Multifunctional adjustable pesticide applying and spraying robot for plants

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a multifunctional adjustable pesticide applying and spraying robot for plants. The robot comprises a spraying part and an adjusting part, the spraying part is used for spraying pesticide, and the adjusting part is used for adjusting the height or displacement of the spraying part; the spraying part comprises a holder used for plane supporting. According to the multifunctional adjustable pesticide application spraying robot for the plants, through cooperation of the holder, the spraying mechanism, the liquid conveying mechanism, the pesticide storage mechanism, the adjusting mechanism, the moving mechanism and the guiding mechanism, the length of the spraying mechanism can be adjusted according to the pesticide spraying area, and pesticide spraying can be accurately controlled in multiple directions; according to crops with different heights, the holder and the spraying mechanism are driven to perform height adjustment through work of the adjusting mechanism, unnecessary pollution is avoided, and economic benefits are improved; and by arranging the gear pump, the self-suction characteristic can be optimized, and the conveying efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a multifunctional regulating pesticide spraying robot for plants. Background Art

[0002] Pesticides are important and indispensable special agricultural production materials in modern agriculture. China is the world's most populous country and a major agricultural country. Due to the complex ecological environment, large-scale insect pests frequently occur, causing significant agricultural losses. The use of pesticides is currently a fast, effective, efficient, simple and necessary means of prevention and control. With the development of the times, my country's population continues to increase, aging is serious, and there is a serious shortage of agricultural labor. Pesticides in agricultural production are even more indispensable, playing a great role in protecting against insect pests, promoting growth, and providing nutrition.

[0003] The pesticide spraying device was originally realized by manual spraying by farmers. The characteristics of this device are convenience, speed and popularity. Farmers mix the original liquid pesticide and water according to the proportion and put them into the barrel of the spraying device, and then spray the pesticide through the long rod and the spray head. However, due to the close contact with the farmers, there is a great possibility that farmers will inhale the mist of pesticide into the body, causing some diseases, and even endangering their lives. Although most farmers still use this pesticide spraying device, it is a trend to be replaced in the future;

[0004] In recent years, some automatic control pesticide spraying devices have also appeared, including self-propelled automatic control pesticide spraying devices and drone-controlled pesticide spraying devices. The former has become popular among farmers in recent years due to its low cost and low labor requirements. From small to medium and large, it is suitable for different occasions, and it carries a larger amount of pesticides and has higher spraying efficiency, winning the favor of many people. The latter mainly relies on drones equipped with automatic spraying devices for effective spraying. Although the efficiency is the highest among the three pesticide spraying devices, the cost is also the highest. It is usually used for spraying large areas of farmland. The small pesticide loading capacity is also one of its shortcomings. It cannot be fully automated and needs to be continuously added with pesticides, so the former is more versatile.

[0005] However, existing pesticide spraying robots:

[0006] As described in patent number CN201922216434.6, most pesticide spraying robots have disadvantages such as poor control performance, low adaptability, high cost, low degree of integration and complex operation.

[0007] For example, a Chinese patent with patent number CN201922216434.6 discloses a pesticide spraying robot, which has the following problems: First, the accuracy is poor. The spraying component of the pesticide spraying robot is set on the bottom plate of the vehicle, which has certain limitations on the spraying area and spraying range, and is not enough to accurately control the spraying range and dosage, resulting in high costs and low economic benefits; second, the adaptability is not strong. The medicine box, drive component, spraying component, etc. of the pesticide spraying robot are all set on the bottom plate of the vehicle, resulting in a large body weight and low flexibility, which is insufficient to cope with complex weather changes and complex terrain; third, the stability is not strong. The pesticide spraying robot is suitable for flat environments with large areas of lawns. For uneven ground, it may cause the body to travel slowly or roll over. The structure is unstable and there are certain safety hazards.

[0008] To this end, a multifunctional regulating pesticide spraying robot for plants is designed to provide another technical solution to the above technical problems. Summary of the invention

[0009] Based on this, it is necessary to provide a multifunctional regulating pesticide spraying robot for plants to solve the technical problems raised in the above background technology.

[0010] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0011] A multifunctional adjustable pesticide spraying robot for plants, the robot comprising a spraying part and an adjusting part, the spraying part is used to spray the medicine, and the adjusting part is used to adjust the height or displacement of the spraying part;

[0012] The spraying part comprises:

[0013] The pan / tilt head is used for plane support;

[0014] The spraying mechanism is located on both sides of one end of the pan / tilt unit and is used to spray the medicine to the outside;

[0015] An infusion mechanism, used for delivering the drug into the interior of the spraying mechanism;

[0016] The drug storage mechanism is used to mix the drugs and then extract them through the infusion mechanism and transport them into the spraying mechanism;

[0017] The adjustment unit comprises:

[0018] A shell, used for supporting and fixing;

[0019] The adjustment mechanism is located at the top of the housing and is used to drive the pan / tilt head to adjust its height;

[0020] The moving mechanism is located on both sides of the shell and is used to drive the robot to move.

