CN109221069A - A kind of Intelligence Ultrasound air-atomizing application robot - Google Patents

A kind of Intelligence Ultrasound air-atomizing application robot Download PDF

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Publication number
CN109221069A
CN109221069A CN201811310313.1A CN201811310313A CN109221069A CN 109221069 A CN109221069 A CN 109221069A CN 201811310313 A CN201811310313 A CN 201811310313A CN 109221069 A CN109221069 A CN 109221069A
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China
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liquid
spray
liquid pump
medicine box
spray head
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CN201811310313.1A
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CN109221069B (en
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戈林泉
江城
张燕军
缪宏
张善文
刘思幸
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Yangzhou University
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Yangzhou University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Special Spraying Apparatus (AREA)
  • Catching Or Destruction (AREA)

Abstract

本发明公开了一种智能超声气力喷雾施药机器人，包括行走机构，电源管理模块、药箱、液泵、雾化装置、喷洒装置、控制单元；电源管理模块用以对行走机构、雾化装置、液泵提供电源动力；喷洒装置包括喷杆、喷头；控制单元用以控制行走机构、液泵、雾化装置的工作控制单元包括无线通信模块、信号处理模块；无线通信模块接收远程驱动信号和作业信号；信号处理模块以控制行走机构和液泵、雾化装置电路通断；药箱设有出液口、回液口；所述出液口、回液口与液泵相连；液泵与碰喷头相连，药箱内农药经出液口通过液泵输送至喷头，液压过大时经回液口回流至药箱；雾化装置将喷头内的农药液体雾化，再经喷头喷出；本发明可实现作物均匀以及大范围的的施药。

The invention discloses an intelligent ultrasonic pneumatic spraying robot, comprising a walking mechanism, a power management module, a medicine box, a liquid pump, an atomizing device, a spraying device and a control unit; the power management module is used for the walking mechanism and the atomizing device. , the liquid pump provides power; the spraying device includes a spray rod and a spray head; the control unit used to control the walking mechanism, the liquid pump, and the working control unit of the atomizing device includes a wireless communication module and a signal processing module; the wireless communication module receives remote drive signals and Operation signal; the signal processing module is used to control the circuit on and off of the traveling mechanism, the liquid pump and the atomizing device; the medicine box is provided with a liquid outlet and a liquid return port; the liquid outlet and the liquid return port are connected with the liquid pump; the liquid pump is connected to the liquid pump. The pesticides in the spray head are connected to each other, the pesticide in the medicine box is transported to the spray head through the liquid outlet through the liquid pump, and when the hydraulic pressure is too large, it is returned to the medicine box through the liquid return port; the atomizing device atomizes the pesticide liquid in the spray head, and then sprays it out through the spray head; The invention can realize uniform and large-scale application of crops.

Description

A kind of Intelligence Ultrasound air-atomizing application robot
Technical field
The invention belongs to field in intelligent robotics, especially a kind of Intelligence Ultrasound air-atomizing is administered robot.
Background technique
Currently, greenhouse application is the high Agricultural Activities of a kind of heavy workload, labor intensity.In view of artificial mark spraying drug effect rate There is injury to human body when low, application unevenness and operation, there are many greenhouse application equipments by developmental research so current.But it is existing Some greenhouse application equipments cannot be guaranteed the uniform and precision of biggish crop more to branches and leaves and the application of hedge frame type crop, Deposition effect is poor, and vacuum side of blade is unable to effective operation.Therefore, it is necessary to a kind of novel greenhouse smart spraying application robots to carry out height Imitate accurately spray pesticide operation.
Summary of the invention
The purpose of the present invention is to provide a kind of Intelligence Ultrasound air-atomizing be administered robot, with realize it is more to branches and leaves compared with The uniform and large-scale application of big crop and hedge frame type crop.
