CN109463370B - Intelligent spraying robot for fruit forest - Google Patents
Intelligent spraying robot for fruit forest Download PDFInfo
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- CN109463370B CN109463370B CN201811389261.1A CN201811389261A CN109463370B CN 109463370 B CN109463370 B CN 109463370B CN 201811389261 A CN201811389261 A CN 201811389261A CN 109463370 B CN109463370 B CN 109463370B
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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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)
- Catching Or Destruction (AREA)
Abstract
The invention belongs to the field of intelligent agricultural machinery equipment, and particularly relates to an intelligent fruit and forest spraying robot which comprises a walking system, wherein a rotary connecting plate is arranged at the upper part of the walking system, a medicine box assembly is arranged at the upper part of the rotary connecting plate, one end of the medicine box assembly is provided with a mist spraying system arranged on the rotary connecting plate, the other end of the medicine box assembly is provided with a power system, and one end of the power system, far away from the medicine box assembly, is provided with an intelligent control system; the integral design of the invention can effectively reduce the labor intensity and greatly reduce the damage probability of the liquid medicine to the operating personnel; can apply the medicine accurately, improve the medicine effect, avoid the waste of the liquid medicine and reduce the pollution to the environment.
Description
Technical Field
The invention belongs to the field of intelligent agricultural machinery equipment, and relates to efficient, accurate and environment-friendly multifunctional farmland operation equipment, in particular to an intelligent spraying robot for fruit and forest.
Background
Traditional self-propelled sprayer needs personnel to follow operation or drive the operation when the operation, and air output, spray amplitude all are the constant value, and the manual operation of shutting down is all needed in opening and close of shower nozzle, air outlet, and this makes people's medicine mix together, and is extremely dangerous, and operating efficiency is lower, causes extravagant liquid medicine and causes certain pollution to the environment.
In addition to the above problems, the self-propelled sprayer is difficult to spray in all directions due to different layouts of different crops, so that the traditional self-propelled sprayer is greatly limited.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent spraying robot for a fruit forest.
In order to achieve the aim, the invention adopts the technical proposal that,
an intelligent spraying robot for a fruit forest comprises a walking system, wherein a rotary connecting plate is arranged at the upper part of the walking system, a medicine box assembly is arranged at the upper part of the rotary connecting plate, a mist spraying system arranged on the rotary connecting plate is arranged at one end of the medicine box assembly, a power system is arranged at the other end of the medicine box assembly, and an intelligent control system is arranged at one end, away from the medicine box assembly, of the power system;
the rotary connecting plate comprises a first supporting plate arranged at the upper part of the traveling system, a second supporting plate is arranged above the first supporting plate, a third supporting plate is arranged above the second supporting plate, a rotating mechanism is arranged between the first supporting plate and the second supporting plate, and a sliding mechanism is arranged between the second supporting plate and the third supporting plate;
the rotating mechanism comprises a supporting cylinder plate arranged on a first supporting plate, a rolling wheel is arranged at the top of the supporting cylinder plate, a circular groove matched with the rolling wheel is formed in the lower portion of a second supporting plate, a rotating shaft arranged on the lower portion of the second supporting plate is arranged in the supporting cylinder plate, a conical gear disc is arranged on the rotating shaft, a bevel gear assembly matched with the conical gear disc is arranged on the conical gear disc, the bevel gear assembly comprises a first driving motor and a bevel gear arranged on the first driving motor, the first driving motor is arranged on the first supporting plate through a supporting block, the rotating shaft comprises a rotating main shaft and a rotating short shaft arranged on the lower portion of the rotating main shaft, a bearing groove matched with the rotating short shaft is formed in the first supporting plate, and a first fixed bearing matched with the rotating short shaft and a second fixed bearing arranged on the lower portion of the rotating main shaft are arranged in the bearing groove;
the sliding mechanism comprises two novel sliding rails arranged on the upper part of a second supporting plate, a rack plate arranged on the lower part of a third supporting plate is arranged in each novel sliding rail, a gear driving component matched with the rack plate is arranged on the second supporting plate, each novel sliding rail comprises 4-shaped groove plates which are symmetrically arranged on two sides of the rack plate, each 4-shaped groove plate comprises a vertical plate tightly attached to the rack plate, an L-shaped plate is arranged on the outer side of the upper part of each vertical plate, bearing sliding wheels are arranged at two ends of each L-shaped plate, a key-shaped long groove is arranged on each vertical plate, a walking roller penetrating through the key-shaped long groove and arranged inside the L-shaped plate is arranged in the middle of each rack plate, each gear driving component comprises a rotating main shaft, and matching gears which are arranged between the two 4-shaped groove plates and matched with the rack plates are arranged at two ends of each rotating main shaft, the middle part of rotatory main shaft is provided with the turbine dish, be provided with the worm subassembly that sets up with the cooperation of turbine dish on the turbine dish, the worm subassembly includes second driving motor and sets up the worm on driving motor, second driving motor passes through the carrier block and sets up in the second backup pad.
