded onto the lead screw, and the threads on the two lead screws have opposite directions. The square tube is fixedly connected to the corresponding slide.

[0010] In use, this preferred solution drives a dual-axis output motor to rotate, which in turn drives a lead screw to rotate, thereby causing the two slides to move towards or away from each other, that is, causing the two square tubes to move towards or away from each other, thus adjusting the distance between the plant and the nozzle.

[0011] Preferably, the frame is also fixedly connected to an optical axis that corresponds to the slide and passes through the slide laterally.

[0012] This preferred solution uses the setting of the optical axis to limit the vibration of the slide table.

[0013] Preferably, the square tube is also provided with a rack extending along the height direction. The nozzle is axially connected to the square tube via a mounting shaft. A gear that is fastened to the nozzle and meshes with the rack is also sleeved on the mounting shaft. The bottom end of the rack is fixed to the yoke frame of the Scottish yoke mechanism. A telescopic universal joint is also connected to the eccentric wheel of the Scottish yoke mechanism. The ends of the two telescopic universal joints away from the eccentric wheel are respectively connected to the two output shafts of the dual-axis swing motor.

[0014] In use, this preferred solution converts the linear reciprocating motion of the rack into the up-and-down reciprocating oscillation of the nozzle through the meshing motion of the rack and gear. During spraying operations, the up-and-down oscillation of the nozzle can be controlled by adjusting the speed of the dual-axis oscillating motor, depending on the specific growth condition of the closed canopy of the solanaceous vegetables in the facility.

[0015] Preferably, the eccentric wheel of the Scottish yoke mechanism is provided with multiple threaded holes with different eccentricities and shoulder screws that are threadedly connected to the threaded holes, and the yoke is connected to the eccentric wheel through the shoulder screws.

[0016] This preferred solution controls the oscillation amplitude of the nozzle by adjusting the connection of the shoulder screw to different threaded holes, thereby changing the maximum distance of the yoke's reciprocating motion.

[0017] Preferably, the square tube is fixedly connected to a C-shaped groove that extends along the height direction and has its opening on the side. A double-headed internally threaded cylindrical pin is provided between the C-shaped groove and the rack. A guide wheel with a diameter adapted to the width of the inner cavity of the C-shaped groove is provided in the C-shaped groove. A screw rod that is threadedly connected to the double-headed internally threaded cylindrical pin is fixedly connected to the guide wheel. The rack is threadedly connected to the double-headed internally threaded cylindrical pin by a cylindrical head screw.

[0018] This preferred solution uses the combination of C-shaped grooves and guide wheels to limit the rack's offset in the lateral and longitudinal directions.

[0019] Preferably, the nozzle is also provided with a ball valve located between the nozzle and the water pipe connection port. The end of the nozzle away from the nozzle is fixedly connected to a ring that is coaxial with the gear and is annular. A sleeve extending into the ring and fastened to the ring is provided on the end face of the gear. The mounting shaft is connected to the gear and the sleeve through a bearing.

[0020] This preferred design facilitates the connection between the gear and the nozzle through the use of a sleeve and a retaining ring.

[0021] Preferably, the frame is also provided with a protective groove, in which the lead screw, slide table, dual-axis output motor and dual-axis swing motor are all located. The bottom plate of the square tube is also provided with four rollers whose axes extend along the height direction and are arranged in a rectangular pattern. The circumferential surface of the rollers touches the inner wall of the protective groove.

[0022] This preferred solution uses the rollers to guide the sprayer while limiting the vibration of the square tube, thus limiting the vibration of the nozzle in the direction the spraying robot is traveling.

[0023] Preferably, the frame is also provided with a medicine tank connected to the water inlet pipe, the water inlet pipe is connected to a number of nozzles from bottom to top, and the water inlet pipe is provided with a liquid pump.

[0024] This preferred solution uses a single water inlet pipe to connect multiple nozzles, thereby reducing the number of water inlet pipes used and avoiding the clutter caused by multiple water inlet pipes.

