CN115812686A - Converter station does not have a power failure and spouts medicine weed control robot - Google Patents

Abstract

The invention discloses a robot for spraying weeds and weeds without power failure in a converter station, which relates to the technical field of weeding robots and includes a robot carrying platform and a moving crawler belt. A medicine storage tank is fixedly installed on the rear side of the top outer wall of the robot carrying platform. A diaphragm pump is fixedly installed at the middle end of the top outer wall of the robot carrying platform. The present invention receives remote control instructions through the transmitting and receiving module, so that the main controller drives one side of the driving module to complete the movement of the moving track, controls the two-degree-of-freedom steering gear to complete the rotation of the spray gun through the main controller, and controls the expansion module through the switch. Control the start and stop of the diaphragm pump, complete the spraying operation, and solve the problem that the weeding method of the existing converter station is to manually weed after the converter station equipment is powered off, which will affect the power of the west-to-east power transmission channel after the converter station equipment is powered off The problem of transmission and stable operation has achieved the effect of weeding without power failure of the converter station equipment, improving the power transmission and stable operation of the west-to-east power transmission channel.

Description

A robot for pesticide spraying and weed control without power failure in converter station

technical field

The invention relates to the technical field of weeding robots, in particular to a robot for spraying weeds and weeds without power failure in a converter station.

Background technique

In the maintenance work of the power facilities of the converter station, there is a detail that cannot be ignored more and more - the inconspicuous weeds around the converter station bring huge hidden dangers to power safety, and autumn is the harvest season, and the weeds have also entered the growth In the mature stage, weeds grow mature in autumn and have tenacious vitality. At present, the ground inside the 500kV AC and DC filter fences of some converter stations is paved with bricks, and the falling grass seeds fall into the bricks with the wind to take root and grow grass. Occasionally, the grass may be discharged due to insufficient safety distance, affecting the power transmission of the DC system and causing serious consequences. At the same time, due to the dryness of autumn and winter, weeds become natural fuels, so the risk of fire increases, and it is easy to attract small animals to damage the equipment. There are following problems at prior art:

Because the main method of weeding on the existing team is to manually pull out the weeds after the converter station equipment is powered off, and spray herbicides, which will cause a set of filters to be unavailable, and Yongfu DC power transmission will be limited in extreme cases. At 1900MW (the bipolar rated transmission power is 3000MW), so adopting this method may affect the power transmission and stable operation of the West-to-East Power Transmission Channel. It is urgent to study or adopt other means for alternative solutions to ensure the reliable operation of the Yongfu DC system.

Contents of the invention

The present invention provides a robot for spraying pesticides and weeds without power failure in a converter station to solve the problems raised in the above-mentioned background technology.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A robot for spraying pesticides and weeds without power failure in a converter station, including a robot carrying platform and a mobile crawler belt. There is a diaphragm pump, a spraying device is fixedly installed on the front end of the top outer wall of the robot carrying platform, a main controller is fixedly installed in the inner cavity of the robot carrying platform, and a transmitting and receiving module is arranged on the right side of the main controller. The rear side of the inner cavity of the robot carrying platform is fixedly provided with a battery, and the front end of the inner cavity of the robot carrying platform is fixedly installed with a DC motor, and the output shaft of the DC motor is fixedly connected with the inner and outer walls of the moving track. One side is provided with a drive module.

The bottom inner cavity of the spraying device is fixedly provided with a switch control expansion module, and a two-degree-of-freedom steering gear is fixedly installed on one side of the top inner cavity of the spraying device, and the output shaft of the two-degree-of-freedom steering gear is fixedly installed There is a spraying gun, the spraying gun is located at the middle end of the top outer wall of the spraying device, the inner cavity of the spraying gun is provided with a spraying gun pipeline, and the inner cavity of the top outer wall of the spraying gun pipeline is movable and equipped with movable Knob, the left side of the top inner wall of the spray gun pipeline is fixed with a water drop plate, the top inner wall of the spray gun pipeline is fixed with a spray plate on the right side, and the top of the bottom pole of the movable knob is fixedly connected with a knob rod , the top of the knob rod is fixedly installed with a baffle, and the top of the baffle is slidingly connected with the inner wall groove of the spray gun pipeline, and the inner wall of the spray gun pipeline is fixedly equipped with a filter mesh, and the filter mesh The sheet is located above the baffle.

