CN111228550A

CN111228550A - Spraying robot

Info

Publication number: CN111228550A
Application number: CN202010162133.4A
Authority: CN
Inventors: 欧阳晓平; 张武; 黄强; 倪雄涛; 刘国辉; 郭凯; 苗勋辉; 刘少军; 肖洪岳; 胡胜大
Original assignee: Hunan Intelligence Robot Technology Development Co ltd
Current assignee: Hunan Intelligence Robot Technology Development Co ltd
Priority date: 2020-03-10
Filing date: 2020-03-10
Publication date: 2020-06-05

Abstract

The application discloses a spraying robot, which comprises a walking device, a vehicle body, a spraying device, an image acquisition device, a GPS navigation device and a control device; the spraying device, the image acquisition device and the GPS navigation device are all arranged on the vehicle body; the vehicle body is arranged on the walking device, and the walking device is used for driving the vehicle body to move; the spraying device is used for spraying liquid medicine; the image acquisition device is used for acquiring road condition information in the moving process of the vehicle body; the GPS navigation device is used for acquiring the position information of the vehicle body; the control device is used for acquiring the road condition information and the position information, controlling the travelling mechanism to travel according to the acquired information and controlling the spraying device to spray. The robot can realize automatic epidemic prevention and disinfection, improves the efficiency, reduces the labor intensity of workers, reduces the probability of manual contact with viruses, guarantees the safety of personnel, and effectively sterilizes public places.

Description

Spraying robot

Technical Field

The invention relates to the technical field of health epidemic prevention, in particular to a spraying robot.

Background

When the epidemic prevention work is carried out, the comprehensive disinfection and sterilization are needed to be carried out in public places and the like so as to prevent the bacterial transmission and the virus infection. At present, the commonly adopted method is to spray the disinfectant into the air or on the surface of an object after atomizing the disinfectant by manually holding a spraying device, thereby realizing the disinfection and sterilization of the space and the surface of the object. Therefore, not only is manpower wasted, but also the efficiency is low; but also greatly increase the contact probability between workers and pollutants (bacteria or viruses), which is not beneficial to ensuring the safety of the workers.

Therefore, how to provide a spraying robot with a simple structure and capable of realizing automatic spraying becomes a technical problem to be solved urgently by technical personnel in the field.

Disclosure of Invention

In order to solve the technical problems, the invention provides a spraying robot which can realize automatic epidemic prevention and disinfection, improve the efficiency, reduce the labor intensity of workers, reduce the probability of contacting viruses by workers, ensure the safety of the workers and effectively disinfect and sterilize public places.

The invention provides a spraying robot, which comprises a walking device, a vehicle body, a spraying device, an image acquisition device, a GPS navigation device and a control device, wherein the vehicle body is provided with a vehicle body; the spraying device, the image acquisition device and the GPS navigation device are all arranged on the vehicle body; the vehicle body is arranged on the walking device, and the walking device is used for driving the vehicle body to move; the spraying device is used for spraying liquid medicine; the image acquisition device is used for acquiring road condition information in the moving process of the vehicle body; the GPS navigation device is used for acquiring the position information of the vehicle body; the control device is used for acquiring the road condition information and the position information, controlling the travelling mechanism to travel according to the acquired information and controlling the spraying device to spray.

Preferably, the spraying device comprises a liquid medicine supply mechanism, an atomizing mechanism and a spraying angle adjusting mechanism; the chemical liquid supply mechanism is used for supplying chemical liquid to the atomization mechanism; the atomization mechanism is used for atomizing and spraying the liquid medicine; the spraying angle adjusting mechanism is used for adjusting the spraying angle of the atomizing mechanism.

Preferably, the spraying angle adjusting mechanism comprises a pitching adjusting structure and a pitching driving part; the pitching adjusting structure comprises a pitching support, a swinging arm, a swinging shaft, a transmission gear, a sliding groove, a sliding bearing and a transmission rod; the transmission gear is arranged on the pitching support, and the pitching driving part is used for driving the transmission gear to rotate; one end of the swinging shaft is connected with the transmission gear, the other end of the swinging shaft is connected with the sliding bearing, the sliding bearing is arranged in the sliding groove, the sliding groove is arranged on the swinging arm, and the transmission gear drives the sliding bearing to slide back and forth in the sliding groove through the swinging shaft so as to drive the swinging arm to swing; the transmission rod is rotatably installed on the pitching support, one end of the transmission rod is fixedly connected with the swing arm, and the other end of the transmission rod is fixedly connected with the atomizing mechanism.

