CN114375930B

CN114375930B - Orchard pesticide spraying robot

Info

Publication number: CN114375930B
Application number: CN202210023304.4A
Authority: CN
Inventors: 张敬东; 张楚白; 於小茜
Original assignee: Sixian Hanhe Intelligent Equipment Technology Co ltd
Current assignee: Sixian Hanhe Intelligent Equipment Technology Co ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-11-01
Anticipated expiration: 2042-01-10
Also published as: CN114375930A

Abstract

The invention belongs to the technical field of pesticide spraying machines, and aims to solve the problems that in the fruit expansion period, a pesticide spraying robot cannot enter a branch between two adjacent groups of fruit trees in the same row to spray the middle parts of the fruit trees due to luxuriant branches and leaves of the fruit trees, and can only spray pesticides on two sides of the fruit trees from a main road, so that the pesticide attachment amount on the surfaces of the fruit trees is low in the prior art; according to the invention, by arranging the pesticide spraying mechanism, on the basis of utilizing the infrared image camera to perform real-time identification on the region to be sprayed, the electric telescopic rod is controlled to push the supporting plate and the pesticide spraying component on the surface of the supporting plate to the interior of the fruit tree, and pesticide is sprayed to the fruit tree through the spray head, so that the interior of the fruit tree can be fully sprayed.

Description

Orchard pesticide spraying robot

Technical Field

The invention relates to the technical field of pesticide spraying machines, in particular to a pesticide spraying robot for an orchard.

Background

Along with the continuous improvement of scientific and technical development level, the medicine spraying robot is applied to orchard medicine spraying work more and more, and this has reduced peasant's intensity of labour to a certain extent, has also further improved work efficiency simultaneously, and the peasant need not be in the pesticide spraying environment of body moreover, has avoided the injury of pesticide toxicity to the health.

A crawler-belt mobile intelligent orchard pesticide spraying robot is disclosed in Chinese patent with publication number CN212260259U, which can not only finish pesticide spraying work of double rows of fruit trees, but also effectively improve pesticide spraying precision, and can still meet pesticide spraying requirements of tree crown layers for fruit trees with height of more than 2.5 meters, thereby improving the application range of the pesticide spraying robot.

However, in the above technical scheme, only a plurality of groups of spray heads are arranged to spray the fruit trees in two rows, only two sides of the fruit trees can be fully sprayed, the medicament is blocked by branches and leaves and hardly enters the middle of the fruit trees, particularly, the phenomenon is obvious in the fruit expanding period, in order to prevent the phenomenon that fruits fall off, the possibility of abnormal fruits of the fruit trees is reduced, strong pedicel pesticide needs to be sprayed on the fruit trees, the nutrition transportation quantity of the fruit trees is further improved, the thickness of the pedicel is increased, the branches and leaves of the fruit in the period are luxuriant, the pesticide spraying robot cannot enter a branch between two adjacent groups of fruit trees in the same row to spray the middle of the fruit trees, the medicament can be sprayed on two sides of the fruit trees only from a dry path, the attachment quantity of the medicament on the surfaces of the fruit trees is low, and the application range of the device is reduced.

In view of the above technical drawbacks, a solution is proposed.

