CN106614466B - Six-foot walking type pesticide spraying robot - Google Patents

Abstract

The invention discloses a six-foot walking type pesticide spraying robot which comprises a horizontally arranged supporting plate, wherein a water tank is arranged above the supporting plate, a water pump is arranged in the water tank, at least one spray pipe is arranged at the top of the water tank, each spray pipe is connected with the water pump through a pipeline, and a six-foot walking mechanism is arranged below the supporting plate. Solves the problems of high working strength and low efficiency of the current manual pesticide spraying.

Description

Six-foot walking type pesticide spraying robot

Technical Field

The invention belongs to the technical field of agricultural machinery design, and relates to a six-foot walking type pesticide spraying robot.

Background

Agriculture is the first industry of China and is the basis of national economy, and the degree of agricultural mechanization reflects the progress of agricultural development. Agricultural development in east and west of China is unbalanced, in northern areas, many works still need to be finished manually, for example, pesticide spraying is an essential link in the growth process of crops such as wheat, in order to prevent rolling damage of wheeled or crawler-type agricultural machinery to crops such as wheat, and under the condition that large-scale agricultural machinery cannot be used in terrains such as sloping fields and step lands, most northern areas still depend on manual pesticide spraying, although the development of manufacturing industry enables miniaturization of general agricultural machinery, the machines still need to work with people on the back, not only is working strength large, working efficiency low, but also is unfavorable to human bodies, for example, long-term manual pesticide spraying can induce various diseases, and the like.

Disclosure of Invention

The invention aims to provide a six-foot walking type pesticide spraying robot, which solves the problems of high working strength and low efficiency of manual pesticide spraying at present.

The technical scheme includes that the six-foot walking type pesticide spraying robot comprises a horizontally arranged supporting plate, a water tank is arranged above the supporting plate, a water pump is arranged inside the water tank, at least one spray pipe is arranged at the top of the water tank and connected with the water pump through a pipeline, and a six-foot walking mechanism is arranged below the supporting plate.

The present invention is also characterized in that,

wherein the spray pipes are three, and the three spray pipes are arranged at an angle of 120 degrees between every two spray pipes.

The six-foot walking mechanism comprises a double-foot walking mechanism A, a double-foot walking mechanism B and a double-foot walking mechanism C which are sequentially arranged along the horizontal direction, the double-foot walking mechanism A, the double-foot walking mechanism B and the double-foot walking mechanism C are arranged below the supporting plate in a straight line shape, the double-foot walking mechanism A is connected with the double-foot walking mechanism B through a synchronous belt A, the double-foot walking mechanism B is connected with a speed reducer through the synchronous belt B, and the speed reducer is connected with the double-foot walking mechanism C through the synchronous belt C.

The double-foot walking mechanism A comprises a synchronous belt wheel a, a rotating shaft a is sleeved at the center of the synchronous belt wheel a, one end of the rotating shaft a is connected with one end of a rotating shaft b through a universal joint a, the other end of the rotating shaft b penetrates through a rotating mechanism A to be connected with an executing mechanism A, and the rotating mechanism A is installed on a supporting seat A; the other end of the rotating shaft a is connected with one end of a rotating shaft c through a universal joint B, the other end of the rotating shaft c penetrates through a rotating mechanism B to be connected with an executing mechanism B, the rotating mechanism B is installed on a supporting seat B, and the supporting seat B and the supporting seat A are arranged oppositely and are fixed at the bottom of the supporting plate;

the gear rack is meshed with a gear a, a rotating shaft d is sleeved at the center of the gear a, and one end of the rotating shaft d is connected with a motor a; one end of the rack a is connected with one end of a connecting rod a, the other end of the connecting rod a is connected with one end of a swing rod a, and the other end of the swing rod a is connected to the rotating mechanism A; the other end of the rack a is connected with one end of a connecting rod B, the other end of the connecting rod B is connected with one end of a swing rod B, and the other end of the swing rod B is connected to a rotating mechanism B;

the joint of one end of the rack a and the connecting rod a, the joint of the connecting rod a and the swing rod a, the joint of the other end of the rack a and the connecting rod b, and the joint of the connecting rod b and the swing rod b are connected through revolute pairs.

The supporting seat A comprises a vertically inverted U-shaped support a, the upper end and the lower end of the support a are respectively provided with a ribbed plate a and a ribbed plate b which are parallel to each other, the lower surface of the ribbed plate a is provided with a sleeve a, a bearing a is coaxially arranged in the sleeve a, the upper surface of the ribbed plate b is provided with a sleeve b, a bearing b is coaxially arranged in the sleeve b, the ribbed plate a and the ribbed plate b are both perpendicular to the support a, and the rotating mechanism A is located between the ribbed plate a and the ribbed plate b;

the rotating mechanism A comprises a hollow cylinder a which is horizontally arranged, two ends of the hollow cylinder a are not sealed, the other end of a rotating shaft b penetrates through the center of the cylinder a and is connected with the executing mechanism A, a raised column a and a raised column b are respectively arranged on the upper surface and the lower surface of the cylinder a, the raised column a and the raised column b are coaxial, the raised column a is sleeved in a bearing a, the raised column b is sleeved in the bearing b, a sleeve c is arranged on the side surface of the cylinder a, the other end of a swing rod a is sleeved in the sleeve c, and the swing rod a and the sleeve c are in interference fit;

the actuating mechanism A comprises a gear b, a gear c and a gear d which are arranged in a straight line shape and are sequentially meshed, the gear b, the gear c and the gear d are all arranged inside the gear box A, the other end of the rotating shaft b is sleeved at the center of the gear c, a rotating shaft e is arranged at the center of the gear b, bearings c are respectively sleeved at two ends of the rotating shaft e, a rotating shaft f is arranged at the center of the gear d, bearings d are respectively sleeved at two ends of the rotating shaft f, and the bearings c and the bearings d are both installed on the gear box A;

the executing mechanism A also comprises a T-shaped supporting leg a, one end of the supporting leg a is connected with one end of a crank a through a revolute pair, and the other end of the crank a is fixedly connected with one end part of a rotating shaft e;

the other end of the supporting leg a is connected with one end of a crank b through a revolute pair, and the other end of the crank b is fixedly connected with one end of a rotating shaft f;

the supporting seat B comprises a vertically inverted U-shaped support B, the upper end and the lower end of the support B are respectively provided with a ribbed plate c and a ribbed plate d which are parallel to each other, the lower surface of the ribbed plate c is provided with a sleeve d, a bearing e is coaxially arranged inside the sleeve d, the upper surface of the ribbed plate d is provided with the sleeve e, a bearing f is coaxially arranged inside the sleeve e, the ribbed plate c and the ribbed plate d are both perpendicular to the support B, and the rotating mechanism B is located between the ribbed plate c and the ribbed plate d;

the rotating mechanism B comprises a hollow cylinder B which is horizontally arranged and has two unsealed ends, the other end of the rotating shaft c penetrates through the center of the cylinder B and is connected with the executing mechanism B, a raised column c and a raised column d are respectively arranged on the upper surface and the lower surface of the cylinder B, the raised column c and the raised column d are coaxial, the raised column c is sleeved in a bearing e, the raised column d is sleeved in the bearing f, a sleeve f is arranged on the side surface of the cylinder B, the other end of the swing rod B is sleeved in the sleeve f, and the swing rod B and the sleeve f are in interference fit;

the executing mechanism B comprises a gear e, a gear f and a gear g which are arranged in a straight line shape and are sequentially meshed, the gear e, the gear f and the gear g are all arranged inside the gear box B, the other end of the rotating shaft c is sleeved at the center of the gear f, a rotating shaft g is arranged at the center of the gear e, bearings g are respectively sleeved at two ends of the rotating shaft g, a rotating shaft h is arranged at the center of the gear g, bearings h are respectively sleeved at two ends of the rotating shaft h, and the bearings g and the bearings h are both installed on the gear box B;

the executing mechanism B also comprises a T-shaped supporting leg B, one end of the supporting leg B is connected with one end of a crank c through a revolute pair, and the other end of the crank c is fixedly connected with one end part of the rotating shaft g;

the other end of the supporting leg b is connected with one end of a crank d through a revolute pair, and the other end of the crank d is fixedly connected with one end of the rotating shaft h;

synchronous pulley a, gear a, rack a and pivot d all set up inside axle bed A, and motor a fixes on axle bed A, and axle bed A fixes in the backup pad bottom.

Wherein biped running gear B includes pivot I, has cup jointed synchronous pulley B and synchronous pulley C on the pivot I respectively, and synchronous pulley B is located pivot I's middle part, and synchronous pulley C is close to pivot I's one end tip and sets up, and pivot I's one end is passed through-hole an on the supporting seat C and is connected actuating mechanism C, and pivot I's the other end is passed through-hole B on the supporting seat D and is connected actuating mechanism D, and supporting seat C and supporting seat D are just to setting up and fixing in the backup pad bottom.

