Garden automatic robot with single-nozzle rocker arm type sprayer

Abstract

The invention discloses a garden automatic robot with a single-nozzle rocker arm type sprayer, and relates to the technical field of garden spraying, the garden automatic robot comprises a mobile vehicle body, the upper end of the mobile vehicle body is fixedly connected with a box body, the upper end of the box body is rotatably connected with a connecting pipe in a penetrating manner, and the end, away from the box body, of the connecting pipe is fixedly connected with a hose; the spraying device further comprises a spraying pressure detection mechanism, a spraying position adjusting mechanism and a spraying angle adjusting mechanism, the spraying pressure detection mechanism comprises a fixing ring and a lifting column, and in the spraying operation process, the position, rising from the interior of the connecting pipe, of the lifting column can be observed; whether the flow is sufficient or not in the spraying operation process can be judged by detecting the flow in the spraying operation process, the flow in the spraying operation process can be monitored in real time, and it is ensured that the flow is sufficient and stable, so that fog drops sprayed by the spray head are more uniform in size and distribution, the phenomenon of uneven spraying caused by insufficient flow is avoided, and liquid medicine can cover a target area more uniformly; and the situations of re-spraying and missing spraying are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of garden spraying, in particular to a garden automatic robot of single-nozzle rocker arm type sprayer. BACKGROUND

[0002] In the garden maintenance work, spraying operation is an important link for preventing and treating plant diseases and insect pests, fertilizing, etc. The traditional manual spraying method has many problems: high labor intensity, long-time operation easily leading to operator fatigue, and difficult to ensure the uniformity and accuracy of spraying; at the same time, manual operation also has certain safety risks, such as pesticide poisoning, etc., in addition, the existing garden spraying equipment is mostly manual or semi-automatic type, which cannot realize autonomous navigation and automatic operation, and is difficult to meet the efficient maintenance demand of large-area garden, therefore, developing a garden robot capable of autonomous navigation and automatic spraying has important practical significance, which not only can improve the efficiency and quality of spraying operation, but also can effectively reduce the labor cost and labor intensity, and protect the safety of operators;

[0003] In the process of spraying operation of the robot on the garden, affected by some factors (for example, the inside of the spraying structure is blocked by impurities, particulate matter or chemical deposition, the pipeline connected with the spraying structure has cracks or loose connection, leading to partial leakage of liquid medicine, or the performance of the water pump is reduced, such as impeller wear, insufficient motor power, etc., which will cause the flow of the sprayed liquid medicine to decrease), the flow of the sprayed liquid medicine will become small, the small flow will not only cause the spraying coverage to decrease, and some areas cannot be covered with enough liquid medicine, affecting the prevention and treatment effect, but also the target area cannot be fully covered with liquid medicine, the plant diseases and insect pests cannot be effectively controlled, leading to increased recurrence rate and more frequent spraying operation.

[0004] Therefore, the present application provides a garden automatic robot of single-nozzle rocker arm type sprayer to solve the above problems. SUMMARY

[0005] (I) Technical problems solved

[0006] In view of the deficiencies of the prior art, the present application provides a garden automatic robot of single-nozzle rocker arm type sprayer, which can effectively solve the problems in the prior art.

[0007] (II) Technical scheme

[0008] To achieve the above-mentioned purposes, the purposes of the present application can be realized by the following technical scheme:

[0009] A garden automatic robot of a single-jet rocker-type sprayer, comprising a moving vehicle body, a box body fixedly connected to the upper end of the moving vehicle body, a connecting pipe rotatably connected to the upper end of the box body, a hose fixedly connected to the end of the connecting pipe away from the box body, and a jet fixedly connected to the end of the hose away from the connecting pipe, further comprising a spraying pressure detection mechanism, a spraying position adjusting mechanism, and a spraying angle adjusting mechanism, wherein the spraying pressure detection mechanism comprises a fixed ring and a lifting column, the fixed ring is fixedly connected to the outer surface of the connecting pipe, the lifting column is slidably connected to the connecting pipe, the end of the lifting column inside the connecting pipe is fixedly connected with a disc, the disc is vertically slidably connected to the inside of the connecting pipe, the spraying pressure detection mechanism is used for detecting the flow of the sprayed liquid inside the connecting pipe, the spraying position adjusting mechanism is used for adjusting the spraying direction of the jet according to the wind force, and the spraying angle adjusting mechanism is used for adjusting the spraying height of the jet.

[0010] As a further scheme of the present application, the outer surface of the fixed ring is fixedly connected with a mounting bracket, vertical grooves are symmetrically formed in the mounting bracket, lifting blocks are vertically slidably connected in the vertical grooves, and a fixed block is fixedly connected between the two lifting blocks and fixedly connected to the upper end of the lifting column.

[0011] As a further scheme of the present application, the side of each lifting block away from the fixed block is fixedly connected with a pressing plate, the side of the mounting bracket close to the pressing plate is symmetrically and equidistantly fixedly connected with buttons, the side of the mounting bracket close to the hose is symmetrically and equidistantly fixedly connected with display lamps, the buttons and the display lamps at the same height are electrically connected, and the side of each pressing plate away from the lifting block is fixedly connected with a counterweight.

[0012] As a further scheme of the present application, the spraying position adjusting mechanism comprises a vertical plate, a horizontal groove is formed in the vertical plate, a sliding block is slidably connected in the horizontal groove, and a moving plate is fixedly connected to the sliding block.

[0013] As a further scheme of the present application, sliding columns are fixedly connected to the two sides of the sliding block, the sliding columns are slidably connected to the vertical plate, the end of each sliding column away from the sliding block is fixedly connected with a connecting disc, springs are fixedly connected between the connecting disc and the vertical plate, and the springs are sleeved on the outer surface of the sliding column.

[0014] As a further scheme of the present application, the side of the moving plate close to the fixed ring is fixedly connected with a connecting plate, the lower end surface of the connecting plate is fixedly connected with a lever, a lever is sleeved on the outer surface of the lever, the lever is fixedly connected to the outer surface of the fixed ring, a through groove is formed in the lever, and the lever is slidably connected in the through groove.

[0015] As a further embodiment of the present invention: the spray angle adjustment mechanism includes a cylinder, the cylinder is fixedly connected to the side wall of the housing, a piston rod is slidably connected through the upper end of the cylinder, a linkage plate is fixedly connected to the upper end of the piston rod, a linkage ring is provided above the linkage plate, the linkage ring is sleeved on the nozzle, and the linkage ring is slidably connected to the outer surface of the nozzle.

[0016] As a further embodiment of the present invention: a rotating shaft is fixedly connected through the lower end of the linkage ring, a linkage block is rotatably connected on the rotating shaft, and the linkage block is connected to the linkage plate.

[0017] As a further aspect of the present invention: an arc-shaped groove is provided on the upper surface of the linkage plate, and a movable column is slidably connected in the arc-shaped groove, and the movable column is fixedly connected to the lower end of the linkage block.

[0018] (III) Beneficial Effects

[0019] Compared with the prior art, the present invention provides an automated robot for gardening with a single-nozzle rocker arm sprayer, which has the following beneficial effects:

[0020] 1. The spray pressure detection mechanism allows for observation of the rising position of the lifting column from inside the connecting pipe during spraying operations. This enables the determination of whether the flow rate is sufficient during spraying. It not only monitors the flow rate in real time to ensure sufficient and stable flow, but also makes the droplet size and distribution of the nozzle more uniform, avoiding uneven spraying caused by insufficient flow. This allows the pesticide solution to cover the target area more evenly, reducing overspraying and missed spraying. Furthermore, the uniform distribution of pesticide solution ensures that all parts of the plant receive sufficient pesticide solution, improving the effectiveness of pest and disease control and reducing blind spots in pest and disease control.

[0021] 2. By electrically connecting buttons and indicator lights at the same height, the liquid flow rate in the connecting pipe can be more clearly indicated, providing real-time and intuitive flow information. Operators can quickly understand the current flow status without relying on complex equipment or tools for measurement. Based on the immediate prompts from the indicator lights, they can make quick adjustments to ensure that the flow rate is always within the ideal range. This effectively avoids operational errors caused by abnormal flow, reduces safety hazards caused by insufficient or excessive flow, prevents damage to the equipment due to excessively high or low flow, and extends the service life of the equipment.

[0022] 3. The spray position adjustment mechanism can drive the nozzle to rotate left and right according to the wind force and direction, adjusting the spray area so that the sprayed liquid is blown to the designated area by the wind. By dynamically adjusting the spray area, it ensures that the liquid can evenly cover the target area, avoiding overspraying or missing areas, further improving the uniformity and consistency of the spray. Moreover, it can automatically adjust the nozzle direction according to real-time changes in wind force and direction, ensuring that the spray is always concentrated on the target area, maintaining good spray effect even in complex and changeable environments.

[0023] 4. The sliding column, connecting plate, and spring provide resistance to the left and right adjustment of the nozzle, preventing the nozzle from automatically shifting due to the weight of the moving plate when the vehicle body is tilted. This ensures that the nozzle remains in the set spray position even in windless conditions, improving the stability and accuracy of the spraying operation, avoiding spray area errors caused by nozzle shift, reducing error accumulation, and ensuring the precision of the entire spraying operation. Furthermore, it ensures that the nozzle maintains a stable spraying direction under various terrains and conditions, improving the overall quality of the spraying operation and reducing uneven spraying caused by nozzle shift.

[0024] 5. The spray angle adjustment mechanism allows the nozzle to be raised or lowered, adjusting the spray height to accommodate plants of different heights, ensuring that the pesticide solution can evenly cover various plants from low-growing herbaceous plants to tall trees, thus improving the versatility and applicability of spraying operations. Furthermore, the nozzle height can be precisely adjusted according to the height of the plants and changes in terrain to ensure that the pesticide solution accurately covers the target area, reducing pesticide waste and improving the spraying effect.

[0025] 6. The arc-shaped groove and movable column allow the raising and lowering of the nozzle and the left and right adjustment to work together without interference. This design not only allows the nozzle to be adjusted in multiple dimensions to better adapt to plants of different heights and positions, improving the uniformity and coverage of the spray, but also avoids mechanical conflicts between raising and lowering and left and right adjustment, reducing structural wear and enhancing overall stability. Attached Figure Description

[0026] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 For the present invention Figure 1 Enlarged structural diagram of region A in the middle;

[0029] Figure 3For the present invention Figure 1 Enlarged structural diagram of region B in the middle;

[0030] Figure 4 This is a schematic diagram of the connection structure between the lifting column and the connecting pipe of the present invention;

[0031] Figure 5 This is a schematic diagram of the connection structure between the movable plate and the connecting pipe of the present invention;

[0032] Figure 6 For the present invention Figure 5 Enlarged structural diagram of region C in the middle;

[0033] Figure 7 For the present invention Figure 5 A magnified schematic diagram of the D region.

[0034] In the image: 1. Mobile vehicle body; 2. Container; 3. Nozzle;

[0035] 401. Mounting bracket; 402. Fixing ring; 403. Vertical groove; 404. Lifting column; 405. Fixing block; 406. Lifting block; 407. Pressing plate; 408. Counterweight; 409. Button; 410. Indicator light; 411. Disc;

[0036] 501. Moving plate; 502. Vertical plate; 503. Horizontal groove; 504. Slider; 505. Sliding column; 506. Connecting plate; 507. Spring; 508. Connecting plate; 509. Lever; 510. Lever plate; 511. Through groove;

[0037] 601. Cylinder; 602. Piston rod; 603. Linkage plate; 604. Arc groove; 605. Moving column; 606. Linkage block; 607. Rotating shaft; 608. Linkage ring;