The further improvement of the technical solution of the present invention is that: the top of the medicine storage tank is movably equipped with a medicine tank cover, and the upper side of the diaphragm pump is fixedly connected with a medicine outlet pipe, and one end of the medicine outlet pipe is connected to the pipeline of the spray gun. One end of the diaphragm pump is fixedly connected to the lower outer wall of the diaphragm pump, and a drug feeding tube is fixedly connected to one end of the drug feeding tube, and one end of the drug feeding tube is fixedly connected to the outer wall of the lower side of the drug storage tank.

The further improvement of the technical solution of the present invention is that: the outer wall of the bottom of the medicine tank cover is fixedly installed with a cover buckle, one side of the outer wall of the medicine storage tank is movably installed with a button, and the bottom of the button is fixedly installed with a button rod. A button plug is fixedly installed in the inner cavity of the outer wall of the medicine storage tank, and the outer wall at the bottom of the button rod is movably connected with the inner cavity of the button plug.

The further improvement of the technical solution of the present invention is that: the outer wall of the button rod is fixedly connected with a drawstring, and one end of the drawstring is fixedly installed with a fixed buckle, and the outer wall of the fixed buckle is concave with the side of the cover buckle. The slots are clamped, the bottom outer wall of the fixed buckle is fixedly equipped with a buckle spring, and the inner cavity of the outer wall of the medicine storage tank is provided with a pulley, and the outer wall of the pulley is overlapped with the outer wall of the stay.

The further improvement of the technical solution of the present invention lies in that: the inner wall of the medicine storage tank is fixedly equipped with a piston chamber, the inner cavity of the piston chamber is fixedly installed with an elastic ring, the top of the elastic ring is lapped with a piston rod, and the piston A pressure plate is fixedly installed on the top of the rod, and the top outer wall of the pressure plate is overlapped with the bottom outer wall of the cover buckle.

The further improvement of the technical solution of the present invention is that: the bottom of the inner cavity of the medicine storage tank is fixedly installed with a filter plate bracket, the top of the filter plate bracket is fixedly installed with a bracket slide bar, and the top outer wall of the bracket slide bar is clamped with a A filter bottom plate, a filter screen is arranged on the inner side of the filter bottom plate, and the filter screen is located above one end of the medicine feeding pipe.

The further improvement of the technical solution of the present invention lies in that: a compression spring is fixedly installed on the inner wall of the filter bottom plate, a roller bracket is fixedly installed on the top of the compression spring, and a roller is arranged on the top of the roller bracket.

The further improvement of the technical solution of the present invention is: the middle end of the inner wall of the filter bottom plate is fixedly equipped with a slide bar, the slide bar is located on the inner side of the compression spring, the slide bar runs through the middle end of the bottom plate of the roller bracket, and the middle end of the roller bracket The outer wall is overlapped with the outer wall of the bracket slide bar.

Owing to adopting above-mentioned technical scheme, relative to the prior art, the technical progress of the present invention is:

1. The present invention provides a robot for spraying pesticides and weeds without power failure in a converter station, which uses a main controller, a drive module, a transmitting and receiving module, a switch control expansion module, a diaphragm pump, a two-degree-of-freedom steering gear, a spraying gun, and a moving track With the cooperation of the manipulator, the control command is issued by the manipulator, the transmitting and receiving module completes the conversion of the command to the digital signal, and the driving module on one side is driven by the main controller to complete the forward, backward and U-turn movement of the mobile track. The main controller controls the two The degree of freedom steering gear completes the rotation and pitch control of the spray gun, completes the start and stop control of the diaphragm pump through the switch control expansion module, completes the spraying operation, and solves the problem that the main weeding method adopted by the existing team is to cut off the power of the equipment Finally, manual weeding and herbicide spraying will cause a set of filters to be unusable, affecting the power transmission and stable operation of the West-East Power Transmission Channel. Weeding can be carried out without powering off the converter station equipment. Improve the effect of power transmission and stable operation of the West-to-East Power Transmission Channel.