The actuating mechanism C comprises a gear h, a gear I and a gear J which are arranged in a straight line shape and are sequentially meshed, the gear h, the gear I and the gear J are all arranged inside the gear box C, one end of a rotating shaft I is sleeved at the center of the gear I, a rotating shaft J is arranged at the center of the gear h, bearings I are respectively sleeved at two ends of the rotating shaft J, a rotating shaft k is arranged at the center of the gear J, bearings J are respectively sleeved at two ends of the rotating shaft k, and the bearings I and the bearings J are both installed on the gear box C;

the executing mechanism C also comprises a T-shaped supporting leg C, one end of the supporting leg C is connected with one end of a crank e through a revolute pair, and the other end of the crank e is fixedly connected with one end part of the rotating shaft J;

the other end of the supporting leg c is connected with one end of a crank f through a revolute pair, and the other end of the crank f is fixedly connected with one end of the rotating shaft k;

the actuating mechanism D comprises a gear k, a gear L and a gear m which are arranged in a straight line shape and are sequentially meshed, the gear k, the gear L and the gear m are all arranged inside the gear box D, the other end of the rotating shaft I is sleeved at the center of the gear L, a rotating shaft L is arranged at the center of the gear k, bearings k are respectively sleeved at two ends of the rotating shaft L, a rotating shaft m is arranged at the center of the gear m, bearings L are respectively sleeved at two ends of the rotating shaft m, and the bearings k and the bearings L are both installed on the gear box D;

the executing mechanism D also comprises a T-shaped supporting leg D, one end of the supporting leg D is connected with one end of a crank g through a revolute pair, and the other end of the crank g is fixedly connected with one end part of the rotating shaft L;

the other end of the supporting leg d is connected with one end of a crank h through a revolute pair, and the other end of the crank h is fixedly connected with one end of the rotating shaft m.

The two-foot walking mechanism C comprises a synchronous belt wheel d, a rotating shaft n is sleeved at the center of the synchronous belt wheel d, one end of the rotating shaft n is connected with one end of a rotating shaft o through a universal joint C, the other end of the rotating shaft o penetrates through a rotating mechanism C to be connected with an executing mechanism E, and the rotating mechanism C is installed on a supporting seat E; the other end of the rotating shaft n is connected with one end of a rotating shaft p through a universal joint D, the other end of the rotating shaft p penetrates through a rotating mechanism D to be connected with an executing mechanism F, the rotating mechanism D is installed on a supporting seat F, and the supporting seat E and the supporting seat F are arranged oppositely and are fixed at the bottom of the supporting plate;

the double-foot walking mechanism C also comprises a rack b which is horizontally arranged, the rack b is meshed with a gear n, the center of the gear n is sleeved with a rotating shaft q, and one end of the rotating shaft q is connected with a motor b; one end of the rack b is connected with one end of a connecting rod C, the other end of the connecting rod C is connected with one end of a swing rod C, and the other end of the swing rod C is connected to the rotating mechanism C; the other end of the rack b is connected with one end of a connecting rod D, the other end of the connecting rod D is connected with one end of a swing rod D, and the other end of the swing rod D is connected to a rotating mechanism D;

the joint of one end of the rack b and the connecting rod c, the joint of the connecting rod c and the swing rod c, the joint of the other end of the rack b and the connecting rod d, and the joint of the connecting rod d and the swing rod d are connected through revolute pairs.

The supporting seat E comprises a vertically inverted U-shaped support C, a ribbed plate E and a ribbed plate f which are parallel to each other are arranged at the upper end and the lower end of the support C respectively, a sleeve g is arranged on the lower surface of the ribbed plate E, a bearing m is coaxially arranged inside the sleeve g, a sleeve h is arranged on the upper surface of the ribbed plate f, a bearing n is coaxially arranged inside the sleeve h, the ribbed plate E and the ribbed plate f are both perpendicular to the support C, and the rotating mechanism C is located between the ribbed plate E and the ribbed plate f;

the rotating mechanism C comprises a hollow cylinder C which is horizontally arranged and has two unsealed ends, the other end of the rotating shaft o penetrates through the center of the cylinder C and is connected with the executing mechanism E, a raised column E and a raised column f are respectively arranged on the upper surface and the lower surface of the cylinder C, the raised column E and the raised column f are coaxial, the raised column E is sleeved in the bearing o, the raised column f is sleeved in the bearing p, a sleeve I is arranged on the side surface of the cylinder C, the other end of the swing rod C is sleeved in the sleeve I, and the swing rod C and the sleeve I are in interference fit;

the executing mechanism E comprises a gear o, a gear p and a gear q which are arranged in a straight line shape and are sequentially meshed, the gear o, the gear p and the gear q are all arranged inside the gear box E, the other end of the rotating shaft o is sleeved at the center of the gear p, a rotating shaft r is arranged at the center of the gear o, bearings q are respectively sleeved at two ends of the rotating shaft r, a rotating shaft s is arranged at the center of the gear q, bearings r are respectively sleeved at two ends of the rotating shaft s, and the bearings r and the bearings q are both installed on the gear box E;

the executing mechanism E also comprises a T-shaped supporting leg E, one end of the supporting leg E is connected with one end of the crank I through a revolute pair, and the other end of the crank I is fixedly connected with one end part of the rotating shaft r;

the other end of the supporting leg e is connected with one end of a crank J through a revolute pair, and the other end of the crank J is fixedly connected with one end part of the rotating shaft s;

the supporting seat F comprises a vertically inverted U-shaped support D, the upper end and the lower end of the support D are respectively provided with a rib plate g and a rib plate h which are parallel to each other, the lower surface of the rib plate g is provided with a sleeve J, a bearing s is coaxially arranged inside the sleeve J, the upper surface of the rib plate h is provided with a sleeve k, a bearing t is coaxially arranged inside the sleeve k, the rib plate g and the rib plate h are both vertical to the support D, and the rotating mechanism D is located between the rib plate g and the rib plate h;

the rotating mechanism D comprises a hollow cylinder D which is horizontally arranged and has two unsealed ends, the other end of the rotating shaft p penetrates through the center of the cylinder D and is connected with the executing mechanism F, a protruding column g and a protruding column h are respectively arranged on the upper surface and the lower surface of the cylinder D, the protruding column g and the protruding column h are coaxial, the protruding column g is sleeved in a bearing u, the protruding column h is sleeved in a bearing v, a sleeve L is arranged on the side surface of the cylinder D, the other end of the swing rod D is sleeved in the sleeve L, and the swing rod D and the sleeve L are in interference fit;

the executing mechanism F comprises a gear r, a gear s and a gear t which are arranged in a straight line shape and are sequentially meshed, the gear r, the gear s and the gear t are all arranged inside the gear box F, the other end of the rotating shaft p is sleeved at the center of the gear s, a rotating shaft t is arranged at the center of the gear r, bearings w are respectively sleeved at two ends of the rotating shaft t, a rotating shaft u is arranged at the center of the gear t, bearings x are respectively sleeved at two ends of the rotating shaft u, and the bearings x and the bearings w are both installed on the gear box F;

the actuating mechanism F also comprises a T-shaped supporting leg F, one end of the supporting leg F is connected with one end of a crank k through a revolute pair, and the other end of the crank k is fixedly connected with one end part of the rotating shaft T;

the other end of the supporting leg f is connected with one end of a crank L through a revolute pair, and the other end of the crank L is fixedly connected with one end of a rotating shaft u;

synchronous pulley d, gear n, rack B and pivot q all set up inside axle bed B, and motor B fixes on axle bed B, and axle bed B fixes in the backup pad bottom.

The speed reducer comprises a speed reducer box body, wherein a gear u, a gear v and a gear w are sequentially arranged on the speed reducer box body, a rotating shaft v is arranged at the center of the gear u, two ends of the rotating shaft v are respectively supported by bearings y, and a synchronous belt wheel e is arranged at one end of the rotating shaft v; a rotating shaft w is arranged at the center of the gear v, two ends of the rotating shaft w are respectively supported by a bearing z, and one end of the rotating shaft w is connected with a motor c; a rotating shaft x is arranged at the center of the gear w, and two ends of the rotating shaft x are respectively supported by bearings II; one end of the rotating shaft x is also provided with a synchronous belt pulley f;

the bearing y, the bearing z and the bearing II are all arranged on the reduction box body;

the synchronous belt wheel b is connected with the synchronous belt wheel a through a synchronous belt A; synchronous pulley C is connected with synchronous pulley e through synchronous belt B, and synchronous pulley f is connected with synchronous pulley d through synchronous belt C.

