Pesticide spraying and irrigating robot system

Abstract

The invention discloses a pesticide spraying and irrigating robot system, belongs to the technical field of agricultural robots, and aims to solve the problems of low pesticide spraying efficiency of orchards and harm to human bodies due to lack of corresponding pesticide spraying equipment in the existing orchards. A rotary lifting seat and an electric control box are installed on the surface of a liquid medicine box, angle adjusting arms are installed on the two sides of the top end of the rotary lifting seat correspondingly, position adjusting arms are slidably installed in the angle adjusting arms, and meanwhile work of the rotary lifting seat, the angle adjusting arms and the position adjusting arms can be controlled according to use requirements; according to the fruit tree pesticide spraying device, the position, angle and height of the row type spraying frame and the fog gun spraying frame are adjusted, pesticide spraying operation can be conveniently conducted on different positions of fruit trees, pesticide liquid can make uniform contact with the fruit trees, efficiency is improved, and contact between pesticide and the human body can be reduced as much as possible.

Description

Technical Field

[0001] The invention discloses a pesticide spraying and watering robot system, and belongs to the technical field of agricultural robots, and in particular to the technical field of pesticide spraying and watering robots. Background Art

[0002] In order to prevent the fruit from being threatened by pests and diseases during its growth, it is necessary to spray pesticides on the fruit trees to ensure their healthy growth. With the development of agriculture, robots used for agricultural spraying have gradually become popular. Most of them use drones to spray pesticides, but this type of spraying is only suitable for shorter crops and is not suitable for pesticide spraying in orchards. Therefore, most orchards still use manual methods to spray pesticides, which is not only inefficient, but also will come into contact with the skin during the spraying process, causing harm to the human body. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a pesticide spraying and irrigating robot system, thereby solving the problem that the current orchards lack corresponding pesticide spraying equipment, resulting in low pesticide spraying efficiency in the orchards and causing harm to the human body.

[0004] To achieve the above object, the present invention provides the following technical solutions: A pesticide spraying and irrigation robot system comprises a liquid medicine tank, a rotating lifting seat and an electric control box are installed on the surface of the liquid medicine tank, angle adjustment arms are installed on both sides of the top of the rotating lifting seat, a position adjustment arm is slidably installed inside the angle adjustment arm, angle adjustment seats are installed on both ends of the position adjustment arm, a row spraying rack is detachably installed on the angle adjustment seat on one side of the rotating lifting seat, a fog cannon spraying rack is detachably installed on the angle adjustment seat on the other side of the rotating lifting seat, and pipe racks are installed on both sides of the liquid medicine tank.

[0005] As a preferred technical solution of the present invention, the rotary lifting seat includes a support tube installed on the surface of the medicine liquid tank, an inner sliding tube is slidably installed inside the support tube, the top end of the inner sliding tube is arranged above the support tube, and a bearing seat is fixed to the top side of the inner sliding tube through a limit ring, and the bottom end of the bearing seat is connected to the surface of the medicine liquid tank through an electric push rod 1, a motor 1 is installed at a position on the surface of the medicine liquid tank corresponding to the inside of the support tube, a connecting rod is installed on the output shaft of the motor 1 through a coupling, a connecting block is installed inside the inner sliding tube, and a sliding hole is opened on the connecting block at the position corresponding to the connecting rod.

[0006] As a preferred technical solution of the present invention, the angle adjustment arm includes a mounting shell fixed on both sides of the inner sliding tube, a motor 2 is installed inside the mounting shell, the output shaft of the motor 2 passes through and extends to the outside of the mounting shell and is connected to the fixed shell through a fixing pin, and a bearing is arranged between the fixed shell and the mounting shell.

[0007] As a preferred technical solution of the present invention, an adjusting tube is slidably installed inside the fixed shell, a slide groove is opened on one side of the adjusting tube, a guide rod is installed at the position corresponding to the slide groove inside the fixed shell, a rack is installed on the other side of the adjusting tube, a rotating shaft is installed inside the fixed shell on the side of the rack, the top end of the rotating shaft passes through and extends to the outside of the fixed shell and is connected to a motor three, a gear meshing with the rack is sleeved on the rotating shaft, an electric push rod two is installed inside one end of the adjusting tube, the electric push rod two passes through and extends to the outside of the adjusting tube and is connected to a fixed tube, and a fixed tube is also installed on the other end of the adjusting tube.

