CN114847267A

CN114847267A - Intelligent pesticide spraying robot for orchard

Info

Publication number: CN114847267A
Application number: CN202210629617.4A
Authority: CN
Inventors: 王学雷; 梁美芹; 王尚; 魏建功
Original assignee: Beijing Polytechnic
Current assignee: Beijing Polytechnic
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2022-08-05

Abstract

The invention relates to the technical field of robots, and provides an intelligent pesticide spraying robot for an orchard, which comprises a robot outer shell and a rotating assembly, wherein a track is fixedly arranged above the robot outer shell, a connecting position of the robot outer shell and the track is movably provided with self-propelled wheels on the robot outer shell, and the rotating assembly is arranged in the middle of the robot outer shell. Through above-mentioned technical scheme, it is fixed unchangeable to have solved among the prior art original medicine robot that spouts of spouting medicine machine spray the direction, and the operation is sprayed along with the track on the big-arch shelter gos forward all the time, but the crops height in the big-arch shelter differs to lead to the crops in the big-arch shelter to beat the medicine and spray inhomogeneously, have a lot of blind areas and dead angle and can't effectively beat the medicine and handle moreover, not enough intelligence not only brings unchangeably for the use, still can cause certain economic loss's problem.

Description

Intelligent pesticide spraying robot for orchard

Technical Field

The invention relates to the technical field of agricultural intelligent robots, in particular to an intelligent pesticide spraying robot for an orchard.

Background

In the modern agricultural orchard planting industry, a series of production operations are carried out by widely applying robots, so that not only can the labor cost be reduced, but also the working efficiency is very high, but some problems still exist in the use process of an intelligent pesticide spraying robot in the existing agricultural orchard.

The spraying direction of the pesticide spraying machine in the original pesticide spraying robot is fixed and unchanged, the spraying operation is carried out along with the forward movement of the track on the orchard greenhouse, but the heights of crops in the orchard greenhouse are different, so that pesticide spraying on the crops in the orchard greenhouse is uneven, a large number of blind areas and dead angles cannot be effectively carried out, the pesticide spraying machine is not intelligent enough, the pesticide spraying machine is not changed for use, and certain economic loss can be caused.

Therefore, the intelligent pesticide spraying robot for the orchard is provided.

Disclosure of Invention

The invention provides an intelligent pesticide spraying robot for an orchard, which solves the problems that in the prior pesticide spraying robot in the related technology, the spraying direction of a pesticide spraying machine is fixed and unchanged, spraying operation is carried out along with the track on a greenhouse all the time, but the height of crops in the greenhouse is different, so that pesticide spraying on the crops in the greenhouse is uneven, a plurality of blind areas and dead angles cannot be effectively carried out, the pesticide spraying robot is not intelligent enough, the use is unchanged, and certain economic loss is caused.

The technical scheme of the invention is as follows: the utility model provides a medicine robot is spouted to intelligence for orchard, includes robot shell body and runner assembly, the robot shell body includes casing and lower casing, the runner assembly activity sets up between affiliated last casing and lower casing, the runner assembly includes motor, pivot and lifter, fixed mounting has the motor at the top of runner assembly is located the casing, the output of motor rotates and is connected with the pivot, the other end fixedly connected with lifter of pivot, the below fixed mounting of lifter has lower casing.

The robot comprises a robot outer shell, a track, a self-propelled wheel, a motor, a transmission mechanism and a control system, wherein the track is fixedly arranged above the robot outer shell, and the position of the connection between the robot outer shell and the track is movably arranged on the robot outer shell and is provided with the self-propelled wheel.

The utility model discloses a robot, including the robot shell, the robot shell is including the camera, the camera is installed to both ends movable mounting about the robot shell, the equal fixed mounting in both ends has the fixed arm around the robot shell, install on the bottom of fixed arm and spout the medicine machine, the left end of spouting the medicine machine is provided with the fan, the right-hand member of spouting the medicine machine is provided with the shower nozzle.