Preferably, the walking system comprises a driving box and tank chain wheel sets arranged on two sides of the driving box.
Preferably, the medicine box assembly comprises a medicine box, a sealing cover is arranged at the top of the medicine box, and a water level meter is further arranged on the medicine box.
Preferably, the atomizing system comprises a wind tower arranged on the upper part of the third support plate, and a wind guide cover is arranged at one end, far away from the medicine box, of the wind tower.
Preferably, a protective cover is arranged outside the power system.
Compared with the prior art, the invention has the advantages and positive effects that,
1. the arrangement of the rotary connecting piece plate can realize that the spraying robot can spray the medicine more reasonably, greatly improve the self adaptability and can cross the rectangular operation of the terrain;
2. the integral design of the invention can effectively reduce the labor intensity and greatly reduce the damage probability of the liquid medicine to the operating personnel; can apply the medicine accurately, improve the medicine effect, avoid the waste of the liquid medicine and reduce the pollution to the environment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic perspective view of an intelligent fruit forest spraying robot;
FIG. 2 is a perspective view of a rotary connecting plate;
FIG. 3 is a perspective view of the connecting plate member rotated (with the third support plate turned open);
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is a partial enlarged view of B in FIG. 3;
FIG. 6 is an enlarged view of a portion C of FIG. 3;
FIG. 7 is an exploded view of a rotating connecting plate;
FIG. 8 is an enlarged view of a portion D of FIG. 7;
fig. 9 is a perspective view of the connecting plate member rotated (the second support plate and the third support plate are turned over);
FIG. 10 is an enlarged view of a portion E of FIG. 9;
in the above figures, 1, a traveling system; 2. the plate is connected in a rotating mode; 21. a first support plate; 22. a second support plate; 23. a third support plate; 231. a gear rack; 2311. a walking roller; 24. a rotation mechanism; 241. supporting the cylindrical plate; 242. a rolling wheel; 243. rotating the main shaft; 244. rotating the short shaft; 245. a bevel gear plate; 246. a bevel gear assembly; 247. a support block; 248. a second fixed bearing; 25. a sliding mechanism; 251. 4-shaped groove plates; 2511. a vertical plate; 2512. an L-shaped plate; 252. a worm assembly; 2521. a drive motor; 2522. rotating the main shaft; 2523. a turbine disk; 2524. a worm; 2525. a bearing block; 2526. a mating gear; 253. a load bearing pulley; 3. a medicine chest assembly; 4. a mist system; 41. a wind tower; 42. a wind scooper; 5. a power system; 51. a protective shell; 6. an intelligent control system.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
Embodiment 1, as shown in fig. 1, the present invention provides an intelligent spraying robot for fruit forest, which is mainly used in fruit forest, and because the terrain in fruit forest is varied and many fruits are mined and planted on mountains, it is very difficult to realize intelligent spraying when spraying medicine, but the problem is solved well by the present invention, as can be seen from fig. 1, the intelligent spraying robot for fruit forest comprises a walking system, which belongs to a walking mode of a crawler, and can adapt to various terrains, in order to further realize the places where the walking system can not reach due to terrain limitation, the inventor sets a rotary connecting plate on the walking system, sets a medicine box assembly on the upper portion of the rotary connecting plate, sets a mist spraying system on the rotary connecting plate at one end of the medicine box assembly, the other end is provided with a power system, the power system principle is that one end of a medicine box assembly is provided with an intelligent control system, the medicine box assembly is obviously used for containing pesticides, a mist spraying system is a spraying end, the power system provides power for the intelligent pesticide spraying machine, for example, the power system drives a walking system to work so as to drive the whole machine to work, the intelligent control system realizes unmanned control of the intelligent pesticide spraying machine, for a rotary connecting plate, the upper half part of a part can move and rotate relative to the walking system, generally, the rotary connecting plate needs to work in places where the walking system cannot reach, and the specific arrangement of the rotary connecting plate is described below.