The technical solution for realizing the aim of the invention is as follows:
A kind of Intelligence Ultrasound air-atomizing application robot, including walking mechanism, are arranged in the power supply pipe in walking mechanism Manage module, medicine-chest, liquid pump, atomising device, flusher, control unit；The power management module is to walking mechanism, mist Makeup is set, liquid pump provides mains power；Multiple spray heads that the flusher includes spray boom, is arranged on spray boom；
Work of the described control unit to control walking mechanism, liquid pump, atomising device；Described control unit includes wireless Communication module, signal processing module；The wireless communication module receives remote boot server signal and operative signals；The signal processing Module determines that driving signal to control direction and the speed of walking mechanism, to control the walking and stopping of walking mechanism, and determines Operative signals are to control liquid pump, atomising device connecting and disconnecting of the circuit；The medicine-chest is equipped with liquid outlet, liquid return hole；The liquid outlet returns liquid Mouth is connected by pipeline with liquid pump respectively；The liquid pump passes through pipeline again and is connected with spray head is touched, and pesticide is logical through liquid outlet in medicine-chest It crosses liquid pump and is delivered to spray head, be back to medicine-chest through liquid return hole when hydraulic excessive；The atomising device is connected by pipeline with spray head, Liquid pesticide in spray head is atomized, the pesticide after atomization is sprayed through spray head.
Compared with prior art, the present invention its remarkable advantage:
(1) Intelligence Ultrasound air-atomizing of the invention is administered robot, realizes intelligent control, operation letter using wireless signal It is single, effectively operator can be avoided to be poisoned.
(2) Intelligence Ultrasound air-atomizing of the invention is administered robot, and walking mechanism uses crawler type, can it is muddy, Even running on rough soil.
(3) Intelligence Ultrasound air-atomizing of the invention is administered robot, is atomized simultaneously to drop using ultrasound and strength, mist Drip tiny, uniformity is good, and deposition properties are excellent.
(4) Intelligence Ultrasound air-atomizing of the invention is administered robot, spray boom can level put to realize to short crop A wide range of sprinkling operation, can also vertical display realize that the higher spraying operation being used as, while spray boom uses telescopic rod, it is adjustable The horizontal area or vertical height of whole sprinkling, spray head adjustable angle, the position that operation can be difficult to blade back etc. carry out effectively disease Insect pest application；It is applied widely.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is power management module structural schematic diagram of the invention；
Fig. 3 is medicine-chest structural schematic diagram of the invention；
Fig. 4 is atomising device structural schematic diagram of the invention；
Fig. 5 is flusher structure chart of the invention；
Specific embodiment
In order to illustrate technical solution of the present invention and technical purpose, with reference to the accompanying drawing and specific embodiment is the present invention It is further to introduce.
In conjunction with Fig. 1, a kind of Intelligence Ultrasound air-atomizing of the invention is administered robot, including walking mechanism 1, and setting is expert at Walk power management module 2, medicine-chest 3, liquid pump 22, atomising device 4, the flusher, control unit in mechanism 1；
The power management module 2 is to provide mains power to walking mechanism 1, atomising device 4, liquid pump 22；The spray Spill multiple spray heads 6 that device includes spray boom 5, is arranged on spray boom 5；
Work of the described control unit to control walking mechanism 1, liquid pump 22, atomising device 4；Described control unit includes Wireless communication module, signal processing module；The wireless communication module receives remote boot server signal and operative signals；The signal Processing module determines driving signal to control direction and the speed of walking mechanism 1, to control the walking and stopping of walking mechanism 1, And determine operative signals to control liquid pump 22,4 connecting and disconnecting of the circuit of atomising device；It is high that chip MAX350 pin is controlled by variable connector Low level control on-off；The medicine-chest 3 is equipped with liquid outlet 20, liquid return hole 21；The liquid outlet 20, liquid return hole 21 pass through pipe respectively Road is connected with liquid pump 22；The liquid pump 22 is connected by pipeline with spray head 6 is touched again, and pesticide passes through liquid through liquid outlet 20 in medicine-chest 3 Pump 22 is delivered to spray head 6, and liquid pump 22 contains pressure-control valve, is back to medicine-chest 3 through liquid return hole 21 when hydraulic excessive, to control pipe Road pressure；The atomising device 4 is connected by pipeline with spray head 6, the liquid pesticide in spray head 6 is atomized, after atomization Pesticide is sprayed through spray head 6.
