Pesticide spraying robot

Abstract

The utility model discloses a pesticide spraying robot which comprises a frame assembly, a pesticide spraying assembly and a pesticide spraying assembly, the frame assembly comprises a first frame body and a second frame body, the first frame body is fixed to the upper end of the second frame body, and a liquid tank is fixed to the top end of the first frame body; the control unit comprises a first control module and a second control module, the first control module is fixed to the lower end of the inner side of the second frame body, the first control module is electrically connected with a gyroscope, and the second control module is fixed to the lower end of the inner side of the first frame body; the liquid spraying assembly is arranged at the upper end of the frame assembly, and the liquid spraying assembly is electrically connected with the second control module. According to the pesticide spraying robot provided by the utility model, through the matching design of multiple structures, when the robot walks on the pothole changeable ground, the posture balance can be kept through the walking mechanism, so that the same distance and angle between the liquid spraying assembly and plants are kept, and pesticide can be uniformly sprayed to the plants through the liquid spraying assembly; effective pesticide spraying of plants is ensured, pesticide waste is reduced, and the robot is small in size and simple in structure.

Description

Technical Field

[0001] The utility model relates to the technical field related to robots, in particular to a medicine spraying robot. Background Art

[0002] my country is a big agricultural country, and facility agriculture occupies an important position in the entire agricultural industry system. At present, most of the spraying machines used in the market are equipped with induction sensors. The robot control system determines whether to move forward or stop based on the output of the direction sensor and speed sensor, and sprays the medicine on the plants in a fixed direction.

[0003] However, some existing spraying machines on the market are difficult to adapt to the changes in the bumpy and changeable ground environment, which makes it difficult to control the direction of spraying drugs, and it is impossible to spray drugs evenly on plants, resulting in drug waste, and failing to achieve the purpose of effectively spraying drugs on plants. For this reason, the present application proposes a spraying robot to provide a new technical solution to solve the technical problems mentioned in the above-mentioned prior art. Utility Model Content

[0004] Based on this, it is necessary to provide a spraying robot to address the above-mentioned technical problems. Through the coordinated design of multiple structures, the robot can maintain posture balance through the walking mechanism when walking on bumpy and changeable ground, thereby ensuring that the liquid spraying component maintains the same distance and angle with the plant, and the liquid spraying component can evenly spray the plant with medicine, ensuring that the plant is effectively sprayed with medicine and reducing medicine waste. The robot is small in size and simple in structure, and is suitable for promotion.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] A pesticide spraying robot is used for agricultural pesticide spraying.

[0007] The spraying robot specifically comprises:

[0008] A frame assembly, the frame assembly comprising a first frame body and a second frame body, the first frame body being fixed to an upper end of the second frame body, and a liquid tank being fixed to a top end of the first frame body;

[0009] A control unit, the control unit comprising a control module 1 and a control module 2, the control module 1 being fixed to the lower end of the inner side of the second frame, the control module 1 being electrically connected to a gyroscope, and the control module 2 being fixed to the lower end of the inner side of the first frame;

[0010] A liquid spraying assembly, which is arranged at the upper end of the frame assembly, and the liquid spraying assembly is electrically connected to the control module 2;

[0011] The walking mechanism is arranged at the lower end of the frame assembly, and the walking mechanism is electrically connected to the control module.

[0012] As a preferred embodiment of the spraying robot provided by the utility model, the liquid spraying component includes a water pump, a spraying servo, and a swinging spray rod. The spraying servo is arranged at a position above the first frame, and one end of the swinging spray rod is fixedly connected to the output end of the spraying servo. There are two spraying servos, and the two spraying servos are symmetrically arranged. The number of the swinging spray rods is the same as the number of the spraying servos. The water pump is fixed on the inside of the first frame, and the number of the water pumps is the same as the number of the spraying servos. The input end of each of the water pumps is connected to the liquid tank through a rubber tube, and the output end of each of the water pumps is connected to the swinging spray rod at the corresponding position.

[0013] As a preferred embodiment of the spraying robot provided by the utility model, the walking mechanism includes a mechanical foot and a walking servo. The number of the mechanical feet is four, and the four mechanical feet are symmetrically arranged at a certain angle on both sides of the second frame. The mechanical foot is rotatably connected to the second frame, and a walking servo is fixed at the connection between the mechanical foot and the second frame, and the output end of the walking servo is fixedly connected to the mechanical foot.

[0014] As a preferred embodiment of the spraying robot provided by the utility model, a driving assembly is also provided on the upper part of the first frame, and the spraying servo is movably connected to the first frame through the driving assembly, and the driving assembly is used to adjust the height position of the spraying servo.

