CN116831100A - Plant protection robot capable of uniformly mixing liquid medicine - Google Patents
Plant protection robot capable of uniformly mixing liquid medicine Download PDFInfo
- Publication number
- CN116831100A CN116831100A CN202310876894.XA CN202310876894A CN116831100A CN 116831100 A CN116831100 A CN 116831100A CN 202310876894 A CN202310876894 A CN 202310876894A CN 116831100 A CN116831100 A CN 116831100A
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- frame
- mixing box
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- plant protection
- fixed
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- 239000007788 liquid Substances 0.000 title claims abstract description 65
- 239000003814 drug Substances 0.000 title claims abstract description 61
- 238000003756 stirring Methods 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 31
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
- B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
- B01F27/808—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with stirrers driven from the bottom of the receptacle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
- B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
- B01F27/90—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with paddles or arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F33/00—Other mixers; Mixing plants; Combinations of mixers
- B01F33/50—Movable or transportable mixing devices or plants
- B01F33/502—Vehicle-mounted mixing devices
- B01F33/5021—Vehicle-mounted mixing devices the vehicle being self-propelled, e.g. truck mounted, provided with a motor, driven by tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F2101/00—Mixing characterised by the nature of the mixed materials or by the application field
- B01F2101/04—Mixing biocidal, pesticidal or herbicidal ingredients used in agriculture or horticulture, e.g. for spraying
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a plant protection robot capable of uniformly mixing liquid medicine, and relates to the technical field of plant protection robots. According to the invention, the telescopic rod descends in the stirring shaft to drive the conical top ring to descend, so that the conical top ring descends to push the two groups of connecting blocks into the rotating frame, and then the rotating frame and the stirring shaft are connected with each other.
Description
Technical Field
The invention relates to the technical field of plant protection robots, in particular to a plant protection robot capable of uniformly mixing liquid medicine.
Background
The agricultural plant protection work has the fundamental task of applying effective protection measures to crops, reducing the interference of environmental factors on the normal growth and development of the crops, ensuring the smooth promotion of agricultural production, mainly being applied to rural areas with more remarkable extreme weather, effectively avoiding the problem of crop yield reduction caused by abnormal weather conditions in practical application, having to rationally analyze various internal and external factors influencing the crop yield by agricultural growers, formulating scientific intervention and protection schemes, protecting navigation for the healthy growth of the crops, really improving the crop yield, creating higher economic benefit by scientific planting and promoting the prosperous development of local agricultural economy.
The orchard pesticide application robot is an intelligent machine fused by a plurality of technologies such as a navigation technology, a disease and pest identification technology, a variable pesticide application technology, a chassis technology and the like, and comprises a navigation system, a pesticide application system, a chassis system, a control system and the like, wherein the fruit robot can automatically avoid barriers and automatically adjust a sprayer to spray according to tree shapes and tree heights, and an automatic walking system of the robot realizes ideal path planning by real-time modeling through RTK positioning and other positioning modes.
When the spraying robot in the prior art is used, a worker puts the liquid medicine into a medicine box carried by the robot, the liquid medicine in the medicine box can be sprayed to external fruit trees along with the advancing of the robot, but the robot operation can be completed in a certain time, the liquid medicine cannot be further stirred and mixed in real time in the medicine box, so that the liquid medicine mixing effect is reduced in the medicine spraying process of the robot, and the using effect of the liquid medicine is affected.
Disclosure of Invention
Based on the above, the invention aims to provide a plant protection robot for uniformly mixing liquid medicine, so as to solve the technical problems that in the prior art, the robot operation needs a certain time to be completed, the liquid medicine cannot be further stirred and mixed in real time in a medicine box, and the liquid medicine mixing effect is reduced and the using effect of the liquid medicine is affected in the medicine spraying process of the robot.
