Precise spraying robot with parallel mechanism

Abstract

The utility model provides a parallel mechanism accurate spraying robot, which relates to agricultural robots, and comprises a moving trolley, a water tank and at least one parallel executing mechanism, each parallel executing mechanism comprises an upper platform, a lower platform, a nozzle and a three-connecting-rod assembly, the upper platform is arranged at the bottom of the water tank, the lower platform is arranged below the upper platform, and the nozzle is arranged on the lower platform. The three-connecting-rod assemblies are arranged around the upper platform and the lower platform in the circumferential direction, each connecting rod assembly comprises a first driving mechanism, a first connecting rod and two second connecting rods, the first driving mechanisms are arranged on the upper platform, one ends of the first connecting rods are connected with the first driving mechanisms, and the other ends of the first connecting rods are rotatably connected with the upper ends of the two second connecting rods. The nozzle is arranged at the bottom of the lower platform, and the first driving mechanism drives the first connecting rods to rotate to drive the lower platform to move. The utility model has the beneficial effects that the spraying precision of the herbicide can be accurately controlled, so that the robot can automatically and accurately spray and weed, and the efficiency and precision of weeding operation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural robots, in particular to a parallel mechanism precision spraying robot. Background Technique

[0002] In recent years, with the rapid development of agricultural production, the problem of weeds in the fields has become increasingly serious. At present, the main way to remove weeds from crops is chemical weeding, and herbicides are the simplest and most efficient way to remove weeds. However, chemical weeding also brings some hazards. For example, during the spraying process, surrounding crops are damaged by the drift of herbicides in the wind and the volatilization of liquid medicine droplets during the spraying of herbicides. The traditional method of using herbicides without discrimination over a large area is difficult to meet the needs of current agricultural production. Building an intelligent precision spraying and weeding robot has become the optimal solution to solve the weeding problem at present. Weeding robots generally control the herbicide spraying actuator to spray herbicides on weeds. However, the current herbicide spraying actuators of weeding robots have low motion accuracy, and it is difficult to strictly control the spraying accuracy of herbicides, which easily causes accidental injury to crops. Content of the Utility Model

[0003] In view of this, in order to solve the problem of low motion accuracy of the herbicide spraying actuator of the current weeding robot, the embodiment of the utility model provides a parallel mechanism precision spraying robot.

[0004] The embodiment of the utility model provides a parallel mechanism precision spraying robot, including:

[0005] A mobile trolley;

[0006] A water tank, which is arranged on the mobile trolley;

[0007] And at least one parallel actuator, each of the parallel actuators includes an upper platform, a lower platform, a nozzle and a three-link assembly. Wherein the upper platform is arranged at the bottom of the water tank, the lower platform is arranged below the upper platform, and the three link assemblies are circumferentially arranged around the upper platform and the lower platform. Each link assembly includes a first driving mechanism, a first link and two second links. The first driving mechanism is arranged on the upper platform. One end of the first link is connected to the first driving mechanism, and the other end is rotatably connected to the upper ends of the two second links. The lower ends of the two second links are respectively rotatably connected to the lower platform. The nozzle is arranged at the bottom of the lower platform and is connected to the water tank through a pipeline. The first driving mechanism can drive the first link to rotate, so as to drive the lower platform to move.

[0008] Further, the link assembly further includes a third link. The middle of the third link is rotatably connected to one end of the first link. The two ends of the third link are respectively rotatably connected to the upper ends of the two second links.

[0009] Further, both ends of the third link are respectively connected to the upper ends of the two second links by spherical hinge connections.

[0010] Further, the upper platform is Y-shaped and includes three fixed beams connected at one point, and the included angle between any two adjacent fixed beams is the same. The first driving mechanism of each link assembly is installed on one side of one of the fixed beams.

[0011] Further, the lower platform is a regular hexagon, and the lower ends of the two second links of each link assembly are respectively hinged to two adjacent vertices of the lower platform.

[0012] Further, the lower end of the second link is connected to the vertex of the lower platform by a spherical hinge connection.

