Intelligent pesticide applying robot for fruit trees

Abstract

The utility model relates to an intelligent pesticide applying robot for fruit trees, and belongs to the technical field of pesticide applying robots, the intelligent pesticide applying robot comprises a walking mechanism, a mechanical arm and a pesticide supply system are arranged on the walking mechanism, a spraying system is arranged on the mechanical arm, the pesticide supply system is used for providing pesticide liquid for the spraying system, and the spraying system is used for atomizing and spraying the pesticide liquid provided by the pesticide supply system; the mechanical arm is used for driving the spraying system to move in the vertical direction and the horizontal direction. The mechanical arm achieves vertical and horizontal movement through the vertical moving module and the horizontal electric push rod, the spraying angle is adjusted in cooperation with the rotating motor, and fruit trees with different heights and canopy forms are covered.

Description

TECHNICAL FIELD

[0001] The utility model relates to a medicine applying robot technical field, especially in kind intelligent medicine applying robot. BACKGROUND

[0002] With the development of orchard scale, modernization, the planting density and area of fruit trees increase significantly, and the drawbacks of traditional manual pesticide application are increasingly prominent. On the one hand, the efficiency of manual pesticide application is very low, and a large amount of manpower and time cost is needed to face large area orchard, and manual operation is easily disturbed by weather, worker fatigue and other factors, and it is difficult to ensure the continuity and stability of pesticide application work. On the other hand, it is difficult to achieve uniform and accurate spraying by manual pesticide application, which not only causes waste of pesticide, but also may affect the effect of pest control of fruit trees due to local overuse or insufficient pesticide application, and even cause unnecessary pollution to the environment. Therefore, it is urgent to introduce automatic and intelligent pesticide application equipment to improve the quality and efficiency of orchard pesticide application. SUMMARY

[0003] In view of the problems in the prior art, the utility model provides a kind of fruit tree intelligent medicine applying robot.

[0004] The utility model discloses a kind of fruit tree intelligent medicine applying robots, including walking mechanism, walking mechanism is equipped with mechanical arm and medicine supply system, mechanical arm is equipped with spray system, medicine supply system is used to provide liquid medicine to spray system, spray system is used to atomize and spray the liquid medicine provided by medicine supply system, mechanical arm is used to drive spray system to move along vertical and horizontal direction.

[0005] Further, the walking mechanism includes a main bottom plate and a moving assembly disposed at the lower end of the main bottom plate. The moving assembly includes a track and a track motor. The track motor is installed on the inner side of the track. The track motor sequentially transmits power to the track through a speed reducer and a chain transmission.

[0006] Further, the mechanical arm includes a horizontal support seat and two vertically moving modules oppositely disposed on the horizontal support seat. The vertically moving modules are equipped with a fixed arm. The fixed arm is spaced apart from each other in the vertical direction and is equipped with a plurality of sliding sleeves. The sliding sleeves are equipped with a horizontal moving mechanism. The horizontal moving mechanism includes an electric push rod and a telescopic arm disposed at the end of the electric push rod. The telescopic arm is in sliding cooperation with the sliding sleeve. The spray system is disposed at the end of the telescopic arm.

[0007] Further, the spray system includes a trapezoidal wind shield. The trapezoidal wind shield is equipped with an atomizing nozzle. The atomizing nozzle is connected to the spray system through a liquid inlet hose.

[0008] Further, the end of the telescopic arm is equipped with a rotary motor. The output shaft end of the rotary motor is equipped with a connecting rod. The trapezoidal wind shield is fixedly connected with the connecting rod.

[0009] Further, the medicine supply system comprises a medicine box, an electric medicine pump and a flow divider placed on the main base plate, and a shell is further arranged on the main base plate, the medicine box, the electric medicine pump and the flow divider are arranged in the shell, openings for heat dissipation are arranged on both sides of the shell, a taking and placing door for taking and placing the medicine box is arranged at the rear end of the shell, a liquid outlet of the medicine box is communicated with a liquid inlet of the electric medicine pump through a pipeline, a liquid outlet of the electric medicine pump is connected with a liquid inlet of the flow divider, and a liquid outlet of the flow divider is communicated with the liquid inlet hose through a liquid supply pipeline, wherein the liquid outlet of the flow divider is a plurality of liquid outlets.