In order to achieve the above purpose, the present invention provides the following technical solutions: the plant protection robot comprises a frame, wherein a mixing box is fixed at the top of the frame, a medicine box matched with the mixing box is arranged at the top of the mixing box, corresponding circulation holes are formed in a liquid inlet frame and a liquid outlet frame, and a sealing block matched with the circulation hole of the liquid outlet frame is fixed at the top of a push rod;
the stirring device is characterized in that a stirring shaft is rotationally connected to the middle position inside the mixing box, a telescopic rod is movably connected to the inside of the stirring shaft, a conical top ring positioned inside the stirring shaft is fixed to the outer side of the telescopic rod, connecting blocks penetrating through the stirring shaft are slidingly connected to the two sides of the conical top ring, a rotating frame is rotationally connected to the middle position of the bottom of the mixing box, connecting grooves matched with the connecting blocks are formed in the two sides inside the rotating frame, and worm gears are fixed to the outer side of the rotating frame;
motors are installed at two ends of the bottom of the frame, one side of the bottom of the mixing box is rotationally connected with a worm, the worm is rotationally connected with the mixing box through a transmission shaft, one group of motor output ends are connected with the transmission shaft through a transmission belt, a liquid inlet frame is arranged at the middle position of the top of the mixing box, a liquid outlet frame is arranged at the middle position of the bottom of the medicine box, a push rod matched with a telescopic rod is slidingly connected inside the liquid outlet frame, a stirring rod extending to the inside of the mixing box is fixed on the outer side of the stirring shaft, the bottom wall of the inside of the mixing box is obliquely arranged, and two groups of movable scrapers with the bottom surfaces which are in contact with the bottom wall of the inside of the mixing box are movably connected inside the stirring rod;
a first spring positioned inside the stirring shaft is fixed between the telescopic rod and the stirring shaft, and a second spring positioned inside the liquid outlet frame is fixed between the ejector rod and the liquid outlet frame.
Through adopting above-mentioned technical scheme, through placing the medical kit at the top of mixing box, make the drain frame of medical kit and the feed liquor frame of mixing box corresponding installation, telescopic link top carries out the jack-up completely this moment, the passive compression of second spring is to furthest, because the top of the medical kit bottom has not laminated the mixing box completely yet this moment, and then follow the continuation decline of medical kit, this moment ejector pin bottom then pushes down the telescopic link, the telescopic link drives the circular cone jack-up in the (mixing) shaft inside and descends, and then the circular cone jack-up descends and promotes the inside of rotating turret with two sets of connecting blocks, and then interconnect between rotating turret and the (mixing) shaft, the (mixing) shaft can rotate along with the rotation of rotating turret, owing to the rotating turret outside is fixed with the worm wheel, when the motor walks at the drive walking, the motor rotates through drive transmission shaft and worm, owing to worm and worm wheel mesh, and then the rotating turret drives the (mixing) shaft and rotate at the inside the mixing box, the stirring rod is rotated at the inside the mixing box and is stirred, the aforesaid, can be to the inside further mix medicine liquid medicine that carries out the long-time and mix in the inside the mixing box of mixing completely in real-time all the time, the time of the medicine liquid medicine is kept thoroughly mixed in the robot advancing process.
The invention is further characterized in that the two ends of the bottom of the frame are both fixed with supporting frames, the bottoms of the two groups of supporting frames are both provided with travelling mechanisms, each travelling mechanism comprises travelling wheels, connecting shafts, tracks, transmission gears and synchronous belts, the plurality of groups of connecting shafts are respectively fixed on the inner end surfaces of the plurality of groups of travelling wheels, the tracks are positioned on the outer sides of the travelling wheels, the plurality of groups of connecting shafts are in rotary connection with the supporting frames, the transmission gears are respectively fixed on the outer sides of the plurality of groups of connecting shafts, the plurality of groups of transmission gears are provided with synchronous belts, the two groups of motor output ends are fixedly connected with two groups of corresponding connecting shafts, a speed reducer is respectively fixed between the motor output ends and the connecting shafts, and the mixing box is fixedly connected with the motor and the speed reducer through the mounting frames.