[0025] A method for using a spraying robot for solanaceous vegetables includes the following steps: a walking track moves the frame to the position where spraying is required, then a dual-axis output motor is driven to rotate, which in turn drives a lead screw to rotate, thereby causing two sliding platforms to move towards or away from each other, i.e., causing two square tubes to move towards or away from each other, thus adjusting the distance between the plant and the nozzle. Then, the pesticide solution is delivered to the nozzle through the water inlet pipe and sprayed onto the plant from the nozzle nozzle. At the same time, a dual-axis swing motor is driven to drive a rack to reciprocate along the height direction through a telescopic universal joint and a Scottish yoke mechanism, thereby causing the gear to rotate. The rotation of the gear causes the nozzle to swing. Simultaneously, high-pressure gas is ejected through the jet nozzle. The ejected airflow can disturb the leaves, increasing the contact area between the underside of the leaves and the droplets, thereby improving the droplet coverage on the underside of the leaves and enhancing the consistency of droplet deposition in the closed canopy of solanaceous vegetables in greenhouses.

[0026] The beneficial effects of this invention are as follows:

[0027] (1) By adjusting the speed of the dual-axis swing motor, the nozzle can be controlled to swing up and down in segments with varying speeds during the spraying operation; by adjusting the connection between the shoulder screw and different threaded holes, the maximum distance of the yoke reciprocating motion can be changed, thereby controlling the swing amplitude of the nozzle; by generating high-pressure airflow through the air compressor, air inlet pipe and jet nozzle, the blades are disturbed, which improves the droplet coverage on the back of the blades and enhances the consistency of droplet deposition in the closed canopy of solanaceous vegetables in the facility.

[0028] (2) The rotational motion of the dual-axis swing motor is converted into the linear reciprocating motion of the rack through the Scottish yoke mechanism, and multiple nozzles are synchronously swinging up and down through the meshing of the rack and multiple gears. Finally, the movement of multiple nozzles is controlled by one motor through the telescopic universal joint, which reduces production costs and facilitates control.

[0029] (3) By setting rollers and limiting grooves, the vibration of the nozzle in the direction of the spraying robot is limited, which reduces the randomness of pesticide spraying and improves the overall spraying effect.

[0030] (4) By setting the screw slide structure, the appropriate spraying distance can be adjusted to achieve precise target spraying; by controlling the number of nozzles opened, the appropriate spraying height can be adjusted, which is suitable for different growth cycles of greenhouse solanaceous vegetables. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 This is a top view of the present invention;

[0033] Figure 3 This is a schematic diagram of the pitch-changing device structure of the present invention;

[0034] Figure 4 This is a schematic diagram of the swing device structure of the present invention;

[0035] Figure 5 for Figure 4 A magnified view of part A in the middle;

[0036] Figure 6 for Figure 4 A schematic diagram of the structure of part A;

[0037] Figure 7 This is a schematic diagram of the Scottish yoke mechanism of the present invention;

[0038] Figure 8 This is a schematic diagram of the connection between the shoulder screw and the eccentric wheel of the present invention;

[0039] Figure 9 This is a schematic diagram of the rack straightening device of the present invention;

[0040] Figure 10 This is a schematic diagram of the anti-shake device structure of the present invention;

[0041] As shown in the figure:

[0042] 1. Walking track; 2. Frame; 3. Medicine tank; 4. Liquid pump; 5. Water inlet pipe; 6. Pitch converter; 61. Dual-axis output motor; 62. Slide table; 63. Coupling; 64. Optical shaft; 65. Lead screw; 7. Swinging device; 71. Dual-axis swing motor; 72. Telescopic universal joint; 73. Scottish yoke mechanism; 731. Yoke; 732. Eccentric wheel; 733. Housing; 734. Shoulder screw; 735. Threaded hole; 74. Rack; 75. Gear, 751, Sleeve, 76, Rack straightener, 761, Cylindrical head screw, 762, Double-ended internal thread cylindrical pin, 763, Guide wheel, 764, C-shaped groove, 77, Square tube, 771, Mounting shaft, 78, Bearing, 79, Nozzle, 791, Snap ring, 792, Ball valve, 793, Water pipe connector, 794, Air jet head, 8, Anti-vibration device, 81, Protective groove, 82, Roller, 9, Air compressor, 10, Air inlet pipe. Detailed Implementation

[0043] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0044] This invention relates to a spraying robot for solanaceous vegetables and its method of use, as shown in the attached document. Figure 1-2 The spraying robot includes a walking track 1, a frame 2, a medicine tank 3, a liquid pump 4, a water inlet pipe 5, a pitch control device 6, a swing device 7, a shake-proof device 8, an air compressor 9, and an air inlet pipe 10.

