Pesticide spraying and picking integrated multifunctional orchard robot

Abstract

The utility model discloses a pesticide spraying and picking integrated multifunctional orchard robot, relates to the technical field of orchard robots, and aims at solving the problems that an existing orchard robot is single in structure function, pesticide spraying and picking work cannot be conducted at the same time, multiple robot devices are needed for operation, and cost is increased. According to the technical scheme, the device is characterized by comprising a crawler, a bottom plate is fixedly connected to the outer side of the crawler, a fixing column is fixedly connected to the outer side of the bottom plate, a control motor is fixedly connected to the outer side of the fixing column, a limiting rod and a lead screw are arranged in the fixing column, and a first connecting block is arranged on the outer side of the lead screw; a second connecting block, a third connecting block and a fourth connecting block are arranged on the outer side of the first connecting block. And the effect of convenient operation is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of orchard robots, in particular to a multifunctional orchard robot that integrates spraying and picking. Background Art

[0002] The use of orchard robots can improve production efficiency. Traditional orchard production methods usually require a large amount of human resources, and the application of orchard robots can replace part of the manual labor and reduce the labor intensity of fruit farmers. Orchard robots can also improve the efficiency of planting, picking, feeding, harvesting and other links through precise operation and data analysis, thereby improving product output and quality.

[0003] The above-mentioned existing technical solutions have the following defects: the existing orchard robots have a single structure and function and cannot perform the work of spraying pesticides and picking at the same time, so multiple robot devices are needed to operate, which increases the cost. Utility Model Content

[0004] The utility model aims to provide a multifunctional orchard robot which integrates spraying and picking.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A multifunctional robot for an orchard integrating spraying and picking, comprising a tracked vehicle, wherein a bottom plate is fixedly connected to the outside of the tracked vehicle, a fixing column is fixedly connected to the outside of the bottom plate, a control motor is fixedly connected to the outside of the fixing column, a limit rod and a screw rod are arranged inside the fixing column, a first connecting block is arranged on the outside of the screw rod, a second connecting block, a third connecting block and a fourth connecting block are arranged on the outside of the first connecting block, a first motor is arranged between the first connecting block and the second connecting block, a second motor is arranged between the second connecting block and the third connecting block, a third motor is arranged between the third connecting block and the fourth connecting block, a fourth motor is fixedly connected to the outside of the fourth connecting block, a bidirectional screw rod is arranged inside the fourth connecting block, a clamping block is arranged on the outside of the bidirectional screw rod, an arc groove is reserved on the outside of the clamping block, an anti-slip protrusion is arranged on one end of the outer side of the clamping block, a collecting box and a medicine water tank are fixedly connected to the outside of the tracked vehicle, a spray head is arranged on the outside of the medicine water tank, and a battery and a controller are fixedly connected to the other end of the outer side of the tracked vehicle.

[0007] By adopting the above technical solution and adding a plurality of groups of connecting blocks for combined use, multi-axis rotation can be realized, which is convenient for adjustment and operation. At the same time, lifting and lowering adjustment can be performed to facilitate control of the height position, which is convenient for picking and spraying. The fourth motor drives the bidirectional screw to rotate, which can drive the clamping block to move and clamp the device. By adding a medicine tank and a collection box, the clamping operation can be performed simultaneously through a mechanical transmission structure. While clamping the fruit, the nozzle can be clamped for spraying when pesticides need to be sprayed.

[0008] Furthermore, one end of the outer side of the screw rod is fixedly connected to the output end of the control motor, the other end of the outer side of the screw rod is rotatably connected to the fixed column through a bearing, the first connecting block is threadedly connected to the screw rod, the first connecting block is slidably connected to the limit rod, the output end of the fourth motor is fixedly connected to one end of the bidirectional screw rod, the other end of the bidirectional screw rod is rotatably connected to the fourth connecting block through a bearing, and the clamping block is threadedly connected to the bidirectional screw rod.

[0009] By adopting the above technical solution, synchronous clamping is achieved, making clamping operations convenient.

[0010] Furthermore, the output end of the first motor is fixedly connected to the outer side of the second connecting block, the first motor is fixedly connected to the inside of the first connecting block, the output end of the second motor is fixedly connected to the outer side of the third connecting block, the second motor is fixedly connected to the inside of the second connecting block, the output end of the third motor is fixedly connected to the outer side of the fourth connecting block, and the third motor is fixedly connected to the inside of the third connecting block.