By adopting the technical scheme, the whole walking mechanism can walk on the ground under the cooperation of the walking wheels and the crawler belt, wherein under the action of the transmission gear and the synchronous belt, the multi-group walking wheels synchronously rotate, so that the cross-country performance of the whole walking mechanism is greatly improved, and the whole power is strong.
The invention is further characterized in that a pressurizing mechanism is fixedly arranged at the middle position of one side of the frame, the bottom of one side of the mixing box is connected with the pressurizing mechanism through a communicating pipe, the top of the pressurizing mechanism is provided with a lifting mechanism, the top of the lifting mechanism is provided with a spray head mechanism communicated with the output end of the pressurizing mechanism, a control processor positioned below the mixing box is fixedly arranged in the frame, and a protective cover is fixedly arranged on the frame.
By adopting the technical scheme, the control processor plays a role in controlling, processing and supplying power to the electric appliance, the protection cover plays a role in protecting the bottom structure of the frame, and the interference of external impurities on the bottom structure of the frame is avoided.
In summary, the invention has the following advantages:
according to the invention, the medicine box is placed at the top of the mixing box, the liquid outlet frame of the medicine box and the liquid inlet frame of the mixing box are correspondingly arranged, at the moment, the top of the telescopic rod is used for fully jacking the ejector rod, at the moment, the second spring is passively compressed to the maximum extent, the bottom of the medicine box is not fully attached to the top of the mixing box at the moment, and then the telescopic rod is pressed down along with the continuous descending of the medicine box, the telescopic rod drives the conical ejector ring to descend in the stirring shaft, and then the conical ejector ring descends to push the two groups of connecting blocks into the rotating frame, and then the rotating frame and the stirring shaft are connected with each other, the stirring shaft can rotate along with the rotation of the rotating frame, and because the worm wheel is fixed on the outer side of the rotating frame, the motor simultaneously drives the transmission shaft and the worm through the transmission belt to rotate, and the worm wheel is meshed with the worm wheel, and then the rotating frame drives the stirring shaft to rotate in the mixing box, so that the stirring shaft is driven to rotate in the mixing box, and the stirring rod is stirred in the mixing box, and in the moving process of a robot, the medicine liquid in the mixing box can be further stirred and mixed in real time, so that the medicine in the mixing box can be mixed thoroughly and mixed in the mixing box for a long time all the time;
according to the invention, after the medicine box and the medicine liquid in the mixing box are consumed, a worker takes the medicine box off to separate the medicine box from the top of the mixing box, at the moment, the sealing block is reset under the action of the second spring to close the liquid outlet frame, the telescopic rod stretches out and resets the first spring, the telescopic rod resets and contracts the two groups of connecting blocks through the conical top ring, so that the rotating frame and the stirring shaft are mutually separated, and at the moment, the stirring shaft does not rotate in the advancing process of the frame, and the stirring rod and the two groups of movable scrapers do not rotate in the mixing box, so that the problem that the two groups of movable scrapers rub with the bottom wall in the mixing box is avoided, the abrasion probability of the movable scrapers is reduced, the load of a motor is reduced, and the service time of the motor is prolonged.
Drawings
FIG. 1 is a schematic view of a first view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is an enlarged view of the invention at A of FIG. 2;
FIG. 4 is a partial cutaway view of the present invention;
FIG. 5 is an enlarged schematic view of the internal structure of the present invention;
FIG. 6 is an enlarged, partially exploded view of the present invention;
FIG. 7 is an exploded view of a portion of the structure of the present invention;
FIG. 8 is a schematic diagram of a second view of the present invention;
fig. 9 is a schematic structural view of a frame of the present invention.