Preferably, the spraying angle adjusting mechanism further comprises a rotating platform and a rotating driving piece, and the rotating driving piece is used for driving the rotating platform to rotate; the pitch adjustment structure and the pitch drive member are both disposed on the rotating platform.

Preferably, the atomizing mechanism comprises a ducted fan, a ducted fan driving part and an annular flow channel arranged at an air outlet of the ducted fan; the annular flow passage is provided with at least two atomizing nozzles and is communicated with the infusion tube; the ducted fan driving member is used for driving the ducted fan to operate.

Preferably, the liquid medicine supply mechanism comprises a water tank, a water pump suction pipe and a liquid conveying pipe; one end of the infusion tube is communicated with the annular flow passage, and the other end of the infusion tube is communicated with the water pump; one end of the water pump pumping pipe is communicated with the water pump, and the other end of the water pump pumping pipe is communicated with the water tank.

Preferably, the water tank is arranged inside the vehicle body, and at least one wave choke plate is arranged in the water tank.

Preferably, the walking device comprises a crawler-type walking mechanism and a walking driving mechanism; the walking driving mechanism is used for driving the crawler-type walking mechanism to walk.

Preferably, the walking driving mechanism comprises a reduction gearbox and a driving motor, and the reduction gearbox and the driving motor are both arranged inside the vehicle body and are positioned on one side of the water tank.

Preferably, the vehicle body is further provided with an operation panel, and the control device is electrically connected with the operation panel.

The invention provides a spraying robot, which drives a vehicle body to move through a traveling device, wherein a spraying device is arranged on the vehicle body and used for spraying liquid medicine. In order to realize automatic spraying, the spraying robot provided by the invention also comprises an image acquisition device, a GPA navigation device and a control device; in the walking process, acquiring road condition information on a moving path of the vehicle body through an image acquisition device arranged on the vehicle body, and timely grasping road resistance and related fault conditions; meanwhile, the GPS navigation device is used for collecting the position information of the vehicle body, so that the spraying robot can be accurately positioned; the control device acquires and analyzes road condition information acquired by the image acquisition device and position information acquired by the GPS navigation device, timely masters the operation progress of the spraying robot according to the acquired information, plans and adjusts an epidemic prevention route of the spraying robot, and controls the starting and stopping of the spraying device. The spraying robot provided by the invention can realize automatic epidemic prevention and disinfection, improve the efficiency, reduce the labor intensity of workers, reduce the probability of contacting viruses by workers, ensure the safety of personnel and effectively disinfect and sterilize public places.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of a spray robot according to the present invention;

FIG. 2 is a cross-sectional view of FIG. 1;

FIG. 3 is a schematic structural view of a spray angle adjustment mechanism;

FIG. 4 is a schematic structural view of an atomizing mechanism;

FIG. 5 is a front view of FIG. 4;

FIG. 6 is a cross-sectional view of FIG. 4;

in the figure, 1-walking device, 11-crawler-type walking mechanism, 12-walking driving mechanism, 2-vehicle body, 3-spraying device, 31-liquid medicine supply mechanism, 311-water tank, 3111-wave-resisting plate, 312-water pump, 313-water pump water pumping pipe, C-atomizing mechanism, C1-ducted fan, C11-ducted channel, C12-paddle hub shaft, C13-blade, C2-ducted fan driving piece, C3-annular channel, C31-atomizing nozzle, C311-nozzle, C3111-first channel, C3112-second channel, C4-transfusion pipe, C5-mist outlet cylinder, 32-spraying angle adjusting mechanism, 321-pitching adjusting structure, 3211-pitching bracket, 3212-swinging arm, 3213-swinging shaft, 3214-transmission gear, 3215-chute, 3216-slide bearing, 3217-drive rod, 322-pitch drive, 323-rotating platform, 4-image acquisition device, 5-GPS navigation device, 6-control panel.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Embodiments of the present invention are written in a progressive manner.

