CN113601529B - Efficient pesticide spraying robot for farmland - Google Patents
Efficient pesticide spraying robot for farmland Download PDFInfo
- Publication number
- CN113601529B CN113601529B CN202110957536.2A CN202110957536A CN113601529B CN 113601529 B CN113601529 B CN 113601529B CN 202110957536 A CN202110957536 A CN 202110957536A CN 113601529 B CN113601529 B CN 113601529B
- Authority
- CN
- China
- Prior art keywords
- unit
- fixedly connected
- supporting plate
- medicine
- stirring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 61
- 239000000575 pesticide Substances 0.000 title claims abstract description 60
- 239000003814 drug Substances 0.000 claims abstract description 51
- 238000003756 stirring Methods 0.000 claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 10
- 239000007921 spray Substances 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 239000008141 laxative Substances 0.000 claims 1
- 230000002475 laxative effect Effects 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 239000007788 liquid Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 235000013311 vegetables Nutrition 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Catching Or Destruction (AREA)
Abstract
The application discloses a high-efficiency pesticide spraying robot for farmlands, which comprises a walking unit, a pesticide storage unit, a supporting unit, a pesticide spraying unit, a control unit and a stirring unit, wherein the walking unit comprises a crawler, a driving assembly and a supporting assembly; the medicine storage unit comprises a box body and a box sleeve, and is matched and connected with the supporting component; the supporting unit comprises a rotary motor which is arranged above the medicine storage unit; the medicine spraying unit comprises a medicine pump, a robot arm and a hose, and is connected with the medicine storage unit and the supporting unit; the control unit comprises a control module; the stirring unit comprises a stirring motor and is connected with the box body in a matched manner; the application provides a high-efficiency pesticide spraying robot for farmlands, which is provided with a triangular crawler-type walking unit, has good trafficability and has small influence on soil and crops when working in farmlands; the control unit can process two different crop information acquired by the camera, and then control the left and right robot arms to adjust the angle and the position, so that two different crops can be applied simultaneously, the efficiency is high, and the pesticide spraying efficiency is greatly improved.
Description
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a high-efficiency pesticide spraying robot for farmlands.
Background
At present, most vegetables in farmlands are not planted singly, but are planted in various mixed modes such as interplanting and interplanting, and the planting mode is often accompanied by the generation of various plant diseases and insect pests at the same time. In order to solve the problem of plant diseases and insect pests, pesticide needs to be sprayed to crops generally, and the traditional pesticide spraying mode can only be used for spraying pesticide to one vegetable at a time, after one-time pesticide spraying, the pesticide box needs to be cleaned, new liquid medicine is injected, pesticide spraying is performed to the other vegetable again, and a large amount of time cost and labor cost are consumed.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present application has been made in view of the above-described problems with the conventional efficient pesticide spraying robot for farmland.
Therefore, the application aims to provide an efficient pesticide spraying robot for farmlands, and aims to overcome the defects of the prior art and provide an intelligent and more efficient pesticide spraying robot for farmlands.