As shown in fig. 2-10, the rotary connecting plate sequentially includes a first supporting plate, a second supporting plate and a third supporting plate from bottom to top, wherein the first supporting plate is fixed on the traveling system, i.e. fixed with the traveling system, and as can be seen from fig. 2, a rotating mechanism is disposed between the first supporting plate and the second supporting plate, and a sliding mechanism is disposed between the second supporting plate and the third supporting plate. Obviously, under the action of the rotating mechanism, the second support plate, the third support plate and related components arranged on the third support plate can rotate relative to the first support plate, so that the spraying range of the atomizing system is expanded without the work of a walking system; under the action of the sliding mechanism, the third support plate and related components arranged on the third support plate can slide relative to the second support plate, and the aim of the method is to further expand the spraying range of the atomizing system.
For the rotating mechanism, the rotating mechanism comprises a supporting cylindrical plate arranged on a first supporting plate, rolling wheels are arranged at the top of the cylindrical plate, a circular groove matched with the rolling wheels is arranged at the lower part of a second supporting plate, and the first supporting plate and the second supporting plate are effectively fixed and supported by arranging the supporting cylindrical plate, the rolling wheels and the circular groove, wherein the number of the rolling wheels is 4-10, the rolling wheels are uniformly arranged and distributed at the top of the supporting cylindrical plate, the depth of the circular groove is at least half of the diameter of the rolling wheel, and the width of the circular groove is larger than the diameter of the rolling wheel; in order to realize the rotation of the second support plate relative to the first support plate, the inventor sets a rotating shaft arranged at the lower part of the second support plate in the support cylindrical plate, the rotating shaft is provided with a bevel gear disc, the bevel gear disc is provided with a bevel gear component matched with the bevel gear disc, obviously, under the condition that the bevel gear component works, the second support plate can rotate relative to the first support plate, the bevel gear component comprises a first driving point and a bevel gear arranged on a first driving motor, obviously, the bevel gear is matched with the bevel gear disc, the specific parameters are conventional, so the detailed description is omitted, and the first driving motor is arranged on the first support plate through the support block. The inventor makes a further design for the rotating shaft in order to enable the rotating shaft to work more reasonably, the rotating shaft comprises a rotating main shaft and a rotating short shaft arranged at the lower part of the rotating main shaft, a bearing groove matched with the rotating short shaft is arranged on a first supporting plate of the rotating shaft, a first fixed bearing matched with the rotating short shaft and a second fixed bearing arranged at the lower part of the rotating main shaft are arranged in the bearing groove, and the upper part of the rotating shaft needing to be noticed is also arranged on the second supporting plate through a bearing.