The robot for spraying the pesticide has the advantages that the robot technology is combined with agricultural machinery, many problems can be overcome, the foot type robot can reduce contact between the robot and crops, so that damage to the crops is reduced, the bearing capacity of the robot is larger, the adaptability is stronger, and the robot does not need to be manually and directly involved in work, so that the influence on human health is reduced while the working efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of a six-legged walking pesticide spraying robot of the invention;

FIG. 2 is a top view of a hexapod walking pesticide spraying robot of the present invention;

FIG. 3 is a front view of the bipedal walking mechanism A of FIG. 1;

FIG. 4 is an isometric view of the bipedal walker A of FIG. 3 with the axle seat A, gearbox A, and gearbox B removed and the actuator A side;

FIG. 5 is a side view of the bipedal walker A of FIG. 3 with the axle seat A, gearbox A, and gearbox B removed and the actuator B removed;

FIG. 6 is a schematic structural view of the rotating mechanism A in FIG. 3;

FIG. 7 is a schematic structural view of the rotating mechanism B in FIG. 3;

FIG. 8 is a front view of the bipedal walking mechanism B of FIG. 1;

FIG. 9 is an isometric view of the bipedal walker B of FIG. 8 with the gear case C and gear case D removed from the side of the actuator C;

FIG. 10 is an isometric view of the bipedal walker B of FIG. 8 from the side of the actuator D with the gear case C and the gear case D removed;

FIG. 11 is a front view of the bipedal walking mechanism C of FIG. 1;

FIG. 12 is an isometric view of the side of the actuator E with the axle seat B, gear case E, and gear case F removed from the bipedal walker C of FIG. 11;

FIG. 13 is an isometric view of the side of the actuator F of the bipedal walker C of FIG. 11 with the axle seat B, gear case E, and gear case F removed;

FIG. 14 is a schematic view of the structure of the rotating mechanism C in FIG. 11;

fig. 15 is a schematic structural view of the rotating mechanism D in fig. 11;

FIG. 16 is a schematic structural view of the retarder of FIG. 1;

FIG. 17 is a schematic view of a steering mechanism of a hexapod walking type pesticide spraying robot of the present invention;

fig. 18 is a schematic diagram of a walking motion mechanism of a hexapod walking type pesticide spraying robot.

In the figure, 1 is a water tank, 2 is a control cabinet, 3 is a spray pipe, and 4 is a support plate;

5. the double-foot walking mechanism comprises a double-foot walking mechanism A, 5-1, synchronous pulleys a, 5-2, rotating shafts a, 5-3, universal joints a, 5-4, rotating shafts b, 5-5, universal joints b, 5-6, rotating shafts c, 5-7, racks a, 5-8, gears a, 5-9, rotating shafts d, 5-10, a motor a, 5-11, connecting rods a, 5-12, oscillating rods a, 5-13, connecting rods b, 5-14, oscillating rods b, 5-15, a support a, 5-16, rib plates a, 5-17, rib plates b, 5-18, a sleeve a, 5-19, a sleeve b, 5-20, a support b, 5-21, rib plates c, 5-22 and rib plates d;

5-23. a rotating mechanism A, 5-23-1. a cylinder a, 5-23-2. a convex column a, 5-23-3. a convex column b, 5-23-4. a sleeve c;

5-24, an actuating mechanism A, 5-24-1, a gear b, 5-24-2, a gear c, 5-24-3, a gear d, 5-24-4, a gear box A, 5-24-5, a rotating shaft e, 5-24-6, a rotating shaft f, 5-24-7, a support leg a, 5-24-8, a crank a, 5-24-9 and a crank b;

5-25, sleeve d, 5-26, sleeve e,

5-27. rotating mechanism B, 5-27-1. cylinder B, 5-27-2. projection column c, 5-27-3. projection column d, 5-27-4. sleeve f

5-28, an actuator B, 5-28-1, a gear e, 5-28-2, a gear f, 5-28-3, a gear g, 5-28-4, a gear box B, 5-28-5, a rotating shaft g, 5-28-6, a rotating shaft h, 5-28-7, a support leg B, 5-28-8, a crank c, 5-28-9 and a crank d;

5-29 shaft seat A;

6. a double-foot walking mechanism B, 6-1, a rotating shaft I, 6-2, a synchronous belt pulley B, 6-3, a synchronous belt pulley C, 6-4, a supporting seat C,

6-5, an actuating mechanism C, 6-5-1, a gear h, 6-5-2, a gear I, 6-5-3, a gear J, 6-5-4, a rotating shaft J, 6-5-5, a rotating shaft k, 6-5-6, a supporting leg C, 6-5-7, a crank e, 6-5-8 and a crank f;

6-6, a supporting seat D is arranged on the supporting seat,

6-7, an actuating mechanism D, 6-7-1, a gear k, 6-7-2, a gear L, 6-7-3, a gear m, 6-7-4, a rotating shaft L, 6-7-5, a rotating shaft m, 6-7-6, a supporting leg D, 6-7-7, a crank g, 6-7-8 and a crank h;

6-8 through holes a, 6-9 through holes b, 6-10 synchronous belt wheels b, 6-11 synchronous belt wheels C, 6-12 gear boxes C, 6-13 gear boxes D;

7. the double-foot walking mechanism comprises a double-foot walking mechanism C, 7-1, a synchronous pulley d, 7-2, a rotating shaft n, 7-3, a universal joint C, 7-4, a rotating shaft o, 7-5, a universal joint d, 7-6, a rotating shaft p, 7-7, a rack b, 7-8, a gear n, 7-9, a rotating shaft q, 7-10, a motor b, 7-11, a connecting rod C, 7-12, a swing rod C, 7-13, a connecting rod d, 7-14, a swing rod d, 7-15, a support C, 7-16, a rib plate e, 7-17, a rib plate f, 7-18, a sleeve g, 7-19, a sleeve h, 7-20, a support d, 7-21, a rib plate g, 7-22 and a rib plate h;

7-23. a rotating mechanism C, 7-23-1. a cylinder C, 7-23-2. a convex column e, 7-23-3. a convex column f, 7-23-4. a sleeve I;

7-24, an actuator E, 7-24-1, a gear o, 7-24-2, a gear p, 7-24-3, a gear q, 7-24-4, a gear box E, 7-24-5, a rotating shaft r, 7-24-6, a rotating shaft s, 7-24-7, a support leg E, 7-24-8, a crank I, 7-24-9 and a crank J;

7-25, 7-26, sleeve k;

7-27. a rotating mechanism D, 7-27-1. a cylinder D, 7-27-2. a convex column g, 7-27-3. a convex column h, 7-27-4. a sleeve L;

7-28, an actuating mechanism F, 7-28-1, a gear r, 7-28-2, a gear s, 7-28-3, a gear t, 7-28-4, a gear box F, 7-28-5, a rotating shaft t, 7-28-6, a rotating shaft u, 7-28-7, a supporting leg F, 7-28-8, a crank k, 7-28-9 and a crank L;

7-29 shaft seat B;

8. the device comprises a speed reducer, 8-1, a speed reduction box body, 8-2, a gear u, 8-3, a gear v, 8-4, a gear w, 8-5, a rotating shaft v, 8-6, a rotating shaft w, 8-7, a rotating shaft x, 8-8, a synchronous belt wheel e, 8-9 and a synchronous belt wheel f;

9. synchronous belts A, 10, B, 11, C, 12, motors C and 13 and pipelines.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The invention discloses a six-foot walking type pesticide spraying robot which is structurally shown in figures 1 and 2 and comprises a horizontally arranged supporting plate 4, wherein a water tank 1 is arranged above the supporting plate 4, a water pump is arranged inside the water tank 1, at least one spray pipe 3 is arranged at the top of the water tank 1, each spray pipe 3 is connected with the water pump through a pipeline 13, a six-foot walking mechanism is arranged below the supporting plate 4, and the six-foot walking mechanism and the water pump are controlled through a control cabinet 2. The pipe 13 is connected to the inside of each spray pipe 3 so that the agricultural chemicals pumped out through the water pump from the pipe 13 are sprayed out from each spray pipe 3.

Wherein the number of the spray pipes 3 is three, the three spray pipes 3 are arranged at 120 degrees between every two spray pipes, the spray pipes 3 are bent, and the bending angle is 120-150 degrees.

The six-foot walking mechanism comprises a double-foot walking mechanism A5, a double-foot walking mechanism B6 and a double-foot walking mechanism C7 which are sequentially arranged along the horizontal direction, the double-foot walking mechanism A5, the double-foot walking mechanism B6 and the double-foot walking mechanism C7 are arranged below the supporting plate 4 in a straight line shape, the double-foot walking mechanism A5 is connected with the double-foot walking mechanism B6 through a synchronous belt A9, the double-foot walking mechanism B6 is connected with a speed reducer 8 through a synchronous belt B10, and the speed reducer 8 is connected with the double-foot walking mechanism C7 through a synchronous belt C11.