[0045] The walking track 1 is used to move between the rows of the greenhouse. The bottom surface of the frame 2 is fixedly connected to the frame of the walking track 1. The medicine tank 3 is installed on the frame 2 and is used to store the medicine liquid. A main water pipe is connected to the medicine tank. A liquid pump 4 is installed on the main water pipe. A tee is also connected to the end of the main water pipe away from the medicine tank. The other two openings of the tee are connected to two water inlet pipes respectively. An air compressor 9 is also installed on the frame 2. Several air inlet pipes 10 are connected to the air compressor 9. The liquid pump 4 and the air compressor 9 are arranged in a transverse direction.

[0046] See attached document Figure 10 The anti-shake device 8 includes a cross-shaped protective groove 81 fixed to the frame 2. The protective groove 81 is provided with a pitch-changing device 6 and a swing device 7. The pitch-changing device 6 is used to adjust the distance between the two nozzles and the crop, and the swing device 7 is used to control the up and down swing of the nozzles.

[0047] Reference Figure 3 The pitch-changing device 6 includes a dual-axis output motor 61, two lead screws 65, and a coupling 63. The two lead screws 65 are arranged laterally and extend laterally. The two ends of the lead screws 65 are respectively axially connected to two vertical plates, and the dual-axis output motor 61 is located between the two lead screws. The two output shafts of the dual-axis output motor 61 are respectively fixed to the two lead screws 65 through two couplings 63. The threads on the two lead screws 65 have opposite directions, and the two lead screws 65 are symmetrically arranged about the dual-axis output motor 61.

[0048] The lead screw 65 is threadedly connected to a slide table 62. Two optical shafts 64 are also threaded through the slide table in a transverse direction. The two optical shafts 64 are arranged in a longitudinal direction, and the lead screw 65 is located between the two optical shafts 64. The two ends of the optical shafts 64 are respectively fixed to the corresponding vertical plates.

[0049] A square tube 77 extending upward is bolted to the top surface of the slide table 62. The two square tubes 77 are arranged horizontally. Four rollers 82 arranged in a rectangle are mounted on the bottom plate of the square tube 77. The axis of the rollers 82 extends along the height direction. The circumferential surfaces of the four rollers 82 all press against the inner wall of the protective groove 81, thereby causing the square tube 77 to move in a straight line.

[0050] See attached document Figure 4-6 The swing device 7 includes a dual-axis swing motor 71, a telescopic universal joint 72, a Scottish yoke mechanism 73, a rack 74, a gear 75, a sleeve 751, a rack straightening device 76, a square tube 77, a mounting shaft 771, a bearing 78, a nozzle 79, a retaining ring 791, a ball valve 792, a water pipe connection port 793, and a jet nozzle 794.

[0051] The base of the Scottish yoke mechanism 73 is bolted to the base plate of the square tube 77. The yoke frame 731 of the Scottish yoke mechanism 77 is bolted to an upwardly extending rack 74. The dual-axis swing motor 71 is located between the two Scottish yoke mechanisms 73, and the output shaft of the dual-axis swing motor 71 is connected to the eccentric wheel 732 of the Scottish yoke mechanism 73 through a telescopic universal joint 72. The dual-axis swing motor 71 and the dual-axis output motor 61 are arranged longitudinally.

[0052] The Scottish yoke mechanism 73 is used to convert the rotary motion of the dual-axis oscillating motor 71 into the linear reciprocating motion of the rack 74, as shown in the attached diagram. Figure 7-8 The Scottish yoke mechanism 73 is prior art and includes a yoke 731, an eccentric wheel 732, a housing 733, and a shoulder screw 734.

[0053] The portion of the yoke 731 located above the housing 733 has a round hole, which is fixedly connected to the bottom of the rack 74 by bolts. The portion of the yoke 731 extending into the housing has an elongated hole extending along the length of the telescopic universal joint, and a shoulder screw 734 is slidably connected in the elongated hole.

[0054] The eccentric wheel 732 is installed inside the housing 733. The shaft of the eccentric wheel 732 is connected to the dual-axis swing motor 71 through the telescopic universal joint 72. The end face of the eccentric wheel 732 near the yoke has multiple threaded holes 735 with different eccentric distances. One end of the shoulder screw 734 is threaded into the threaded hole. The shoulder screw 734 changes the maximum distance of the reciprocating motion of the yoke 731 by connecting with different threaded holes 735.

[0055] The square tube 77 is connected to several mounting shafts 771 arranged along the height direction. The axis of the mounting shaft 771 extends longitudinally. The gear 75 is mounted on the mounting shaft 771 through the bearing 78. The end face of the gear 75 is provided with a sleeve 751.

