Multifunctional adjustable pesticide applying and spraying robot for plants

Abstract

The utility model relates to the technical field of agricultural machinery, in particular to a multifunctional adjustable pesticide applying and spraying robot for plants. The robot comprises a spraying part and an adjusting part, the spraying part is used for spraying pesticide, and the adjusting part is used for adjusting the height or displacement of the spraying part; the spraying part comprises a holder used for plane supporting. According to the multifunctional adjustable pesticide spraying robot for the plants, through cooperation of the holder, the spraying mechanism, the liquid conveying mechanism, the pesticide storage mechanism, the adjusting mechanism, the moving mechanism and the guiding mechanism, the length of the spraying mechanism can be adjusted according to the pesticide spraying area, pesticide spraying can be accurately controlled in multiple directions, and the pesticide spraying efficiency is improved. According to crops with different heights, the holder and the spraying mechanism are driven to perform height adjustment through work of the adjusting mechanism, unnecessary pollution is avoided, and economic benefits are improved; and by arranging the gear pump, the self-suction characteristic can be optimized, and the conveying efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field especially, it is a kind of multifunctional adjustment pesticide spraying robot for plant. BACKGROUND

[0002] Pesticide is the important indispensable special agricultural production material of modern agriculture, China is the largest population and agricultural country in the world, due to complex ecological environment, frequent large-scale insect pests, cause agricultural major loss, using pesticide is the current fast, effective, efficient, simple and necessary control means. With the development of times, our population continues to increase, serious aging, agricultural labor force is seriously short, pesticide in agricultural production is indispensable, for protection insect pests, promote growth, provide nutrition etc. have great effect;

[0003] Pesticide spraying device is initially realized by manual spraying by farmers, the characteristics of the device are convenient and fast, popular, farmers mix pesticide stock solution and water according to proportion, then load into the cylinder of spraying device, then spray pesticide through long rod and spraying head, but due to close contact with farmers, there is a great possibility that farmers inhale misty pesticide into body, cause certain disease, more worse endanger life, although most farmers still adopt this pesticide spraying device, but it is updated and replaced in the future trend;

[0004] In recent years, some automatic control type pesticide spraying devices have also appeared, including self-propelled automatic control pesticide spraying device and unmanned aerial vehicle control pesticide spraying device, the former gradually becomes popular among farmers in recent years due to its lower cost and lower labor requirement, from small to medium and large, suitable for different occasions, and the amount of pesticide carried is larger, the spraying efficiency is higher, and it wins the favor of many people. The latter mainly relies on unmanned aerial vehicle to carry automatic spraying device for effective spraying, although the efficiency is the highest among the three pesticide spraying devices, but the cost is also the highest, it is usually used for spraying in large area farmland, and the small amount of pesticide loading is also its shortcoming, which cannot achieve complete automatic control, and pesticide needs to be added constantly, so the universality of the former is higher.

[0005] However, the existing pesticide spraying robot has the following problems:

[0006] As described in patent No. CN201922216434.6, most pesticide spraying robots have poor control performance, poor adaptability, high cost, low integration level and complex operation, etc.

[0007] A patent No. CN201922216434.6 discloses a pesticide spraying robot, which has the following problems: first, the accuracy is poor, the spraying assembly of the pesticide spraying robot is arranged on the bottom plate of the vehicle, which has certain limitations on the spraying area and range, and is insufficient to accurately control the pesticide spraying range and dosage, resulting in high cost and low economic benefit; second, the adaptability is not strong, the pesticide spraying robot tank, driving assembly and spraying assembly are arranged on the bottom plate of the vehicle, resulting in large vehicle weight and poor flexibility, which is insufficient to cope with complex weather changes and complex terrain and topography; third, the stability is not strong, the pesticide spraying robot is suitable for flat environment of large area lawn, and may cause slow driving or rollover of the vehicle body on uneven ground, the structure is unstable, and there is certain safety hazard.

[0008] Therefore, a multifunctional adjusting pesticide spraying robot for plants is designed to provide another technical solution for the above technical problems. Content of the utility model

[0009] Therefore, it is necessary to provide a multifunctional adjusting pesticide spraying robot for plants to solve the technical problems in the background art.

[0010] In order to solve the above technical problems, the utility model adopts the following technical scheme:

[0011] A multifunctional adjusting pesticide spraying robot for plants, the robot comprises a spraying part and an adjusting part, the spraying part is used for spraying pesticide, and the adjusting part is used for height or displacement adjustment of the spraying part;

[0012] The spraying part comprises:

[0013] A holder is used for plane support;

[0014] A spraying mechanism is arranged on both sides of one end of the holder and used for spraying pesticide outward;

[0015] A liquid delivery mechanism is used for delivering pesticide into the inside of the spraying mechanism;

[0016] A pesticide storage mechanism is used for mixing pesticide and then delivering the mixed pesticide into the inside of the spraying mechanism through the liquid delivery mechanism;

[0017] The adjusting part comprises:

[0018] A shell is used for support and fixation;

[0019] An adjusting mechanism is arranged on the top of the shell and used for driving the holder to adjust height;

[0020] The moving mechanism is arranged on both sides of the two ends of the shell and is used for driving the robot to move.

