Small spraying robot

Abstract

The invention relates to the technical field of spraying robots, in particular to a small spraying robot. The following technical scheme is provided mainly for solving the problems that the spraying amount cannot be controlled and the spraying angle cannot be adjusted. Comprising an intelligent mobile vehicle body, a bacterial liquid box fixedly connected to the surface of the intelligent mobile vehicle body, a water pump fixedly connected to the bottom of the bacterial liquid box, a bacterial liquid pipe arranged above the bacterial liquid box, spraying pipes fixedly connected to the two ends of the bacterial liquid pipe, and sealing boxes fixedly connected to the two sides of the bottom of the bacterial liquid pipe respectively. Two groups of spraying amount adjusting assemblies are arranged, four-stage opening degree control can be performed on a bacterial liquid pipe according to the sparse and dense conditions of corn growth monitored by a multispectral density evaluation sensor, the effect of regulating and controlling the bacterial liquid inlet amount of the two spraying pipes is achieved, the first stage achieves the effect of completely opening a baffle in the bacterial liquid pipe, and the second stage achieves the effect of completely opening the baffle in the bacterial liquid pipe; the second stage, the third stage and the fourth stage achieve the effect that the bacterial liquid blocking degree of the baffle in the bacterial liquid pipe is gradually increased.

Description

Technical Field

[0001] This invention relates to the field of spray robot technology, and more specifically to a small spray robot. Background Technology

[0002] Spraying robots are an important device in the spraying operation of plant protection unmanned equipment. During the growth process of dryland corn, it is necessary to spray microbial liquid on the corn roots. Spraying robots can achieve this by spraying microbial liquid on the corn roots to ensure the normal growth of corn. These spraying robot devices generally include a mobile chassis and a spraying device set on the mobile chassis. The spraying device can spray within a certain range.

[0003] However, in the same cornfield, the corn grows relatively densely in some areas and relatively sparsely in others. Existing spraying robots spray the same amount of liquid in both sparse and dense areas, making it impossible to control the amount of liquid sprayed and to adjust the spraying angle according to the density of the corn growth, resulting in a waste of the sprayed bacterial solution. To address these issues, we propose a small spraying robot. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the purpose of the present invention is to provide a small spraying robot to solve the problems of the inability to control the spray volume and adjust the spray angle in the existing technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a small spraying robot, comprising: an intelligent mobile vehicle body, a bacterial liquid tank fixedly connected to the surface of the intelligent mobile vehicle body, a water pump fixedly connected to the bottom of the bacterial liquid tank, a bacterial liquid pipe disposed above the bacterial liquid tank, spray pipes fixedly connected to both ends of the bacterial liquid pipe, sealed boxes respectively fixedly connected to the bottom sides of the bacterial liquid pipe, baffles inserted into the sealed boxes, insert rods seven fixedly connected to the bottom of the baffles, connecting rods one fixedly connected to the bottom of the opposing surfaces of the two insert rods seven, limiting plates five fixedly connected to both sides of the sealed boxes, limiting rods eight fixedly connected to the bottom of the insert rods seven, and the sides of the limiting rods eight respectively fixedly connected to... The system includes a round rod four, a spring two movably sleeved on a plug rod seven, a main control board fixedly connected to the surface of the bacterial liquid tank, a multispectral density assessment sensor fixedly connected to the top of the main control board, an angle adjustment component set on the top of the bacterial liquid tank for adjusting the position of the bacterial liquid tube, and spray volume adjustment components respectively set below the baffle for adjusting the baffle; the angle adjustment component includes a round rod three fixedly connected to the top of the bacterial liquid tank, a servo motor one fixedly connected to the top of the bacterial liquid tank, a disc fixedly connected to the end of the swing rod output shaft, a plug rod three fixedly connected to the top of the disc, a swing rod rotatably connected to the top of the round rod three, and a support frame eight fixedly connected to the surface of the bacterial liquid tube.

[0006] Furthermore, the second spring is located between the sealing box and the limiting rod eight, and the two ends of the limiting rod eight pass through the limiting plate five and slide within the limiting plate five.

[0007] Furthermore, the bottom of the support frame eight is fixedly connected to one end of the swing rod, and the insert rod three passes through the swing rod and slides within the swing rod.

[0008] Furthermore, the outlet of the water pump and the top of the bacterial liquid pipe are connected by a flexible hose, and the water pump, flexible hose, bacterial liquid pipe and spray pipe are connected in series.

[0009] Furthermore, the spray volume adjustment assembly includes two electric push rods fixedly connected to the top of the support frame eight, a guide frame fixedly connected to the piston rod ends of the two electric push rods respectively, a three-stage rod elastically connected above the guide frame, and a connecting piece rotatably connected to the guide frame. The round rod four slides on the guide frame, the connecting piece, and the three-stage rod.

[0010] Furthermore, an extension rod is fixedly connected to the side of the guide frame, a connecting rod three is fixedly connected to the surface of the extension rod, a limiting ring one is fixedly connected to the side of the three-stage rod, a spring one is sleeved on the surface of the connecting rod three, and the spring one is located between the limiting ring one and the extension rod.

[0011] Furthermore, a stop block is fixedly connected to the surface of the connecting rod three, and the bottom of the stop block is in contact with the top of the limiting ring one.

[0012] Furthermore, a connecting rod four is fixedly connected to the side of the guide frame, and a torsion spring is engaged between the connecting piece and the connecting rod four.

[0013] Furthermore, a protective box is fixedly fitted onto the surface of the main control board, and the multispectral density assessment sensor, the main control board, the servo motor, the two electric push rods, and the water pump are electrically connected.

[0014] The technical solution provided by this invention has the following advantages compared with the known prior art: 1. By setting up two sets of spray volume adjustment components, the opening degree of the bacterial liquid pipe can be controlled in four levels according to the sparseness and density of corn growth monitored by the multispectral density assessment sensor. This achieves the effect of regulating the amount of bacterial liquid entering the two spray pipes separately. Level 1 ensures that the baffle is fully opened in the bacterial liquid pipe, while Levels 2, 3, and 4 result in an increasing degree of blockage of the bacterial liquid by the baffle in the bacterial liquid pipe. Second, by setting up an angle adjustment component, the density of corn growth monitored by the multispectral density assessment sensor can be used. The servo motor drives the rod to move, which in turn causes the swing rod to swing the support frame, the bacterial liquid pipe and the spray pipe, thereby adjusting the angle of the spray pipe spraying the bacterial liquid. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the bacterial liquid tube, spray pipe, and support frame of the present invention; Figure 3 This is a three-dimensional cross-sectional structural diagram of the sealing box and bacterial culture tube of the present invention; Figure 4 This is a three-dimensional structural diagram of the round rod three, the swing rod and the insertion rod three of the present invention; Figure 5 This is a three-dimensional structural diagram of the connecting rod and the guide frame of the present invention; Figure 6 This is a three-dimensional structural diagram of the connecting rod 1, the baffle and the limiting plate 5 of the present invention; Figure 7 This is a three-dimensional structural diagram of the guide frame, three-stage rod, and connecting piece of the present invention; Figure 8 This is a three-dimensional structural diagram of the bacterial culture tank, frame, and angle sensor of the present invention.

[0017] Attached reference numerals: 1. Intelligent mobile vehicle body; 2. Bacterial liquid tank; 3. Bacterial liquid pipe; 4. Spray pipe; 5. Support frame eight; 6. Connecting rod one; 7. Baffle; 8. Spray volume adjustment component; 81. Guide frame; 82. Three-stage rod; 83. Connecting rod three; 84. Limiting ring one; 85. Spring one; 86. Stop block; 87. Extension rod; 88. Connecting piece; 89. Connecting rod four; 9. Angle adjustment component; 91. Swing rod; 92. Disc; 93. Insert rod three; 94. Round rod three; 95. Electric push rod; 96. Servo motor one; 10. Sealing box; 11. Round rod four; 12. Limiting plate five; 13. Insert rod seven; 14. Spring two; 15. Limiting rod eight; 19. Multispectral density assessment sensor; 21. Main control board; 23. Water pump. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] The present invention will be further described in detail below with reference to the embodiments.

[0020] Example 1, refer to Appendix Figure 1-8 As shown, in this embodiment, to solve the problem of the inability to control the spray volume and adjust the spray angle in the prior art, the present invention discloses a small spraying robot, including: an intelligent mobile vehicle body 1, which can move in a cornfield; a bacterial liquid tank 2 fixedly connected to the surface of the intelligent mobile vehicle body 1, which can store bacterial liquid; a water pump 23 fixedly connected to the bottom of the bacterial liquid tank 2, which can draw bacterial liquid from the bacterial liquid tank 2; and a bacterial liquid pipe 3 set above the bacterial liquid tank 2, which, after the bacterial liquid is drawn from the bacterial liquid tank 2 by the water pump 23, flows into the middle of the bacterial liquid pipe 3 and flows out from both ends of the bacterial liquid pipe 3. The spray pipes 4 are fixedly connected to both ends of the bacterial liquid pipe 3. The bacterial liquid in the bacterial liquid pipe 3 is sprayed out through the spray pipes 4 and sprayed onto the roots of the corn. The sealing boxes 10 are fixedly connected to both sides of the bottom of the bacterial liquid pipe 3 to seal the baffle 7. The baffle 7 is inserted into the sealing box 10 and extends into the bacterial liquid pipe 3 to control the amount of bacterial liquid entering the bacterial liquid pipe 3. The insertion rod 7 13 is fixedly connected to the bottom of the baffle 7 and is used to connect the baffle 7 to form an integral part with the baffle 7. The sealing box 10 is equipped with a sealing gasket to seal between the baffle 7 and the sealing box 10 to prevent the bacterial liquid from entering.

[0021] A connecting rod 16 is fixedly connected to the bottom of the opposite sides of the two insertion rods 7 13. By pushing the connecting rod 16, the two insertion rods 7 13 and the two baffles 7 can be pushed simultaneously. Limiting plates 5 12 are fixedly connected to both sides of the sealing box 10. The limiting plates 5 12 can limit the movement of the two limiting rods 8 15 vertically to prevent deviation. The limiting rods 8 15 are fixedly connected to the bottom of the insertion rods 7 13. The limiting rods 8 15 are inserted into the limiting plates 5 12 to limit the movement of the insertion rods 7 13. Spring 14 on 13 presses against the sealing box 10, which can push the limiting rod 15 downward, so that the baffle 7 is fully inserted into the sealing box 10 in the initial state, so that the bacterial liquid tube 3 is fully opened and the bacterial liquid enters at the maximum amount. The main control board 21, which is fixedly connected to the surface of the bacterial liquid tank 2, is used to receive the corn sparse density information transmitted by the multispectral density evaluation sensor 19. The main control board 21 is used to control the servo motor 96, the electric push rod 95 and the water pump 23. A multispectral density assessment sensor 19 is fixedly connected to the top of the main control board 21. The multispectral density assessment sensor 19 is used to monitor the sparseness and density of corn growth. An angle adjustment component 9 is set on the top of the bacterial liquid tank 2 to adjust the position of the bacterial liquid pipe 3. The angle adjustment component 9 is used to adjust the angle of the sprayed bacterial liquid. A spray volume adjustment component 8 is set below the baffle 7 to adjust the baffle 7. The function of the baffle 7 is to be inserted into the bacterial liquid pipe 3 to obstruct the flow of bacterial liquid in the bacterial liquid pipe 3. The spray volume adjustment component 8 is used to control the amount of bacterial liquid sprayed in multiple stages. Angle adjustment assembly 9 includes a circular rod 94 fixedly connected to the top of the bacterial culture tank 2. The circular rod 94 provides support for the swing rod 91 and allows the swing rod 91 to rotate about the center of the circular rod 94. A servo motor 96 fixedly connected to the top of the bacterial culture tank 2 provides power for the rotation of the disc 92 and the insertion rod 93. The disc 92 is fixedly connected to the end of the output shaft of the swing rod 91. The rotation of the disc 92 drives the insertion rod 93 to rotate. The insertion rod 93 is fixedly connected to the top of the disc 92 and is positioned on the top of the disc 92. Away from the center, the rotation of the disc 92 causes the swing rod 91 to swing. The swing rod 91, which is rotatably connected to the top of the circular rod 94, can swing through the slot in the swing rod 91 and the insertion rod 93, thereby causing the support frame 85, the bacterial liquid pipe 3, and the spray pipe 4 to swing, thus adjusting the angle of the bacterial liquid spraying of the bacterial liquid pipe 3 and the spray pipe 4. The support frame 85, which is fixedly connected to the surface of the bacterial liquid pipe 3, is fixedly connected to the top of the swing rod 91, thus providing support for the bacterial liquid pipe 3.

[0022] Spring 2 14 is located between sealing box 10 and limiting rod 8 15. By sealing box 10 abutting against spring 2 14, limiting rod 8 15 and baffle 7 can be pressed down, so that the bacterial liquid in bacterial liquid tube 3 can flow directly to nozzle 4 without obstruction. The two ends of limiting rod 8 15 pass through limiting plate 5 12 respectively and slide in limiting plate 5 12, so that limiting plate 5 12 limits limiting rod 8 15, making the up and down movement of baffle 7 more stable.

[0023] The bottom of the support frame 85 is fixedly connected to one end of the swing rod 91, so that the swing rod 91 can drive the support frame 85 to swing. The insertion rod 3 93 passes through the swing rod 91 and slides in the swing rod 91, so that when the insertion rod 3 93 moves in the swing rod 91, it drives the swing rod 91 to swing.

[0024] The outlet of the water pump 23 is connected to the top of the bacterial liquid pipe 3 by a flexible hose. The water pump 23 draws bacterial liquid from the bacterial liquid tank 2 and flows through the flexible hose to the bacterial liquid pipe 3 and the spray pipe 4. The water pump 23, the flexible hose, the bacterial liquid pipe 3 and the spray pipe 4 are connected to facilitate the flow of bacterial liquid.

[0025] The spray volume adjustment assembly 8 includes two electric push rods 95 fixedly connected to the top of the support frame 85. The electric push rods 95 can push and pull the guide frame 81, causing it to move. The guide frame 81 is fixedly connected to the piston rod ends of the two electric push rods 95. The movement of the guide frame 81 can move the three-stage rod 82, allowing the round rod 11 to undergo four-stage adjustment on the three-stage rod 82. The three-stage rod 82 is elastically connected above the guide frame 81 and has three ramps representing the second, third, and fourth stages, respectively. Each ramp has a horizontal surface at its top, and each horizontal surface represents the first stage. The top of the guide frame 81 represents the first stage. A connecting piece 88 is rotatably connected to the guide frame 81. 88 is used to allow the round rod 11 to pass through the bottom of the third-stage rod 82 while simultaneously moving to the third-stage rod 82 via the top of the connecting piece 88. The round rod 11 slides on the guide frame 81, the connecting piece 88, and the third-stage rod 82. The round rod 11 moves to the third-stage rod 82 via the connecting piece 88 and then moves from the top of the third-stage rod 82 to the guide frame 81. The round rod 11 presses down on the third-stage rod 82 and is in the fourth gear position when it just moves to the guide frame 81. At this time, the third-stage rod 82 will spring up, leaving space for the round rod 11 to pass through. When the guide frame 81 is pulled back, the round rod 11 falls to the bottom of the guide frame 81 under the elastic force of the spring 14, causing the baffle 7 to return to the first-stage state.

[0026] An extension rod 87 is fixedly connected to the side of the guide frame 81. The extension rod 87 provides support for the spring 85. A connecting rod 83 is fixedly connected to the surface of the extension rod 87. The connecting rod 83, the stop block 86, and the extension rod 87 are integrated. A limit ring 84 is fixedly connected to the side of the three-stage rod 82. The limit ring 84 drives the three-stage rod 82 to move. A spring 85 is sleeved on the surface of the connecting rod 83. The spring 85 is located between the limit ring 84 and the extension rod 87. The spring 85 abuts against the extension rod 87 and can push the limit ring 84 to move upward and abut against the bottom of the stop block 86.

[0027] A stop 86 is fixedly connected to the surface of the connecting rod 3 83. The stop 86 acts to resist the limiting ring 1 84 and limit the stroke of the stop 86. The bottom of the stop 86 is in contact with the top of the limiting ring 1 84.

[0028] A connecting rod 89 is fixedly connected to the side of the guide frame 81. The connecting rod 89 provides support for the connecting piece 88. A torsion spring is engaged between the connecting piece 88 and the connecting rod 89. The torsion spring enables the connecting piece 88 to rotate and then automatically spring back.

[0029] The main control board 21 is fixedly covered with a protective box to protect it. The multispectral density assessment sensor 19 is fixedly connected to the protective box. The multispectral density assessment sensor 19, the main control board 21, the servo motor 96, the electric push rod 95 and the water pump 23 are electrically connected. The main control board 21 is used to receive the corn sparse density information transmitted by the multispectral density assessment sensor 19 and to control the servo motor 96, the electric push rod 95 and the water pump 23.

[0030] It is worth noting that the multispectral density assessment sensor 19 can be an NDVI sensor, which is suitable for large-scale density monitoring by assessing population density and health status. The intelligent mobile vehicle body 1, the multispectral density assessment sensor 19, the main control board 21, the servo motor 96, the electric push rod 95, and the water pump 23 are all existing technologies. The intelligent mobile vehicle body 1 is a four-wheel drive vehicle with the function of intelligent control of steering, forward and backward movement based on the control of radar and the main control board. It can move in the opposite direction without turning around. The bacterial liquid tank 2 can be fixedly installed on the intelligent mobile vehicle body 1 and move with the intelligent mobile vehicle body 1.

[0031] Working principle: When spraying bacterial solution on the roots of corn in the cornfield, the water pump 23 is started to draw bacterial solution from the bacterial solution tank 2. The bacterial solution is transferred from the water pump 23 through the hose to the top middle of the bacterial solution pipe 3, and then sprayed out through two spray pipes 4. The intelligent mobile vehicle body 1 moves in the cornfield and monitors the sparseness and density of corn growth through the multispectral density assessment sensor 19. The multispectral density assessment sensor 19 transmits the received information to the main control board 21, and the main control board 21 controls the servo motor 96 and the electric push rod 95. 1. Servo motor 96 is used to control the spraying angle of bacterial liquid pipe 3 and spray nozzle 4: When servo motor 96 is started, it drives disk 92 to rotate, causing insert rod 93 to rotate eccentrically. Insert rod 93 drives swing rod 91 to swing around rod 94, thereby causing support frame 85, bacterial liquid pipe 3 and spray nozzle 4 to swing. Based on the density of corn monitored by multispectral density evaluation sensor 19, the spraying direction of the two spray nozzles 4 is adjusted to spray more corn and reduce waste of bacterial liquid.

[0032] 2. The electric push rod 95 is used to control the amount of bacterial liquid sprayed by the two nozzles 4: the bottom of the guide frame 81 is the first level, and the three planes at different heights on the three-level rod 82 are the second, third and fourth levels respectively. The higher the level of the round rod 4 11, the greater the degree to which the baffle 7 blocks the bacterial liquid pipe 3, and the less bacterial liquid is sprayed by the nozzle 4. According to the sparse and dense corn monitored by the multispectral density evaluation sensor 19, the two electric push rods 95 can be activated separately, or one of the electric push rods 95 can be activated alone to move the guide frame 81 and perform four levels of control on the amount of bacterial liquid entering the two nozzles 4. When sparse corn growth is detected, the electric push rod 95 pushes the guide frame 81, causing the round rod 11 to move to the third rod 82 via the connecting piece 88. When the round rod 11 reaches the fourth level, it will move from the third rod 82 to the top right side of the guide frame 81. At this time, the third rod 82 will rebound, leaving space for the round rod 11 to move from the top right side of the guide frame 81 to the bottom of the guide frame 81, so that it can be directly lowered from the fourth level to the first level. When the corn growth is detected to be dense, if the round rod 411 is at level two or three, push the guide frame 81 directly so that the round rod 411 falls to level four, which is the top right side of the guide frame 81. Then pull the guide frame 81 back so that the round rod 411 drops directly from level four to level one. At this time, level one is the level with the largest spray volume. The level one baffle 7 moves directly from the bacterial liquid pipe 3 to the sealing box 10. The bacterial liquid flows unobstructed in the bacterial liquid pipe 3, which makes it convenient for the spray pipe 4 to spray more bacterial liquid.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A small spraying robot, characterized in that, The system includes a smart mobile vehicle body (1), a bacterial liquid tank (2) fixedly connected to the surface of the smart mobile vehicle body (1), a water pump (23) fixedly connected to the bottom of the bacterial liquid tank (2), a bacterial liquid pipe (3) set above the bacterial liquid tank (2), spray pipes (4) fixedly connected to both ends of the bacterial liquid pipe (3), sealing boxes (10) fixedly connected to the bottom sides of the bacterial liquid pipe (3), baffles (7) inserted into the sealing boxes (10), insert rods seven (13) fixedly connected to the bottom of the baffles (7), connecting rods one (6) fixedly connected to the bottom of the opposite sides of the two insert rods seven (13), and two connecting rods (6) fixedly connected to the two sides of the sealing boxes (10). Side limiting plate five (12), limiting rod eight (15) fixedly connected to the bottom of the insertion rod seven (13), the side of the limiting rod eight (15) is fixedly connected to round rod four (11), spring two (14) movably sleeved on the insertion rod seven (13), main control board (21) fixedly connected to the surface of the bacterial liquid tank (2), multispectral density evaluation sensor (19) fixedly connected to the top of the main control board (21), angle adjustment component (9) set on the top of the bacterial liquid tank (2) to adjust the position of the bacterial liquid pipe (3), and spray volume adjustment component (8) set below the baffle (7) to adjust the baffle (7); The angle adjustment assembly (9) includes a round rod three (94) fixedly connected to the top of the bacterial liquid tank (2), a servo motor one (96) fixedly connected to the top of the bacterial liquid tank (2), a disc (92) fixedly connected to the end of the output shaft of the swing rod (91), a plug three (93) fixedly connected to the top of the disc (92), a swing rod (91) rotatably connected to the top of the round rod three (94), and a support frame eight (5) fixedly connected to the surface of the bacterial liquid tube (3).

2. The small spraying robot according to claim 1, characterized in that, The second spring (14) is located between the sealing box (10) and the limiting rod eight (15). The two ends of the limiting rod eight (15) pass through the limiting plate five (12) respectively and slide in the limiting plate five (12).

3. The small spraying robot according to claim 1, characterized in that, The bottom of the support frame 8 (5) is fixedly connected to one end of the swing rod (91), and the insert rod 3 (93) passes through the swing rod (91) and slides in the swing rod (91).

4. The small spraying robot according to claim 1, characterized in that, The outlet of the water pump (23) and the top of the bacterial liquid pipe (3) are connected by a flexible hose, and the water pump (23), the flexible hose, the bacterial liquid pipe (3) and the spray pipe (4) are connected.

5. The small spraying robot according to claim 1, characterized in that, The spray volume adjustment assembly (8) includes two electric push rods (95) fixedly connected to the top of the support frame (5), a guide frame (81) fixedly connected to the piston rod ends of the two electric push rods (95), a three-stage rod (82) elastically connected above the guide frame (81), and a connecting piece (88) rotatably connected to the guide frame (81). The round rod (11) slides on the guide frame (81), the connecting piece (88) and the three-stage rod (82).

6. The small spraying robot according to claim 5, characterized in that, An extension rod (87) is fixedly connected to the side of the guide frame (81), and a connecting rod three (83) is fixedly connected to the surface of the extension rod (87). A limiting ring one (84) is fixedly connected to the side of the three-stage rod (82), and a spring one (85) is sleeved on the surface of the connecting rod three (83), and the spring one (85) is located between the limiting ring one (84) and the extension rod (87).

7. The small spraying robot according to claim 6, characterized in that, The surface of the connecting rod three (83) is fixedly connected to a stop (86), and the bottom of the stop (86) is in contact with the top of the limiting ring one (84).

8. The small spraying robot according to claim 6, characterized in that, The guide frame (81) is fixedly connected to the side of the connecting rod four (89), and a torsion spring is engaged between the connecting piece (88) and the connecting rod four (89).

9. The small spraying robot according to claim 1, characterized in that, The main control board (21) is covered with a protective box, and the multispectral density evaluation sensor (19), the main control board (21), the servo motor (96), the two electric push rods (95) and the water pump (23) are electrically connected.

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