[0056] The nozzle 79 is equipped with a retaining ring 791, a ball valve 792, a water pipe connection port 793, and a jet nozzle 794. The water pipe connection port 793 is connected to the water inlet pipe 5, which connects to several nozzles 79 located on the same square tube 77 from bottom to top. The ball valve 792 is located between the nozzle 79 nozzle orifice and the water pipe connection port 793. A ring-shaped retaining ring 791 is fixed to the end of the nozzle 79 away from the nozzle orifice. The retaining ring 791 is fastened to the sleeve 751, thereby realizing the axial connection of the nozzle 79 to the square tube 77. A jet nozzle 794 is fixed to the side of the nozzle 79 away from the ball valve 792. The tail end of the jet nozzle 794 is connected to the air inlet pipe 10.

[0057] The rack 74 is fixedly connected to the rack straightening device 76 by screws 761 and meshes with the gear 75. (See attached diagram) Figure 9The rack straightening device 76 includes a cylindrical head screw 761, a double-ended internal thread cylindrical pin 762, a guide wheel 763, and a C-shaped groove 764. The double-ended internal thread cylindrical pin 762 is located between the rack 74 and the C-shaped groove 764. The side of the C-shaped groove 764 near the rack 74 has an elongated hole extending in the height direction, and the elongated hole communicates with the inner cavity of the C-shaped groove 764.

[0058] A cylindrical head screw 761 passes through a countersunk hole on the rack 74 and is threaded to one end of a double-threaded cylindrical pin 762. A screw threaded to the double-threaded cylindrical pin 762 is fixed to the guide wheel 763. The guide wheel 763 is installed inside a C-shaped groove 764 and rolls up and down along the C-shaped groove 764. The width of the inner cavity of the C-shaped groove 764 is adapted to the diameter of the guide wheel 763. The C-shaped groove 764 is fixedly connected to the square tube 77 by bolts. The rack straightening device 76 supports and straightens the rack 74, limiting the rack 74's lateral and longitudinal displacement.

[0059] The meshing motion of rack 74 and gear 75 converts the linear reciprocating motion of rack 74 into the up-and-down reciprocating oscillation of nozzle 79. During spraying, the up-and-down oscillation of nozzle 79 can be controlled by adjusting the speed of the dual-axis oscillating motor 71, according to the specific growth conditions of the closed canopy of solanaceous vegetables in the facility. Simultaneously, the high-pressure gas generated by air compressor 9 is ejected from nozzle 794 through air inlet pipe 10. The ejected airflow can disturb the leaves, increasing the contact area between the underside of the leaves and the mist droplets.

[0060] Specifically, see Appendix Figure 2 The horizontal direction is the longitudinal direction, the vertical direction is the transverse direction, and the direction perpendicular to both the horizontal and vertical directions is the height direction.

[0061] In use, the walking track moves the frame to the position where spraying is needed, then drives the dual-axis output motor to rotate, which in turn drives the lead screw to rotate, thereby causing the two slides to move towards or away from each other, that is, causing the two square tubes to move towards or away from each other, thus adjusting the distance between the plant and the nozzle. Then, the liquid medicine is delivered to the nozzle through the water inlet pipe and sprayed onto the plant from the nozzle nozzle. At the same time, the dual-axis swing motor drives the rack to reciprocate along the height direction through the telescopic universal joint and the Scottish yoke mechanism, thereby rotating the gear. The rotation of the gear causes the nozzle to swing up and down. At the same time, high-pressure gas is ejected through the jet nozzle. The ejected airflow can disturb the leaves, increase the contact area between the underside of the leaves and the droplets, thereby improving the droplet coverage on the underside of the leaves and enhancing the consistency of droplet deposition in the closed canopy of greenhouse solanaceous vegetables.

[0062] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A spraying robot for solanaceous vegetables, characterized in that: The device includes a frame (2) with a walking track (1) on the bottom surface, two square tubes (77) that slide laterally on the frame (2) and move towards each other, and a number of nozzles (79) arranged along the height direction on the square tubes (77) and swinging synchronously. Each nozzle (79) is also provided with a water pipe connection port (793) that communicates with the water inlet pipe (5), and each nozzle (79) is also fixed with a jet nozzle (794) that sprays air onto the blades. The frame (2) is shafted with two lead screws (65) that are corresponding to the square tube (77) and extend laterally. A dual-axis output motor (61) is provided between the two lead screws (65) to drive the two lead screws (65) to rotate simultaneously. A slide table (62) is threaded on the lead screw (65) and the threads on the two lead screws (65) are turned in opposite directions. The square tube (77) is fixed on the corresponding slide table (62). The square tube (77) is also provided with a rack (74) extending along the height direction. The nozzle (79) is axially connected to the square tube (77) via a mounting shaft (771). A gear (75) is also sleeved on the mounting shaft (771) and is fastened to the nozzle (79) and meshes with the rack (74). The bottom end of the rack (74) is fixed to the yoke frame (731) of the Scottish yoke mechanism (73). A telescopic universal joint (72) is also connected to the eccentric wheel (732) of the Scottish yoke mechanism (73). The ends of the two telescopic universal joints (72) away from the eccentric wheel (732) are respectively connected to the two output shafts of the dual-axis swing motor (71). The eccentric wheel (732) of the Scottish yoke mechanism (73) is also provided with multiple threaded holes (735) with different eccentric pitches and shoulder screws (734) that are threadedly connected to the threaded holes (735). The yoke is connected to the eccentric wheel through the shoulder screws. The square tube (77) is fixedly connected to a C-shaped groove (764) extending along the height direction and with its opening located on the side. A double-headed internal thread cylindrical pin (762) is provided between the C-shaped groove (764) and the rack (74). A guide wheel (763) with a diameter adapted to the width of the inner cavity of the C-shaped groove (764) is provided inside the C-shaped groove (764). A screw rod that is threadedly connected to the double-headed internal thread cylindrical pin (762) is fixedly connected to the guide wheel (763). The rack (74) is threadedly connected to the double-headed internal thread cylindrical pin (762) through a cylindrical head screw (761). The nozzle (79) is also provided with a ball valve (792) located between the nozzle and the water pipe connection port (793). The end of the nozzle (79) away from the nozzle is fixedly connected to a ring (791) that is coaxial with the gear (75) and is annular. A sleeve (751) extending into the ring (791) and fastened to the ring (791) is provided on the end face of the gear (75). The mounting shaft (771) is connected to the gear (75) and the sleeve (751) through a bearing (78).

2. The spraying robot for solanaceous vegetables according to claim 1, characterized in that: The frame (2) is also fixed with an optical axis (64) that corresponds to the slide (62) and runs through the slide (62) laterally.

3. The spraying robot for solanaceous vegetables according to claim 1, characterized in that: The frame (2) is also provided with a protective groove (81). The lead screw (65), slide table (62), dual-axis output motor (61), and dual-axis swing motor (71) are all located in the protective groove (81). The bottom plate of the square tube (77) is also provided with four rollers (82) whose axes extend along the height direction and are arranged in a rectangular shape. The circumferential surface of the rollers (82) is pushed against the inner wall of the protective groove (81).

4. The spraying robot for solanaceous vegetables according to claim 1, characterized in that: The frame (2) is also provided with a medicine tank (3) connected to the water inlet pipe (5). The water inlet pipe (5) is connected to a number of nozzles (79) from bottom to top. The water inlet pipe (5) is provided with a liquid pump (4).

5. The method of using a spraying robot for solanaceous vegetables according to claim 3, characterized in that, Includes the following steps: The walking track (1) drives the frame (2) to move to the position where the pesticide needs to be sprayed, and then drives the dual-axis output motor (61) to rotate, which drives the lead screw to rotate, thereby driving the two slides (62) to move towards each other or away from each other, that is, driving the two square tubes (77) to move towards each other and away from each other, thereby adjusting the distance between the plant and the nozzle (79). Then the pesticide is transported to the nozzle (79) through the water inlet pipe (5) and sprayed onto the plant from the nozzle (79). At the same time, the dual-axis swing motor (71) drives the rack (74) to reciprocate along the height direction through the telescopic universal joint (72) and the Scottish yoke mechanism (73), thereby causing the gear (75) to rotate. The rotation of the gear (75) causes the nozzle (79) to swing up and down. At the same time, high-pressure gas is sprayed out through the jet nozzle (794). The sprayed airflow can disturb the leaves, increase the contact area between the underside of the leaves and the droplets, thereby improving the droplet coverage on the underside of the leaves and enhancing the consistency of droplet deposition in the closed canopy of solanaceous vegetables in the facility.

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