As shown in fig. 3 to 7, the biped walking mechanism a5 includes a synchronous pulley a5-1, a rotating shaft a5-2 is sleeved at the center of the synchronous pulley a5-1, one end of the rotating shaft a5-2 is connected with one end of a rotating shaft b5-4 through a universal joint a5-3, the other end of the rotating shaft b5-4 passes through a rotating mechanism a5-23 to be connected with an executing mechanism a5-24, and the rotating mechanism a5-23 is installed on the supporting seat a; the other end of the rotating shaft a5-2 is connected with one end of a rotating shaft c5-6 through a universal joint B5-5, the other end of the rotating shaft c5-6 penetrates through a rotating mechanism B5-27 to be connected with an executing mechanism B5-28, a rotating mechanism B5-27 is installed on a supporting seat B, and the supporting seat B and the supporting seat A are arranged oppositely and are fixed at the bottom of the supporting plate 4;

the biped walking mechanism A5 further comprises a rack a5-7 which is horizontally arranged, the rack a5-7 is meshed with a gear a5-8, the center of the gear a5-8 is sleeved with a rotating shaft d5-9, and one end of the rotating shaft d5-9 is connected with a motor a 5-10; one end of the rack a5-7 is connected with one end of a connecting rod a5-11, the other end of the connecting rod a5-11 is connected with one end of a swinging rod a5-12, and the other end of the swinging rod a5-12 is connected with a rotating mechanism A5-23; the other end of the rack a5-7 is connected with one end of a connecting rod B5-13, the other end of the connecting rod B5-13 is connected with one end of a swinging rod B5-14, and the other end of the swinging rod B5-14 is connected with a rotating mechanism B5-27;

the joint of one end of the rack a5-7 and the connecting rod a5-11, the joint of the connecting rod a5-11 and the swing rod a5-12, the joint of the other end of the rack a5-7 and the connecting rod b5-13, and the joint of the connecting rod b5-13 and the swing rod b5-14 are connected through revolute pairs.

The supporting seat A comprises a vertically inverted U-shaped support a5-15, the upper end and the lower end of the support a5-15 are respectively provided with a ribbed plate a5-16 and a ribbed plate b5-17 which are parallel to each other, the lower surface of the ribbed plate a5-16 is provided with a sleeve a5-18, a bearing a is coaxially arranged inside the sleeve a5-18, the upper surface of the ribbed plate b5-17 is provided with a sleeve b5-19, a bearing b is coaxially arranged inside the sleeve b5-19, the ribbed plate a5-16 and the ribbed plate b5-17 are both perpendicular to the support a5-15, and a rotating mechanism A5-23 is positioned between the ribbed plate a5-16 and the ribbed plate b 5-17;

the rotating mechanism A5-23 comprises a hollow cylinder a5-23-1 which is horizontally arranged and has two unsealed ends, the other end of a rotating shaft b5-4 penetrates through the center of the cylinder a5-23-1 and is connected with the actuating mechanism A5-24, the upper surface and the lower surface of the cylinder a5-23-1 are respectively provided with a convex column a5-23-2 and a convex column b5-23-3, the convex column a5-23-2 is coaxial with the convex column b5-23-3, the convex column a5-23-2 is sleeved in a bearing a, the convex column b5-23-3 is sleeved in a bearing b, the side surface of the cylinder a5-23-1 is provided with a sleeve c5-23-4, the other end of a swing rod a5-12 is sleeved in the sleeve c5-23-4, and the fit mode of the swing rod a5-12 and the sleeve c5-23-4 is interference fit (namely, the swing rod a 5-23-4 is interference fit The other end of 12 is fastened in the sleeve c 5-23-4);

the actuating mechanism A5-24 comprises a gear b5-24-1, a gear c5-24-2 and a gear d5-24-3 which are arranged in a straight line shape and are meshed in sequence, the gear b5-24-1, the gear c5-24-2 and the gear d5-24-3 are all arranged inside the gear box A5-24-4, the other end of the rotating shaft b5-4 is sleeved at the center of the gear c5-24-2, the rotating shaft e5-24-5 is arranged at the center of the gear b5-24-1, bearings c are respectively sleeved at two ends of the rotating shaft e5-24-5, a rotating shaft f5-24-6 is arranged at the center of the gear d5-24-3, bearings d are respectively sleeved at two ends of the rotating shaft f5-24-6, and the bearings c and the bearings d are all mounted on the gear box A5-24-4;

the actuator A5-24 also comprises a T-shaped supporting leg a5-24-7, one end (horizontal rod) of the supporting leg a5-24-7 is connected with one end of a crank a5-24-8 through a revolute pair, and the other end of the crank a5-24-8 is fixedly connected with one end of a rotating shaft e 5-24-5;

the other end of the supporting leg a5-24-7 (horizontal rod) is connected with one end of a crank b5-24-9 through a revolute pair, and the other end of the crank b5-24-9 is fixedly connected with one end of a rotating shaft f 5-24-6;

the support seat B comprises a vertically inverted U-shaped support B5-20, the upper end and the lower end of the support B5-20 are respectively provided with a ribbed plate c5-21 and a ribbed plate d5-22 which are parallel to each other, the lower surface of the ribbed plate c5-21 is provided with a sleeve d5-25, a bearing e is coaxially arranged inside the sleeve d5-25, the upper surface of the ribbed plate d5-22 is provided with a sleeve e5-26, a bearing f is coaxially arranged inside the sleeve e5-26, the ribbed plate c5-21 and the ribbed plate d5-22 are both perpendicular to the support B5-20, and the rotating mechanism B5-27 is located between the ribbed plate c5-21 and the ribbed plate d 5-22;

the rotating mechanism B5-27 comprises a hollow cylinder B5-27-1 which is horizontally arranged and has two unsealed ends, the other end of a rotating shaft c5-6 penetrates through the center of the cylinder B5-27-1 and is connected with an actuating mechanism B5-28, the upper surface and the lower surface of the cylinder B5-27-1 are respectively provided with a convex column c5-27-2 and a convex column d5-27-3, the convex column c5-27-2 and the convex column d5-27-3 are coaxial, the convex column c5-27-2 is sleeved in a bearing e, the convex column d5-27-3 is sleeved in the bearing f, the side surface of the cylinder b5-27-1 is provided with a sleeve f5-27-4, the other end of the swing rod b5-14 is sleeved in the sleeve f5-27-4, the swing rod b5-14 is in interference fit with the sleeve f 5-27-4;

the actuating mechanism B comprises a gear e5-28-1, a gear f5-28-2 and a gear g5-28-3 which are arranged in a straight line shape and are meshed in sequence, the gear e5-28-1, the gear f5-28-2 and the gear g5-28-3 are all arranged inside the gear box B5-28-4, the other end of the rotating shaft c5-6 is sleeved at the center of the gear f5-28-2, the rotating shaft g5-28-5 is arranged at the center of the gear e5-28-1, bearings g are respectively sleeved at two ends of the rotating shaft g5-28-5, a rotating shaft h5-28-6 is arranged at the center of the gear g5-28-3, bearings h are respectively sleeved at two ends of the rotating shaft h5-28-6, and the bearings g and the bearings h are all installed on the gear box B5-28-4;

the actuating mechanism B also comprises a T-shaped supporting leg B5-28-7, one end (horizontal rod) of the supporting leg B5-28-7 is connected with one end of a crank c5-28-8 through a revolute pair, and the other end of the crank c5-28-8 is fixedly connected with one end of a rotating shaft g 5-28-5;

the other end of the supporting leg b5-28-7 is connected with one end of a crank d5-28-9 through a revolute pair, and the other end of the crank d5-28-9 is fixedly connected with one end of a rotating shaft h 5-28-6;

a synchronous pulley a5-1, a gear a5-8, a rack a5-7 and a rotating shaft d5-9 are all arranged inside a shaft seat A5-29, a motor a5-10 is fixed on the shaft seat A5-29, and the shaft seat A5-29 is fixed at the bottom of the supporting plate 4.

As shown in fig. 8 to 10, the biped walking mechanism B6 includes a rotating shaft I6-1, a synchronous pulley B6-2 and a synchronous pulley C6-3 are respectively sleeved on the rotating shaft I6-1, the synchronous pulley B6-2 is located in the middle of the rotating shaft I6-1, the synchronous pulley C6-3 is disposed near one end of the rotating shaft I6-1, one end of the rotating shaft I6-1 passes through a through hole a6-8 on a supporting seat C6-4 to be connected with an executing mechanism C6-5, the other end of the rotating shaft I6-1 passes through a through hole B6-9 on a supporting seat D6-6 to be connected with an executing mechanism D6-7, and the supporting seat C6-4 and the supporting seat D6-6 are disposed opposite to each other and fixed at the bottom of the supporting plate 4;

the actuating mechanism C6-5 comprises a gear h6-5-1, a gear I6-5-2 and a gear J6-5-3 which are arranged in a straight line shape and are meshed in sequence, the gear h6-5-1, the gear I6-5-2 and the gear J6-5-3 are all arranged inside a gear box C6-12, one end of a rotating shaft I6-1 is sleeved at the center of a gear I6-5-2, a rotating shaft J6-5-4 is arranged at the center of a gear h6-5-1, bearings I are respectively sleeved at two ends of the rotating shaft J6-5-4, a rotating shaft k6-5-5 is arranged at the center of a gear J6-5-3, bearings J are respectively sleeved at two ends of the rotating shaft k6-5-5, and the bearings I and the bearings J are all arranged on the gear box C6-12;

the executing mechanism C6-5 further comprises a T-shaped supporting leg C6-5-6, one end of the supporting leg C6-5-6 (a horizontal rod) is connected with one end of a crank e6-5-7 through a revolute pair, and the other end of the crank e6-5-7 is fixedly connected with one end of a rotating shaft J6-5-4;

the other end of the supporting leg c6-5-6 (horizontal rod) is connected with one end of a crank f6-5-8 through a revolute pair, and the other end of the crank f6-5-8 is fixedly connected with the end part of one end of a rotating shaft k 6-5-5;