[0015] As a preferred embodiment of the spraying robot provided by the utility model, the driving assembly includes a fixed plate, the fixed plate is fixed to the top of the first frame, both ends of the fixed plate are vertically fixed with guide frames, each of the guide frames is slidably connected with a movable frame, the two spraying servos are respectively fixedly connected to the upper parts of the two movable frames, two adjusting motors are fixed on one side of the fixed plate, and two driving teeth are rotatably connected to the other side of the fixed plate and at positions corresponding to the two adjusting motors, the output end of the adjusting motor is fixedly connected to the driving teeth at the corresponding position, and the driving teeth are meshed with the movable frame on the same side.

[0016] As a preferred embodiment of the spraying robot provided by the utility model, both ends of the movable frame are rotatably connected to limit pulleys, the limit pulleys are located inside the guide frame on the same side, and the movable frame is slidably connected to the guide frame on the same side through the limit pulleys at the ends.

[0017] As a preferred embodiment of the spraying robot provided by the utility model, a protective shell is arranged on the outer side of the first frame, and the protective shell includes a main shell and a sub-shell, both ends of the sub-shell are fixed with limiting strips, and both ends of the sub-shell are snap-fitted with the main shell through limiting strips; limiting rings are sleeved on the outside of the main shell and the sub-shell at the positions of the upper and lower ends, and buckle strip 1 is fixed on the inner upper and lower ends of the main shell, and the main shell is snap-fitted with the first frame through buckle strip 1, and buckle strip 2 is fixed on the inner upper and lower ends of the sub-shell, and the sub-shell is snap-fitted with the first frame through buckle strip 2.

[0018] Compared with the prior art, the utility model has the following beneficial effects:

[0019] The pesticide spraying robot provided by the utility model is designed with multiple structures, so that when the robot walks on bumpy and changeable ground, it can maintain posture balance through the walking mechanism, thereby ensuring that the liquid spraying component and the plant maintain the same distance and angle, and the liquid spraying component can evenly spray the plant with medicine, ensuring that the plant is effectively sprayed with medicine and reducing medicine waste. The robot is small in size and simple in structure, and is suitable for promotion.

[0020] The pesticide spraying robot provided by the utility model can adjust the spraying height of the pesticide spraying component according to the height position of the plant through the structural coordination design of the driving component and the pesticide spraying component, thereby further improving the effect of the robot spraying pesticides on the plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the scheme in the utility model, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a schematic diagram of the overall structure of the spraying robot provided by the utility model;

[0023] Figure 2 A schematic diagram of the structure of the spraying robot frame assembly provided by the utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the walking mechanism of the spraying robot provided by the utility model;

[0025] Figure 4 This is a schematic diagram of the structure of the liquid spraying assembly of the spraying robot provided by the utility model;

[0026] Figure 5This is a schematic diagram of the structure of the driving assembly of the spraying robot provided by the utility model;

[0027] Figure 6 The spraying robot provided by the utility model;

[0028] Figure 7 The spraying robot provided by the utility model;

[0029] Figure 8 The spraying robot provided by the utility model;

[0030] Fig. 9 A medicine spraying robot provided by the utility model.

[0031] The markings in the figure are as follows:

[0032] 1. Frame assembly; 2. First frame; 3. Second frame; 4. Liquid tank; 5. Liquid spraying assembly; 6. Walking mechanism; 7. Mechanical foot; 8. Walking servo; 9. Water pump; 10. Spraying servo; 11. Swinging spray rod; 12. Drive assembly; 13. Control module one; 14. Control module two; 15. Fixed plate; 16. Guide frame; 17. Movable frame; 18. Adjusting motor; 19. Driving gear; 20. Limiting pulley; 21. Protective shell; 22. Main shell; 23. Auxiliary shell; 24. Limiting ring; 25. Limiting strip; 26. Buckle strip two; 27. Buckle strip one. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0034] As described in the background technology, some existing spraying machines are difficult to adapt to the changes in the bumpy and changeable ground environment, which makes it difficult to control the direction of spraying drugs, and cannot spray drugs evenly on plants, resulting in drug waste, and failing to achieve the purpose of effectively spraying drugs on plants.

[0035] In order to solve this technical problem, the utility model provides a pesticide spraying robot, which is used for agricultural pesticide spraying.

