Self-propelled agricultural spraying robots

Abstract

This utility model relates to a self-propelled agricultural spraying robot, comprising a frame, a first mounting base mounted on the frame, a second mounting base rotatably connected to the first mounting base, a spray pipe rotatably connected to the second mounting base, a sprinkler pipe inserted into the spray pipe, and several nozzles mounted on the sprinkler pipe for atomizing the sprayed pesticide. A fan is installed at one end of the spray pipe to generate airflow to blow the atomized pesticide. A pesticide tank is mounted on the frame for storing pesticide, and a water pump is also mounted on the frame. This utility model, through the cooperation of the frame, the first mounting base, the second mounting base, and the spray pipe, allows for multi-angle adjustment of the sprinkler pipe. Activating the water pump draws pesticide from the tank into the sprinkler pipe, where it is atomized by the nozzles. Activating the fan then generates airflow to blow the atomized pesticide along the spray pipe, thereby expanding the spraying range and improving the quality of pesticide application, thus increasing the efficiency of plant protection operations.

Description

Technical Field

[0001] This utility model relates to the field of agricultural equipment, specifically to a self-propelled agricultural spraying robot. Background Technology

[0002] Self-propelled agricultural spraying robots are agricultural automation devices equipped with intelligent control systems that can autonomously complete field walking and pesticide or fertilizer spraying. Plant protection robots can replace manual labor to achieve large-scale plant protection operations, improve efficiency and reduce resource waste.

[0003] Existing self-propelled agricultural spraying robots typically consist of a core component including the body, spray boom assembly, pesticide tank, and walking mechanism. The body is an integral support frame that integrates the power system and control module to coordinate the operation of each component. The spray boom assembly is connected to the body via a buffer hinge. The compression spring and damper within the hinge buffer vibration and compensate for height. Combined with a laser rangefinder and solenoid valve, it adjusts the nozzle flow rate in real time to ensure uniform spraying. The pesticide tank features a conical bottom design, with an internal spiral stirring shaft driven by an engine. The rotation speed is adjusted according to the travel speed. An ultrasonic vibrator at the bottom prevents pesticide sedimentation and ensures stable concentration. The drive wheels of the walking mechanism are connected to the body via a rack-and-pinion sliding guide rail. A servo motor drives the gears through a reducer to achieve electric adjustment of the wheel track. Limit sensors at the end of the guide rail ensure adjustment accuracy and improve adaptability to different plots. Because the spray boom assembly of existing agricultural robots is usually fixedly connected to the body, the spraying angle and range are fixed. In some corner positions, the extended spray boom assembly can easily obstruct the spray, thus affecting the range and quality of crop protection spraying. Utility Model Content

[0004] The technical problem to be solved by this utility model is that the angle and range of the spray boom assembly of existing plant protection robots are fixed, and the spray boom assembly is easy to block the view at some corner positions, thus affecting the range and quality of crop protection spraying.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A self-propelled agricultural spraying plant protection robot includes a frame, a first mounting seat mounted on the frame, a second mounting seat rotatably connected to the first mounting seat, a spray pipe rotatably connected to the second mounting seat, a spray tube inserted into the spray pipe, a plurality of nozzles mounted on the spray tube, the nozzles being used to atomize the sprayed medicine, a fan being installed at one end of the spray tube, the fan being used to generate wind to blow the atomized medicine, a medicine tank being mounted on the frame, the medicine tank being used to store medicine, a water pump being mounted on the frame, the water pump inlet being inserted into a first pipe and connected to the medicine tank, the water pump outlet being inserted into a second pipe and connected to the spray tube, the water pump being used to draw medicine from the medicine tank and deliver it to the spray tube.