2. The present invention provides a robot for spraying medicine and weeding without power failure in a converter station, which uses a medicine tank cover, a cover buckle, a button, a button rod, a button plug, a fixed buckle, a buckle spring, a drawstring, and a drawstring pulley With the cooperation, by pressing the button, the button rod moves downward in the button plug, so that the drawstring is pulled down, and the fixed buckle is pulled out of the groove on the side of the cover buckle through the change of direction of the drawstring pulley, and the medicine tank The cover can be opened, and when it is closed, the fixing buckle is squeezed by the cover buckle, so that the fixing buckle is snapped into the groove on one side of the cover buckle through the elasticity of the buckle spring and fixed, which solves the problem of the existing medicine storage tank installation structure It is complicated and very inconvenient when it needs to be disassembled and cleaned. It achieves the effect of quickly and conveniently opening and closing the cover plate of the medicine storage tank and improving the cleaning efficiency.

3. The present invention provides a robot for spraying pesticides and weeds without power failure in a converter station, which uses the cooperation of the feeding tube, the filter plate bracket, the bracket slider, the filter bottom plate, and the filter screen, and installs a filter on the outside of the top of the drug feeding tube inside the drug storage tank. Plate bracket, the filter bottom plate is snapped into the top of the filter plate bracket through the bracket slide bar. When the drug inlet pipe is sucking the drug, the impurities and sediment contained in the herbicide can be effectively filtered through the filter, which solves the problem of weeding in the inner cavity of the drug storage tank. Impurities may be contained in the agent, and if the diaphragm pump inhales foreign matter for a long time, the power of the diaphragm pump will decrease, and the pipeline will be blocked, so as to achieve the effect of filtering impurities and foreign matter, improving the working efficiency of the diaphragm pump, and avoiding manual disassembly and cleaning.

4. The present invention provides a robot for spraying pesticides and weeds without power failure in a converter station, which uses the cooperation of spraying gun pipes, filter mesh sheets, movable knobs, knob rods, baffles, water drop plates, and spray plates. When the herbicide is delivered At the top of the spray gun pipe, the impurities in the pipe are filtered through the filter mesh, and sprayed out through the drop plate below the outlet on the other side of the baffle to form a drop-shaped herbicide, and the top baffle is rotated to the other side by rotating the movable knob to drive the knob rod. On the one hand, the herbicide is sprayed through the spray plate to form a water mist herbicide, which solves the problem that the spray gun cannot change the metering of weeds of different sizes, resulting in poor weeding effect when there are too many weeds, and too wasteful weeding when there are too few weeds The problem of herbicides has been solved, and the metering of herbicides sprayed by spray guns has been freely adjusted, the effects of saving and rational use of herbicides and reducing costs have been achieved.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the schematic diagram of the sectional structure of the robot carrier platform of the present invention;

Fig. 3 is the schematic diagram of the sectional structure of the outer wall of the medicine storage tank of the present invention;

Fig. 4 is the structural representation of filter net of the present invention;

Fig. 5 is the schematic diagram of the cross-sectional structure of the filter bottom plate of the present invention;

Fig. 6 is the schematic diagram of the sectional structure of the spray gun of the present invention;

FIG. 7 is an enlarged schematic diagram of A.