The rotating assembly comprises a motor, a rotating shaft and a lifting rod, and the motor is fixedly arranged at the top of the rotating assembly in the upper shell.

The output of motor rotates and is connected with the pivot, the other end fixedly connected with lifter of pivot, the below fixed mounting of lifter has lower casing.

The bottom of the fixed arm is connected with the pesticide spraying machine through a rotating disc, and the pesticide spraying machine and the fixed arm are adjusted in a rotating mode in an up-and-down angle mode through the rotating disc.

The lower shell is provided with a sliding groove, and the camera can be moved and adjusted through the sliding groove.

Wherein, be provided with the electromagnetic disc on the carousel, it inhales the piece to be provided with the electromagnetism on the electromagnetic disc, the angle of adjustment of carousel is inhaled the piece control by electromagnetic disc and electromagnetism, and is 45 in the biggest angle of adjustment of horizontal direction.

The lifting rod is provided with three stages, the lifting rod comprises a primary rod, a secondary rod and a tertiary rod, the primary rod is fixedly connected with the rotating shaft, and the secondary rod and the tertiary rod can be adjusted in a telescopic mode through a controller on the outer shell of the robot.

The lower shell is rotatably connected with the upper shell through the matching of the motor and the rotating shaft.

The invention has the beneficial effects that:

according to the agricultural intelligent robot, the existing agricultural intelligent robot is modified and designed, the outer shell of the robot is divided into an upper shell and a lower shell, a rotating assembly is arranged between the upper shell and the lower shell, the lower shell can be driven by a motor and a rotating shaft to rotate and adjust, the pesticide spraying machine can be adjusted at any angle in the horizontal direction, the flexibility of the robot is improved, the rotating assembly can be used for telescopic adjustment of three-level sleeves, the pesticide spraying height of the robot can be adjusted, the pesticide spraying angle of the pesticide spraying machine can be further adjusted through a turntable, pesticide spraying treatment can be effectively carried out on blind areas and dead angles of greenhouses, and the agricultural intelligent robot is more convenient and intelligent to use.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

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

FIG. 2 is a schematic view of a rotating assembly according to the present invention;

FIG. 3 is a right side partial schematic view of the present invention;

FIG. 4 is a schematic view of the turntable structure of the present invention;

in the figure: 1. a robot outer housing; 2. a self-propelled wheel; 3. a track; 4. a rotating assembly; 5. a camera; 6. a spray head; 7. a pesticide spraying machine; 8. a fixed arm; 9. a fan; 10. a motor; 11. a rotating shaft; 12. a lifting rod; 13. a lower housing; 14. an upper housing; 15. a turntable; 16. a chute; 17. electromagnetic suction sheet 18, electromagnetic disk.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 derived by a person skilled in the art from the embodiments given herein without making any inventive step, are intended to be within the scope of the present invention.

Example 1

As shown in fig. 1 to 2, the present embodiment proposes to include a robot outer case 1 and a rotating assembly 4.

The robot outer shell 1 comprises an upper shell 14 and a lower shell 13, a rotating assembly 4 is movably mounted between the upper shell 14 and the lower shell 13, and the lower shell 13 can be adjusted in a rotating mode so as to adjust the angle of the pesticide spraying machine 7.

Rotating assembly 4 includes motor 10, pivot 11 and lifter 12, rotating assembly 4's top is located 14 internal fixed mounting of casing has motor 10, motor 10's output rotates and is connected with pivot 11, provide power through motor 10, guarantee that pivot 11 can effectively rotate, the other end fixedly connected with lifter 12 of pivot 11, thereby the below fixed mounting of lifter 12 has lower casing 13, thereby can adjust the high position of casing 13 down through adjusting lifter 12.