Described control unit uses single-chip microcontroller, function containing reception of wireless signals and signal processing function；The walking mechanism 1 Using motor driven, motor is controlled using L298 driving chip, and the positive and negative rotation of walking mechanism 1 can be realized by chip controls；It is logical It crosses programming on-off motor power and forms rectangular wave, realize that PWM is adjusted the speed in a manner of regulating and controlling rectangular wave duty ratio, walking mechanism 1 Direction controlling is adjusted by both sides motor speed difference, realizes turning function.The mean power and signal pulsewidth of motor are closed It is as follows:
Wherein, P is the mean power of motor, and T is the signal period, and t is signal duration, PmaxFor motor transport maximum Power, A are signal pulsewidth.The direction controlling of walking mechanism 1 is adjusted by both sides motor difference, realizes turning function.
Further, in conjunction with Fig. 3, it is additionally provided with agitating device on the medicine-chest 3, it is uniform to be carried out to the pesticide in medicine-chest 3 Stirring.
As one embodiment, the agitating device includes stirring motor 18, stirring rod 19；The stirring motor 18 is arranged In 3 upper end of medicine-chest, 18 rotation axis of stirring motor is connected with stirring rod 19, and the stirring rod 19 protrudes into medicine-chest 3, stirring rod 18 are equipped with multiple paddles.
Further, lower end is additionally provided with liquid level sensor 14 in the medicine-chest 3, and 3 upper end of medicine-chest is equipped with attention device 16, sprinkling In the process, when pesticide liquid level is lower than liquid level sensor 14 in medicine-chest 3, attention device 16 is alarmed, to prompt addition pesticide.The police Show that warning lamp or buzzer can be used in device 16.
Further, 3 lower end of medicine-chest is additionally provided with depotition cock 17, to clean to medicine-chest 3.
Further, in conjunction with Fig. 2, the power management module 1 include the low-tension supply 10 being arranged in power box 11, The switch 7 outside power box 11 is arranged in electric pressure converter 12；The low-tension supply is one in the voltages such as 12V, 24V or 36V Kind；The electric pressure converter 10 voltage of low-tension supply is converted into 220V alternating current, to for walking mechanism 1, driving liquid Pump 22, atomising device 4, stirring motor 18 provide power supply.The switch 7 is physical button, including control walking mechanism 1 drives electricity The first switch of machine 13, emergency braking second switch, control the third switch of atomising device 4.
Further, in conjunction with Fig. 4, the atomising device 4 includes ultrasonic generator 23, air pump 24；The air pump 24 passes through Tracheae connects spray head 6, and the probe setting of ultrasonic generator 23 is in probe 6, under the action of ultrasonic generator 23 and air pump 24 Medical liquid atomizing is sprayed at fine droplet.
Further, in conjunction with Fig. 5, the spray boom 5 is multistage retractable rod, at least provided with a spray head 6 on every grade of telescopic rod； The telescopic rod 5 is flexible to be driven by hydraulic pump 26, and hydraulic pump 26 controls operation by electric cabinet 25, and electric cabinet 25 is by power supply pipe Module 2 is managed to power.
The movement velocity of the telescopic rod are as follows:
In formula, v is telescopic rod movement velocity, cqFor discharge coefficient, ρ is hydraulic oil density, ATFor telescopic rod inlet area, PyFor rated pressure, F is hydraulic thrust, A1For the cross-sectional area of bar.Telescopic rod is moved by hydraulic fluid pressure, due to three-level liquid The cross-sectional area of compression bar successively decreases, and the speed of bar is successively decreased from top to bottom.
Further, the spray head 6 is fixed on spray boom 5 by flexural pivot, can control the spray angle of spray head 6, can be right The position that blade back etc. is difficult to operation carries out effective pest and disease damage application, simple to operate.
Preferably, 1 left and right ends of walking mechanism are respectively provided at least one spray boom 5；5 end of spray boom and shaft are solid Even, the support of the shaft and 1 upper end of walking mechanism is rotatablely connected, and the shaft is driven by rotary electric machine, can opposite walking Mechanism 1 rotates, and realization level is put and vertical display；, it can be achieved that the short crop of large area when spray boom 5 rotates horizontality Spraying operation；, it can be achieved that spilling operation compared with touching for high crop when spray boom 5 rotates vertical state.
In some embodiments, the spray boom 5 is three-level spray boom, including level-one spray boom 27, second level spray boom 28, three-level are sprayed Bar 29, every spray boom 5 are equipped with 8 spray heads.
In some embodiments, the walking mechanism 1 is wheel type traveling mechanism.