Disclosure of Invention

The invention aims to provide an orchard pesticide spraying robot, which is characterized in that a pesticide spraying mechanism is arranged, so that on the basis of utilizing an infrared image camera to perform real-time identification on a region to be sprayed, an electric telescopic rod is controlled to push a supporting plate and a pesticide spraying assembly on the surface of the supporting plate to the interior of a fruit tree, pesticide is enabled to sequentially pass through a flow guide pipe and a flow guide cavity and is sprayed to the fruit tree through a spray head, and the interior of the fruit tree can be fully sprayed; and at this in-process, utilize two drive racks of electric telescopic handle to reciprocate and rack and gear mesh mutually, can drive the rotating tube and drive the shower nozzle and rotate, thereby can change and the direction of spraying to the medicament at the in-process of spraying, increase the intensity that the medicament sprayed the atress of in-process from the shower nozzle, thereby the penetrability of medicament has been improved comparatively, the droplet adhesion of fruit tree surface has been guaranteed, it has been solved when fruit expanding period, because the fruit tree branch leaves are luxuriant, spout that the medicine robot can't get into the branch road between two sets of adjacent fruit trees of same row and spray its fruit tree middle part, only can spray the medicament from the main road to the both sides of fruit tree, lead to the problem that fruit tree surface medicament adhesion is low.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a medicine robot is spouted in orchard, includes crawler-type walking chassis, intelligent control cabinet and medicine storage tank are all installed in crawler-type walking chassis top, medicine spraying mechanism is installed to intelligent control cabinet's top, and spouts medicine mechanism and include mount, support frame, slider, electric telescopic handle one, infrared image recognition camera, backup pad and spout the medicine subassembly, backup pad fixed connection is in the upper end surface of intelligent control cabinet, and the upper end surface of backup pad is located the fixed connection mount in middle part, the upper end surface of backup pad all has seted up the spout in the position that the backup pad both sides are located, and the fixed surface of spout is connected with the guide bar, and two sets of the surface of guide bar all sliding connection have the slider, and support frame fixed connection is in the upper end surface of slider, two sets of support frame are the symmetric distribution in the both sides of mount, and all are provided with electric telescopic handle one between mount and two sets of support frames, and two sets of support frame surfaces one side that the mount was kept away from the support frame surface is provided with three sets of medicine subassembly, three sets of medicine subassembly are spouted to three sets of medicine subassembly equidistant distribution in the support frame surface, and three sets of subassembly are equidistant distribution in support frame surface, and infrared image recognition camera's upper end surface mounting;

spout medicine subassembly honeycomb duct, hose, gear, swinging head, shower nozzle, connecting hole, water conservancy diversion chamber, dwang and pressure boost blade, honeycomb duct and support frame fixed connection, and the surface of honeycomb duct has cup jointed the swinging head, the swinging head rotates with the support frame to be connected, and the swinging head internal surface closely laminates with the honeycomb duct surface, the hose communicates between explosive box and each group's honeycomb duct, and the internal surface of honeycomb duct has seted up the connecting hole, the water conservancy diversion chamber has been seted up to the swinging head inside, and the position that the swinging head surface corresponds with the water conservancy diversion chamber is provided with a plurality of groups shower nozzle, and the shower nozzle communicates with each other with the water conservancy diversion chamber, the support frame surface is located three groups and spouts the position fixedly connected with electric telescopic handle two of medicine subassembly top, and electric telescopic handle two's lower extreme outer surface fixedly connected with fixed plate, the swinging head surface is close to one side fixedly connected with gear of support frame, and one side meshing of gear has the rack, rack and three group gears all mesh, and rack and fixed plate fixed connection.

Further, the one end fixedly connected with dwang of support frame is kept away from to the rotating tube internal surface, and the dwang runs through in proper order to the inside of honeycomb duct and rotate with the support frame and be connected, the annular is personally submitted to the outward appearance of dwang, a plurality of groups of pressure boost blades of surface equidistance fixedly connected with of dwang, the dwang rotates with the honeycomb duct to be connected, and both junctions are provided with the sealing washer.

Furthermore, the number of the connecting holes and the number of the flow guide cavities corresponding to the uppermost pesticide spraying assembly are one group, and the group of connecting holes are arranged right below the flow guide pipe;

the number of the connecting holes and the number of the flow guide cavities corresponding to the pesticide spraying assembly positioned in the middle are two, and the two groups of the connecting holes are respectively provided with two sides of the flow guide pipe;

the number of the connecting holes and the number of the flow guide cavities corresponding to the medicine spraying assembly positioned at the lowest part are both one group, and the group of the connecting holes are arranged right above the flow guide pipe.