Further, the track 3 is fixedly mounted above the robot outer shell 1, the robot can be guaranteed to move along the track 3, the connecting position of the robot outer shell 1 and the track 3 is located on the robot outer shell 1 and is movably mounted with the self-walking wheels 2, the middle position of the robot outer shell 1 is provided with the rotating assembly 4, the cameras 5 are movably mounted at the left end and the right end of the robot outer shell 1, remote control and instruction sending are conveniently carried out on the robot, the fixed arms 8 are fixedly mounted at the front end and the rear end of the robot outer shell 1, the medicine spraying machine 7 is mounted on the bottom end of the fixed arm 8, the mounting stability of the medicine spraying machine 7 is guaranteed, the fan 9 is arranged at the left end of the medicine spraying machine 7, and the spray head 6 is arranged at the right end of the medicine spraying machine 9.

In this embodiment, carry out the modified design to agricultural intelligent robot, divide into casing 14 and casing 13 down with robot shell body 1, be provided with runner assembly 4 between last casing 14 and casing 13 down, casing 13 rotates the regulation under can driving through motor 10 and pivot 11, can make and spout medicine machine 7 and can carry out the arbitrary angle modulation of horizontal direction, the flexibility of robot has been improved, and runner assembly 4 can carry out the telescopic regulation of tertiary, can adjust the spouting medicine height of robot, can effectively beat the insecticide and handle the blind area and the dead angle of big-arch shelter, make our agricultural intelligent robot use more convenient intelligence.

Example 2

As shown in fig. 3, based on the same concept as that of embodiment 1, the present embodiment further proposes that a rotating disc 15 is disposed at a connecting position of the bottom end of the fixing arm 8 and the pesticide spraying machine 7, and the pesticide spraying machine 7 and the fixing arm 8 are rotatably adjusted in the vertical direction by the rotating disc 15.

In this embodiment, can also further adjust the medicine angle of spouting medicine machine 7 through carousel 12 on the fixed arm 8, not only can carry out the medicine on the horizontal direction and spray, can also upwards adjust downwards, increased the flexibility of robot, can be more even to the vegetables laxative, the coverage is wider, uses more intelligently.

Wherein as shown in fig. 1 and fig. 3, the lower shell 13 is provided with a chute 16, the camera 5 can be moved and adjusted through the chute 16, and the position of the camera 5 can be adjusted conveniently, so that a better and wider viewing angle can be obtained.

Wherein as shown in fig. 3 and 4, be provided with electromagnetic disk 18 on the carousel 15, electromagnetic disk 18 is last to be provided with the electromagnetism and to inhale piece 17, and the angle of adjustment of carousel 15 is inhaled the piece 17 control by electromagnetic disk 18 and electromagnetism, inhales piece 17 through electromagnetic disk 18 and electromagnetism and can automatic control adjust the medicine spraying angle who spouts medicine machine 7 for it is more intelligent convenient to use, and is 45 in the biggest angle of adjustment of horizontal direction, guarantees the stability of spouting medicine machine 7 angle modulation, does not influence normal use.

Wherein as shown in fig. 2, lifter 12 is provided with the tertiary altogether, lifter 12 includes primary rod, secondary rod and tertiary pole, primary rod and 11 fixed connection of pivot, primary rod fixed connection can guarantee to rotate 11 and can drive down casing 13 and rotate the regulation, secondary rod and tertiary pole can stretch out and draw back the regulation through the controller on the robot shell body 1, can the intelligent regulation down the height of casing 13 to reach the angle of spraying that can nimble regulation medicine machine 7, use nimble intelligence.

As shown in fig. 1-2, the lower housing 13 is rotatably connected to the upper housing 14 through the cooperation of the motor 10 and the rotating shaft 11, so that the lower housing 13 can be rotatably adjusted, and the pesticide spraying machine 7 can be horizontally adjusted by 360 degrees.

The working principle of the invention is as follows: set up each item parameter, will wait to spray the pesticide and spout medicine machine 7 intercommunication, the robot is through walking from travelling wheel 2 on track 3, camera 5 monitors and adjusts, the laxative in-process, lifter 12 can stretch out and draw back the regulation according to actual conditions, motor 10 output drives pivot 11 and rotates, can drive down casing 13 and rotate, thereby it adjusts to drive the horizontal rotation of medicine machine 7, inhale piece 17 through electromagnetic disk 18 and the electromagnetism on the carousel 15 and can the automatic control adjust spout the medicine angle about the medicine machine 7, it can to spout the medicine operation until accomplishing.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a medicine robot is spouted to intelligence for orchard, includes robot shell body (1) and runner assembly (4), its characterized in that, robot shell body (1) includes casing (14) and lower casing (13), runner assembly (4) activity sets up between affiliated last casing (14) and lower casing (13), runner assembly (4) include motor (10), pivot (11) and lifter (12), the top of runner assembly (4) is located casing (14) internal fixation and has motor (10), the output of motor (10) rotates and is connected with pivot (11), the other end fixedly connected with lifter (12) of pivot (11), the below fixed mounting of lifter (12) has lower casing (13).

2. The intelligent pesticide spraying robot for the orchard according to claim 1, wherein a rail (3) is fixedly mounted above the outer robot shell (1), and a self-walking wheel (2) is movably mounted on the outer robot shell (1) at the connecting position of the outer robot shell (1) and the rail (3).

3. The intelligent pesticide spraying robot for the orchard according to claim 2, wherein cameras (5) are movably mounted at the left end and the right end of the outer robot shell (1), fixing arms (8) are fixedly mounted at the front end and the rear end of the outer robot shell (1), a pesticide spraying machine (7) is mounted on the bottom end of each fixing arm (8), a fan (9) is arranged at the left end of the pesticide spraying machine (7), and a spray head (6) is arranged at the right end of the pesticide spraying machine (9).

4. An intelligent pesticide spraying robot for orchards according to any one of claims 1-3, characterized in that the rotating assembly (4) comprises a motor (10), a rotating shaft (11) and a lifting rod (12), and the motor (10) is fixedly arranged on the top of the rotating assembly (4) in the upper housing (14).

5. The intelligent pesticide spraying robot for the orchard is characterized in that the output end of the motor (10) is rotatably connected with a rotating shaft (11), the other end of the rotating shaft (11) is fixedly connected with a lifting rod (12), and a lower shell (13) is fixedly installed below the lifting rod (12).

6. The intelligent pesticide spraying robot for the orchard is characterized in that a rotary table (15) is arranged at the connecting position of the bottom end of the fixing arm (8) and the pesticide spraying machine (7), and the pesticide spraying machine (7) and the fixing arm (8) are rotatably adjusted in the vertical direction through the rotary table (15).

7. An intelligent pesticide spraying robot for orchards according to any one of claims 1-3, characterized in that a sliding groove (16) is formed in the lower housing (13), and the camera (5) can be movably adjusted through the sliding groove (16).

8. An intelligent pesticide spraying robot for orchards according to any one of claims 1-3, characterized in that an electromagnetic disc (18) is arranged on the rotary disc (15), an electromagnetic suction sheet (17) is arranged on the electromagnetic disc (18), the adjusting angle of the rotary disc (15) is controlled by the electromagnetic disc (18) and the electromagnetic suction sheet (17), and the maximum adjusting angle in the horizontal direction is 45 °.

9. An intelligent pesticide spraying robot for orchards according to any one of claims 1-3, characterized in that the lifting rod (12) is provided with three stages, the lifting rod (12) comprises a primary rod, a secondary rod and a tertiary rod, the primary rod is fixedly connected with the rotating shaft (11), and the secondary rod and the tertiary rod can be telescopically adjusted through a controller on the outer shell (1) of the robot.

10. An intelligent pesticide spraying robot for orchards according to any one of claims 1-3, characterized in that the lower housing (13) is rotatably connected with the upper housing (14) through the cooperation of the motor (10) and the rotating shaft 11.