Preferably, the walking mechanism 1 is crawler type walking mechanism, is designed using independent suspension is intersected, symmetrical bridge arm On the drive wheel by spring connection, two groups of bottom surface bogie wheel is connected by spring by staggered form bridge arm, can effective damping, It being capable of the even running on muddy, rough soil.Unilateral crawler belt is respectively arranged in the front and the rear with a driving wheel and a tensioning wheel, Each driving wheel is respectively provided with a driving motor 13 and drives, and constitutes 4 wheel driven driving.
The driving wheel speed being driven by motor are as follows: n=9550P/M
Wherein, n is revolving speed, and P is rated power, and M is nominal torque.
Crawler belt vehicle speed are as follows: v=n*R
Wherein, v is creeper truck speed, and R is driving wheel perimeter.Creeper undercarriage is directly driven by motor connection driving wheel Dynamic, the energy of motor can be transmitted on crawler belt in maximum efficiency.
In use, turning on the switch 7, pesticide and water are poured into medicine-chest 3 in proportion, stirring motor 18 controls blender stick 19 will Medicinal liquid agitating is uniform.Signal is issued using remote control, wireless signal is received by robot wireless communication module, controls robot Into operation area, job parameter is controlled to adjust using remote control, opens atomising device 4.The medical fluid stirred evenly is by going out liquid Mouthfuls 20 enter liquid pumps 22, liquid pump 22 it is hydraulic excessive when, extra medical fluid returns to medicine-chest 3 through liquid return hole 21.Liquid pump 22 supplies medical fluid, Pipeline on spray boom 5 reaches spray head 6.In spray head 6, the ultrasound of air pressure and the generation of ultrasonic generator 23 that air pump 24 generates Wave operation is atomized into fine droplet ejection in medical fluid.The use pressure of liquid pump 22 is 10-100MPa, the function of ultrasonic generator 23 Rate is 20-250Hz, and the use pressure of air pump 24 is 5-150kPa.Operator utilizes wireless signal at a distance, controls robot Action, using front and back drive module realize advance, retreat, accelerate, slow down, turning etc. various motions.When liquid level is lower than liquid level When sensor 14, attention device 16 is alarmed, and operator is reminded to add medical fluid.Power supply is closed after the completion of operation.
Intelligence Ultrasound air-atomizing of the invention is administered robot, realizes intelligent control using wireless signal, easy to operate, Effectively operator can be avoided to be poisoned.Spray boom horizontal can be put to realize a wide range of sprinkling operation to short crop, Can vertical display realize that the higher spraying operation being used as, while spray boom uses telescopic rod, can adjust sprinkling horizontal area or Vertical height, spray head adjustable angle, the position that operation can be difficult to blade back etc. carry out effective pest and disease damage application；The scope of application Extensively.

Claims (11)

1.一种智能超声气力喷雾施药机器人，其特征在于，包括行走机构(1)，设置在行走机构(1)上的电源管理模块(2)、药箱(3)、液泵(22)、雾化装置(4)、喷洒装置、控制单元；所述电源管理模块(2)用以对行走机构(1)、雾化装置(4)、液泵(22)提供电源动力；所述喷洒装置包括喷杆(5)、设置在喷杆(5)上的多个喷头(6)。1. an intelligent ultrasonic pneumatic spraying robot, characterized in that, comprising a running mechanism (1), a power management module (2), a medicine box (3), a liquid pump (22) that are arranged on the running mechanism (1) , an atomizing device (4), a spraying device, and a control unit; the power management module (2) is used to provide power for the traveling mechanism (1), the atomizing device (4), and the liquid pump (22); the spraying The device comprises a spray bar (5) and a plurality of spray heads (6) arranged on the spray bar (5). 