[0021] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, the spraying mechanism includes a positioning bearing and at least one spraying pipe, the outer side of the spraying pipe is connected to the pan-tilt head through a positioning bearing, and spraying holes are evenly distributed inside the bottom of the spraying pipe. When there are multiple spraying pipes, two adjacent spraying pipes are slidably connected.

[0022] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, the infusion mechanism includes an infusion pipeline, a gear pump, a liquid inlet pipeline, a first servo motor and a first bevel gear, the bottom end of the gear pump is bolted to the pan head, the output end of the gear pump is fixed with an infusion pipeline, the infusion pipeline is fixed to the spraying pipeline, the input end of the gear pump is fixed with a liquid inlet pipeline, the top bolt of the pan head is fixed with a first servo motor, the output end of the first servo motor is connected to a first bevel gear, one end of the first bevel gear is meshedly connected to a second bevel gear, and the second bevel gear is fixed to the working shaft of the gear pump.

[0023] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, the medicine storage mechanism includes a medicine mixing box, a water tank and a mixing shaft, a medicine mixing box is fixed inside the top of the pan-tilt head away from one end of the spraying mechanism, a water tank is fixed to one end of the medicine mixing box through a pipe, the medicine mixing box is fixed to the liquid inlet pipe, the bottom end of the medicine mixing box is rotatably connected to the mixing shaft, and a mixing impeller is fixed to the top of the mixing shaft and the bottom end located inside the medicine mixing box.

[0024] As a preferred embodiment of the multifunctional regulating pesticide spraying robot for plants provided by the present invention, a detector is fixed inside the top of the drug mixing box.

[0025] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, the adjusting mechanism includes a second servo motor, a driving gear, a synchronous gear, a transmission gear, a first adjusting gear, a second adjusting gear and an adjusting rack, the top of the shell is rotatably connected to a support shaft, the outer side of the support shaft is fixed with a synchronous gear and a transmission gear, and the transmission gear is located on one side of the synchronous gear, one end of the top side of the shell is bolted with a second servo motor, the output end of the second servo motor is connected to a driving gear, the driving gear is meshed with the synchronous gear, the top of the transmission gear is meshed with the first adjusting gear, one end of the first adjusting gear is meshed with the second adjusting gear, the first adjusting gear and the second adjusting gear are both rotatably connected to the shell, the ends of the first adjusting gear and the second adjusting gear away from each other are both meshed with an adjusting rack, and the adjusting rack is fixed to the pan-tilt head.

[0026] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, it also includes a stop assembly for limiting the reversal of the support shaft, the stop assembly includes a ratchet, a pawl, a support frame and a third servo motor, a ratchet is fixed to the outer side of one side of the support shaft, the other end of the top side of the shell is bolted to the support frame, the third servo motor is fixed to the top of the support frame, and a pawl is fixed to the output end of the third servo motor for limiting the reversal of the ratchet through the pawl.

[0027] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, the moving mechanism includes two fixed brackets, a transmission wheel, multiple moving wheels and a three-phase asynchronous motor, the two fixed brackets are symmetrically arranged, and the moving wheels are rotatably connected between the two fixed brackets and located at the end angle position, the outer sides of the multiple moving wheels are connected by tracks, and the middle part between the two fixed brackets is rotatably connected with a transmission wheel, the transmission wheel is connected to one of the moving wheels by a synchronous belt, and a three-phase asynchronous motor is fixed inside the shell, and the output end of the three-phase asynchronous motor is connected to the transmission wheel.

[0028] As a preferred embodiment of the multifunctional adjustable pesticide spraying robot for plants provided by the present invention, a guide mechanism is installed at one end of the shell, which is used to allow the robot to make a guided turn through the guide mechanism;

[0029] The guide mechanism includes a guide drive motor, a guide wheel and a hydraulic shell. The hydraulic shell is fixed at one end of the shell, the guide drive motor is fixed at the top of the hydraulic shell, and the output end of the guide drive motor is located at the bottom of the hydraulic shell and is connected to the guide wheel.

[0030] It can be seen without a doubt that the above-mentioned technical solution of the present application can definitely solve the technical problem to be solved by the present application.

[0031] At the same time, through the above technical solutions, the present invention has at least the following beneficial effects:

[0032] 1. The present invention provides a multifunctional adjustable pesticide spraying robot for plants. Through the cooperation of a pan-tilt platform, a spraying mechanism, an infusion mechanism, a medicine storage mechanism, an adjusting mechanism, a moving mechanism and a guiding mechanism, the length of the spraying mechanism can be adjusted according to the pesticide spraying area, thereby realizing multi-directional precise control of pesticide spraying. According to crops of different heights, the pan-tilt platform and the spraying mechanism can be driven to adjust their heights through the operation of the adjusting mechanism, thereby avoiding unnecessary pollution and improving economic benefits. By setting a gear pump, its self-priming characteristics can be optimized, the transportation efficiency can be improved, and the moving mechanism can adapt to different terrains and environmental conditions of the field, thereby increasing the friction with the ground to prevent slipping.

[0033] 2. The present invention can not only accurately control the spraying range and amount, but also adapt to the complex and changeable terrain and ground environment. It has strong practicality, accuracy, economy and adaptability, and effectively improves the working efficiency, application scope and economic benefits of the pesticide spraying robot.

[0034] 3. The present invention drives the large-diameter second bevel gear through the small-diameter first bevel gear to achieve stable liquid delivery when the gear pump is working, and then the mixed medicine inside the medicine mixing box can be transported into the interior of the spraying mechanism through the liquid inlet pipe and the infusion pipe.

[0035] 4. The present invention drives the transmission gear to drive the adjustment rack to rise and fall through the first adjustment gear and the second adjustment gear, and then adjusts the height of the pan-tilt head on the top of the shell through the adjustment rack, so that the spraying mechanism can spray crops at different heights, and at the same time, the coordination of the ratchet and the pawl can achieve the stability of the pan-tilt head after it rises driven by the adjustment rack.

[0036] 5. The present invention is supported by two fixed brackets, so that the rotation of the transmission wheel drives the moving wheel to rotate through the synchronous belt, and the rotation of a single moving wheel drives the track to rotate with the assistance of the remaining moving wheels, thereby realizing the movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 is a side view of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the pan / tilt platform of the present invention;

[0041] Figure 4 It is a structural schematic diagram of the spraying mechanism of the present invention;

[0042] Figure 5 It is a schematic diagram of the structure of the infusion mechanism and the medicine storage mechanism of the present invention;

[0043] Figure 6 It is a structural schematic diagram of the regulating mechanism of the present invention;

[0044] Figure 7 It is a schematic diagram of the structure of the ratchet of the present invention;

[0045] Figure 8 It is a structural schematic diagram of the mobile mechanism of the present invention;

[0046] Fig. 9 It is a structural schematic diagram of the guide mechanism of the present invention.

[0047] In the figure: 1, pan / tilt; 2, spraying mechanism; 3, infusion mechanism; 4, medicine storage mechanism; 5, adjustment mechanism; 6, housing; 7, moving mechanism; 8, guide mechanism; 9, positioning bearing; 10, first pipeline; 11, second pipeline; 12, third pipeline; 13, fourth pipeline; 14, infusion pipeline; 15, gear pump; 16, liquid inlet pipeline; 17, first servo motor; 18, first bevel gear; 19, second bevel gear; 20, medicine mixing box; 21, detector; 22. Water tank; 23. Mixing shaft; 24. Second servo motor; 25. Driving gear; 26. Synchronous gear; 27. Ratchet; 28. Ratchet; 29. ​​Transmission gear; 30. First adjusting gear; 31. Second adjusting gear; 32. Adjusting rack; 33. Fixed bracket; 34. Transmission wheel; 35. Moving wheel; 36. Three-phase asynchronous motor; 37. Guide driving motor; 38. Guide wheel; 39. Hydraulic shell; 40. Support frame; 41. Third servo motor. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0050] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] Embodiment 1:

[0053] Reference Figure 1-Figure 9 A multifunctional regulating spraying robot for plants, the robot comprises a spraying part and an adjusting part, the spraying part is used to spray the medicine, and the adjusting part is used to adjust the height or displacement of the spraying part;

[0054] The spraying section includes:

[0055] PTZ 1, used for plane support;

[0056] The spraying mechanism 2 is located on both sides of one end of the pan / tilt 1 and is used to spray the medicine to the outside;

[0057] The spraying mechanism 2 includes a positioning bearing 9 and at least one spraying pipe. The outer side of the spraying pipe is connected to the pan head 1 through the positioning bearing 9. Spraying holes are evenly distributed inside the bottom of the spraying pipe, so that the medicine inside the spraying pipe can be sprayed out through the spraying holes. When there are multiple spraying pipes, two adjacent spraying pipes are connected by sliding, so that the spraying mechanism 2 can be adjusted according to different spraying widths.

[0058] In this embodiment, the spraying mechanism 2 includes two locating bearings 9, two first pipes 10, two second pipes 11, two third pipes 12 and two fourth pipes 13. The inner rings of the two locating bearings 9 are fixed with the first pipes 10, and the outer sides of the two locating bearings 9 are fixed to the pan-tilt head 1, so that the first pipes 10 can rotate on the inner side of the pan-tilt head 1 through the locating bearings 9. The two first pipes 10 are slidably connected to the second pipe 11 at one end away from each other, the two second pipes 11 are slidably connected to the third pipe 12 at one end away from each other, and the two third pipes 12 are slidably connected to the fourth pipe 13 at one end away from each other. The bottom ends of the first pipes 10, the second pipes 11, the third pipes 12 and the fourth pipes 13 are evenly distributed with spray holes, so that the medicine can be sprayed through the first pipes 10, the second pipes 11, the third pipes 12 and the fourth pipes 13.

[0059] The infusion mechanism 3 is used to deliver the medicine into the interior of the spraying mechanism 2 and spray it through the spraying mechanism 2;

[0060] The infusion mechanism 3 includes an infusion pipeline 14, a gear pump 15, a liquid inlet pipeline 16, a first servo motor 17 and a first bevel gear 18. The bottom end of the gear pump 15 is bolted to the pan-tilt head 1, and the output end of the gear pump 15 is fixed with the infusion pipeline 14. The infusion pipeline 14 is fixed to the spraying pipeline, so that the drug can be transported into the interior of the spraying pipeline through the infusion pipeline 14. The input end of the gear pump 15 is fixed with the liquid inlet pipeline 16, so that the drug can enter the gear pump 15 through the liquid inlet pipeline 16 when the gear pump 15 is working. The top of the pan-tilt head 1 is bolted with a first servo motor 17, and the output end of the first servo motor 17 is connected to the first bevel gear 18. One end of the first bevel gear 18 is meshedly connected with the second bevel gear 19, and the second bevel gear 19 is fixed to the working shaft of the gear pump 15, so that the work of the first bevel gear 18 drives the gear pump 15 to work through the second bevel gear 19, and the diameter of the second bevel gear 19 is larger than the diameter of the first bevel gear 18.

[0061] In this embodiment, the liquid inlet pipe 16 includes a bottom pipe circle, a corner flange and a quick-connect joint, which are tightly connected in sequence to form a U shape and are installed inside the top of the pan / tilt head 1 in an internal manner.

[0062] In this embodiment, the infusion pipe 14 is fixed to the two first pipes 10 , and the medicine is pumped by the gear pump 15 and enters the interior of the two first pipes 10 through the infusion pipe 14 .

[0063] In this embodiment, the gear pump 15 is a double gear pump, specifically a rotary pump that relies on the change and movement of the working volume formed between the pump cylinder and the meshing gears to transport liquid or increase its pressure. It consists of two gears, a pump body, and front and rear covers to form two closed spaces. When the gears rotate, the volume of the space on the gear disengagement side changes from small to large, forming a vacuum, sucking the liquid through the liquid inlet pipe 16, and the volume of the space on the gear meshing side changes from large to small, squeezing the liquid into the liquid delivery pipe 14.

[0064] The medicine storage mechanism 4 is used to mix the medicines and then extract and transport them into the spraying mechanism 2 through the infusion mechanism 3;

[0065] The medicine storage mechanism 4 includes a medicine mixing box 20, a water tank 22 and a mixing shaft 23. The medicine mixing box 20 is fixed inside the top of the pan-tilt 1 away from one end of the spraying mechanism 2. The water tank 22 is fixed to one end of the medicine mixing box 20 through a pipe. The bottom of the water tank 22 is fixed to the pan-tilt 1, so that the medicine mixing box 20 and the water tank 22 are highly supported by the pan-tilt 1, and the liquid inside the water tank 22 can flow into the medicine mixing box 20. The medicine mixing box 20 is fixed to the liquid inlet pipe 16, so that the gear pump 15 can extract the medicine inside the medicine mixing box 20 through the liquid inlet pipe 16. The internal rotation at the bottom end of the medicine mixing box 20 is connected with the mixing shaft 23. A mixing impeller is fixed at the top of the mixing shaft 23 and at the bottom end located inside the medicine mixing box 20. The medicine and water inside the medicine mixing box 20 are evenly stirred by the rotation of the mixing impeller. A driving member for driving the mixing shaft 23 to rotate is fixed inside the pan-tilt 1. The driving member can be a piston cylinder or a stepping motor, etc.

[0066] In this embodiment, the interior of the water tank 22 is divided into two chambers, namely a pesticide chamber and a water chamber.

[0067] Preferably, a water pump is provided on the pipeline, and the liquid is extracted by the water pump on the pipeline, and then the liquid is allowed to enter the interior of the medicine mixing box 20 for mixing according to a certain proportion.

[0068] Preferably, a detector 21 is fixed inside the top of the drug mixing box 20, so that the robot can sense the changes of the crops outside through the detector 21, so that the spraying direction can be changed in time.

[0069] In this embodiment, the detector 21 is composed of a direction sensor and a speed sensor, and determines whether the vehicle is going straight or turning based on the outputs of the direction sensor and the speed sensor.

[0070] In this embodiment, sealing rings are provided at the connection between the medicine mixing box 20 and the liquid inlet pipe 16, at the connection between the liquid inlet pipe 16 and the gear pump 15, and at the connection between the gear pump 15 and the infusion pipe 14 to prevent the liquid from flowing out.

[0071] The regulation department includes:

[0072] Shell 6, used for supporting and fixing;

[0073] The adjusting mechanism 5 is located at the top of the housing 6 and is used to drive the platform 1 to adjust its height, so that the platform 1 can be raised and lowered to spray medicine at different heights through the spraying mechanism 2;

[0074] The adjustment mechanism 5 includes a second servo motor 24, a driving gear 25, a synchronous gear 26, a transmission gear 29, a first adjustment gear 30, a second adjustment gear 31 and an adjustment rack 32. The top of the housing 6 is rotatably connected to a support shaft, and a synchronous gear 26 and a transmission gear 29 are fixed to the outside of the support shaft, and the transmission gear 29 is located on one side of the synchronous gear 26, so that the synchronous gear 26 and the transmission gear 29 rotate synchronously. The second servo motor 24 is bolted to one end of one side of the top of the housing 6, and the output end of the second servo motor 24 is connected to the driving gear 25, and the driving gear 25 is meshed with the synchronous gear 26, so that the rotation of the driving gear 25 drives the support shaft to rotate through the synchronous gear 26, and the support shaft drives the transmission gear 29 to rotate synchronously. The top of the transmission gear 29 is meshed with a first adjusting gear 30, one end of the first adjusting gear 30 is meshed with a second adjusting gear 31, and the second adjusting gear 31 does not contact the transmission gear 29. The first adjusting gear 30 and the second adjusting gear 31 are both rotatably connected to the housing 6, so that when the first adjusting gear 30 and the second adjusting gear 31 rotate, no height adjustment is generated. The ends of the first adjusting gear 30 and the second adjusting gear 31 that are away from each other are both meshed with an adjusting rack 32, and the adjusting rack 32 is fixed to the pan-tilt head 1, so that the first adjusting gear 30 and the second adjusting gear 31 rotate in opposite directions, driving the two adjusting racks 32 to rise and fall at the same time, so that the adjusting rack 32 drives the pan-tilt head 1 to adjust the height at the top of the housing 6;

[0075] It also includes a stop assembly for limiting the reverse rotation of the support shaft, the stop assembly includes a ratchet 27, a pawl 28, a support frame 40 and a third servo motor 41, the ratchet 27 is fixed to the outer side of one side of the support shaft, the support frame 40 is fixed to the other end of the top side of the shell 6 by bolts, the third servo motor 41 is fixed to the top of the support frame 40, and the output end of the third servo motor 41 is fixed to the pawl 28 for limiting the reverse rotation of the ratchet 27 through the pawl 28.

[0076] The moving mechanism 7 is located on both sides of the shell 6 and is used to drive the robot to move so that it can spray medicine at different positions. Furthermore, by adopting track wheel drive, it has very strong grip and can be used in different environments and adapt to different road surfaces.

[0077] The mobile mechanism 7 includes two fixed brackets 33, a transmission wheel 34, multiple moving wheels 35 and a three-phase asynchronous motor 36. The two fixed brackets 33 are symmetrically arranged, and the shape of the fixed brackets 33 is triangular. The moving wheels 35 are rotatably connected between the two fixed brackets 33 and at the end angle positions. The outer sides of the multiple moving wheels 35 are connected by tracks, so that the rotation and support of the multiple moving wheels 35 allow the tracks to rotate and move stably, thereby allowing the robot to move stably. The middle part between the two fixed brackets 33 is rotatably connected with a transmission wheel 34, and the transmission wheel 34 is connected to one of the moving wheels 35 by a synchronous belt. The rotation of the transmission wheel 34 drives one of the moving wheels 35 to rotate through the synchronous belt, and the rotation of one of the moving wheels 35 and the support of the remaining moving wheels 35 allow the tracks to rotate and move stably. A three-phase asynchronous motor 36 is fixed inside the shell 6, and the output end of the three-phase asynchronous motor 36 is connected to the transmission wheel 34, so that the work of the three-phase asynchronous motor 36 drives the transmission wheel 34 to rotate.

[0078] In other embodiments, at the same end, two moving mechanisms 7 are close to one end of the housing 6, and the mechanism is expanded by using an inverted mechanism of a hinged four-bar mechanism and a crank slider mechanism, in which the advantage of the dead point is applied to make the device move more stably.

[0079] In other embodiments, the three-phase asynchronous motor 36 may also be a reduction motor.

[0080] A guide mechanism 8 is installed at one end of the housing 6, which is used to allow the robot to make a guided turn through the guide mechanism 8;

[0081] The guide mechanism 8 includes a guide drive motor 37, a guide wheel 38 and a hydraulic shell 39. The hydraulic shell 39 is fixed at one end of the shell 6, and the guide drive motor 37 is fixed at the top of the hydraulic shell 39. The output end of the guide drive motor 37 and the bottom of the hydraulic shell 39 are connected to the guide wheel 38, so that the guide drive motor 37 drives the guide wheel 38 to rotate, thereby realizing the guidance of the robot when turning. A compression spring is fixed at the top of the guide wheel 38 and inside the hydraulic shell 39, and the compression spring is used to realize the buffering and resetting of the guide wheel 38 when the road surface is protruding.

[0082] In this embodiment, a rechargeable battery may be disposed inside the pan / tilt head 1 or inside the housing 6, and the battery may be used to provide power to the electrical appliance of the present invention.

[0083] The use process of the multifunctional regulating pesticide spraying robot for plants provided by the present invention is as follows: when in use, water is first added into the water tank 22 through the top of the water tank 22, and then the medicine is put into the medicine mixing box 20, and the mixing shaft 23 is driven by the driving member to rotate to drive the mixing impeller to rotate, so that the rotation of the mixing impeller mixes the water and the medicine in the medicine mixing box 20 evenly;

[0084] When the robot moves, the three-phase asynchronous motor 36 drives the transmission wheel 34 to rotate, and the transmission wheel 34 drives one of the moving wheels 35 to rotate through the synchronous belt, and the rotation of the remaining moving wheels 35 drives the crawler to rotate, so that the robot moves stably;

[0085] Then, the first bevel gear 18 is driven to rotate by the operation of the first servo motor 17, and the rotation of the first bevel gear 18 drives the meshing second bevel gear 19 to rotate, and the rotation of the second bevel gear 19 drives the gear pump 15 to work, so that the gear pump 15 works to extract the mixed drug liquid in the drug mixing box 20 through the liquid inlet pipe 16, and transports it into the spraying mechanism 2 through the infusion pipe 14, and is sprayed by the spraying mechanism 2;

[0086] When it is detected that the sprayed objects are planted at different times and heights, the second servo motor 24 drives the driving gear 25 to rotate, and the rotation of the driving gear 25 drives the meshing synchronous gear 26 to rotate, so that the rotation of the synchronous gear 26 drives the ratchet 27 and the transmission gear 29 to rotate synchronously through the support shaft, and the rotation of the transmission gear 29 drives the meshing second adjusting gear 31 to rotate through the meshing first adjusting gear 30, so that the first adjusting gear 30 and the second adjusting gear 31 rotate in opposite directions, and the rotation of the first adjusting gear 30 and the second adjusting gear 31 drives the two meshing adjustment racks 32 to rise and fall at the same time, and the rise of the adjustment rack 32 drives the pan-tilt 1 to rise at the top of the shell 6, thereby adjusting the spraying height of the spraying mechanism 2, and at the same time, the rotation of the ratchet 27 is restricted by the pawl 28 and cannot be reversed, and when the pan-tilt 1 descends at the top of the shell 6, the ratchet 27 is driven to rotate by the third servo motor 41, so that the ratchet 27 is separated from the contact with the pawl 28, and the reverse rotation of the pawl 28 cannot be restricted;

[0087] When the robot needs to turn, the guide drive motor 37 drives the guide wheel 38 to rotate, and the guide of the guide wheel 38 allows the robot to turn when moving through the moving mechanism 7.

[0088] Embodiment 2

[0089] Based on the above embodiment 1, the application method is disclosed:

[0090] 1. Farmland pesticide spraying: The robot can be used for traditional pesticide spraying tasks in farmland. It can accurately control the spraying range and amount, adapt to the needs of different crops and plots, and improve the efficiency and uniformity of spraying.

[0091] 2. Orchard pesticide spraying. Orchards usually have fruit trees of different heights and shapes. The flexibility and adjustability of the robot enable it to adapt to the pesticide spraying needs of various fruit trees. It can ensure uniform coverage of pesticides by adjusting the height and spraying angle, and improve the yield and quality of the orchard.

[0092] Embodiment 3

[0093] The present invention is disclosed on the basis of the above-mentioned embodiment 1.

[0094] In the farmland or orchard, the induction cable is laid along the spraying operation path. For orchards such as apple trees, the induction cable is laid on the surface or underground (about 30 meters deep), while for orchards such as grapes, the induction cable is erected in the air (about 150 to 200 meters above the ground). Considering the distance between fruit trees, the minimum distance between adjacent cables is about 1.5 meters, and the length of the cable is limited by the power of the signal transmitter and the resistance of the cable. When working, the current emitted by the transmitter flows through the cable, generating a magnetic field around the cable. The control device on the robot controls the direction of the robot according to the magnetic field signal detected by the sensor.

[0095] The robot consists of a power supply module, a medicine supply module, a calculation and analysis module, a spraying module, a rack unit, a control system unit, a steering system, and a drive system. When the robot is working, it does not need manual control and can spray crops and trees completely automatically. The robot control system can also determine whether it is going straight or turning based on the output of the direction sensor and the speed sensor. When turning, the robot can automatically stop spraying on the side without plants. If there are plants on both sides when turning, the automatic stop spraying function can also be disabled as needed. During the spraying operation, when the liquid in the medicine tank is used up, the robot can automatically stop spraying and walking. At the end of the operation path, the induction cable is laid in an acute angle shape, so due to the mutual interference of the magnetic field, the induction sensor cannot detect the signal, so all functions will stop. When the automatic function of the robot is disabled, the robot can also be moved to the operation starting point or the liquid replenishment location using a remote control device or manual operation.

[0096] The medicine supply module uses an adjustable hydraulic pump to pump the liquid in the water cavity and the pesticide cavity and mix them in a certain fixed ratio, and changes the ratio of the pesticide liquid by adjusting the flow rate to adapt to different pesticide ratios.

[0097] The spraying module uses a telescopic cylinder device to adjust the area of ​​pesticide spraying to adapt to the planting density of crops of different widths. The spraying holes at the bottom of the telescopic cylinder spray the pesticide onto the crops.

[0098] The steering module consists of a direction sensor and a speed sensor. It determines whether to go straight or turn based on the output of the direction sensor and the speed sensor.

[0099] In other embodiments, a vehicle communication control network based on the CAN bus may also be designed to achieve free switching between manual remote control and automatic navigation modes.

[0100] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multifunctional regulating pesticide spraying robot for plants, characterized in that: The robot comprises a spraying part and an adjusting part, wherein the spraying part is used to spray the medicine, and the adjusting part is used to adjust the height or displacement of the spraying part; The spraying part comprises: A pan / tilt platform (1) for plane support; A spraying mechanism (2), located on both sides of one end of the pan / tilt platform (1), is used to spray the medicine to the outside; An infusion mechanism (3) for delivering the drug into the interior of the spraying mechanism (2); The medicine storage mechanism (4) is used to mix the medicines and then extract and transport them through the infusion mechanism (3) into the spraying mechanism (2); The adjustment unit comprises: A housing (6) for supporting and fixing; An adjustment mechanism (5), located at the top of the housing (6), is used to drive the pan / tilt platform (1) to adjust its height; The moving mechanism (7) is located on both sides of the two ends of the shell (6) and is used to drive the robot to move.

2. A multifunctional regulating pesticide spraying robot for plants according to claim 1, characterized in that: The spraying mechanism (2) comprises a positioning bearing (9) and at least one section of a spraying pipe, the outer side of the spraying pipe is connected to the pan head (1) via the positioning bearing (9), and spraying holes are evenly distributed inside the bottom of the spraying pipe. When there are multiple sections of the spraying pipe, two adjacent sections of the spraying pipe are connected by sliding.