the actuating mechanism D6-7 comprises a gear k6-7-1, a gear L6-7-2 and a gear m6-7-3 which are arranged in a straight line shape and are meshed in sequence, the gear k6-7-1, the gear L6-7-2 and the gear m6-7-3 are all arranged inside the gear box D6-13, the other end of the rotating shaft I6-1 is sleeved at the center of the gear L6-7-2, the rotating shaft L6-7-4 is arranged at the center of the gear k6-7-1, bearings k are respectively sleeved at two ends of the rotating shaft L6-7-4, the rotating shaft m6-7-5 is arranged at the center of the gear m6-7-3, bearings L are respectively sleeved at two ends of the rotating shaft m6-7-5, and the bearings k and the bearings L are all arranged on the gear box D6-13;

the executing mechanism D6-7 further comprises a T-shaped supporting leg D6-7-6, one end of the supporting leg D6-7-6 (horizontal rod) is connected with one end of a crank g6-7-7 through a revolute pair, and the other end of the crank g6-7-7 is fixedly connected with one end of a rotating shaft L6-7-4;

the other end of the supporting leg d6-7-6 (horizontal rod) is connected with one end of a crank h6-7-8 through a revolute pair, and the other end of the crank h6-7-8 is fixedly connected with one end of a rotating shaft m 6-7-5.

As shown in fig. 11 to 15, the biped walking mechanism C7 includes a synchronous pulley d7-1, a rotating shaft n7-2 is sleeved at the center of the synchronous pulley d7-1, one end of the rotating shaft n7-2 is connected with one end of a rotating shaft o7-4 through a universal joint C7-3, the other end of the rotating shaft o7-4 passes through a rotating mechanism C7-23 to be connected with an executing mechanism E7-24, and the rotating mechanism C7-23 is installed on the supporting seat E; the other end of the rotating shaft n7-2 is connected with one end of a rotating shaft p7-6 through a universal joint D7-5, the other end of the rotating shaft p7-6 penetrates through a rotating mechanism D7-27 to be connected with an executing mechanism F7-28, the rotating mechanism D7-27 is installed on a supporting seat F, and the supporting seat E and the supporting seat F are arranged oppositely and are fixed at the bottom of the supporting plate 4;

the biped walking mechanism C7 further comprises a rack b7-7 which is horizontally arranged, the rack b7-7 is meshed with a gear n7-8, the center of the gear n7-8 is sleeved with a rotating shaft q7-9, and one end of the rotating shaft q7-9 is connected with a motor b 7-10; one end of the rack b7-7 is connected with one end of a connecting rod C7-11, the other end of the connecting rod C7-11 is connected with one end of a swinging rod C7-12, and the other end of the swinging rod C7-12 is connected with a rotating mechanism C7-23; the other end of the rack b7-7 is connected with one end of a connecting rod D7-13, the other end of the connecting rod D7-13 is connected with one end of a swinging rod D7-14, and the other end of the swinging rod D7-14 is connected with a rotating mechanism D7-27;

wherein the joint of one end of the rack b7-7 and the connecting rod c7-11, the joint of the connecting rod c7-11 and the swing rod c7-12, the joint of the other end of the rack b7-7 and the connecting rod d7-13, and the joint of the connecting rod d7-13 and the swing rod d7-14 are connected through revolute pairs.

The support seat E comprises a vertically inverted U-shaped support C7-15, the upper end and the lower end of the support C7-15 are respectively provided with a ribbed plate E7-16 and a ribbed plate f7-17 which are parallel to each other, the lower surface of the ribbed plate E7-16 is provided with a sleeve g7-18, a bearing m is coaxially arranged inside the sleeve g7-18, the upper surface of the ribbed plate f7-17 is provided with a sleeve h7-19, a bearing n is coaxially arranged inside the sleeve h7-19, the ribbed plate E7-16 and the ribbed plate f7-17 are both perpendicular to the support C7-15, and the rotating mechanism C7-23 is positioned between the ribbed plate E7-16 and the ribbed plate f 7-17;

the rotating mechanism C7-23 comprises a hollow cylinder C7-23-1 which is horizontally arranged and has two unsealed ends, the other end of a rotating shaft o7-4 penetrates through the center of the cylinder C7-23-1 and is connected with an actuating mechanism E7-24, the upper surface and the lower surface of the cylinder C7-23-1 are respectively provided with a convex column E7-23-2 and a convex column f7-23-3, the convex column E7-23-2 is coaxial with the convex column f7-23-3, the convex column E7-23-2 is sleeved in a bearing o, the convex column f7-23-3 is sleeved in the bearing p, the side surface of the cylinder c7-23-1 is provided with a sleeve I7-23-4, the other end of the swing rod c7-12 is sleeved in the sleeve I7-23-4, the swing rod c7-12 is in interference fit with the sleeve I7-23-4;

the actuating mechanism E7-24 comprises a gear o7-24-1, a gear p7-24-2 and a gear q7-24-3 which are arranged in a straight line shape and are meshed in sequence, the gear o7-24-1, the gear p7-24-2 and the gear q7-24-3 are all arranged inside the gear box E7-24-4, the other end of the rotating shaft o7-4 is sleeved at the center of the gear p7-24-2, the rotating shaft r7-24-5 is arranged at the center of the gear o7-24-1, bearings q are respectively sleeved at two ends of the rotating shaft r7-24-5, a rotating shaft s7-24-6 is arranged at the center of the gear q7-24-3, bearings r are respectively sleeved at two ends of the rotating shaft s7-24-6, and the bearings r and the bearings q are all arranged on the gear box E7-24-4;

the actuating mechanism E7-24 further comprises a T-shaped supporting leg E7-24-7, one end of the supporting leg E7-24-7 (horizontal rod) is connected with one end of a crank I7-24-8 through a revolute pair, and the other end of the crank I7-24-8 is fixedly connected with one end of a rotating shaft r 7-24-5;

the other end of the supporting leg e7-24-7 (horizontal rod) is connected with one end of a crank J7-24-9 through a revolute pair, and the other end of the crank J7-24-9 is fixedly connected with one end of a rotating shaft s 7-24-6;

the support seat F comprises a vertically inverted U-shaped support D7-20, the upper end and the lower end of the support D7-20 are respectively provided with a ribbed plate g7-21 and a ribbed plate h7-22 which are parallel to each other, the lower surface of the ribbed plate g7-21 is provided with a sleeve J7-25, a bearing s is coaxially arranged inside the sleeve J7-25, the upper surface of the ribbed plate h7-22 is provided with a sleeve k7-26, a bearing t is coaxially arranged inside the sleeve k7-26, the ribbed plate g7-21 and the ribbed plate h7-22 are both vertical to the support D7-20, and a rotating mechanism D7-27 is positioned between the ribbed plate g7-21 and the ribbed plate h 7-22;

the rotating mechanism D7-27 comprises a hollow cylinder D7-27-1 which is horizontally arranged and has two unsealed ends, the other end of a rotating shaft p7-6 penetrates through the center of the cylinder D7-27-1 and is connected with an actuating mechanism F7-28, the upper surface and the lower surface of the cylinder D7-27-1 are respectively provided with a convex column g7-27-2 and a convex column h7-27-3, the convex column g7-27-2 is coaxial with the convex column h7-27-3, the convex column g7-27-2 is sleeved in a bearing u, the convex column h7-27-3 is sleeved in the bearing v, the side surface of the cylinder d7-27-1 is provided with a sleeve L7-27-4, the other end of the swing rod d7-14 is sleeved in the sleeve L7-27-4, the swing rod d7-14 and the sleeve L7-27-4 are in interference fit;

the actuating mechanism F7-28 comprises a gear r7-28-1, a gear s7-28-2 and a gear t7-28-3 which are arranged in a straight line shape and are meshed in sequence, the gear r7-28-1, the gear s7-28-2 and the gear t7-28-3 are all arranged inside the gear box F7-28-4, the other end of the rotating shaft p7-6 is sleeved at the center of the gear s7-28-2, the rotating shaft t7-28-5 is arranged at the center of the gear r7-28-1, bearings w are respectively sleeved at two ends of the rotating shaft t7-28-5, a rotating shaft u7-28-6 is arranged at the center of the gear t7-28-3, bearings x are respectively sleeved at two ends of the rotating shaft u7-28-6, and the bearings x and the bearings w are both mounted on the gear box F7-28-4;

the actuating mechanism F7-28 further comprises a T-shaped supporting leg F7-28-7, one end of the supporting leg F7-28-7 (horizontal rod) is connected with one end of a crank k7-28-8 through a revolute pair, and the other end of the crank k7-28-8 is fixedly connected with one end of a rotating shaft T7-28-5;

the other end of the supporting leg f7-28-7 (horizontal rod) is connected with one end of a crank L7-28-9 through a revolute pair, and the other end of the crank L7-28-9 is fixedly connected with the end part of one end of a rotating shaft u 7-28-6;

a synchronous pulley d7-1, a gear n7-8, a rack B7-7 and a rotating shaft q7-9 are all arranged inside a shaft seat B7-29, a motor B7-10 is fixed on the shaft seat B7-29, and the shaft seat B7-29 is fixed at the bottom of the supporting plate 4.