[0021] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the spraying mechanism comprises positioning bearings and at least one spraying pipeline, the outer side of the spraying pipeline is connected with the holder through the positioning bearings, and the inside of the bottom end of the spraying pipeline is uniformly provided with spraying holes.

[0022] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the infusion mechanism comprises an infusion pipeline, a gear pump, a liquid inlet pipeline, a first servo motor and a first bevel gear, the bottom end of the gear pump is fixedly connected with the holder, the output end of the gear pump is fixedly connected with the infusion pipeline, the infusion pipeline is fixedly connected with the spraying pipeline, the input end of the gear pump is fixedly connected with the liquid inlet pipeline, the top of the holder is fixedly connected with the first servo motor, the output end of the first servo motor is connected with the first bevel gear, one end of the first bevel gear is connected with the second bevel gear, and the second bevel gear is fixedly connected with the working shaft of the gear pump.

[0023] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the medicine storage mechanism comprises a medicine mixing box, a water tank and a mixing shaft, the inside of the top of the holder, away from the spraying mechanism, is fixedly connected with the medicine mixing box, one end of the medicine mixing box is fixedly connected with the water tank through a pipeline, the medicine mixing box is fixedly connected with the liquid inlet pipeline, the inside of the bottom end of the medicine mixing box is rotatably connected with the mixing shaft, and the top end of the mixing shaft, located at the bottom end in the medicine mixing box, is fixedly connected with a mixing impeller.

[0024] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the inside of the top end of the medicine mixing box is fixedly connected with a detector.

[0025] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the adjusting mechanism comprises a second servo motor, a driving gear, a synchronous gear, a transmission gear, a first adjusting gear, a second adjusting gear and an adjusting rack, the top end of the shell is rotationally connected with a support shaft, the outer side of the support shaft is fixed with the synchronous gear and the transmission gear, the transmission gear is located on one side of the synchronous gear, one end of the top side of the shell is bolted with the second servo motor, the output end of the second servo motor is connected with the driving gear, the driving gear is meshingly connected with the synchronous gear, the top of the transmission gear is meshingly connected with the first adjusting gear, one end of the first adjusting gear is meshingly connected with the second adjusting gear, the first adjusting gear and the second adjusting gear are rotationally connected with the shell, the ends of the first adjusting gear and the second adjusting gear away from each other are both meshingly connected with the adjusting rack, and the adjusting rack is fixed with the holder.

[0026] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the adjusting mechanism comprises a second servo motor, a driving gear, a synchronous gear, a transmission gear, a first adjusting gear, a second adjusting gear and an adjusting rack, the top end of the shell is rotationally connected with a support shaft, the outer side of the support shaft is fixed with the synchronous gear and the transmission gear, the transmission gear is located on one side of the synchronous gear, one end of the top side of the shell is bolted with the second servo motor, the output end of the second servo motor is connected with the driving gear, the driving gear is meshingly connected with the synchronous gear, the top of the transmission gear is meshingly connected with the first adjusting gear, one end of the first adjusting gear is meshingly connected with the second adjusting gear, the first adjusting gear and the second adjusting gear are rotationally connected with the shell, the ends of the first adjusting gear and the second adjusting gear away from each other are both meshingly connected with the adjusting rack, and the adjusting rack is fixed with the holder.

[0027] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the adjusting mechanism comprises a second servo motor, a driving gear, a synchronous gear, a transmission gear, a first adjusting gear, a second adjusting gear and an adjusting rack, the top end of the shell is rotationally connected with a support shaft, the outer side of the support shaft is fixed with the synchronous gear and the transmission gear, the transmission gear is located on one side of the synchronous gear, one end of the top side of the shell is bolted with the second servo motor, the output end of the second servo motor is connected with the driving gear, the driving gear is meshingly connected with the synchronous gear, the top of the transmission gear is meshingly connected with the first adjusting gear, one end of the first adjusting gear is meshingly connected with the second adjusting gear, the first adjusting gear and the second adjusting gear are rotationally connected with the shell, the ends of the first adjusting gear and the second adjusting gear away from each other are both meshingly connected with the adjusting rack, and the adjusting rack is fixed with the holder.

