Grain dosing robot system

Abstract

The invention discloses a grain dosing robot system which comprises a walking mechanism and a feeding mechanism, the walking mechanism comprises two sets of supporting frames, a tray dosing mechanism and a discharging mechanism are connected to the supporting frames, the discharging mechanism comprises a hopper fixedly connected with the two sets of supporting frames through a mounting base, a feeding mechanism is arranged on the hopper, and the tray dosing mechanism is connected with the feeding mechanism. The automatic feeding device has the advantages that in the traveling process of the traveling mechanism, the tray unloading mechanism starts to place the medicine trays on the grains, after the medicine trays are placed, the feeding mechanism reaches the positions above the placed medicine trays, the tray unloading mechanism unloads the medicine trays, the tray unloading mechanism unloads the medicine trays, and the tray unloading mechanism unloads the medicine trays after the medicine trays are placed. The feeding mechanism carries out feeding on the medicine trays, the feeding amount of the feeding mechanism every time is set to be matched with the medicine trays, the situation that the disinfection effect is affected due to the fact that the medicine amount is too large or too small is prevented, the discharging interval on the feeding mechanism is the same as the interval for placing the medicine trays, and quantitative medicine feeding can be carried out in the granary through cooperation of the tray discharging mechanism and the feeding mechanism.

Description

Technical Field

[0001] This invention relates to the field of grain depot pesticide application technology, specifically a grain pesticide application robot system. Background Technology

[0002] During grain storage, differences in grain type, temperature, method of loading, and impurities lead to grain grading, which in turn causes grain piles to heat up, mold, and breed pests. Currently, the conventional pest control measure before grain is stored is phosphine fumigation. Phosphine fumigation is typically carried out under sealed conditions, where a certain amount of aluminum phosphide or other agents are placed on the grain surface. The agents react chemically with the air flowing through the gaps in the grain pile, releasing highly toxic phosphine gas to kill various adult or larval pests in the grain pile.

[0003] Traditionally, pesticides are applied manually, with the pesticide tray typically placed above the grain. This is not only inconvenient for manual application but can also potentially harm the worker's health. Therefore, this invention proposes a grain pesticide application robot system to replace manual pesticide application. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic system for dispensing pesticides into grains.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A grain pesticide dispensing robot system includes a walking mechanism and a feeding mechanism. The walking mechanism includes two sets of support frames, on which a dispensing mechanism and a discharging mechanism are connected. The discharging mechanism includes a hopper fixedly connected to the two sets of support frames via a mounting base. The hopper is equipped with a dispensing mechanism. The dispensing mechanism includes a bracket, on which a placement component for placing the pesticide tray is connected. The bracket is also equipped with a lowering mechanism.

[0006] Preferably, the dosing mechanism includes a discharge frame fixedly connected to the bottom of the hopper, a rotating rod rotatably connected inside the discharge frame, and a hopper opening and closing plate adapted to the discharge frame fixedly connected to the outer surface of the rotating rod. A first motor is fixedly installed on the inner side of one set of support frames, and the output end of the first motor is fixedly connected to the rotating rod through a reducer. An mounting plate is fixedly connected between the two sets of support frames. A discharging frame is fixedly connected to the bottom of the mounting plate. A weight sensor is fixedly installed on the top of the mounting plate. A medicine-receiving track is fixedly connected to the top of the weight sensor. A transition medicine box is slidably arranged on the top of the medicine-receiving track. A first electric push rod is fixedly installed on the inner side of one set of support frames. A connecting frame is fixedly connected to the telescopic end of the first electric push rod. One side of the connecting frame is fixedly connected to the transition medicine box. A first guide rod and a connecting rod assembly are fixedly connected to the inner side of the other set of support frames. A wedge for driving the connecting rod assembly is slidably connected to the outer surface of the first guide rod. The wedge is fixedly connected to the connecting frame. A baffle plate is fixedly connected to the lower end of the connecting rod assembly. The linkage assembly includes a connecting rod fixedly connected to a support frame. A placement frame is fixedly connected to one side of the connecting rod. The top and bottom of the placement frame are provided with through holes. A connecting rod is slidably connected inside the through holes. A limiting plate is fixedly connected to the outer surface of the connecting rod. A first spring is sleeved on the outer surface of the connecting rod. The two ends of the first spring are fixedly connected to the inner bottom side of the placement frame and the bottom of the limiting plate, respectively. A wheel frame is fixedly connected to the top of the connecting rod. A movable wheel is rotatably connected inside the wheel frame.