As shown in fig. 16, the reducer 8 comprises a reducer case 8-1, the reducer case 8-1 is sequentially provided with a gear u8-2, a gear v8-3 and a gear w8-4, a rotating shaft v8-5 is arranged at the center of the gear u8-2, two ends of the rotating shaft v8-5 are respectively supported by a bearing y, and one end of the rotating shaft v8-5 is provided with a synchronous pulley e 8-8; a rotating shaft w8-6 is arranged at the center of the gear v8-3, two ends of the rotating shaft w8-6 are respectively supported by a bearing z, and one end of the rotating shaft w8-6 is connected with a motor c 12; a rotating shaft x8-7 is arranged at the center of the gear w8-4, and two ends of the rotating shaft x8-7 are respectively supported by bearings II; one end of the rotating shaft x8-7 is also provided with a synchronous pulley f 8-9;

the bearing y, the bearing z and the bearing II are all arranged on the reduction box body 8-1;

the synchronous pulley b6-2 is connected with a synchronous pulley a5-1 through a synchronous belt A9; synchronous pulley C6-3 is connected with synchronous pulley e8-8 through synchronous belt B10, and synchronous pulley f8-9 is connected with synchronous pulley d7-1 through synchronous belt C11.

The motor a5-10 and the motor b7-10 are stepping motors.

The invention relates to a six-foot walking pesticide spraying robot, which comprises the following working processes: starting a motor c12, enabling a rotating shaft w8-6 to rotate, enabling a gear v8-3 to rotate along with the rotating shaft w8-6, enabling the gear v8-3 to be simultaneously meshed with a gear u8-2 and a gear w8-4, enabling the gear u8-2 to drive a biped walking mechanism B6 to rotate through a synchronous belt B10, and enabling the biped walking mechanism B6 to drive a biped walking mechanism A5 to rotate through a synchronous belt A9; the gear w8-4 drives the biped walking mechanism C7 to run through a synchronous belt C11; the water pump is started, the water pump pumps water from the water tank 1, the pesticide is mixed in the water tank 1 in advance, the pesticide is pumped out of the water tank 1 and sprayed out of the spray pipe 3 after the water pump is started, and the pesticide can be uniformly sprayed in the field without damaging crops through the operation of the six-foot walking mechanism in the pesticide spraying process.

The invention relates to a six-legged walking type pesticide spraying robot, which mainly adopts walking and steering, wherein the steering principle adopts three-axis steering, when the robot steers, as shown in figure 17, the midperpendicular of an executing mechanism A5-24, an executing mechanism B5-25, an executing mechanism C6-5, an executing mechanism D6-7, an executing mechanism E7-24 and an executing mechanism F7-28 simultaneously passes through a point O, namely the motion trail of the executing mechanism A5-24 (supporting leg a5-24-7), the executing mechanism B5-25 (supporting leg B5-28-7), the executing mechanism C6-5 (supporting leg C6-5-6), the executing mechanism D6-7 (supporting leg D6-7-6), the executing mechanism E7-24 (supporting leg E7-24-7) and the executing mechanism F7-28 (F7-28-7), all on a circular arc centered on this point O; in the walking process of the robot, the supporting leg a5-24-7, the supporting leg d6-7-6 and the supporting leg e7-24-7 move synchronously, the supporting leg b5-28-7, the supporting leg c6-5-6 and the supporting leg f7-28-7 move synchronously, the movement process of the supporting leg a5-24-7 and the movement process of the supporting leg c6-5-6 are different by a half period, namely, in the process of pedaling and landing the leg a5-24-7, the leg c6-5-6 is just lifting the leg, this movement ensures that at least three legs are grounded at the same time during the movement and that these three legs form a triangular support area, see figure 18, during design, if the gravity center of the robot is always in the crossing range of the two triangles (the shaded area in FIG. 18), the balance of the robot in the walking process is ensured; when the robot walks, the rotation directions of the motor a5-10 and the motor b7-10 are opposite;

the control process of the robot is simple, the motors a5-10, b7-10, c12 and the water pump are controlled independently, the motor c12 is a direct current motor, the starting, stopping, accelerating and decelerating of the robot can be realized by controlling the positive and negative rotation and the output rotating speed of the motor c12, the rotating angles with equal size and opposite directions are controlled by controlling the motors a5-10 and b7-10, the steering of the robot can be realized, and the water outlet of the spray pipe 3 can be controlled by controlling the switch of the water pump.

Claims (5)

1. The utility model provides a six sufficient walking pesticide spraying robot which characterized in that: the device comprises a horizontally arranged support plate (4), a water tank (1) is arranged above the support plate (4), a water pump is arranged in the water tank (1), at least one spray pipe (3) is arranged at the top of the water tank (1), each spray pipe (3) is connected with the water pump through a pipeline (13), and a six-foot walking mechanism is arranged below the support plate (4);

the six-foot walking mechanism comprises a double-foot walking mechanism A (5), a double-foot walking mechanism B (6) and a double-foot walking mechanism C (7) which are sequentially arranged along the horizontal direction, the double-foot walking mechanism A (5), the double-foot walking mechanism B (6) and the double-foot walking mechanism C (7) are arranged below the supporting plate (4) in a straight line shape, the double-foot walking mechanism A (5) is connected with the double-foot walking mechanism B (6) through a synchronous belt A (9), the double-foot walking mechanism B (6) is connected with a speed reducer (8) through a synchronous belt B (10), and the speed reducer (8) is connected with the double-foot walking mechanism C (7) through a synchronous belt C (11);

the double-foot walking mechanism A (5) comprises a synchronous belt wheel a (5-1), a rotating shaft a (5-2) is sleeved at the center of the synchronous belt wheel a (5-1), one end of the rotating shaft a (5-2) is connected with one end of a rotating shaft b (5-4) through a universal joint a (5-3), the other end of the rotating shaft b (5-4) penetrates through a rotating mechanism A (5-23) to be connected with an executing mechanism A (5-24), and the rotating mechanism A (5-23) is installed on a supporting seat A; the other end of the rotating shaft a (5-2) is connected with one end of a rotating shaft c (5-6) through a universal joint B (5-5), the other end of the rotating shaft c (5-6) penetrates through a rotating mechanism B (5-27) to be connected with an executing mechanism B (5-28), the rotating mechanism B (5-27) is installed on a supporting seat B, and the supporting seat B and the supporting seat A are arranged oppositely and fixed at the bottom of the supporting plate (4);

the double-foot walking mechanism A (5) further comprises a rack a (5-7) which is horizontally arranged, the rack a (5-7) is meshed with a gear a (5-8), a rotating shaft d (5-9) is sleeved at the center of the gear a (5-8), and one end of the rotating shaft d (5-9) is connected with a motor a (5-10); one end of the rack a (5-7) is connected with one end of a connecting rod a (5-11), the other end of the connecting rod a (5-11) is connected with one end of a swinging rod a (5-12), and the other end of the swinging rod a (5-12) is connected with a rotating mechanism A (5-23); the other end of the rack a (5-7) is connected with one end of a connecting rod B (5-13), the other end of the connecting rod B (5-13) is connected with one end of a swing rod B (5-14), and the other end of the swing rod B (5-14) is connected with a rotating mechanism B (5-27);

the joint of one end of the rack a (5-7) and the connecting rod a (5-11), the joint of the connecting rod a (5-11) and the swing rod a (5-12), the joint of the other end of the rack a (5-7) and the connecting rod b (5-13), and the joint of the connecting rod b (5-13) and the swing rod b (5-14) are connected through revolute pairs;

the number of the spray pipes (3) is three, and every two of the three spray pipes (3) are arranged at an angle of 120 degrees;

the supporting seat A comprises a vertically inverted U-shaped support a (5-15), the upper end and the lower end of the support a (5-15) are respectively provided with a ribbed plate a (5-16) and a ribbed plate b (5-17) which are parallel to each other, the lower surface of the ribbed plate a (5-16) is provided with a sleeve a (5-18), a bearing a is coaxially arranged inside the sleeve a (5-18), the upper surface of the ribbed plate b (5-17) is provided with a sleeve b (5-19), a bearing b is coaxially arranged inside the sleeve b (5-19), the ribbed plate a (5-16) and the ribbed plate b (5-17) are both vertical to the support a (5-15), and a rotating mechanism A (5-23) is positioned between the ribbed plate a (5-16) and the ribbed plate b (5-17);

the rotating mechanism A (5-23) comprises a hollow cylinder a (5-23-1) which is horizontally arranged and has two unsealed ends, the other end of a rotating shaft b (5-4) penetrates through the center of the cylinder a (5-23-1) and is connected with the actuating mechanism A (5-24), the upper surface and the lower surface of the cylinder a (5-23-1) are respectively provided with a convex column a (5-23-2) and a convex column b (5-23-3), the convex column a (5-23-2) and the convex column b (5-23-3) are coaxial, the convex column a (5-23-2) is sleeved in the bearing a, the convex column b (5-23-3) is sleeved in the bearing b, the side surface of the cylinder a (5-23-1) is provided with a sleeve c (5-23-4), the other end of the swing rod a (5-12) is sleeved in the sleeve c (5-23-4), and the fit mode of the swing rod a (5-12) and the sleeve c (5-23-4) is interference fit;