所述控制单元用以控制行走机构(1)、液泵(22)、雾化装置(4)的工作；所述控制单元包括无线通信模块、信号处理模块；所述无线通信模块接收远程驱动信号和作业信号；所述信号处理模块判定驱动信号以控制行走机构(1)的方向和速度，以控制行走机构(1)的行走与停止，且判定作业信号以控制液泵(22)、雾化装置(4)电路通断；所述药箱(3)设有出液口(20)、回液口(21)；所述出液口(20)、回液口(21)分别通过管道与液泵(22)相连；所述液泵(22)再通过管道与碰喷头(6)相连，药箱(3)内农药经出液口(20)通过液泵(22)输送至喷头(6)，液压过大时经回液口(21)回流至药箱(3)；所述雾化装置(4)通过管道与喷头(6)相连，将喷头(6)内的农药液体进行雾化，雾化后的农药经喷头(6)喷出。The control unit is used to control the operation of the traveling mechanism (1), the liquid pump (22) and the atomizing device (4); the control unit includes a wireless communication module and a signal processing module; the wireless communication module receives a remote drive signal and the operation signal; the signal processing module determines the driving signal to control the direction and speed of the traveling mechanism (1), to control the walking and stopping of the traveling mechanism (1), and determines the operation signal to control the liquid pump (22), atomization The circuit of the device (4) is switched on and off; the medicine box (3) is provided with a liquid outlet (20) and a liquid return port (21); the liquid outlet (20) and the liquid return port (21) are connected to the The liquid pump (22) is connected; the liquid pump (22) is then connected to the spray head (6) through a pipeline, and the pesticide in the medicine box (3) is transported to the spray head (6) through the liquid pump (22) through the liquid outlet (20). ), when the hydraulic pressure is too large, it will return to the medicine box (3) through the liquid return port (21); the atomizing device (4) is connected to the nozzle (6) through a pipeline, and the pesticide liquid in the nozzle (6) is atomized , the atomized pesticide is sprayed out through the nozzle (6). 2.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述控制单元采用单片机，所述行走机构(10)采用电机驱动，电机采用L298驱动芯片控制，通过芯片控制可实现行走机构(1)的正反转；通过编程通断电机电源形成矩形波，以调控矩形波占空比的方式实现PWM调速，行走机构(1)的方向控制通过两边电机速度不同进行调节，实现转向功能。2. The intelligent ultrasonic pneumatic spraying robot according to claim 1 is characterized in that, the control unit adopts a single-chip microcomputer, the traveling mechanism (10) adopts a motor drive, and the motor adopts an L298 drive chip control, which can be controlled by the chip. Realize the forward and reverse rotation of the walking mechanism (1); form a rectangular wave by programming the power supply of the motor on and off, and realize PWM speed regulation by adjusting the duty ratio of the rectangular wave. Adjust to realize the steering function. 3.根据权利要求2所述的智能超声气力喷雾施药机器人，其特征在于，所述电机的平均功率与信号脉宽关系如下：3. intelligent ultrasonic pneumatic spray application robot according to claim 2, is characterized in that, the average power of described motor and signal pulse width relation are as follows: 4.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述药箱(3)上还设有对农药进行搅拌的搅拌装置，所述搅拌装置包括搅拌电机(18)、搅拌棒(19)；所述搅拌电机(18)设置在药箱(3)上端，所述搅拌电机(18)转动轴与搅拌棒(19)相连，所述搅拌棒(19)伸入药箱(3)内，搅拌棒(18)上设有多个搅拌叶。4. The intelligent ultrasonic pneumatic spraying robot according to claim 1, characterized in that, the medicine box (3) is also provided with a stirring device for stirring the pesticide, and the stirring device comprises a stirring motor (18) , a stirring rod (19); the stirring motor (18) is arranged on the upper end of the medicine box (3), the rotating shaft of the stirring motor (18) is connected with the stirring rod (19), and the stirring rod (19) extends into the medicine Inside the box (3), a plurality of stirring blades are arranged on the stirring rod (18). 5.根据权利要求4所述的智能超声气力喷雾施药机器人，其特征在于，所述药箱(3)内下端还设有液位传感器(14)，药箱(3)上端设有警示器(16)，当药箱(3)内农药液面低于液位传感器(14)时，警示器(16)报警。5. The intelligent ultrasonic pneumatic spraying robot according to claim 4, characterized in that, a liquid level sensor (14) is also provided at the lower end of the medicine box (3), and a warning device is arranged at the upper end of the medicine box (3). (16), when the pesticide liquid level in the medicine box (3) is lower than the liquid level sensor (14), the alarm device (16) alarms. 6.