[0028] As a preferred embodiment of the multifunctional adjusting pesticide spraying robot for plants provided by the utility model, the adjusting mechanism comprises a second servo motor, a driving gear, a synchronous gear, a transmission gear, a first adjusting gear, a second adjusting gear and an adjusting rack, the top end of the shell is rotationally connected with a support shaft, the outer side of the support shaft is fixed with the synchronous gear and the transmission gear, the transmission gear is located on one side of the synchronous gear, one end of the top side of the shell is bolted with the second servo motor, the output end of the second servo motor is connected with the driving gear, the driving gear is meshingly connected with the synchronous gear, the top of the transmission gear is meshingly connected with the first adjusting gear, one end of the first adjusting gear is meshingly connected with the second adjusting gear, the first adjusting gear and the second adjusting gear are rotationally connected with the shell, the ends of the first adjusting gear and the second adjusting gear away from each other are both meshingly connected with the adjusting rack, and the adjusting rack is fixed with the holder.

[0029] The guiding mechanism comprises a guiding driving motor, a guiding wheel and a hydraulic shell, one end of the shell is fixed with the hydraulic shell, the top end in the hydraulic shell is fixed with the guiding driving motor, and the output end of the guiding driving motor and the bottom of the hydraulic shell are connected with the guiding wheel.

[0030] It can be seen without doubt that the technical problems to be solved by the present application can be solved by the above technical solutions of the present application.

[0031] Meanwhile, through the above technical solutions, the utility model at least has the following beneficial effects:

[0032] 1. The multifunctional adjusting pesticide spraying robot for plants, which adjusts the length of the spraying mechanism according to the pesticide spraying area, realizes multidirectional accurate control of spraying pesticides, adjusts the height of the holder and the spraying mechanism through the work of the adjusting mechanism according to different height crops, avoids unnecessary pollution and improves economic benefits, optimizes the self-suction characteristics through the gear pump, improves the conveying efficiency, and increases the friction with the ground to prevent slipping through the mobile mechanism to adapt to different terrains and environmental conditions.

[0033] 2. The utility model can accurately control the pesticide spraying range and dosage, adapt to complex and variable terrains and ground environments, has strong practicability, accuracy, economy and adaptability, and effectively improves the work efficiency, application range and economic benefits of the pesticide spraying robot.

[0034] 3. The utility model realizes stable liquid conveying of the gear pump during work through the small-diameter first bevel gear driving the large-diameter second bevel gear, and then conveys the mixed medicine in the medicine mixing box into the inside of the spraying mechanism through the liquid inlet pipeline and the liquid conveying pipeline.

[0035] 4. The utility model drives the transmission gear to drive the adjusting rack through the first adjusting gear and the second adjusting gear, realizes the height adjustment of the holder on the top of the shell through the adjusting rack, and then sprays the spraying mechanism on crops of different heights, and realizes the stability of the holder after being driven by the adjusting rack through the cooperation of the ratchet and the pawl.

[0036] 5. The utility model drives the movement of the transmission wheel through the synchronous belt, drives the movement of the single movement wheel through the auxiliary of the remaining movement wheels, and drives the movement of the track, realizing the movement of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical scheme of the utility model embodiment, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0038] Figure 1 It is the whole structure schematic view of the utility model;

[0039] Figure 2 It is the side view of the utility model;

[0040] Figure 3 It is the structure schematic view of the utility model's holder;

[0041] Figure 4 It is the structure schematic view of the utility model's spraying mechanism;

[0042] Figure 5 It is the structure schematic view of the utility model's infusion mechanism and medicine storage mechanism;

[0043] Figure 6 It is the structure schematic view of the utility model's adjusting mechanism;

[0044] Figure 7 It is the structure schematic view of the utility model's ratchet wheel;

[0045] Figure 8 It is the structure schematic view of the utility model's moving mechanism;

[0046] Figure 9 It is the structure schematic view of the utility model's guiding mechanism.

[0047] In the drawing: 1, holder; 2, spraying mechanism; 3, infusion mechanism; 4, medicine storage mechanism; 5, adjusting mechanism; 6, shell; 7, moving mechanism; 8, guiding mechanism; 9, positioning bearing; 10, first pipeline; 11, second pipeline; 12, third pipeline; 13, fourth pipeline; 14, infusion pipeline; 15, gear pump; 16, liquid inlet pipeline; 17, first servo motor; 18, first bevel gear; 19, second bevel gear; 20, medicine mixing box; 21, detector; 22, water tank; 23, mixing shaft; 24, second servo motor; 25, driving gear; 26, synchronous gear; 27, ratchet wheel; 28, pawl; 29, transmission gear; 30, first adjusting gear; 31, second adjusting gear; 32, adjusting rack; 33, fixed support; 34, transmission wheel; 35, moving wheel; 36, three-phase asynchronous motor; 37, guiding driving motor; 38, guiding wheel; 39, hydraulic shell; 40, support frame; 41, third servo motor. DETAILED DESCRIPTION

[0048] In order to make the utility model's purpose, technical scheme and advantage more clear and obvious, the following combines the drawing and example, and further detailedly explains the utility model.It should be understood that the specific example described here is only used to explain the utility model, and is not used to limit the utility model.