[0007] Preferably, the feeding mechanism includes an inclined plate fixedly connected inside the hopper, the hopper having a cylindrical structure, the inclined plate having a discharge port, a lower cover plate detachably connected to the bottom of the hopper, a rotating disk rotatably connected inside the hopper, the top of the rotating disk fitting snugly against the bottom of the inclined plate, a feeding hole being opened on the rotating disk, a second motor being fixedly mounted on the bottom of the lower cover plate via a motor mounting base, the output end of the second motor being fixedly connected to the rotating disk via a coupling, a discharge rubber sleeve being fixedly connected to the bottom of the lower cover plate, and an upper cover plate detachably mounted on the top of the hopper.

[0008] Preferably, the feeding mechanism includes two sets of lifting frames fixedly installed on one side of the hopper. The two sets of lifting frames are rotatably connected to two sets of transmission rollers. The outer surface of the transmission rollers is connected to a conveyor belt. Multiple sets of medicine loading frames are uniformly fixedly installed on the outer surface of the conveyor belt. A receiving groove for accommodating the medicine loading frames is opened on one side of the hopper. A feeding frame is fixedly connected to the top of the lifting frame. A fourth motor is fixedly installed on one side of the lifting frame. The output end of the fourth motor is fixedly connected to one of the sets of transmission rollers through a coupling.

[0009] Preferably, the feeding mechanism includes a top plate fixedly connected to the top of the hopper, a fifth motor fixedly installed on the top of the top plate, an auger shaft fixedly connected to the output end of the fifth motor through the top plate via a coupling, auger blades fixedly connected to the outer surface of the auger shaft, the hopper having a conical structure, a discharge cylinder fixedly connected to the bottom of the hopper, a slinger fixedly connected to the bottom of the auger shaft, the slinger located inside the discharge cylinder, and a sealing plate detachably installed on the top of the hopper.

[0010] Preferably, the bracket includes an upper frame and a lower frame fixedly connected between two sets of support frames. The lower plate mechanism includes four sets of rotating shafts rotatably connected between the upper frame and the lower frame via bearing seats. The four sets of rotating shafts are located at four corners. The placement component is a tray wheel fixedly connected to the outer surface of the rotating shaft. A synchronous pulley is fixedly connected to the outer surface of the rotating shaft. A synchronous belt is drivenly connected to the outer surface of the synchronous pulley. A third motor is fixedly installed on the top of the upper frame. The output end of the third motor is fixedly connected to one of the rotating shafts via a coupling. A spiral lower plate wheel is fixedly connected to the outer surface of the rotating shaft. The lower plate wheel is located below the tray wheel. Several assembly plate positioning plates are fixedly connected between the upper frame and the lower frame. A transition wheel is rotatably connected to the bottom of the upper frame via bearing seats. A tensioning device is provided on the upper frame. The tensioning device includes a guide groove on the upper frame, a slide table slidably connected inside the guide groove, a positioning plate fixedly connected to the top of the slide table extending out of the guide groove, a tensioning wheel adapted to the synchronous belt rotatably connected to the bottom of the slide table through a bearing seat, a vertical plate fixedly connected to the top of the upper frame, a second electric push rod fixedly installed on one side of the vertical plate, one side of the second electric push rod fixedly connected to the positioning plate, and the tensioning wheel located inside the synchronous belt.

[0011] Preferably, a control box is fixedly installed between the two sets of support frames.

[0012] Preferably, the walking mechanism further includes a drive motor fixed to the inside of the support frame, a drive wheel cooperating with the output shaft of the drive motor, a track cooperating with the drive wheel, and a power supply fixedly connected to the control box. Limiting mechanisms are fixedly connected to the inside of both sets of support frames.

[0013] Preferably, the limiting mechanism includes a waist groove formed on one side of the support frame, a limiting rod slidably connected inside the waist groove, a connecting plate fixedly connected to the limiting rod, a baffle hinged to one side of the connecting plate, a photoelectric sensor fixedly installed on one set of the baffles, the limiting mechanism also includes a limiting plate fixedly connected to the support frame, a guide hole formed at the top of the limiting plate, a second guide rod slidably connected inside the guide hole, the bottom of the second guide rod fixedly connected to the baffle, a second spring sleeved on the second guide rod, the two ends of the second spring fixedly connected to the baffle and the limiting plate respectively, guide grooves formed on both inner walls of the waist groove, and a guide block slidably connected inside the guide groove fixedly connected to one end of the limiting rod.

[0014] Preferably, the feeding mechanism includes two sets of placement racks and mounting racks. The two sets of placement racks are located inside the mounting racks, and a conveying device is provided between the two sets of placement racks. A medicine bottle clamp is fixedly installed on the conveying device, and a three-axis bottle opener is fixedly installed on the mounting rack. A medicine inlet for feeding medicine into the feeding hopper is fixedly connected to one side of the placement rack.

[0015] The beneficial effects of this invention are as follows: The grain dispensing robot system provided by this invention delivers medicine to the hopper through a feeding mechanism, and then places the walking mechanism on the grain. The walking mechanism moves autonomously along a route. During the movement, the lower plate mechanism begins to place medicine trays on the grain. After the medicine trays are placed, the feeding mechanism reaches above the placed medicine trays and dispenses medicine into the trays. The amount of medicine dispensed by the feeding mechanism each time is set to match the amount of medicine in the medicine trays to prevent the amount of medicine from being too much or too little, which would affect the disinfection effect. The dispensing interval on the feeding mechanism is the same as the interval between placing the medicine trays. Through the cooperation of the lower plate mechanism and the feeding mechanism, quantitative medicine dispensing can be carried out in the grain silo. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the basic structure of the present invention; Figure 2 This is a schematic diagram of the casting mechanism of the present invention; Figure 3 For the present invention Figure 2 A magnified view of the structure at center A; Figure 4 This is a schematic diagram of the guide groove structure of the present invention; Figure 5 This is a schematic diagram of the walking mechanism structure of the present invention; Figure 6 For the present invention Figure 5 Schematic diagram of the structure at point B; Figure 7 This is a schematic diagram of the feeding mechanism of the present invention; Figure 8This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 9 This is a partial structural schematic diagram of Embodiment 2 of the present invention; Figure 10 This is another partial structural schematic diagram of Embodiment 2 of the present invention; Figure 11 This is a schematic diagram of the feeding mechanism structure according to Embodiment 2 of the present invention; Figure 12 This is a schematic diagram of the linkage assembly structure according to Embodiment 2 of the present invention; Figure 13 This is a schematic diagram of the structure of Embodiment 3 of the present invention; Figure 14 This is an exploded structural diagram of the feeding mechanism according to Embodiment 3 of the present invention; Figure 15 This is a schematic diagram of the inclined plate structure of Embodiment 3 of the present invention; Figure 16 This is a schematic diagram of the structure of Embodiment 4 of the present invention; Figure 17 This is a schematic diagram of the feeding mechanism structure in Embodiment 4 of the present invention; Figure 18 This is a schematic diagram of the lifting frame structure according to Embodiment 4 of the present invention; Figure 19 This is a schematic diagram of the structure of Embodiment 5 of the present invention; Figure 20 This is an exploded structural diagram of the feeding mechanism in Embodiment 5 of the present invention; Figure 21 This is a schematic diagram of the waist groove structure of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Example 1: As Figure 1 - Figure 7 As shown, the present invention provides a grain pesticide dispensing robot system, including a walking mechanism 1 and a feeding mechanism 7. The walking mechanism 1 includes two sets of support frames 101. A dispensing mechanism 2 and a discharging mechanism are connected to the support frames 101. The discharging mechanism includes a hopper 3 fixedly connected to the two sets of support frames 101 through a mounting base. A dispensing mechanism is provided on the hopper 3. The dispensing mechanism 2 includes a bracket. A placement component for placing the pesticide tray is connected to the bracket. A lowering mechanism is also provided on the bracket.

[0020] The support includes an upper frame 41 and a lower frame 42 fixedly connected between two sets of support frames 101. The lower plate mechanism includes four sets of rotating shafts 51 rotatably connected between the upper frame 41 and the lower frame 42 via bearing seats. The four sets of rotating shafts 51 are located at the four corners. The placement component is a tray wheel 52 fixedly connected to the outer surface of the rotating shaft 51. A synchronous pulley 53 is fixedly connected to the outer surface of the rotating shaft 51, and a synchronous belt 54 is driven to the outer surface of the synchronous pulley 53. A third motor 55 is fixedly installed on the top of the upper frame 41. The output end of the third motor 55 is fixedly connected to one of the sets of rotating shafts 51 via a coupling. A spiral lower plate wheel 56 is fixedly connected to the outer surface of the rotating shaft 51. Below the tray wheel 52, several assembly tray positioning plates 43 are fixedly connected between the upper frame 41 and the lower frame 42. The bottom of the upper frame 41 is rotatably connected to the transition wheel 57 through the bearing seat. The upper frame 41 is equipped with a tensioning device. By placing multiple sets of medicine trays on the tray wheel 52, and then starting the third motor 55 to rotate the shaft 51 connected to it, and then through the establishment of the synchronous belt 54 and the synchronous pulley 53, the four sets of shafts 51 are rotated, thereby causing the spiral lower tray wheel 56 and the tray wheel 52 to rotate, thus completing the lower tray operation. By setting the speed of the third motor 55, the interval of the lower trays can be adjusted. The establishment of the tray positioning plates 43 can limit the position of the medicine trays.