Furthermore, the positions, close to the two sides of the flow guide cavity, of the outer surface of the rotating pipe, corresponding to the two groups of pesticide spraying assemblies positioned at the lowest part and the uppermost part, are fixedly connected with first flow guide plates, and the two groups of corresponding first flow guide plates are distributed on the outer surface of the rotating pipe in a central symmetry manner;

and two groups of guide plates II are fixedly connected with the outer surface of the rotating pipe corresponding to the pesticide spraying assembly positioned in the middle, are distributed between the two groups of guide cavities in a central symmetry manner, and have trapezoidal cross sections.

Further, the cavity has been seted up with the position that guide plate one, guide plate two correspond to the inside of rotating tube, and the cavity extends to the inside of guide plate one, guide plate two rather than corresponding, the both sides that one surface of guide plate is close to one side of shower nozzle, the surface of guide plate two all are the fretwork form, and the one end outward appearance of guide plate two is the fretwork form, one side that the support frame was kept away from to the rotating tube surface is the fretwork form with the position that the cavity corresponds, the inside fixedly connected with a plurality of flabellums of group of cavity.

Furthermore, the intelligent control cabinet is internally provided with a PLC (programmable logic controller), a satellite positioning module, a speed sensor and a storage battery, and the storage battery is used as a power supply of all power utilization components.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the fruit tree spraying device, the electric telescopic rod is controlled to push the supporting plate and the spraying component on the surface of the supporting plate to the interior of a fruit tree on the basis of utilizing the infrared image camera to identify a to-be-sprayed area in real time, so that a pesticide is sprayed to the fruit tree through the flow guide pipe and the flow guide cavity sequentially and finally through the spray head, and therefore the interior of the fruit tree can be fully sprayed; in the process, the rack is driven to move up and down by the electric telescopic rod II, and the rack is meshed with the gear, so that the rotating pipe can be driven to drive the spray head to rotate, the spraying direction of the medicament can be changed and guided in the spraying process, the stress intensity of the medicament in the spraying process from the spray head is increased, the penetrability of the medicament is improved, and the fog drop attachment quantity on the surface of a fruit tree is ensured;

2. according to the invention, the rotating rod and the pressurizing blades are arranged in the flow guide pipe, and in the process that the rack drives the rotating pipe to rotate, the rotating rod drives the pressurizing blades on the surface of the rotating pipe to rotate along with the rotating pipe, so that the medicament in the flow guide pipe can be fully stirred to ensure uniform concentration, the pressure during medicament spraying is enhanced, the medicament spraying range is expanded, and the use effect of the device is further improved;

3. according to the invention, the opening positions of the connecting holes corresponding to the pesticide spraying assemblies with different heights are different, so that the precision of the pesticide spraying process can be improved, the waste of the pesticide is reduced, and the attachment amount of the pesticide on the surfaces of the leaves or fruits is increased;

4. according to the fruit tree pesticide spraying device, the first guide plate, the second guide plate and the fan blades are arranged, so that the flow velocity of air near the pesticide spraying assembly can be accelerated in the rotating process of the rotating pipe, blades on the surface of a fruit tree can be made to swing, the upper surface and the lower surface of each blade can be guaranteed to be uniformly attached with pesticide, meanwhile, the direction of the pesticide can be guided by utilizing wind power generated by the fan blades along with the rotation of the rotating pipe, the pesticide can be fully sprayed on the surface of the fruit tree, and the use ratio of the pesticide is improved.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of area A of FIG. 1 in accordance with the present invention;

FIG. 3 is an enlarged view of area B of FIG. 1 in accordance with the present invention;

FIG. 4 is a combined view of the rack and pinion of the present invention;

FIG. 5 is a structural view of the uppermost spray assembly of the present invention;

FIG. 6 is a structural view of the centrally located spray assembly of the present invention;

figure 7 is a structural view of the lowermost spray assembly of the present invention.