In the figure: 1. Robot carrying platform; 11. Main controller; 12. Drive module; 13. DC motor; 14. Transmitting and receiving module; 15. Switch control expansion module; 16. Battery; 2. Medicine storage tank; 21. Medicine tank cover; 211, cover buckle; 22, button; 221, button rod; 222, button plug; 23, fixed buckle; 231, buckle spring; 232, drawstring; 24, drawstring pulley; 25 Piston compartment; 251, pressing plate; 252, piston rod; 253, elastic ring; 26, filter plate support; 261, support slide bar; 27, filter bottom plate; 271, filter screen; , roller bracket; 275, roller; 3, diaphragm pump; 31, medicine outlet pipe; 32, medicine inlet pipe; 4, medicine spray device; 41, two-degree-of-freedom steering gear; 42, medicine spray gun; 421, medicine spray gun pipeline 422, filter mesh sheet; 423, movable knob; 424, knob bar; 425, baffle plate; 426, drop plate; 427, spray plate; 5, mobile crawler.

Detailed ways

Below in conjunction with embodiment the present invention is described in further detail:

Example 1

As shown in Figures 1-7, the present invention provides a robot for spraying pesticides and weeds without power failure in a converter station, including a robot carrying platform 1 and a mobile crawler belt 5, and a medicine storage tank is fixedly installed on the rear side of the top outer wall of the robot carrying platform 1 2. A diaphragm pump 3 is fixedly installed at the middle end of the top outer wall of the robot carrying platform 1, a spraying device 4 is fixedly installed at the front end of the top outer wall of the robot carrying platform 1, and a main controller 11 is fixedly installed in the inner cavity of the robot carrying platform 1. The right side of the controller 11 is provided with a transmitting and receiving module 14, a storage battery 16 is fixedly arranged on the rear side of the cavity of the robot carrying platform 1, and a DC motor 13 is fixedly installed on the front end of the cavity of the robot carrying platform 1, and the output shaft of the DC motor 13 is connected to the The inner and outer walls of the mobile crawler belt 5 are fixedly connected, and one side of the DC motor 13 is provided with a drive module 12 .

In this embodiment, the control command is issued by the hand manipulator, and the transmitting and receiving module 14 completes the conversion of the command to a digital signal, and the main controller 11 drives the drive module 12 on one side to make the DC motor 13 drive the moving crawler belt 5 to move forward, backward, The medicine storage tank 2 is made of transparent material, which is convenient for observing the liquid medicine loading. The diaphragm pump 3 is a DC brush motor diaphragm pump with high pressure and compact structure, which is corrosion-resistant, maintenance-free, low noise and low pressure. Vibration and other effects, the battery 16 is a 11.1V 5400 mAh 3S lithium battery, the charging method is 220V independent 3S balanced charging, and a 1+1 lithium battery is used to ensure the power consumption of the platform movement, and independently provide an independent power supply for the spraying part to achieve battery life Time requirements, the main controller 11 of the robot carrier platform is the STM32F103RCT main controller 11, which can be flexibly developed according to the application. The STM32ROS driver can be flexibly equipped with a Hall brush motor, or it can be equipped with a brushless motor and a brushless driver. Robot The carrying platform 1 is connected by screws, and all parts are easy to replace and maintain.

Example 2

As shown in Figures 1-7, on the basis of Embodiment 1, the present invention provides a technical solution: preferably, the bottom inner cavity of the spraying device 4 is fixedly provided with a switch control expansion module 15, and the top of the spraying device 4 A two-degree-of-freedom steering gear 41 is fixedly installed on one side of the inner cavity, and a spray gun 42 is fixedly installed on the output shaft of the two-degree-of-freedom steering gear 41, and the spray gun 42 is located at the middle end of the top outer wall of the spray device 4. The inner cavity of 42 is provided with spraying gun pipeline 421, and the top outer wall inner cavity of spraying gun pipeline 421 is movably installed with movable knob 423, and the top inner wall left side of spraying gun pipeline 421 is fixedly installed with water drop plate 426, and spraying gun pipeline The right side of the top inner wall of 421 is fixedly equipped with a spray plate 427, the top of the bottom pole of the movable knob 423 is fixedly connected with a knob bar 424, and the top of the knob bar 424 is fixedly equipped with a baffle plate 425, and the top of the baffle plate 425 is connected with the spray gun pipeline. The inner wall groove of 421 is slidingly connected, and the inner wall of the spray gun pipeline 421 is fixedly equipped with a filter mesh 422 , and the filter mesh 422 is located above the baffle plate 425 .