the actuating mechanism A (5-24) comprises a gear b (5-24-1), a gear c (5-24-2) and a gear d (5-24-3) which are arranged in a straight line shape and sequentially meshed, the gear b (5-24-1), the gear c (5-24-2) and the gear d (5-24-3) are all arranged inside the gear box A (5-24-4), the other end of the rotating shaft b (5-4) is sleeved at the center of the gear c (5-24-2), a rotating shaft e (5-24-5) is arranged at the center of the gear b (5-24-1), two ends of the rotating shaft e (5-24-5) are respectively sleeved with a bearing c, a rotating shaft f (5-24-6) is arranged at the center of the gear d (5-24-3), two ends of the rotating shaft f (5-24-6) are respectively sleeved with a bearing d, and the bearing c and the bearing d are both arranged on the gear box A (5-24-4);

the executing mechanism A (5-24) further comprises a T-shaped supporting leg a (5-24-7), one end of the supporting leg a (5-24-7) is connected with one end of a crank a (5-24-8) through a revolute pair, and the other end of the crank a (5-24-8) is fixedly connected with one end of a rotating shaft e (5-24-5);

the other end of the supporting leg a (5-24-7) is connected with one end of a crank b (5-24-9) through a revolute pair, and the other end of the crank b (5-24-9) is fixedly connected with one end of a rotating shaft f (5-24-6);

the supporting seat B comprises a vertically inverted U-shaped support B (5-20), the upper end and the lower end of the support B (5-20) are respectively provided with a ribbed plate c (5-21) and a ribbed plate d (5-22) which are parallel to each other, the lower surface of the ribbed plate c (5-21) is provided with a sleeve d (5-25), a bearing e is coaxially arranged inside the sleeve d (5-25), the upper surface of the ribbed plate d (5-22) is provided with a sleeve e (5-26), a bearing f is coaxially arranged inside the sleeve e (5-26), the ribbed plate c (5-21) and the ribbed plate d (5-22) are both vertical to the support B (5-20), and a rotating mechanism B (5-27) is positioned between the ribbed plate c (5-21) and the ribbed plate d (5-22);

the rotating mechanism B (5-27) comprises a hollow cylinder B (5-27-1) which is horizontally arranged and has two unsealed ends, the other end of a rotating shaft c (5-6) penetrates through the center of the cylinder B (5-27-1) and is connected with the actuating mechanism B (5-28), the upper surface and the lower surface of the cylinder B (5-27-1) are respectively provided with a convex column c (5-27-2) and a convex column d (5-27-3), the convex column c (5-27-2) and the convex column d (5-27-3) are coaxial, the convex column c (5-27-2) is sleeved in a bearing e, the convex column d (5-27-3) is sleeved in a bearing f, the side surface of the cylinder B (5-27-1) is provided with a sleeve f (5-27-4), the other end of the swing rod b (5-14) is sleeved in the sleeve f (5-27-4), and the fit mode of the swing rod b (5-14) and the sleeve f (5-27-4) is interference fit;

the actuating mechanism B (5-28) comprises a gear e (5-28-1), a gear f (5-28-2) and a gear g (5-28-3) which are arranged in a straight line shape and are sequentially meshed, the gear e (5-28-1), the gear f (5-28-2) and the gear g (5-28-3) are all arranged inside the gear box B (5-28-4), the other end of the rotating shaft c (5-6) is sleeved at the center of the gear f (5-28-2), the rotating shaft g (5-28-5) is arranged at the center of the gear e (5-28-1), two ends of the rotating shaft g (5-28-5) are respectively sleeved with a bearing g, the rotating shaft h (5-28-6) is arranged at the center of the gear g (5-28-3), two ends of the rotating shaft h (5-28-6) are respectively sleeved with a bearing h, and the bearing g and the bearing h are both arranged on the gear box B (5-28-4);

the executing mechanism B (5-28) further comprises a T-shaped supporting leg B (5-28-7), one end of the supporting leg B (5-28-7) is connected with one end of a crank c (5-28-8) through a revolute pair, and the other end of the crank c (5-28-8) is fixedly connected with one end of a rotating shaft g (5-28-5);

the other end of the supporting leg b (5-28-7) is connected with one end of a crank d (5-28-9) through a revolute pair, and the other end of the crank d (5-28-9) is fixedly connected with one end of a rotating shaft h (5-28-6);

the synchronous pulley a (5-1), the gear a (5-8), the rack a (5-7) and the rotating shaft d (5-9) are all arranged inside the shaft seat A (5-29), the motor a (5-10) is fixed on the shaft seat A (5-29), and the shaft seat A (5-29) is fixed at the bottom of the supporting plate (4).

2. The hexapod walking pesticide spraying robot of claim 1, wherein: the double-foot walking mechanism B (6) comprises a rotating shaft I (6-1), a synchronous belt wheel B (6-2) and a synchronous belt wheel C (6-3) are respectively sleeved on the rotating shaft I (6-1), the synchronous belt wheel B (6-2) is positioned in the middle of the rotating shaft I (6-1), the synchronous belt wheel C (6-3) is arranged at one end close to the rotating shaft I (6-1), one end of the rotating shaft I (6-1) penetrates through a through hole a (6-8) in a supporting seat C (6-4) to be connected with an executing mechanism C (6-5), the other end of the rotating shaft I (6-1) penetrates through a through hole B (6-9) in the supporting seat D (6-6) to be connected with the executing mechanism D (6-7), and the supporting seat C (6-4) and the supporting seat D (6-6) are oppositely arranged and fixed at the bottom of the supporting seat (4);

the executing mechanism C (6-5) comprises a gear h (6-5-1), a gear I (6-5-2) and a gear J (6-5-3) which are arranged in a straight line shape and are sequentially meshed, the gear h (6-5-1), the gear I (6-5-2) and the gear J (6-5-3) are all arranged inside the gear box C (6-12), one end of the rotating shaft I (6-1) is sleeved at the center of the gear I (6-5-2), the rotating shaft J (6-5-4) is arranged at the center of the gear h (6-5-1), two ends of the rotating shaft J (6-5-4) are respectively sleeved with a bearing I, a rotating shaft k (6-5-5) is arranged at the center of the gear J (6-5-3), two ends of the rotating shaft k (6-5-5) are respectively sleeved with a bearing J, and the bearing I and the bearing J are both arranged on the gear box C (6-12);

the executing mechanism C (6-5) further comprises a T-shaped supporting leg C (6-5-6), one end of the supporting leg C (6-5-6) is connected with one end of a crank e (6-5-7) through a revolute pair, and the other end of the crank e (6-5-7) is fixedly connected with one end of a rotating shaft J (6-5-4);

the other end of the supporting leg c (6-5-6) is connected with one end of a crank f (6-5-8) through a revolute pair, and the other end of the crank f (6-5-8) is fixedly connected with one end of a rotating shaft k (6-5-5);

the executing mechanism D (6-7) comprises a gear k (6-7-1), a gear L (6-7-2) and a gear m (6-7-3) which are arranged in a straight line shape and are sequentially meshed, the gear k (6-7-1), the gear L (6-7-2) and the gear m (6-7-3) are all arranged inside the gear box D (6-13), the other end of the rotating shaft I (6-1) is sleeved at the center of the gear L (6-7-2), a rotating shaft L (6-7-4) is arranged at the center of the gear k (6-7-1), two ends of the rotating shaft L (6-7-4) are respectively sleeved with a bearing k, a rotating shaft m (6-7-5) is arranged at the center of the gear m (6-7-3), two ends of the rotating shaft m (6-7-5) are respectively sleeved with a bearing L, and the bearing k and the bearing L are both arranged on the gear box D (6-13);

the executing mechanism D (6-7) further comprises a T-shaped supporting leg D (6-7-6), one end of the supporting leg D (6-7-6) is connected with one end of a crank g (6-7-7) through a revolute pair, and the other end of the crank g (6-7-7) is fixedly connected with one end of a rotating shaft L (6-7-4);

the other end of the supporting leg d (6-7-6) is connected with one end of a crank h (6-7-8) through a revolute pair, and the other end of the crank h (6-7-8) is fixedly connected with one end part of the rotating shaft m (6-7-5).