[0036] Specifically, please refer to Figure 1-Figure 3 , the spraying robot specifically includes:

[0037] The frame assembly 1 comprises a first frame body 2 and a second frame body 3, wherein the first frame body 2 is fixed to the upper end of the second frame body 3, and a liquid tank 4 is fixed to the top end of the first frame body 2;

[0038] The control unit includes a control module 1 13 and a control module 2 14. The control module 1 13 is fixed to the lower inner end of the second frame 3. The control module 1 13 is electrically connected to a gyroscope. The control module 2 14 is fixed to the lower inner end of the first frame 2.

[0039] A liquid spraying assembly 5, which is arranged at the upper end of the frame assembly 1, and the liquid spraying assembly 5 is electrically connected to the control module 2 14;

[0040] The walking mechanism 6 is arranged at the lower end of the frame assembly 1 , and the walking mechanism 6 is electrically connected to the control module 13 .

[0041] The spraying robot provided by the utility model is designed with multiple structures, so that when the robot walks on bumpy and changeable ground, it can maintain posture balance through the walking mechanism 6, thereby ensuring that the liquid spraying component 5 and the plant maintain the same distance and angle, and the liquid spraying component 5 can evenly spray the plant with medicine, ensuring that the plant is effectively sprayed with medicine and reducing medicine waste. The robot is small in size and simple in structure, and is suitable for promotion.

[0042] Embodiment 1:

[0043] Please refer to Figure 1-Figure 4 , a spraying robot, comprising:

[0044] The frame assembly 1 comprises a first frame body 2 and a second frame body 3, wherein the first frame body 2 is fixed to the upper end of the second frame body 3, and a liquid tank 4 is fixed to the top end of the first frame body 2;

[0045] The control unit includes a control module 1 13 and a control module 2 14. The control module 1 13 is fixed to the lower inner end of the second frame 3. The control module 1 13 is electrically connected to a gyroscope. The control module 2 14 is fixed to the lower inner end of the first frame 2.

[0046] A liquid spraying assembly 5 is arranged at the upper end of the frame assembly 1. The liquid spraying assembly 5 is electrically connected to the control module 2 14. The liquid spraying assembly 5 is used to spray medicine on the plants; specifically, the liquid spraying assembly 5 includes a water pump 9, a spraying servo 10, and a swinging spray rod 11. The spraying servo 10 is arranged at a position above the first frame 2. One end of the swinging spray rod 11 is fixedly connected to the output end of the spraying servo 10. There are two spraying servos 10, and the two spraying servos 10 are symmetrically arranged. The number of swinging spray rods 11 is the same as the number of spraying servos 10. The water pump 9 is fixed on the inner side of the first frame 2. The number of water pumps 9 is the same as the number of spraying servos 10. The input end of each water pump 9 is connected to the liquid tank 4 through a rubber tube, and the output end of each water pump 9 is connected to the swinging spray rod 11 at the corresponding position.

[0047] It can be seen that when in use, the control module 2 14 can send a signal to control the water pump 9 to extract the liquid medicine stored in the liquid tank 4 and transport it to the swinging spray rod 11, and the liquid medicine is sprayed onto the plants through the swinging spray rod 11. By starting the spraying servo 10, the swinging spray rod 11 can be driven to swing, so that the liquid medicine can be sprayed on the plants more evenly.

[0048] The walking mechanism 6 is arranged at the lower end of the frame assembly 1. The walking mechanism 6 is electrically connected to the control module 13. The walking mechanism 6 is used for the movement of the robot to ensure normal walking on the pothole-changing ground and maintain the posture balance; specifically, the walking mechanism 6 includes a mechanical foot 7 and a walking servo 8. The number of the mechanical feet 7 is four. The four mechanical feet 7 are symmetrically arranged at a certain angle on both sides of the second frame 3. The mechanical foot 7 is rotatably connected to the second frame 3. The connection between the mechanical foot 7 and the second frame 3 is fixed with a walking servo 8, and the output end of the walking servo 8 is fixedly connected to the mechanical foot 7. Among them, the mechanical foot 7 is a mature prior art and is widely used in bionic robots, so it is not described in detail in this application.

[0049] It can be seen that the control module 13 sends a signal to control the mechanical foot 7 and the walking servo 8 to extend and rotate to drive the robot to move. The robot can achieve autonomous balance through the cooperation of the gyroscope, thereby ensuring that the liquid spraying component 5 maintains the same distance and angle with the plant.

[0050] Embodiment 2:

[0051] The spraying robot provided in Example 1 is further optimized, specifically, Figure 4-Figure 5 As shown, a driving assembly 12 is also provided on the upper portion of the first frame 2 , and the spraying servo 10 is movably connected to the first frame 2 via the driving assembly 12 , and the driving assembly 12 is used to adjust the height position of the spraying servo 10 .