[0010] Further, an electromagnetic valve is further arranged in the shell on the main base plate, the electromagnetic valve is arranged on the liquid supply pipeline, and an intelligent turbine flowmeter is arranged at a liquid outlet of the electromagnetic valve.

[0011] Further, an inlet for medicine is arranged on the trapezoidal wind cover, the inlet for medicine is communicated with the liquid inlet hose, an air inlet channel is arranged in the trapezoidal wind cover, a liquid supply hose is arranged in the air inlet channel, the liquid supply hose is communicated with the inlet for medicine, an air outlet communicated with the air inlet channel is further arranged in the trapezoidal wind cover, the atomizing nozzle is arranged at the air outlet, an air inlet is arranged on the trapezoidal wind cover and communicated with the air inlet channel, and an air supply system for supplying air to the air inlet is further arranged on the main base plate.

[0012] Further, the air supply system comprises a fan frame and a centrifugal fan arranged on the fan frame, a fan cover is arranged at an air outlet end of the centrifugal fan, a plurality of air outlet pipes are arranged on the fan cover, and the air outlet pipes are communicated with the air inlet through air outlet hoses.

[0013] The beneficial effects of the present application are as follows: 1. Multi-directional precise pesticide application: the mechanical arm realizes vertical and horizontal movement through the vertical movement module and the horizontal electric push rod, adjusts the spray angle in cooperation with the rotating motor, and covers fruit trees of different heights and crown layer forms.

[0014] 2. Air-borne atomization structure: the high-speed airflow in the trapezoidal wind cover pushes the atomized pesticide liquid to the deep leaves of the fruit trees in a directional manner, improves the adhesion rate and penetration effect of the pesticide liquid.

[0015] 3. Intelligent pesticide supply control: the electromagnetic valve and the intelligent turbine flowmeter monitor the liquid flow in real time, and realize independent control of multiple nozzles in cooperation with the flow divider, thereby reducing pesticide waste. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic view of the present application;

[0017] Figure 2 It is a top view schematic view of the present application after the shell is removed;

[0018] Figure 3 It is a structural schematic view of the walking mechanism of the present application;

[0019] Figure 4The utility model discloses a mechanical arm's structure schematic drawing.

[0020] Figure 5 The utility model discloses a trapezoidal wind cover's structure schematic drawing.

[0021] Mark in drawing: 1, fixed arm, 2, telescopic arm, 3, laser radar sensor, 4, shell, 5, trapezoidal wind cover, 6, fan cover, 7, centrifugal fan, 8, fan frame, 9, track, 10, main base plate, 11, medicine box, 12, electric medicine pump, 13, pressure sensor, 14, electromagnetic valve, 15, intelligent turbine flowmeter, 16, liquid medicine outlet, 17, industrial computer, 18, singlechip, 19, shunt, 20, power supply, 21, track motor, 22, rotary motor, 23, vertical movement module, 24, slide rail motor, 25, electric push rod, 26, horizontal support seat, 27, medicine inlet, 28, atomizing nozzle, 29, air inlet, 30, air outlet. DETAILED DESCRIPTION

[0022] In order to make the utility model's purpose, technical scheme and advantage more clearly, following combining with the drawing and example, the utility model carries out further detailed description.It should be understood, in the description of the utility model, unless otherwise specified, the meaning of "multiple" is two or more than two;The orientation or position relation that the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" indicate is based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the indicated device or element must have a particular orientation, a particular orientation structure and operation, therefore can not be understood as the limitation to the utility model.In addition, the terms "first", "second", "third" are only for the purpose of description, and can not be understood as indicating or implying relative importance.

[0023] Please refer to Figures 1-5 The utility model embodiment provides a kind of intelligent fruit tree machine of dispensing, including walking mechanism, walking mechanism is equipped with mechanical arm and medicine supply system, mechanical arm is equipped with spraying system, medicine supply system is used to provide liquid medicine to spraying system, spraying system is used to atomize and spray out the liquid medicine provided by medicine supply system, mechanical arm is used to drive spraying system to move along vertical and horizontal direction.

