Pesticide spraying robot

Abstract

The utility model provides a kind of pesticide spraying robot, it is related to the technical field of agricultural and forestry instruments.The pesticide spraying robot includes: pesticide spraying mechanism, walking mechanism and quick-change module;Pesticide spraying mechanism is installed on quick-change module, and pesticide spraying mechanism is detachably connected with walking mechanism by quick-change module.Adopt walking mechanism to bear and transport pesticide spraying mechanism, can carry out pesticide spraying operation under the condition of reducing manpower burden.When restricted by working scene walking mechanism is difficult to enter target area, pesticide spraying mechanism can be split from walking mechanism, so that the independent work of pesticide spraying mechanism can be realized, and the working scene range applicable to pesticide spraying robot is expanded.

Description

Technical Field

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

[0002] Spraying robots generally use tracked locomotives as their mobile chassis. Their primary function is to carry and transport spraying equipment for pesticide application in agricultural environments such as orchards. These locomotives exhibit excellent mobility in complex terrain conditions, such as muddy or soft ground. However, it is worth noting that due to limitations in the work area, when encountering situations where the planting spacing of fruit trees or other crops is too small, these locomotives struggle to traverse low, narrow passages between plants to reach the target work area. This technological limitation significantly restricts the practical application range of spraying robots. Utility Model Content

[0003] The purpose of this invention is to provide a spraying robot to alleviate the technical problem that the application scenarios of spraying robots in the prior art are limited.

[0004] In the first aspect, the spraying robot provided by this utility model includes: a spraying mechanism, a walking mechanism, and a quick-change module; The spraying mechanism is mounted on the quick-change module, and the spraying mechanism is detachably connected to the walking mechanism through the quick-change module.

[0005] In conjunction with the first aspect, this utility model provides a second possible implementation of the first aspect, wherein the bottom of one end of the spraying mechanism has a detachable or foldable first support wheel.

[0006] In conjunction with the first aspect, this utility model provides a second possible implementation of the first aspect, wherein the bottom of the spraying mechanism (10) or the quick-change module is provided with a second support wheel that can be folded and unfolded.

[0007] In conjunction with the second possible implementation of the first aspect, this utility model provides a third possible implementation of the first aspect, wherein the quick-change module includes: a quick-change base, a quick-change fixing seat, and a locking member; The spraying mechanism is connected to the quick-change base, and the quick-change fixed seat is connected to the walking mechanism; The quick-change base and the quick-change fixed seat are detachably connected by the locking member.

[0008] In conjunction with the third possible implementation of the first aspect, this utility model provides a fourth possible implementation of the first aspect, wherein the second support wheel is detachably connected to the quick-change base; In the folded and retracted state, the second support wheel retracts between the quick-change base and the walking mechanism.

[0009] In conjunction with the third possible implementation of the first aspect, this utility model provides a fifth possible implementation of the first aspect, wherein the quick-change base is provided with a sliding groove, the quick-change fixing seat is provided with a slide rail adapted to the sliding groove, and a positioning member adapted to the quick-change base.

[0010] In conjunction with the first aspect, this utility model provides a sixth possible implementation of the first aspect, wherein the spraying mechanism includes: a spraying device and a medicine tank connected to the spraying device; The medicine box is connected to the quick-change module and is located above the walking mechanism.

[0011] In conjunction with the sixth possible implementation of the first aspect, this utility model provides a seventh possible implementation of the first aspect, wherein the spraying mechanism further includes a pneumatic conveying mechanism, the medicine tank is located between the pneumatic conveying mechanism and the spraying device, and the spraying device has a nozzle that sprays toward the air path of the pneumatic conveying mechanism.

[0012] In conjunction with the seventh possible implementation of the first aspect, this utility model provides an eighth possible implementation of the first aspect, wherein the air conveying mechanism is detachably connected to the tail of the walking mechanism.

[0013] In conjunction with the seventh possible implementation of the first aspect, this utility model provides a ninth possible implementation of the first aspect, wherein the bottom of the air conveying mechanism is detachably connected to a second support wheel.

[0014] In conjunction with the seventh possible implementation of the first aspect, this utility model provides a ninth possible implementation of the first aspect, wherein the first support wheel is connected to the bottom of the air conveying mechanism, and a folding device or a telescopic device is connected between the air conveying mechanism and the first support wheel.