Reference numerals: 1. a crawler-type traveling chassis; 2. an intelligent control cabinet; 3. a medicine storage box; 4. a pesticide spraying mechanism; 41. a fixed mount; 42. a support frame; 43. a slider; 44. a first electric telescopic rod; 45. an infrared image recognition camera; 46. a support plate; 47. a chute; 48. a guide rod; 5. a pesticide spraying component; 51. a flow guide pipe; 52. a hose; 53. a gear; 54. rotating the tube; 55. a spray head; 56. connecting holes; 57. a flow guide cavity; 58. rotating the rod; 59. a supercharging blade; 6. a second electric telescopic rod; 7. a fixing plate; 8. a rack; 9. a first guide plate; 10. a second guide plate; 11. a cavity; 12. and fan blades.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 1-7, the orchard pesticide spraying robot provided by the invention comprises a crawler-type walking chassis 1, an intelligent control cabinet 2 and a pesticide storage box 3, wherein the intelligent control cabinet 2 and the pesticide storage box 3 are both installed above the crawler-type walking chassis 1, an electric pesticide spraying pump is arranged inside the pesticide storage box 3, a PLC controller, a satellite positioning module, a speed sensor and a storage battery are arranged inside the intelligent control cabinet 2, the storage battery is used as a power supply of all electric components, a pesticide spraying mechanism 4 is installed above the intelligent control cabinet 2, the pesticide spraying mechanism 4 comprises a fixed frame 41, a support frame 42, a sliding block 43, an electric telescopic rod 44, an infrared image recognition camera 45, a support plate 46 and a pesticide spraying assembly 5, the support plate 46 is fixedly connected to the outer surface of the upper end of the intelligent control cabinet 2, and the fixed frame 41 is fixedly connected to the position, located in the middle, of the outer surface of the upper end of the support plate 46, the positions of the outer surface of the upper end of the supporting plate 46, which are positioned at the two sides of the supporting plate 46, are respectively provided with a sliding groove 47, the inner surface of the sliding groove 47 is fixedly connected with guide rods 48, the outer surfaces of the two groups of guide rods 48 are respectively connected with a sliding block 43 in a sliding manner, the supporting frames 42 are fixedly connected with the outer surface of the upper end of the sliding block 43, the two groups of supporting frames 42 are symmetrically distributed at the two sides of the fixing frame 41, electric telescopic rods 44 are respectively arranged between the fixing frame 41 and the two groups of supporting frames 42, when the pesticide spraying robot is positioned between two adjacent groups of fruit trees, the pesticide spraying robot stops moving, a PLC (programmable logic controller) in the intelligent control cabinet 2 sends a starting instruction to the electric telescopic rods 44, the electric telescopic rods 44 respectively drive the two groups of supporting frames 42 to drive the sliding blocks 43 to move along the sliding groove 47, one side, which is far away from the fixing frame 41, of the outer surfaces of the two groups of supporting frames 42 is provided with three groups of pesticide spraying assemblies 5, the three groups of pesticide spraying assemblies are distributed on the surfaces of the supporting frames 42 at equal distances from top to bottom, the outer surface of the upper end of the supporting frame 42 is provided with an infrared image recognition camera 45, and the infrared image recognition cameras 45 scan fruit trees on the left side and the right side of the pesticide spraying robot;

the pesticide spraying assembly 5 comprises a guide pipe 51, a hose 52, a gear 53, a rotating pipe 54, a spray head 55, a connecting hole 56, a guide cavity 57, a rotating rod 58 and a pressurizing blade 59, wherein the guide pipe 51 is fixedly connected with a support frame 42, the rotating pipe 54 is sleeved on the outer surface of the guide pipe 51, the rotating pipe 54 is rotatably connected with the support frame 42, the inner surface of the rotating pipe 54 is tightly attached to the outer surface of the guide pipe 51, the hose 52 is communicated between the pesticide box 3 and each group of guide pipes 51, pesticide liquid in the pesticide box 3 is pumped into the guide pipe 51 through the hose 52 by a motor-driven pesticide spraying pump, the connecting hole 56 is formed in the inner surface of the guide pipe 51, the guide cavity 57 is formed in the rotating pipe 54, a plurality of groups of spray heads 55 are arranged on the outer surface of the rotating pipe 54 corresponding to the guide cavity 57, the spray heads 55 are communicated with the guide cavity 57, when the guide cavity 57 corresponds to the connecting hole 56, the medicament is uniformly sprayed to the fruit tree through the spray heads 55, the position, above the three groups of pesticide spraying assemblies 5, on the surface of the support frame 42 is fixedly connected with a second electric telescopic rod 6, the outer surface of the lower end of the second electric telescopic rod 6 is fixedly connected with a fixed plate 7, one side, close to the support frame 42, of the outer surface of the rotating pipe 54 is fixedly connected with a gear 53, one side of the gear 53 is meshed with a rack 8, the rack 8 is meshed with the three groups of gears 53, the rack 8 is fixedly connected with the fixed plate 7, and the second electric telescopic rod 6 drives the rack 8 to move up and down repeatedly, so that the rotating pipe 54 rotates;

in the process that the pesticide spraying robot travels according to the planned route, a speed sensor in the intelligent control cabinet 2 feeds back traveling speed data in real time to ensure that the pesticide spraying robot moves at the set traveling speed, in the moving process, the infrared image recognition cameras 45 scan fruit trees on the left side and the right side of the pesticide spraying robot, and when the fruit trees are judged to enter a pesticide spraying range, the moving speed of the pesticide spraying robot is reduced;

meanwhile, in the process, the intelligent control cabinet 2 scans the conditions of fruit trees on the left side and the right side in real time according to the infrared image recognition camera 45, when the pesticide spraying robot is located between two adjacent groups of fruit trees, the pesticide spraying robot stops moving, the PLC in the intelligent control cabinet 2 sends a starting instruction to the first electric telescopic rod 44, the first electric telescopic rod 44 drives the two groups of support frames 42 to drive the sliding blocks 43 to move along the sliding grooves 47, when the spray head 55 completely enters the fruit tree area, the electric telescopic rod stops running, the PLC in the intelligent control cabinet 2 sends a starting instruction to the electric pesticide spraying pump and the second electric telescopic rod 6 in the pesticide storage box 3, the liquid pesticide in the pesticide storage box 3 is pumped into the guide pipe 51 through the hose 52 by the electric pesticide spraying pump, meanwhile, the second electric telescopic rod 6 drives the rack 8 to repeatedly move up and down, so that the rotating pipe 54 rotates, when the flow guide cavity 57 corresponds to the connecting hole 56, the pesticide is uniformly sprayed to the fruit trees through the spray head 55, and the rotating pipe 54 drives the pesticide to rotate in the pesticide spraying process, so that the spraying range and the shock strength can be improved, and the uniformity of the pesticide can be ensured.

Example two:

as shown in fig. 3-7, the present embodiment is different from embodiment 1 in that a rotating rod 58 is fixedly connected to an end of an inner surface of the rotating tube 54, which is far away from the supporting frame 42, and the rotating rod 58 sequentially penetrates through the inside of the flow guide tube 51 and is rotatably connected to the supporting frame 42, an outer surface of the rotating rod 58 is annular, a plurality of groups of pressurizing blades 59 are fixedly connected to the outer surface of the rotating rod 58 at equal intervals, in the rotating process of the rotating tube 54, the rotating rod 58 drives the pressurizing blades 59 on the surface to rotate therewith and stir the inside of the flow guide tube 51, the rotating rod 58 is rotatably connected to the flow guide tube 51, and a sealing ring is disposed at a joint of the rotating rod 58 and the flow guide tube 51, thereby improving the sealing performance of the device.

Example three:

as shown in fig. 5-7, the difference between this embodiment and embodiments 1 and 2 is that the number of the connection holes 56 and the diversion cavities 57 corresponding to the spraying assemblies 5 located at the top are a group, and the group of connection holes 56 is opened right below the diversion pipe 51, so that the spraying of the pesticide can be performed on the fruit tree from top to bottom;

the number of the connecting holes 56 and the flow guide cavities 57 corresponding to the pesticide spraying assembly 5 positioned in the middle is two, and the two groups of connecting holes 56 are respectively provided with two sides of the flow guide pipe 51 for spraying pesticide on the two sides of the fruit tree;

the number of the connecting holes 56 corresponding to the medicine spraying assembly 5 located at the lowest part and the number of the flow guide cavities 57 are both one group, the group of connecting holes 56 are arranged right above the flow guide pipe 51, the fruit tree can be sprayed with the medicine from bottom to top, and therefore the spraying medicines in different directions can be carried out on the positions with different heights of the fruit tree, and the upper surface and the lower surface of each blade can be uniformly sprayed.

Example four:

as shown in fig. 5-7, the difference between this embodiment and embodiments 1, 2, and 3 is that the first flow deflectors 9 are fixedly connected to the outer surfaces of the rotating pipes 54 corresponding to the two sets of pesticide spraying assemblies 5 located at the bottom and the top, which are close to the two sides of the flow guiding cavity 57, and the two sets of corresponding first flow deflectors 9 are distributed on the outer surfaces of the rotating pipes 54 in a central symmetry manner;

two groups of guide plates II 10 are fixedly connected to the outer surface of the rotating pipe 54 corresponding to the pesticide spraying assembly 5 positioned in the middle, the two groups of guide plates II 10 are distributed between the two groups of guide cavities 57 in a central symmetry manner, and the cross sections of the guide plates II 10 are trapezoidal; the cavity 11 is formed in the position, corresponding to the first guide plate 9 and the second guide plate 10, in the rotating pipe 54, the cavity 11 extends to the inner parts of the first guide plate 9 and the second guide plate 10 corresponding to the cavity 11, one side, close to the spray head 55, of the outer surface of the first guide plate 9 and two sides of the outer surface of the second guide plate 10 are hollowed, the outer surface of one end of the second guide plate 10 is hollowed, one side, far away from the support frame 42, of the outer surface of the rotating pipe 54 is hollowed in a position corresponding to the cavity 11, and a plurality of groups of fan blades 12 are fixedly connected in the cavity 11;

in the spraying process, guide plate one 9 and two 10 of guide plate rotate along with rotating tube 54, make fruit tree surface blade swing, thereby can guarantee that the blade is the even medicament that adheres to of surface from top to bottom, flabellum 12 rotates the wind-force of production along with rotating tube 54 simultaneously, discharge through the fretwork form department of guide plate one 9 and two 10 of guide plate, can lead to the direction of medicament, improve the spraying scope of medicament, make the medicament fully spray on the fruit tree surface, improve the utilization ratio of medicament.

The working process and principle of the invention are as follows:

meanwhile, in the process, the intelligent control cabinet 2 recognizes the conditions of fruit trees on the left side and the right side in real time according to the infrared image recognition camera 45, when the pesticide spraying robot is located between two adjacent groups of fruit trees, the pesticide spraying robot stops moving, the PLC in the intelligent control cabinet 2 sends a starting instruction to the first electric telescopic rod 44, the first electric telescopic rod 44 respectively drives the two groups of support frames 42 to drive the sliding block 43 to move along the sliding groove 47, when the spray head 55 completely enters the fruit tree area, the electric telescopic rod stops running, the PLC in the intelligent control cabinet 2 sends a starting instruction to the electric pesticide spraying pump and the second electric telescopic rod 6 in the pesticide storage box 3, the pesticide in the pesticide storage box 3 is pumped into the guide pipe 51 through the hose 52 by the electric pesticide spraying pump, the second electric telescopic rod 6 drives the rack 8 to repeatedly move up and down, so that the rotating pipe 54 rotates, when the flow guide cavity 57 corresponds to the connecting hole 56, the pesticide is uniformly sprayed to the fruit trees through the spray head 55, and the rotating pipe 54 drives the pesticide to rotate in the pesticide spraying process, so that the spraying range and the shock force of the pesticide can be improved, and the uniformity of the pesticide application can be ensured;

in the process of rotating the rotating pipe 54, the rotating rod 58 drives the pressurizing blades 59 on the surface to rotate along with the rotating pipe and stir the inside of the menstrual flow guide pipe 51, so that the uniformity of medicament mixing is ensured, the pressure of the medicament during spraying is enhanced, and the spraying effect is further improved;

meanwhile, three groups of pesticide spraying assemblies 5 are arranged and distributed in an up-to-middle-down manner, connecting holes 56 corresponding to the pesticide spraying assemblies 5 positioned at the top are formed right below the guide pipe 51, the number of the connecting holes 56 corresponding to the pesticide spraying assemblies 5 positioned at the middle part is two, the two connecting holes are respectively formed in two sides of the guide pipe 51, the connecting hole 56 corresponding to the pesticide spraying assembly 5 positioned at the bottom is formed right above the guide pipe 51, pesticide spraying in different directions can be carried out at different heights of the fruit tree, and the upper surface and the lower surface of each blade can be uniformly sprayed;

and in the spraying process, guide plate one 9 and guide plate two 10 rotate along with rotating tube 54, make fruit tree surface blade swing to can guarantee that the blade is the even medicament that adheres to of upper and lower surface, flabellum 12 rotates the wind-force of production along with rotating tube 54 simultaneously, discharge through the fretwork form department of guide plate one 9 and guide plate two 10, can lead to the direction of medicament, improve the spray range of medicament, make the medicament fully spray on the fruit tree surface, improve the utilization ratio of medicament.

The foregoing is merely illustrative and explanatory of the present invention and various modifications, additions or substitutions may be made to the specific embodiments described by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides a medicine spraying robot is spouted in orchard, includes crawler-type walking chassis (1), intelligent control cabinet (2) and explosive box (3) are all installed in crawler-type walking chassis (1) top, its characterized in that, the top of intelligent control cabinet (2) is installed and is spouted medicine mechanism (4), and spouts medicine mechanism (4) including mount (41), support frame (42), slider (43), electric telescopic handle (44), infrared image recognition camera (45), backup pad (46) and spout medicine subassembly (5), backup pad (46) fixed connection is in the upper end surface of intelligent control cabinet (2), and the upper end surface of backup pad (46) is located the position fixedly connected with mount (41) at middle part, spout (47) have all been seted up to the position that the upper end surface of backup pad (46) is located backup pad (46) both sides, and the internal surface fixedly connected with guide bar (48) of spout (47), two sets of the surface of guide bar (48) all sliding connection has slider (43), and support frame (42) fixed connection is in the upper end of slider (43), two sets of support frame (42) are the surface is the symmetrical connection in the support frame (44), two sets of support frame (42) are both sides, the support frame (41) is distributed in the two sets of formula support frame (44) and the support frame (41) and the both sides, the support frame (41) is located the two sets of the symmetrical support frame (41), three groups of pesticide spraying assemblies (5) are arranged on one side, away from the fixed frame (41), of the outer surfaces of the two groups of supporting frames (42), the pesticide spraying assemblies (5) are distributed on the surfaces of the supporting frames (42) at equal distances from top to bottom, and infrared image recognition cameras (45) are mounted on the outer surfaces of the upper ends of the supporting frames (42);

the pesticide spraying assembly (5) comprises a guide pipe (51), a hose (52), a gear (53), a rotating pipe (54), spray heads (55), connecting holes (56), a flow guide cavity (57), a rotating rod (58) and pressurizing blades (59), wherein the guide pipe (51) is fixedly connected with a support frame (42), the outer surface of the guide pipe (51) is sleeved with the rotating pipe (54), the rotating pipe (54) is rotatably connected with the support frame (42), the inner surface of the rotating pipe (54) is tightly attached to the outer surface of the guide pipe (51), the hose (52) is communicated between the pesticide storage box (3) and each group of guide pipes (51), the inner surface of the guide pipe (51) is provided with the connecting holes (56), the flow guide cavity (57) is formed inside the rotating pipe (54), a plurality of groups of spray heads (55) are arranged at positions corresponding to the outer surface of the rotating pipe (54) and the flow guide cavity (57), the spray heads (55) are communicated with the flow guide cavity (57), the surface of the support frame (42) is fixedly connected with the position above the pesticide spraying assembly (5) in three groups of the spray heads, the electric driving assemblies (6) is fixedly connected with the outer surface of the lower end of the rotating pipe (7), the electric driving fixing plate (7) is connected with the support frame (54), and the outer surface of the electric driving fixing plate (53), and the support frame (42) is close to the gear fixing plate (54), and one side of the gear (53) is meshed with a rack (8), the rack (8) is meshed with the three groups of gears (53), and the rack (8) is fixedly connected with the fixing plate (7).

2. The orchard spraying robot according to claim 1, wherein one end of the support frame (42) is far away from the inner surface of the rotating pipe (54), the rotating pipe (58) penetrates through the inside of the guide pipe (51) in sequence and is connected with the support frame (42) in a rotating mode, the outer surface of the rotating pipe (58) is annular, a plurality of groups of pressurizing blades (59) are fixedly connected to the outer surface of the rotating pipe (58) at equal intervals, the rotating pipe (58) is connected with the guide pipe (51) in a rotating mode, and a sealing ring is arranged at the joint of the rotating pipe (54) and the guide pipe (51).

3. An orchard pesticide spraying robot according to claim 2, wherein the number of the connecting holes (56) and the flow guide cavities (57) corresponding to the pesticide spraying assembly (5) positioned at the top is one group, and the group of the connecting holes (56) is opened right below the flow guide pipe (51);

the number of the connecting holes (56) and the number of the flow guide cavities (57) corresponding to the pesticide spraying assembly (5) positioned in the middle are two, and the two groups of the connecting holes (56) are respectively provided with two sides of the flow guide pipe (51);

the number of the connecting holes (56) and the number of the diversion cavities (57) which correspond to the medicine spraying assembly (5) positioned at the lowest part are both one group, and the group of the connecting holes (56) are arranged right above the diversion pipe (51).

4. The orchard pesticide spraying robot according to claim 3, wherein the positions, close to two sides of the flow guide cavity (57), of the outer surfaces of the rotating pipes (54) corresponding to the two groups of pesticide spraying assemblies (5) located at the lowest position and the uppermost position are fixedly connected with first flow guide plates (9), and the two groups of corresponding first flow guide plates (9) are distributed on the outer surfaces of the rotating pipes (54) in a central symmetry manner;

two groups of guide plates II (10) are fixedly connected to the outer surface of the rotating pipe (54) corresponding to the pesticide spraying assembly (5) positioned in the middle, the two groups of guide plates II (10) are distributed between the two groups of guide cavities (57) in a central symmetry manner, and the cross sections of the guide plates II (10) are trapezoidal.

5. The orchard pesticide spraying robot according to claim 4, wherein a cavity (11) is formed in the position, corresponding to the first guide plate (9) and the second guide plate (10), in the rotating pipe (54), and the cavity (11) extends to the inside of the first guide plate (9) and the second guide plate (10) corresponding to the cavity, one side, close to the spray head (55), of the outer surface of the first guide plate (9) and two sides, close to the outer surface of the second guide plate (10), of the guide plate (55) are hollowed out, the outer surface of one end of the second guide plate (10) is hollowed out, one side, far away from the support frame (42), of the outer surface of the rotating pipe (54) is hollowed out in the position corresponding to the cavity (11), and a plurality of groups of fan blades (12) are fixedly connected to the inside of the cavity (11).

6. An orchard pesticide spraying robot according to claim 1, wherein a PLC controller, a satellite positioning module, a speed sensor and a storage battery are arranged inside the intelligent control cabinet (2), and the storage battery is used as a power supply source of all power utilization components.