[0052] Specifically, the driving assembly 12 includes a fixed plate 15, which is fixed to the top of the first frame 2. Guide frames 16 are vertically fixed at both ends of the fixed plate 15. A movable frame 17 is slidably connected inside each guide frame 16. Two spraying servos 10 are fixedly connected to the upper parts of the two movable frames 17 respectively. Two adjusting motors 18 are fixed to one side of the fixed plate 15. Two driving teeth 19 are rotatably connected to the other side of the fixed plate 15 and at positions corresponding to the two adjusting motors 18. The output end of the adjusting motor 18 is fixedly connected to the driving teeth 19 at the corresponding position, and the driving teeth 19 are meshedly connected to the movable frame 17 on the same side.

[0053] In order to guide and limit the movement of the movable frame 17 and ensure that the sliding of the movable frame 17 is smoother, both ends of the movable frame 17 are rotatably connected to the limiting pulley 20, and the limiting pulley 20 is located inside the guide frame 16 on the same side. The movable frame 17 is slidably connected to the guide frame 16 on the same side through the limiting pulley 20 at the end.

[0054] It can be seen that, through the structural coordination design of the driving component 12 and the liquid spraying component 5, the spraying height of the liquid spraying component 5 can be adjusted according to the height position of the plant, so that the effect of the robot spraying medicine on the plant is further improved; when in use, the corresponding adjustment motor 18 is started according to the use requirements to drive the driving teeth 19 fixed thereto to rotate synchronously, and the driving teeth 19 are engaged with the movable frame 17 on the same side, so that when the driving teeth 19 rotate, the movable frame 17 can be driven to move vertically along the length direction of the guide frame 16, so that the corresponding spraying servo 10 is driven to adjust the height through the movement of the movable frame 17, thereby realizing the adjustment of the spraying height and further improving the spraying effect.

[0055] The use process of the pesticide spraying robot provided by the utility model is as follows: when in use, the control module 2 14 can send a signal to control the water pump 9 to extract the medicine stored in the liquid tank 4 and transport it to the swinging spray rod 11, and the medicine liquid is sprayed onto the plants through the swinging spray rod 11. By starting the spraying servo 10, the swinging spray rod 11 can be driven to swing, so that the medicine liquid can be sprayed on the plants more evenly; the control module 1 13 sends a signal to control the mechanical foot 7 and the walking servo 8 to extend and rotate to drive the robot to move, and the robot can achieve autonomous balance through the cooperation of the gyroscope, thereby ensuring that the spraying component 5 maintains the same distance and angle with the plant.

[0056] Embodiment 3:

[0057] The spraying robot provided in Example 1 is further optimized, specifically, Figure 6-Figure 9 As shown, a protective shell (21) is provided on the outer side of the first frame (2), and the protective shell (21) can effectively protect the inner parts of the first frame (2), thereby increasing the service life of the equipment;

[0058] Specifically, the protective shell (21) comprises a main shell (22) and a sub-shell (23), both ends of the sub-shell (23) are fixed with limiting strips (25), and both ends of the sub-shell (23) are snap-fitted and connected to the main shell (22) through the limiting strips (25); limiting rings (24) are sleeved on the outside of the main shell (22) and the sub-shell (23) and at the upper and lower ends, and buckle strips 1 (27) are fixed to the upper and lower ends of the inner side of the main shell (22), and the main shell (22) is snap-fitted and connected to the first frame (2) through the buckle strips 1 (27), and buckle strips 2 (26) are fixed to the upper and lower ends of the inner side of the sub-shell (23), and the sub-shell (23) is snap-fitted and connected to the first frame (2) through the buckle strips 2 (26).

[0059] It can be seen that the protective shell (21) can effectively protect the inner parts of the first frame (2), thereby improving the service life of the equipment. When installing the protective shell (21), the auxiliary shell (23) is first fitted to the first frame (2), and then connected to the first frame (2) by snapping the second buckle strip (26), and then the main shell (22) is fitted to the first frame (2), and then connected to the first frame (2) by snapping the first buckle strip (27). When the main shell (22) is fitted to the first frame (2), the main shell (22) is fastened to the first frame (2). The two ends are pressed against the outside of the limiting strips (25) at the two ends of the auxiliary shell (23); after the main shell (22) and the auxiliary shell (23) are respectively buckled with the first frame (2), the upper and lower ends of the outer sides of the main shell (22) and the auxiliary shell (23) are sleeved with the limiting rings (24), thereby realizing the limiting of the main shell (22) and the auxiliary shell (23), and then completing the installation of the protective shell (21), so that the inner parts of the first frame (2) are protected by the protective shell (21), thereby improving the service life of the equipment.

Claims

1. A spraying robot, characterized in that: include: A frame assembly (1), the frame assembly (1) comprising a first frame body (2) and a second frame body (3), the first frame body (2) being fixed to the upper end of the second frame body (3), and a liquid tank (4) being fixed to the top end of the first frame body (2); A control unit, the control unit comprising a control module 1 (13) and a control module 2 (14), the control module 1 (13) being fixed to the lower inner end of the second frame (3), the control module 1 (13) being electrically connected to a gyroscope, and the control module 2 (14) being fixed to the lower inner end of the first frame (2); A liquid spraying assembly (5), which is arranged at the upper end of the frame assembly (1), and the liquid spraying assembly (5) is electrically connected to the second control module (14); A walking mechanism (6) is arranged at the lower end of the frame assembly (1), and the walking mechanism (6) is electrically connected to a control module (13).

2. The spraying robot according to claim 1, characterized in that: The liquid spraying assembly (5) comprises a water pump (9), a spraying steering gear (10), and a swinging spray rod (11). The spraying steering gear (10) is arranged at a position above the first frame (2). One end of the swinging spray rod (11) is fixedly connected to the output end of the spraying steering gear (10). There are two spraying steering gears (10). The two spraying steering gears (10) are symmetrically arranged. The number of the swinging spray rods (11) is the same as the number of the spraying steering gears (10). The water pump (9) is fixed on the inner side of the first frame (2). The number of the water pumps (9) is the same as the number of the spraying steering gears (10). The input end of each water pump (9) is connected to the liquid tank (4) through a rubber tube, and the output end of each water pump (9) is connected to the swinging spray rod (11) at the corresponding position.

3. The spraying robot according to claim 1, characterized in that: The walking mechanism (6) comprises a mechanical foot (7) and a walking servo (8), the number of the mechanical feet (7) is four, the four mechanical feet (7) are symmetrically arranged at a certain angle on both sides of the second frame (3), the mechanical foot (7) is rotatably connected to the second frame (3), the walking servo (8) is fixed at the connection between the mechanical foot (7) and the second frame (3), and the output end of the walking servo (8) is fixedly connected to the mechanical foot (7).

4. The spraying robot according to claim 2, characterized in that: A driving assembly (12) is also provided on the upper part of the first frame (2), and the spraying servo (10) is movably connected to the first frame (2) via the driving assembly (12), and the driving assembly (12) is used to adjust the height position of the spraying servo (10).

5. The drug spraying robot according to claim 4, characterized in that: The driving assembly (12) comprises a fixed plate (15), the fixed plate (15) being fixed on the top of the first frame (2), guide frames (16) being vertically fixed at both ends of the fixed plate (15), each guide frame (16) being slidably connected inside with a movable frame (17), the two spraying servos (10) being fixedly connected to the upper parts of the two movable frames (17) respectively, two adjusting motors (18) being fixed on one side of the fixed plate (15), two driving teeth (19) being rotatably connected on the other side of the fixed plate (15) and at positions corresponding to the two adjusting motors (18), the output end of the adjusting motor (18) being fixedly connected to the driving teeth (19) at the corresponding positions, and the driving teeth (19) being meshingly connected to the movable frame (17) on the same side.

6. The drug spraying robot according to claim 5, characterized in that: Both ends of the movable frame (17) are rotatably connected to limit pulleys (20), and the limit pulleys (20) are located inside the guide frame (16) on the same side. The movable frame (17) is slidably connected to the guide frame (16) on the same side through the limit pulleys (20) at the ends.

7. The spraying robot according to claim 1, characterized in that: A protective shell (21) is arranged on the outer side of the first frame (2), and the protective shell (21) includes a main shell (22) and a sub-shell (23), both ends of the sub-shell (23) are fixed with limiting strips (25), and both ends of the sub-shell (23) are snap-fitted and connected with the main shell (22) through the limiting strips (25); limiting rings (24) are sleeved on the outer sides of the main shell (22) and the sub-shell (23) and at the upper and lower ends, and buckle strips 1 (27) are fixed on the inner upper and lower ends of the main shell (22), and the main shell (22) is snap-fitted and connected with the first frame (2) through the buckle strips 1 (27), and buckle strips 2 (26) are fixed on the inner upper and lower ends of the sub-shell (23), and the sub-shell (23) is snap-fitted and connected with the first frame (2) through the buckle strips 2 (26).

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