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述电源管理模块(1)包括设置在电源箱体(11)内的低压电源(10)、电压转换器(12)，设置在电源箱体(11)外的开关(7)；所述电压转换器用以将低压电源(10)电压转换成220V交流电，用以为行走机构(1)、驱动液泵(22)、雾化装置(4)、搅拌电机(18)提供电源；所述开关(7)包括控制行走机构(1)驱动电机(13)的第一开关、紧急制动的第二开关、控制雾化装置(4)的第三开关。6. The intelligent ultrasonic pneumatic spraying robot according to claim 1, wherein the power management module (1) comprises a low-voltage power supply (10), a voltage converter ( 12), a switch (7) arranged outside the power supply box (11); the voltage converter is used to convert the voltage of the low-voltage power supply (10) into 220V alternating current, which is used for the traveling mechanism (1) and the driving liquid pump (22) , the atomizing device (4), and the stirring motor (18) provide power; the switch (7) includes a first switch for controlling the driving motor (13) of the traveling mechanism (1), a second switch for emergency braking, and a control for atomization. The third switch of the device (4). 7.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述雾化装置(4)包括超声发生器(23)、气泵(24)；所述气泵(24)通过气管连接喷头(6)，超声发生器(23)的探头设置在探头(6)内，在超声发生器(23)和气泵(24)的作用下将药液雾化成微小液滴喷出。7. The intelligent ultrasonic pneumatic spraying robot according to claim 1, wherein the atomizing device (4) comprises an ultrasonic generator (23) and an air pump (24); the air pump (24) passes through a trachea The spray head (6) is connected, the probe of the ultrasonic generator (23) is arranged in the probe (6), and the liquid medicine is atomized into tiny droplets and ejected under the action of the ultrasonic generator (23) and the air pump (24). 8.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述喷杆(5)为多级伸缩杆，每级伸缩杆上至少设有一个喷头(6)；所述伸缩杆(5)伸缩通过液压泵(26)驱动，液压泵(26)通过电控箱(25)控制作业，电控箱(25)由电源管理模块(2)供电；所述伸缩杆的运动速度为：8. The intelligent ultrasonic pneumatic spraying robot according to claim 1, wherein the spray rod (5) is a multi-stage telescopic rod, and at least one spray head (6) is provided on each stage of the telescopic rod; the The telescopic rod (5) is telescopically driven by a hydraulic pump (26), the hydraulic pump (26) is controlled by an electric control box (25), and the electric control box (25) is powered by the power management module (2); the movement of the telescopic rod The speed is: 式中，v为伸缩杆运动速度，cq为流量系数，ρ为液压油密度，AT为伸缩杆入口面积，Py为额定压力，F为液压推力，A1为杆的横截面积。In the formula, v is the moving speed of the telescopic rod, c q is the flow coefficient, ρ is the hydraulic oil density, A T is the inlet area of the telescopic rod, P y is the rated pressure, F is the hydraulic thrust, and A 1 is the cross-sectional area of the rod. 9.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述行走机构(1)左右两端各设有至少一个喷杆(5)；所述喷杆(5)末端与转轴固连，所述转轴与行走机构(1)上端的支座转动连接，所述转轴通过转动电机驱动，可相对行走机构(1)转动，实现水平摆放和竖直摆放。9 . The intelligent ultrasonic pneumatic spraying robot according to claim 1 , wherein the left and right ends of the walking mechanism (1) are each provided with at least one spray rod (5); the end of the spray rod (5) It is fixedly connected with the rotating shaft, and the rotating shaft is rotatably connected with the support at the upper end of the traveling mechanism (1). 10.根据权利要求8所述的智能超声气力喷雾施药机器人，其特征在于，所述喷头(6)通过球铰固定在喷杆(5)上。10. The intelligent ultrasonic pneumatic spray applicator robot according to claim 8, characterized in that, the spray head (6) is fixed on the spray rod (5) through a spherical hinge. 11.根据权利要求1所述的智能超声气力喷雾施药机器人，其特征在于，所述行走机构(1)为履带式行走机构，单侧履带前后各设有一个驱动轮和一个张紧轮，每个驱动轮各设有一个驱动电机(13)驱动，构成四驱驱动。11. The intelligent ultrasonic pneumatic spraying robot according to claim 1, wherein the traveling mechanism (1) is a crawler-type traveling mechanism, and a driving wheel and a tensioning wheel are respectively provided before and after the unilateral crawler, Each drive wheel is driven by a drive motor (13) to form a four-wheel drive.
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CN118476522A (en) * 2024-06-18 2024-08-13 贵州省山地农业机械研究所 Liftable accurate medicine equipment that applies

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