[0049] In order to make the person skilled in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below with reference to the drawings.

[0050] It should be noted that the embodiments in the present application and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0051] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0052] Embodiment one:

[0053] Referring to Figures 1-9 A multifunctional adjusting pesticide spraying robot for plants, the robot comprises a spraying part and an adjusting part, the spraying part is used for spraying pesticide, and the adjusting part is used for adjusting the height or displacement of the spraying part;

[0054] The spraying part comprises:

[0055] A holder 1 is used for plane support;

[0056] Spraying mechanisms 2 are located on both sides of one end of the holder 1 and are used for spraying pesticide outward;

[0057] The spraying mechanism 2 comprises positioning bearings 9 and at least one section of spraying pipelines, the outer side of the spraying pipeline is connected with the holder 1 through the positioning bearing 9, and the inside of the bottom end of the spraying pipeline is uniformly provided with spraying holes, so that the pesticide in the inside of the spraying pipeline can be sprayed out through the spraying holes, when there are multiple sections of spraying pipelines, the adjacent two sections of spraying pipelines are slidingly connected, and then the spraying mechanism 2 can be adjusted according to different spraying widths;

[0058] In the embodiment, the spraying mechanism 2 comprises two positioning bearings 9, two first pipelines 10, two second pipelines 11, two third pipelines 12 and two fourth pipelines 13, the inner ring of each of the two positioning bearings 9 is fixed with the first pipeline 10, and the outer side of each of the two positioning bearings 9 is fixed with the holder 1, so that the first pipeline 10 can be rotatable on the inner side of the holder 1 through the positioning bearing 9, the inside of the distal end of each of the two first pipelines 10 is slidingly connected with the second pipeline 11, the inside of the distal end of each of the two second pipelines 11 is slidingly connected with the third pipeline 12, the inside of the distal end of each of the two third pipelines 12 is slidingly connected with the fourth pipeline 13, and the bottom end of the inside of each of the first pipeline 10, the second pipeline 11, the third pipeline 12 and the fourth pipeline 13 is uniformly provided with spraying holes, so that the pesticide can be sprayed through the first pipeline 10, the second pipeline 11, the third pipeline 12 and the fourth pipeline 13.

[0059] The infusion mechanism 3 is used for delivering the medicine into the inside of the spraying mechanism 2 and spraying through the spraying mechanism 2.

[0060] The infusion mechanism 3 comprises an infusion pipeline 14, a gear pump 15, an inlet pipeline 16, a first servo motor 17 and a first bevel gear 18. The bottom end of the gear pump 15 is bolted with the holder 1. The output end of the gear pump 15 is fixed with the infusion pipeline 14. The infusion pipeline 14 is fixed with the spraying pipeline, so that the medicine can be delivered into the inside of the spraying pipeline through the infusion pipeline 14. The input end of the gear pump 15 is fixed with the inlet pipeline 16, so that the medicine can enter into the inside of the gear pump 15 through the inlet pipeline 16 when the gear pump 15 works. The top of the holder 1 is bolted with the first servo motor 17. The output end of the first servo motor 17 is connected with the first bevel gear 18. One end of the first bevel gear 18 is engaged with the second bevel gear 19. The second bevel gear 19 is fixed with the working shaft of the gear pump 15, so that the work of the first bevel gear 18 drives the gear pump 15 to work through the second bevel gear 19. The diameter of the second bevel gear 19 is greater than that of the first bevel gear 18.

[0061] In the embodiment, the inlet pipeline 16 comprises a bottom pipeline, a corner flange and a quick connector. The three are sequentially and closely connected in a U shape. The inlet pipeline 16 is installed in the inside of the top end of the holder 1 in a built-in mode.

[0062] In the embodiment, the infusion pipeline 14 is fixed with the two first pipelines 10, so that the medicine can enter into the inside of the two first pipelines 10 through the extraction of the gear pump 15.

[0063] In the embodiment, the gear pump 15 is a double gear pump. Specifically, the gear pump 15 is a rotary pump which delivers or pressurizes liquid by the change and movement of the working volume formed between the pump cylinder and the engaged gear. The gear pump 15 comprises two gears, a pump body and front and rear covers to form two closed spaces. When the gears rotate, the volume of the space on the gear disengagement side changes from small to large, forming a vacuum, so that the liquid is sucked in through the inlet pipeline 16. The volume of the space on the gear engagement side changes from large to small, so that the liquid is squeezed into the infusion pipeline 14.

[0064] The medicine storage mechanism 4 is used for delivering the mixed medicine into the inside of the spraying mechanism 2 through the infusion mechanism 3.