In this embodiment, when the herbicide is delivered to the top of the spray gun pipeline 421, the impurities in the pipeline are filtered through the filter mesh 422, and then sprayed out through the water drop plate 426 below the outlet on the other side of the baffle plate 425 to form water drop-shaped weeding The herbicide is sprayed by rotating the movable knob 423 to drive the knob rod 424 to rotate the top baffle 425 to the other side, and the herbicide is sprayed out through the spray plate 427 to form a water mist herbicide. On the inner wall of the drug gun pipeline 421, the diaphragm pump sucks out the liquid medicine and makes the pressure of the liquid medicine reach the outlet pressure of the spray gun. The liquid medicine is sprayed from the spray plate in a fan-shaped 80° atomization. Work order, stop the work of the pump to complete the spraying operation.

Example 3

As shown in Figures 1-7, on the basis of Embodiment 1, the present invention provides a technical solution: preferably, the outer wall of the bottom of the medicine tank cover 21 is fixedly equipped with a cover buckle 211, and one side of the medicine tank 2 The outer wall is movably equipped with a button 22, the bottom of the button 22 is fixedly equipped with a button rod 221, and the inner cavity of the outer wall of the medicine storage tank 2 is fixedly installed with a button plug 222, and the bottom outer wall of the button rod 221 is movably connected with the inner cavity of the button plug 222, and the button The outer wall of the rod 221 is fixedly connected with a stay cord 232, and one end of the stay cord 232 is fixedly mounted with a fixation buckle 23, and the outer wall of the fixation buckle 23 is engaged with a side groove of the cover plate buckle 211, and the bottom of the fixation buckle 23 Buckle spring 231 is fixedly installed on the outer wall, and the inner cavity of the outer wall of medicine storage tank 2 is provided with pulley pulley 24. 25. The inner cavity of the piston chamber 25 is fixedly installed with an elastic ring 253, the top of the elastic ring 253 is lapped with a piston rod 252, and the top of the piston rod 252 is fixedly installed with a pressure plate 251, and the top outer wall of the pressure plate 251 is connected to the cover plate buckle 211. Bottom outer wall lap.

In this embodiment, by pressing the button 22, the button rod 221 moves downward in the button plug 222, so that the pull cord 232 is pulled downward, and the fixed buckle 23 is pulled out of the cover card by changing the direction of the pull cord pulley 24. The groove on the side of buckle 211, the medicine tank cover 21 squeezes the pressing plate on the top of the piston rod 252 through the elastic ring 253 in the piston compartment 25, so that the medicine tank cover 21 pops up, successfully opened, and squeezes through the cover buckle 211 when closing Fix the buckle 23 so that the fixed buckle 23 is fixed in the groove on one side of the cover plate buckle 211 through the elasticity of the buckle spring 231. The top side of the fixed buckle 23 adopts a bevel design, and it will move inward when pressed down. The fixed cover buckle 211 cannot be pulled out.

