CN111713478A - Self-propelled pesticide spraying robot and use method thereof - Google Patents
Self-propelled pesticide spraying robot and use method thereof Download PDFInfo
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- CN111713478A CN111713478A CN202010740370.4A CN202010740370A CN111713478A CN 111713478 A CN111713478 A CN 111713478A CN 202010740370 A CN202010740370 A CN 202010740370A CN 111713478 A CN111713478 A CN 111713478A
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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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
- A01M7/0089—Regulating or controlling systems
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- Environmental Sciences (AREA)
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- Pest Control & Pesticides (AREA)
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Abstract
The invention relates to the field of plant protection devices, in particular to a self-propelled pesticide spraying robot and a using method thereof, the self-propelled pesticide spraying robot comprises a bottom plate, a controller, a self-propelled mechanism and a spraying mechanism, a partition plate is fixedly arranged at the top of the bottom plate, the controller is fixedly arranged on one side of the partition plate, the self-propelled mechanism is arranged at the bottom of the bottom plate and is used for supporting the device to travel, the self-propelled mechanism comprises a driving motor, a first rotating shaft and two traveling assemblies, the spraying mechanism is arranged on the other side of the partition plate and is used for spraying pesticides, the spraying mechanism comprises a storage barrel, an atomizing nozzle, an extrusion assembly and a height adjusting assembly, the driving motor is electrically connected with the controller, the self-propelled pesticide spraying robot and the using method thereof are convenient to move, can flexibly adjust the self position and realize spraying, the spraying efficiency is high, meanwhile, manual driving is, and has little harm to the health of the human body.
Description
Technical Field
The invention relates to the field of plant protection devices, in particular to a self-propelled pesticide spraying robot and a using method thereof.
Background
Plant protection is an important component of agriculture and forestry production. Is one of the important measures for ensuring high yield and high harvest of agriculture and forestry. In order to economically and effectively protect plants, various control methods and positive effects are exerted, the policy of 'prevention mainly and comprehensive control' is implemented, and diseases, insects, weeds and other harmful organisms are eliminated before the harmful organisms are damaged, so that the harmful organisms are prevented from being damaged.
Chinese patent application No.: CN 201610534289.4; the publication date is as follows: 2016.10.12 discloses a folding device for facilitating the spraying of the medicine. The main arm is hinged with the side arm, the two side arms are arranged, and the main side arm fixing mechanism is arranged between the main arm and the side arms to realize the relative fixation of the main arm and the side arms; the main arm is provided with a base plate, the base plate is provided with a side arm resetting mechanism, the side arm and the main arm form a U shape when the side arm is positioned right above the base plate, and the side arm resetting mechanism keeps the folding state of the side arm; the main pesticide spraying mechanism is arranged on the rear side of the main arm, the locking plate which is arranged up and down is arranged on the rear side of the main arm, the locking plate is provided with the locking mechanism, and the main pesticide spraying mechanism is fixed in a working state and a storage state through the two locking mechanisms; an auxiliary spraying pipe is arranged below the side arm, an auxiliary nozzle is arranged at the bottom of the auxiliary spraying pipe, and the auxiliary spraying pipe and the auxiliary nozzle form an auxiliary spraying mechanism. The invention can effectively realize the spraying of pesticide and the folding of the pesticide.
Chinese patent application No.: CN 201510827315.8; the publication date is as follows: 2016.02.24 discloses a multifunctional crawler-type tobacco planting management operation vehicle, which comprises a tobacco planting management operation vehicle, a mouth type transplanting device, a three-mouth type transplanting device and a medicament spraying device; the tobacco planting management operation vehicle is used as a basic platform to finish walking, manned and harvesting work and provide power for the medicament spraying device; mouth type transplanting device (can be combined with tobacco planting management operation vehicle to complete the transplanting of seedlings under film and the transplanting in pond; three mouth type transplanting device can be combined with tobacco planting management operation to complete the transplanting on film; power input system of agent spraying device is installed at the left lower part of tobacco planting management operation vehicle, agent spraying device is installed at the front part of tobacco planting management operation vehicle to complete the spraying work.
The above two inventive structures have the following disadvantages:
1. the device passes through base fixed design, and inconvenient the lapse, when meetting in bank vegetation and need the pesticide to spray, need the artifical position of incessantly adjusting the base, therefore spraying of carrying out the pesticide that can't be nimble, the angle of nozzle need be adjusted through the manual work simultaneously, wastes time and energy, sprays efficiency and remains to promote.
2. The operation vehicle needs to be manually driven and controlled, when an operator drives the operation vehicle to run, sprayed pesticide is easy to be contaminated on the surface of clothes of the operator, the clothes are easy to be contaminated, the labor intensity is high, and meanwhile, under the condition that the operation time is long, when the operator inhales a large amount of pesticide contaminated on the surface of the clothes of the operator, certain harm is brought to the health of the operator.
According to the defects of the prior art, a self-propelled pesticide spraying device which is convenient to move, can flexibly adjust the position of the self-propelled pesticide spraying device and realize spraying, is high in spraying efficiency, does not need manual driving, is low in labor intensity and has small harm to body health and a using method thereof are needed to be designed.
Disclosure of Invention
The invention aims to provide a self-propelled pesticide spraying robot and a using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
the self-propelled pesticide spraying robot comprises a bottom plate, a controller, a self-propelled mechanism and a spraying mechanism, wherein a partition plate is fixedly arranged at the top of the bottom plate, the controller is fixedly arranged on one side of the partition plate, the self-propelled mechanism is arranged at the bottom of the bottom plate and used for supporting a device to walk, the self-propelled mechanism comprises a driving motor, a first rotating shaft and two walking components, the two walking components are symmetrically arranged at the bottom of the bottom plate, the first rotating shaft is rotatably arranged between the two walking components, the driving motor is fixedly arranged at the bottom of the bottom plate and is in transmission connection with the first rotating shaft, the spraying mechanism is arranged at the other side of the partition plate and used for spraying pesticide, the spraying mechanism comprises a storage barrel, an atomizing nozzle, an extruding component and a height adjusting component, a first vertical plate is fixedly arranged at the top of the bottom plate, and the extruding component is arranged on the, the storage barrel is fixedly arranged at the top of the first vertical plate, the height adjusting assembly is arranged at the top of the bottom plate, a guide pipe is fixedly arranged on the height adjusting assembly, the atomizing nozzle is in threaded connection with one end, far away from the storage barrel, of the guide pipe, and the driving motor is electrically connected with the controller.
Further, the cover is equipped with the action wheel on driving motor's the output, the cover is equipped with from the driving wheel on the outer wall of first pivot, the action wheel with from the cover between the driving wheel be equipped with the belt to the fixed support frame that is equipped with in top of bottom plate, the fixed cover that is equipped with in top of support frame, driving motor and fixed cover are inserted and are established and be connected.
Further, every running assembly all includes backup pad, track and two runners, the fixed bottom one end of establishing at the bottom plate of backup pad, two runners are the symmetry and set up on the outer wall of backup pad to one of them runner cup joints with the one end of first pivot, the track cover is established between two runners, and the rotatable second pivot that is provided with of one end of first pivot is kept away from to the backup pad, and another runner cup joints with the one end of second pivot.
Further, the fixed second riser that is equipped with in side of first riser, driving motor's output is pegged graft with the second riser, still overlaps on driving motor's the output and is equipped with the driving gear, and the rotatable articulated shaft that is provided with of one end that the driving gear was kept away from to the second riser, the articulated shaft is kept away from and is equipped with driven gear on the one end outer wall of first riser, the driving gear is connected with the driven gear meshing.
Further, the extrusion subassembly includes carousel, slider, extrusion pole, first connecting rod and connects the material pipe, the carousel cover is established on the articulated shaft keeps away from driven gear's one end outer wall, first connecting rod is articulated to be set up on the outer wall of carousel, first riser is close to fixed the slide rail that is equipped with on one side outer wall of carousel, the slider slides and sets up on the slide rail, and the one end that the carousel was kept away from to first connecting rod is articulated with the slider, the extrusion pole is fixed to be established on one side outer wall that first connecting rod was kept away from to the slider, connect the material pipe to fix and establish on the outer wall of first riser to the one end that the slider was kept away from to the extrusion pole is peg.
Further, altitude mixture control subassembly includes drive wheel, flywheel and second connecting rod, the drive wheel cover is established on the articulated shaft keeps away from the one end outer wall of carousel, the articulated setting of second connecting rod is on the outer wall of drive wheel, and the top of bottom plate is the symmetry and is provided with two limiting plates, the rotatable setting of flywheel is between two limiting plates to the second connecting rod is kept away from on the one end of drive wheel and the outer wall of flywheel articulated, and the second connecting rod is the slope, the carousel is less than the drive wheel, and the drive wheel is less than the flywheel.
Furthermore, a connecting plate is fixedly arranged at the top of the first vertical plate, the storage barrel is fixedly connected with the outer wall of the connecting plate, a feeding hole is formed in the top of the storage barrel, a sealing plug is inserted into the feeding hole, a glass observation window is arranged on the outer wall of the storage barrel, a discharge hole is formed in the bottom of the storage barrel, a material receiving pipe is arranged on the outer wall of one end, close to the storage barrel, of the material receiving pipe, a material receiving hole is formed in the outer wall of the material receiving pipe, a communicating pipe is fixedly arranged between the discharge hole and the material receiving hole, an electromagnetic valve is installed on.
Further, fixedly connected with installation cover on the outer wall of flywheel, it is integrated into one piece and is provided with the draw-in groove to sheathe the in the installation, the pipe joint sets up in the inside of draw-in groove, and the one end that connects the material pipe to be close to the flywheel is equipped with the blowout mouth, the fixed silica gel hose that is equipped with on the blowout mouth, the one end and the pipe intercommunication that connect the material pipe are kept away from to the silica gel hose, and the one end fixedly connected with return bend of flywheel is kept away from to the pipe, return.
Further, the fixed protection casing that is equipped with in top of bottom plate, the controller is located the inside of protection casing, and the laminating is provided with down baffle and two side shields respectively between two backup pads, set up the rectangle opening that can supply to pass through from the driving wheel on the side shield.
A self-propelled pesticide spraying robot and a using method thereof comprise the following steps:
s1: self-walking of the device:
the controller is electrically connected with the remote control handle, when pesticide is sprayed on the vegetation in rows, the controller is started through the remote control handle, so that the driving motor is started through the controller, the driving wheel is driven to rotate, the driving wheel and the driven wheel are sleeved through the belt, the driven wheel is sleeved with the first rotating shaft, the first rotating shaft is driven to rotate, one rotating wheel is sleeved with the first rotating shaft, the second rotating shaft is rotatably connected with the supporting plate, the other rotating wheel is sleeved with the second rotating shaft, the two rotating wheels are driven to rotate, the crawler is sleeved with the two rotating wheels, the crawler is driven to rotate and is matched with the other walking assembly, self-walking of the device is realized, when the device is self-walking, the guide pipe drives the atomizing spray head to move from low to high through the bent pipe and then moves from high to low, and each plant is sprayed from low to high or from high to low in turn, the spraying track is wavy and not linear, so that the spraying track can spray pesticides on the vegetation in rows, omission is avoided, and the spraying efficiency is improved.
S2: extruding the pesticide:
when the driving motor drives the device to walk, the output end of the driving motor drives the driving gear to rotate, the hinged shaft is rotatably connected with the second vertical plate, the driven gear is sleeved with the hinged shaft, the driving gear is meshed with the driven gear to be connected, the driven gear is driven to rotate, the hinged shaft is rotatably connected with the second vertical plate, the rotary disc is sleeved with the hinged shaft to drive the rotary disc to rotate, the rotary disc and the sliding block are respectively hinged with two ends of the first connecting rod, the sliding block is slidably connected with the sliding rail, one end, far away from the sliding block, of the extrusion rod is connected with the material receiving pipe in an inserting mode, the extrusion rod is driven to slide towards one end, far away from the sliding block, the pesticide in the material receiving pipe is extruded towards one end, close to the guide pipe, the electromagnetic valve is started through the controller, the communicating pipe is, The communicating pipe and the material receiving port fall into the material receiving pipe, when the extrusion rod is reset, the electromagnetic valve is closed through the controller, thereby the communicating pipe is changed from an open state to a sealed state, the pesticide in the storage barrel is effectively prevented from flowing to the extrusion rod and one end of the material receiving pipe close to the inner part of the sliding block to cause waste, when the rotating disc rotates along with the driven gear, the rotating disc drives the first connecting rod to rotate, so that the first connecting rod drives the sliding block to horizontally slide on the sliding rail in a reciprocating manner, the extrusion rod horizontally slides in a reciprocating manner in the material receiving pipe, namely, the inner part of the material receiving pipe stretches back and forth, when the extrusion rod stretches into the inner part of the material receiving pipe, the pesticide falling into the material receiving pipe is extruded to realize pesticide spraying, when the extrusion stem is in the inside shrink of material receiving pipe, then vacate the unloading space, make things convenient for the pesticide to get into the inside of material receiving pipe from communicating pipe, provide the prerequisite for the pesticide sprays, just in time cooperate the walking of device simultaneously.
S3: spraying of pesticide:
when the pesticide in the material receiving pipe is extruded to the one end that is close to the pipe, the pesticide is extruded to the inside of silica gel hose by the blowout mouth, because the one end and the pipe intercommunication of material receiving pipe are kept away from to the silica gel hose, therefore extrude the pesticide to the inside of pipe, get into the inside of atomizer through the return bend again, make the pesticide be the atomizing blowout by atomizer to the plant at last, and then realize spraying of pesticide.
S4: height adjustment of the atomizing spray head:
when pesticide is sprayed, the articulated shaft is in a rotating state, the driving wheel is sleeved with the articulated shaft, so that the driving wheel is driven to rotate, the rotating wheel and the flywheel are respectively articulated with two ends of the second connecting rod, the second connecting rod is inclined, and the flywheel is in a rotating design, so that the flywheel rotates between the two limiting plates, the guide pipe is fixedly connected with the flywheel through the installation sleeve, the atomizing nozzle is fixedly connected with the guide pipe, the atomizing nozzle is driven to synchronously rotate in a small range when the pesticide is sprayed, so that the height of the atomizing nozzle is adjusted, the pesticide is sprayed on trees from low to high in sequence, the driving wheel is smaller than the flywheel design, so that the driving wheel is driven to rotate in a small range through the second connecting rod when the driving wheel continuously rotates along with the walking of the following device, the atomizing nozzle is further ensured to slowly rise and fall, and the pesticide is sprayed on the trees from low to high in sequence, prevent to rise the speed too fast and cause the hourglass to spout, thereby accomplish by low to high again by the process of high to low spraying insecticide, and follow the reciprocating, realize that the pesticide of in bank vegetation sprays, because the spraying process of pesticide is the wave orbit, the not linear orbit, the atomization of atomizer in addition, the area of spraying has been increased, the coverage rate of pesticide has been improved, therefore can not cause the hourglass of vegetation to spout, and then be favorable to promoting the whole efficiency of spraying of vegetation, just in time the cooperation device from walking simultaneously.
The invention has the beneficial effects that:
1. compared with the prior art, the automatic driving device only needs an operator to stand at one side of vegetation without pushing the device to advance, saves time and labor, avoids pesticide from being stained on the surface of clothes of the operator, reduces harm caused by the fact that a large amount of pesticide is sucked into a human body, and improves the flexibility of the device.
2. According to the invention, through designing the storage barrel, the atomizing spray head and the extrusion assembly, the pesticide in the storage barrel is conveyed to the interior of the extrusion assembly, then the pesticide in the material receiving pipe is extruded to the guide pipe by the extrusion rod, and then the spraying spray head sprays the plant vegetation in a mist shape, so that the pesticide is sprayed.
3. According to the invention, through designing the height adjusting assembly, when pesticide is sprayed, the driving wheel is rotated to drive the second connecting rod to rotate, and the driving wheel is smaller than the flywheel, so that the flywheel is driven to rotate slightly through the second connecting rod, the atomizing nozzle is driven to spray the pesticide from bottom to top on the vegetation, and the phenomenon that the atomizing nozzle rises too fast to cause missed spraying is prevented.
4. Through 1 to 3 beneficial effects, the device can synchronously spray pesticide in the automatic driving process, when the device stops, the spraying is automatically finished, and the height of the atomizing nozzle is synchronously adjusted from low to high and then from high to low when the pesticide is sprayed, namely, when the device is self-propelled, the spraying height of the pesticide is adjusted in a reciprocating manner, the atomizing nozzle is driven to spray the pesticide from low to high and then from high to low, the pesticide spraying process belongs to a wave track and is not a linear track, compared with the prior art, only one driving motor is used for driving three structures of the self-propelled mechanism, the spraying structure and the height adjustment of the atomizing nozzle to operate together, when the pesticide is sprayed, the height of the atomizing nozzle does not need to be adjusted manually, the automatic adjustment can be realized, the pesticide spraying efficiency and the flexibility of the device are improved, meanwhile, the whole manufacturing cost of the device is reduced, the wavy spraying track can effectively avoid the leakage spraying of vegetation, and the practicability of the device is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments of the present invention are briefly described below.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention with the lower baffle and two side baffles removed;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is a schematic perspective view of the base plate and the spray mechanism of the present invention;
FIG. 5 is a schematic perspective view of the storage tank, atomizer, extrusion assembly and height adjustment assembly of the present invention;
FIG. 6 is an enlarged view of FIG. 5 at B;
FIG. 7 is an enlarged view at C of FIG. 5;
FIG. 8 is a plan sectional view of the take-off of the present invention;
in the figure: the device comprises a base plate 1, a controller 2, a self-walking mechanism 3, a driving motor 30, a driving wheel 300, a driven wheel 301, a belt 302, a driving gear 303, a driven gear 304, a first rotating shaft 31, a walking assembly 32, a supporting plate 320, a crawler belt 321, a rotating wheel 322, a second rotating shaft 323, a spraying mechanism 4, a storage barrel 40, an atomizing spray head 41, an extrusion assembly 42, a rotating disc 420, a sliding block 421, an extrusion rod 422, a first connecting rod 423, a material receiving pipe 424, a communicating pipe 425, an electromagnetic valve 426, a silica gel hose 427, a height adjusting assembly 43, a driving wheel 430, a flywheel 431, a second connecting rod 432, a conduit 44 and an elbow 440.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.
Referring to fig. 1 to 8, the self-propelled pesticide spraying robot includes a bottom plate 1, a controller 2, a self-propelled mechanism 3 and a spraying mechanism 4, wherein a partition is fixedly disposed on a top of the bottom plate 1, the controller 2 is fixedly disposed on one side of the partition, the self-propelled mechanism 3 is disposed on a bottom of the bottom plate 1 for supporting a device to travel, the self-propelled mechanism 3 includes a driving motor 30, a first rotating shaft 31 and two traveling assemblies 32, the two traveling assemblies 32 are symmetrically disposed on the bottom of the bottom plate 1, the first rotating shaft 31 is rotatably disposed between the two traveling assemblies 32, the driving motor 30 is fixedly disposed on the bottom of the bottom plate 1 and is in transmission connection with the first rotating shaft 31, the spraying mechanism 4 is disposed on another side of the partition for spraying pesticide, the spraying mechanism 4 includes a barrel 40, an atomizing nozzle 41, a storage and extrusion assembly 42 and a height adjustment assembly 43, the top of the bottom plate 1 is fixedly provided with a first vertical plate, the extrusion assembly 42 is arranged on the outer wall of the first vertical plate, the storage barrel 40 is fixedly arranged on the top of the first vertical plate, the height adjustment assembly 43 is arranged on the top of the bottom plate 1, the height adjustment assembly 43 is fixedly provided with a conduit 44, the atomizing nozzle 41 is in threaded connection with one end of the conduit 44 far away from the storage barrel 40, and the driving motor 30 is electrically connected with the controller 2.
The cover is equipped with action wheel 300 on driving motor 30's the output, the cover is equipped with from driving wheel 301 on first pivot 31's the outer wall, action wheel 300 and from the cover of driving wheel 301 are equipped with belt 302 to the fixed support frame that is equipped with in top of bottom plate 1, the fixed cover that is equipped with in top of support frame, driving motor 30 and fixed cover are inserted and are established and be connected, 1 controller 2 and remote control handle electric connection, when carrying out the pesticide and spray, at first through remote control handle start control ware 2, thereby start driving motor 30 through controller 2, therefore it is rotatory to drive action wheel 300, because action wheel 300 cup joints through belt 302 from driving wheel 301, cup joint with first pivot 31 again from driving wheel 301, and then it is rotatory to drive first pivot 31.
Each running assembly 32 comprises a support plate 320, a track 321 and two wheels 322, the supporting plate 320 is fixedly arranged at one end of the bottom plate 1, the two rotating wheels 322 are symmetrically arranged on the outer wall of the supporting plate 320, one of the wheels 322 is sleeved with one end of the first shaft 31, the caterpillar band 321 is sleeved between the two wheels 322, one end of the support plate 320, which is far away from the first shaft 31, is rotatably provided with a second shaft 323, the other wheel 322 is sleeved with one end of the second shaft 323, when the first shaft 31 rotates, because one of the rotating wheels 322 is sleeved with the first rotating shaft 31, the second rotating shaft 323 is rotatably connected with the supporting plate 320, the other rotating wheel 322 is sleeved with the second rotating shaft 323, thereby driving the two rotating wheels 322 to rotate, and because the caterpillar band 321 is sleeved with the two rotating wheels 322, the crawler belt 321 is further driven to rotate, and the crawler belt is engaged with the other traveling unit 32 to realize self-traveling of the apparatus.
The side of first riser is fixed and is equipped with the second riser, driving motor 30's output is pegged graft with the second riser, still overlaps on driving motor 30's the output and is equipped with driving gear 303, and the rotatable articulated shaft that is provided with of one end that driving gear 303 was kept away from to the second riser, the articulated shaft is kept away from first riser and is equipped with driven gear 304 on the one end outer wall of cover, driving gear 303 and driven gear 304 mesh are connected, and when driving motor 30 started, therefore drive driving gear 303 rotatory through its output, because the articulated shaft rotates with the second riser to be connected, driven gear 304 cup joints with the articulated shaft, because driving gear 303 and driven gear 304 mesh are connected, therefore drive driven gear 304 is rotatory.
The extrusion assembly 42 comprises a rotary table 420, a sliding block 421, an extrusion rod 422, a first connecting rod 423 and a material receiving pipe 424, the rotary table 420 is sleeved on the outer wall of one end of the hinge shaft far away from the driven gear 304, the first connecting rod 423 is hinged on the outer wall of the rotary table 420, a sliding rail is fixedly arranged on the outer wall of one side of the first vertical plate close to the rotary table 420, the sliding block 421 is slidably arranged on the sliding rail, one end of the first connecting rod 423 far away from the rotary table 420 is hinged with the sliding block 421, the extrusion rod 422 is fixedly arranged on the outer wall of one side of the sliding block 421 far away from the first connecting rod 423, the material receiving pipe 424 is fixedly arranged on the outer wall of the first vertical plate, one end of the extrusion rod 422 far away from the sliding block 421 is spliced with the material receiving pipe 424, when the driven gear 304 rotates, the hinge shaft is rotatably connected with the second vertical plate, the rotary table 420 is sleeved with the hinge shaft, the sliding block 421 is slidably connected to the sliding rail, one end of the extrusion rod 422, which is far away from the sliding block 421, is inserted into the material receiving pipe 424, so as to drive the extrusion rod 422 to slide towards one end, which is far away from the sliding block 421, inside the material receiving pipe 424, so as to extrude the pesticide inside the material receiving pipe 424 towards one end, which is close to the conduit 44, in the process that the rotary table 420 rotates along with the driven gear 304, the rotary table 420 drives the first connecting rod 423 to rotate, so as to drive the sliding block 421 to horizontally slide on the sliding rail in a reciprocating manner through the first connecting rod 423, so that the extrusion rod 422 horizontally slides in the material receiving pipe 424, i.e., stretches back and forth inside the material receiving pipe 424, when the extrusion rod 422 stretches inside the material receiving pipe 424, the pesticide falling into the material receiving pipe 424 is extruded, so as to achieve pesticide spraying, when the extrusion rod 422 shrinks inside the material receiving pipe 424, a material discharging space is vacated, and meanwhile, the self-walking of the device is just matched.
The height adjusting assembly 43 comprises a driving wheel 430, a flywheel 431 and a second connecting rod 432, the driving wheel 430 is sleeved on the outer wall of one end of a hinge shaft away from the rotating disc 420, the second connecting rod 432 is hinged on the outer wall of the driving wheel 430, the top of the bottom plate 1 is symmetrically provided with two limiting plates, the flywheel 431 is rotatably arranged between the two limiting plates, one end of the second connecting rod 432 away from the driving wheel 430 is hinged on the outer wall of the flywheel 431, the second connecting rod 432 is inclined, the rotating disc 420 is smaller than the driving wheel 430, the driving wheel 430 is smaller than the flywheel 431, when pesticide is sprayed, because the hinge shaft is in a rotating state, the driving wheel 430 is sleeved with the hinge shaft, the driving wheel 430 is driven to rotate, because the rotating wheel 322 and the flywheel 431 are respectively hinged with two ends of the second connecting rod 432, the second connecting rod 432 is inclined, and the flywheel 431 is designed to rotate, the flywheel 431, because the guide pipe 44 is fixedly connected with the flywheel 431 through the mounting sleeve, the atomizer 41 is fixedly connected with the guide pipe 44, and further the atomizer 41 is driven to synchronously rotate in a small range while spraying the pesticide, so as to realize the height adjustment of the atomizer 41, the pesticide is sprayed on the trees from low to high in sequence, the driving wheel 430 is smaller than the flywheel 431, so as to ensure that the driving wheel 430 drives the flywheel 431 to rotate in a small range through the second connecting rod 432 when the following device walks and rotates continuously, and further ensure that the atomizer 41 slowly rises and falls, the pesticide is sprayed on the trees from low to high and then from high to low in sequence, the phenomenon of spray leakage caused by overhigh rising speed is prevented, the process of spraying the pesticide from low to high and then from high to low is completed, the pesticide is sprayed on the vegetation in rows in a reciprocating mode, the pesticide spraying process is a wave-shaped track and is not a linear track, in addition, the atomization effect of the atomization spray head is increased, the spraying area is increased, the coverage rate of pesticides is improved, and therefore leakage spraying of vegetation can not be caused, so that the whole spraying efficiency of the vegetation is promoted, and meanwhile, the self-walking of the device is just matched.
The top of the first vertical plate is fixedly provided with a connecting plate, the storage barrel 40 is fixedly connected with the outer wall of the connecting plate, the top of the storage barrel 40 is provided with a feeding port, a sealing plug is inserted on the feeding port, the outer wall of the storage barrel 40 is provided with a glass observation window, the bottom of the storage barrel 40 is provided with a discharging port, the outer wall of one end, close to the storage barrel 40, of the material receiving pipe 424 is provided with a material receiving port, a communicating pipe 425 is fixedly arranged between the discharging port and the material receiving port, the outer wall of the communicating pipe 425 is provided with an electromagnetic valve 426, the electromagnetic valve 426 is electrically connected with the controller 2, the feeding port is used for dumping pesticide, the sealing plug plays a role in preventing overflowing, the glass observation window is convenient for watching the residual amount of the pesticide in the storage barrel 40 in real time and adding in time, when the pesticide in the material receiving pipe 424, therefore, the communicating pipe 425 is switched from the sealed state to the open state, so that the pesticide inside the storage barrel 40 falls into the receiving pipe 424 from the discharge port, the communicating pipe 425 and the receiving port in sequence, when the extrusion rod 422 is reset, the electromagnetic valve 426 is closed through the controller 2, and the communicating pipe 425 is switched from the open state to the sealed state, so that the pesticide inside the storage barrel 40 is effectively prevented from flowing to one end of the extrusion rod 422 and the receiving pipe 424 close to the inner part of the sliding block 421 to cause waste.
The outer wall of the flywheel 431 is fixedly connected with a mounting sleeve, the mounting sleeve is integrally provided with a clamping groove, the guide pipe 44 is clamped and arranged inside the clamping groove, one end of the material receiving pipe 424, which is close to the flywheel 431, is provided with a spraying hole, the spraying hole is fixedly provided with a silica gel hose 427, one end of the silica gel hose 427, which is far away from the material receiving pipe 424, is communicated with the guide pipe 44, one end of the guide pipe 44, which is far away from the flywheel 431, is fixedly connected with an elbow pipe 440, the elbow pipe 440 is in threaded connection with the atomizing nozzle 41, when the pesticide in the material receiving pipe 424 is extruded towards one end, which is close to the guide pipe 44, the pesticide in the material receiving pipe 424 is extruded from the spraying hole through the spraying hole, and the end of the silica gel hose 427, which is far away from the material receiving pipe 424, is communicated with the guide pipe 44, and then realize spraying of pesticide, pipe 44 and installation cover joint make things convenient for the dismouting, and atomizer 41 and return bend 440 threaded connection make things convenient for the change.
The fixed protection casing that is equipped with in top of bottom plate 1, controller 2 is located the inside of protection casing, and the laminating is provided with down baffle and two side shields respectively between two backup pads 320, set up the rectangle opening that can supply to pass through from driving wheel 301 on the side shield, the protection casing is used for hiding controller 2, avoids the pesticide that sprays to fly away to the shell of controller 2 on, avoids weeds etc. to twine on first pivot 31 and second pivot 323 when baffle and two side shields can guarantee that the device goes down, and then avoids walking of device to receive the influence.
A self-propelled pesticide spraying robot and a using method thereof comprise the following steps:
s1: self-walking of the device:
the controller 2 is electrically connected with the remote control handle, when spraying pesticides on the vegetation in rows, the controller 2 is started through the remote control handle, so that the driving motor 30 is started through the controller 2, the driving wheel 300 is driven to rotate, the driving wheel 300 and the driven wheel 301 are sleeved through the belt 302, the driven wheel 301 is sleeved with the first rotating shaft 31 and further drives the first rotating shaft 31 to rotate, one rotating wheel 322 is sleeved with the first rotating shaft 31, the second rotating shaft 323 is rotatably connected with the supporting plate 320, the other rotating wheel 322 is sleeved with the second rotating shaft 323, so that the two rotating wheels 322 are driven to rotate, the crawler 321 is sleeved with the two rotating wheels 322 and further drives the crawler 321 to rotate and is matched with the other traveling component 32, self-traveling of the device is realized, when the device self-travels, the conduit 44 drives the atomizing nozzle 41 to move from low to high through the elbow 440 and then from high to low, carry out by low to high or spray by high to low agriculture to every plant in proper order, spray the orbit and be wavy, be not linear orbit, therefore can spray the pesticide to in bank vegetation, avoid omitting, and then improve and spray efficiency.
S2: extruding the pesticide:
the driving motor 30 drives the device to move, and simultaneously, the output end thereof drives the driving gear 303 to rotate, because the hinged shaft is rotatably connected with the second vertical plate, the driven gear 304 is sleeved with the hinged shaft, because the driving gear 303 is meshed with the driven gear 304, the driven gear 304 is driven to rotate, because the hinged shaft is rotatably connected with the second vertical plate, the turntable 420 is sleeved with the hinged shaft, the turntable 420 is driven to rotate, because the turntable 420 and the sliding block 421 are respectively hinged with two ends of the first connecting rod 423, the sliding block 421 is slidably connected with the sliding rail, one end of the extrusion rod 422 far away from the sliding block 421 is inserted with the material receiving pipe 424, the extrusion rod 422 is driven to slide towards one end far away from the sliding block 421 inside the material receiving pipe 424, so as to extrude the pesticide in the material receiving pipe 424 towards one end near the conduit 44, then the electromagnetic valve 426 is started through the controller 2, therefore, the pesticide in the storage barrel 40 falls into the receiving pipe 424 through the discharge port, the communicating pipe 425 and the receiving port in sequence, when the extrusion rod 422 is reset, the electromagnetic valve 426 is closed through the controller 2, and the communicating pipe 425 is changed from open to a sealed state, so that the pesticide in the storage barrel 40 is effectively prevented from flowing to one end of the extrusion rod 422 and the receiving pipe 424 close to the inner part of the sliding block 421 to cause waste, in the process that the rotating disc 420 rotates along with the driven gear 304, the rotating disc 420 drives the first connecting rod 423 to rotate, so that the sliding block 421 is driven by the first connecting rod 423 to horizontally slide on the sliding rail in a reciprocating manner, so that the extrusion rod 422 horizontally slides in the receiving pipe 424 in a reciprocating manner, namely, when the extrusion rod 422 extends in the receiving pipe 424, the pesticide falling into the receiving pipe 24 is extruded to realize pesticide spraying, and when the extrusion rod 422 contracts in the receiving pipe 424, the blanking space is vacated, the pesticide can conveniently enter the inside of the material receiving pipe 424 from the communicating pipe 425, the precondition is provided for pesticide spraying, and meanwhile, the self-walking of the device is just matched.
S3: spraying of pesticide:
when the pesticide in the material receiving pipe 424 is extruded to the end close to the conduit 44, the pesticide is extruded to the inside of the extruded silica gel hose 427 from the ejection port, and because the end of the silica gel hose 427 far away from the material receiving pipe 424 is communicated with the conduit 44, the pesticide is extruded to the inside of the conduit 44 and then enters the inside of the atomizer 41 through the elbow 440, and finally the pesticide is atomized and sprayed out to plants through the atomizer 41, so that the pesticide is sprayed.
S4: height adjustment of the atomizing spray head:
when spraying pesticide, because the articulated shaft is in a rotating state, the driving wheel 430 is sleeved with the articulated shaft, the driving wheel 430 is driven to rotate, because the rotating wheel 322 and the flywheel 431 are respectively articulated with two ends of the second connecting rod 432, the second connecting rod 432 is inclined, and the flywheel 431 is in a rotating design, the flywheel 431 is driven to rotate between the two limiting plates, because the conduit 44 is fixedly connected with the flywheel 431 through the installation sleeve, the atomizing nozzle 41 is fixedly connected with the conduit 44, the atomizing nozzle 41 is driven to synchronously rotate in a small range when spraying pesticide, so that the height of the atomizing nozzle 41 is adjusted, the pesticide is sprayed on trees from low to high in sequence, the driving wheel 430 is smaller than that designed by the flywheel 431, in order to ensure that when the driving wheel 430 continuously rotates while walking along with the device, the flywheel 431 is driven to rotate in a small range through the second connecting rod 432, and further ensure that the atomizing nozzle 41 slowly rises and falls, carry out the pesticide again to trees by height to low in proper order and spray, prevent to rise speed too fast and cause to leak and spout, thereby accomplish by low to high again by the process of high to low spraying pesticide, and follow bad reciprocal, realize that the pesticide of in bank vegetation sprays, because the spraying process of pesticide is the wave orbit, the not linear orbit, the atomization effect of atomizer in addition, the area of spraying has been increased, the coverage rate of pesticide has been improved, therefore can not cause the hourglass of vegetation to spout, and then be favorable to promoting the whole efficiency of spraying of vegetation, just in time the self-propelled of proportioning device simultaneously.
The working principle of the invention is as follows: the controller 2 is electrically connected with the remote control handle, when pesticide spraying is carried out on the vegetation in rows, the controller 2 is started through the remote control handle, so that the driving motor 30 is started through the controller 2, the driving wheel 300 is driven to rotate, the driving wheel 300 and the driven wheel 301 are sleeved through the belt 302, the driven wheel 301 is sleeved with the first rotating shaft 31 and further drives the first rotating shaft 31 to rotate, one rotating wheel 322 is sleeved with the first rotating shaft 31, the second rotating shaft 323 is rotatably connected with the supporting plate 320, the other rotating wheel 322 is sleeved with the second rotating shaft 323, so that the two rotating wheels 322 are driven to rotate, the crawler 321 is driven to rotate and further drives the crawler 321 to rotate and be matched with the other traveling component 32, self-traveling of the device is realized, when the device self-travels, the conduit 44 drives the atomizing nozzle 41 to move from low to high through the elbow 440 and then from high to low, carry out by low to high or spray by high to low agriculture to every plant in proper order, spray the orbit and be wavy, be not linear orbit, therefore can spray the pesticide to in bank vegetation, avoid omitting, and then improve and spray efficiency.
In the walking of driving motor drive arrangement, therefore it is rotatory to drive driving gear 303 through its output, because the articulated shaft rotates with the second riser to be connected, driven gear 304 cup joints with the articulated shaft, again because driving gear 303 is connected with driven gear 304 meshing, therefore it is rotatory to drive driven gear 304, because the articulated shaft rotates with the second riser to be connected, carousel 420 cup joints with the articulated shaft, therefore it is rotatory to drive carousel 420, again because carousel 420 and slider 421 articulate with the both ends of first connecting rod 423 respectively, slider 421 and slide rail sliding connection, the one end that extrusion stem 422 kept away from slider 421 pegs graft with material receiving pipe 424, therefore it slides to the one end of keeping away from slider 421 to drive extrusion stem 422 to the inside material receiving pipe 424, and then will connect the pesticide in the material pipe 424 to the one end extrusion that is close to pipe 44.
The feeding port is used for dumping pesticide, the sealing plug has an anti-overflow effect, the glass observation window is convenient for watching the residual amount of the pesticide in the storage barrel 40 in real time and adding the pesticide conveniently, when the pesticide in the material receiving pipe 424 is extruded to one end close to the guide pipe 44 by the extrusion rod 422, the electromagnetic valve 426 is started through the controller 2, so that the communicating pipe 425 is switched from a sealed state to an open state, the pesticide in the storage barrel 40 sequentially passes through the discharge port, the communicating pipe 425 and the material receiving port and falls into the material receiving pipe 424, when the extrusion rod 422 is reset, the electromagnetic valve 426 is closed through the controller 2, so that the communicating pipe 425 is switched from an open state to a sealed state, the pesticide in the storage barrel 40 is effectively prevented from flowing to the extrusion rod 422 and flowing to one end of the material receiving pipe 424 close to the inside of the sliding block 421 to cause waste, and in the process that the rotary disc, therefore drive slider 421 through first connecting rod 423 and horizontal reciprocating sliding on the slide rail, thereby make extrusion stem 422 in the inside horizontal reciprocating sliding of material receiving pipe 424, make a round trip to stretch out and draw back in material receiving pipe 424 promptly, when extrusion stem 422 stretches out in material receiving pipe 424 is inside, extrude the inside pesticide of material receiving pipe 24 that falls into, the realization is spouted the medicine, when extrusion stem 422 in material receiving pipe 424 is inside to shrink, then vacates the unloading space, make things convenient for the pesticide to get into material receiving pipe 424's inside from communicating pipe 425, spray for the pesticide and provide the prerequisite, just in time cooperate self-propelled of device.
When will connect the pesticide in the material pipe 424 to the one end extrusion that is close to pipe 44, its inside pesticide is extruded to the inside of silica gel hose 427 by the blowout port, because the one end and the pipe 44 intercommunication of material pipe 424 are kept away from to silica gel hose 427, therefore extrude the pesticide to the inside of pipe 44, get into the inside of atomizer 41 through return bend 440 again, make the pesticide be the atomizing blowout by atomizer 41 to the plant at last, and then realize spraying of pesticide, pipe 44 and installation cover joint, make things convenient for the dismouting, atomizer 41 and return bend 440 threaded connection, the convenient change.
When spraying pesticide, because the articulated shaft is in a rotating state, the driving wheel 430 is sleeved with the articulated shaft, the driving wheel 430 is driven to rotate, because the rotating wheel 322 and the flywheel 431 are respectively articulated with two ends of the second connecting rod 432, the second connecting rod 432 is inclined, and the flywheel 431 is in a rotating design, the flywheel 431 is driven to rotate between the two limiting plates, because the conduit 44 is fixedly connected with the flywheel 431 through the installation sleeve, the atomizing nozzle 41 is fixedly connected with the conduit 44, the atomizing nozzle 41 is driven to synchronously rotate in a small range when spraying pesticide, so that the height of the atomizing nozzle 41 is adjusted, the pesticide is sprayed on trees from low to high in sequence, the driving wheel 430 is smaller than that designed by the flywheel 431, in order to ensure that when the driving wheel 430 continuously rotates while walking along with the device, the flywheel 431 is driven to rotate in a small range through the second connecting rod 432, and further ensure that the atomizing nozzle 41 slowly rises and falls, carry out the pesticide again to trees by height to low in proper order and spray, prevent to rise speed too fast and cause to leak and spout, thereby accomplish by low to high again by the process of high to low spraying pesticide, and follow bad reciprocal, realize that the pesticide of in bank vegetation sprays, because the spraying process of pesticide is the wave orbit, the not linear orbit, the atomization effect of atomizer in addition, the area of spraying has been increased, the coverage rate of pesticide has been improved, therefore can not cause the hourglass of vegetation to spout, and then be favorable to promoting the whole efficiency of spraying of vegetation, just in time the self-propelled of proportioning device simultaneously.
Claims (10)
1. A self-propelled pesticide spraying robot comprises a bottom plate (1), and is characterized by further comprising a controller (2), a self-propelled mechanism (3) and a spraying mechanism (4), wherein a partition plate is fixedly arranged at the top of the bottom plate (1), the controller (2) is fixedly arranged on one side of the partition plate, the self-propelled mechanism (3) is arranged at the bottom of the bottom plate (1) and used for supporting the device to walk, the self-propelled mechanism (3) comprises a driving motor (30), a first rotating shaft (31) and two walking assemblies (32), the two walking assemblies (32) are symmetrically arranged at the bottom of the bottom plate (1), the first rotating shaft (31) is rotatably arranged between the two walking assemblies (32), the driving motor (30) is fixedly arranged at the bottom of the bottom plate (1) and is in transmission connection with the first rotating shaft (31), and the spraying mechanism (4) is arranged at the other side of the partition plate and used for spraying pesticide, spraying mechanism (4) are including storing bucket (40), atomizer (41), extrusion subassembly (42) and height adjusting subassembly (43), and the fixed first riser that is equipped with in top of bottom plate (1), extrusion subassembly (42) are established on the outer wall of first riser, store the fixed top of establishing at first riser of bucket (40), height adjusting subassembly (43) are established at the top of bottom plate (1) to the fixed pipe (44) that is equipped with on height adjusting subassembly (43), atomizer (41) threaded connection keeps away from the one end that stores bucket (40) in pipe (44), driving motor (30) and controller (2) electric connection.
2. The self-propelled pesticide spraying robot of claim 1, characterized in that: the cover is equipped with action wheel (300) on the output of driving motor (30), the cover is equipped with from driving wheel (301) on the outer wall of first pivot (31), action wheel (300) and from the cover between driving wheel (301) be equipped with belt (302) to the fixed support frame that is equipped with in top of bottom plate (1), the fixed cover that is equipped with in top of support frame, driving motor (30) are inserted with fixed cover and are established and be connected.
3. The self-propelled pesticide spraying robot of claim 2, characterized in that: every running assembly (32) all includes backup pad (320), track (321) and two runner (322), backup pad (320) is fixed to be established in the bottom one end of bottom plate (1), and two runner (322) are the symmetry and set up on the outer wall of backup pad (320) to one of them runner (322) cup joints with the one end of first pivot (31), track (321) cover is established between two runner (322), and the rotatable second pivot (323 that is provided with of one end that first pivot (31) were kept away from in backup pad (320), and another runner (322) cup joints with the one end of second pivot (323).
4. The self-propelled pesticide spraying robot of claim 3, characterized in that: the fixed second riser that is equipped with of side of first riser, the output and the second riser of driving motor (30) are pegged graft, still overlap on the output of driving motor (30) and are equipped with driving gear (303), and the rotatable articulated shaft that is provided with of one end that driving gear (303) were kept away from to the second riser, the articulated shaft is kept away from and is equipped with driven gear (304) on the one end outer wall of first riser, driving gear (303) are connected with driven gear (304) meshing.
5. The self-propelled pesticide spraying robot of claim 4, characterized in that: the extrusion assembly (42) comprises a rotary table (420), a sliding block (421), an extrusion rod (422), a first connecting rod (423) and a material receiving pipe (424), the rotary table (420) is sleeved on the outer wall of one end, away from the driven gear (304), of the hinge shaft, the first connecting rod (423) is hinged to the outer wall of the rotary table (420), a sliding rail is fixedly arranged on the outer wall of one side, close to the rotary table (420), of the first vertical plate, the sliding block (421) is arranged on the sliding rail in a sliding mode, one end, away from the rotary table (420), of the first connecting rod (423) is hinged to the sliding block (421), the extrusion rod (422) is fixedly arranged on the outer wall of one side, away from the first connecting rod (423), the material receiving pipe (424) is fixedly arranged on the outer wall of the first vertical plate, and one end, away from the sliding block (421), of the extrusion rod (422).
6. The self-propelled pesticide spraying robot of claim 5, characterized in that: height adjusting subassembly (43) include drive wheel (430), flywheel (431) and second connecting rod (432), the one end outer wall that carousel (420) was kept away from to the articulated shaft is established in drive wheel (430) cover, the articulated setting of second connecting rod (432) is on the outer wall of drive wheel (430), and the top of bottom plate (1) is the symmetry and is provided with two limiting plates, the rotatable setting of flywheel (431) is between two limiting plates to articulated on the outer wall of the one end of drive wheel (430) and flywheel (431) is kept away from in second connecting rod (432), second connecting rod (432) are the slope, carousel (420) are littleer than drive wheel (430), and drive wheel (430) are littleer than flywheel (431).
7. The self-propelled pesticide spraying robot of claim 6, characterized in that: the top of first riser is fixed and is equipped with the connecting plate, store bucket (40) and the outer wall fixed connection of connecting plate, the top that stores bucket (40) is equipped with the material loading mouth, insert on the material loading mouth and be equipped with the sealing plug, be equipped with the glass observation window on the outer wall that stores bucket (40) to the discharge port has been seted up to the bottom that stores bucket (40), connect material pipe (424) to have seted up on being close to the one end outer wall that stores bucket (40) and connect the material mouth, the discharge port with connect fixed communicating pipe (425) of being equipped with between the material mouth, install solenoid valve (426) on the outer wall of communicating pipe (425), solenoid valve (426) are connected with controller (2) electricity.
8. The self-propelled pesticide spraying robot of claim 7, characterized in that: fixedly connected with installation cover on the outer wall of flywheel (431), it is integrated into one piece and is provided with the draw-in groove to sheathe in the installation, pipe (44) joint sets up in the inside of draw-in groove, and the one end that connects material pipe (424) to be close to flywheel (431) is equipped with the blowout port, the fixed silica gel hose (427) that is equipped with on the blowout port, the one end and pipe (44) the intercommunication of connecing material pipe (424) are kept away from in silica gel hose (427), and the one end fixedly connected with return bend (440) of flywheel (431) are kept away from in pipe (44), return bend (440) and atomizer (41) threaded connection.
9. The self-propelled pesticide spraying robot of claim 8, wherein: the fixed protection casing that is equipped with in top of bottom plate (1), controller (2) are located the inside of protection casing, and the laminating is provided with down baffle and two side shields respectively between two backup pads (320), set up the rectangle opening that can supply to pass through from driving wheel (301) on the side shield.
10. A self-propelled pesticide spraying robot and a using method thereof comprise the following steps:
s1: self-walking of the device:
the controller (2) is electrically connected with the remote control handle, when the pesticides are sprayed on the vegetation in rows, the controller (2) is started through the remote control handle, the driving motor (30) is started through the controller (2), so that the driving wheel (300) is driven to rotate, the driving wheel (300) and the driven wheel (301) are sleeved through the belt (302), the driven wheel (301) is sleeved with the first rotating shaft (31) and further drives the first rotating shaft (31) to rotate, one rotating wheel (322) is sleeved with the first rotating shaft (31), the second rotating shaft (323) is rotatably connected with the supporting plate (320), the other rotating wheel (322) is sleeved with the second rotating shaft (323), so that the two rotating wheels (322) are driven to rotate, and the crawler belt (321) is sleeved with the two rotating wheels (322) and further drives the crawler belt (321) to rotate and is matched with the other walking component (32), the self-walking of the device is realized, when the device is self-walking, the guide pipe (44) drives the atomizing spray head (41) to spray from low to high and then from high to low through the bent pipe (440), and each plant is sprayed from low to high or from high to low in sequence, the spraying track is wavy and not linear, so that pesticide can be sprayed on vegetation in rows, omission is avoided, and the spraying efficiency is improved;
s2: extruding the pesticide:
when the driving motor (30) drives the device to walk, the output end of the driving motor drives the driving gear (303) to rotate, the hinged shaft is rotatably connected with the second vertical plate, the driven gear (304) is sleeved with the hinged shaft, the driving gear (303) is meshed with the driven gear (304), the driven gear (304) is driven to rotate, the hinged shaft is rotatably connected with the second vertical plate, the rotary disc (420) is sleeved with the hinged shaft, the rotary disc (420) is driven to rotate, the rotary disc (420) and the sliding block (421) are respectively hinged with two ends of the first connecting rod (423), the sliding block (421) is slidably connected with the sliding rail, one end of the extrusion rod (422) far away from the sliding block (421) is inserted with the material receiving pipe (424), the extrusion rod (422) is driven to slide towards the inside of the material receiving pipe (424) far away from one end of the sliding block (421), and then the pesticide in the material receiving pipe (424) is extruded towards one, then the controller (2) starts the electromagnetic valve (426), so that the communicating pipe (425) is changed from a sealing state to an opening state, pesticide in the storage barrel (40) sequentially passes through the discharge port, the communicating pipe (425) and the material receiving port to fall into the material receiving pipe (424), when the extrusion rod (422) is reset, the electromagnetic valve (426) is closed through the controller (2), so that the communicating pipe (425) is changed from an opening state to a sealing state, pesticide in the storage barrel (40) is effectively prevented from flowing to the extrusion rod (422) and one end of the material receiving pipe (424) close to the inner part of the sliding block (421) to cause waste, in the process that the rotating disc (420) rotates along with the driven gear (304), the rotating disc (420) drives the first connecting rod (423) to rotate, so that the sliding block (421) is driven by the first connecting rod (423) to horizontally slide on the sliding rail in a reciprocating manner, and the extrusion rod (422) horizontally slides in the material receiving pipe (424, the pesticide spraying device is characterized in that the inside of the material receiving pipe (424) stretches back and forth, when the extrusion rod (422) stretches into the inside of the material receiving pipe (424), the pesticide falling into the inside of the material receiving pipe (424) is extruded, pesticide spraying is achieved, when the extrusion rod (422) shrinks in the inside of the material receiving pipe (424), a discharging space is vacated, the pesticide can conveniently enter the inside of the material receiving pipe (424) through the communicating pipe (425), a precondition is provided for pesticide spraying, and meanwhile, self-walking of the device is just matched;
s3: spraying of pesticide:
when the pesticide in the material receiving pipe (424) is extruded to one end close to the guide pipe (44), the pesticide is extruded to the inside of the silica gel hose (427) from the spray port, and because one end of the silica gel hose (427), which is far away from the material receiving pipe (424), is communicated with the guide pipe (44), the pesticide is extruded to the inside of the guide pipe (44) and then enters the inside of the atomizing nozzle (41) through the bent pipe (440), and finally the pesticide is atomized and sprayed out to plants through the atomizing nozzle (41), so that the pesticide is sprayed;
s4: height adjustment of the atomizing spray head:
when pesticide is sprayed, the articulated shaft is in a rotating state, the driving wheel (430) is sleeved with the articulated shaft, so the driving wheel (430) is driven to rotate, the rotating wheel (322) and the flywheel (431) are respectively articulated with two ends of the second connecting rod (432), the second connecting rod (432) is inclined, and the flywheel (431) is designed to rotate, so the flywheel (431) rotates between two limiting plates, the conduit (44) is fixedly connected with the flywheel (431) through the installation sleeve, the atomizing nozzle (41) is fixedly connected with the conduit (44), further the atomizing nozzle (41) is driven to synchronously rotate in a small amplitude while pesticide is sprayed, so that the height adjustment of the atomizing nozzle (41) is realized, pesticide is sequentially sprayed on trees from low to high, the driving wheel (430) is smaller than the design of the flywheel (431), and the driving wheel (430) is ensured to continuously rotate when the driving wheel (430) runs along with the device, drive flywheel (431) through second connecting rod (432) and carry out the rotation by a small margin, and then guarantee atomizer (41) slowly rise and reduce, carry out the pesticide by high to low again to trees from low to high in proper order and spray, prevent to rise the speed too fast and cause to leak and spout, thereby accomplish by low to high again by high to low process of spraying the pesticide, and cycle is reciprocal, realize that the pesticide of in bank vegetation sprays, because the spraying process of pesticide is the wave orbit, not linear orbit, atomizer's atomization effect in addition, increased the area of spraying, the coverage of pesticide has been improved, therefore can not cause the hourglass of vegetation to spout, and then be favorable to promoting the whole efficiency of spraying of vegetation, just in time the cooperation device from walking.
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| CN112789974A (en) * | 2020-12-31 | 2021-05-14 | 霍金阁 | Agricultural small vegetable seeder with spraying function |
| CN114600858A (en) * | 2022-03-28 | 2022-06-10 | 张�杰 | Walking type plant protection and pesticide spraying all-in-one machine used in vegetable garden and using method thereof |
| CN114731880A (en) * | 2022-03-23 | 2022-07-12 | 汉中市农业科学研究所（陕西省水稻研究所） | Variable pesticide applying device based on rice blast morbidity degree |
| CN117469237A (en) * | 2023-12-27 | 2024-01-30 | 泰州江山消防器材有限公司 | Mechanical fireproof hydraulic control device |
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| GB904344A (en) * | 1959-03-06 | 1962-08-29 | Hudson Mfg Co H D | Mobile spraying device |
| CN103461308A (en) * | 2013-09-17 | 2013-12-25 | 张国喜 | Crop fertilization and pesticide spray trolley |
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| CN109349264A (en) * | 2018-12-25 | 2019-02-19 | 杭州绿丞科技有限公司 | A kind of essence amount pesticide dispersal equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112789974A (en) * | 2020-12-31 | 2021-05-14 | 霍金阁 | Agricultural small vegetable seeder with spraying function |
| CN114731880A (en) * | 2022-03-23 | 2022-07-12 | 汉中市农业科学研究所（陕西省水稻研究所） | Variable pesticide applying device based on rice blast morbidity degree |
| CN114600858A (en) * | 2022-03-28 | 2022-06-10 | 张�杰 | Walking type plant protection and pesticide spraying all-in-one machine used in vegetable garden and using method thereof |
| CN117469237A (en) * | 2023-12-27 | 2024-01-30 | 泰州江山消防器材有限公司 | Mechanical fireproof hydraulic control device |
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Application publication date: 20200929 |
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