[0013] Further, the nozzle is installed at the center of the bottom of the lower platform, and the upper end of the nozzle penetrates through the lower platform and is connected to the water tank through a hose.

[0014] Further, the mobile trolley includes a vehicle frame and two wheel assemblies. The water tank is installed on the vehicle frame, and the two wheel assemblies are respectively installed on both sides of the vehicle frame. Each wheel assembly includes a suspension, two wheels, two wheel frames, two spring shock absorbers and two second driving mechanisms. Each wheel and a second driving mechanism are installed at the lower end of one of the wheel frames, and the second driving mechanism is connected to the wheel to drive the wheel to rotate. The upper ends of the two wheel frames are respectively rotatably connected to both ends of the lower part of the suspension, the two wheel frames are arranged in a V shape, and the upper ends of the two spring shock absorbers are respectively rotatably connected to both ends of the upper part of the suspension.

[0015] Further, the suspension is an isosceles trapezoid with a wider upper part and a narrower lower part. The upper ends of the two wheel frames are respectively rotatably connected to the two vertices of the lower part of the suspension, and the upper ends of the two spring shock absorbers are respectively rotatably connected to the two vertices of the upper part of the suspension.

[0016] Further, triangular connecting frames are provided on both sides of the vehicle frame. The bottom of the connecting frame is hinged to the suspension, and the vehicle frame is provided with two stabilizer bars. The upper ends of the two stabilizer bars are respectively hinged to the two vertices of the rear part of the vehicle frame, and the lower ends are respectively hinged to the rear ends of the upper parts of the two suspensions.

[0017] The beneficial effects brought by the technical solution provided by the embodiment of the present utility model are:

[0018] 1. A parallel mechanism precision spraying robot of the present utility model. The parallel execution mechanism drives the multi-degree-of-freedom movement of the lower platform through the cooperation of multiple link assemblies, that is, drives the multi-degree-of-freedom movement of the nozzle on the lower platform, improving the movement accuracy of the nozzle. By controlling the rotation of the first driving mechanism of each link assembly, the movement of the nozzle can be controlled, and accurate point spraying at different heights and positions can be achieved, thereby accurately controlling the spraying accuracy of the herbicide, enabling the robot to automatically and precisely spray weeds, improving the efficiency and accuracy of the weeding operation, and reducing the usage amount of the herbicide and the phytotoxicity suffered by the crops.

[0019] 2. A parallel mechanism precision spraying robot of the present utility model. The mobile trolley moves smoothly. The two wheels of each wheel assembly cooperate with each other, and the height of the wheels can be adjusted adaptively, making the vehicle frame stable and flexible, so as to easily meet the requirements of different terrains and operating environments, enabling the robot to walk smoothly in rough fields. Keeping the vehicle frame stable is beneficial to accurately controlling the movement accuracy of the nozzle and improving the spraying accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional view of a parallel mechanism precision spraying robot of the present utility model Figure 1 ;

[0021] Figure 2 is a three-dimensional view of a parallel mechanism precision spraying robot of the present utility model Figure 2 ;

[0022] Figure 3 is the front view of the wheel assembly;

[0023] Figure 4 is the three-dimensional view of the wheel assembly;

[0024] Figure 5 is the schematic diagram of the parallel execution mechanism;

[0025] Figure 6 is the schematic diagram of the link assembly.

[0026] In the figure: 1. Mobile trolley; 101. Vehicle frame; 102. Wheel assembly; 103. Connecting frame; 104. Stabilizing rod; 105. Suspension; 106. Wheel carrier; 107. Spring shock absorber; 108. Wheel; 109. Second driving mechanism; 2. Water tank; 3. Parallel execution mechanism; 301. Upper platform; 302. Lower platform; 303. Link assembly; 304. First driving mechanism; 305. First link; 306. Second link; 307. Third link; 308. Hose. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] To make the objectives, technical solutions and advantages of the present utility model clearer, the following will further describe the embodiments of the present utility model with reference to the accompanying drawings. The following introduces a relatively superior one among multiple possible embodiments of the present utility model, aiming to provide a basic understanding of the present utility model, but not aiming to identify the key or decisive elements of the present utility model or limit the scope to be protected.