Example 4

As shown in Figures 1-7, on the basis of Embodiment 1, the present invention provides a technical solution: preferably, a medicine tank cover 21 is movably installed on the top of the medicine storage tank 2, and the top side of the diaphragm pump 3 is fixedly connected There is a medicine outlet pipe 31, one end of the medicine outlet pipe 31 is fixedly connected with one end of the spray gun pipe 421, the lower outer wall of the diaphragm pump 3 is fixedly connected with a medicine inlet pipe 32, and one end of the medicine inlet pipe 32 is connected with the lower side of the medicine storage tank 2 The outer wall is fixedly connected, the bottom of the inner cavity of the medicine storage tank 2 is fixedly equipped with a filter plate support 26, and the top of the filter plate support 26 is fixedly installed with a support slide bar 261, and the top outer wall of the support slide bar 261 is clamped with a filter bottom plate 27, and the filter bottom plate The inner side of 27 is provided with filter screen 271, and filter screen 271 is positioned at the top of feeding pipe 32 one ends, and the inwall of filter bottom plate 27 is fixedly installed with compression spring 272, and the top of compression spring 272 is fixedly installed with roller bracket 274, and the top of roller bracket 274 is arranged Roller 275 is arranged, and slide bar 273 is fixedly installed on the inner wall middle end of filter bottom plate 27, and slide bar 273 is positioned at the inner side of compression spring 272, and slide bar 273 runs through the bottom plate middle end of roller bracket 274, and the outer wall of roller 275 and bracket slide bar 261 The outer wall overlaps.

In this embodiment, a filter plate support 26 is installed on the outside of the top end of the drug-introducing tube 32 inside the drug storage tank 2, and the filter bottom plate 27 is snapped into the top of the filter plate support 26 through the bracket slide bar 261. When the drug-introducing tube 32 sucks the drug, The impurities and sediment contained in the herbicide inside the drug storage tank 2 can be effectively filtered through the filter screen 271, and the bottom plate of the roller bracket 274 is squeezed by the compression spring 272, so that the bottom plate of the roller bracket 274 is squeezed outward by the slide bar 273, so that the roller 275 It is closer to the bracket slide bar 261, so that the installation and disassembly of the overall filter bottom plate 27 is smoother and quicker, and it is convenient to clean the filter screen 271 regularly.

Let's talk about the working principle of the robot for spraying pesticides and weeds without power failure in the converter station.

As shown in Figures 1-7, the control command is issued by the manipulator, the transmitting and receiving module 14 completes the conversion of the command to a digital signal, and the driving module 12 is driven by the main controller 11 to complete the forward, backward and in-situ U-turn movements of the mobile crawler belt 5 The two-degree-of-freedom steering gear 41 is controlled by the main controller 11 to complete the rotation and pitch control of the spray gun 42, and the start-stop control of the diaphragm pump 3 is completed by controlling the expansion module 15 through the switch to complete the spraying operation.

The above has generally described the present invention in detail, but some modifications or improvements can be made on the basis of the present invention, which are obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims (8)