[0015] This utility model embodiment brings the following beneficial effects: The spraying mechanism is mounted on a quick-change module, and the spraying mechanism is detachably connected to the walking mechanism via the quick-change module. The walking mechanism can carry and transport the spraying mechanism, reducing the burden on manpower for pesticide spraying operations. When the walking mechanism has difficulty entering the target area due to limitations in the work environment, the spraying mechanism can be detached from the walking mechanism, thereby enabling the spraying mechanism to work independently and expanding the applicable work scenarios for the spraying robot.

[0016] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this utility model, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the spraying robot provided in an embodiment of this utility model; Figure 2 A schematic diagram of the spraying mechanism of the spraying robot provided in an embodiment of the present utility model in an independent working state; Figure 3 A schematic diagram of the quick-change module of the spraying robot provided in this embodiment of the utility model; Figure 4 This is a partially enlarged schematic diagram of the quick-change module of the spraying robot provided in an embodiment of the present invention.

[0019] Icons: 10-Spraying mechanism; 11-Pneumatic conveying mechanism; 12-Spraying device; 13-Medicine tank; 14-First support wheel; 20-Walking mechanism; 30-Quick change module; 31-Second support wheel; 32-Quick change base; 33-Quick change fixed seat; 331-Slide rail; 332-Positioning component; 34-Locking component. Detailed Implementation

[0020] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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 utility model. Furthermore, the terms "first," "second," and "third" are only used to describe differences in name and should not be construed as indicating or implying relative importance. Physical quantities in formulas, unless otherwise specified, should be understood as basic quantities of the International System of Units (SI) base units, or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation, or integration.

[0022] In the description of this utility model, it should be noted that, 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 based on the specific circumstances.

[0023] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the spraying robot provided in this embodiment of the utility model includes: a spraying mechanism 10, a walking mechanism 20, and a quick-change module 30; the spraying mechanism 10 is installed on the quick-change module 30, and the spraying mechanism 10 is detachably connected to the walking mechanism 20 through the quick-change module 30.

[0024] Specifically, the quick-change module 30 uses bolted or snap-fit ​​connections to form a quick-release mechanism, facilitating the connection or disconnection of the spraying mechanism 10 from the walking mechanism 20. When the spraying mechanism 10 is connected to the walking mechanism 20, the walking mechanism 20 can carry and transport the spraying mechanism 10. The walking mechanism 20 is driven by a fuel engine or an electric motor, thus saving manpower in transporting the spraying mechanism 10 to the work area. When the walking mechanism 20 has difficulty reaching the target area, the spraying mechanism 10 can be detached from the walking mechanism 20, allowing the spraying mechanism 10 to work independently, expanding the applicable working scenarios for the spraying robot.

[0025] In optional embodiments, the walking mechanism 20 can be a tracked chassis or a four-wheeled chassis, or it can be a biomimetic multi-legged device that simulates a reptile to achieve movement.

[0026] Furthermore, the bottom of one end of the spraying mechanism 10 has a detachable or foldable first support wheel 14.

[0027] like Figure 1 , Figure 2 and Figure 3 As shown in this embodiment of the utility model, the bottom of the spraying mechanism 10 or the quick-change module 30 is provided with a foldable and retractable second support wheel 31.

[0028] In an optional embodiment, the second support wheel 31 can swing relative to the spraying mechanism 10 about a horizontally extending axis. In the retracted state, the second support wheel 31 swings to a horizontal state, thereby lifting the second support wheel 31 off the ground and allowing it to be stacked between the traveling mechanism 20 and the spraying mechanism 10. After the spraying mechanism 10 is separated from the traveling mechanism 20, the second support wheel 31 can be manually or driven by a motor, telescopic cylinder, or other devices to unfold, and the bottom of the spraying mechanism 10 is supported on the ground by the second support wheel 31, thus facilitating the use of the spraying mechanism 10 detached from the traveling mechanism 20.

[0029] In an optional embodiment, the first support wheel 14 is connected to the bottom of the air delivery mechanism 11. When the spraying mechanism 10 is separated from the walking mechanism 20, the first support wheel 14 can be used to support the spraying mechanism 10, or the second support wheel 31 and the first support wheel 14 can be used together to support the spraying mechanism 10.