[0024] Wherein, walking mechanism includes main base plate 10 and the mobile assembly of setting in main base plate 10 lower end, mobile assembly includes track 9 and track motor 21, track motor 21 is installed in the inner side of track 9, track motor 21 is sequentially passed through reducer and chain drive and is powered to track 9.

[0025] Specifically, the mechanical arm comprises a horizontal support base 26 and two vertical moving modules 23 oppositely arranged on the horizontal support base 26, and a fixed arm 1 is arranged on the vertical moving module 23 and used for driving the fixed arm 1 to move up and down. The fixed arm 1 is arranged in a plurality of sliding sleeves in a vertical direction, the sliding sleeve is in a rectangular longitudinal section, one side of the sliding sleeve is provided with a mounting gap, and the number of the sliding sleeves is three. A horizontal moving mechanism is arranged in the sliding sleeve, the horizontal moving mechanism comprises an electric push rod 25 and a telescopic arm 2 arranged at the push rod end of the electric push rod 25, the telescopic arm 2 is in sliding fit with the sliding sleeve, and a spraying system is arranged at the end of the telescopic arm 2. The electric push rod 25 can also be a servo electric cylinder. The vertical moving module 23 comprises a slide rail extending in a horizontal direction, and a slide table driven by a slide rail motor 24 is arranged on the slide rail. The fixed arm 1 is vertically arranged on the slide table. In addition, a commonly used ball screw module can also be used, and the ball screw module is prior art, which will not be described in detail herein.

[0026] Further, the spraying system comprises a trapezoidal wind cover 5, and an atomizing nozzle 28 is arranged on the trapezoidal wind cover 5 and connected with the spraying system through a liquid inlet hose.

[0027] In addition, the end of the telescopic arm 2 is provided with a rotating motor 22, the output shaft end of the rotating motor 22 is provided with a connecting rod, and the trapezoidal wind cover 5 is fixedly connected with the connecting rod. The trapezoidal wind cover 5 and the connecting rod are integrally formed, the angle between the trapezoidal wind cover 5 and the horizontal plane can be adjusted through the rotating motor 22, so that the inclination angle of the trapezoidal wind cover 5 is adjusted. The output shaft axis of the rotating motor 22 is arranged perpendicularly to the axis of the electric push rod 25.

[0028] In addition, the medicine supply system comprises a medicine box 11, an electric medicine pump 12 and a flow divider 19 arranged on the main base plate 10, and a shell 4 is further arranged on the main base plate 10, the medicine box 11, the electric medicine pump 12 and the flow divider 19 are arranged in the shell 4, the shell 4 is provided with openings on both sides for heat dissipation, the rear end of the shell 4 is provided with a taking and placing door for taking and placing the medicine box, the liquid outlet 16 of the medicine box 11 is communicated with the liquid inlet of the electric medicine pump 12 through a pipeline, the liquid outlet of the electric medicine pump 12 is connected with the liquid inlet of the flow divider 19, and the liquid outlets of the flow divider 19 are communicated with the liquid inlet hose through a liquid supply pipeline, wherein the liquid outlets of the flow divider 19 are a plurality of liquid outlets. The number of the liquid outlets of the flow divider 19 is the same as the number of the trapezoidal wind covers 5. It should be noted that the parts not described in detail in the application are prior art.

[0029] The main base plate 10 is further provided with an electromagnetic valve 14 arranged in the shell 4, the electromagnetic valve 14 is arranged on the liquid supply pipeline, and the liquid outlet of the electromagnetic valve 14 is provided with an intelligent turbine flowmeter 15.

[0030] Of course, the utility model is not limited to the above-mentioned implementation mode, and several other implementation modes based on the design concept of the utility model are provided below.