In the figure: 1. a frame; 2. a mixing box; 3. a medicine box; 4. a liquid inlet frame; 5. a liquid outlet frame; 6. a stirring shaft; 7. a telescopic rod; 8. a conical top ring; 9. a rotating frame; 10. a worm wheel; 11. a connecting block; 12. a transmission shaft; 13. a worm; 14. a transmission belt; 15. a stirring rod; 16. a movable scraper; 17. a first spring; 18. a push rod; 19. a sealing block; 20. a second spring; 21. a motor; 22. a mounting frame; 23. a speed reducer; 24. a support frame; 25. a walking wheel; 26. a connecting shaft; 27. a track; 28. a transmission gear; 29. a synchronous belt; 30. a control processor; 31. a pressurizing mechanism; 32. a communicating pipe; 33. a lifting mechanism; 34. a spray head mechanism; 35. and a protective cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
1-9, a plant protection robot for uniformly mixing liquid medicine comprises a frame 1, wherein a mixing box 2 is fixed at the top of the frame 1, a medicine box 3 matched with the mixing box 2 is arranged at the top of the mixing box 2, corresponding circulation holes are formed in a liquid inlet frame 4 and a liquid outlet frame 5, and a sealing block 19 matched with the circulation hole of the liquid outlet frame 5 is fixed at the top of a push rod 18;
the middle position inside the mixing box 2 is rotationally connected with a stirring shaft 6, the inside of the stirring shaft 6 is movably connected with a telescopic rod 7, the outer side of the telescopic rod 7 is fixedly provided with a conical top ring 8 positioned inside the stirring shaft 6, two sides of the conical top ring 8 are slidably connected with a connecting block 11 penetrating through the stirring shaft 6, the middle position inside the bottom of the mixing box 2 is rotationally connected with a rotating frame 9, two sides inside the rotating frame 9 are provided with connecting grooves matched with the connecting block 11, and the outer side of the rotating frame 9 is fixedly provided with a worm wheel 10;
the two ends of the bottom of the frame 1 are provided with motors 21, one side of the bottom of the mixing box 2 is rotatably connected with a worm 13, the worm 13 and the mixing box 2 are rotatably connected through a transmission shaft 12, the output end of one group of motors 21 is connected with the transmission shaft 12 through a transmission belt 14, the middle position of the top of the mixing box 2 is provided with a liquid inlet frame 4, the middle position of the bottom of the medicine box 3 is provided with a liquid outlet frame 5, the liquid outlet frame 5 is internally and slidably connected with a push rod 18 matched with a telescopic rod 7, the outer side of the stirring shaft 6 is fixedly provided with a stirring rod 15 extending into the mixing box 2, the bottom wall of the mixing box 2 is obliquely arranged, two groups of movable scrapers 16 with the bottom surfaces being in contact with the bottom wall of the mixing box 2 are movably connected with the stirring rod 15, then the bottom of the push rod 18 is pressed down on the telescopic rod 7 at the moment, the telescopic rod 7 is driven to descend in the stirring shaft 6, the conical top ring 8 is pushed into the rotating frame 9, the rotating frame 9 and the stirring shaft 6 are mutually connected with the rotating frame 9, and the stirring shaft 6 can rotate along with the rotating frame 9;
because the worm wheel 10 is fixed on the outer side of the rotating frame 9, when the motor 21 walks on the driving travelling wheel 25, the motor 21 drives the transmission shaft 12 and the worm 13 to rotate through the transmission belt 14, and because the worm 13 is meshed with the worm wheel 10, the rotating frame 9 drives the stirring shaft 6 to rotate in the mixing box 2, and the stirring shaft 6 rotates to drive the stirring rod 15 to rotate in the mixing box 2 so as to stir the liquid medicine;
a first spring 17 positioned in the stirring shaft 6 is fixed between the telescopic rod 7 and the stirring shaft 6, a second spring 20 positioned in the liquid outlet frame 5 is fixed between the ejector rod 18 and the liquid outlet frame 5, the first spring 17 plays a resetting role on the telescopic rod 7, and the second spring 20 plays a resetting role on the ejector rod 18.