As shown in fig. 1 to 6, the spraying robot provided by the invention comprises a walking device 1, a vehicle body 2, a spraying device 3, an image acquisition device 4, a GPS navigation device 5 and a control device; the spraying device 3, the image acquisition device 4 and the GPS navigation device 5 are all arranged on the vehicle body 2; the vehicle body 2 is arranged on the walking device 1, and the walking device 1 is used for driving the vehicle body 2 to move; the spraying device 3 is used for spraying liquid medicine; the image acquisition device 4 is used for acquiring road condition information in the moving process of the vehicle body 2; the GPS navigation device 5 is used for collecting the position information of the vehicle body 2; the control device is used for acquiring the road condition information and the position information, controlling the travelling mechanism to travel according to the acquired information, and controlling the spraying device 3 to spray.

The invention provides a spraying robot, which drives a vehicle body 2 to move through a traveling device 1, and a spraying device 3 is arranged on the vehicle body 2 and used for spraying liquid medicine. In order to realize automatic spraying, the spraying robot provided by the invention also comprises an image acquisition device 4, a GPS navigation device 5 and a control device; in the walking process, the road condition information on the moving path of the vehicle body 2 is acquired through the image acquisition device 4 arranged on the vehicle body 2, and the road resistance and the related fault conditions are mastered in time; meanwhile, the GPS navigation device 5 is used for collecting the position information of the vehicle body 2, so that the spraying robot can be accurately positioned; the control device acquires and analyzes road condition information acquired by the image acquisition device 4 and position information acquired by the GPS navigation device 5, timely controls the operation progress of the spraying robot according to the acquired information, plans and adjusts an epidemic prevention route of the spraying robot, and controls the starting and stopping of the spraying device 3. The spraying robot provided by the invention can realize automatic epidemic prevention and disinfection, improve the efficiency, reduce the labor intensity of workers, reduce the probability of contacting viruses by workers, ensure the safety of personnel and effectively disinfect and sterilize public places.

Specifically, the control device is provided with a signal transmission end and a signal receiving end, and in the using process, a worker can control the operation process of the spraying robot in a remote control mode.

Specifically, the image capturing device 4 is a pan-tilt camera.

Further, the spraying device 3 includes a chemical liquid supply mechanism 31, an atomizing mechanism C, and a spraying angle adjusting mechanism; the chemical liquid supply mechanism 31 is for supplying a chemical liquid to the atomizing mechanism C; the atomization mechanism C is used for atomizing and spraying the liquid medicine; the spraying angle adjusting mechanism is used for adjusting the spraying angle of the atomizing mechanism C. The spraying angle of the atomizing mechanism C is adjusted through the spraying angle adjusting mechanism, so that the spraying area and the spraying direction can be controlled.

Specifically, the spray angle adjustment mechanism may include a pitch adjustment structure 321, and a pitch drive 322; the pitch adjusting structure 321 comprises a pitch bracket 3211, a swing arm 3212, a swing shaft 3213, a transmission gear 3214, a chute 3215, a sliding bearing 3216 and a transmission rod 3217; the transmission gear 3214 is mounted on the pitch bracket 3211, and the pitch driving member 322 is configured to drive the transmission gear 3214 to rotate; one end of the oscillating shaft 3213 is connected to the transmission gear 3214, the other end is connected to the sliding bearing 3216, the sliding bearing 3216 is disposed in the sliding slot 3215, the sliding slot 3215 is disposed on the oscillating arm 3212, and the transmission gear 3214 drives the sliding bearing 3216 to slide back and forth in the sliding slot 3215 through the oscillating shaft 3213, so as to drive the oscillating arm 3212 to oscillate; the transmission rod 3217 is rotatably mounted on the pitch bracket 3211, one end of the transmission rod 3217 is fixedly connected with the swing arm 3212, and the other end is fixedly connected with the atomizing mechanism C.