The sliding mechanism comprises two novel sliding rails arranged on the upper part of a second supporting plate, as can be seen from figures 3-5, the novel sliding rail is of a novel design, a rack plate arranged on the lower part of a third supporting plate is arranged in the novel sliding rail, meanwhile, a gear driving component matched with a rack is arranged on the second supporting plate, for the specific arrangement of the novel sliding rail, the rack plate and the gear driving component, firstly, the specific arrangement of the novel sliding rail is described, the novel sliding rail comprises 4-shaped groove plates which are symmetrically arranged on two sides of the rack plate, wherein, the number of the 4-shaped groove plates is two, and the 4-shaped groove plates are symmetrically arranged, as can be seen from figure 4, one of the 4-shaped groove plates is 4-shaped, the other one is a symmetrical structure of the 4-shaped groove plates, the size of the two 4-shaped groove plates is the same, and a distance exists between the two 4-shaped groove plates, the size of the rack plate is the same as the width of the rack plate, obviously, the rack plate is arranged between two 4-shaped groove plates, in order to clarify the arrangement of each part, an inventor further subdivides the 4-shaped groove plates, the 4-shaped groove plates comprise vertical plates which are tightly attached to the rack plate, L-shaped plates are arranged on the outer sides of the upper parts of the vertical plates, an elongated slot is formed between the L-shaped plates and the vertical plates, bearing sliding wheels are arranged at the two ends of the L-shaped plates, the bearing sliding wheels are located in the elongated slots, the diameter of the bearing sliding wheels is larger than the depth of the elongated slot, the purpose of arranging the bearing sliding wheels is to support a third support plate, namely the third support plate can be strongly supported when sliding, in addition, the inventor arranges a key-shaped elongated slot on the vertical plates, and the middle part of the rack plate is provided with a walking roller which penetrates through the key-shaped elongated slot and is arranged in the L, obviously, the walking roller is also arranged in the long groove formed by the L-shaped plate and the vertical plate, however, it is noted here that the diameter of the walking roller is slightly smaller than the depth of the long groove, and the first function is to enable the rack plate to move more stably, and the second function is also in the key-shaped long groove to prevent the rack plate from sliding out of the length of the two 4-shaped groove plates, and to supplement a little, the length of the key-shaped long groove is smaller than the length of the vertical plate, generally two thirds of the length; the gear driving assembly is arranged to drive the rack plate to move, so that the third support plate can move relative to the second support plate, as shown in fig. 3 and 5, the gear driving assembly comprises a rotating spindle, the two ends of the rotating spindle are provided with matching gears which are arranged between the two 4-shaped groove plates and are matched with the rack plate, the middle of the rotating spindle is provided with a turbine disc, the turbine disc is provided with a worm assembly matched with the turbine disc, the driving mechanism adopted is a design mode of a turbine worm, and the movement of the worm assembly is more stable by adopting the mode.
The traveling system is also conventional in the current arrangement, i.e. comprises a driving box and tank chain wheel sets arranged on two sides of the driving box, so that the detailed description is omitted.
The medicine box assembly comprises a medicine box, a sealing cover is arranged at the top of the medicine box, and a water level meter is further arranged on the medicine box.
The atomizing system comprises a wind tower arranged on the upper part of a third supporting plate, and a wind scooper is arranged at one end of the wind tower far away from the pesticide box.
For the power system, the type of the engine is mainly selected, and the generator with the functions of generating electricity and storing electricity is preferably selected.
For the intelligent control system, the intelligent control system is equivalent to the brain of the whole robot, and the arrangement is relatively conventional, but in addition to the design, the inventor arranges an ultrasonic laser positioning system to further improve the overall intelligence of the robot, so that the positioning and automatic operation of the pesticide application fruit tree can be effectively realized; the camera is also used for identifying the appearance of the fruit tree leaf crown, and the operation spray head and the opening and closing of the air outlet are automatically adjusted according to the appearance of the fruit tree leaf crown to be applied with the pesticide, so that the target pesticide application is accurately realized; according to the height of fruit trees, trees etc., crown diameter, branch and leaf density automatic adjustment air outlet wind speed size, realize the adjustment of robot spray width, guarantee the good penetrability of droplet, improve the operation effect.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (5)
1. The intelligent spraying robot for the fruit forest is characterized by comprising a walking system, wherein a rotary connecting plate is arranged at the upper part of the walking system, a medicine box assembly is arranged at the upper part of the rotary connecting plate, a mist system arranged on the rotary connecting plate is arranged at one end of the medicine box assembly, a power system is arranged at the other end of the medicine box assembly, and an intelligent control system is arranged at one end, away from the medicine box assembly, of the power system;
