Agricultural pesticide application robot

Abstract

The invention discloses an agricultural pesticide application robot, and relates to the technical field of pesticide application robots. The device comprises a pesticide applying disc, the pesticide applying disc is connected with a discharging pipe and a plurality of nozzles distributed at equal intervals, one side of the pesticide applying disc is rotationally connected with a blockage clearing mechanism, the blockage clearing mechanism comprises a mounting frame rotationally connected with the pesticide applying disc, and the mounting frame is connected with a blockage clearing assembly. The nut sleeve and the lead screw drive the hollow blockage clearing needle and the ejector pin to move axially, the ejector pin makes contact with the surface of a blockage object slightly, the elastic piece and the blocking piece are matched, the liquid leakage disc is opened, a solvent permeates or dilutes surface pesticide, when the first gear is meshed with the long gear, the hollow blockage clearing needle is driven to rotate, and the softened blockage object is cut or scattered through the cutting part; meanwhile, the spraying holes continuously spray the solvent to the nozzles, so that the blockages enter the pesticide applying disc and fall into the discharge pipe along the V-shaped inclined surface, and the problem that the blockages are compacted due to the fact that the blockages can not be thoroughly removed by simple mechanical ejection is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medicine applying robots, and particularly relates to an agricultural medicine applying robot. BACKGROUND

[0002] Agriculture is the source of basic living materials for human society to survive, and in agricultural planting production, a medicine applying robot is needed to spray pesticides on crops to prevent the occurrence of various diseases and pests.

[0003] The patent CN118592424A documents an intelligent inspection medicine applying robot and method, when the nozzle is cleared and blocked, the positioning block and the movable block are locked to accurately position and align the clearing and blocking top rod with the nozzle, so that the clearing and blocking top rod can accurately insert into the blocked nozzle to clear and block it, and the pesticide sprayed in the nozzle can release the locking of the positioning block and the movable block, so that the clearing and blocking seat can accurately and efficiently identify the blocked nozzle and perform the clearing and blocking operation. This clearing and blocking method saves time and labor, and improves the efficiency of the clearing and blocking operation.

[0004] The prior art has poor adaptability to the properties of pesticides: for suspending agents, emulsifiable concentrates, and colloidal pesticides (such as abamectin, high chlorine, and mineral oil), the viscosity is high and the adhesion is strong, and the simple mechanical ejection of the clearing and blocking top rod may not be able to completely remove it, but instead compacts the blocking material; some pesticides (such as imidacloprid and azoxystrobin) crystallize after evaporation at low temperature, and the top rod may be forcibly inserted into the nozzle during clearing and blocking, which may cause physical damage (such as hole expansion and cracking) to the nozzle, affecting the atomization effect. SUMMARY

[0005] The purpose of the present application is to provide an agricultural medicine applying robot, which moves the hollow clearing and blocking needle and the top needle axially by driving the hollow clearing and blocking needle and the top needle with the lead nut and the lead screw, touches the surface of the blocking material with the top needle, and opens the spray hole, so that the solvent penetrates or dilutes the surface pesticide, to adapt to the continuous application of emulsifiable concentrate, suspending agent and colloidal pesticide, and solve the existing problems.

[0006] To solve the above technical problems, the present application is realized by the following technical scheme:

[0007] The present application is an agricultural medicine applying robot, which comprises a medicine applying disc, a discharge pipe connected to the medicine applying disc, and a plurality of equally spaced nozzles.

[0008] One side of the medicine applying disc is rotationally connected with a clearing and blocking mechanism, the clearing and blocking mechanism comprises a mounting frame rotationally connected with the medicine applying disc, and the mounting frame is connected with a clearing and blocking assembly.

[0009] The unblocking assembly includes a threaded nut and a rotating shaft that are rotatably connected to the mounting frame. The threaded nut is threaded with a lead screw, and the lead screw is connected to the mounting frame via a sliding key. A hollow unblocking needle is rotatably connected to one end of the lead screw near the center of the application disc, and the hollow unblocking needle is drivenly connected to the rotating shaft.