In order to solve the technical problems, the application provides the following technical scheme: the efficient pesticide spraying robot for the farmland comprises a walking unit, a pesticide storage unit, a supporting unit, a pesticide spraying unit, a control unit and a stirring unit, wherein the walking unit comprises a crawler, a driving assembly and a supporting assembly; the medicine storage unit comprises a box body and a box sleeve, and is matched and connected with the supporting component; the supporting unit comprises a rotary motor and is arranged above the medicine storage unit; the medicine spraying unit comprises a medicine pump, a robot arm and a hose, and is connected with the medicine storage unit and the supporting unit; the control unit comprises a control module; and the stirring unit comprises a stirring motor and is connected with the box body in a matched manner.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the driving assemblies are in two groups and are symmetrically arranged on two sides of the supporting assembly; the driving assembly comprises a walking motor and a driving wheel, and the driving wheel is connected with the walking motor; the driving assembly further comprises a first driven wheel and a second driven wheel, and the first driven wheel, the second driven wheel and the driving wheel are distributed in a triangular shape; the crawler belt is sleeved on the outer side wall of the driving wheel, the first driven wheel and the second driven wheel, which are far away from each other.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the support assembly comprises a first rotating shaft, and two ends of the first rotating shaft are respectively connected with the first driven wheel; and two ends of the second rotating shaft are respectively connected with the second driven wheel.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the support assembly further comprises a first support plate fixedly connected below the walking motor; the two ends of the second supporting plate are fixedly connected with the first rotating shaft and the driving wheel respectively; the bottom surface of the third support plate is fixedly connected with the walking motor, one side of the bottom surface of the third support plate, which is far away from the walking motor, is fixedly connected with the first rotating shaft, and the right side of the third support plate is fixedly connected with the upper side of the second support plate; the support shafts are provided with a plurality of groups, and two ends of each support shaft are fixedly connected with the third support plate and the second rotating shaft respectively.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the box body is symmetrically arranged on two sides of the third supporting plate, and the box sleeve is sleeved on the outer side wall of the box body; the upper plate surface of the box body is provided with a stirring port and a medicine inlet, and the outer side wall of the box body, which is far away from each other, is provided with a through hole; the medicine storage unit further comprises a box cover, and the box cover is in threaded connection with the medicine inlet.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the supporting unit further comprises a fourth supporting plate which is fixedly connected above the rotary motor, and a first through hole is formed in the center of the fourth supporting plate; the lower end of the electric push rod is connected with the rotary motor through the first through hole; the first steering engine is connected with the upper end of the electric push rod; and two ends of the first arm support are fixedly connected with the outer side wall of the first steering engine.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the medicine spraying unit further comprises a fifth supporting plate, the fifth supporting plate is fixedly connected to the right side of the upper end of the box body, and the medicine pumps are symmetrically arranged on two sides of the upper plate surface of the fifth supporting plate; the robot arms are symmetrically arranged on the left side and the right side of the first arm support; the robot arm comprises a second steering engine which is fixedly connected to the outer walls of the left side and the right side of the first arm support, a second arm support is arranged on the outer side of the second steering engine, and a second through hole is formed in the center of the plate surface of the second arm support; the robot arm further comprises a pesticide spraying pipe, one end of the pesticide spraying pipe penetrates through the second through hole, an electromagnetic valve is fixedly connected to the outer side wall of the pesticide spraying pipe, and a plurality of groups of third through holes are formed in the lower end of one side, far away from the second through hole, of the pesticide spraying pipe at equal intervals; the robot arm further comprises a plurality of groups of spray heads, and the spray heads are in threaded connection with the plurality of groups of third through holes; one end of the hose is connected with the box body through the through hole, and after passing through the medicine pump, the other end of the hose is connected with one end of the medicine spraying pipe, which passes through the second through hole.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the control unit comprises a third steering engine which is arranged at the upper end of the first arm support; the two ends of the third arm support are fixedly connected with the outer side wall of the third steering engine; the camera is arranged at the upper end of the third arm support and is connected with the third arm support; the control module is fixedly connected to one side plate surface of the fourth supporting plate and is connected with the rotary motor, the electric push rod, the first steering engine, the second steering engine and the camera.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the stirring unit further comprises a sixth supporting plate, two ends of the sixth supporting plate are fixedly connected to the right side of the upper end of the box body, and two ends of the fourth supporting plate are respectively connected with the fifth supporting plate and the sixth supporting plate; the stirring motors are symmetrically and fixedly connected to the two end plate surfaces of the sixth supporting plate; the stirring shafts are symmetrically arranged on the side wall of the sixth supporting plate, and the lower ends of the stirring shafts are led into the box body; the nut is sleeved at the middle part of the stirring shaft and is in threaded connection with the stirring port; the gear assembly comprises a large gear and a small gear, the large gear is arranged at the upper end of the stirring motor, the small gear is arranged at the upper end of the stirring shaft, and the large gear is meshed with the small gear.
