Self-adaptive crop leaf bottom deinsectization miniature double-row pesticide spraying robot

Abstract

The invention discloses a self-adaptive crop leaf bottom deinsectization miniature double-row pesticide spraying robot, and belongs to plant protection machinery. A bevel-shaped mounting seat is fixedly mounted on a rack through a hinge, a crawler walking device is fixedly mounted on the bevel-shaped mounting seat, a walking driving motor and a battery are mounted on the rack, the walking driving motor is connected with a crawler driving wheel of the crawler walking device through a chain, and supporting frames with supporting shafts are fixedly mounted on the front side and the rear side of the rack respectively. The supporting frame is connected with the bevel-shaped mounting seat through a supporting shaft, a column shaft, a pressure spring, a pressure spring seat, a pin shaft and a hinge seat, a horizontal steering engine is mounted on the supporting frame on the front side portion through a triangular lower seat, a profile seat and a triangular upper seat in sequence, and a vertical steering engine is mounted on the horizontal steering engine through a U-shaped frame. A spray head steering engine, a driving cylindrical gear, a driven cylindrical gear, an industrial camera, an infrared distance measuring sensor and an adjustable atomized pesticide spray head are mounted on the U-shaped frame through an L-shaped seat plate; the robot is good in pesticide applying and deinsectization effect, high in pesticide liquid utilization rate and capable of achieving upward pesticide spraying.

Description

Technical Field

[0001] The present invention belongs to plant protection machinery, and mainly relates to an adaptive insecticidal spraying robot for the bottom of crop leaves. Background Art

[0002] The prevention and control of farmland pests and diseases is one of the important technical measures to improve the yield, quality and economic benefits of agricultural production. At present, there are many types of farmland spraying and insecticidal machinery, and the spraying method is mostly a downward spraying structure, that is, the liquid medicine is mainly sprayed and covered on the front side of the crop leaves. Due to the light-avoiding physiological characteristics of pests and diseases, most pests and diseases live and distribute on the back side of the crop leaves, resulting in low utilization rate of the sprayed liquid medicine, much loss and waste, poor insecticidal effect and increased application cost. Especially in recent years, due to the long-term and frequent use of chemical insecticides, the drug resistance of pests and diseases has increased, and the insecticidal effect is even worse. Therefore, it is urgent to develop a plant protection machine that can spray insecticidal liquid medicine on the back side of crop leaves as soon as possible. In addition, most of the existing spraying machines are large in size, complex in structure and high in manufacturing cost, and their adaptability is poor. Summary of the Invention

[0003] The purpose of the present invention is to address the problems existing in the above-mentioned prior art, and in combination with the actual needs of crop insecticidal operations, develop an adaptive micro double-row spraying robot for insecticidal on the bottom of crop leaves, so as to achieve the purpose of greatly improving the insecticidal effect and the use efficiency of insecticides, reducing the operation cost, being flexible and convenient to operate, and having strong adaptability.