[0010] The hollow unblocking needle has a cutting part on its surface. The rotating shaft is connected to an unblocking motor, which is also connected to the lead screw sleeve. Both the rotating shaft and the lead screw sleeve are connected to gear three. The two gear three mesh with each other. The unblocking motor synchronously drives the lead screw and lead screw sleeve to rotate, thereby realizing the axial movement and rotation of the hollow unblocking needle. This allows the hollow unblocking needle to enter the nozzle and cut and clean the blockage through the cutting part.

[0011] As a preferred embodiment of the present invention, the lead screw has a hollow structure and is connected to the hollow unblocking needle. The lead screw is connected to a flexible hose, and the mounting bracket is connected to a water guide pipe and a solvent tank, with the water guide pipe and the flexible hose connected. The surface of the hollow unblocking needle is provided with several spray holes, and the hollow unblocking needle is connected to a pin. When the pin contacts the blockage, the solvent tank pumps the solvent into the hollow unblocking needle, which is then sprayed into the nozzle through the spray holes to soften the blockage.

[0012] As a preferred embodiment of the present invention, the hollow unblocking needle is connected to a gear, and the rotating shaft is connected to a long gear that meshes with the gear. During the axial movement of the lead screw, when the gear meshes with the long gear, it will drive the hollow unblocking needle to rotate, and the lead screw will continue to move axially, thereby realizing the rotation and synchronous axial movement of the hollow unblocking needle.

[0013] In a preferred embodiment of the present invention, a drain plate is fixedly installed in the inner cavity of the hollow unblocking needle. The ejector pin is inserted and connected to the hollow unblocking needle, and the upper end of the ejector pin passes through the drain plate and is fixedly connected to a baffle plate. An elastic element is connected to the upper end of the baffle plate, and the upper end of the elastic element is connected to the hollow unblocking needle. The baffle plate is pushed downward by the elastic element to seal the drain plate. When the ejector pin contacts the blockage, the ejector pin moves upward relative to the hollow unblocking needle, causing the baffle plate to separate from the drain plate, and the solvent is sprayed out through the drain plate and the nozzle in sequence.

[0014] As a preferred embodiment of the present invention, the application disc is rotatably connected to an external gear ring, a second rotating shaft, and a worm gear. The external gear ring is fixedly installed with the mounting frame. The second rotating shaft is connected to a half gear that meshes with the external gear ring, and a worm wheel that meshes with the worm gear. One end of the worm gear is connected to a motor, which drives the half gear to rotate. The half gear drives the external gear ring to rotate intermittently, causing the mounting frame to drive the unclogging component to move intermittently. When the mounting frame stops rotating, the unclogging component is aligned with the nozzle position, thus unclogging each nozzle one by one.

[0015] As a preferred embodiment of the present invention, the mounting bracket is also connected to another unblocking component. The two unblocking components are staggered by a nozzle spacing, and each unblocking component corresponds to one of the two nozzles. The mounting bracket is connected to an electromagnetic guide rail, and the electromagnetic guide rail is slidably connected to the unblocking motor through a bracket. When the nozzle is still blocked after unblocking, the unblocking motor is moved by the electromagnetic guide rail, so that it drives the next unblocking component to unblock it again. The other unblocking component is located directly above the nozzle at a distance of one station, which improves the unblocking success rate.

[0016] As a preferred embodiment of the present invention, the application disc is connected to an electric actuator, and the telescopic end of the electric actuator is connected to a sealing plate for sealing the discharge pipe.

[0017] As a preferred embodiment of the present invention, the unblocking mechanism further includes a spiral rod rotatably connected to the inner cavity of the application disc, a gear two rotatably connected to one side of the sealing plate, and a rotating shaft three, a rotating shaft four, and a rotating shaft five rotatably connected to the application disc. The gear two and the rotating shaft four are connected by a sliding key, and the rotating shaft five is drivenly connected to the spiral rod. The application disc is rotatably connected to an internal gear that meshes with the gear two, and the internal gear is drivenly connected to the rotating shaft five. The rotating shaft three is drivenly connected to both the rotating shaft two and the rotating shaft four. When the sealing plate moves to open the discharge pipe, the gear two meshes with the internal gear, and the rotating shaft three, the internal gear, and the rotating shaft five drive the spiral rod to rotate, clearing the debris from the application disc.