As a preferable scheme of the efficient pesticide spraying robot for farmlands, the application comprises the following steps: the power supply is fixedly connected to the middle part of the upper plate surface of the third supporting plate.
The application has the beneficial effects that:
the application provides a high-efficiency pesticide spraying robot for farmlands, which is provided with a triangular crawler-type walking unit, has good trafficability and has small influence on soil and crops when working in farmlands; the control unit can process two different crop information acquired by the camera, and then control the left and right robot arms to adjust the angle and the position, so that two different crops can be applied simultaneously, the efficiency is high, and the pesticide spraying efficiency is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a schematic diagram of the overall structure of the efficient pesticide spraying robot for farmlands.
Fig. 2 is a schematic diagram of a walking unit of the efficient pesticide spraying robot for farmlands.
Fig. 3 is a schematic diagram of a medicine storage unit of the efficient medicine spraying robot for farmlands.
FIG. 4 is a schematic diagram of a supporting unit structure of the efficient pesticide spraying robot for farmlands.
Fig. 5 is a schematic diagram of the structure of a robot arm of the efficient pesticide spraying robot for farmlands.
FIG. 6 is a schematic diagram of the control unit structure of the efficient pesticide spraying robot for farmlands.
FIG. 7 is a schematic structural view of a stirring unit of the efficient pesticide spraying robot for farmlands.
FIG. 8 is a flow chart of information feedback of the efficient pesticide spraying robot for farmlands.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Further, in describing the embodiments of the present application in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Example 1
Referring to fig. 1, for a first embodiment of the present application, there is provided a high efficiency pesticide spraying robot for farmland, which includes a walking unit 100, a pesticide storage unit 200, a supporting unit 300, a pesticide spraying unit 400, a control unit 500, and a stirring unit 600.
Wherein the walking unit 100 comprises a track 101, a driving assembly 102 and a supporting assembly 103; the medicine storage unit 200 comprises a box 201 and a box sleeve 202 which are connected with the supporting component 103 in a matching way; a supporting unit 300 including a rotary motor 301 disposed above the medicine storage unit 200; the medicine dispensing unit 400 comprises a medicine pump 401, a robot arm 402 and a hose 403, and the medicine dispensing unit (400) is connected with the medicine storage unit 200 and the supporting unit 300; a control unit 500 disposed at the top end of the support unit 300; and a stirring unit 600 including a stirring motor 601, which is cooperatively connected with the case 201.
In use, the walking unit 100 is used to move the robot as a whole, the medicine storage unit 200 is used to store the pesticide, the supporting unit 300 is the trunk part of the robot, the pesticide spraying unit 400 is used to complete the pesticide spraying process, the control unit 500 controls the components of the robot to complete the operation, and the stirring unit 600 is used to complete the operation.
Example 2
Referring to fig. 1 and 2, a second embodiment of the present application is different from the first embodiment in that: the driving components 102 are provided with two groups and are symmetrically arranged at two sides of the supporting component 103; the driving assembly 102 comprises a walking motor 102a and a driving wheel 102b, and the driving wheel 102b is connected with the walking motor 102 a; the driving assembly 102 further comprises a first driven wheel 102c and a second driven wheel 102d, and the first driven wheel 102c, the second driven wheel 102d and the driving wheel are distributed in a triangle shape with 102 b; the crawler 101 is sleeved on the outer side walls of the driving wheel 102b, the first driven wheel 102c and the second driven wheel 102d, which are mutually far away.
