A tree spraying robot

Abstract

This utility model relates to the field of spraying robot technology, and in particular to a tree spraying robot. This robot is used to hug trees and spray them with pesticides. It consists of multi-stage spraying robotic arms with detachable or quickly assembled joints. The robotic arms can automatically open and move their joints. It has a robotic gripper for spraying pesticides and a high-pressure spray head attached to the gripper. Gears drive the joints and motors control the gears. Servo motors on each robotic arm drive the movement of the joints by receiving control commands. The wheels are driven by electric power to rotate and move the robot. It has shock-absorbing springs for vibration reduction. The pesticide tank stores pesticide. A motor on the left side drives a water pump to draw pesticide from the tank and supply it to the high-pressure spray head on the robotic arm for spraying. This invention solves the problem that the robotic arms cannot be adaptively adjusted according to the shape of the tree for hugging operations, which prevents all-round spraying of trees.

Description

Technical Field

[0001] This utility model relates to the field of spraying robot technology, and in particular to a tree spraying robot. Background Technology

[0002] Spraying chemical agents is the most important means of pest and disease control, and plays a vital role in ensuring the survival rate of trees. Traditional manual spraying techniques are inefficient and prone to environmental pollution and excessive waste of agents. With the development of intelligent technology, robots are widely used in plant protection operations to reduce manual labor input, improve work efficiency, and reduce environmental pollution from pesticides, thereby achieving efficient and precise pest and disease control.

[0003] Chinese Patent Publication No. CN220654556U discloses a spraying robotic arm and robot for controlling pests and diseases in roses. The spraying robotic arm includes a base, a main arm mounted on the base, a slider slidably connected to the main arm, a second servo motor connected to the slider, and the output shaft of the second servo motor fixedly connected to the slider. The second servo motor is fixedly mounted on a first support arm, the other end of the first support arm is connected to the output shaft of a third servo motor, the third servo motor is mounted on the second support arm, and a fourth servo motor is fixedly mounted on the other end of the second support arm. A bracket is fixedly connected to the output shaft of the fourth servo motor, and several nozzles are mounted on the bracket. When the first and second support arms are unfolded, they form a V-shape, and the nozzles are tilted upwards, allowing for precise spraying of pesticide onto the back of the leaves. It is evident that the existing technology has the following problems: it cannot adaptively adjust the robotic arm according to the tree shape to perform circumferential spraying, resulting in the inability to achieve all-around spraying of the tree. Utility Model Content

[0004] To address this issue, this invention provides a tree spraying robot to overcome the problem in existing technologies where the robotic arm cannot be adaptively adjusted according to the tree shape for circling operations, thus preventing the achievement of all-around spraying of trees.

[0005] To achieve the above objectives, this utility model provides a tree spraying robot, comprising:

[0006] Base

[0007] A robotic arm assembly includes a first robotic arm disposed on the upper part of the base and rotatably connected to the base, a second robotic arm hinged to the first robotic arm, and a first drive unit disposed on the side wall of the first robotic arm for driving the second robotic arm to swing relative to the hinged position of the first and second robotic arms.

[0008] The extension assembly includes a support portion disposed at the end of the second robotic arm away from the first robotic arm, a telescopic portion disposed on the support portion, and a joint mounting portion disposed on the telescopic portion away from one end of the support portion.

[0009] A mechanical joint assembly includes a plurality of mechanical joints that are mounted at one end on the joint mounting portion and are sequentially connected, wherein the plurality of mechanical joints extend relative to the distal end of the joint mounting portion.

[0010] The spraying assembly includes a plurality of high-pressure spray heads disposed on the mechanical joints and a delivery tube disposed on the inner wall of the plurality of mechanical joints and connected to the high-pressure spray heads.

[0011] Furthermore, it also includes a drive assembly comprising a support beam, a plurality of multi-link brackets symmetrically arranged on the side of the support beam and hinged to the support beam, a wheel disposed at the end of a single multi-link bracket away from the support beam and hinged to the single multi-link bracket, and a shock absorber disposed between the wheel and the support beam.

[0012] Furthermore, it also includes a power supply mechanism, which includes a generator disposed on one end face of the support beam plate and a storage battery disposed on one side of the generator.

[0013] Furthermore, it also includes a medicine box disposed between the drive assembly and the robotic arm assembly, the medicine box being connected to a medicine delivery pipe via a medicine delivery pump disposed within the medicine box.

[0014] Furthermore, the support portion is hinged to the second robotic arm.

[0015] Furthermore, the telescopic part includes a lead screw and nut pair and a telescopic rod. The bearing part has a mounting groove for mounting the telescopic part. The lead screw and nut pair is fixedly installed in the mounting groove, and the telescopic rod reciprocates relative to the lead screw and nut pair along the mounting groove.

[0016] Furthermore, the lead screw and nut assembly is driven by a first motor mounted on the side wall of the mounting groove to reciprocate along the mounting groove.

[0017] Furthermore, several mechanical joints are arranged sequentially and symmetrically on both sides of the joint mounting portion, and the mechanical joints are hinged to each other and one end is hinged to the joint mounting portion.

[0018] Furthermore, each of the multi-link brackets comprises at least one main link and at least one secondary link.

[0019] Furthermore, the joint mounting part includes a slotted mounter, a servo motor disposed at the rear end of the slotted mounter, and gears symmetrically disposed inside the slotted mounter and driven by the motor shaft of the servo motor passing through the slotted mounter to drive the movement of the mechanical joint.

[0020] Compared with existing technologies, the beneficial effects of this utility model are as follows: This utility model tree spraying robot is a robot used to hug trees and spray them with pesticides. It consists of multi-stage spraying robotic arms with detachable or quickly assembled joints. It can autonomously open and move each joint of the robotic arm, including a robotic gripper for spraying pesticides and a high-pressure spray head attached to the gripper. Gears drive the movement of each joint, and motors control the gears. Servo motors on each robotic arm receive control commands to move the joints. Electricity drives the motors to rotate the wheels, which are equipped with shock-absorbing springs for vibration reduction. Diesel fuel is used to start the engine and generate electricity, which is stored in a battery. This battery powers the wheel motors and the servo motors of each joint. A pesticide tank stores pesticide, and a motor on the left side drives a water pump to draw pesticide from the tank and supply it to the high-pressure spray head on the robotic arm for spraying. This utility model makes tree spraying more convenient and safer, and features high efficiency, long lifespan, low cost, labor saving, and avoids environmental pollution caused by excessive pesticide spraying during manual operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the mechanism of a tree spraying robot according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the mechanism of a tree spraying robot according to another embodiment of the present invention;

[0023] In the diagram, 10-base, 11-first robotic arm, 111-second drive motor, 12-second robotic arm, 121-fourth drive motor, 13-bearing part, 14-telescopic part, 141-screw and nut pair, 142-telescopic rod, 15-joint mounting part, 151-slotted mount, 152-first servo motor, 153-gear, 154-second servo motor, 16-first drive part, 161-first connecting rod, 162-second connecting rod, 163-third drive motor, 17-mechanical joint, 18-high-pressure spray head, 20-drive assembly, 21-support beam plate, 22-multi-link bracket, 23-wheel, 24-shock absorber, 30-medicine tank, 31-medicine pump, 40-power supply mechanism, 41-generator, 42-battery. Detailed Implementation

[0024] To make the objectives and advantages of this utility model clearer, the utility model will be further described below with reference to the embodiments; it should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0025] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0026] It should be noted that in the description of this utility model, the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0027] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] Please see Figure 1 The diagram shown is a schematic representation of the tree spraying robot according to an embodiment of the present invention.

[0029] This utility model embodiment of the tree spraying robot includes:

[0030] Base 10,

[0031] The robotic arm assembly includes a first robotic arm 11 disposed on the upper part of the base 10 and rotatably connected to the base 10, a second robotic arm 12 hinged to the first robotic arm 11, and a first drive unit 16 disposed on the side wall of the first robotic arm 11 for driving the second robotic arm 12 to swing relative to the hinged position of the first robotic arm 11 and the second robotic arm 12.

[0032] In this embodiment, a first drive motor (not shown in the figure) is installed inside the first robotic arm 11 to drive the rotation of the first robotic arm 11 on the base 10; a second drive motor 111 is installed at the hinge of the first robotic arm 11 and the second robotic arm 12 to drive the rotation of the second robotic arm 12; the first drive unit 16 is hinged between a first connecting rod 161 installed on the first robotic arm 11 and a second connecting rod 162 installed on the second robotic arm 12, and a third drive motor 163 is provided at the connection between the first connecting rod 161 and the first robotic arm 11 to assist in driving the rotation of the second robotic arm 12.

[0033] The extension assembly includes a support portion 13 disposed at the end of the second robotic arm 12 away from the first robotic arm 11, a telescopic portion 14 disposed on the support portion, and a joint mounting portion 15 disposed on the telescopic portion 14 away from the end of the support portion 13.

[0034] In this embodiment, the supporting part 13 is hinged to the second robotic arm 12. The telescopic part 14 includes a lead screw and nut pair 141 and a telescopic rod 142. The supporting part has a mounting groove for mounting the telescopic part. The lead screw and nut pair is fixedly installed in the mounting groove. The telescopic rod reciprocates relative to the lead screw and nut pair along the mounting groove. The lead screw and nut pair is driven by a first motor disposed on the side wall of the mounting groove to reciprocate along the mounting groove. A fourth drive motor 121 is disposed at the hinge point between the second robotic arm 12 and the supporting part 13 to drive the extension assembly to rotate.

[0035] A mechanical joint assembly includes a plurality of mechanical joints 17, one end of which is mounted on the joint mounting portion and sequentially connected, the plurality of mechanical joints 17 extending relative to the distal end of the joint mounting portion 15.

[0036] In this embodiment, a plurality of mechanical joints are sequentially and symmetrically arranged on both sides of the joint mounting portion, and the plurality of mechanical joints are hinged to each other, with one end hinged to the joint mounting portion. The joint mounting portion 15 includes a slotted mount 151, with a first servo motor 152 disposed at the rear end of the slotted mount 151, and gears 153 symmetrically arranged inside the slotted mount 151 and driven by a motor shaft passing through the first servo motor 152 to drive the mechanical joint movement. A second servo motor 154 is installed at the connection between the slotted mount and the telescopic rod to drive the mechanical joint assembly to rotate.

[0037] The spraying assembly includes a plurality of high-pressure spray heads 18 disposed on the mechanical joints and a delivery tube (not shown in the figure) disposed on the inner wall of the plurality of mechanical joints and connected to the high-pressure spray heads.

[0038] In this embodiment, the delivery tube is connected to each nozzle and connected to the medicine tank via the first and second robotic arms. It can be understood that the delivery tube can be snapped onto the outer wall of the first and second robotic arms by a buckle, or it can be inserted inside the robotic arms. The specific details are not limited.

[0039] During implementation, the number of mechanical joints can be freely assembled according to the size of the tree to form a robotic gripper that can embrace the tree to be sprayed, ensuring that the tree is sprayed from all sides. The mechanical joint components are controlled in coordination with the first robotic arm, the second robotic arm and the extension components to drive the mechanical joint components to move up and down or move in the shape of the tree to be sprayed, so as to accurately apply pesticide to the tree.

[0040] Please see Figure 2 The diagram shown is a schematic representation of the tree spraying robot according to another embodiment of the present invention.

[0041] The tree spraying robot of this utility model embodiment also includes:

[0042] The drive assembly 20 includes a support beam 21, a plurality of multi-link brackets 22 symmetrically arranged on the side of the support beam 21 and hinged to the support beam 21, a wheel 23 arranged at the end of a single multi-link bracket 22 away from the support beam 21 and hinged to the single multi-link bracket 22, and a shock absorber 24 disposed between the wheel 23 and the support beam 21.

[0043] The single-unit multi-link support includes at least one main link and at least one secondary link.

[0044] In this embodiment, the multi-link support is in groups of 4 or 6, but the number of groups is not limited to this, as long as the symmetrical arrangement meets the actual use requirements.

[0045] A medicine tank 30 is disposed between the drive assembly 20 and the robotic arm assembly, and the medicine tank 30 is connected to a medicine delivery pipe via a medicine delivery pump 31 disposed on the side wall of the medicine tank 30.

[0046] In this embodiment, the drug delivery pump is connected to the drug delivery pipe, thereby achieving a stable drug supply to several spray heads.

[0047] The power supply mechanism 40 includes a generator 41 disposed on the end face of one end of the support beam plate 21 and a battery 42 disposed on one side of the generator.

[0048] In this embodiment, a generator and a battery work together to power the drug delivery pump, drive motor, and servo motor.

[0049] During implementation, chemical pesticides for tree pest control are prepared and added to the pesticide tank on the mobile platform. The size of the spraying claw is adjusted by freely assembling the joints of the spraying claw according to the size of the trees to be sprayed. The tree spraying robot is remotely controlled to autonomously find trees for spraying. The tree spraying robot begins to autonomously search for trees that need pest control. Before reaching the tree, the tree spraying robot autonomously judges the size of the tree and opens the spraying claw to approach the tree. When the tree is in the center of the claw, the spraying claw closes to hug the tree. The pesticide delivery pump in the tank starts working, and the pesticide is input into the spray head through the pipe connected to the spray head. The spray head is turned on, and the chemical pesticide is sprayed out evenly in a mist. The robotic arm drives the spraying claw to swing up and down to spray the pesticide evenly on the surface of the tree. After the pesticide is sprayed, the robotic arm opens, and the tree spraying robot returns to find the next tree that needs pest control for spraying.

[0050] The technical solution of this utility model has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

[0051] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tree spraying robot, characterized by, include: Base A robotic arm assembly includes a first robotic arm disposed on the upper part of the base and rotatably connected to the base, a second robotic arm hinged to the first robotic arm, and a first drive unit disposed on the side wall of the first robotic arm for driving the second robotic arm to swing relative to the hinged position of the first and second robotic arms. The extension assembly includes a support portion disposed at the end of the second robotic arm away from the first robotic arm, a telescopic portion disposed on the support portion, and a joint mounting portion disposed on the telescopic portion away from one end of the support portion. A mechanical joint assembly includes a plurality of mechanical joints that are mounted at one end on the joint mounting portion and are sequentially connected, wherein the plurality of mechanical joints extend relative to the distal end of the joint mounting portion. The spraying assembly includes a plurality of high-pressure spray heads disposed on the mechanical joints and a delivery tube disposed on the inner wall of the plurality of mechanical joints and connected to the high-pressure spray heads.

2. The tree spraying robot of claim 1, wherein, It also includes a drive assembly comprising a support beam, a plurality of multi-link brackets symmetrically arranged on the side of the support beam and hinged to the support beam, a wheel disposed at the end of a single multi-link bracket away from the support beam and hinged to the single multi-link bracket, and a shock absorber disposed between the wheel and the support beam.

3. The tree spraying robot of claim 2, wherein, It also includes a power supply mechanism, which includes a generator disposed on one end face of the support beam plate and a battery disposed on one side of the generator.

4. The tree spraying robot of claim 2, wherein, It also includes a medicine tank, which is disposed between the drive assembly and the robotic arm assembly, and the medicine tank is connected to a medicine delivery pipe via a medicine delivery pump disposed within the medicine tank.

5. The tree spraying robot of claim 1, wherein, The support portion is hinged to the second robotic arm.

6. The tree spraying robot of claim 5, wherein, The telescopic part includes a lead screw and nut pair and a telescopic rod. The bearing part has a mounting groove for mounting the telescopic part. The lead screw and nut pair is fixedly installed in the mounting groove. The telescopic rod reciprocates relative to the lead screw and nut pair along the mounting groove.

7. The tree spraying robot according to claim 6, characterized in that, The lead screw and nut assembly is driven by a first motor mounted on the side wall of the mounting groove to reciprocate along the mounting groove.

8. The tree spraying robot according to claim 3, characterized in that, Several mechanical joints are arranged sequentially and symmetrically on both sides of the joint mounting part, and the mechanical joints are hinged to each other and one end is hinged to the joint mounting part.

9. The tree spraying robot according to claim 3, characterized in that, The single-unit multi-link support includes at least one main link and at least one secondary link.

10. The tree spraying robot according to claim 1, characterized in that, The joint mounting part includes a slotted mounter, a servo motor located at the rear end of the slotted mounter, and gears symmetrically arranged inside the slotted mounter and driven by the motor shaft of the servo motor passing through the slotted mounter to drive the movement of the mechanical joint.

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