[0030] In addition, a folding or telescopic device is connected between the air delivery mechanism 11 and the first support wheel 14. When the spraying mechanism 10 is connected to the walking mechanism 20, the first support wheel 14 can be lifted off the ground by folding or retracting.

[0031] like Figure 1 , Figure 3 and Figure 4 As shown, the quick-change module 30 includes: a quick-change base 32, a quick-change fixed seat 33, and a locking member 34; the spraying mechanism 10 is connected to the quick-change base 32, and the quick-change fixed seat 33 is connected to the walking mechanism 20; the quick-change base 32 and the quick-change fixed seat 33 are detachably connected by the locking member 34.

[0032] The quick-change fixing base 33 and quick-change base 32 can be assembled by plugging and unplugging. The locking component 34 includes bolts or clips. After the quick-change base 32 is assembled relative to the quick-change fixing base 33, the locking component 34 can be used to fix the quick-change base 32 and the quick-change fixing base 33. When it is necessary to disassemble and use the spraying mechanism 10 separately, the locking component 34 can be operated to release the lock first, and then the quick-change base 32 can be removed from the quick-change fixing base 33 along with the spraying mechanism 10.

[0033] In an optional embodiment, in addition to the second support wheel 31 being able to retract or fold by telescoping or swinging, the second support wheel 31 can also be detachably connected to the quick-change base 32; in the folded and retracted state, the second support wheel 31 retracts between the quick-change base 32 and the walking mechanism 20, and the second support wheel 31 can also be removed from the quick-change base 32 or the spraying mechanism 10.

[0034] See Figure 1 , Figure 3 and Figure 4The quick-change base 32 is provided with a slide groove, and the quick-change fixed base 33 is provided with a slide rail 331 that is adapted to the slide groove, and a positioning member 332 that is adapted to the quick-change base 32.

[0035] The slide groove extends along the x-axis, with the front end of the self-propelled mechanism 20 pointing towards the rear end. When the locking member 34 is unlocked, the quick-change base 32 can slide relative to the quick-change fixed base 33 along the x-axis, thereby disengaging the slide rail 331 from the slide groove, thus removing the spraying mechanism 10 and the quick-change base 32 from the quick-change fixed base 33.

[0036] In addition, the positioning element 332 may include positioning pins or locking blocks, and the quick-change base 32 is provided with a slot that matches the positioning element 332. When the quick-change base 32 is installed on the quick-change fixed base 33, the slide rail 331 first engages with the slide groove to achieve initial alignment. As the slide rail 331 slides along the slide groove, the positioning element 332 will engage with the slot on the quick-change base 32. At this time, the quick-change base 32 is installed in place relative to the quick-change fixed base 33. Then, the locking element 34 is operated to fix the quick-change base 32 and the quick-change fixed base 33.

[0037] like Figure 1 , Figure 2 and Figure 3 As shown, the spraying mechanism 10 includes a spraying device 12 and a medicine tank 13 connected to the spraying device 12; the medicine tank 13 is connected to the quick-change module 30 and is located above the walking mechanism 20.

[0038] The spraying device 12 includes a liquid pump and a nozzle. The inlet pipe of the liquid pump is connected to the medicine tank 13, and the outlet pipe of the liquid pump is connected to the nozzle. The liquid pump can deliver the liquid medicine in the medicine tank 13 to the nozzle so that the liquid medicine can be atomized and sprayed out through the nozzle. The medicine tank 13 is connected to the quick-change base 32. When the quick-change base 32 and the quick-change fixed base 33 are connected and fixed by the locking member 34, the medicine tank 13 is located above the traveling mechanism 20, and the center of gravity of the medicine tank 13 and the center of gravity of the traveling mechanism 20 are on the same vertical line, thereby improving the stability of the traveling mechanism 20 in supporting the spraying mechanism 10.

[0039] Furthermore, the spraying mechanism 10 also includes an air delivery mechanism 11, with a medicine tank 13 located between the air delivery mechanism 11 and the spraying device 12, which has a nozzle that sprays towards the air path of the air delivery mechanism 11.

[0040] The spraying mechanism 10 is installed at the front end of the medicine tank 13, and the air delivery mechanism 11 is installed at the rear end of the medicine tank 13. The weight of the spraying mechanism 10 is mainly concentrated in the medicine tank 13. The medicine tank 13, located between the air delivery mechanism 11 and the spraying device 12, is connected to the quick-change base 32 and can be stably supported by the walking mechanism 20.

[0041] See Figure 1 and Figure 2The air delivery mechanism 11 is detachably connected to the rear of the traveling mechanism 20. The rear end of the traveling mechanism 20 may be equipped with a connecting protrusion or hook to accommodate the air delivery mechanism 11. When the spraying mechanism 10 is mounted on the traveling mechanism 20, the air delivery mechanism 11 is connected to the rear end of the vehicle body.

[0042] It should be noted that the center of gravity of the air delivery mechanism 11 is lower than that of the medicine tank 13, thus lowering the overall center of gravity of the spraying robot. In addition, the nozzle of the spraying mechanism 10 is located in the air path of the air delivery mechanism 11, which can blow the sprayed medicine to the rear of the walking mechanism 20, thereby preventing the walking mechanism 20 from being contaminated with medicine during its forward movement.

[0043] like Figure 1 and Figure 2 As shown, the spraying robot's working method adopts the spraying robot described in the above embodiments, and includes: The spraying mechanism 10 is disassembled from the self-propelled mechanism 20; The spraying mechanism 10 or the quick-change module 30 is supported on the ground, or the spraying mechanism 10 is supported on the ground by the first support wheel 14 at the tail and the second support wheel 31 at the bottom of the medicine box 13. In this case, the spraying mechanism 10 can perform spraying operations independently, overcoming the limitations of the walking mechanism 20 on applicable scenarios.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A pesticide spraying robot, characterized in that, include: Spraying mechanism (10), walking mechanism (20) and quick-change module (30); The spraying mechanism (10) is installed on the quick-change module (30), and the spraying mechanism (10) is detachably connected to the walking mechanism (20) through the quick-change module (30).

2. The spraying robot according to claim 1, characterized in that, The bottom of one end of the spraying mechanism (10) has a detachable or foldable first support wheel (14).

3. The spraying robot according to claim 1, characterized in that, The bottom of the spraying mechanism (10) or the quick-change module (30) is provided with a foldable and retractable second support wheel (31).

4. The spraying robot according to claim 3, characterized in that, The quick-change module (30) includes: a quick-change base (32), a quick-change fixing seat (33), and a locking member (34); The spraying mechanism (10) is connected to the quick-change base (32), and the quick-change fixed base (33) is connected to the walking mechanism (20); The quick-change base (32) and the quick-change fixed base (33) are detachably connected by the locking member (34).

5. The spraying robot according to claim 4, characterized in that, The second support wheel (31) is detachably connected to the quick-change base (32); In the folded and retracted state, the second support wheel (31) retracts between the quick-change base (32) and the walking mechanism (20).

6. The spraying robot according to claim 4, characterized in that, The quick-change base (32) is provided with a sliding groove, and the quick-change fixed base (33) is provided with a slide rail (331) adapted to the sliding groove and a positioning member (332) adapted to the quick-change base (32).

7. The spraying robot according to claim 2, characterized in that, The spraying mechanism (10) includes: a spraying device (12) and a medicine box (13) connected to the spraying device (12); The medicine box (13) is connected to the quick-change module (30), and the medicine box (13) is located above the walking mechanism (20).

8. The spraying robot according to claim 7, characterized in that, The spraying mechanism (10) further includes an air delivery mechanism (11), the medicine box (13) is located between the air delivery mechanism (11) and the spraying device (12), and the spraying device (12) has a nozzle that sprays towards the air path of the air delivery mechanism (11).

9. The spraying robot according to claim 8, characterized in that, The air conveying mechanism (11) is detachably connected to the tail of the walking mechanism (20).

10. The spraying robot according to claim 8, characterized in that, The first support wheel (14) is connected to the bottom of the air delivery mechanism (11), and a folding device or a telescopic device is connected between the air delivery mechanism (11) and the first support wheel (14).

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