Further, the support assembly 103 includes a first rotating shaft 103a and a second rotating shaft 103b, and two ends of the first rotating shaft 103a are respectively connected with two first driven wheels 102 c; both ends of the second rotation shaft 103b are respectively connected with the second driven wheel 102 d; the support assembly 103 further comprises a first support plate 103c, a second support plate 103d, a third support plate 103e and a support shaft 103f, wherein the first support plate 103c is fixedly connected below the walking motor 102 a; two ends of the second supporting plate 103d are fixedly connected with the first rotating shaft 103a and the driving wheel 102b respectively; one side of the bottom surface of the third supporting plate 103e is fixedly connected with the walking motor 102a, one side of the bottom surface of the third supporting plate far away from the walking motor 102a is fixedly connected with the first rotating shaft 103a, and the right side of the third supporting plate is fixedly connected with the upper side of the second supporting plate 103 d; the supporting shafts 103f are provided with a plurality of groups, and two ends of the supporting shafts are respectively fixedly connected with the third supporting plate 103e and the second rotating shaft 103b
The rest of the structure is the same as that of embodiment 1.
In the use process, the walking motor 102a is started to drive the driving wheel 102b to advance, the first rotating shaft 103a and the second rotating shaft 103b respectively drive the first driven wheel 102c and the second driven wheel 102d to advance, and the three wheels are mutually matched to drive the crawler 101 to advance.
Example 3
Referring to fig. 3 and 4, a third embodiment of the present application is different from the second embodiment in that: the box 201 is symmetrically arranged at two sides of the third supporting plate 103e, and the box sleeve 202 is sleeved on the outer side wall of the box 201; the upper plate surface of the box body 201 is provided with a stirring port 201a and a medicine inlet 201b, and the outer side wall of the box body 201, which is far away from each other, is provided with a through hole 201c; the medicine storage unit 200 further includes a cover 203, and the cover 203 is screwed with the medicine inlet 201 b.
Compared with embodiment 2, further, the supporting unit 300 further comprises a fourth supporting plate 302, an electric push rod 303, a first steering engine 304 and a first arm support 305, wherein a first through hole 302a is formed in the center of the fourth supporting plate 302 and is fixedly connected above the rotary motor 301; the lower end of the electric push rod 303 is connected with the rotary motor 301 through a first through hole 302 a; the first steering engine 304 is connected with the upper end of the electric push rod 303; two ends of the first arm support 305 are fixedly connected with the outer side wall of the first steering engine 304.
The rest of the structure is the same as that of embodiment 2.
In the use process, the case cover 203 is opened, the pesticide is injected into the case body 201 through the pesticide inlet 201b, and the case cover 203 is screwed up to avoid pesticide from spilling; the rotary motor 301 drives the electric push rod 303 to stretch and retract when working, so as to adjust the height according to the working scene, and the first steering engine 304 drives the first arm support 305 to adjust the angle after being started.
Example 4
Referring to fig. 1 and 5, a fourth embodiment of the present application is different from the third embodiment in that: the medicine dispensing unit 400 further includes a fifth support plate 404, where the fifth support plate 404 is fixedly connected to the right side of the upper end of the case 201, and the medicine pumps 401 are symmetrically disposed on two sides of the upper plate surface of the fifth support plate 404.
Further, compared to embodiment 3, the robot arms 402 are symmetrically disposed on the left and right sides of the first arm support 305; the robot arm 402 comprises a second steering engine 402a which is fixedly connected to the outer walls of the left side and the right side of the first arm support 305, the second steering engine 402a is provided with a second arm support 402b, and a second through hole 402b-1 is formed in the center of the plate surface of the second arm support 402 b; the robot arm 402 further comprises a dispensing tube 402c, a spray head 402e and a solenoid valve 402d; one end of the medicine spraying tube 402c passes through the second through hole 402b-1, an electromagnetic valve 402d is fixedly connected to the outer side wall of the medicine spraying tube 402c, and a plurality of groups of third through holes 402c-1 are formed in the lower end of one side, far away from the second through hole 402b-1, of the medicine spraying tube 402 c; the spray head 402e is provided with a plurality of groups and is connected with a plurality of groups of third through holes 402c-1 through threads;
further, one end of the hose 403 is connected to the case 201 through the through-hole 201c, and after passing through the medicine pump 401, the other end is connected to one end of the medicine-taking tube 402c passing through the second through-hole 402 b-1.