Referring to fig. 1, fig. 2, fig. 5, fig. 7 and fig. 8, the two ends of the bottom of the frame 1 are both fixed with supporting frames 24, the bottoms of the two groups of supporting frames 24 are both provided with travelling mechanisms, each travelling mechanism comprises travelling wheels 25, a connecting shaft 26, a track 27, a transmission gear 28 and a synchronous belt 29, the multiple groups of connecting shafts 26 are respectively fixed on the inner end surfaces of the multiple groups of travelling wheels 25, the track 27 is positioned on the outer sides of the travelling wheels 25, the multiple groups of connecting shafts 26 and the supporting frames 24 are in rotary connection, the transmission gears 28 are respectively fixed on the outer sides of the multiple groups of connecting shafts 26, the multiple groups of transmission gears 28 are provided with synchronous belts 29, the output ends of the two groups of motors 21 are fixedly connected with the two groups of corresponding connecting shafts 26, the output ends of the motors 21 are fixedly connected with the connecting shafts 26, and the speed reducers 23 are respectively fixed between the output ends of the motors 21 and the connecting shafts 26 through the mounting frames 22.
Referring to fig. 4, 8 and 9, a pressurizing mechanism 31 is fixed in the middle position of one side of a frame 1, the bottom of one side of a mixing box 2 is connected with the pressurizing mechanism 31 through a communicating pipe 32, a lifting mechanism 33 is arranged at the top of the pressurizing mechanism 31, a spray head mechanism 34 communicated with the output end of the pressurizing mechanism 31 is arranged at the top of the lifting mechanism 33, a control processor 30 positioned below the mixing box 2 is fixed in the frame 1, and a protective cover 35 is fixed in the frame 1.
The working principle of the invention is as follows: when the bicycle frame is used, the travelling mechanisms are arranged at two ends of the bottom of the bicycle frame 1, wherein each travelling mechanism comprises travelling wheels 25, a connecting shaft 26, a crawler belt 27, a transmission gear 28 and a synchronous belt 29, so that the bicycle frame can wholly travel on the ground under the cooperation of the travelling wheels 25 and the crawler belt 27, and a plurality of groups of travelling wheels 25 are synchronously rotated under the action of the transmission gear 28 and the synchronous belt 29, so that the cross-country performance of the whole travelling mechanism is greatly improved, and the whole power is strong;
by placing the medicine box 3 on the top of the mixing box 2, the liquid outlet frame 5 of the medicine box 3 and the liquid inlet frame 4 of the mixing box 2 are correspondingly installed, the top of the telescopic rod 7 fully lifts the ejector rod 18, and the second spring 20 is passively compressed to the maximum limit at the moment, and the bottom of the medicine box 3 is not fully attached to the top of the mixing box 2 at the moment;
then, as the medicine box 3 continues to descend, the bottom of the ejector rod 18 presses down the telescopic rod 7, the telescopic rod 7 drives the conical top ring 8 to descend in the stirring shaft 6, the conical top ring 8 descends to push the two groups of connecting blocks 11 into the rotating frame 9, the rotating frame 9 is connected with the stirring shaft 6, and the stirring shaft 6 can rotate along with the rotation of the rotating frame 9;
because the worm wheel 10 is fixed on the outer side of the rotating frame 9, when the motor 21 walks on the driving travelling wheel 25, the motor 21 drives the transmission shaft 12 and the worm 13 to rotate through the transmission belt 14, and because the worm 13 is meshed with the worm wheel 10, the rotating frame 9 drives the stirring shaft 6 to rotate in the mixing box 2, and the stirring shaft 6 rotates to drive the stirring rod 15 to rotate in the mixing box 2 so as to stir the liquid medicine;
as can be seen from the above, the liquid medicine in the mixing tank 2 can be further stirred and mixed in real time during the running process of the robot, so that the liquid medicine in the mixing tank 2 can be uniformly and thoroughly mixed all the time during the long-time spraying operation;
further, the bottom wall inside the mixing box 2 is inclined, so that the liquid medicine inside the mixing box 2 can more conveniently flow into the communicating pipe 32, wherein two groups of movable scrapers 16 are movably connected inside the stirring rod 15, the movable scrapers 16 rotate along with the stirring rod 15, and under the gravity of the movable scrapers 16, the bottoms of the movable scrapers 16 are always contacted with the inclined bottom surface inside the mixing box 2 when the movable scrapers 16 rotate, so that the liquid medicine can be more thoroughly stirred, and the bottom wall inside the mixing box 2 can be scraped to a certain extent;
when the medicine liquid in the medicine box 3 and the mixing box 2 is consumed, the staff takes the medicine box 3 off the top of the mixing box 2, and the sealing block 19 resets to close the liquid outlet frame 5 under the action of the second spring 20;
furthermore, the liquid inlet frame 4 and the liquid outlet frame 5 are provided with corresponding flow holes, wherein the flow holes can enable the liquid medicine to flow from the inside of the medicine box 3 to the inside of the mixing box 2;
the telescopic rod 7 stretches out and resets at the first spring 17, the telescopic rod 7 enables the two groups of connecting blocks 11 to reset and shrink through the conical top ring 8, so that the rotating frame 9 and the stirring shaft 6 are mutually separated, and then when the frame 1 moves in the process, the stirring shaft 6 does not rotate any more, and then the stirring rod 15 and the two groups of movable scrapers 16 do not rotate in the mixing box 2, so that the problem that the two groups of movable scrapers 16 rub with the bottom wall in the mixing box 2 is avoided, the abrasion probability of the movable scrapers 16 is reduced, the load of the motor 21 is reduced, and the service life of the motor 21 is prolonged;
specifically, after the liquid medicine in the mixing box 2 enters the pressurizing mechanism 31 through the communicating pipe 32, the liquid medicine is pressurized under the action of the pressurizing mechanism 31, so that the liquid medicine enters the spray head mechanism 34 through the corrugated pipe in the lifting mechanism 33, and then the liquid medicine can be sprayed out through the spray head mechanism 34, wherein the lifting mechanism 33 can drive the spray head mechanism 34 to adjust the height, and the fruit trees in different height ranges are further adapted;
finally, under the action of the control processor 30, the control processor 30 is internally provided with a power supply module, so that the whole electric control equipment can be controlled, processed and powered, and when the frame 1 needs to be turned, the two groups of motors 21 are simultaneously reversed, so that the two groups of tracks 27 can be simultaneously turned in different directions, and the whole frame 1 can be turned and adjusted.
Although embodiments of the invention have been shown and described, the detailed description is to be construed as exemplary only and is not limiting of the invention as the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples, and modifications, substitutions, variations, etc. may be made in the embodiments as desired by those skilled in the art without departing from the principles and spirit of the invention, provided that such modifications are within the scope of the appended claims.
Claims (9)
1. The utility model provides a plant protection robot of evenly mixing liquid medicine, includes frame (1), its characterized in that: the top of the frame (1) is fixedly provided with a mixing box (2), and the top of the mixing box (2) is provided with a medicine box (3) matched with the mixing box;
the stirring device is characterized in that a stirring shaft (6) is rotationally connected to the middle position inside the mixing box (2), a telescopic rod (7) is movably connected to the inside of the stirring shaft (6), conical top rings (8) positioned inside the stirring shaft (6) are fixedly arranged on the outer sides of the telescopic rod (7), connecting blocks (11) penetrating through the stirring shaft (6) are slidingly connected to the two sides of the conical top rings (8), a rotating frame (9) is rotationally connected to the middle position of the bottom of the mixing box (2), connecting grooves matched with the connecting blocks (11) are formed in the two sides inside the rotating frame (9), and worm gears (10) are fixedly arranged on the outer sides of the rotating frame (9);
the novel automatic feeding device is characterized in that motors (21) are mounted at two ends of the bottom of the frame (1), a worm (13) is rotatably connected to one side of the bottom of the mixing box (2), the worm (13) is rotatably connected with the mixing box (2) through a transmission shaft (12), a group of motors (21) are connected between the output end of the motors (21) and the transmission shaft (12) through a transmission belt (14), a liquid inlet frame (4) is arranged at the middle position of the top of the mixing box (2), a liquid outlet frame (5) is arranged at the middle position of the bottom of the medicine box (3), and ejector rods (18) matched with the telescopic rods (7) are slidably connected inside the liquid outlet frame (5).