[0021] The diameter of the tray wheel 52 is larger than the diameter of the timing wheel 53, so that the timing wheel 53 will not affect the movement of the medicine tray.

[0022] The tensioning device includes a guide groove 44 on the upper frame 41, a slide table 45 slidably connected inside the guide groove 44, a positioning plate 46 fixedly connected to the top of the slide table 45 extending out of the guide groove 44, and a tensioning wheel 47 adapted to the synchronous belt 54 rotatably connected to the bottom of the slide table 45 through a bearing seat. A vertical plate 48 is fixedly connected to the top of the upper frame 41, and a second electric push rod 49 is fixedly installed on one side of the vertical plate 48. One side of the second electric push rod 49 is fixedly connected to the positioning plate 46. The tensioning wheel 47 is located inside the synchronous belt 54. By activating the second electric push rod 49 to push the positioning plate 46, the tensioning wheel 47 can be moved, thereby adjusting the tension of the synchronous belt 54.

[0023] A storage frame is fixedly connected to the bottom of the upper frame 41. A sliding groove 410 is provided on the bottom side of the storage frame. A positioning platform 411 is slidably connected inside the sliding groove 410. The top of the positioning platform 411 is rotatably connected to the tensioning wheel 47 through a bearing seat. By setting up the sliding positioning platform 411, the tensioning wheel 47 moves more smoothly and is more secure when in use.

[0024] A control box 102 is fixedly installed between the two sets of support frames 101.

[0025] The walking mechanism 1 also includes a drive motor 103 fixed inside the support frame 101, a drive wheel 104 cooperating with the output shaft of the drive motor 103, a track 105 cooperating with the drive wheel 104, and a power supply 106 fixedly connected to the control box 102. Limiting mechanisms are fixedly connected to the inner sides of both sets of support frames 101. The track 105 makes it easy for the walking mechanism 1 to walk on grain.

[0026] The limiting mechanism includes a waist groove 107 formed on one side of the support frame 101. A limiting rod 108 is slidably connected inside the waist groove 107. A connecting plate 109 is fixedly connected to the limiting rod 108. A baffle 110 is hinged to one side of the connecting plate 109. A photoelectric sensor 112 is fixedly installed on one set of baffles 110. The limiting mechanism also includes a limiting plate 111 fixedly connected to the support frame 101. A guide hole is formed at the top of the limiting plate 111. A second guide rod 113 is slidably connected inside the guide hole. The bottom of the second guide rod 113 is fixedly connected to the baffle 110. A second guide rod 113 is fitted with a second spring 114, and the two ends of the second spring 114 are fixedly connected to the baffle 110 and the limiting plate 111, respectively. The two sets of baffles 110 are in the shape of a trumpet hole. The two sets of baffles 110 can limit the medicine tray placed on the grain during the walking process. The photoelectric sensor 112 is set to detect the position of the medicine tray. The second spring 114 and the waist groove 107 and other structures can make the baffle 110 move upward if it encounters an obstacle during the walking process, so as to prevent the walking mechanism 1 from being affected by the obstacle.

[0027] like Figure 21 As shown: Guide grooves 115 are provided on both sides of the inner wall of the waist groove 107. One end of the limiting rod 108 is fixedly connected to a guide block 116 that is slidably connected inside the guide groove 115. By setting up the cooperation of the guide groove 115 and the guide block 116, the limiting rod 108 can be slidably connected inside the waist groove 107. On the other hand, it can also prevent the limiting rod 108 from falling out of the waist groove.

[0028] The feeding mechanism 7 includes two sets of placement racks 71 and mounting racks 72. The two sets of placement racks 71 are located inside the mounting racks 72. A conveying device 73 is provided between the two sets of placement racks 71. A medicine bottle clamp 74 is fixedly installed on the conveying device 73. A three-axis bottle opening device 75 is fixedly installed on the mounting rack 72. A medicine inlet 76 for feeding medicine into the feeding hopper 3 is fixedly connected to one side of the placement rack 71. When the medicine bottle is placed in the medicine bottle clamp 74, the three-axis bottle opening device 75 opens the medicine bottle when the transmission device sends the medicine bottle clamp 74 containing the medicine bottle to the three-axis bottle opening device 75. The conveying device 73 then transports the medicine bottle clamp 74 until the medicine bottle reaches the feeding inlet, and then the medicine in the medicine bottle is poured into the feeding hopper 3.

[0029] The conveyor device 73 is a belt conveyor.

[0030] When in use, this device feeds a certain amount of medicine into the hopper 3 through the feeding mechanism 7, and then places the walking mechanism 1 on the grain. The walking mechanism travels autonomously along the route. During the travel, the lower plate mechanism begins to place medicine trays on the grain. After the medicine trays are placed, the feeding mechanism reaches above the placed medicine trays and feeds the medicine trays. The amount of medicine fed by the feeding mechanism each time is set to match the medicine trays to prevent the amount of medicine from being too much or too little, which would affect the disinfection effect. The discharge interval on the feeding mechanism is the same as the interval between placing the medicine trays. Through the cooperation of the lower plate mechanism and the feeding mechanism, quantitative medicine can be added in the grain silo.

[0031] A reinforcing rod is fixedly connected between the two sets of support frames 101 to improve the stability of the walking mechanism 1.

[0032] The support frame 101 is equipped with lifting lugs and handling handles to facilitate the movement of the traveling mechanism 1.

[0033] Example 2: Based on Example 1, the drug delivery mechanism can be... Figures 8-12 The structure shown.

[0034] The dosing mechanism includes a discharge frame 601 fixedly connected to the bottom of the hopper 3. A rotating rod 602 is rotatably connected inside the discharge frame 601. A hopper opening and closing plate 603 adapted to the discharge frame 601 is fixedly connected to the outer surface of the rotating rod 602. A first motor 604 is fixedly installed on the inner side of a set of support frames 101. The output end of the first motor 604 is fixedly connected to the rotating rod 602 through a reducer. An mounting plate 605 is fixedly connected between two sets of support frames 101. A discharging frame 606 is fixedly connected to the bottom of the mounting plate 605. A weight sensor 607 is fixedly installed on the top of the mounting plate 605. A medicine receiving track 608 is fixedly connected to the top of the weight sensor 607. A transition medicine box 609 is slidably arranged on the top of the medicine receiving track 608. A first electric push rod 610 is fixedly installed on the inner side of a set of support frames 101. A connecting frame 611 is fixedly connected to the telescopic end of the first electric push rod 610. One side of the connecting frame 611 is fixedly connected to the transition medicine box 609. Another set of support frames 101 has a first guide rod 612 and a connecting rod 617 assembly fixedly connected to its inner side. The outer surface of the first guide rod 612 is slidably connected to a wedge 613 for driving the connecting rod 617 assembly. The wedge 613 is fixedly connected to the connecting frame 611. When feeding is required, the first motor 604 is started to rotate the rotating rod 602, causing the hopper opening and closing plate 603 to rotate, so that the medicine inside the hopper 3 falls onto the medicine receiving track 608. The weight sensor 607 senses the medicine. Once the dosage reaches the preset value, the first motor 604 rotates the rotating rod 602, causing the hopper opening and closing plate 603 to rotate and block the discharge frame 601. Then, the first electric push rod 610 is activated to pull the connecting frame 611, causing the transition medicine box 609 to move. The transition medicine box 609 drives the medicine on the medicine receiving track 608 to move, so that the medicine is unloaded from the unloading frame 606. By setting up sensors and the hopper opening and closing plate 603, the dosage of medicine can be kept at around the set value each time, thus completing the quantitative medicine dosing.

[0035] A baffle plate 614 is fixedly connected to the lower end of the connecting rod 617 assembly. The connecting rod 617 assembly includes a connecting rod 615 fixedly connected to the support frame 101. A placement frame 616 is fixedly connected to one side of the connecting rod 615. The top and bottom of the placement frame 616 are provided with through holes. The connecting rod 617 is slidably connected inside the through holes. A limit plate 620 is fixedly connected to the outer surface of the connecting rod 617. A first spring 619 is sleeved on the outer surface of the connecting rod 617. The two ends of the first spring 619 are fixedly connected to the inner bottom side of the placement frame 616 and the bottom of the limit plate 620, respectively. The top of the connecting rod 617 is fixedly connected to... The device has a wheel frame with a movable wheel 618 rotatably connected inside. During the process of the first electric push rod 610 pulling the connecting frame 611 to unload the medicine from the transition medicine box 609 from the unloading frame 606 to the medicine tray, the connecting frame 611 also drives the wedge 613 to move. The wedge 613 pushes the movable wheel 618, causing the connecting rod 617 to push the baffle plate 614 downward, so that the medicine tray is always inside the baffle plate 614 to prevent spillage onto the medicine tray. The baffle plate 614 is connected by the connecting rod 617 assembly, so that the bottom of the baffle plate is 3-5mm away from the top of the medicine tray. The walking mechanism 1 can then move forward to complete the leveling of the medicine.

[0036] Example 3: Based on Example 1, the drug delivery mechanism can be... Figures 13-15 The structure shown.

[0037] The feeding mechanism includes an inclined plate 621 fixedly connected inside the hopper 3. The hopper 3 has a cylindrical structure. The inclined plate 621 has a discharge port 622. A lower cover plate 623 is detachably connected to the bottom of the hopper 3. A rotating disk 624 is rotatably connected inside the hopper 3. The top of the rotating disk 624 fits against the bottom of the inclined plate 621. A feeding hole 625 is opened on the rotating disk 624. A second motor 626 is fixedly mounted on the bottom of the lower cover plate 623 through a motor mounting bracket. The output end of the second motor 626 is fixedly connected to the rotating disk 624 through a coupling. The bottom of hopper 23 is fixedly connected to a discharge rubber sleeve 627, and the top of hopper 3 is detachably equipped with a top cover plate 628; the feeding hole 625 has eight sets, and the size of the hole is 1.3-1.5 times the size of the medicine. When medicine needs to be added, the second motor 626 is started to rotate the rotating disk 624 so that the discharge port 622 coincides with the feeding hole 625, and the medicine enters the interior of the feeding hole 625. The rotating disk 624 continues to rotate, and when the feeding hole 625 is connected to the discharge rubber sleeve 627, the medicine is unloaded. During the medicine addition process, the walking mechanism 1 does not stop, which can also prevent the medicine from accumulating.

[0038] After the hopper 3 is filled with medicine, the hopper 3 can be sealed by the upper cover plate 628.

[0039] A small sealing cover is detachably installed at the bottom of the lower cover plate 623; after the dosing is completed, the discharge rubber sleeve 627 can be inserted above the lower cover plate 623, and then sealed by installing the small sealing cover.

[0040] A motor mounting base is fixedly connected to the bottom of the lower cover plate 623, and the motor mounting base is fixedly connected to the second motor 626.

[0041] In this embodiment, the detachable installation is preferably a bolt-fixed connection, and the two sets of structures can be fixedly connected or disassembled by tightening or removing the bolts.

[0042] Example 4: Based on Example 1, the drug delivery mechanism can be... Figures 16-18 The structure shown.

[0043] The feeding mechanism includes two sets of lifting frames 641 fixedly installed on one side of the hopper 3. Two sets of transmission rollers 642 are rotatably connected inside the two sets of lifting frames 641. A conveyor belt 643 is driven to the outer surface of the transmission rollers 642. Multiple sets of medicine loading frames 645 are evenly fixedly installed on the outer surface of the conveyor belt 643. A receiving groove 646 for accommodating the medicine loading frames 645 is opened on one side of the hopper 3. A feeding frame 647 is fixedly connected to the top of the lifting frames 641. A fourth motor 648 is fixedly installed on one side of the lifting frames 641. The output end of the fourth motor 648 is fixedly connected to one set of transmission rollers 642 via a coupling. When feeding, due to the presence of the receiving trough 646, the medicine in the hopper 3 will slide into the inside of the medicine loading frame 645. By starting the fourth motor 648 to rotate the transmission roller 642 connected to it, the conveyor belt 643 will drive the medicine loading frame 645 to move. When the medicine loading frame 645 reaches the upper end of the conveyor belt 643, it will tilt, and the medicine inside the medicine loading frame 645 will be discharged from the feeding frame 601 into the medicine tray. By setting the speed of the fourth motor 648, the number of medicine loading frames 645 can be set to discharge from the feeding frame 647 during feeding, so that the amount of medicine fed each time is about the set value, thus completing the quantitative medicine feeding.

[0044] Example 5: Based on Example 1, the drug delivery mechanism can be... Figures 19-20 The structure shown.

[0045] The feeding mechanism includes a top plate 661 fixedly connected to the top of the hopper 3. A fifth motor 664 is fixedly installed on the top of the top plate 661. The output end of the fifth motor 664 is fixedly connected to an auger shaft 662 through the top plate 661 via a coupling. Auger blades 663 are fixedly connected to the outer surface of the auger shaft 662. The hopper 3 has a conical structure. A discharge cylinder 665 is fixedly connected to the bottom of the hopper 3. A slinger 666 is fixedly connected to the bottom of the auger shaft 662. The slinger 666 is located at the bottom of the discharge cylinder 665. Inside 5, a sealing plate 667 is detachably installed on the top of the hopper 3. When feeding is required, the fifth motor 664 can be started to rotate the auger shaft 662 so that the auger blades 663 can drive the medicine out of the discharge cylinder 665. By controlling the number of rotations of the fifth motor 664, the amount of medicine discharged can be controlled to achieve the effect of quantitative medicine discharge. By setting up the sling plate 666, the leakage of material in the hopper 3 when it follows the walking mechanism 1 can be prevented, and the medicine can be more evenly scattered in the medicine plate during feeding.