When the angle of the atomizing mechanism C needs to be adjusted, the transmission gear 3214 is driven to rotate by the pitching driving member 322, and because one end of the oscillating shaft 3213 is connected with the transmission gear 3214 and the other end is connected with the sliding bearing 3216; therefore, the swing shaft 3213 is driven by the transmission gear 3214 to rotate together with the transmission gear 3214, so as to drive the sliding bearing 3216 to slide back and forth in the sliding slot 3215, and the sliding slot 3215 is disposed on the swing arm 3212, so that the swing arm 3212 can swing along with the sliding of the sliding bearing 3216. In addition, the swing arm 3212 is connected to the atomizing mechanism C through a transmission rod 3217, the transmission rod 3217 is rotatably mounted on the pitching bracket 3211, when the swing arm 3212 swings, the transmission rod 3217 is driven to rotate, and the transmission rod 3217 further drives the atomizing mechanism C to rotate, thereby achieving angle adjustment of the atomizing mechanism C.

In addition, the spraying angle adjusting mechanism can also be other structures capable of adjusting the pitching angle of the atomizing mechanism C. For example, a driving cylinder directly connected to the atomizing mechanism C controls the pitch angle of the atomizing mechanism C by controlling the stroke of the driving cylinder.

Preferably, the spraying angle adjusting mechanism further comprises a rotating platform 323 and a rotating driving member, wherein the rotating driving member is used for driving the rotating platform 323 to rotate; the pitch adjustment structure 321, and the pitch drive 322 are both disposed on the rotating platform 323. The arrangement of the rotating platform 323 ensures that the atomizing mechanism C can not only perform pitching motion, but also rotate on a horizontal plane; the omnibearing angle adjustment of the atomization mechanism C is realized by matching with the pitching adjustment structure 321, and further, the comprehensive disinfection and sterilization of a place to be disinfected are realized.

Preferably, the atomizing mechanism C comprises a ducted fan C1, a ducted fan driving member, and an annular flow passage C3 disposed at an air outlet of the ducted fan; the annular flow passage is provided with at least two atomizing nozzles C31, and the annular flow passage C3 is communicated with a transfusion tube C4; the ducted fan drive is used to drive the operation of the ducted fan C1.

According to the atomizing mechanism C provided by the invention, liquid to be atomized is conveyed to the annular flow passage C3 through the liquid conveying pipe C4, and the liquid to be atomized completes one-time atomizing process through the atomizing nozzle C31; meanwhile, the ducted fan driving part drives the ducted fan C1 to rotate to form a high-speed air channel, and secondary atomization is carried out on the spray liquid sprayed by the atomizing nozzle C31. The application provides an atomizing mechanism C, through the cooperation between duct fan C1 and atomizer C31, treats the atomizing liquid and carries out the second grade atomizing, can effectively improve atomization effect. Compared with a common fan, the ducted fan C1 can generate larger and more concentrated wind power to form larger crushing force, shearing force and driving force, and when the spraying liquid after primary atomization is dispersed into spray with smaller particle size, the spraying liquid reaches a farther spraying range, so that the using amount of the liquid to be atomized is effectively saved. In the invention, the annular flow passage C3 is arranged at the air outlet of the ducted fan C1, and the atomizing nozzle C31 is arranged on the annular flow passage C3, so that high-speed air generated by the ducted fan C1 can pass through the middle of the annular flow passage C3, and the sprayed liquid generated by each atomizing nozzle C31 on the annular flow passage C3 is atomized fully and without shielding, thereby effectively improving the atomizing efficiency. In addition, the liquid is supplied to all the atomizing nozzles C31 in a unified mode through the annular flow channel C3, so that the atomizing nozzles C31 can be opened/closed at the same time, the use of liquid supply pipes is reduced, and the structure of the device is greatly simplified. The atomization mechanism C provided by the invention is simple in structure, good in atomization effect, long in spray range and high in spraying efficiency, and can effectively sterilize public places.

As one of the embodiments of the present invention, the ducted fan C1 includes a duct C11, a hub shaft C12, and a plurality of blades C13; duct C11 includes a duct inlet and a duct outlet, a hub shaft C12 is disposed on the central axis of duct C11, blades C13 are disposed about the hub shaft C12, and a duct fan drive C2 is used to drive the hub shaft C12 for rotation. In the scheme, the blades C13 are annularly included in the duct C11, so that the pneumatic sound of the fan can be effectively prevented from being spread outwards, meanwhile, the wind power is effectively concentrated, and a high-speed air channel is generated in the duct C11.