The rest of the structure is the same as that of embodiment 3.
In the use process, the pesticide pump 401 pumps out pesticide from the box 201, enters the pesticide spraying pipe 402c through the hose 403, and the electromagnetic valve 402d controls the switch of the spray head 402e through opening and closing, so as to control the spraying of the pesticide liquid; the second steering engine 402a drives the second arm support 402b to move when working, so as to adjust the working angle of the robot arm 402.
Example 5
Referring to fig. 6 to 8, a fifth embodiment of the present application is different from the fourth embodiment in that: the control unit 500 further comprises a third steering engine 502, a third arm support 503 and a camera 504, wherein the third steering engine 502 is arranged at the upper end of the first arm support 305; two ends of the third arm support 503 are fixedly connected with the outer side wall of the third steering engine 502; the camera 504 is arranged at the upper end of the third arm support 503 and is connected with the third arm support 503; the control module 501 is fixedly connected to a side plate surface of the fourth support plate 302, and is connected to the rotary motor 301, the electric push rod 303, the first steering engine 304, the second steering engine 402a and the camera 504.
In comparison with embodiment 4, further, the stirring unit 600 further comprises a sixth support plate 602, a stirring shaft 603, a nut 604 and a gear assembly 605, wherein two ends of the sixth support plate 602 are fixedly connected to the right side of the upper end of the case 201, and two ends of the fourth support plate 302 are respectively connected to the fifth support plate 404 and the sixth support plate 602; the stirring motor 601 is symmetrically and fixedly connected to the two end plate surfaces of the sixth supporting plate 602; the stirring shaft 603 is arranged on the side wall of the sixth supporting plate 602, and the lower end of the stirring shaft is communicated into the box 201; the nut 604 is sleeved in the middle of the stirring shaft 603 and is in threaded connection with the stirring port 201 a; the gear assembly 605 includes a large gear 605a and a small gear 605b, wherein the large gear 605a is provided at the upper end of the stirring motor 601, the small gear 605b is provided at the upper end of the stirring shaft 603, and the large gear 605a and the small gear 605b are engaged.
Further, the robot further includes a power supply 700 fixedly connected to the middle part of the upper plate surface of the third support plate 103 e.
The rest of the structure is the same as that of embodiment 4.
In the use process, the camera 504 collects crop information and feeds the crop information back to the control module 501, and the third steering engine 502 drives the third arm support 503 to adjust the angle when working; the stirring shaft 603 penetrates into the box 201 through the stirring port 201a, and the nut 604 is in threaded connection with the stirring port 201a to prevent the liquid medicine from being spilled; when the stirring motor 601 works, the large gear 605a is driven to rotate, the large gear 605a drives the small gear 605b to rotate, and the small gear 605b drives the stirring shaft 603 to rotate, so that the liquid medicine in the box 201 is mixed and stirred; the power supply 700 supplies power to the robot, and the power supply 700 is a common lead-acid battery pack.
It is important to note that the construction and arrangement of the application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present application. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present applications. Therefore, the application is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Furthermore, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the application, or those not associated with practicing the application).
It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.
Claims (2)
1. A farmland is with high-efficient laxative robot, its characterized in that: comprising the steps of (a) a step of,
a walking unit (100) comprising a track (101), a drive assembly (102) and a support assembly (103);
the medicine storage unit (200) comprises a box body (201) and a box sleeve (202) which are connected with the supporting component (103) in a matching way;
a support unit (300) comprising a rotary motor (301) arranged above the medicine storage unit (200);
the medicine spraying unit (400) comprises a medicine pump (401), a robot arm (402) and a hose (403), wherein the medicine spraying unit (400) is connected with the medicine storage unit (200) and the supporting unit (300);
a control unit (500) comprising a control module (501); the method comprises the steps of,
the stirring unit (600) comprises a stirring motor (601) and is connected with the box body (201) in a matching way;
the driving assemblies (102) are arranged in two groups and are symmetrically arranged on two sides of the supporting assembly (103);
the driving assembly (102) comprises a walking motor (102 a) and a driving wheel (102 b), and the driving wheel (102 b) is connected with the walking motor (102 a);
the driving assembly (102) further comprises a first driven wheel (102 c) and a second driven wheel (102 d), and the first driven wheel (102 c), the second driven wheel (102 d) and the driving wheel (102 b) are distributed in a triangular shape;
the crawler belt (101) is sleeved on the outer side wall of the driving wheel (102 b), the first driven wheel (102 c) and the second driven wheel (102 d) at the sides far away from each other;
the support assembly (103) comprises a first rotating shaft (103 a), and two ends of the first rotating shaft (103 a) are respectively connected with two first driven wheels (102 c); a second rotating shaft (103 b), wherein two ends of the second rotating shaft (103 b) are respectively connected with the second driven wheel (102 d);
the support assembly (103) further comprises a first support plate (103 c) fixedly connected to the lower part of the walking motor (102 a); the two ends of the second supporting plate (103 d) are fixedly connected with the first rotating shaft (103 a) and the driving wheel (102 b) respectively;
a third support plate (103 e) having one side of the bottom surface fixedly connected to the traveling motor (102 a), one side of the bottom surface away from the traveling motor (102 a) fixedly connected to the first rotating shaft (103 a), and the right side thereof fixedly connected to the upper side of the second support plate (103 d);
the support shafts (103 f), wherein the support shafts (103 f) are provided with a plurality of groups, and two ends of each support shaft are fixedly connected with the third support plate (103 e) and the second rotating shaft (103 b) respectively;
the box body (201) is symmetrically arranged on two sides of the third supporting plate (103 e), and the box sleeve (202) is sleeved on the outer side wall of the box body (201);
the upper plate surface of the box body (201) is provided with a stirring port (201 a) and a medicine inlet (201 b), and the outer side wall of the box body (201) which is far away from each other is provided with a through hole (201 c);
the medicine storage unit (200) further comprises a box cover (203), and the box cover (203) is in threaded connection with the medicine inlet (201 b);
the supporting unit (300) further comprises a fourth supporting plate (302) fixedly connected above the rotary motor (301), and a first through hole (302 a) is formed in the center of the supporting plate;
an electric push rod (303) the lower end of which is connected with the rotary motor (301) through the first through hole (302 a);
the first steering engine (304) is connected with the upper end of the electric push rod (303);
the two ends of the first arm support (305) are fixedly connected with the outer side wall of the first steering engine (304);
the medicine spraying unit (400) further comprises a fifth supporting plate (404), the fifth supporting plate (404) is fixedly connected to the right side of the upper end of the box body (201), and the medicine pumps (401) are symmetrically arranged on two sides of the upper plate surface of the fifth supporting plate (404);
the robot arms (402) are symmetrically arranged on the left side and the right side of the first arm support (305);
the robot arm (402) comprises a second steering engine (402 a) which is fixedly connected to the outer walls of the left side and the right side of the first arm support (305), a second arm support (402 b) is arranged on the outer side of the second steering engine (402 a), and a second through hole (402 b-1) is formed in the center of the plate surface of the second arm support (402 b);
the robot arm (402) further comprises a pesticide spraying tube (402 c), one end of the pesticide spraying tube (402 c) penetrates through the second through hole (402 b-1), an electromagnetic valve (402 d) is fixedly connected to the outer side wall of the pesticide spraying tube (402 c), and a plurality of groups of third through holes (402 c-1) are formed in the lower end of one side, far away from the second through hole (402 b-1), of the pesticide spraying tube (402 c) at equal intervals;
the robot arm (402) further comprises a spray head (402 e), wherein a plurality of groups of spray heads (402 e) are arranged and are in threaded connection with the plurality of groups of third through holes (402 c-1);
one end of the hose (403) is connected with the box body (201) through the through hole (201 c), and after passing through the medicine pump (401), the other end of the hose is connected with one end of the medicine spraying tube (402 c) passing through the second through hole (402 b-1);
the control unit (500) further comprises a third steering engine (502) which is arranged at the upper end of the first arm support (305); the two ends of the third arm support (503) are fixedly connected with the outer side wall of the third steering engine (502);
the camera (504) is arranged at the upper end of the third arm support (503) and is connected with the third arm support (503);
the control module (501) is fixedly connected to one side plate surface of the fourth supporting plate (302) and is connected with the rotary motor (301), the electric push rod (303), the first steering engine (304), the second steering engine (402 a) and the camera (504);
the stirring unit (600) further comprises a sixth supporting plate (602), two ends of the sixth supporting plate are fixedly connected to the right side of the upper end of the box body (201), and two ends of the fourth supporting plate (302) are respectively connected with the fifth supporting plate (404) and the sixth supporting plate (602); the stirring motor (601) is symmetrically and fixedly connected to the two end plate surfaces of the sixth supporting plate (602);
the stirring shafts (603) are symmetrically arranged on the side wall of the sixth supporting plate (602), and the lower ends of the stirring shafts are led into the box body (201);
the nut (604) is sleeved in the middle of the stirring shaft (603) and is in threaded connection with the stirring port (201 a);
the gear assembly (605) comprises a large gear (605 a) and a small gear (605 b), wherein the large gear (605 a) is arranged at the upper end of the stirring motor (601), the small gear (605 b) is arranged at the upper end of the stirring shaft (603), and the large gear (605 a) is meshed with the small gear (605 b).
2. The efficient pesticide spraying robot for farmlands according to claim 1, wherein: the device also comprises a power supply (700) which is fixedly connected to the middle part of the upper plate surface of the third supporting plate (103 e).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110957536.2A CN113601529B (en) | 2021-08-19 | 2021-08-19 | Efficient pesticide spraying robot for farmland |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110957536.2A CN113601529B (en) | 2021-08-19 | 2021-08-19 | Efficient pesticide spraying robot for farmland |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113601529A CN113601529A (en) | 2021-11-05 |
| CN113601529B true CN113601529B (en) | 2023-12-01 |
Family
ID=78308979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110957536.2A Active CN113601529B (en) | 2021-08-19 | 2021-08-19 | Efficient pesticide spraying robot for farmland |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113601529B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676959A (en) * | 2013-11-11 | 2014-03-26 | 河池学院 | WiFi wireless control-based intelligent spraying robot |
| CN106070149A (en) * | 2016-06-29 | 2016-11-09 | 徐洪恩 | A kind of farm reagent feeder device people |