[0008] As a preferred technical solution of the present invention, the angle adjustment seat includes a motor four installed inside a fixed tube, the output shaft of the motor four passes through and extends to the outside of the fixed tube, and a support ring is installed on the side of the fixed tube at a position corresponding to the outside of the output shaft of the motor four.

[0009] As a preferred technical solution of the present invention, the row-type spray rack includes a U-shaped seat sleeved on the outside of the support ring, the interior of the U-shaped seat is connected to the support ring through a connecting bearing, a mounting plate is fixed to the side of the U-shaped seat by fixing bolts, a liquid inlet pipe is installed on one side of the mounting plate, a nozzle is installed on the other side of the mounting plate, and a nozzle is distributed on the nozzle.

[0010] As a preferred technical solution of the present invention, the fog cannon spray rack includes a mounting ring, which is fixed to the side of the fixed pipe through a fixing column, the output shaft of the motor four is arranged inside the mounting ring and is connected to a connecting seat through a pin shaft, a fan blade rack is installed on the connecting seat, an annular tube is installed outside the mounting ring, a nozzle two is distributed on the annular tube, the water outlet end of the nozzle two is arranged inside the mounting ring, the fan blade rack is arranged between the nozzle two and the pin shaft, and air inlets are distributed on the surface of the mounting ring corresponding to the fixed pipe.

[0011] As a preferred technical solution of the present invention, the pipe rack includes a mounting rack installed on the side of the medicine liquid tank, a motor five is installed on the outside of the mounting rack, the output shaft of the motor five passes through and extends to the inside of the mounting rack and is connected to a storage shaft, a hose is wrapped around the storage shaft, a pump is connected to the side of the medicine liquid tank through a pipeline, and the liquid outlet end of the pump is connected to the hose.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: row-type spray racks and fog cannon spray racks are designed according to the types of different fruit trees, and at the same time, according to the needs of use, the operation of the rotating lifting seat, the angle adjustment arm and the position adjustment arm can be controlled to adjust the position, angle and height of the row-type spray rack and the fog cannon spray rack, thereby facilitating the spraying of pesticides at different positions of the fruit trees, so that the liquid medicine can evenly contact the fruit trees, which not only improves the efficiency, but also can minimize the contact between the medicine and the human body, thereby reducing the harm to the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional side structure of the present invention; Figure 3 It is a schematic diagram of the first cross-sectional structure of the present invention; Figure 4 It is a schematic diagram of the second cross-sectional structure of the present invention; Figure 5 This is a partial enlarged view of the A1 end of the present invention; Figure 6 This is a partial enlarged view of the A2 end of the present invention; Figure 7 This is a partial enlarged view of the A3 end of the present invention; 1-liquid tank; 2-rotating lifting seat; 3-angle adjustment arm; 4-position adjustment arm; 5-angle adjustment seat; 6-row spray rack; 7-fog cannon spray rack; 8-pipe rack; 9-electric control box; 10-support pipe; 11-inner slide pipe; 12-limiting ring; 13-bearing seat; 14-electric push rod 1; 15-connecting block; 16-motor 1; 17-connecting rod; 18-mounting shell; 19-motor 2; 20-fixed shell; 21-fixed pin; 22-bearing; 23-adjusting pipe; 24-guide rod; 25-slide groove; 26-rack; 2 7-shaft; 28-gear; 29-motor three; 30-electric push rod two; 31-fixed pipe; 32-motor four; 33-U-shaped seat; 34-connecting bearing; 35-fixing bolt; 36-mounting plate; 37-liquid inlet pipe; 38-nozzle; 39-nozzle one; 40-pin shaft; 41-connecting seat; 42-fan blade frame; 43-mounting ring; 44-fixing column; 45-air inlet; 46-annular pipe; 47-nozzle two; 48-mounting frame; 49-motor five; 50-storage shaft; 51-hose; 52-pump; 53-support ring. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] See also Figure 1-7 , the present invention provides a technical solution: A pesticide spraying and irrigation robot system comprises a liquid medicine tank 1, which can be installed on an external mobile device and driven to move by the external device. A rotating lifting seat 2 and an electric control box 9 are installed on the surface of the liquid medicine tank 1, angle adjustment arms 3 are installed on both sides of the top of the rotating lifting seat 2, position adjustment arms 4 are slidably installed inside the angle adjustment arms 3, angle adjustment seats 5 are installed on both ends of the position adjustment arms 4, a row-type spraying frame 6 is detachably installed on the angle adjustment seat 5 on one side of the rotating lifting seat 2, and a fog cannon spraying frame 7 is detachably installed on the angle adjustment seat 5 on the other side of the rotating lifting seat 2, and pipe racks 8 are installed on both sides of the liquid medicine tank 1, liquid medicine is added into the liquid medicine tank 1, and then the rotating lifting seat 2, the angle adjustment arm 3 and the position adjustment arm 4 are controlled by the electric control box 9, thereby adjusting the positions of the row-type spraying frame 6 and the fog cannon spraying frame 7 so that they can reach different positions, thereby facilitating the spraying operation of medicine at different positions.