[0028] In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0029] Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the specification.

[0030] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship.

[0031] In the description of the present utility model, it should be noted that the circuits, electronic components and modules involved in the present utility model are all prior art, and those skilled in the art can fully implement them without further elaboration. The content protected by the present utility model does not involve improvements to the internal structure and method either.

[0032] Furthermore, it should be noted that unless otherwise clearly specified and defined, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0033] Please refer to Figure 1 and 2 , the embodiments of the present utility model provide a parallel mechanism precision spraying robot, which is applied to crop weeding, such as field crop weeding, and mainly includes a mobile trolley 1, a water tank 2 and at least one parallel actuator 3.

[0034] The mobile trolley 1 is used to carry the parallel mechanism precision spraying robot to walk in the field. The mobile trolley 1 generally selects a four-wheel drive trolley, which can make the parallel mechanism precision spraying robot walk stably and flexibly.

[0035] Such as Figure 3and 4 As shown in 4 , in this embodiment, the mobile trolley 1 includes a frame 101 and two wheel assemblies 102. The water tank 2 is installed on the frame 101, and the two wheel assemblies 102 are respectively installed on both sides of the frame 101. Here, the two wheel assemblies 102 are symmetrically arranged on both sides of the frame 101.

[0036] Each wheel assembly 102 specifically includes a suspension 105, two wheels 108, two wheel frames 106, two spring shock absorbers 107, and two second driving mechanisms 109. Each wheel 108 and a second driving mechanism 109 are installed at the lower end of a wheel frame 106, and the second driving mechanism 109 is connected to the wheel 108 to drive the wheel 108 to rotate. The wheel frame 106 is inclined, and the two wheel frames 106 are arranged in a V shape. The wheel 108 is rotatably installed at the lower end of the wheel frame 106, and the second driving mechanism 109 is installed at the lower end of the wheel frame 106 inside the wheel 108. The second driving mechanism 109 generally selects a motor, and the wheel 108 can be driven to rotate through the second driving mechanism 109.

[0037] The upper ends of the two wheel frames 106 are respectively rotatably connected to the two ends of the lower part of the suspension 105, and the upper ends of the two spring shock absorbers 107 are respectively rotatably connected to the two ends of the upper part of the suspension 105. The suspension 105 is an isosceles trapezoid with a wider upper part and a narrower lower part. The upper ends of the two wheel frames 106 are respectively rotatably connected to the two vertices of the lower part of the suspension 105, and the upper ends of the two spring shock absorbers 107 are respectively rotatably connected to the two vertices of the upper part of the suspension 105. Here, the wheel frame 106 and the suspension 105 are connected by hinges, and the spring shock absorber 107 and the suspension 105 are also connected by hinges.

[0038] Triangular connection frames 103 are provided on both sides of the frame 101. The bottom of the connection frame 103 is hinged to the suspension 105. One side of the connection frame 103 is set upward and connected to one side of the frame 101, and the top angle opposite to this side on the connection frame 103 is set downward and hinged to the suspension 105.

[0039] Furthermore, two stabilizer bars 104 are provided on the frame 101. The upper ends of the two stabilizer bars 104 are respectively hinged to the two vertices of the rear part of the frame 101, and the lower ends are respectively hinged to the rear ends of the upper parts of the two suspensions 105. Here, the two ends of each stabilizer bar 104 are respectively ball-hinged to the frame 101 and the suspension 105.

[0040] When the mobile trolley 1 travels on rough ground, the heights of every two wheels 108 of each wheel assembly 102 can be adjusted adaptively so that the two wheels 108 are at different heights, forming a stable support for the frame 101, making the frame 101 stable and flexible, and thus can easily meet the requirements of different terrains and operating environments.

[0041] The water tank 2 is arranged on the mobile trolley 1. The water tank 2 is used to store the herbicide solution to be sprayed. The shape of the water tank 2 can be flexibly set according to the actual application scenario. For example, in this embodiment, the shape of the water tank 2 is set to be approximately a cuboid. The four corners of the bottom of the water tank 2 are exactly supported and fixed at the four corners of the frame 101.

