CN210610808U - Spout medicine pole mechanism and spout medicine robot - Google Patents
Spout medicine pole mechanism and spout medicine robot Download PDFInfo
- Publication number
- CN210610808U CN210610808U CN201921575529.0U CN201921575529U CN210610808U CN 210610808 U CN210610808 U CN 210610808U CN 201921575529 U CN201921575529 U CN 201921575529U CN 210610808 U CN210610808 U CN 210610808U
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- steering engine
- pesticide spraying
- spraying rod
- medicine
- synchronous belt
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Abstract
The utility model relates to a spout medicine pole mechanism and spout medicine robot, including controller, machine vision module, spout medicine pole group assembly I and spout medicine pole group assembly II, spout medicine pole group assembly I and set up on hold-in range mechanism and reciprocate along with the walking belt, the machine vision module sets up in spout medicine pole group assembly I; the synchronous belt mechanism is arranged on a robot chassis through a bearing frame, and the pesticide spraying rod assembly II is fixedly arranged at the lower part of the bearing frame; the synchronous belt mechanism is driven by a stepping motor; the pesticide spraying rod group assembly I comprises a pesticide spraying rod group I, the pesticide spraying rod group I is connected with a steering engine I, and the steering engine I is connected with the synchronous belt mechanism through a liftable steering engine support; the pesticide spraying rod group II is connected with a steering engine II, and the steering engine II is connected with the bearing frame through a fixed steering engine bracket; and the machine vision module, the stepping motor, the steering engine I and the steering engine II are connected with the controller.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine, concretely relates to spout medicine pole mechanism and spout medicine robot.
Background
The pesticide spraying robot has high automation degree and wide application prospect, and the pesticide spraying rod is one of the core components of the pesticide spraying robot. However, in the existing pesticide spraying robot, during field operation, most of pesticide spraying rods of the pesticide spraying robot pass through the upper part of a low farmland along with the pesticide spraying robot, pesticide is not sufficiently sprayed on the surfaces of tall vine plant crops, even pesticide cannot be sprayed, the problems of non-uniform and incomplete pesticide spraying exist, the operation is not thorough, the effect is not obvious, plant diseases and insect pests cannot be effectively controlled, and the normal growth of the crops is seriously influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a spout medicine pole mechanism and spout medicine robot aims at improving the medicine effect of spouting medicine robot, reaches to spout even, comprehensive of medicine.
In order to achieve the above object, the present invention adopts the following technical solutions:
a medicine spraying rod mechanism comprises a controller, a machine vision module, a medicine spraying rod assembly I and a medicine spraying rod assembly II, wherein the medicine spraying rod assembly I is arranged on a synchronous belt mechanism and moves up and down along with a synchronous belt of the synchronous belt mechanism, and the machine vision module is arranged on the medicine spraying rod assembly I; the synchronous belt mechanism is arranged on a robot chassis through a bearing frame, and the pesticide spraying rod assembly II is fixedly arranged at the lower part of the bearing frame; the synchronous belt mechanism is driven by a stepping motor;
the pesticide spraying rod group assembly I comprises a pesticide spraying rod group I, the pesticide spraying rod group I is connected with a steering engine I, and the steering engine I is connected with the synchronous belt mechanism through a liftable steering engine support;
the pesticide spraying rod group II is connected with a steering engine II, and the steering engine II is connected with the bearing frame through a fixed steering engine bracket;
and the machine vision module, the stepping motor, the steering engine I and the steering engine II are connected with the controller.
Further, the bearing frame comprises a bottom plate and a top plate, and the bottom plate and the top plate are connected through at least two supporting columns.
Further, spout medicine pole group I with spout medicine pole group II and all include two and spout the medicine pole, and all connect through gear drive between two medicine poles of spouting in every group, and one in two medicine poles of spouting in every group is connected with corresponding steering wheel.
Further, the controller adopts the Arduino controller.
Further, the controller is fixed on the robot chassis or on the top of the bearing frame.
Further, the machine vision module is in wireless communication with the controller.
Further, the machine vision module is arranged on a lifting steering engine support of the pesticide spraying rod assembly I.
On the other hand, the utility model also discloses:
a pesticide spraying robot comprises the pesticide spraying rod mechanism.
This spout medicine pole mechanism and spout medicine robot has following beneficial effect:
(1) in the utility model, the stepping motor drives the synchronous belt mechanism to ensure the flexibility of the upper part and the lower part of the pesticide spraying rod assembly II; the machine vision module ensures the accuracy of pesticide spraying; the double intelligent controllers are in wireless communication, so that the rapidness of pesticide spraying is ensured; the double-gear pesticide spraying rod group reduces the use of a steering engine, can adjust the opening angle of the pesticide spraying rod as required, can spray pesticide to crops at different positions from top to bottom simultaneously, and ensures the pesticide spraying efficiency.