Furthermore, the annular flow passage C3 and the duct C11 are arranged around the same central axis, and the annular flow passage C3 is arranged at the periphery of the air outlet of the duct. The annular flow channel C3 is arranged on the periphery of the ducted air outlet, so that the blocking of the annular flow channel C3 to wind power can be effectively prevented, the wind power loss is reduced, the utilization rate of the wind power is improved, and the atomization effect is enhanced.

Furthermore, the atomizing nozzles C31 may be disposed around the annular flow passage C3 at equal intervals, and such an arrangement may make the spray generated more uniform and dispersed.

Preferably, the fog outlet cylinder C5 can be arranged on the periphery of the annular flow passage C3, and the fog outlet cylinder C5 is used for conducting concentrated flow guide on the fog, so that the spraying range of the fog can be effectively prolonged.

Preferably, the mist outlet cylinder C5 is horn-shaped.

As an embodiment of the present invention, the atomizer C31 may include a nozzle C311 and a spray hole, the spray hole is disposed at one end of the nozzle C311, and the other end of the nozzle C311 is communicated with the annular flow channel C3. The liquid to be atomized enters the spray pipe C311 from the annular flow passage C3, the flow speed is increased and the spray pressure is increased due to the abrupt change of the cross-sectional area of the flow passage, so that the spray liquid sprayed out of the spray holes has higher forward speed, and the spray holes can generate more effective shearing and crushing effects on the liquid to be atomized due to the interaction of force.

Further, a first flow passage C3111 and a second flow passage C3112 may be provided in the nozzle C311 to communicate with each other, and an inner diameter of the first flow passage C3111 may be smaller than an inner diameter of the second flow passage C3112; the first flow passage C3111 communicates with the spray hole, and the second flow passage C3112 communicates with the annular flow passage C3. Through the secondary reduction of cross-sectional area, further improve the velocity of flow of treating the atomizing liquid, when increasing the range, improve the atomization effect in spraying hole.

Preferably, the other end of the infusion tube C4 is connected to a high-speed water supply mechanism. The high-speed water supply mechanism provides high-flow-rate liquid to be atomized for the infusion tube C4, so that the atomization effect is further optimized, and the atomization efficiency is improved.

Preferably, the chemical liquid supply means 31 includes a water tank 311, a water pump 312, a water pump suction pipe 313, and an infusion tube; one end of the infusion tube is communicated with the annular flow passage, and the other end of the infusion tube is communicated with the water pump 312; one end of the water pump suction pipe 313 is communicated with the water pump 312, and the other end is communicated with the water tank 311. In the using process, the liquid medicine is conveyed from the water tank 311 to the interior of the annular flow passage through the liquid conveying pipe and the water pumping pipe 313 through the water pump 312.

Specifically, the pump suction pipe 313 may be inserted to the bottom of the water tank 311. The water pump 312 is connected with the motor of the water pump 312 through a belt, and the motor of the water pump 312 provides power to drive the water pump 312 to work. After the water pump 312 starts to work, the water in the water tank 311 can enter the atomization mechanism C through the water pump 312 and the infusion tube via the water pump suction pipe 313, and the liquid medicine is atomized and sprayed out through the atomization function of the atomization mechanism C.

Preferably, the water tank 311 is disposed inside the vehicle body 2, and at least one wave choke plate 3111 is disposed inside the water tank 311. The water tank 311 and the vehicle body 2 are integrally designed, so that the safety is higher, and the use and maintenance cost is reduced. The wave-blocking plate 3111 can prevent the liquid from forming large waves, and reduce the liquid oscillation.

Preferably, the running gear 1 comprises a crawler type running gear 11, and a running driving gear 12; the traveling drive mechanism 12 is used for driving the crawler travel mechanism 11 to travel. The spraying robot provided by the invention adopts a crawler-type traveling system, can realize in-situ steering, and has strong flexibility and strong adaptability to narrow space.