[0065] The medicine mixing box 20 is fixed inside the top of the holder 1 away from the spraying mechanism 2, the water tank 22 is fixed to one end of the medicine mixing box 20 through a pipeline, the bottom of the water tank 22 is fixed to the holder 1, so that the medicine mixing box 20 and the water tank 22 are supported by the holder 1, and the liquid in the water tank 22 can flow into the medicine mixing box 20, the medicine mixing box 20 is fixed to the liquid inlet pipeline 16, so that the gear pump 15 can draw the medicine in the medicine mixing box 20 through the liquid inlet pipeline 16, the mixing shaft 23 is rotatably connected to the bottom of the medicine mixing box 20, the mixing impeller is fixed to the top end of the mixing shaft 23 and located in the bottom of the medicine mixing box 20, the driving member for driving the mixing shaft 23 to rotate is fixed in the holder 1, and the driving member can be a piston cylinder or a stepping motor.

[0066] In this embodiment, the water tank 22 is divided into two cavities, a pesticide cavity and a water cavity.

[0067] Preferably, a water pump is arranged on the pipeline to draw the liquid, and then the liquid is mixed in the medicine mixing box 20 according to a certain proportion.

[0068] Preferably, the detector 21 is fixed to the top of the medicine mixing box 20, so that the robot can perceive the changes of the crops outside through the detector 21, and the spraying direction can be changed in time.

[0069] In this embodiment, the detector 21 is composed of a direction sensor and a speed sensor, and whether to go straight or turn is determined according to the output of the direction sensor and the speed sensor.

[0070] In this embodiment, sealing rings are arranged at the connection between the medicine mixing box 20 and the liquid inlet pipeline 16, the connection between the liquid inlet pipeline 16 and the gear pump 15, and the connection between the gear pump 15 and the liquid outlet pipeline 14, to prevent the liquid from flowing out.

[0071] The adjusting part comprises:

[0072] The shell 6 is used for supporting and fixing;

[0073] The adjusting mechanism 5 is located at the top of the shell 6 and is used for driving the holder 1 to adjust the height, so that the holder 1 can be lifted to spray the medicine at different heights through the spraying mechanism 2.

[0074] The adjusting mechanism 5 comprises a second servo motor 24, a driving gear 25, a synchronous gear 26, a transmission gear 29, a first adjusting gear 30, a second adjusting gear 31 and an adjusting rack 32, the top end of the shell 6 is rotatably connected with a supporting shaft, the outer side of the supporting shaft is fixedly connected with the synchronous gear 26 and the transmission gear 29, and the transmission gear 29 is located on one side of the synchronous gear 26, so that the synchronous gear 26 and the transmission gear 29 rotate synchronously, one end of the top side of the shell 6 is fixedly connected with the second servo motor 24, the output end of the second servo motor 24 is connected with the driving gear 25, the driving gear 25 is meshedly connected with the synchronous gear 26, so that the rotation of the driving gear 25 drives the supporting shaft to rotate through the synchronous gear 26, and the supporting shaft drives the transmission gear 29 to rotate synchronously, the top of the transmission gear 29 is meshedly connected with the first adjusting gear 30, one end of the first adjusting gear 30 is meshedly connected with the second adjusting gear 31, and the second adjusting gear 31 is not in contact with the transmission gear 29, the first adjusting gear 30 and the second adjusting gear 31 are rotatably connected with the shell 6, so that the first adjusting gear 30 and the second adjusting gear 31 can not be adjusted in height when rotating, and the ends, away from each other, of the first adjusting gear 30 and the second adjusting gear 31 are meshedly connected with the adjusting racks 32, the adjusting racks 32 are fixed with the holder 1, so that the reverse rotation of the first adjusting gear 30 and the second adjusting gear 31 drives the two adjusting racks 32 to simultaneously ascend and descend, and the adjusting racks 32 drive the holder 1 to be adjusted in height on the top of the shell 6.

[0075] The stop rotating assembly is further included for limiting the reverse rotation of the supporting shaft, and comprises a ratchet wheel 27, a pawl 28, a supporting frame 40 and a third servo motor 41, the outer side of one side of the supporting shaft is fixedly connected with the ratchet wheel 27, the other end of the top side of the shell 6 is fixedly connected with the supporting frame 40, the top end of the supporting frame 40 is fixedly connected with the third servo motor 41, and the output end of the third servo motor 41 is fixedly connected with the pawl 28, for limiting the reverse rotation of the ratchet wheel 27 through the pawl 28.

[0076] The moving mechanism 7 is located on both sides of the two ends of the shell 6, for driving the robot to move, so as to spray the medicine at different positions, and through the adoption of the caterpillar wheel driving, the caterpillar wheel driving has strong grip and can be applied to different environments and adapt to different road surfaces.