[0004] The purpose of the invention is achieved in this way: hinges are fixedly installed symmetrically on the front and rear ends of the left and right sides of the frame, angled mounting seats are fixedly installed on the hinges, crawler walking devices are fixedly installed on the angled mounting seats on the left and right sides, and travel drive motors and batteries are installed on the upper ends of the left and right sides of the frame from back to front in sequence, the travel drive motors are connected to the batteries, and chains connect the travel drive motors to the crawler driving wheels of the crawler walking device, and at the middle parts of the front and rear sides of the frame The support frames are respectively fixed on the upper ends of the support frames, and two support shafts are fixedly installed in parallel with each other on the upper ends of the support frames, and the two column shafts are rotatably mounted on the two support shafts respectively, and a compression spring seat is axially movable on the lower sides of the column shafts. The lower ends of the column shafts are hingedly connected to the hinge seats fixedly installed on the angled mounting seats through pin shafts, and the upper and lower ends of the compression springs mounted on the column shafts are respectively in extrusion contact with the shaft shoulders and the compression spring seats on the column shafts; the fixed profile is supported by a triangular lower seat on the upper end of the support frame on the front side of the frame The horizontal steering gear is fixedly mounted on the upper side of the profile seat through a triangular upper seat support, the U-shaped frame can be supported and installed horizontally and rotatably on the horizontal steering gear, the vertical steering gear can be installed on the U-shaped frame so as to swing up and down, an L-shaped seat plate is fixedly mounted on the top outside of the U-shaped frame, a driving cylindrical gear and a driven cylindrical gear can be rotatably and mutually meshed on the front end surface of the L-shaped seat plate, an infrared ranging sensor and an industrial camera are respectively installed on the front end surface of the L-shaped seat plate and at the positions on both sides of the driven cylindrical gear, and a fixed inlay is fixed in the center hole of the driven cylindrical gear. An adjustable atomizing pesticide spray nozzle is embedded and installed, and a spray nozzle servo is fixed on the rear end surface of the L-shaped base plate, the spray nozzle servo drives the active cylindrical gear to rotate, and the wire connects the infrared ranging sensor with the horizontal servo, the vertical servo and the spray nozzle servo respectively; a liquid medicine tank is installed in the middle part of the frame, and a liquid medicine pump is installed on the liquid medicine tank so as to be connected with the liquid medicine tank, a flexible infusion hose connects the liquid medicine pump with the adjustable atomizing pesticide spray nozzle, and a power transmission wire connects the liquid medicine pump with a battery, thereby forming an adaptive crop leaf bottom insecticide killing miniature double-row spraying robot.

[0005] This robot adopts a crawler walking device that can adapt to the field ground and a double-ridge automatic control upward spraying structure. It cooperates with industrial cameras to scan in real time, image processing to identify the specific location of pests and diseases, and infrared ranging sensors to measure the distance from the robot to the target, thus realizing the precise spraying and miniaturization of spraying equipment, and providing technical support for clustered pest control operations in farmland. It has the characteristics of novel, unique and reasonable structure, flexible and convenient operation, strong ability to adapt to the field ground, high degree of automation in spraying liquid, good pesticide application and pest control effects, high utilization rate of liquid, and saving of operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a schematic diagram of the overall structure of a self-adaptive crop leaf bottom insecticide miniature double-row spraying robot;

[0007] Figure 2 is Figure 1 the top view of;

[0008] Figure 3 is Figure 1 the left view of;

[0009] Figure 4 is the three-dimensional schematic diagram of the partial assembly structure of the folding page and the angled mounting seat;

[0010] Figure 5 is the three-dimensional schematic diagram of the partial assembly structure of the horizontal servo and the vertical servo;

[0011] Figure 6 is the three-dimensional schematic diagram of the partial assembly structure of the adjustable atomizing pesticide nozzle and the industrial camera.

[0012] Component number description in the figure:

[0013] 1. Frame, 2. Folding page, 3. Angled mounting seat, 4. Crawler travel device, 4-1. Crawler drive wheel, 5. Hinge seat, 6. Chain, 7. Travel drive motor, 8. Support frame, 9. U-shaped frame, 10. Vertical servo, 11. Infrared ranging sensor, 12. Driven spur gear, 13. Driving spur gear, 14. L-shaped seat plate, 15. Industrial camera, 16. Horizontal servo, 17. Profile seat, 18. Pressure spring, 19. Support shaft, 20. Battery, 21. Triangular lower seat, 22. Triangular upper seat, 23. Spring seat, 24. Column shaft, 24-1. Shoulder, 25. Adjustable atomizing pesticide nozzle, 26. Nozzle servo, 27. Pin shaft, 28. Liquid medicine pump, 29. Flexible infusion hose, 30. Liquid medicine tank. Specific implementation mode