[0006] The beneficial effects of this utility model are: by cooperating with the frame, the first mounting seat, the second mounting seat and the spray pipe, the spray pipe can be adjusted at multiple angles; by starting the water pump, the pesticide inside the tank can be pumped into the spray pipe, and then atomized through the nozzle; and by starting the fan, the wind can be generated to blow the atomized pesticide along the spray pipe, thereby expanding the range and quality of pesticide spraying and improving the efficiency of plant protection operations.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, a servo motor is installed in the middle of the bottom of the first mounting base. The output end of the servo motor is fixedly connected to the bottom of the second mounting base. The servo motor is used to drive the second mounting base and the spray pipe to rotate, thereby improving the convenience of adjusting the angle of the second mounting base and the spray pipe.

[0009] Furthermore, a bearing is snapped onto the second mounting base, and a first rotating shaft is fixedly connected to the side wall of the spray pipe. The first rotating shaft is sequentially connected to the bearing in the middle, which improves the stability of the spray pipe rotation.

[0010] Furthermore, a first connecting seat is fixedly connected to the second mounting base, and an electric actuator is mounted on the first connecting seat. The bottom end of the spray pipe is fixedly connected to the second connecting seat, which improves the ease of rotation of the spray pipe.

[0011] Furthermore, a second rotating shaft is fixedly connected to the bottom end of the electric actuator, and the second rotating shaft is rotatably connected to the middle of the first connecting seat. A third rotating shaft is fixedly connected to the output end of the electric actuator, and the third rotating shaft is rotatably connected to the middle of the second connecting seat, thereby improving the stability of the second connecting seat drive.

[0012] Furthermore, several springs are installed at the bottom of the first mounting base, and dampers are installed inside the springs. The two ends of the dampers are fixedly connected to the vehicle frame and the first mounting base, respectively.

[0013] Furthermore, a camera is mounted on the chassis to capture images of field operations and send them to the controller of the plant protection robot.

[0014] Furthermore, the medicine box is equipped with a water inlet that extends through the top of the frame, on which a battery is installed for power supply.

[0015] The beneficial effects of adopting the above-mentioned further solution are as follows: by setting up a damper and a spring, the spring absorbs the kinetic energy of the spray boom vibration through elastic deformation, while the damper utilizes the friction or fluid resistance of the damping material, and the energy released by the spring is converted into heat energy and dissipated. The damper and the spring work together to quickly attenuate the vibration amplitude of the first mounting base, the second mounting base and the spray pipe, and maintain a stable spraying height. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the spray pipe structure of this utility model; Figure 4 This is a schematic cross-sectional view of the spray pipe of this utility model; Figure 5 This is a schematic diagram of the first mounting base of this utility model.

[0017] The attached diagram lists the components represented by each number as follows: 1. Frame; 2. Medicine tank; 3. First mounting base; 4. Second mounting base; 5. Spray pipe; 6. Fan; 7. Water pump; 8. Spray pipe; 9. First shaft; 10. Camera; 11. First connecting base; 12. Electric actuator; 13. Second connecting base; 14. Bearing; 15. Servo motor; 16. Second shaft; 17. Third shaft; 18. Damper; 19. Nozzle; 20. Spring. Detailed Implementation

[0018] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0019] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0020] like Figure 1-5As shown, the self-propelled agricultural spraying robot includes a frame 1, with a drive structure installed at the bottom of the frame 1. The drive interface includes wheels, motors, gears, and axles mounted on the frame 1. The wheels are driven by the motors, gears, and axles. The wheels are existing technology and will not be described in detail here. A control module is installed on the frame 1. The control module is the core unit that coordinates the operation of the robot's various components. It includes a remote controller and an actuator mounted on the frame 1. The actuator is responsible for receiving instructions, processing information, and driving the actuator. The control module hardware includes a microprocessor, sensor interfaces for connecting positioning, obstacle avoidance, and other sensors, and drive circuits.The software integrates path planning and spraying control algorithms. During operation, the microprocessor analyzes the positioning signal to plan the path, adjusts the nozzle flow rate based on crop data, and controls the walking and spraying mechanisms through the drive circuit to achieve autonomous and precise operation. A battery is installed on the frame 1 for power supply. A first mounting base 3 is mounted on the frame 1, and a second mounting base 4 is horizontally rotatably connected to it. A spraying pipe 5 is vertically rotatably connected to the second mounting base 4. A spraying pipe 8 is inserted into the spraying pipe 5, and several nozzles 19 are installed on the spraying pipe 8. A servo motor 15 is installed in the middle of the bottom of the first mounting base 3, and the output end of the servo motor 15 is fixedly connected to the bottom of the second mounting base 4. Start-up... The servo motor 15 drives the second mounting base 4 to rotate, thereby causing the spray pipe 5 to rotate as well, improving the convenience of angle adjustment between the second mounting base 4 and the spray pipe 5. A bearing 14 is snapped onto the second mounting base 4. Two first rotating shafts 9 are welded and fixedly connected to the side wall of the spray pipe 5. The two first rotating shafts 9 are symmetrically distributed and are sequentially rotatably connected to the bearings 14. The bearings 14 reduce the resistance to rotation of the first rotating shafts 9, improving the stability of the spray pipe 5's rotation. The nozzle 19 is used to atomize the sprayed medicine. A fan 6 is installed at one end of the spray pipe 5 to generate airflow to blow away the atomized medicine. The frame 1 is equipped with a medicine... Box 2, the medicine box 2 is used to store medicine. A water pump 7 is installed on the frame 1. The inlet of the water pump 7 is connected to the first pipe and is connected to the medicine box 2. The outlet of the water pump 7 is connected to the second pipe and is connected to the spray pipe 8. The water pump 7 is used to draw medicine from the medicine box 2 and deliver it to the spray pipe 8. A first connecting seat 11 is fixedly connected to the second mounting base 4. An electric actuator 12 is installed on the first connecting seat 11. The bottom end of the spray pipe 5 is fixedly connected to the second connecting seat 13, which improves the convenience of rotating the spray pipe 5. The bottom end of the electric actuator 12 is fixedly connected to the second rotating shaft 16. The second rotating shaft 16 is rotatably connected to the middle of the first connecting seat 11. The output end is fixedly connected to a third rotating shaft 17, which is rotatably connected to the middle of the second connecting seat 13, improving the stability of the second connecting seat 13's drive. When the electric actuator 12 is started, it can push the spray pipe 5 to rotate around the first rotating shaft 9. Through the cooperation of the frame 1, the first mounting seat 3, the second mounting seat 4, and the spray pipe 5, the spray pipe 8 can be adjusted at multiple angles. By starting the water pump 7, the pesticide solution inside the pesticide tank 2 can be pumped into the spray pipe 8, and then atomized through the nozzle 19. Then, starting the fan 6 can generate wind to blow the atomized pesticide solution along the spray pipe 5, thereby expanding the range and quality of pesticide spraying and improving the efficiency of plant protection operations.

[0021] like Figure 3-5As shown, several springs 20 are installed at the bottom of the first mounting base 3. A damper 18 is installed inside the spring 20. The two ends of the damper 18 are fixedly connected to the frame 1 and the first mounting base 3, respectively. By setting up the damper 18 and the springs 20, the springs 20 absorb the kinetic energy of the spray boom vibration through elastic deformation. The damper 18 uses the friction or fluid resistance of the damping material to convert the energy released by the springs 20 into heat energy and dissipate it. The damper 18 and the springs 20 work together to quickly attenuate the vibration amplitude of the first mounting base 3, the second mounting base 4 and the spray pipe 5, and maintain a stable spray height.

[0022] like Figure 1-2 As shown, a camera 10 is installed on the frame 1. The camera 10 is used to capture images of field operations and send them to the controller of the plant protection robot. The controller has an integrated signal transmission module for transmitting the operation images, so that the operator can easily observe them. The controller is existing technology and will not be described in detail here. A water inlet is installed on the medicine tank 2. The water inlet passes through the top of the frame 1, which makes it convenient for the operator to add medicine to the medicine tank 2.

[0023] Working Principle: When using this self-propelled agricultural spraying robot, the operator moves it to the designated position and installs a power supply. The pesticide to be sprayed is poured into the tank 2 through the water inlet. The drive system on the frame 1 drives the wheels to rotate in the field, thus moving the robot. When the robot reaches the designated position, the operator starts the water pump 7 to deliver the pesticide from the tank 2 to the spray pipe 8, which is then atomized and sprayed out through the nozzle 19. By starting the fan 6, wind is generated to blow the pesticide out from the other end of the spray pipe 5, increasing the spraying distance. By starting the servo motor 15, the second mounting base 4 is rotated, thereby changing the horizontal angle of the spray pipe 5. The movement of the spray pipe 5 drives the spray pipe 8 to move. Then, the electric actuator 12 pushes the spray pipe 5 to rotate around the first rotating shaft 9, thereby changing the vertical angle of the spray pipe 5, further expanding the spraying range of the spray pipe 5, thus improving the adaptability of the robot spraying and the efficiency of pesticide spraying.

[0024] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-propelled agricultural spraying robot, comprising a frame (1), characterized in that: A first mounting base (3) is installed on the frame (1). A second mounting base (4) is rotatably connected to the first mounting base (3). A spray pipe (5) is rotatably connected to the second mounting base (4). A spray pipe (8) is inserted into the spray pipe (5). Several nozzles (19) are installed on the spray pipe (8). The nozzles (19) are used to atomize the sprayed medicine. A fan (6) is installed at one end of the spray pipe (5). The fan (6) is used to generate wind to blow the atomized medicine. A medicine box (2) is installed on the frame (1). The medicine box (2) is used to store medicine. A water pump (7) is installed on the frame (1). The inlet of the water pump (7) is connected to a first pipe and is connected to the medicine box (2). The outlet of the water pump (7) is connected to a second pipe and is connected to the spray pipe (8). The water pump (7) is used to draw the medicine inside the medicine box (2) and deliver it to the spray pipe (8).

2. The self-propelled agricultural spraying robot according to claim 1, characterized in that, A servo motor (15) is installed in the middle of the bottom of the first mounting base (3). The output end of the servo motor (15) is fixedly connected to the bottom of the second mounting base (4). The servo motor (15) is used to drive the second mounting base (4) and the spray pipe (5) to rotate.

3. The self-propelled agricultural spraying robot according to claim 2, characterized in that, The second mounting base (4) is fitted with a bearing (14), and the side wall of the spray pipe (5) is fixedly connected to a first rotating shaft (9), which is connected to the bearing (14) in turn.

4. The self-propelled agricultural spraying robot according to claim 2, characterized in that, The first connecting seat (11) is fixedly connected to the second mounting seat (4), the first connecting seat (11) is equipped with an electric push rod (12), and the bottom end of the spray pipe (5) is fixedly connected to the second connecting seat (13).

5. The self-propelled agricultural spraying robot according to claim 4, characterized in that, The bottom end of the electric actuator (12) is fixedly connected to a second rotating shaft (16), which is rotatably connected to the middle of the first connecting seat (11). The output end of the electric actuator (12) is fixedly connected to a third rotating shaft (17), which is rotatably connected to the middle of the second connecting seat (13).

6. The self-propelled agricultural spraying robot according to claim 2, characterized in that, Several springs (20) are installed at the bottom of the first mounting base (3). A damper (18) is installed inside the spring (20). The two ends of the damper (18) are fixedly connected to the frame (1) and the first mounting base (3) respectively.

7. The self-propelled agricultural spraying robot according to claim 1, characterized in that, A camera (10) is installed on the frame (1). The camera (10) is used to capture images of field operations and send them to the controller of the plant protection robot.

8. The self-propelled agricultural spraying robot according to claim 1, characterized in that, The medicine box (2) is equipped with a water inlet that runs through the top of the frame (1). A battery is installed on the frame (1) to provide power.

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