[0031] For example, in other embodiments, unlike the above-described embodiments, the trapezoidal wind cover 5 is provided with a medicine inlet 27, which is in communication with a liquid supply hose, and an air inlet channel is arranged in the trapezoidal wind cover 5, and a liquid supply hose is arranged in the air inlet channel, and the liquid supply hose is in communication with the medicine inlet 27, and an air outlet 30 in communication with the air inlet channel is further arranged on the trapezoidal wind cover 5, and the atomizing nozzle 28 is arranged at the air outlet 30, and an air inlet 29 in communication with the air inlet channel is arranged on the trapezoidal wind cover 5, and an air supply system for supplying air to the air inlet 29 is further arranged on the main base plate 10.

[0032] The air supply system comprises a fan frame 8 and a centrifugal fan 7 arranged on the fan frame 8, and a fan cover 6 is arranged at the air outlet end of the centrifugal fan 7, and a plurality of air outlet pipes are arranged on the fan cover 6, and the air outlet pipes are in communication with the air inlet 29 through an air outlet hose. The air outlet hose is a rubber tube.

[0033] The shell 4 is provided with an industrial computer, a single-chip microcomputer and a power supply 20, and the industrial computer 17 and the single-chip microcomputer are electrically connected with the power supply 20, and the industrial computer 17, the single-chip microcomputer 18 and the power supply 20 are all arranged on the upper end of the main base plate 10, and the power supply 20 is used for supplying power to the whole robot. The power supply 20 is electrically connected with the mechanical arm and the medicine supply system. The single-chip microcomputer 18 is electrically connected with the walking mechanism, the mechanical arm and the medicine supply system. The laser radar sensor 3 is mounted on the upper surface of the shell 4. The laser radar sensor 3 is used for detecting the target information of the fruit trees and transmitting the collected target information to the industrial computer 17 for processing. The pressure sensor 13 is mounted on the left end surface of the flow divider.

[0034] The single-chip microcomputer 18 is electrically connected with the track motor 21, the electric medicine pump 12, the electromagnetic valve, the intelligent turbine flowmeter 15, the rotary motor 22, the centrifugal fan 7 and the electric push rod 25.

[0035] The industrial computer 17 is located in the shell 4 and is used for receiving and analyzing, integrating and processing the data collected by the laser radar sensor 3, the pressure sensor 13 and the intelligent turbine flowmeter 15, and the industrial computer 17 transmits the processed information to the single-chip microcomputer 18 to control the operation of the robot.

[0036] Firstly, the power supply 20 supplies power to the whole machine. The liquid medicine is added to the medicine tank 11 and stirred uniformly, and the electric medicine pump 12 is controlled by the single-chip microcomputer 18 to extract the liquid medicine and pressurize it to the flow divider 19 to supply liquid to the spraying system.

[0037] The single-chip microcomputer 18 controls the rotating speed of the centrifugal fan 7 to adjust the air supply amount, and the airflow passes through the air outlet pipes of the fan cover 6, the air outlet hose and the air outlet 30 of the trapezoidal wind cover 5, so that the mist droplets quickly and uniformly cover the fruit tree canopy, thereby improving the utilization rate of the pesticide.

[0038] At the same time, the walking mechanism is driven by the track motor 21 under the control of the single-chip microcomputer 18, so that the robot stably walks to the working position in the orchard.

[0039] Subsequently, the laser radar sensor 3 collects the crown profile characteristics of the fruit trees, and after being processed by the industrial computer 17, the information is transmitted to the single-chip microcomputer 18. The single-chip microcomputer 18 controls the vertical movement module 23, the electric push rod 25 and the rotating motor 22, adjusts the position of the fixed arm 1, the position of the telescopic arm 2 and the inclination angle of the trapezoidal wind cover 5, realizes the equidistance profiling with the crown of the fruit trees, ensures that the spraying system is equidistant and angularly fitted with the crown, and improves the spraying uniformity.

[0040] The flow divider 19 sends the liquid medicine to the electromagnetic valve 14, the intelligent turbine flowmeter 15 measures the liquid medicine flow in real time and feeds back to the industrial computer 17, and the single-chip microcomputer 18 accurately opens and closes the electromagnetic valve 14 according to the optimized spraying amount signal of the industrial computer 17, changes the liquid medicine delivery amount, realizes the dynamic change of the spraying flow of the atomizing nozzle 28, and the atomizing nozzle 28 sprays the liquid medicine with accurately adjusted flow.

[0041] It should be noted that the above embodiments are only used to illustrate the present application, but the present application is not limited to the above embodiments, and any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application all fall within the protection scope of the present application.

Claims

1. A smart spraying robot for fruit trees, characterized in that, It includes a walking mechanism, on which a robotic arm and a drug supply system are mounted. The robotic arm is equipped with a spraying system. The drug supply system is used to supply liquid medicine to the spraying system. The spraying system is used to atomize and spray out the liquid medicine supplied by the drug supply system. The robotic arm is used to drive the spraying system to move in the vertical and horizontal directions. The robotic arm includes a horizontal support base (26) and two vertical moving modules (23) arranged opposite to each other on the horizontal support base (26). The vertical moving module (23) is provided with a fixed arm (1). The fixed arm (1) is provided with multiple sliding sleeves at intervals along the vertical direction. The sliding sleeves are provided with a horizontal moving mechanism. The horizontal moving mechanism includes an electric push rod (25) and a telescopic arm (2) provided at the end of the push rod of the electric push rod (25). The telescopic arm (2) slides with the sliding sleeve. The spraying system is provided at the end of the telescopic arm (2). The spray system includes a trapezoidal hood (5), on which an atomizing nozzle (28) is provided. The atomizing nozzle (28) is connected to the spray system through a liquid inlet hose. The end of the telescopic arm (2) is provided with a rotary motor (22). The end of the output shaft of the rotary motor (22) is provided with a connecting rod. The trapezoidal hood (5) is fixedly connected to the connecting rod. The drug supply system includes a medicine box (11), an electric medicine pump (12), and a distributor (19) placed on a main base plate (10). A housing (4) is also provided on the main base plate (10). The medicine box (11), the electric medicine pump (12), and the distributor (19) are located inside the housing (4). Openings for heat dissipation are provided on both sides of the housing (4). A door for taking out and putting in the medicine box is provided at the rear end of the housing (4). The liquid outlet (16) of the medicine box (11) is connected to the liquid inlet of the electric medicine pump (12) through a pipeline. The liquid outlet of the electric medicine pump (12) is connected to the liquid inlet of the distributor (19). The liquid outlet of the distributor (19) is connected to the liquid inlet hose through a liquid supply pipeline. The distributor (19) has multiple liquid outlets.

2. The intelligent spraying robot for fruit trees according to claim 1, characterized in that: The walking mechanism includes a main base plate (10) and a moving component located at the lower end of the main base plate (10). The moving component includes a track (9) and a track motor (21). The track motor (21) is installed inside the track (9). The track motor (21) transmits power to the track (9) in sequence through a reducer and a chain drive.

3. The intelligent spraying robot for fruit trees according to claim 2, characterized in that: The main base plate (10) is also provided with a solenoid valve (14) located inside the housing (4). The solenoid valve (14) is installed on the liquid supply pipeline, and an intelligent turbine flow meter (15) is installed at the liquid outlet of the solenoid valve (14).

4. The intelligent spraying robot for fruit trees according to claim 3, characterized in that: The trapezoidal hood (5) is provided with a drug inlet (27), which is connected to the liquid inlet hose. The trapezoidal hood (5) is provided with an air inlet channel, which is provided with a liquid supply hose. The liquid supply hose is connected to the drug inlet (27). The trapezoidal hood (5) is also provided with an air outlet (30) connected to the air inlet channel. The atomizing nozzle (28) is located at the air outlet (30). The trapezoidal hood (5) is provided with an air inlet (29) connected to the air inlet channel. The main base plate (10) is also provided with an air supply system for supplying air to the air inlet (29).

5. The intelligent spraying robot for fruit trees according to claim 4, characterized in that: The air supply system includes a fan frame (8) and a centrifugal fan (7) mounted on the fan frame (8). The centrifugal fan (7) has a fan cover (6) at its air outlet end. The fan cover (6) has multiple air outlet pipes, which are connected to the air inlet (29) through air outlet hoses.

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