[0018] As a preferred embodiment of the present invention, an inner ratchet is fixedly installed on the inner wall of the outer gear ring, and a sleeve is connected to one side of the application disc. Two rectangular grooves are opened on the surface of the sleeve. A pawl and a spring plate are provided in the inner cavity of the rectangular groove, and the spring plate abuts against the pawl. Through the cooperation of the pawl and the inner ratchet, the outer gear ring can only rotate in a single direction.

[0019] As a preferred embodiment of the present invention, the outlet of the application disc is funnel-shaped, and the inner cavity of the application disc is V-shaped to allow the internal sediment to collect and be introduced into the discharge pipe.

[0020] The present invention has the following beneficial effects:

[0021] This invention uses a screw thread and lead screw to drive the hollow cleaning needle and ejector pin to move axially, allowing the ejector pin to lightly touch the surface of the blockage. In conjunction with an elastic element and baffle, the drain pan is opened, allowing solvent to penetrate or dilute the surface pesticide. When gear one meshes with the long gear, it drives the hollow cleaning needle to rotate, using the cutting part to cut or break up the softened blockage. Simultaneously, the spray nozzle continuously sprays solvent into the nozzle, causing the blockage to enter the application pan and fall along its V-shaped slope into the discharge pipe. This solves the problem that simple mechanical ejection may not completely remove the blockage and may even compact it. It is suitable for continuous application of crystalline, emulsifiable concentrates, suspensions, and colloidal pesticides, and avoids physical damage to the nozzle caused by the forced insertion of the hollow cleaning needle, effectively enhancing the atomization effect.

[0022] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0025] Figure 2 This is a schematic diagram of the right-side structure of the present invention;

[0026] Figure 3 This is a partial cross-sectional view of the application tray of the present invention;

[0027] Figure 4 This is an enlarged structural diagram of point A in the present invention;

[0028] Figure 5 This is a front view schematic diagram of the unblocking mechanism of the present invention;

[0029] Figure 6 This is a schematic diagram of the unblocking mechanism of the present invention;

[0030] Figure 7 This is a schematic cross-sectional view of the application tray structure of the present invention;

[0031] Figure 8 This is a schematic diagram of the unblocking mechanism of the present invention from another perspective;

[0032] Figure 9 This is a schematic cross-sectional view of the hollow unclogging needle of the present invention;

[0033] Figure 10This is a schematic diagram of the hollow unclogging needle structure of the present invention;

[0034] Figure 11 This is a schematic diagram of the leakage tray structure of the present invention;

[0035] Figure 12 This is another cross-sectional view of the hollow unclogging needle of the present invention;

[0036] Figure 13 This is a schematic diagram of the leak pan in both the sealing and opening states of the present invention;

[0037] Figure 14 This is a schematic diagram of the sealing plate structure of the present invention;

[0038] Figure 15 This is a schematic diagram of the sealing plate of the present invention from another perspective;

[0039] The attached diagram lists the components represented by each number as follows: 1. Application tray; 2. Nozzle; 3. Discharge pipe; 4. Unclogging mechanism; 41. Mounting bracket; 42. External gear ring; 43. Sleeve; 44. Internal ratchet; 45. Sealing plate; 46. Solvent tank; 47. Water guide pipe; 48. Hose; 49. Threaded nut sleeve; 410. Shaft one; 411. Long gear; 412. Gear one; 413. Cutting part; 414. Hollow unclogging needle; 415. Spray nozzle; 416. Ejector pin; 417. Gear two; 418. Lead screw; 419. Elastic component; 420, baffle; 421, gear three; 422, screw rod; 423, electromagnetic guide rail; 424, pawl; 425, spring plate; 426, motor; 427, worm; 428, half gear; 429, worm wheel; 430, shaft two; 431, electric actuator; 432, shaft three; 433, shaft four; 434, internal gear; 435, shaft five; 436, drain pan. Detailed Implementation

[0040] 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.