the rotary connecting plate comprises a first supporting plate arranged at the upper part of the traveling system, a second supporting plate is arranged above the first supporting plate, a third supporting plate is arranged above the second supporting plate, a rotating mechanism is arranged between the first supporting plate and the second supporting plate, and a sliding mechanism is arranged between the second supporting plate and the third supporting plate;
the rotating mechanism comprises a supporting cylinder plate arranged on a first supporting plate, a rolling wheel is arranged at the top of the supporting cylinder plate, a circular groove matched with the rolling wheel is formed in the lower portion of a second supporting plate, a rotating shaft arranged on the lower portion of the second supporting plate is arranged in the supporting cylinder plate, a conical gear disc is arranged on the rotating shaft, a bevel gear assembly matched with the conical gear disc is arranged on the conical gear disc, the bevel gear assembly comprises a first driving motor and a bevel gear arranged on the first driving motor, the first driving motor is arranged on the first supporting plate through a supporting block, the rotating shaft comprises a rotating main shaft and a rotating short shaft arranged on the lower portion of the rotating main shaft, a bearing groove matched with the rotating short shaft is formed in the first supporting plate, and a first fixed bearing matched with the rotating short shaft and a second fixed bearing arranged on the lower portion of the rotating main shaft are arranged in the bearing groove;
the sliding mechanism comprises two sliding rails arranged on the upper part of a second supporting plate, a rack plate arranged on the lower part of a third supporting plate is arranged in each sliding rail, a gear driving component matched with the rack plate is arranged on the second supporting plate, each sliding rail comprises 4-shaped groove plates which are symmetrically arranged on two sides of the rack plate, each 4-shaped groove plate comprises a vertical plate tightly attached to the rack plate, an L-shaped plate is arranged on the outer side of the upper part of each vertical plate, bearing sliding wheels are arranged at two ends of each L-shaped plate, a key-shaped long groove is arranged on each vertical plate, a walking roller penetrating through the key-shaped long groove and arranged in the L-shaped plate is arranged in the middle of each rack plate, each gear driving component comprises a rotating main shaft, matched gears which are arranged between the two 4-shaped groove plates and matched with the rack plates are arranged at two ends of each rotating main shaft, and a turbine disc is arranged in the middle of each rotating main shaft,
the worm assembly is arranged on the turbine disc in a matched mode and comprises a second driving motor and a worm arranged on the second driving motor, and the second driving motor is arranged on the second supporting plate through a bearing block.
2. The intelligent spraying robot for fruit forest according to claim 1, wherein the walking system comprises a driving box and tank chain wheel sets arranged on two sides of the driving box.
3. An intelligent fruit and forest spraying robot as claimed in claim 2, wherein the medicine box assembly comprises a medicine box, a sealing cover is arranged at the top of the medicine box, and a water level meter is further arranged on the medicine box.
4. The intelligent fruit forest spraying robot as claimed in claim 3, wherein the atomizing system comprises a wind tower arranged at the upper part of the third supporting plate, and a wind guide cover is arranged at one end, far away from the pesticide box, of the wind tower.
5. The intelligent fruit forest spraying robot as claimed in claim 4, wherein a protective cover is arranged outside the power system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811389261.1A CN109463370B (en) | 2018-11-21 | 2018-11-21 | Intelligent spraying robot for fruit forest |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811389261.1A CN109463370B (en) | 2018-11-21 | 2018-11-21 | Intelligent spraying robot for fruit forest |
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| Publication Number | Publication Date |
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| CN109463370A CN109463370A (en) | 2019-03-15 |
| CN109463370B true CN109463370B (en) | 2022-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811389261.1A Active CN109463370B (en) | 2018-11-21 | 2018-11-21 | Intelligent spraying robot for fruit forest |
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| CN207284905U (en) * | 2017-08-26 | 2018-05-01 | 赵红萍 | A kind of small-sized vegetable garden chemical sprayer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1086898A (en) * | 1996-09-19 | 1998-04-07 | Kioritz Corp | Flight type work machine |
| CN206851848U (en) * | 2017-06-03 | 2018-01-09 | 江苏苏垦种业有限公司 | A kind of pesticide-spraying cart |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010158218A (en) * | 2009-01-09 | 2010-07-22 | Maruyama Mfg Co Ltd | Boom sprayer |
| CN202045474U (en) * | 2011-03-04 | 2011-11-23 | 天津天汽模车身装备技术有限公司 | Motor-driven turntable |
| CN203201456U (en) * | 2013-04-15 | 2013-09-18 | 湖南农业大学 | Adjustable working platform |
| CN204396219U (en) * | 2014-12-30 | 2015-06-17 | 边财浪 | A kind of water injector with automatic travelling mechanism |
| CN205567572U (en) * | 2016-02-26 | 2016-09-14 | 李金泽 | Orchard is with intelligent plant protection robot |
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| CN206808503U (en) * | 2017-04-10 | 2017-12-29 | 济南大学 | Caterpillar band self-propelled air-assisted sprayer chassis design |
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