[0042] The parallel linkage mechanism 3 is used to adjust the spraying position of the herbicide solution. The number of the parallel linkage mechanisms 3 can be flexibly selected according to the actual weeding scenario. Generally, the number of the parallel linkage mechanisms 3 is set to be multiple, and each of the parallel linkage mechanisms 3 is arranged in a horizontal row. For example, in this embodiment, the number of the parallel linkage mechanisms 3 is set to be two.

[0043] As Figure 5 and 6 shown, each of the parallel linkage mechanisms 3 includes an upper platform 301, a lower platform 302, a nozzle and a three-link assembly 303. Among them, the upper platform 301 is arranged at the bottom of the water tank 2, and the upper platform 301 is horizontally arranged and fixedly arranged below the water tank 2. The lower platform 302 is arranged below the upper platform 301, and the area of the lower platform 302 is generally smaller than the area of the upper platform 301.

[0044] The three-link assemblies 303 are arranged circumferentially around the upper platform 301 and the lower platform 302. The upper end of each of the three-link assemblies 303 is connected to the upper platform 301, and the lower end is connected to the lower platform 302. Each of the three-link assemblies 303 includes a first driving mechanism 304, a first link 305 and two second links 306.

[0045] The first driving mechanism 304 is arranged on the upper platform 301. Specifically, the upper platform 301 is Y-shaped, including three fixed beams connected at one point, and the included angle between any two adjacent fixed beams is the same. The first driving mechanism 304 of each of the three-link assemblies 303 is installed on one side of a fixed beam, and each of the three-link assemblies 303 is located between two adjacent fixed beams of the upper platform 301.

[0046] One end of the first connecting rod 305 is connected to the first driving mechanism 304, and the other end is rotatably connected to the upper ends of the two second connecting rods 306. In this embodiment, the connecting rod assembly 303 further includes a third connecting rod 307. The third connecting rod 307 passes through the outer end of the first connecting rod 305, and the middle of the third connecting rod 307 is rotatably connected to one end of the first connecting rod 305. Both ends of the third connecting rod 307 are respectively rotatably connected to the upper ends of the two second connecting rods 306. Here, both ends of the third connecting rod 307 are respectively ball-hinged to the upper ends of the two second connecting rods 306.

[0047] The lower ends of the two second connecting rods 306 are respectively rotatably connected to the lower platform 302. The lower platform 302 is a regular hexagon. The lower ends of the two second connecting rods 306 of each connecting rod assembly 303 are respectively hinged to two adjacent vertices of the lower platform 302. In this embodiment, the lower end of the second connecting rod 306 is ball-hinged to the vertex of the lower platform 302. In this way, the six second connecting rods 306 of the three connecting rod assemblies 303 are respectively hinged to the six vertices of the lower platform 302. The lower platform 302 can be driven to move with multiple degrees of freedom through the three connecting rod assemblies 303.

[0048] The nozzle is arranged at the bottom of the lower platform 302 and is connected to the water tank 2 through a pipeline. Specifically, the nozzle is installed at the center of the bottom of the lower platform 302. The upper end of the nozzle penetrates through the lower platform 302 and is connected to the water tank 2 through a hose 308.

[0049] The first driving mechanism 304 generally selects a motor. The first driving mechanism 304 can drive the first connecting rod 305 to rotate. When the first connecting rod 305 rises or falls, it can drive the two second connecting rods 306 to move, thereby driving the lower platform 302 to move. The lower platform 302 drives the nozzle to move, and can accurately move to the position to be sprayed.

[0050] When the parallel mechanism precision spraying robot is used for weeding crops, the mobile trolley 1 moves on the ground. By controlling the three first driving mechanisms 304 to control the movement of the three connecting rod assemblies 303, the lower platform 302 is driven to move, so that the nozzle moves to the position to be sprayed, thereby realizing accurate point spraying at different heights and different positions.

[0051] In this article, the front, back, up, down and other orientation words are defined based on the positions of the components in the drawings and the positions of the components relative to each other, only for the sake of clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can change accordingly according to different usage and placement methods. The use of the orientation words should not limit the scope of protection claimed in this application.

[0052] In the case of no conflict, the above-mentioned embodiments and the features in the embodiments in this text may be combined with each other. The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A parallel mechanism precise spraying robot, characterized in that, Comprising: A mobile trolley; A water tank, which is arranged on the mobile trolley; And at least one parallel execution mechanism. Each parallel execution mechanism includes an upper platform, a lower platform, a nozzle and a three-link assembly. Among them, the upper platform is arranged at the bottom of the water tank, the lower platform is arranged below the upper platform, and the three link assemblies are circumferentially arranged around the upper platform and the lower platform. Each link assembly includes a first driving mechanism, a first link and two second links. The first driving mechanism is arranged on the upper platform. One end of the first link is connected to the first driving mechanism, and the other end is rotatably connected to the upper ends of the two second links. The lower ends of the two second links are respectively rotatably connected to the lower platform. The nozzle is arranged at the bottom of the lower platform and is connected to the water tank through a pipeline. The first driving mechanism can drive the first link to rotate, thereby driving the lower platform to move.

2. The precision spraying robot with a parallel mechanism according to claim 1, characterized in that: The link assembly further includes a third link. The middle of the third link is rotatably connected to one end of the first link, and the two ends of the third link are respectively rotatably connected to the upper ends of the two second links.

3. The precise spraying robot with a parallel mechanism according to claim 2, characterized in that: The two ends of the third link are respectively ball-hinged to the upper ends of the two second links.

4. The precision spraying robot with a parallel mechanism as described in claim 1, characterized in that: The upper platform is Y-shaped and includes three fixed beams connected at one point, and the included angle between any two adjacent fixed beams is the same. The first driving mechanism of each link assembly is installed on one side of a fixed beam.

5. The precise spraying robot with a parallel mechanism according to claim 1, characterized in that: The lower platform is a regular hexagon, and the lower ends of the two second links of each link assembly are respectively hinged to two adjacent vertices of the lower platform.

6. The precision spraying robot with a parallel mechanism according to claim 5, characterized in that: The lower end of the second link is ball-hinged to the vertex of the lower platform.

7. The precision spraying robot with a parallel mechanism according to claim 5, characterized in that: The nozzle is installed at the center of the bottom of the lower platform. The upper end of the nozzle penetrates the lower platform and is connected to the water tank through a hose.

8. The precision spraying robot with a parallel mechanism according to claim 1, characterized in that: The mobile trolley includes a frame and two wheel assemblies. The water tank is installed on the frame. The two wheel assemblies are respectively installed on both sides of the frame. Each wheel assembly includes a suspension, two wheels, two wheel frames, two spring shock absorbers and two second driving mechanisms. Each wheel and a second driving mechanism are installed at the lower end of a wheel frame, and the second driving mechanism is connected to the wheel to drive the wheel to rotate. The upper ends of the two wheel frames are respectively rotatably connected to both ends of the lower part of the suspension. The two wheel frames are arranged in a V shape. The upper ends of the two spring shock absorbers are respectively rotatably connected to both ends of the upper part of the suspension.

9. The precision spraying robot with a parallel mechanism according to claim 8, wherein: The suspension is an isosceles trapezoid with a wider upper part and a narrower lower part. The upper ends of the two wheel frames are respectively rotatably connected to the two vertices of the lower part of the suspension. The upper ends of the two spring shock absorbers are respectively rotatably connected to the two vertices of the upper part of the suspension.

10. A parallel mechanism precision spraying robot according to claim 8 or 9, characterized in that: Triangle-shaped connecting frames are arranged on both sides of the frame. The bottom of the connecting frame is hinged to the suspension. The frame is provided with two stabilizer bars. The upper ends of the two stabilizer bars are respectively hinged to the two vertices of the rear part of the frame, and the lower ends are respectively hinged to the rear ends of the upper parts of the two suspensions.

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