(2) The utility model discloses, compare current single spray lance and spout the medicine robot, easy and simple to handle, degree of automation is high, use manpower sparingly and the medicine, spout even, comprehensive, the operation is thorough, adaptable topography is extensive.
Drawings
FIG. 1: the utility model discloses a three-dimensional structure sketch map of a medicine spraying rod mechanism in the implementation mode;
FIG. 2: the utility model discloses a schematic diagram of the up-and-down movement of a spraying rod assembly I;
FIG. 3: the utility model discloses in the embodiment, the working schematic diagram I of the spraying rod mechanism;
FIG. 4: the utility model discloses spout the working schematic diagram II of medicine pole mechanism among the embodiment.
Description of reference numerals:
1-a controller; 2-a machine vision module; 3-synchronous belt mechanism; 4, a bearing frame; 5, a stepping motor; 6, spraying a medicine rod group assembly I; 61-spraying rod group I; 62-steering engine I; 63-a liftable steering engine bracket; 7-spraying a medicine rod assembly II; 71-spraying rod group II; 72-steering engine II; 73-fixed steering engine support.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to 4 show the specific embodiment of the drug spraying rod mechanism and the drug spraying robot of the present invention. Fig. 1 is a schematic perspective view of a spray bar mechanism in the present embodiment; FIG. 2 is a schematic view showing the up-and-down movement of the spraying rod assembly I in the present embodiment; fig. 3 and 4 are schematic views showing the operation of the spray bar mechanism in this embodiment.
As shown in fig. 1 to 4, the pesticide spraying rod mechanism in the present embodiment includes a controller 1, a machine vision module 2, a pesticide spraying rod assembly i 6 and a pesticide spraying rod assembly ii 7, wherein the pesticide spraying rod assembly i 6 is arranged on a synchronous belt mechanism 3 and moves up and down along with a synchronous belt of the synchronous belt mechanism 3, and the machine vision module 2 is arranged on the pesticide spraying rod assembly i 6; the synchronous belt mechanism 3 is arranged on a robot chassis through a bearing frame 4, and a pesticide spraying rod assembly II 7 is fixedly arranged at the lower part of the bearing frame 4; the synchronous belt mechanism 3 is driven by a stepping motor 5; the pesticide spraying rod group assembly I6 comprises a pesticide spraying rod group I61, the pesticide spraying rod group I61 is connected with a steering engine I62, and the steering engine I62 is connected with the synchronous belt mechanism 3 through a liftable steering engine bracket 63; the pesticide spraying rod set assembly II 7 comprises a pesticide spraying rod set II 71, the pesticide spraying rod set II 71 is connected with a steering engine II 72, and the steering engine II 72 is connected with the bearing frame 4 through a fixed steering engine support 73. And the machine vision module 2, the stepping motor 5, the steering engine I62 and the steering engine II 72 are connected with a controller. In this embodiment, the chassis of the robot is not shown, and the whole spraying rod mechanism can move along with the robot vehicle body.
Preferably, the loading ledge 4 comprises a bottom plate and a top plate, which are connected by at least two support columns, as shown in fig. 1-4.
Preferably, spout medicine pole group I61 and spout II 71 of medicine pole group and all include two and spout the medicine pole, and all connect through gear drive between two medicine poles in every group, and two medicine poles that spout in every group are connected with corresponding steering wheel, as shown in fig. 1 to 4, steering wheel I62 and steering wheel II 72 rotate, and then make spout the rotatory different angles that expand of medicine pole group I61 and the medicine pole group II 71 of spouting, can satisfy different demands. Specifically, spout and connect through gear drive between two medicine poles in medicine pole group I61, and spout one of them medicine pole of medicine pole group I61 and be connected with steering wheel I62, two medicine pole height angle degrees of spouting are adjustable, and the flexibility is high. Two of the two pesticide spraying rods in the pesticide spraying rod group II 71 are connected through gear transmission, one pesticide spraying rod in the pesticide spraying rod group II 71 is connected with the steering engine II 72, the two pesticide spraying rods are adjustable in angle, and flexibility is high.
In this embodiment, the controller 1 is an Arduino controller.
In particular, the controller 1 is fixed on the robot chassis or on top of the carriage 4. In this embodiment, the controller 1 is fixed on top of the loading ledge 4, as shown in fig. 1-4.
In this embodiment, the machine vision module 2 is in wireless communication connection with the controller 1, and the machine vision module 2 is arranged on a liftable steering engine bracket 63 of the spray rod set assembly i 6 to identify a spray target, as shown in fig. 1 to 4.
The pesticide spraying robot in the embodiment comprises the pesticide spraying rod mechanism.