[0038] 7. Connecting pipe; 8. Flexible hose. Detailed Implementation

[0039] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0040] This embodiment describes an automated garden robot using a single-nozzle rocker arm sprayer, such as... Figure 1 - Figure 7As shown, the device includes a mobile vehicle body 1, a housing 2 fixedly connected to the upper end of the mobile vehicle body 1, a connecting pipe 7 rotatably connected to the upper end of the housing 2, a hose 8 fixedly connected to the end of the connecting pipe 7 away from the housing 2, and a nozzle 3 fixedly connected to the end of the hose 8 away from the connecting pipe 7. It also includes a spray pressure detection mechanism, a spray position adjustment mechanism, and a spray angle adjustment mechanism. The spray pressure detection mechanism includes a fixing ring 402 and a lifting column 404. The fixing ring 402 is fixedly connected to the outer surface of the connecting pipe 7, and the lifting column 404 is slidably connected to the connecting pipe 7. A disc 411 is fixedly connected to one end of the lifting column 404 inside the connecting pipe 7, and the disc 411 is vertically slidably connected inside the connecting pipe 7. The spray pressure detection mechanism is used to detect the flow rate of the sprayed liquid inside the connecting pipe 7.

[0041] In this embodiment, as Figure 2 As shown, a mounting bracket 401 is fixedly connected to the outer surface of the fixing ring 402. Vertical grooves 403 are symmetrically opened on the mounting bracket 401. Lifting blocks 406 are vertically slidably connected in each vertical groove 403. A fixing block 405 is fixedly connected between two lifting blocks 406. The fixing block 405 is fixedly connected to the upper end of the lifting column 404. When the lifting column 404 rises out from the inside of the connecting pipe 7, the fixing block 405 can push the lifting blocks 406 to slide upward synchronously inside the vertical groove 403.

[0042] In this embodiment, as Figure 2 As shown, each of the lifting blocks 406 has a pressing plate 407 fixedly connected to the side away from the fixed block 405. Each of the mounting brackets 401 has buttons 409 fixedly connected symmetrically and at equal intervals to the side near the pressing plate 407. Each of the mounting brackets 401 has indicator lights 410 fixedly connected symmetrically and at equal intervals to the side near the hose 8. Each of the buttons 409 at the same height is electrically connected to the indicator lights 410. Each of the pressing plates 407 has a counterweight 408 fixedly connected to the side away from the lifting block 406. When the lifting block 406 slides up and down in the vertical groove 403, it can press the button 409 and turn on the indicator lights 410 at the same height to start working.

[0043] In existing technologies, during robot spraying operations in gardens, the flow rate of the sprayed pesticide may decrease due to various factors. This reduced flow rate not only leads to a smaller spray coverage area, with some areas not receiving sufficient pesticide, thus affecting the control effect, but also results in ineffective pest and disease control due to insufficient pesticide coverage, leading to an increased recurrence rate and the need for more frequent spraying operations. Compared to existing technologies, this new technology allows for observation of the rising position of the lifting column 404 from inside the connecting pipe 7 during spraying operations, which can determine whether the flow rate is sufficient. This not only enables real-time monitoring of the flow rate to ensure sufficient and stable flow, but also makes the droplet size and distribution of the nozzle 3 more uniform, avoiding uneven spraying caused by insufficient flow. This allows the pesticide to cover the target area more evenly, reducing overspraying and missed spraying. Furthermore, the uniform pesticide distribution ensures that all parts of the plant receive sufficient pesticide, improving the effectiveness of pest and disease control and reducing blind spots in pest and disease control.

[0044] In other aspects, this embodiment also provides a spray position adjustment mechanism that adjusts the spray direction of the nozzle 3 according to the wind force, such as... Figure 5 - Figure 7 As shown, the spray position adjustment mechanism includes a vertical plate 502, a horizontal groove 503 is provided on the vertical plate 502, a slider 504 is slidably connected in the horizontal groove 503, and a movable plate 501 is fixedly connected to the slider 504.

[0045] In this embodiment, as Figure 6 As shown, both sides of the slider 504 are fixedly connected to sliding posts 505, which are slidably connected to the vertical plate 502. The end of the sliding post 505 away from the slider 504 is fixedly connected to a connecting plate 506. A spring 507 is fixedly connected between the connecting plate 506 and the vertical plate 502. The spring 507 is sleeved on the outer surface of the sliding post 505. Through the resistance of the spring 507, the slider 504 can be prevented from automatically sliding in the horizontal groove 503 opened on the vertical plate 502 due to slight factors during the movement of the moving vehicle body 1.

[0046] In this embodiment, as Figure 7 As shown, a connecting plate 508 is fixedly connected to the side of the movable plate 501 near the fixed ring 402. A lever 509 is fixedly connected to the lower end face of the connecting plate 508. A lever plate 510 is sleeved on the outer surface of the lever 509. The lever plate 510 is fixedly connected to the outer surface of the fixed ring 402. A through groove 511 is opened on the lever plate 510. The lever 509 is slidably connected in the through groove 511. When the movable plate 501 moves left and right due to the wind, the connecting plate 508 can drive the lever 509 to slide in the through groove 511 opened on the lever plate 510, so that the lever 509 can move the lever plate 510 through the through groove 511 to drive the fixed ring 402 to rotate.

[0047] In existing technologies, during robot spraying operations in gardens, wind can cause the sprayed pesticides to deviate from the designated area. This not only alters the coverage area, resulting in uneven spraying—for example, some areas may be over-sprayed while others receive insufficient pesticide, affecting the control effect—but also necessitates repeated spraying of uncovered areas, reducing operational efficiency and leading to poor spraying results. Furthermore, wind-induced spray deviation can cause pesticides to drift to non-target areas, causing adverse environmental impacts. This technology addresses the issue of environmental pollution in gardens. Compared to existing technologies, this new technology can drive the nozzle 3 to rotate left and right based on wind strength and direction, adjusting the spraying area. This allows the sprayed pesticide to be directed to the designated area by the wind. By dynamically adjusting the spraying area, the technology ensures that the pesticide can evenly cover the target area, preventing overspraying or missed areas and further improving the uniformity and consistency of the spray. Moreover, it can automatically adjust the direction of the nozzle 3 based on real-time wind strength and direction changes, ensuring that the spray is always concentrated on the target area and maintaining good spraying effect even in complex and changing environments.

[0048] In other aspects, this embodiment also provides a spray angle adjustment mechanism for adjusting the spray height of the nozzle 3, such as... Figure 1 and Figure 3 As shown, the spray angle adjustment mechanism includes a cylinder 601, which is fixedly connected to the side wall of the housing 2. A piston rod 602 is slidably connected through the upper end of the cylinder 601. A linkage plate 603 is fixedly connected to the upper end of the piston rod 602. A linkage ring 608 is provided above the linkage plate 603. The linkage ring 608 is sleeved on the nozzle 3 and slidably connected to the outer surface of the nozzle 3.

[0049] In this embodiment, as Figure 3 As shown, a rotating shaft 607 is fixedly connected to the lower end of the linkage ring 608. A linkage block 606 is rotatably connected to the rotating shaft 607. The linkage block 606 is connected to the linkage plate 603. When the linkage plate 603 rises or falls, it can push the linkage ring 608 to move up and down synchronously through the linkage block 606. At this time, the linkage ring 608 will adapt to the position of the nozzle 3 due to the influence of the nozzle 3 angle, and drive the rotating shaft 607 to rotate on the linkage block 606.

[0050] In this embodiment, as Figure 3 As shown, an arc-shaped groove 604 is provided on the upper surface of the linkage plate 603. A movable column 605 is slidably connected in the arc-shaped groove 604. The movable column 605 is fixedly connected to the lower end of the linkage block 606. When the linkage block 606 swings and rotates left and right with the nozzle 3, it can drive the movable column 605 to slide synchronously in the arc-shaped groove 604.

[0051] Compared with existing technologies, this technology can push the nozzle 3 up or down to adjust the spraying height. This not only adapts to plants of different heights, ensuring that the pesticide can be evenly covered by various plants, from low-growing herbaceous plants to tall trees, thus improving the versatility and applicability of spraying operations, but also precisely adjusts the height of the nozzle 3 according to the height of the plants and changes in terrain, ensuring that the pesticide can accurately cover the target area, reducing pesticide waste and improving the spraying effect.

[0052] The overall working process and principles involved in the above embodiments are as follows:

[0053] It should be noted that the connecting pipe 7 draws the liquid medicine inside the tank 2 through the water pump, and then sprays it out through the hose 8 and the nozzle 3. The nozzle 3 and the connecting pipe 7 are connected through the hose 8, and a horizontal steel wire rope is added inside the hose 8 to increase the horizontal support of the hose 8. This allows the hose 8 to bend up and down, but restricts the bending of the hose 8 in the horizontal direction. This helps to bend the hose 8 up and down when adjusting the height of the nozzle 3. The connecting pipe 7 can rotate the nozzle 3 left and right by moving the hose 8.

[0054] When workers need to perform spraying operations on the garden, they first observe the height of the garden plants, then open cylinder 601, driving piston rod 602 to rise from inside cylinder 601. This pushes the linkage plate 603 connected to the upper end of piston rod 602 upwards. Since a moving column 605 is connected to the upper end of linkage plate 603, and a linkage block 606 is fixedly connected to the upper end of moving column 605, and linkage block 606 is rotatably connected to linkage ring 608 via rotating shaft 607, and linkage ring 608 is sleeved on nozzle 3, as linkage plate 603 rises, linkage plate 603 will move through moving column 605, linkage block 606, and... The rotating shaft 607 and the linkage ring 608 push the nozzle 3 upward, bending the hose 8 upward. At the same time, the linkage ring 608 moves along the outer surface of the nozzle 3 and drives the rotating shaft 607 to rotate on the linkage block 606, thereby adjusting the spray height of the nozzle 3. This not only adapts to plants of different heights, ensuring that the pesticide can be evenly covered on various plants from low herbaceous plants to tall trees, improving the versatility and applicability of spraying operations, but also precisely adjusts the height of the nozzle 3 according to the height of the plants and changes in terrain, ensuring that the pesticide can accurately cover the target area, reducing pesticide waste and improving the spraying effect.

[0055] After the height of nozzle 3 is adjusted, the operator can control the mobile vehicle 1 to move the housing 2, causing the housing 2 to move the nozzle 3 to the spraying area. Then, the pump connected between the connecting pipe 7 and the housing 2 is turned on to deliver the liquid medicine stored inside the housing 2 into the connecting pipe 7, and then through the hose 8 to the nozzle 3, where it is sprayed out. When the liquid medicine enters the hose 8 from the connecting pipe 7, it will first push the disc 411 to rise inside the connecting pipe 7, pushing the lifting column 404 connected to the upper end of the disc 411 to slide out from inside the connecting pipe 7, and then flow from inside the connecting pipe 7 into the hose 8. As the liquid medicine continues to spray out... The height of the lifting column 404 will remain stable. When the height of the lifting column 404 changes, it indicates that the flow rate of the liquid medicine inside the connecting pipe 7 has changed. This allows us to determine whether the flow rate is sufficient during the spraying operation. It can not only monitor the flow rate in real time during the spraying operation to ensure that the flow rate is sufficient and stable, but also make the size and distribution of the droplets sprayed from the nozzle 3 more uniform, avoiding uneven spraying caused by insufficient flow. This allows the liquid medicine to cover the target area more evenly, reducing the occurrence of over-spraying and under-spraying. Moreover, the uniform distribution of liquid medicine can ensure that all parts of the plant receive enough liquid medicine, improving the effect of pest and disease control and reducing blind spots in the control.

[0056] When the lifting column 404 rises from inside the connecting pipe 7 due to the impact of the liquid flow, the fixed block 405 connected to the upper end face drives the lifting blocks 406 connected to both sides of the fixed block 405 to slide synchronously upward inside the vertical groove 403 opened on the mounting frame 401. Since the lifting blocks 406 are equipped with pressing plates 407 on the side away from the fixed block 405, and the pressing plates 407 and the buttons 409 connected to the side wall of the mounting frame 401 are on the same vertical line, the lifting blocks 406 will drive the pressing plates 407 to press the buttons 409 during the upward movement. And through the buttons 409 and the display at the same height, The lamp 410 is electrically connected. By observing the lit indicator lamp 410, the flow rate of the medicine can be accurately understood. This provides a clearer indication of the liquid flow rate in the connecting tube 7, offering real-time and intuitive flow information. Operators can quickly understand the current flow status without relying on complex equipment or tools for measurement. Based on the immediate prompts from the indicator lamp 410, they can make quick adjustments to ensure that the flow rate is always within the ideal range. This effectively avoids operational errors caused by abnormal flow, reduces safety hazards caused by insufficient or excessive flow, prevents damage to the equipment due to excessively high or low flow, and extends the service life of the equipment.

[0057] During the process of the mobile vehicle 1 driving the box 2 and nozzle 3 to spray the liquid into the designated area of ​​the garden, if a strong wind occurs, the strong wind will act on the moving plate 501, causing the moving plate 501 to move and the slider 504 to slide within the horizontal groove 503 opened on the vertical plate 502. Since a connecting plate 508 is connected to the side wall of the moving plate 501, and a lever 509 is connected to the lower end face of the connecting plate 508, the lever 509 is slidably connected within the through groove 511 opened on the lever plate 510, and the lever plate 510 is fixedly connected to the fixing ring 402, as the moving plate 501 moves, the moving plate 501 will drive the lever 509 to move synchronously through the connecting plate 508, causing the lever 509 to slide within the through groove 511 opened on the lever plate 510, and causing the lever 509 to move. 9. By moving one end of the lever plate 510 through the through slot 511, the fixing ring 402 is rotated. Since the connecting pipe 7 is rotatably connected to the box 2, the rotation of the fixing ring 402 can move the connecting pipe 7 to rotate, so that the connecting pipe 7 drives the nozzle 3 to rotate left and right through the hose 8, adjusting the spraying area of ​​the nozzle 3. The liquid sprayed by the nozzle 3 is blown to the designated area with the help of wind force and wind direction. By dynamically adjusting the spraying area of ​​the nozzle 3, it is ensured that the liquid can evenly cover the target area, avoiding excessive spraying or missed spraying in some areas, further improving the uniformity and consistency of the spray. Moreover, it can automatically adjust the direction of the nozzle 3 according to the real-time changes in wind force and wind direction, ensuring that the spray is always concentrated in the target area, and maintaining a good spraying effect even in complex and changeable environments.

[0058] During the left and right rotation adjustment of the nozzle 3, since the upper end face of the linkage plate 603 has an arc-shaped groove 604, and the moving column 605 is slidably connected in the arc-shaped groove 604, the nozzle 3 will drive the moving column 605 to slide in the arc-shaped groove 604 through the linkage ring 608, linkage block 606 and rotating shaft 607. This allows the lifting and lowering operation and the left and right adjustment operation of the nozzle 3 to cooperate with each other without interfering with each other. This design not only allows the nozzle 3 to be adjusted in multiple dimensions, better adapting to plants of different heights and positions, improving the uniformity and coverage of the spray, but also avoids mechanical conflict between lifting and lowering and left and right adjustment, reduces structural wear, and enhances overall stability.

[0059] When there is no strong wind during the spraying operation, as the moving vehicle 1 tilts, the sliding column 505 connected to both sides of the slider 504 slides through and is slidably connected to the vertical plate 502. The end of the sliding column 505 away from the slider 504 is connected to the connecting plate 506, and the connecting plate 506 is connected to the vertical plate 502 by a spring 507. Due to the resistance of the spring 507, a certain resistance can be applied to the left and right adjustment of the nozzle 3 during the moving spraying operation of the moving vehicle 1. This prevents the nozzle 3 from automatically shifting due to the weight of the moving plate 501 when the moving vehicle 1 tilts. This not only ensures that the nozzle 3 always stays in the set spraying position when there is no wind, improving the stability and accuracy of the spraying operation, avoiding spray area errors caused by nozzle 3 shifting, reducing error accumulation, and ensuring the accuracy of the entire spraying operation, but also ensures that the nozzle 3 maintains a stable spraying direction under various terrains and conditions, improving the overall quality of the spraying operation and reducing the phenomenon of uneven spraying caused by nozzle 3 shifting.

[0060] 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 the specific implementations described. 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 automatic garden robot with a single-nozzle rocker arm sprayer, comprising a mobile vehicle body (1), a housing (2) fixedly connected to the upper end of the mobile vehicle body (1), a connecting pipe (7) rotatably connected to the upper end of the housing (2), a flexible hose (8) fixedly connected to the end of the connecting pipe (7) away from the housing (2), and a nozzle (3) fixedly connected to the end of the flexible hose (8) away from the connecting pipe (7), characterized in that, It also includes a spray pressure detection mechanism, a spray position adjustment mechanism, and a spray angle adjustment mechanism; The spraying pressure detection mechanism includes a fixed ring (402) and a lifting column (404). The fixed ring (402) is fixedly connected to the outer surface of the connecting pipe (7). The lifting column (404) is slidably connected to the connecting pipe (7). A disc (411) is fixedly connected to one end of the lifting column (404) inside the connecting pipe (7). The disc (411) is vertically slidably connected to the inside of the connecting pipe (7). The spraying pressure detection mechanism is used to detect the flow rate of the sprayed liquid inside the connecting pipe (7). The spray position adjustment mechanism is used to adjust the spray direction of the nozzle (3) according to the wind force; The spray angle adjustment mechanism is used to adjust the spray height of the nozzle (3).

2. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 1, characterized in that, The outer surface of the fixed ring (402) is fixedly connected to the mounting bracket (401). The mounting bracket (401) is symmetrically provided with vertical grooves (403). Each vertical groove (403) is vertically slidably connected with a lifting block (406). A fixing block (405) is fixedly connected between the two lifting blocks (406). The fixing block (405) is fixedly connected to the upper end of the lifting column (404).

3. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 2, characterized in that, Each of the lifting blocks (406) has a pressing plate (407) fixedly connected to the side away from the fixed block (405). Each of the mounting brackets (401) has buttons (409) fixedly connected symmetrically and at equal intervals to the side near the pressing plate (407). Each of the mounting brackets (401) has indicator lights (410) fixedly connected symmetrically and at equal intervals to the side near the hose (8). Each of the buttons (409) at the same height is electrically connected to the indicator lights (410). Each of the pressing plates (407) has a counterweight (408) fixedly connected to the side away from the lifting block (406).

4. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 1, characterized in that, The spray position adjustment mechanism includes a vertical plate (502), a horizontal groove (503) is provided on the vertical plate (502), a slider (504) is slidably connected in the horizontal groove (503), and a movable plate (501) is fixedly connected on the slider (504).

5. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 4, characterized in that, Both sides of the slider (504) are fixedly connected to sliding columns (505), and the sliding columns (505) are slidably connected to the vertical plate (502). The end of the sliding column (505) away from the slider (504) is fixedly connected to a connecting plate (506). A spring (507) is fixedly connected between the connecting plate (506) and the vertical plate (502). The spring (507) is sleeved on the outer surface of the sliding column (505).

6. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 5, characterized in that, The movable plate (501) is fixedly connected to a connecting plate (508) on the side near the fixed ring (402). A lever (509) is fixedly connected to the lower end face of the connecting plate (508). A lever plate (510) is sleeved on the outer surface of the lever (509). The lever plate (510) is fixedly connected to the outer surface of the fixed ring (402). A through groove (511) is opened on the lever plate (510). The lever (509) is slidably connected in the through groove (511).

7. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 1, characterized in that, The spray angle adjustment mechanism includes a cylinder (601), which is fixedly connected to the side wall of the housing (2). A piston rod (602) is slidably connected through the upper end of the cylinder (601). A linkage plate (603) is fixedly connected to the upper end of the piston rod (602). A linkage ring (608) is provided above the linkage plate (603). The linkage ring (608) is sleeved on the nozzle (3) and slidably connected to the outer surface of the nozzle (3).

8. The garden automation robot for a single-nozzle rocker arm sprayer according to claim 7, characterized in that, The lower end of the linkage ring (608) is fixedly connected to a rotating shaft (607), and a linkage block (606) is rotatably connected to the rotating shaft (607). The linkage block (606) is connected to the linkage plate (603).

9. The garden automatic robot for a single-nozzle rocker arm sprayer according to claim 8, characterized in that, An arc-shaped groove (604) is provided on the upper surface of the linkage plate (603), and a movable column (605) is slidably connected in the arc-shaped groove (604). The movable column (605) is fixedly connected to the lower end of the linkage block (606).

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