[0014] The implementation scheme of the present invention will be described in detail below with reference to the accompanying drawings. An adaptive miniature two-row pesticide spraying robot for killing insects under the leaves of crops includes a crawler traveling device 4. Hinges 2 are symmetrically and fixedly installed on the front, rear, left, and right sides of the frame 1. Angular mounting seats 3 are fixedly installed on the hinges 2. Crawler traveling devices 4 are fixedly installed on the angular mounting seats 3 on the left and right sides respectively. A traveling drive motor 7 and a battery 20 are sequentially installed from back to front on the upper ends of the left and right sides of the frame 1. The traveling drive motor 7 is connected to the battery 20. A chain 6 connects the traveling drive motor 7 to the crawler drive wheel 4-1 of the crawler traveling device 4. Support frames 8 are fixedly installed on the middle parts of the front and rear sides of the frame 1. Two support shafts 19 are fixedly installed in parallel on the upper parts of the support frames 8. Two column shafts 24 are rotatably sleeved on the two support shafts 19 respectively. A compression spring seat 23 is axially movably sleeved on the lower side of the column shaft 24. The lower end of the column shaft 24 is hingedly connected to a hinge seat 5 fixedly installed on the angular mounting seat 3 through a pin shaft 27. The upper and lower ends of the compression spring 18 sleeved on the column shaft 24 are in pressing contact with the shoulder 24-1 on the column shaft 24 and the compression spring seat 23 respectively; A profile seat 17 is supported and fixedly installed on the end of the support frame 8 on the front side of the frame 1 through a triangular lower seat 21. A horizontal servo 16 is supported and fixedly installed on the upper side of the profile seat 17 through a triangular upper seat 22. A U-shaped frame 9 is supported and installed on the horizontal servo 16 so as to be horizontally rotatable. A vertical servo 10 is installed on the U-shaped frame 9 so as to be swingable up and down. An L-shaped seat plate 14 is fixedly installed on the outer top of the U-shaped frame 9. A driving cylindrical gear 13 and a driven cylindrical gear 12 are rotatably and meshingly installed on the front end face of the L-shaped seat plate 14. An infrared ranging sensor 11 and an industrial camera 15 are installed on the front end face of the L-shaped seat plate 14 at the two sides of the driven cylindrical gear 12 respectively. An adjustable atomizing pesticide nozzle 25 is fixedly installed in the central hole of the driven cylindrical gear 12. A nozzle servo 26 is fixedly installed on the rear end face of the L-shaped seat plate 14. The nozzle servo 26 drives the driving cylindrical gear 13 to rotate. Wires connect the infrared ranging sensor 11 to the horizontal servo 16, the vertical servo 10, and the nozzle servo 26 respectively; A liquid medicine tank 30 is installed in the middle part of the frame 1. A liquid medicine pump 28 is installed on the liquid medicine tank 30 in communication with the liquid medicine tank 30. A flexible liquid delivery hose 29 connects the liquid medicine pump 28 to the adjustable atomizing pesticide nozzle 25. A power transmission wire connects the liquid medicine pump 28 to the battery 20.

[0015] When in operation, place this robot in a furrow. The battery 20 drives the crawler running device 4 to rotate through the traveling drive motor 7, chain 6, and crawler drive wheel 4-1, driving the robot forward. The crawler running devices 4 on both sides swing inward or outward around the whole frame 1 under the control of the angled mounting seat 3, hinge 2, hinge seat 5, pin shaft 27, column shaft 24, compression spring seat 23, pressure spring 18, support shaft 19, and support frame 8 as the ground inclines, always keeping the crawlers of the crawler running devices 4 in full contact with the ground, preventing it from sinking into the soil, reducing slippage, ensuring stable movement, reducing the pressure on the soil and damage to the soil, and ensuring the accuracy of targeted spraying. At the same time, the industrial camera 15 scans the crops in real time, identifies the specific location of pests and diseases through image processing. After the infrared ranging sensor 11 measures the distance from this robot to the target, it sends the obtained spraying parameter electrical signals to the horizontal servo 16, vertical servo 10, and nozzle servo 26 simultaneously. The horizontal servo 16 drives the vertical servo 10 to rotate horizontally through the U-shaped frame 9 to adjust the direction. The vertical servo 10 drives the L-shaped seat plate 14 to rotate up and down vertically on the U-shaped frame 9. The nozzle servo 26 drives the driven cylindrical gear 12 to rotate through the driving cylindrical gear 13, changing the nozzle opening and spraying pattern of the adjustable atomizing pesticide nozzle 25 installed in the central hole of the driven cylindrical gear 12. The liquid medicine pump 28 sends the liquid medicine in the liquid medicine tank 30 into the adjustable atomizing pesticide nozzle 25 through the flexible liquid delivery hose 29, completing the accurate spraying of pests and diseases on the bottom surface of the crop leaves.

Claims

1. An adaptive miniature two-row pesticide spraying robot for killing insects under the leaves of crops, comprising a crawler traveling device (4), characterized in that: Hinges (2) are symmetrically and fixedly installed on the front, rear, left and right sides of the frame (1). A folding-angle mounting seat (3) is fixedly installed on the hinge (2). Crawler traveling devices (4) are respectively fixedly installed on the folding-angle mounting seats (3) on the left and right sides. A traveling drive motor (7) and a battery (20) are sequentially installed from the rear to the front on the upper ends of the left and right sides of the frame (1). The traveling drive motor (7) is connected to the battery (20). A chain (6) connects the traveling drive motor (7) to the crawler drive wheel (4-1) of the crawler traveling device (4). Support frames (8) are respectively fixedly installed on the middle parts of the front and rear sides of the frame (1). Two support shafts (19) are fixedly installed in parallel on the upper ends of the support frames (8). Two column shafts (24) are rotatably sleeved on the two support shafts (19) respectively. A compression spring seat (23) is axially movably sleeved on the lower side of the column shaft (24). The lower end of the column shaft (24) is hingedly connected to a hinge seat (5) fixedly installed on the folding-angle mounting seat (3) through a pin shaft (27). The upper and lower ends of a compression spring (18) sleeved on the column shaft (24) are in extrusion contact with the shoulder (24-1) on the column shaft (24) and the compression spring seat (23) respectively; On the upper end of the support frame (8) on the front side of the frame (1), a profile seat (17) is supported and fixedly installed through a triangular lower seat (21). A horizontal servo (16) is supported and fixedly installed on the upper side of the profile seat (17) through a triangular upper seat (22). A U-shaped frame (9) is rotatably supported and installed on the horizontal servo (16). A vertical servo (10) is swingably installed on the U-shaped frame (9). An L-shaped seat plate (14) is fixedly installed on the outside of the top of the U-shaped frame (9). A driving cylindrical gear (13) and a driven cylindrical gear (12) are rotatably and meshingly installed on the front end face of the L-shaped seat plate (14). An infrared distance sensor (11) and an industrial camera (15) are respectively installed on the front end face of the L-shaped seat plate (14) at the two sides of the driven cylindrical gear (12). An adjustable atomizing pesticide nozzle (25) is fixedly installed in the central hole of the driven cylindrical gear (12). A nozzle servo (26) is fixedly installed on the rear end face of the L-shaped seat plate (14). The nozzle servo (26) drives the driving cylindrical gear (13) to rotate. Wires connect the infrared distance sensor (11) to the horizontal servo (16), the vertical servo (10) and the nozzle servo (26) respectively; A liquid medicine tank (30) is installed in the middle part of the frame (1). A liquid medicine pump (28) is installed on the liquid medicine tank (30) in communication with the liquid medicine tank (30). A flexible infusion hose (29) connects the liquid medicine pump (28) to the adjustable atomizing pesticide nozzle (25). Power transmission wires connect the liquid medicine pump (28) to the battery (20).

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