When the device works, a power supply is electrified, the stepping motor 5 starts to work, the synchronous belt mechanism 3 is driven to drive the liftable steering engine supporting frame 63 to move up and down to a proper position, as shown in fig. 2, the machine vision module 2 identifies a spraying target and communicates with the controller 1, and the controller 1 controls the opening and closing of a booster medicine pump of the medicine spraying robot and the rotation of the steering engine I62 and the steering engine II 72 according to the information of the machine vision module 2; when machine vision module 2 detects high tendril crop, steering wheel I62 rotates and drives two in the medicine pole group of spouting I61 to spout the medicine pole and open and close different angles to realize the fixed point, the ration is spouted medicine, as shown in fig. 3. When the machine vision module 2 detects short crops, the controller 1 controls the steering engine II 72 to rotate, so that two pesticide spraying rods in the pesticide spraying rod group II 71 are driven to open and close at different angles, and fixed-point and quantitative pesticide spraying is realized, as shown in fig. 4. When the machine vision module 2 detects that the crops are tall vines and short crops, the steering engine I62 and the steering engine II 72 work simultaneously, and therefore fixed-point and quantitative pesticide spraying is achieved.
The utility model discloses in, step motor drives hold-in range mechanism and has guaranteed to spout flexibility about II of medicine pole group assembly, and machine vision module has guaranteed that it spouts the accurate nature of medicine, and two intelligent control ware wireless communication have guaranteed the agility of spouting the medicine, and the double gear spouts medicine pole group and has reduced the steering wheel and use and can adjust the angle that opens that spouts the medicine pole as required to can spout the medicine to upper and lower different position crops simultaneously, guaranteed its high efficiency that spouts the medicine.
The utility model discloses, compare current single spray lance and spout the medicine robot, easy and simple to handle, degree of automation is high, use manpower sparingly and the medicine, spout even, comprehensive, the operation is thorough, adaptable topography is extensive.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (8)
1. A medicine spraying rod mechanism is characterized by comprising a controller, a machine vision module, a medicine spraying rod assembly I and a medicine spraying rod assembly II, wherein the medicine spraying rod assembly I is arranged on a synchronous belt mechanism and moves up and down along with a synchronous belt of the synchronous belt mechanism, and the machine vision module is arranged on the medicine spraying rod assembly I; the synchronous belt mechanism is arranged on a robot chassis through a bearing frame, and the pesticide spraying rod assembly II is fixedly arranged at the lower part of the bearing frame; the synchronous belt mechanism is driven by a stepping motor;
the pesticide spraying rod group assembly I comprises a pesticide spraying rod group I, the pesticide spraying rod group I is connected with a steering engine I, and the steering engine I is connected with the synchronous belt mechanism through a liftable steering engine support;
the pesticide spraying rod group II is connected with a steering engine II, and the steering engine II is connected with the bearing frame through a fixed steering engine bracket;
and the machine vision module, the stepping motor, the steering engine I and the steering engine II are connected with the controller.
2. The spray bar mechanism of claim 1, wherein the carrier comprises a bottom plate and a top plate, the bottom plate and the top plate being connected by at least two support posts.
3. The pesticide spraying rod mechanism as claimed in claim 1, wherein the pesticide spraying rod group I and the pesticide spraying rod group II comprise two pesticide spraying rods, the two pesticide spraying rods in each group are connected through gear transmission, and one pesticide spraying rod in each group is connected with a corresponding steering engine.
4. The spray bar mechanism of claim 1, wherein the controller is an Arduino controller.
5. Spray bar mechanism according to claim 1 or 4, characterized in that the controller is fixed on the robot chassis or on top of the carrier.
6. The spray bar mechanism of claim 1, wherein the machine vision module is in wireless communication with the controller.
7. The pesticide spraying rod mechanism as claimed in claim 1 or 6, wherein the machine vision module is arranged on a lifting steering engine bracket of the pesticide spraying rod assembly I.
8. A spray robot comprising a spray bar mechanism according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921575529.0U CN210610808U (en) | 2019-09-22 | 2019-09-22 | Spout medicine pole mechanism and spout medicine robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921575529.0U CN210610808U (en) | 2019-09-22 | 2019-09-22 | Spout medicine pole mechanism and spout medicine robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210610808U true CN210610808U (en) | 2020-05-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921575529.0U Expired - Fee Related CN210610808U (en) | 2019-09-22 | 2019-09-22 | Spout medicine pole mechanism and spout medicine robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210610808U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113057154A (en) * | 2021-03-23 | 2021-07-02 | 山东理工大学 | Greenhouse liquid medicine spraying robot |
-
2019
- 2019-09-22 CN CN201921575529.0U patent/CN210610808U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113057154A (en) * | 2021-03-23 | 2021-07-02 | 山东理工大学 | Greenhouse liquid medicine spraying robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200526 Termination date: 20210922 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |