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 machinery.The pesticide spraying robot includes pesticide spraying mechanism and walking mechanism, pesticide spraying mechanism is installed on walking mechanism, and damping assembly is equipped on pesticide spraying mechanism or between pesticide spraying mechanism and walking mechanism.It can slow down the mechanical vibration that self-walking mechanism is passed to pesticide spraying mechanism, not only can avoid pesticide spraying mechanism to be damaged due to continuous vibration, but also can improve the stability of pesticide spraying mechanism application range.

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 typically use a tracked walking mechanism as their mobile chassis. The primary function of this mechanism is to carry and transport the spraying system, ensuring effective pesticide spraying in agricultural environments such as orchards. However, tracked walking mechanisms generate significant vibrations during movement. These vibrations can cause dynamic shifts in the spraying area, affecting the stability of the spraying operation. More seriously, continuous and severe vibrations can also cause structural damage to the spraying mechanism itself. Utility Model Content

[0003] The purpose of this invention is to provide a spraying robot to alleviate the technical problems in the prior art where the spraying mechanism is easily damaged due to vibration and the spraying range is unstable.

[0004] In a first aspect, the spraying robot provided by this utility model includes a spraying mechanism and a walking mechanism. The spraying mechanism is mounted on the walking mechanism, and a vibration damping component is provided on the spraying mechanism or between the spraying mechanism and the walking mechanism.

[0005] In conjunction with the first aspect, the present invention provides a first possible implementation of the first aspect, wherein the vibration damping component includes a vibration damping pad installed between the spraying mechanism and the walking mechanism.

[0006] In conjunction with the first aspect, this utility model provides a second possible implementation of the first aspect, wherein the walking mechanism includes: a drive wheel, a vehicle body, and a drive axle; The plurality of drive wheels are respectively connected to the drive axle for transmission; The vibration damping assembly includes a damping bracket connected between the vehicle body and the drive axle.

[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 drive axle is connected to both sides of the vehicle body, and each drive axle is connected to a plurality of drive wheels.

[0008] In conjunction with the second possible implementation of the first aspect, this utility model provides a fourth possible implementation of the first aspect, wherein the drive wheel is provided with multiple sets of tire treads, and the multiple sets of tire treads are spaced apart along the circumference of the drive wheel; Each set of tire treads includes a first tread and a second tread, the first tread extending from the axial center of the drive wheel to one axial end, and the second tread extending from the axial center of the drive wheel to the other axial end. The first twill and the second twill have an angle between them.

[0009] In conjunction with the second possible implementation of the first aspect, this utility model provides a fifth possible implementation of the first aspect, wherein a damping shock absorber is installed between the vehicle body and the drive wheel; or, a damping shock absorber is installed between the vehicle body and the drive axle.

[0010] In conjunction with the first aspect, this utility model provides a sixth possible implementation of the first aspect, wherein the spraying mechanism and the walking mechanism are detachably connected.

[0011] In conjunction with the first aspect, this utility model provides a seventh possible implementation of the first aspect, wherein the front end of the walking mechanism is provided with a collision protection beam.

[0012] In conjunction with the first aspect, this utility model provides an eighth possible implementation of the first aspect, wherein the spraying mechanism is equipped with a pneumatic conveying device facing the rear of the walking mechanism.

[0013] In conjunction with the eighth possible implementation of the first aspect, this utility model provides a ninth possible implementation of the first aspect, wherein the spraying mechanism includes a medicine tank and a spraying device, the medicine tank is mounted on the walking mechanism, the spraying device is located between the medicine tank and the air conveying device, and the spraying device is in fluid communication with the medicine tank.

[0014] The present invention provides the following beneficial effects: by installing the spraying mechanism on the walking mechanism, or by installing a vibration damping pad between the spraying mechanism and the walking mechanism, the mechanical vibration transmitted from the walking mechanism to the spraying mechanism can be reduced. This not only avoids damage to the spraying mechanism due to continuous vibration, but also improves the stability of the spraying range.

[0015] 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

[0016] 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.

[0017] Figure 1 A schematic diagram of the spraying robot provided in an embodiment of this utility model; Figure 2 An exploded view of the walking mechanism of the spraying robot provided in an embodiment of this utility model; Figure 3 This is a schematic diagram of the walking mechanism of the spraying robot provided in an embodiment of the present utility model.

[0018] Icons: 10-Spraying mechanism; 11-Pneumatic conveyor; 12-Medicine tank; 20-Walking mechanism; 21-Vibration damping pad; 22-Drive wheel; 221-First diagonal stripe; 222-Second diagonal stripe; 23-Damping shock absorber; 24-Vehicle body; 25-Vibration damping support plate; 26-Drive axle; 27-Bumper beam. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] like Figure 1 and Figure 2 As shown, the spraying robot provided in this embodiment of the present invention includes a spraying mechanism 10 and a walking mechanism 20. The spraying mechanism 10 is mounted on the walking mechanism 20, and a vibration damping component is provided on the spraying mechanism 10 or between the spraying mechanism 10 and the walking mechanism 20.

[0023] In an optional embodiment, the vibration damping assembly includes a vibration damping pad 21 installed between the spraying mechanism 10 and the walking mechanism 20.

[0024] Specifically, the vibration damping pad 21 may include rubber pads, silicone pads, or metal springs, etc. It can be supported between the spraying mechanism 10 and the walking mechanism 20 through the vibration damping component. It can reduce the vibration transmitted from the walking mechanism 20 to the spraying mechanism 10. This not only reduces the probability of damage to the spraying mechanism 10 due to continuous mechanical vibration from the walking mechanism 20, but also improves the stability of the spraying mechanism 10, thereby ensuring the stability of the spraying range of the spraying mechanism 10 and facilitating precise spraying.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown in the embodiment of this utility model, the walking mechanism 20 includes: drive wheels 22, vehicle body 24 and drive axle 26; multiple drive wheels 22 are respectively connected to the drive axle 26 for transmission; the vibration damping component includes a vibration damping plate 25 connected between the vehicle body 24 and the drive axle 26.

[0026] The vehicle body 24 carries the spraying mechanism 10, and the drive axle 26 connects to the drive wheels 22, enabling the drive wheels 22 to move on the ground. A vibration damping plate 25 connects the vehicle body 24 and the drive axle 26, which reduces the vibration transmitted from the drive axle 26 to the vehicle body 24, thereby reducing the vibration transmitted from the drive wheels 22 and the drive axle 26 to the vehicle body 24 and the spraying mechanism 10.

[0027] Furthermore, drive axles 26 are connected to both sides of the vehicle body 24, and each drive axle 26 is connected to multiple drive wheels 22. Each drive axle 26 can drive two drive wheels 22, and two drive wheels 22 are provided on each side of the vehicle body 24, thus forming a four-wheel drive chassis mechanism. Alternatively, each drive axle 26 can drive three drive wheels 22, and three drive wheels 22 can be provided on each side of the vehicle body 24, utilizing six or more drive wheels 22 for propulsion, thereby improving the adaptability of the running gear 20 to complex terrain.

[0028] It should be noted that each drive axle 26 is connected to multiple damping plates 25, which are spaced apart from front to back, and together support the vehicle body 24. Furthermore, the damping plates 25 may also have a support portion extending below the vehicle body 24. A pad may be provided on the upper surface of the support portion; when the vehicle body 24 vibrates downwards and impacts the damping plates 25, the pad can mitigate the impact.

[0029] See Figure 3 The drive wheel 22 is provided with multiple sets of tread patterns, which are spaced apart along the circumference of the drive wheel 22. Each set of tread patterns includes a first tread pattern 221 and a second tread pattern 222. The first tread pattern 221 extends from the axial middle of the drive wheel 22 to one axial end, and the second tread pattern 222 extends from the axial middle of the drive wheel 22 to the other axial end. The first tread pattern 221 and the second tread pattern 222 have an included angle.

[0030] The first twill 221 and the second twill 222 form an anti-slip structure that is approximately V-shaped, which gives the drive wheel 22 better grip, reduces the bounce of the drive wheel 22 on the ground, and thus reduces the vibration of the drive wheel 22 on the ground.

[0031] See Figure 2 and Figure 3 A damping shock absorber 23 is installed between the vehicle body 24 and the drive wheel 22, or between the vehicle body 24 and the drive axle 26. The damping shock absorber 23 reduces the vibration transmitted from the drive wheel 22 or the drive axle 26 to the vehicle body 24, and uses the damping effect to quickly stop the vibration, thereby improving the stability of the vehicle body 24.

[0032] See Figure 1 and Figure 2 Multiple vibration damping pads 21 are installed on the vehicle body 24, and the multiple vibration damping pads 21 are spaced apart along the upper surface of the vehicle body 24; the multiple vibration damping pads 21 are all pressed between the vehicle body 24 and the spraying mechanism 10. Among them, the multiple vibration damping pads 21 can be arranged in a matrix on the upper surface of the vehicle body 24, and the multiple vibration damping pads 21 can jointly support the medicine tank 12 of the spraying mechanism 10, or the multiple vibration damping pads 21 can jointly support the bottom beam of the spraying mechanism 10, thereby improving the stability of the spraying mechanism 10 and reducing the mechanical vibration transmitted from the vehicle body 24 to the spraying mechanism 10.

[0033] In an optional embodiment, the spraying mechanism 10 and the walking mechanism 20 are detachably connected by bolts or clips. In the event of fatigue damage to the vibration damping pad 21, the spraying mechanism 10 can be removed to replace the vibration damping pad 21.

[0034] See Figure 2The walking mechanism 20 is equipped with a collision protection beam 27 at the front end. The walking mechanism 20 can be operated automatically by remote control or by using a visual sensor to track the path. The collision protection beam 27 serves as passive protection to prevent the walking mechanism 20 from colliding and being damaged by the spraying mechanism 10.

[0035] See Figure 1 The spraying mechanism 10 includes a medicine tank 12 and a spraying device. The medicine tank 12 is mounted on the traveling mechanism 20, and the spraying device is located between the medicine tank 12 and the air conveying device 11, and the spraying device is in fluid communication with the medicine tank 12. The spraying device includes a liquid pump and a nozzle, etc. The liquid pump draws the liquid medicine from the medicine tank 12 and atomizes the liquid medicine through the nozzle and sprays it out.

[0036] Furthermore, the spraying mechanism 10 is equipped with a wind conveying device 11 facing the rear of the walking mechanism 20. The spraying device can spray the pesticide into the air path of the wind conveying device 11, and the wind conveying device 11 blows the pesticide mist, thereby expanding the application range and improving the working efficiency of the spraying robot.

[0037] 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, It includes a spraying mechanism (10) and a walking mechanism (20), wherein the spraying mechanism (10) is mounted on the walking mechanism (20), and a vibration damping component is provided between the spraying mechanism (10) and the walking mechanism (20); The walking mechanism (20) includes: drive wheels (22), vehicle body (24) and drive axle (26); multiple drive wheels (22) are respectively connected to the drive axle (26) for transmission; the vibration damping assembly includes a vibration damping plate (25) connected between the vehicle body (24) and the drive axle (26). The vehicle body (24) is connected to the drive axle (26) on both sides, and each drive axle (26) is connected to multiple drive wheels (22).

2. The spraying robot according to claim 1, characterized in that, The vibration damping assembly includes a vibration damping pad (21) installed between the spraying mechanism (10) and the walking mechanism (20).

3. The spraying robot according to claim 1, characterized in that, The drive wheel (22) is provided with multiple sets of tire treads, and the multiple sets of tire treads are arranged at intervals along the circumference of the drive wheel (22); Each set of tire treads includes a first tread (221) and a second tread (222). The first tread (221) extends from the axial center of the drive wheel (22) to one axial end, and the second tread (222) extends from the axial center of the drive wheel (22) to the other axial end. The first twill (221) and the second twill (222) have an angle.

4. The spraying robot according to claim 1, characterized in that, A damping shock absorber (23) is installed between the vehicle body (24) and the drive wheel (22); or, a damping shock absorber (23) is installed between the vehicle body (24) and the drive axle (26).

5. The spraying robot according to claim 1 or 4, characterized in that, The spraying mechanism (10) and the walking mechanism (20) are detachably connected.

6. The spraying robot according to claim 1, characterized in that, The walking mechanism (20) is provided with a collision protection beam (27) at the front end.

7. The spraying robot according to claim 1 or 6, characterized in that, The spraying mechanism (10) is equipped with a pneumatic conveying device (11) facing the rear of the walking mechanism (20).

8. The spraying robot according to claim 7, characterized in that, The spraying mechanism (10) includes a medicine tank (12) and a spraying device. The medicine tank (12) is mounted on the walking mechanism (20). The spraying device is located between the medicine tank (12) and the air delivery device (11), and the spraying device is in fluid communication with the medicine tank (12).

Images