[0011] By adopting the above technical solution, through the coordinated use of the first motor, the second motor, the third motor and the fourth motor, multi-axis rotation can be achieved, and the operation is more flexible.

[0012] In summary, the beneficial technical effects of the utility model are:

[0013] It adopts a control motor, a connecting block, a bidirectional screw rod and a clamping block. By controlling the transmission of the motor and the screw rod, the lifting and lowering movement can be realized. At the same time, multiple groups of connecting blocks are connected by a motor, so multiple groups of transmission operations can be realized, which makes the operation more flexible. At the same time, when picking is required, it can be clamped by the clamping block. When spraying is required, the nozzle can be clamped by the arc groove inside the clamping block, which can achieve dual-purpose in one and produce the effect of convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 The three-dimensional structure of the fixed column of the utility model is shown in FIG. Figure 1 ;

[0016] Figure 3 The three-dimensional structure of the fixed column of the utility model is shown in FIG. Figure 2 .

[0017] In the figure, 1, crawler vehicle; 2, bottom plate; 3, fixing column; 4, control motor; 5, limit rod; 6, screw rod; 7, first connecting block; 8, second connecting block; 9, third connecting block; 10, fourth connecting block; 11, first motor; 12, second motor; 13, third motor; 14, fourth motor; 15, bidirectional screw rod; 16, clamping block; 17, arc groove; 18, anti-skid protrusion; 19, collecting box; 20, medicine tank; 21, nozzle; 22, battery; 23, controller. DETAILED DESCRIPTION

[0018] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0019] Reference Figure 1-3 A multifunctional orchard robot integrating spraying and picking includes a crawler vehicle 1, a bottom plate 2 is fixedly connected to the outside of the crawler vehicle 1, a fixing column 3 is fixedly connected to the outside of the bottom plate 2, a control motor 4 is fixedly connected to the outside of the fixing column 3, a limit rod 5 and a screw rod 6 are arranged inside the fixing column 3, a first connecting block 7 is arranged on the outside of the screw rod 6, a second connecting block 8, a third connecting block 9 and a fourth connecting block 10 are arranged on the outside of the first connecting block 7, a first motor 11 is arranged between the first connecting block 7 and the second connecting block 8, a second motor 12 is arranged between the second connecting block 8 and the third connecting block 9, a third motor 13 is arranged between the third connecting block 9 and the fourth connecting block 10, a fourth motor 14 is fixedly connected to the outside of the fourth connecting block 10, and a fourth motor 15 is fixedly connected to the outside of the fourth connecting block 10. A bidirectional screw rod 15 is arranged inside the connecting block 10, a clamping block 16 is arranged on the outside of the bidirectional screw rod 15, an arc groove 17 is reserved on the outside of the clamping block 16, an anti-slip protrusion 18 is arranged on one end of the outside of the clamping block 16, a collecting box 19 and a medicine tank 20 are fixedly connected to the outside of the tracked vehicle 1, a nozzle 21 is arranged on the outside of the medicine tank 20, and a battery 22 and a controller 23 are fixedly connected to the other end of the outside of the tracked vehicle 1. A structure in which multiple groups of connecting blocks are added for combined use can realize multi-axis rotation, which is convenient for adjustment and operation, and can be raised and lowered for convenient control of the height position, which is convenient for picking and spraying. The controller 23 is electrically connected to the control motor 4, the first motor 11, the second motor 12, the third motor 13, the fourth motor 14 and the battery 22.

[0020] like Figure 1-3As shown, one end of the outer side of the screw rod 6 is fixedly connected to the output end of the control motor 4, the other end of the outer side of the screw rod 6 is rotatably connected to the fixed column 3 through a bearing, the first connecting block 7 is threadedly connected to the screw rod 6, the first connecting block 7 is slidably connected to the limit rod 5, the output end of the fourth motor 14 is fixedly connected to one end of the bidirectional screw rod 15, the other end of the bidirectional screw rod 15 is rotatably connected to the fourth connecting block 10 through a bearing, the clamping block 16 is threadedly connected to the bidirectional screw rod 15, the output end of the first motor 11 is fixedly connected to the outer side of the second connecting block 8, the first motor 11 is fixedly connected to the inside of the first connecting block 7, the output end of the second motor 12 is fixedly connected to the outer side of the third connecting block 9, the second motor 12 is fixedly connected to the inside of the second connecting block 8, the output end of the third motor 13 is fixedly connected to the outer side of the fourth connecting block 10, and the third motor 13 is fixedly connected to the inside of the third connecting block 9, so that multi-axis rotation is realized and the operation is more flexible.