[0041] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0042] Example 1

[0043] Please see Figure 1 , Figure 2 As shown, the present invention is an agricultural spraying robot, including a spraying disc 1, a discharge pipe 3 connected to the spraying disc 1, and several nozzles 2 evenly distributed. The spraying disc 1 is connected to the discharge pipe 3. The spraying robot also includes a storage tank, which is connected to a U-shaped frame and the U-shaped frame is connected to the spraying disc 1. A water pump is fixedly installed on the U-shaped frame, and the output end of the water pump is connected to the input end of the spraying disc. In addition, the input end of the water pump is connected to the outlet of the storage tank. A dosing pipe is installed on the top of the storage tank, and tracks are connected to the front and rear sides of the storage tank.

[0044] During agricultural planting, the pesticide is added to the storage tank through the dosing pipe on the top of the storage tank. The device is then moved to the field to be sprayed, and the storage tank is moved on the ground by the track. During the movement, the pesticide is pumped into the spraying disc 1 by the water pump, and the pesticide is applied to the pesticide through the multiple nozzles 2 set on the spraying disc 1.

[0045] During application, if crystalline pesticide clogs nozzle 2, please refer to [the relevant documentation]. Figures 1-6 , Figure 8 As shown, a specific application of this embodiment is as follows: a clearing mechanism 4 is rotatably connected to one side of the application tray 1. The clearing mechanism 4 includes a mounting frame 41 rotatably connected to the application tray 1. A clearing component is connected to the mounting frame 41. The clearing component includes a threaded nut 49 and a rotating shaft 410 rotatably connected to the mounting frame 41. A lead screw 418 is threadedly connected to the threaded nut 49, and the lead screw 418 is connected to the mounting frame 41 via a sliding key. A hollow clearing needle is rotatably connected to one end of the lead screw 418 near the axis of the application tray 1. 414, and the hollow unblocking needle 414 is connected to the rotating shaft 410 for transmission. The surface of the hollow unblocking needle 414 is provided with a cutting part 413. The rotating shaft 410 is connected to the unblocking motor through a gear set for transmission, and the unblocking motor is connected to the thread nut sleeve 49 for transmission. The surfaces of the rotating shaft 410 and the thread nut sleeve 49 are both connected to gear 3 421, and the two gears 3 421 mesh with each other. The hollow unblocking needle 414 is connected to gear 1 412, and the rotating shaft 410 is connected to a long gear 411 that meshes with gear 1 412.

[0046] like Figure 3As shown, when nozzle 2 is clogged, the mounting bracket 41 and its unclogging assembly are moved directly above the clogged nozzle 2. The unclogging motor drives the rotating shaft 410 to rotate, and the gear 421 drives the screw nut 49 to rotate, which in turn drives the screw 418 to move axially along the nozzle 5. The hollow unclogging needle 414 is inserted into the nozzle 5. During the axial movement of the screw 418, when the gear 412 meshes with the long gear 411, it will drive the hollow unclogging needle 414 to rotate. The screw 418 continues to move axially, so that the hollow unclogging needle 414 gradually enters the nozzle 2. The cutting part 413 performs spiral cutting to clean the blockage, thereby breaking up the blockage and achieving unclogging. This method is suitable for unclogging crystalline pesticides.