1. A robot for spraying pesticides and weeds without power failure in a converter station, comprising a robot carrying platform (1) and a mobile crawler belt (5), characterized in that: the rear side of the top outer wall of the robot carrying platform (1) is fixedly installed with a storage A medicine tank (2), a diaphragm pump (3) is fixedly installed at the middle end of the top outer wall of the robot carrying platform (1), and a spraying device (4) is fixedly installed at the front end of the top outer wall of the robot carrying platform (1), The inner cavity of the robot carrying platform (1) is fixedly equipped with a main controller (11), and the right side of the main controller (11) is provided with a transmitting and receiving module (14), and the robot carrying platform (1) A storage battery (16) is fixedly arranged on the rear side of the inner cavity, and a DC motor (13) is fixedly installed at the front end of the inner cavity of the robot carrying platform (1), and the output shaft of the DC motor (13) is connected to the movable track (5) The inner and outer walls are fixedly connected, and one side of the DC motor (13) is provided with a drive module (12); The bottom inner cavity of the spraying device (4) is fixedly provided with a switch control expansion module (15), and a two-degree-of-freedom steering gear (41) is fixedly installed on one side of the top inner cavity of the spraying device (4). A spray gun (42) is fixedly installed on the output shaft of the two-degree-of-freedom steering gear (41), and the spray gun (42) is positioned at the top outer wall middle end of the spray device (4), and the spray gun ( 42) is provided with a spray gun pipeline (421), the top outer wall inner chamber of the spray gun pipeline (421) is movably equipped with a movable knob (423), and the top inner wall of the spray gun pipeline (421) A water drop plate (426) is fixedly installed on the left side, a spray plate (427) is fixedly installed on the right side of the top inner wall of the spray gun pipeline (421), and a knob is fixedly connected to the top of the bottom pole of the movable knob (423). Rod (424), the top of the knob rod (424) is fixedly equipped with a baffle (425), and the top of the baffle (425) is slidably connected with the inner wall groove of the spray gun pipeline (421). A filter mesh (422) is fixedly installed on the inner wall of the gun pipeline (421), and the filter mesh (422) is located above the baffle plate (425). 2. A converter station non-stop medicine spraying and weed control robot according to claim 1, characterized in that: a medicine tank cover (21) is movably installed on the top of the medicine storage tank (2), and the diaphragm pump The upper side of (3) is fixedly connected with a medicine outlet pipe (31), one end of the medicine outlet pipe (31) is fixedly connected with one end of the spray gun pipeline (421), and the lower outer wall of the diaphragm pump (3) A medicine feeding pipe (32) is fixedly connected, and one end of the medicine feeding pipe (32) is fixedly connected with the lower side outer wall of the medicine storage tank (2). 3. A converter station non-stop medicine spraying and weeding robot according to claim 2, characterized in that: the outer wall of the bottom of the medicine tank cover (21) is fixedly equipped with a cover buckle (211), the A button (22) is movably installed on one side outer wall of the medicine storage tank (2), and a button rod (221) is fixedly installed on the bottom of the button (22), and a button rod (221) is fixedly installed on the outer wall inner cavity of the medicine storage tank (2). The button plug (222), the bottom outer wall of the button rod (221) is movably connected with the inner cavity of the button plug (222). 4. A converter station non-stop medicine spraying and weeding robot according to claim 3, characterized in that: the outer wall of the button rod (221) is fixedly connected with a pull rope (232), and the pull rope (232 ) is fixedly installed with a fixed buckle (23), the outer wall of the fixed buckle (23) is engaged with the side groove of the cover plate buckle (211), and the bottom outer wall of the fixed buckle (23) A buckle spring (231) is fixedly installed, and the inner cavity of the outer wall of the medicine storage tank (2) is provided with a pulley pulley (24), and the outer wall of the pulley pulley (24) overlaps the outer wall of the pulley (232). catch. 5. A converter station non-stop medicine spraying and weeding robot according to claim 3, characterized in that: the inner wall of the medicine storage tank (2) is fixedly equipped with a piston cabin (25), and the piston cabin ( 25) is fixedly installed with an elastic ring (253), the top of the elastic ring (253) is lapped with a piston rod (252), and the top of the piston rod (252) is fixed with a pressing plate (251), so The top outer wall of the pressing plate (251) overlaps the bottom outer wall of the cover buckle (211). 6. A converter station non-stop medicine spraying and weeding robot according to claim 1, characterized in that: the bottom of the inner cavity of the medicine storage tank (2) is fixedly equipped with a filter plate support (26), the The top of the filter plate support (26) is fixedly equipped with a support slide bar (261), and the top outer wall of the support slide bar (261) is clamped with a filter bottom plate (27), and the inboard of the filter bottom plate (27) is provided with a filter plate. A net (271), the filter screen (271) is located above one end of the medicine feeding pipe (32). 7. A converter station non-stop medicine spraying and weeding robot according to claim 6, characterized in that: a compression spring (272) is fixedly installed on the inner wall of the filter bottom plate (27), and the compression spring (272 ) is fixedly equipped with a roller bracket (274), and the top of the roller bracket (274) is provided with a roller (275). 8. A converter station non-stop medicine spraying and weeding robot according to claim 7, characterized in that: a sliding bar (273) is fixedly installed at the middle end of the inner wall of the filter bottom plate (27), and the sliding bar (273) is located at the inner side of the compression spring (272), the slide bar (273) runs through the middle end of the bottom plate of the roller bracket (274), and the outer wall of the roller (275) overlaps with the outer wall of the bracket slide bar (261) .

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