[0016] The rotary lifting seat 2 includes a support tube 10 installed on the surface of the medicine liquid tank 1, an inner sliding tube 11 is slidably installed inside the support tube 10, the top of the inner sliding tube 11 is arranged above the support tube 10, a bearing seat 13 is fixed to the top side of the inner sliding tube 11 through a limit ring 12, and the bottom end of the bearing seat 13 is connected to the surface of the medicine liquid tank 1 through an electric push rod 14, a motor 16 is installed at a position on the surface of the medicine liquid tank 1 corresponding to the inside of the support tube 10, a connecting rod 17 is installed on the output shaft of the motor 16 through a coupling, a connecting block 15 is installed inside the inner sliding tube 11, and a sliding hole is opened on the connecting block 15 at a position corresponding to the connecting rod 17, when the electric push rod 14 is extended to the maximum distance, the connecting rod 17 is still inside the connecting block 15, by controlling the operation of the electric push rod 14, the height of the inner sliding tube 11 is adjusted, and by controlling the operation of the motor 16, the angle of the angle adjustment arm 3 is adjusted.

[0017] The angle adjustment arm 3 includes a mounting shell 18 fixed on both sides of the inner sliding tube 11, and a motor 2 19 is installed inside the mounting shell 18. The output shaft of the motor 2 19 passes through and extends to the outside of the mounting shell 18 and is connected to a fixed shell 20 through a fixing pin 21. A bearing 22 is arranged between the fixed shell 20 and the mounting shell 18. By controlling the operation of the motor 2 19, it is convenient to drive the fixed shell 20 to rotate.

[0018] An adjusting tube 23 is slidably installed inside the fixed shell 20, a slide groove 25 is provided on one side of the adjusting tube 23, a guide rod 24 is installed at a position corresponding to the slide groove 25 inside the fixed shell 20, a rack 26 is installed on the other side of the adjusting tube 23, a rotating shaft 27 is installed inside the fixed shell 20 on the side of the rack 26, the top end of the rotating shaft 27 passes through and extends to the outside of the fixed shell 20 and is connected to a motor 3 29, a gear 28 meshing with the rack 26 is sleeved on the rotating shaft 27, and an electric motor 29 is installed inside one end of the adjusting tube 23. The push rod 2 30, the electric push rod 2 30 penetrates and extends to the outside of the adjustment tube 23 and is connected with a fixed tube 31, and the other end of the adjustment tube 23 is also installed with a fixed tube 31, and the operation of the motor 3 29 is controlled to drive the rotating shaft 27 to rotate, so as to facilitate driving the adjustment tube 23 to slide inside the fixed shell 20. The setting of the electric push rod 2 30 expands the overall variable distance range, so that the row spray rack 6 and the fog cannon spray rack 7 can be moved to a farther distance, so as to facilitate the spraying operation at ultra-high and ultra-low positions.

[0019] The angle adjustment seat 5 includes a motor 32 installed inside the fixed tube 31, the output shaft of the motor 32 passes through and extends to the outside of the fixed tube 31, and a support ring 53 is installed on the side of the fixed tube 31 at a position corresponding to the outside of the output shaft of the motor 32.

[0020] The row spray rack 6 includes a U-shaped seat 33 sleeved on the outside of the support ring 53, the interior of the U-shaped seat 33 is connected to the support ring 53 through a connecting bearing 34, and a mounting plate 36 is fixed to the side of the U-shaped seat 33 through a fixing bolt 35. A liquid inlet pipe 37 is installed on one side of the mounting plate 36, and a nozzle 38 is installed on the other side of the mounting plate 36. A nozzle 39 is distributed on the nozzle 38. By controlling the operation of the motor 4 32, it is convenient to drive the U-shaped seat 33 to rotate, thereby driving the nozzle 38 to rotate, so as to facilitate the adjustment of the position of the liquid sprayed from the nozzle 39.

[0021] The fog cannon spray frame 7 includes a mounting ring 43, which is fixed to the side of the fixed pipe 31 through a fixing column 44. The output shaft of the motor 432 is arranged inside the mounting ring 43 and is connected to the connecting seat 41 through a pin 40. A fan blade frame 42 is installed on the connecting seat 41. An annular tube 46 is installed outside the mounting ring 43. A nozzle 47 is distributed on the annular tube 46. The water outlet end of the nozzle 47 is arranged inside the mounting ring 43. The fan blade frame 42 is arranged between the nozzle 47 and the pin 40. An air inlet 45 is distributed on the surface of the mounting ring 43 corresponding to the fixed pipe 31. By controlling the operation of the motor 432, the fan blade frame 42 is driven to rotate, so as to facilitate the blowing of the liquid medicine sprayed from the nozzle 47, so that the liquid medicine can be spread over a larger area, so as to facilitate the rapid spraying operation on the flat area.

[0022] The pipe rack 8 includes a mounting frame 48 installed on the side of the medicine liquid tank 1, and a motor 5 49 is installed on the outside of the mounting frame 48. The output shaft of the motor 5 49 passes through and extends to the inside of the mounting frame 48 and is connected to a storage shaft 50. A hose 51 is wound around the storage shaft 50. A pump 52 is connected to the side of the medicine liquid tank 1 through a pipeline. The liquid outlet end of the pump 52 is connected to the hose 51. The hose 51 inside the pipe rack 8 on one side of the medicine liquid tank 1 is connected to the liquid inlet pipe 37, thereby providing the required medicine for the nozzle 1 39. The hose 51 inside the pipe rack 8 on the other side of the medicine liquid tank 1 is connected to the annular pipe 46, thereby providing the required medicine for the nozzle 2 47. By controlling the operation of the motor 5 49, it is convenient to retract and release the hose 51 wound on the storage shaft 50.

[0023] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pesticide spraying robot system, comprising a liquid medicine tank (1), a rotating lifting seat (2) and an electric control box (9) mounted on the surface of the liquid medicine tank (1), angle adjustment arms (3) mounted on both sides of the top of the rotating lifting seat (2), and a position adjustment arm (4) slidably mounted inside the angle adjustment arm (3), characterized in that: Angle adjustment seats (5) are installed at both ends of the position adjustment arm (4), a row-type spraying rack (6) is detachably installed on the angle adjustment seat (5) on one side of the rotating lifting seat (2), and a fog cannon spraying rack (7) is detachably installed on the angle adjustment seat (5) on the other side of the rotating lifting seat (2), and pipe racks (8) are installed on both sides of the liquid medicine tank (1).

2. A pesticide spraying robot system according to claim 1, characterized in that: The rotary lifting seat (2) comprises a support tube (10) mounted on the surface of a liquid medicine tank (1), an inner sliding tube (11) being slidably mounted inside the support tube (10), the top end of the inner sliding tube (11) being arranged above the support tube (10), a bearing seat (13) being fixed to the top side of the inner sliding tube (11) via a limit ring (12), the bottom end of the bearing seat (13) being connected to the surface of the liquid medicine tank (1) via an electric push rod (14), a motor (16) being mounted at a position on the surface of the liquid medicine tank (1) corresponding to the inside of the support tube (10), a connecting rod (17) being mounted on the output shaft of the motor (16) via a coupling, a connecting block (15) being mounted inside the inner sliding tube (11), a sliding hole being provided on the connecting block (15) at a position corresponding to the connecting rod (17).

3. A pesticide spraying robot system according to claim 2, characterized in that: The angle adjustment arm (3) comprises a mounting shell (18) fixed on both sides of the inner sliding tube (11); a second motor (19) is mounted inside the mounting shell (18); an output shaft of the second motor (19) passes through and extends to the outside of the mounting shell (18) and is connected to a fixed shell (20) via a fixing pin (21); a bearing (22) is provided between the fixed shell (20) and the mounting shell (18).

4. A pesticide spraying robot system according to claim 3, characterized in that: An adjusting tube (23) is slidably mounted inside the fixed shell (20), a slide groove (25) is provided on one side of the adjusting tube (23), a guide rod (24) is mounted inside the fixed shell (20) at a position corresponding to the slide groove (25), a rack (26) is mounted on the other side of the adjusting tube (23), a rotating shaft (27) is mounted inside the fixed shell (20) on the side of the rack (26), the top end of the rotating shaft (27) passes through and extends to the outside of the fixed shell (20) and is connected to a motor three (29), a gear (28) meshingly connected to the rack (26) is sleeved on the rotating shaft (27), an electric push rod two (30) is mounted inside one end of the adjusting tube (23), the electric push rod two (30) passes through and extends to the outside of the adjusting tube (23) and is connected to a fixed tube (31), and a fixed tube (31) is also mounted on the other end of the adjusting tube (23).

5. A pesticide spraying robot system according to claim 4, characterized in that: The angle adjustment seat (5) comprises a motor four (32) installed inside a fixed tube (31), an output shaft of the motor four (32) passing through and extending to the outside of the fixed tube (31), and a support ring (53) is installed on the side surface of the fixed tube (31) at a position corresponding to the outside of the output shaft of the motor four (32).

6. A pesticide spraying robot system according to claim 5, characterized in that: The row-type spraying frame (6) comprises a U-shaped seat (33) sleeved on the outside of a support ring (53), the interior of the U-shaped seat (33) being connected to the support ring (53) via a connecting bearing (34), a mounting plate (36) being fixed to the side of the U-shaped seat (33) via fixing bolts (35), a liquid inlet pipe (37) being mounted on one side of the mounting plate (36), a spray pipe (38) being mounted on the other side of the mounting plate (36), and a spray head (39) being distributed on the spray pipe (38).

7. The pesticide spraying robot system according to claim 5, characterized in that: The fog cannon spray frame (7) comprises a mounting ring (43), wherein the mounting ring (43) is fixed to the side of the fixed pipe (31) through a fixing column (44), the output shaft of the motor four (32) is arranged inside the mounting ring (43) and connected to the connecting seat (41) through a pin shaft (40), a fan blade frame (42) is installed on the connecting seat (41), an annular tube (46) is installed outside the mounting ring (43), a nozzle two (47) is distributed on the annular tube (46), a water outlet end of the nozzle two (47) is arranged inside the mounting ring (43), the fan blade frame (42) is arranged between the nozzle two (47) and the pin shaft (40), and an air inlet (45) is distributed on the surface of the mounting ring (43) corresponding to the fixed pipe (31).

8. The pesticide spraying robot system according to claim 1, characterized in that: The pipeline rack (8) comprises a mounting rack (48) mounted on the side of the liquid medicine tank (1); a motor five (49) is mounted on the outside of the mounting rack (48); an output shaft of the motor five (49) passes through and extends into the interior of the mounting rack (48) and is connected to a storage shaft (50); a hose (51) is wound around the storage shaft (50); a pump (52) is connected to the side of the liquid medicine tank (1) via a pipeline; a liquid outlet end of the pump (52) is connected to the hose (51).

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