3. The hexapod walking pesticide spraying robot of claim 2, wherein: the double-foot walking mechanism C (7) comprises a synchronous belt wheel d (7-1), a rotating shaft n (7-2) is sleeved at the center of the synchronous belt wheel d (7-1), one end of the rotating shaft n (7-2) is connected with one end of a rotating shaft o (7-4) through a universal joint C (7-3), the other end of the rotating shaft o (7-4) penetrates through a rotating mechanism C (7-23) to be connected with an executing mechanism E (7-24), and the rotating mechanism C (7-23) is installed on a supporting seat E; the other end of the rotating shaft n (7-2) is connected with one end of a rotating shaft p (7-6) through a universal joint D (7-5), the other end of the rotating shaft p (7-6) penetrates through a rotating mechanism D (7-27) to be connected with an executing mechanism F (7-28), the rotating mechanism D (7-27) is installed on a supporting seat F, and the supporting seat E and the supporting seat F are arranged oppositely and fixed at the bottom of the supporting plate (4);

the double-foot walking mechanism C (7) further comprises a rack b (7-7) which is horizontally arranged, the rack b (7-7) is meshed with a gear n (7-8), a rotating shaft q (7-9) is sleeved at the center of the gear n (7-8), and one end of the rotating shaft q (7-9) is connected with a motor b (7-10); one end of the rack b (7-7) is connected with one end of a connecting rod C (7-11), the other end of the connecting rod C (7-11) is connected with one end of a swing rod C (7-12), and the other end of the swing rod C (7-12) is connected with a rotating mechanism C (7-23); the other end of the rack b (7-7) is connected with one end of a connecting rod D (7-13), the other end of the connecting rod D (7-13) is connected with one end of a swing rod D (7-14), and the other end of the swing rod D (7-14) is connected to a rotating mechanism D (7-27);

the joint of one end of the rack b (7-7) and the connecting rod c (7-11), the joint of the connecting rod c (7-11) and the swing rod c (7-12), the joint of the other end of the rack b (7-7) and the connecting rod d (7-13), and the joint of the connecting rod d (7-13) and the swing rod d (7-14) are connected through revolute pairs.

4. The hexapod walking pesticide spraying robot of claim 3, wherein: the supporting seat E comprises a vertically inverted U-shaped support C (7-15), rib plates E (7-16) and rib plates f (7-17) which are parallel to each other are arranged at the upper end and the lower end of the support C (7-15) respectively, sleeves g (7-18) are arranged on the lower surfaces of the rib plates E (7-16), bearings m are coaxially arranged inside the sleeves g (7-18), sleeves h (7-19) are arranged on the upper surfaces of the rib plates f (7-17), bearings n are coaxially arranged inside the sleeves h (7-19), the rib plates E (7-16) and the rib plates f (7-17) are both perpendicular to the support C (7-15), and the rotating mechanism C (7-23) is located between the rib plates E (7-16) and the rib plates f (7-17);

the rotating mechanism C (7-23) comprises a hollow cylinder C (7-23-1) which is horizontally arranged and has two unsealed ends, the other end of the rotating shaft o (7-4) penetrates through the center of the cylinder C (7-23-1) and is connected with the actuating mechanism E (7-24), the upper surface and the lower surface of the cylinder C (7-23-1) are respectively provided with a convex column E (7-23-2) and a convex column f (7-23-3), the convex column E (7-23-2) and the convex column f (7-23-3) are coaxial, the convex column E (7-23-2) is sleeved in the bearing o, the convex column f (7-23-3) is sleeved in the bearing p, the side surface of the cylinder C (7-23-1) is provided with a sleeve I (7-23-4), the other end of the swing rod c (7-12) is sleeved in the sleeve I (7-23-4), and the cooperation mode of the swing rod c (7-12) and the sleeve I (7-23-4) is interference fit;

the actuating mechanism E (7-24) comprises a gear o (7-24-1), a gear p (7-24-2) and a gear q (7-24-3) which are arranged in a straight line shape and are sequentially meshed, the gear o (7-24-1), the gear p (7-24-2) and the gear q (7-24-3) are all arranged inside the gear box E (7-24-4), the other end of the rotating shaft o (7-4) is sleeved at the center of the gear p (7-24-2), a rotating shaft r (7-24-5) is arranged at the center of the gear o (7-24-1), two ends of the rotating shaft r (7-24-5) are respectively sleeved with a bearing q, a rotating shaft s (7-24-6) is arranged at the center of the gear q (7-24-3), two ends of the rotating shaft s (7-24-6) are respectively sleeved with a bearing r, and the bearing r and the bearing q are both arranged on the gear box E (7-24-4);

the executing mechanism E (7-24) further comprises a T-shaped supporting leg E (7-24-7), one end of the supporting leg E (7-24-7) is connected with one end of a crank I (7-24-8) through a revolute pair, and the other end of the crank I (7-24-8) is fixedly connected with one end of a rotating shaft r (7-24-5);

the other end of the supporting leg e (7-24-7) is connected with one end of a crank J (7-24-9) through a revolute pair, and the other end of the crank J (7-24-9) is fixedly connected with one end of a rotating shaft s (7-24-6);

the support seat F comprises a vertically inverted U-shaped support D (7-20), the upper end and the lower end of the support D (7-20) are respectively provided with a ribbed plate g (7-21) and a ribbed plate h (7-22) which are parallel to each other, the lower surface of the ribbed plate g (7-21) is provided with a sleeve J (7-25), a bearing s is coaxially arranged inside the sleeve J (7-25), the upper surface of the ribbed plate h (7-22) is provided with a sleeve k (7-26), a bearing t is coaxially arranged inside the sleeve k (7-26), the ribbed plate g (7-21) and the ribbed plate h (7-22) are both vertical to the support D (7-20), and the rotating mechanism D (7-27) is positioned between the ribbed plate g (7-21) and the ribbed plate h (7-22);

the rotating mechanism D (7-27) comprises a hollow cylinder D (7-27-1) which is horizontally arranged and has two unsealed ends, the other end of the rotating shaft p (7-6) penetrates through the center of the cylinder D (7-27-1) and is connected with the actuating mechanism F (7-28), the upper surface and the lower surface of the cylinder D (7-27-1) are respectively provided with a convex column g (7-27-2) and a convex column h (7-27-3), the convex column g (7-27-2) and the convex column h (7-27-3) are coaxial, the convex column g (7-27-2) is sleeved in a bearing u, the convex column h (7-27-3) is sleeved in a bearing v, the side surface of the cylinder D (7-27-1) is provided with a sleeve L (7-27-4), the other end of the swing rod d (7-14) is sleeved in the sleeve L (7-27-4), and the cooperation mode of the swing rod d (7-14) and the sleeve L (7-27-4) is interference fit;

the actuating mechanism F (7-28) comprises a gear r (7-28-1), a gear s (7-28-2) and a gear t (7-28-3) which are arranged in a straight line shape and are sequentially meshed, the gear r (7-28-1), the gear s (7-28-2) and the gear t (7-28-3) are all arranged inside the gear box F (7-28-4), the other end of the rotating shaft p (7-6) is sleeved at the center of the gear s (7-28-2), the rotating shaft t (7-28-5) is arranged at the center of the gear r (7-28-1), bearings w are respectively sleeved at two ends of the rotating shaft t (7-28-5), the rotating shaft u (7-28-6) is arranged at the center of the gear t (7-28-3), two ends of the rotating shaft u (7-28-6) are respectively sleeved with a bearing x, and the bearing x and the bearing w are both arranged on the gear box F (7-28-4);

the executing mechanism F (7-28) further comprises a T-shaped supporting leg F (7-28-7), one end of the supporting leg F (7-28-7) is connected with one end of a crank k (7-28-8) through a revolute pair, and the other end of the crank k (7-28-8) is fixedly connected with one end of a rotating shaft T (7-28-5);

the other end of the supporting leg f (7-28-7) is connected with one end of a crank L (7-28-9) through a revolute pair, and the other end of the crank L (7-28-9) is fixedly connected with one end of a rotating shaft u (7-28-6);

the synchronous belt wheel d (7-1), the gear n (7-8), the rack B (7-7) and the rotating shaft q (7-9) are all arranged inside the shaft seat B (7-29), the motor B (7-10) is fixed on the shaft seat B (7-29), and the shaft seat B (7-29) is fixed at the bottom of the supporting plate (4).

5. The hexapod walking pesticide spraying robot of claim 4, wherein: the speed reducer (8) comprises a speed reducer box body (8-1), a gear u (8-2), a gear v (8-3) and a gear w (8-4) are sequentially arranged on the speed reducer box body (8-1), a rotating shaft v (8-5) is arranged at the center of the gear u (8-2), two ends of the rotating shaft v (8-5) are respectively supported through a bearing y, and a synchronous belt wheel e (8-8) is arranged at one end of the rotating shaft v (8-5); a rotating shaft w (8-6) is arranged at the center of the gear v (8-3), two ends of the rotating shaft w (8-6) are respectively supported by a bearing z, and one end of the rotating shaft w (8-6) is connected with a motor c (12); a rotating shaft x (8-7) is arranged at the center of the gear w (8-4), and two ends of the rotating shaft x (8-7) are respectively supported by a bearing II; one end of the rotating shaft x (8-7) is also provided with a synchronous belt wheel f (8-9);

the bearing y, the bearing z and the bearing II are all arranged on the reduction box body (8-1);

the synchronous pulley b (6-2) is connected with the synchronous pulley a (5-1) through a synchronous belt A (9); synchronous pulley C (6-3) is connected with synchronous pulley e (8-8) through synchronous belt B (10), and synchronous pulley f (8-9) is connected with synchronous pulley d (7-1) through synchronous belt C (11).

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