[0047] For cleaning blockages caused by highly viscous and strongly adhesive pesticides, please refer to [link / reference]. Figure 3 , Figure 5 , Figures 8-12 As shown, a specific application of this embodiment is as follows: the lead screw 418 has a hollow structure and is connected to the hollow unblocking needle 414. A flexible tube 48 is connected to the inner wall of the lead screw 418. A water guide pipe 47 and a solvent tank 46 are connected to the mounting bracket 41, and the water guide pipe 47 is connected to the flexible tube 48. Several spray holes 415 are opened on the surface of the hollow unblocking needle 414. A push pin 416 is connected to the hollow unblocking needle 414. A drain plate 436 is fixedly installed in the inner cavity of the hollow unblocking needle 414. The push pin 416 is connected to the hollow unblocking needle 414. The needles 414 are interlocked, and the upper end of the ejector pin 416 passes through the drain pan 436 and is fixedly connected to a baffle plate 420; the upper end of the baffle plate 420 is connected to an elastic element 419, and the upper end of the elastic element 419 is connected to the hollow unblocking needle 414. The upper surface of the drain pan 436 has several annularly arranged cylindrical through holes (Type 1), and the upper surface of the baffle plate 420 has several annularly arranged cylindrical through holes (Type 2), with the through holes extending to the lower surface of the top of the ejector pin 416. The through holes (Type 1) and through holes (Type 2) are staggered (e.g., ...). Figure 13 As shown, through hole one and through hole two are not marked.

[0048] like Figure 9During the axial movement of the hollow unblocking needle 414 and the ejector needle 416 driven by the screw 418, and when the ejector needle 416 contacts the blockage, the ejector needle 416 moves upward relative to the hollow unblocking needle 414. During the movement of the ejector needle 416, it pushes the baffle 420 upward and squeezes the elastic element 419 upward. The elastic element 419 is a spring, so that the elastic element 419 is in a compressed state. At this time, the baffle 420 separates from the drain plate 436, opening the drain plate 436. After the drain plate 436 is opened, the solvent is pumped into the hollow unblocking needle 414 through the solvent tank 46. The solvent passes through the drain plate 436 and the spray hole 415 and is sprayed into the nozzle 2, thereby allowing the solvent to penetrate or dilute the surface pesticide, softening the blockage and achieving the function of softening or diluting viscous pesticides, which is suitable for continuous application of emulsifiable concentrates, suspension concentrates, and colloidal pesticides.

[0049] like Figure 12 Once the blockage is cleared, the inner wall of nozzle 2 is free of blockage. Through the elastic force of elastic element 419, the compressed elastic element 419 will be decompressed and reset. During the reset process, elastic element 419 pushes baffle 420 down to reset, so that it is pressed against the drain plate 436. The baffle 420 seals the drain plate 436 to prevent solvent from entering the application plate 1. At the same time, as the baffle 420 moves down, it pushes the ejector pin 416 to move down relative to the hollow unblocking needle 414 to reset, so that the solvent can be sprayed out next time.

[0050] To achieve automatic unclogging of nozzle 2, please refer to [link / reference]. Figures 2-6 , Figure 8 , Figure 14 , Figure 15 As shown, a specific application of this embodiment is as follows: the application disc 1 is rotatably connected to an external gear ring 42, a second rotating shaft 430, and a worm gear 427. The external gear ring 42 is fixedly installed with the mounting bracket 41. The second rotating shaft 430 is connected to a half gear 428 that meshes with the external gear ring 42. The second rotating shaft 430 is also connected to a worm wheel 429 that meshes with the worm gear 427. One end of the worm gear 427 is connected to a motor 426.

[0051] The motor 426 drives the worm gear 427 to rotate, which in turn drives the worm wheel 429 to rotate, which in turn drives the half gear 428 and the rotating shaft 430 to rotate. Each rotation of the half gear 428 advances the external gear ring 42, the mounting bracket 41, and the unclogging component on it by one nozzle 2 position. The unclogging component is directly opposite and above the nozzle 2. During the half-rotation when the half gear 428 and the external gear ring 42 are not engaged, if the nozzle 2 directly below the unclogging component is blocked, the unclogging component will then advance... The nozzle 2 is cleaned by inserting it into the nozzle; when the half gear 428 meshes with the outer gear ring 42, the cleaning of the nozzle 2 is completed. The outer gear ring 42 drives the mounting frame 41 and its cleaning components to move forward one position. The outer gear ring 42 rotates once to inspect all the nozzles 2. During the application of pesticides, the motor 426, worm 427 and worm wheel 429 drive the outer gear ring 42 to rotate continuously, so as to realize the continuous cleaning of the nozzles 2 and enable the nozzles 2 to continuously apply pesticides to the crops.