3. A multifunctional regulating pesticide spraying robot for plants according to claim 1, characterized in that: The infusion mechanism (3) comprises an infusion pipeline (14), a gear pump (15), an inlet pipeline (16), a first servo motor (17) and a first bevel gear (18); the bottom end of the gear pump (15) is bolted to the pan / tilt platform (1); the output end of the gear pump (15) is fixed with the infusion pipeline (14); the infusion pipeline (14) is fixed to the spraying pipeline; the input end of the gear pump (15) is fixed with the inlet pipeline (16); the top of the pan / tilt platform (1) is bolted to the first servo motor (17); the output end of the first servo motor (17) is connected to the first bevel gear (18); one end of the first bevel gear (18) is meshedly connected to the second bevel gear (19); the second bevel gear (19) is fixed to the working shaft of the gear pump (15).

4. A multifunctional regulating pesticide spraying robot for plants according to claim 1, characterized in that: The medicine storage mechanism (4) comprises a medicine mixing box (20), a water tank (22) and a mixing shaft (23); a medicine mixing box (20) is fixed inside the top of the pan / tilt platform (1) away from one end of the spraying mechanism (2); a water tank (22) is fixed to one end of the medicine mixing box (20) via a pipeline; the medicine mixing box (20) is fixed to a liquid inlet pipeline (16); a mixing shaft (23) is rotatably connected inside the bottom end of the medicine mixing box (20); a mixing impeller is fixed at the top end of the mixing shaft (23) and at the bottom end located inside the medicine mixing box (20).

5. A multifunctional regulating pesticide spraying robot for plants according to claim 4, characterized in that: A detector (21) is fixed inside the top of the medicine mixing box (20).

6. A multifunctional regulating pesticide spraying robot for plants according to claim 1, characterized in that: The adjusting mechanism (5) comprises a second servo motor (24), a driving gear (25), a synchronous gear (26), a transmission gear (29), a first adjusting gear (30), a second adjusting gear (31) and an adjusting rack (32); the top end of the housing (6) is rotatably connected to a support shaft, the outer side of the support shaft is fixed with a synchronous gear (26) and a transmission gear (29), and the transmission gear (29) is located on one side of the synchronous gear (26); the second servo motor (24) is bolted to one end of one side of the top of the housing (6); the output of the second servo motor (24) The end of the transmission gear (29) is connected to a driving gear (25), the driving gear (25) is meshed with a synchronous gear (26), the top of the transmission gear (29) is meshed with a first adjusting gear (30), one end of the first adjusting gear (30) is meshed with a second adjusting gear (31), the first adjusting gear (30) and the second adjusting gear (31) are both rotatably connected to the housing (6), the ends of the first adjusting gear (30) and the second adjusting gear (31) that are away from each other are both meshed with an adjusting rack (32), and the adjusting rack (32) is fixed to the pan / tilt head (1).

7. A multifunctional regulating pesticide spraying robot for plants according to claim 6, characterized in that: It also includes a rotation-stopping assembly for limiting the reverse rotation of the support shaft, the rotation-stopping assembly includes a ratchet (27), a pawl (28), a support frame (40) and a third servo motor (41), the ratchet (27) is fixed to the outer side of one side of the support shaft, the support frame (40) is fixed to the other end of the top side of the shell (6) by bolts, the third servo motor (41) is fixed to the top of the support frame (40), and the output end of the third servo motor (41) is fixed to the pawl (28) for limiting the reverse rotation of the ratchet (27) through the pawl (28).

8. The multifunctional regulating pesticide spraying robot for plants according to claim 1, characterized in that: The moving mechanism (7) comprises two fixed brackets (33), a transmission wheel (34), a plurality of moving wheels (35) and a three-phase asynchronous motor (36); the two fixed brackets (33) are symmetrically arranged; a moving wheel (35) is rotatably connected between the two fixed brackets (33) and at an end angle position; the outer sides of the plurality of moving wheels (35) are connected via a crawler track; a transmission wheel (34) is rotatably connected in the middle between the two fixed brackets (33); the transmission wheel (34) is connected to one of the moving wheels (35) via a synchronous belt; a three-phase asynchronous motor (36) is fixed inside the housing (6); and an output end of the three-phase asynchronous motor (36) is connected to the transmission wheel (34).

9. A multifunctional regulating pesticide spraying robot for plants according to claim 1, characterized in that: A guide mechanism (8) is installed at one end of the housing (6) for allowing the robot to make a guided turn through the guide mechanism (8); The guide mechanism (8) comprises a guide drive motor (37), a guide wheel (38) and a hydraulic shell (39); the hydraulic shell (39) is fixed to one end of the housing (6); the guide drive motor (37) is fixed to the top of the hydraulic shell (39); and the output end of the guide drive motor (37) and located at the bottom of the hydraulic shell (39) is connected to the guide wheel (38).

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