[0077] The moving mechanism 7 comprises two fixed supports 33, a transmission wheel 34, a plurality of moving wheels 35 and a three-phase asynchronous motor 36, the two fixed supports 33 are symmetrically arranged, the fixed supports 33 are triangular in shape, the moving wheels 35 are rotatably connected between the two fixed supports 33 and located at the end corners, the outer sides of the plurality of moving wheels 35 are connected through a caterpillar belt, so that the rotation of the plurality of moving wheels 35 and the support enable the caterpillar belt to stably rotate and move, thereby enabling the robot to stably move, the transmission wheel 34 is rotatably connected between the two fixed supports 33, the transmission wheel 34 is connected with one of the moving wheels 35 through a synchronous belt, so that the rotation of the transmission wheel 34 drives the rotation of the one of the moving wheels 35 through the synchronous belt, and the rotation of the one of the moving wheels 35 and the support of the remaining moving wheels 35 enable the caterpillar belt to stably rotate and move, the three-phase asynchronous motor 36 is fixed in the shell 6, and the output end of the three-phase asynchronous motor 36 is connected with the transmission wheel 34, so that the working of the three-phase asynchronous motor 36 drives the transmission wheel 34 to rotate.

[0078] In other embodiments, two moving mechanisms 7 close to one end of the shell 6 at the same end are expanded by a hinge four-bar mechanism and an inverted mechanism of a crank slider mechanism, wherein the advantages of dead points are applied, so that the device moves more stably.

[0079] In other embodiments, the three-phase asynchronous motor 36 can also be a speed reducer.

[0080] One end of the shell 6 is provided with a guiding mechanism 8, which is used for guiding the robot to turn through the guiding mechanism 8.

[0081] The guiding mechanism 8 comprises a guiding drive motor 37, a guiding wheel 38 and a hydraulic shell 39, the hydraulic shell 39 is fixed at one end of the shell 6, the guiding drive motor 37 is fixed at the top end in the hydraulic shell 39, the output end of the guiding drive motor 37 is connected with the guiding wheel 38 located at the bottom of the hydraulic shell 39, so that the working of the guiding drive motor 37 drives the guiding wheel 38 to rotate, thereby realizing the guidance when the robot turns, and the top of the guiding wheel 38 and the inside of the hydraulic shell 39 are fixed with a compression spring, so that the compression spring realizes the buffering and resetting when the guiding wheel 38 protrudes on the road surface.

[0082] In the embodiment, a rechargeable battery can be arranged in the holder 1 or the shell 6, thereby providing power for the electrical appliances in the utility model through the battery.

[0083] The use process of the multifunctional adjusting and spraying robot for plants is as follows: in use, first, water is added into the water tank 22 through the top of the water tank 22, then the medicine is put into the medicine mixing box 20, and the rotation of the mixing shaft 23 driven by the driving member drives the mixing impeller to rotate, so that the rotation of the mixing impeller uniformly mixes the water and the medicine in the medicine mixing box 20.

[0084] When the robot moves, the three-phase asynchronous motor 36 drives the transmission wheel 34 to rotate, and the transmission wheel 34 drives one of the moving wheels 35 to rotate through the synchronous belt, and the remaining moving wheels 35 rotate to drive the track to rotate, thereby enabling the robot to move stably.

[0085] Then, the first bevel gear 18 is driven to rotate by the first servo motor 17, the second bevel gear 19 is driven to rotate by the rotation of the first bevel gear 18, the gear pump 15 is driven to work by the rotation of the second bevel gear 19, the mixed liquid in the medicine mixing box 20 is pumped out through the liquid inlet pipeline 16 by the work of the gear pump 15, and then the mixed liquid is transported into the inside of the spraying mechanism 2 through the infusion pipeline 14, and then the mixed liquid is sprayed through the spraying mechanism 2.

[0086] When the sprayed object is detected to have different planting times and heights, the driving gear 25 is driven to rotate by the second servo motor 24, the synchronous gear 26 is driven to rotate by the rotation of the driving gear 25, the ratchet wheel 27 and the transmission gear 29 are synchronously driven to rotate by the support shaft, the transmission gear 29 is driven to rotate by the first adjusting gear 30, the second adjusting gear 31 is driven to rotate by the first adjusting gear 30, the first adjusting gear 30 and the second adjusting gear 31 are driven to rotate in opposite directions by the first adjusting gear 30 and the second adjusting gear 31, the two adjusting racks 32 are driven to rise and fall at the same time by the rotation of the first adjusting gear 30 and the second adjusting gear 31, the gimbal 1 is driven to rise on the top of the shell 6 by the rising of the adjusting rack 32, thereby adjusting the spraying height of the spraying mechanism 2, and the rotation of the ratchet wheel 27 is limited by the pawl 28 and cannot be reversed, and when the gimbal 1 descends on the top of the shell 6, the ratchet wheel 27 is driven to rotate by the third servo motor 41, so that the ratchet wheel 27 is separated from the pawl 28 and cannot limit the reverse rotation of the pawl 28.

[0087] When the robot needs to turn, the guide wheel 38 is driven to rotate by the guide driving motor 37, and the robot is guided to move and turn by the guide wheel 38.

[0088] Embodiment two

[0089] On the basis of the above embodiment one, the application mode is disclosed:

[0090] 1. Pesticide spraying in farmland: the robot can be used for traditional pesticide spraying tasks in farmland. It can accurately control the spraying range and dosage, adapt to the needs of different crops and plots, and improve the efficiency and uniformity of spraying.

[0091] 2. Orchard pesticide spraying: Orchards usually have fruit trees of different heights and shapes. The flexibility and adjustability of the robot enable it to adapt to the pesticide spraying needs of various fruit trees. It can adjust the height and spraying angle to ensure uniform coverage of pesticides and improve the yield and quality of the orchard.

[0092] Example Three

[0093] Based on the above example one is disclosed.

[0094] In the farmland or orchard, along the pesticide spraying path, the induction cable is laid. For an orchard with apple trees, the induction cable is laid on the ground or underground (about 30 meters deep), and for an orchard with grapevines, the induction cable is erected in the air (about 150-200 meters above ground). Considering the distance between fruit trees, the distance between adjacent cables is at least about 1.5 meters, and the length of the cable is limited by the power of the signal transmitter and the resistance of the cable. During operation, a current generated by the transmitter flows through the cable, generating a magnetic field around the cable. The control device on the robot controls the direction of the robot according to the magnetic field signals detected by the sensor.

[0095] The robot is composed of a power supply module, a pesticide supply module, a calculation and analysis module, a spraying module, a chassis unit, a control system unit, a steering system, and a drive system. The robot does not need manual control during operation and can completely automatically spray pesticides on crops and trees. The robot control system can also determine whether to go straight or turn based on the output of the direction sensor and the speed sensor, and when turning, the robot can automatically stop spraying on the side without plants. If there are plants on both sides when turning, the automatic stop spraying function can also be disabled as needed. During pesticide spraying, the robot can automatically stop spraying and walking when the pesticide in the tank is used up. At the end of the operation path, the induction cable is laid in an acute angle shape, so that the induction sensor cannot detect the signal due to mutual interference of the magnetic field, and all functions will stop. When the automatic function of the robot is disabled, the robot can be moved to the starting point of the operation or the pesticide refilling point using a remote control device or manual operation.

[0096] The pesticide supply module uses an adjustable hydraulic pump to pump the liquids in the water cavity and pesticide cavity and mix them in a certain fixed ratio. The ratio of pesticide liquid can be changed by adjusting the flow rate to adapt to different pesticide ratios.

[0097] The spraying module uses a telescopic cylinder device to adjust the area of pesticide spraying to adapt to different planting densities of crops. The spraying holes at the lower part of the pesticide telescopic cylinder spray onto the crops.

[0098] The steering module is composed of a direction sensor and a speed sensor. Based on the output of the direction sensor and the speed sensor, it determines whether to go straight or turn.

[0099] In other embodiments, a CAN bus-based whole vehicle communication control network can also be designed to realize free switching between the manual remote control mode and the automatic navigation mode.

[0100] The preferred embodiments disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details and do not limit the utility model to the specific embodiments described. Obviously, according to the content of the description, many modifications and changes can be made. The description selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that the persons skilled in the art can well understand and utilize the utility model. The utility model is limited by the claims and the whole scope and equivalents thereof.

Claims

1. A multifunctional adjustable spraying robot for plants, characterized in that, The robot includes a spraying section and an adjustment section. The spraying section is used to spray the medicine, and the adjustment section is used to adjust the height or displacement of the spraying section. The spraying unit includes: A gimbal (1) is used for planar support; The spraying mechanism (2) is located on both sides of one end of the gimbal (1) and is used to spray the medicine to the outside. Infusion mechanism (3) is used to deliver the drug into the interior of spraying mechanism (2); The drug storage mechanism (4) is used to mix the drugs and then extract and deliver them into the spraying mechanism (2) through the infusion mechanism (3); The adjustment unit includes: The housing (6) is used for support and fixation; The adjustment mechanism (5) is located at the top of the housing (6) and is used to drive the gimbal (1) to adjust its height; The moving mechanism (7) is located on both sides of the housing (6) and is used to drive the robot to move.