[0052] During the unclogging process, to prevent the blockage from flowing back and re-clogging nozzle 2, please refer to [the relevant documentation]. Figure 3 , Figure 6 , Figure 7 As shown, a specific application of this embodiment is: the outlet of the application tray 1 is funnel-shaped to prevent the solvent and blockage from flowing back, and the inner cavity of the application tray 1 is set in a V-shape so that the internal sediments collect on the inclined surface and are introduced into the discharge pipe 3 to facilitate the subsequent discharge of blockages.

[0053] During the rotation of the external gear ring 42, to prevent the external gear ring 42 from rotating in the opposite direction and causing the mounting bracket 41 and the unblocking assembly to retract, please refer to [link to relevant documentation]. Figure 5 , Figure 8 As shown, a specific application of this embodiment is as follows: an inner ratchet 44 is fixedly installed on the inner wall of the outer toothed ring 42, and a sleeve 43 is connected to one side of the application disc 1. Two rectangular grooves are opened on the surface of the sleeve 43. A pawl 424 and a spring plate 425 are provided in the inner cavity of the rectangular groove, and the spring plate 425 abuts against the pawl 424.

[0054] like Figure 5 As shown, when the outer gear ring 42 rotates clockwise, it drives the inner ratchet 44 to rotate clockwise. Through the cooperation of the pawl 424 and the inner ratchet 44, the outer gear ring 42 can only rotate in one direction to prevent it from reversing. If the outer gear ring 42 reverses under the action of external force, the pawl 424 will lock the inner ratchet 44 to achieve the effect of preventing backflow, thereby preventing the mounting bracket 41 and the unblocking component from retracting.

[0055] Example 2

[0056] To ensure a high success rate in clearing blockages from nozzle 2, please refer to [link / reference]. Figures 2-8As shown, a specific application of this embodiment is as follows: the mounting bracket 41 is also connected to another unblocking component. The two unblocking components are staggered by a nozzle 2 spacing, and the two unblocking components correspond one-to-one with the two nozzles 2. The mounting bracket 41 is connected to an electromagnetic guide rail 423.

[0057] During the rotation of the external gear ring 42, the previous unblocking component is located directly above the nozzle 2 at a distance of one station. When the next unblocking component on the mounting bracket 41 moves directly above the nozzle 2 that has already been unblocked, if the nozzle 2 is still blocked, the unblocking motor is pushed along the electromagnetic guide rail 423 and the bracket to slide until the unblocking motor is connected to the rotating shaft 410 in the next unblocking component. At this time, the unblocking motor serves as the power source for the next unblocking component, thereby enabling the next unblocking component to enter the nozzle 2 to unblock it again, improving the unblocking success rate and achieving unblocking while moving.

[0058] Example 3

[0059] After the blockage is cleared, it falls into the spray tray 4 to prevent it from accumulating and clogging the nozzle 5 again. It needs to be cleaned; please refer to [link / reference needed]. Figures 3-6 , Figure 8 , Figure 14 , Figure 15 As shown, a specific application of this embodiment is as follows: the application disc 1 is connected to an electric push rod 431, the telescopic end of the electric push rod 431 is connected to a sealing plate 45, the opposite ends of the sealing plate 45 and the discharge pipe 3 are connected to magnetic suction plates, the unblocking mechanism 4 also includes a spiral rod 422 rotatably connected to the inner cavity of the application disc 1, a gear 417 is rotatably connected to one side of the sealing plate 45, the application disc 1 is rotatably connected to a shaft 432, a shaft 433, and a shaft 435, the gear 417 and the shaft 433 are connected by a sliding key, the shaft 435 is driven by the spiral rod 422, the application disc 1 is rotatably connected to an internal gear 434 that meshes with the gear 417, and the internal gear 434 is driven by the shaft 435, the shaft 432 is driven by the shaft 430 and the shaft 433 respectively.

[0060] like Figure 14 , Figure 15As shown, the auger 422 and the spraying disc 1 are located at the discharge outlet. When a certain amount of sediment accumulates inside the spraying disc 1, the electric actuator 431 drives the sealing plate 45 to move. Simultaneously, the sealing plate 45 moves, driving gear 417 to move until gear 417 meshes with the internal gear 434, opening the discharge pipe 3. During the rotation of shaft 430, shaft 432 rotates synchronously via the synchronous belt and synchronous pulley, and shaft 433 rotates synchronously via the bevel gear set. Utilizing the engagement of gear 417 and the internal gear 434, the internal gear 434 is then driven to rotate synchronously via the synchronous belt and synchronous pulley. Synchronous pulley drives shaft 435 to rotate synchronously. Shaft 435 drives screw rod 422 to rotate synchronously through bevel gear set to perform spiral cleaning of sediment located at the discharge outlet. The sediment is discharged from the application tray 1 through discharge pipe 3. After cleaning, electric push rod 431 works again to push sealing plate 45 to move. Gear 417 separates from internal gear 434, screw rod 422 stops rotating, and sealing plate 45 moves to directly below discharge pipe 3. At this time, magnetic strip on discharge pipe 3 attracts magnetic strip on sealing plate 45 to block discharge pipe 3 for the next impurity removal operation.

[0061] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An agricultural spraying robot, comprising a spraying disc (1), wherein the spraying disc (1) is connected to a discharge pipe (3), and a plurality of equally spaced nozzles (2), characterized in that: A clearing mechanism (4) is rotatably connected to one side of the application tray (1). The clearing mechanism (4) includes a mounting frame (41) rotatably connected to the application tray (1). A clearing component is connected to the mounting frame (41). The unblocking assembly includes a threaded nut (49) and a rotating shaft (410) rotatably connected to the mounting bracket (41). The threaded nut (49) is threadedly connected to a lead screw (418), and the lead screw (418) is connected to the mounting bracket (41) via a sliding key. A hollow unblocking needle (414) is rotatably connected to one end of the lead screw (418) near the axis of the application disc (1), and the hollow unblocking needle (414) is connected to the rotating shaft (410) in a transmission connection. The hollow unblocking needle (414) has a cutting part (413) on its surface. The rotating shaft (410) is connected to the unblocking motor, and the unblocking motor is connected to the threaded nut (49). The rotating shaft (410) and the threaded nut (49) are both connected to gear three (421). The two gear three (421) mesh with each other and drive the threaded rod (418) and the threaded nut (49) to rotate synchronously through the unblocking motor, so as to realize the axial movement and rotation of the hollow unblocking needle (414), so that the hollow unblocking needle (414) enters the nozzle (2) and cuts and cleans the blockage through the cutting part (413).

2. The agricultural spraying robot according to claim 1, characterized in that, The lead screw (418) has a hollow structure and is connected to the hollow unblocking needle (414). The lead screw (418) is connected to a hose (48). The mounting bracket (41) is connected to a water guide pipe (47) and a solvent tank (46). The water guide pipe (47) is connected to the hose (48). The surface of the hollow unblocking needle (414) is provided with several spray holes (415). The hollow unblocking needle (414) is connected to a top needle (416). When the top needle (416) contacts the blockage, the solvent is pumped into the hollow unblocking needle (414) through the solvent tank (46) and sprayed into the nozzle (2) through the spray holes (415) to soften the blockage.

3. An agricultural spraying robot according to claim 2, characterized in that, The hollow unblocking needle (414) is connected to a gear (412), and the rotating shaft (410) is connected to a long gear (411) that meshes with the gear (412). During the axial movement of the screw (418), when the gear (412) meshes with the long gear (411), it will drive the hollow unblocking needle (414) to rotate, and the screw (418) will continue to move axially, so as to realize the rotation and synchronous axial movement of the hollow unblocking needle (414).

4. An agricultural spraying robot according to claim 3, characterized in that, The hollow unblocking needle (414) has a drain plate (436) fixedly installed in its inner cavity. The ejector pin (416) is inserted and connected to the hollow unblocking needle (414), and the upper end of the ejector pin (416) passes through the drain plate (436) and is fixedly connected to a baffle plate (420). The upper end of the baffle (420) is connected to an elastic element (419), and the upper end of the elastic element (419) is connected to the hollow unblocking needle (414). The baffle (420) is pushed downward by the elastic element (419) to block the drain plate (436). When the ejector needle (416) contacts the blockage, the ejector needle (416) moves upward relative to the hollow unblocking needle (414), so that the baffle (420) is separated from the drain plate (436), and the solvent is sprayed out through the drain plate (436) and the nozzle (415) in sequence.

5. An agricultural spraying robot according to claim 4, characterized in that, The application disc (1) is rotatably connected to an external gear ring (42), a second rotating shaft (430), and a worm gear (427). The external gear ring (42) is fixedly installed with the mounting frame (41). The second rotating shaft (430) is connected to a half gear (428) that meshes with the external gear ring (42). The second rotating shaft (430) is connected to a worm wheel (429) that meshes with the worm gear (427). One end of the worm gear (427) is connected to a motor (426). The motor (426) drives the half gear (428) to rotate. The half gear (428) drives the external gear ring (42) to rotate intermittently, so that the mounting frame (41) drives the unblocking component to move intermittently. When the mounting frame (41) stops rotating, the unblocking component is in position with the nozzle (2), so as to unblock the nozzle (2) one by one.

6. An agricultural spraying robot according to claim 5, characterized in that, The mounting bracket (41) is also connected to another unblocking component. The two unblocking components are staggered by a nozzle (2) spacing, and the two unblocking components correspond one-to-one with the two nozzles (2). The mounting bracket (41) is connected to an electromagnetic guide rail (423), and the electromagnetic guide rail (423) is slidably connected to the unblocking motor through the bracket. When the nozzle (2) is still blocked after unblocking, the unblocking motor is moved by the electromagnetic guide rail (423) so that it can drive the next unblocking component and drive the next unblocking component to unblock it again. The other unblocking component is located directly above the nozzle (2) at a distance of one workstation, which improves the unblocking success rate.

7. An agricultural spraying robot according to claim 1 or 6, characterized in that, The application tray (1) is connected to an electric actuator (431), and the telescopic end of the electric actuator (431) is connected to a sealing plate (45) for sealing the discharge pipe (3) through the sealing plate (45).

8. An agricultural spraying robot according to claim 7, characterized in that, The unblocking mechanism (4) further includes a spiral rod (422) rotatably connected to the inner cavity of the application disc (1). A gear two (417) is rotatably connected to one side of the sealing plate (45). The application disc (1) is rotatably connected to a rotating shaft three (432), a rotating shaft four (433), and a rotating shaft five (435). The gear two (417) and the rotating shaft four (433) are connected by a sliding key. The rotating shaft five (435) is driven by the spiral rod (422). The application disc (1) is rotatably connected to the gear two. (417) meshing internal gear (434), and internal gear (434) is connected to shaft five (435) for transmission. Shaft three (432) is connected to shaft two (430) and shaft four (433) for transmission respectively. When the sealing plate (45) moves to open the discharge pipe (3), gear two (417) meshes with internal gear (434). Through shaft three (432), internal gear (434), and shaft five (435), the spiral rod (422) is driven to rotate to clear the debris from the application plate (1).

9. An agricultural spraying robot according to claim 5, characterized in that, An inner ratchet (44) is fixedly installed on the inner wall of the outer gear ring (42). A sleeve (43) is connected to one side of the application disc (1). Two rectangular grooves are opened on the surface of the sleeve (43). A pawl (424) and a spring plate (425) are provided in the inner cavity of the rectangular groove. The spring plate (425) abuts against the pawl (424). Through the cooperation of the pawl (424) and the inner ratchet (44), the outer gear ring (42) can only rotate in a single direction.

10. An agricultural spraying robot according to claim 1, characterized in that, The outlet of the application tray (1) is trumpet-shaped, and the inner cavity of the application tray (1) is V-shaped, which is used to collect the internal sediment and introduce it into the discharge pipe (3).

Images