Further, a spring damping part is arranged on a loading wheel of the crawler type traveling mechanism 11

Preferably, the travel driving mechanism 12 includes a reduction box and a driving motor, and the reduction box and the driving motor are both disposed inside the vehicle body 2 and located on one side of the water tank 311.

Preferably, the vehicle body 2 is further provided with a control panel 6, and the control device is electrically connected with the control panel 6. In the use process, the staff can also control the control device through the control panel 6.

The invention realizes the operation of each device through electric drive, and can effectively avoid secondary pollution of gasoline or diesel power to the environment.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A spraying robot is characterized by comprising a walking device, a vehicle body, a spraying device, an image acquisition device, a GPS navigation device and a control device;

the spraying device, the image acquisition device and the GPS navigation device are all arranged on the vehicle body;

the vehicle body is arranged on the walking device, and the walking device is used for driving the vehicle body to move;

the spraying device is used for spraying liquid medicine;

the image acquisition device is used for acquiring road condition information in the moving process of the vehicle body;

the GPS navigation device is used for acquiring the position information of the vehicle body;

the control device is used for acquiring the road condition information and the position information, controlling the travelling mechanism to travel according to the acquired information and controlling the spraying device to spray.

2. The spray robot according to claim 1, wherein the spraying means includes a liquid medicine supply mechanism, an atomizing mechanism, and a spraying angle adjusting mechanism;

the chemical liquid supply mechanism is used for supplying chemical liquid to the atomization mechanism;

the atomization mechanism is used for atomizing and spraying the liquid medicine;

the spraying angle adjusting mechanism is used for adjusting the spraying angle of the atomizing mechanism.

3. The spray robot of claim 2, wherein the spray angle adjustment mechanism includes a pitch adjustment structure, and a pitch drive;

the pitching adjusting structure comprises a pitching support, a swinging arm, a swinging shaft, a transmission gear, a sliding groove, a sliding bearing and a transmission rod;

the transmission gear is arranged on the pitching support, and the pitching driving part is used for driving the transmission gear to rotate;

one end of the swinging shaft is connected with the transmission gear, the other end of the swinging shaft is connected with the sliding bearing,

the sliding bearing is arranged in the sliding groove which is arranged on the swing arm,

the transmission gear drives the sliding bearing to slide back and forth in the sliding groove through the swinging shaft so as to drive the swinging arm to swing;

the transmission rod is rotatably installed on the pitching support, one end of the transmission rod is fixedly connected with the swing arm, and the other end of the transmission rod is fixedly connected with the atomizing mechanism.

4. The spray robot of claim 3, wherein the spray angle adjustment mechanism further comprises a rotary platform and a rotary drive for driving the rotary platform in rotation;

the pitch adjustment structure and the pitch drive member are both disposed on the rotating platform.

5. The spray robot of any one of claims 2 to 4, wherein the atomizing mechanism comprises a ducted fan, a ducted fan drive, and an annular flow passage disposed at an outlet of the ducted fan;

the annular flow passage is provided with at least two atomizing nozzles and is communicated with the infusion tube;

the ducted fan driving member is used for driving the ducted fan to operate.

6. The spray robot of claim 5, wherein said medical fluid supply mechanism comprises a water tank, a water pump suction tube, and a fluid delivery tube;

one end of the infusion tube is communicated with the annular flow passage, and the other end of the infusion tube is communicated with the water pump;

one end of the water pump pumping pipe is communicated with the water pump, and the other end of the water pump pumping pipe is communicated with the water tank.

7. The spray robot of claim 6, wherein the water tank is disposed inside the vehicle body, and at least one wave choke plate is disposed in the water tank.

8. The spray robot of claim 7, wherein the running gear comprises a crawler-type running gear, and a running drive gear;

the walking driving mechanism is used for driving the crawler-type walking mechanism to walk.

9. The spray robot of claim 8, wherein the travel drive mechanism includes a reduction gearbox and a drive motor,

the reduction gearbox and the driving motor are arranged inside the vehicle body and located on one side of the water tank.

10. The spray robot of claim 9, wherein the vehicle body further comprises a control panel, and the control device is electrically connected to the control panel.