2. The multifunctional adjustable spraying robot for plants according to claim 1, characterized in that, The spraying mechanism (2) includes a positioning bearing (9) and at least one spraying pipe. The outer side of the spraying pipe is connected to the gimbal (1) through the positioning bearing (9). Spraying holes are evenly distributed inside the bottom end of the spraying pipe. When there are multiple spraying pipes, adjacent spraying pipes are slidably connected.

3. The multifunctional adjustable spraying robot for plants according to claim 1, characterized in that, The infusion mechanism (3) includes an infusion pipe (14), a gear pump (15), an inlet pipe (16), a first servo motor (17), and a first bevel gear (18). The bottom end of the gear pump (15) is bolted to the gimbal (1). The output end of the gear pump (15) is fixed to the infusion pipe (14). The infusion pipe (14) is fixed to the spray pipe. The input end of the gear pump (15) is fixed to the inlet pipe (16). The top of the gimbal (1) is bolted to the first servo motor (17). The output end of the first servo motor (17) is connected to the first bevel gear (18). One end of the first bevel gear (18) is meshed with a second bevel gear (19). The second bevel gear (19) is fixed to the working shaft of the gear pump (15).

4. The multifunctional adjustable spraying robot for plants according to claim 1, characterized in that, The drug storage mechanism (4) includes a drug mixing tank (20), a water tank (22), and a mixing shaft (23). The drug mixing tank (20) is fixed inside the top of the gimbal (1) away from the spraying mechanism (2). The water tank (22) is fixed to one end of the drug mixing tank (20) through a pipe. The drug mixing tank (20) is fixed to the liquid inlet pipe (16). The mixing shaft (23) is rotatably connected inside the bottom of the drug mixing tank (20). A mixing impeller is fixed at the top of the mixing shaft (23) and at the bottom inside the drug mixing tank (20).

5. A multifunctional adjustable spraying robot for plants according to claim 4, characterized in that, A detector (21) is fixed inside the top of the drug mixing box (20).

6. The multifunctional adjustable spraying robot for plants according to claim 1, characterized in that, The adjustment mechanism (5) includes a second servo motor (24), a drive gear (25), a synchronous gear (26), a transmission gear (29), a first adjustment gear (30), a second adjustment gear (31), and an adjustment rack (32). A support shaft is rotatably connected to the top of the housing (6). The synchronous gear (26) and the transmission gear (29) are fixed to the outside of the support shaft, and the transmission gear (29) is located on one side of the synchronous gear (26). The second servo motor (24) is bolted to one end of the top side of the housing (6). The output of the second servo motor (24) is... A drive gear (25) is connected to the end of the transmission gear (29), which meshes with a synchronous gear (26). A first adjusting gear (30) is meshed with the top of the transmission gear (29). A second adjusting gear (31) is meshed with one end of the first adjusting gear (30). Both the first adjusting gear (30) and the second adjusting gear (31) are rotatably connected to the housing (6). An adjusting rack (32) is meshed with the ends of the first adjusting gear (30) and the second adjusting gear (31) that are far apart from each other. The adjusting rack (32) is fixed to the gimbal (1).

7. A multifunctional adjustable spraying robot for plants according to claim 6, characterized in that, It also includes an anti-rotation component for limiting the reverse rotation of the support shaft. The anti-rotation component includes a ratchet (27), a pawl (28), a support frame (40), and a third servo motor (41). The ratchet (27) is fixed to the outer side of one side of the support shaft, and the support frame (40) is bolted to the other end of the top side of the housing (6). The third servo motor (41) is fixed to the top of the support frame (40), and the output end of the third servo motor (41) is fixed with a pawl (28) for limiting the reverse rotation of the ratchet (27) through the pawl (28).

8. A multifunctional adjustable spraying robot for plants according to claim 1, characterized in that, The moving mechanism (7) includes two fixed supports (33), a transmission wheel (34), multiple moving wheels (35), and a three-phase asynchronous motor (36). The two fixed supports (33) are symmetrically arranged, and moving wheels (35) are rotatably connected between the two fixed supports (33) and at their end corners. The outer sides of the multiple moving wheels (35) are connected by tracks. The transmission wheel (34) is rotatably connected between the two fixed supports (33) and one of the moving wheels (35) is connected by a synchronous belt. The three-phase asynchronous motor (36) is fixed inside the housing (6), and the output end of the three-phase asynchronous motor (36) is connected to the transmission wheel (34).

9. A multifunctional adjustable spraying robot for plants according to claim 1, characterized in that, A guide mechanism (8) is installed at one end of the housing (6) to guide the robot to make turns. The guiding mechanism (8) includes a guiding drive motor (37), a guide wheel (38), and a hydraulic housing (39). One end of the housing (6) is fixed with the hydraulic housing (39). The top of the hydraulic housing (39) is fixed with the guiding drive motor (37). The output end of the guiding drive motor (37) and the bottom of the hydraulic housing (39) are connected with the guide wheel (38).

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