2. The plant protection robot for uniformly mixing medical fluid according to claim 1, wherein: the stirring rod (15) extending to the inside of the mixing box (2) is fixed on the outer side of the stirring shaft (6), the bottom wall of the inside of the mixing box (2) is obliquely arranged, and two groups of movable scrapers (16) with the bottom surfaces in contact with the bottom wall of the inside of the mixing box (2) are movably connected in the stirring rod (15).
3. The plant protection robot for uniformly mixing medical fluid according to claim 1, wherein: corresponding circulation holes are formed in the liquid inlet frame (4) and the liquid outlet frame (5), and a sealing block (19) matched with the circulation hole of the liquid outlet frame (5) is fixed at the top of the ejector rod (18).
4. The plant protection robot for uniformly mixing medical fluid according to claim 1, wherein: a first spring (17) positioned inside the stirring shaft (6) is fixed between the telescopic rod (7) and the stirring shaft (6), and a second spring (20) positioned inside the liquid outlet frame (5) is fixed between the ejector rod (18) and the liquid outlet frame (5).
5. The plant protection robot for uniformly mixing medical fluid according to claim 1, wherein: the bicycle frame is characterized in that support frames (24) are fixed at two ends of the bottom of the bicycle frame (1), travelling mechanisms are arranged at the bottoms of two groups of support frames (24), each travelling mechanism comprises travelling wheels (25), a connecting shaft (26), a crawler belt (27), a transmission gear (28) and a synchronous belt (29), and multiple groups of connecting shafts (26) are respectively fixed on inner end surfaces of multiple groups of travelling wheels (25).
6. The plant protection robot for uniformly mixing medical fluid according to claim 5, wherein: the crawler belt (27) is positioned on the outer side of the travelling wheel (25), a plurality of groups of connecting shafts (26) are rotatably connected with the supporting frame (24), a plurality of groups of transmission gears (28) are fixed on the outer sides of the connecting shafts (26), and a plurality of groups of transmission gears (28) are provided with synchronous belts (29).
7. The plant protection robot for uniformly mixing medical fluid according to claim 5, wherein: the two groups of output ends of the motor (21) are fixedly connected with two groups of corresponding connecting shafts (26), a speed reducer (23) is fixed between the output ends of the motor (21) and the connecting shafts (26), and the mixing box (2) is fixedly connected with the motor (21) and the speed reducer (23) through a mounting frame (22).
8. The plant protection robot for uniformly mixing medical fluid according to claim 1, wherein: the novel multifunctional bicycle is characterized in that a pressurizing mechanism (31) is fixedly arranged at the middle position of one side of the bicycle frame (1), the bottom of one side of the mixing box (2) is connected with the pressurizing mechanism (31) through a communicating pipe (32), a lifting mechanism (33) is arranged at the top of the pressurizing mechanism (31), and a spray head mechanism (34) communicated with the output end of the pressurizing mechanism (31) is arranged at the top of the lifting mechanism (33).
9. The plant protection robot for uniformly mixing medical fluid according to claim 1, wherein: the control processor (30) positioned below the mixing box (2) is fixed inside the frame (1), and the protective cover (35) is fixed inside the frame (1).
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