[0046] In this embodiment, the detachable installation is preferably a bolt-fixed connection, and the two sets of structures can be fixedly connected or disassembled by tightening or removing the bolts.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grain pesticide dispensing robot system, comprising a walking mechanism (1) and a feeding mechanism (7), characterized in that: The walking mechanism (1) includes two sets of support frames (101). The support frames (101) are connected to a feeding mechanism (2) and a discharging mechanism. The discharging mechanism includes a hopper (3) that is fixedly connected to the two sets of support frames (101) via a mounting base. The hopper (3) is provided with a feeding mechanism. The feeding mechanism (2) includes a bracket. The bracket is connected to a placement component for placing medicine trays. The bracket is also provided with a lower plate mechanism.

2. The grain pesticide application robot system according to claim 1, characterized in that: The dosing mechanism includes a discharge frame (601) fixedly connected to the bottom of the hopper (3). A rotating rod (602) is rotatably connected inside the discharge frame (601). A hopper opening and closing plate (603) adapted to the discharge frame (601) is fixedly connected to the outer surface of the rotating rod (602). A first motor (604) is fixedly installed on the inner side of one set of support frames (101). The output end of the first motor (604) is fixedly connected to the rotating rod (602) through a reducer. An mounting plate (605) is fixedly connected between the two sets of support frames (101). A drug unloading frame (606) is fixedly connected to the bottom of the mounting plate (605). A weight sensor (607) is fixedly installed on the top of the mounting plate (605). A drug receiving device is fixedly connected to the top of the weight sensor (607). The track (608) has a transition medicine box (609) slidably mounted on its top. A first electric push rod (610) is fixedly installed on the inner side of one set of support frames (101). A connecting frame (611) is fixedly connected to the telescopic end of the first electric push rod (610). One side of the connecting frame (611) is fixedly connected to the transition medicine box (609). A first guide rod (612) and a connecting rod (617) assembly are fixedly connected to the inner side of another set of support frames (101). A wedge (613) for driving the connecting rod (617) assembly is slidably connected to the outer surface of the first guide rod (612). The wedge (613) is fixedly connected to the connecting frame (611). A baffle plate (614) is fixedly connected to the lower end of the connecting rod (617) assembly. The connecting rod (617) assembly includes a connecting rod (615) fixedly connected to the support frame (101). A placement frame (616) is fixedly connected to one side of the connecting rod (615). The top and bottom of the placement frame (616) are provided with through holes. The connecting rod (617) is slidably connected inside the through holes. A limiting plate (620) is fixedly connected to the outer surface of the connecting rod (617). A first spring (619) is sleeved on the outer surface of the connecting rod (617). The two ends of the first spring (619) are fixedly connected to the inner bottom side of the placement frame (616) and the bottom of the limiting plate (620), respectively. A wheel frame is fixedly connected to the top of the connecting rod (617). A movable wheel (618) is rotatably connected inside the wheel frame.

3. The grain pesticide application robot system according to claim 1, characterized in that: The feeding mechanism includes an inclined plate (621) fixedly connected inside the hopper (3). The hopper (3) is a cylindrical structure. The inclined plate (621) is provided with a discharge port (622). The bottom of the hopper (3) is detachably connected to a lower cover plate (623). The inside of the hopper (3) is rotatably connected to a rotating disk (624). The top of the rotating disk (624) is fitted to the bottom of the inclined plate (621). The rotating disk (624) is provided with a feeding hole (625). The bottom of the lower cover plate (623) is fixedly mounted with a second motor (626) through a motor mounting seat. The output end of the second motor (626) is fixedly connected to the rotating disk (624) through a coupling. The bottom of the lower cover plate (623) is fixedly connected to a discharge rubber sleeve (627). The top of the hopper (3) is detachably mounted with an upper cover plate (628).

4. The grain pesticide application robot system according to claim 1, characterized in that: The feeding mechanism includes two sets of lifting frames (641) fixedly installed on one side of the hopper (3). The two sets of lifting frames (641) are rotatably connected to two sets of transmission rollers (642). The outer surface of the transmission rollers (642) is connected to a conveyor belt (643). Multiple sets of medicine loading frames (645) are evenly fixedly installed on the outer surface of the conveyor belt (643). A receiving groove (646) for accommodating the medicine loading frames (645) is opened on one side of the hopper (3). A feeding frame (647) is fixedly connected to the top of the lifting frame (641). A fourth motor (648) is fixedly installed on one side of the lifting frame (641). The output end of the fourth motor (648) is fixedly connected to one of the sets of transmission rollers (642) through a coupling.

5. The grain pesticide application robot system according to claim 1, characterized in that: The feeding mechanism includes a top plate (661) fixedly connected to the top of the hopper (3). A fifth motor (664) is fixedly installed on the top of the top plate (661). The output end of the fifth motor (664) is fixedly connected to an auger shaft (662) through the top plate (661) via a coupling. An auger blade (663) is fixedly connected to the outer surface of the auger shaft (662). The hopper (3) has a conical structure. A discharge cylinder (665) is fixedly connected to the bottom of the hopper (3). A slinger (666) is fixedly connected to the bottom of the auger shaft (662). The slinger (666) is located inside the discharge cylinder (665). A sealing plate (667) is detachably installed on the top of the hopper (3).

6. A grain pesticide dispensing robot system according to claim 1, 2, 3, 4 or 5, characterized in that: The bracket includes an upper frame (41) and a lower frame (42) fixedly connected between two sets of support frames (101). The lower plate mechanism includes four sets of rotating shafts (51) rotatably connected between the upper frame (41) and the lower frame (42) via bearing seats. The four sets of rotating shafts (51) are located at the four corners. The placement component is a tray wheel (52) fixedly connected to the outer surface of the rotating shaft (51). A synchronous pulley (53) is fixedly connected to the outer surface of the rotating shaft (51), and a synchronous belt (54) is drivenly connected to the outer surface of the synchronous pulley (53). A third motor (55) is fixedly installed on the top of the upper frame (41). The output end of the third motor (55) is fixedly connected to one of the sets of rotating shafts (51) through a coupling. A spiral lower disc wheel (56) is fixedly connected to the outer surface of the rotating shaft (51). The lower disc wheel is located below the pallet wheel (52). Several assembly disc positioning plates (43) are fixedly connected between the upper frame (41) and the lower frame (42). A transition wheel (57) is rotatably connected to the bottom of the upper frame (41) through a bearing seat. A tensioning device is provided on the upper frame (41). The tensioning device includes a guide groove (44) on the upper frame (41), a slide (45) is slidably connected inside the guide groove (44), a positioning plate (46) is fixedly connected to the top of the slide (45) extending out of the guide groove (44), and a tensioning wheel (47) adapted to the synchronous belt (54) is rotatably connected to the bottom of the slide (45) through a bearing seat. A vertical plate (48) is fixedly connected to the top of the upper frame (41), a second electric push rod (49) is fixedly installed on one side of the vertical plate (48), and one side of the second electric push rod (49) is fixedly connected to the positioning plate (46). The tensioning wheel (47) is located inside the synchronous belt (54).

7. The grain pesticide application robot system according to claim 1, characterized in that: A control box (102) is fixedly installed between the two sets of support frames (101).

8. The grain pesticide application robot system according to claim 7, characterized in that: The walking mechanism (1) also includes a drive motor (103) fixed inside the support frame (101), a drive wheel (104) cooperating with the output shaft of the drive motor (103), a track (105) cooperating with the drive wheel (104), and a power supply (106) fixedly connected to the control box (102). Limiting mechanisms are fixedly connected to the inner sides of both sets of support frames (101).

9. A grain pesticide application robot system according to claim 8, characterized in that: The limiting mechanism includes a waist groove (107) formed on one side of the support frame (101), a limiting rod (108) slidably connected inside the waist groove (107), a connecting plate (109) fixedly connected to the limiting rod (108), a baffle (110) hinged to one side of the connecting plate (109), a photoelectric sensor (112) fixedly installed on one set of the baffles (110), and the limiting mechanism also includes a limiting plate (111) fixedly connected to the support frame (101), a guide hole formed at the top of the limiting plate (111). The guide hole is slidably connected to a second guide rod (113). The bottom of the second guide rod (113) is fixedly connected to the baffle (110). A second spring (114) is sleeved on the second guide rod (113). The two ends of the second spring (114) are fixedly connected to the baffle (110) and the limiting plate (111) respectively. Guide grooves (115) are provided on both sides of the inner wall of the waist groove (107). One end of the limiting rod (108) is fixedly connected to a guide block (116) that is slidably connected inside the guide groove (115).

10. A grain pesticide application robot system according to claim 1, characterized in that: The feeding mechanism (7) includes two sets of placement racks (71) and mounting racks (72). The two sets of placement racks (71) are located inside the mounting racks (72). A conveying device (73) is provided between the two sets of placement racks (71). A medicine bottle clamp (74) is fixedly installed on the conveying device (73). A three-axis bottle opener (75) is fixedly installed on the mounting rack (72). A medicine inlet (76) for feeding medicine into the feeding hopper (3) is fixedly connected to one side of the placement rack (71).

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