[0021] The implementation principle of this embodiment is: the crawler vehicle 1 drives the device to move. When picking is required, the lead screw 6 can be driven to rotate by controlling the motor 4, and the first connecting block 7 is lifted and moved to achieve lifting adjustment. At the same time, the first motor 11, the second motor 12 and the third motor 13 cooperate to achieve rotation adjustment between multiple groups of connecting blocks, which is more flexible to operate. At the same time, the fourth motor 14 controls the clamping block 16 to move to perform picking operations. When spraying is required, the same equipment can be used to perform the operation, and the above operations are repeated. The nozzle 21 is clamped by the clamping block 16 to start the spraying operation. It is multi-purpose and more convenient and quick to operate.

[0022] The embodiments of this specific implementation method are all preferred embodiments of the utility model, and are not intended to limit the protection scope of the utility model. Therefore, all equivalent changes made based on the structure, shape, and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A multifunctional orchard robot for spraying pesticides and picking fruits, comprising a tracked vehicle (1), characterized in that: The outer side of the crawler vehicle (1) is fixedly connected to a base plate (2), the outer side of the base plate (2) is fixedly connected to a fixing column (3), the outer side of the fixing column (3) is fixedly connected to a control motor (4), a limit rod (5) and a screw rod (6) are arranged inside the fixing column (3), a first connecting block (7) is arranged on the outer side of the screw rod (6), a second connecting block (8), a third connecting block (9) and a fourth connecting block (10) are arranged on the outer side of the first connecting block (7), a first motor (11) is arranged between the first connecting block (7) and the second connecting block (8), a second motor (12) is arranged between the second connecting block (8) and the third connecting block (9), and the third connecting block (9) is provided with a plurality of connecting blocks. A third motor (13) is arranged between the first and second connecting blocks (10); a fourth motor (14) is fixedly connected to the outer side of the fourth connecting block (10); a bidirectional screw rod (15) is arranged inside the fourth connecting block (10); a clamping block (16) is arranged on the outer side of the bidirectional screw rod (15); an arc groove (17) is reserved on the outer side of the clamping block (16); an anti-slip protrusion (18) is arranged on one end of the outer side of the clamping block (16); a collection box (19) and a liquid medicine tank (20) are fixedly connected to the outer side of the tracked vehicle (1); a nozzle (21) is arranged on the outer side of the liquid medicine tank (20); and a storage battery (22) and a controller (23) are fixedly connected to the other end of the outer side of the tracked vehicle (1).

2. The multifunctional orchard robot integrating spraying and picking according to claim 1 is characterized in that: One end of the outer side of the screw rod (6) is fixedly connected to the output end of the control motor (4), the other end of the outer side of the screw rod (6) is rotatably connected to the fixed column (3) via a bearing, the first connecting block (7) is threadedly connected to the screw rod (6), the first connecting block (7) is slidably connected to the limit rod (5), the output end of the fourth motor (14) is fixedly connected to one end of the bidirectional screw rod (15), the other end of the bidirectional screw rod (15) is rotatably connected to the fourth connecting block (10) via a bearing, and the clamping block (16) is threadedly connected to the bidirectional screw rod (15).

3. The multifunctional orchard robot integrating spraying and picking according to claim 1 is characterized in that: The output end of the first motor (11) is fixedly connected to the outside of the second connecting block (8), the first motor (11) is fixedly connected to the inside of the first connecting block (7), the output end of the second motor (12) is fixedly connected to the outside of the third connecting block (9), the second motor (12) is fixedly connected to the inside of the second connecting block (8), the output end of the third motor (13) is fixedly connected to the outside of the fourth connecting block (10), and the third motor (13) is fixedly connected to the inside of the third connecting block (9).

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