| CN205817901U (en) * | 2016-06-16 | 2016-12-21 | 深圳市维兴顺科技有限公司 | The joint of robot with steering wheel line bracket connects unit |
| CN206654108U (en) * | 2017-05-03 | 2017-11-21 | 浙拖奔野（宁波）拖拉机制造有限公司 | The crawler unit that a kind of mud ground is advanced |
| CN107821367A (en) * | 2017-12-03 | 2018-03-23 | 深圳达芬奇创新科技有限公司 | A kind of crawler type automates farmland pesticide applicator |
| WO2018090649A1 (en) * | 2016-11-17 | 2018-05-24 | 江苏大学 | Multi-ground-clearance self-steering mechanism |
| CN108703134A (en) * | 2018-07-02 | 2018-10-26 | 济南大学 | Intelligent pesticide spraying machine people |
| CN109197842A (en) * | 2018-11-12 | 2019-01-15 | 陈玲聪 | For the small device to tea place pesticide |
| CN110050776A (en) * | 2019-05-16 | 2019-07-26 | 西南大学 | A kind of capsicum spray robot and its control method |
| CN110235886A (en) * | 2019-07-22 | 2019-09-17 | 山东农业工程学院 | A kind of automatic pesticide spraying device and working method |
| CN209774659U (en) * | 2019-03-26 | 2019-12-13 | 辽宁科技大学 | fire detection robot |
-
2021
- 2021-08-19 CN CN202110957536.2A patent/CN113601529B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676959A (en) * | 2013-11-11 | 2014-03-26 | 河池学院 | WiFi wireless control-based intelligent spraying robot |
| CN205817901U (en) * | 2016-06-16 | 2016-12-21 | 深圳市维兴顺科技有限公司 | The joint of robot with steering wheel line bracket connects unit |
| CN106070149A (en) * | 2016-06-29 | 2016-11-09 | 徐洪恩 | A kind of farm reagent feeder device people |
| WO2018090649A1 (en) * | 2016-11-17 | 2018-05-24 | 江苏大学 | Multi-ground-clearance self-steering mechanism |
| CN206654108U (en) * | 2017-05-03 | 2017-11-21 | 浙拖奔野（宁波）拖拉机制造有限公司 | The crawler unit that a kind of mud ground is advanced |
| CN107821367A (en) * | 2017-12-03 | 2018-03-23 | 深圳达芬奇创新科技有限公司 | A kind of crawler type automates farmland pesticide applicator |
| CN108703134A (en) * | 2018-07-02 | 2018-10-26 | 济南大学 | Intelligent pesticide spraying machine people |
| CN109197842A (en) * | 2018-11-12 | 2019-01-15 | 陈玲聪 | For the small device to tea place pesticide |
| CN209774659U (en) * | 2019-03-26 | 2019-12-13 | 辽宁科技大学 | fire detection robot |
| CN110050776A (en) * | 2019-05-16 | 2019-07-26 | 西南大学 | A kind of capsicum spray robot and its control method |
| CN110235886A (en) * | 2019-07-22 | 2019-09-17 | 山东农业工程学院 | A kind of automatic pesticide spraying device and working method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113601529A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113601529B (en) | Efficient pesticide spraying robot for farmland | |
| CN2862706Y (en) | Electric multi-headed atomizing sprayer | |
| CN108521979A (en) | A kind of agricultural weeding equipment | |
| CN111642373A (en) | A spray truck for green house | |
| CN211430731U (en) | Pesticide sprays with spouting medicine machine | |
| CN114375810A (en) | Swing type unidirectional sprinkler for agricultural planting | |
| CN213074177U (en) | Agricultural planting's pesticide sprinkler | |
| CN213029390U (en) | Irrigation equipment for agricultural production | |
| CN213485948U (en) | Foldable vegetable planting frame | |
| CN218418146U (en) | Agricultural planting medicament spraying equipment | |
| CN112918355A (en) | New forms of energy agricultural machine structure convenient to it is clean | |
| CN216853564U (en) | Prevention device of green house vegetables plant diseases and insect pests | |
| CN211241414U (en) | Self-propelled inter-ridge spraying machine automatic water absorption medicine chest | |
| CN213073622U (en) | Weeding equipment for green agriculture | |
| CN219612559U (en) | Agricultural management system | |
| CN218278446U (en) | Ginger is dispensing device for plant diseases and insect pests | |
| CN219330510U (en) | Grape trellis medicine spraying machine | |
| CN221179041U (en) | Vertical multirow atomizer of tobacco field traction type | |
| CN213246556U (en) | Spraying device | |
| CN109197111A (en) | A kind of turf-mown machine people | |
| CN216452845U (en) | Agricultural farmland atomizing and spraying device | |
| CN220384090U (en) | Insecticidal device for corn planting | |
| CN213427927U (en) | Novel pesticide spraying device | |
| CN221024145U (en) | A plant protection unmanned aerial vehicle for accurate pesticide application in litchi garden | |
| CN218303057U (en) | Pesticide spraying device for crop pest control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |