CN212260259U - Crawler-mobile intelligent orchard pesticide spraying robot - Google Patents
Crawler-mobile intelligent orchard pesticide spraying robot Download PDFInfo
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- CN212260259U CN212260259U CN202021328814.5U CN202021328814U CN212260259U CN 212260259 U CN212260259 U CN 212260259U CN 202021328814 U CN202021328814 U CN 202021328814U CN 212260259 U CN212260259 U CN 212260259U
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Abstract
A crawler-type mobile intelligent orchard pesticide spraying robot comprises a crawler-type walking chassis, an intelligent control cabinet, a pesticide storage box and a pesticide spraying mechanism; the intelligent control cabinet and the medicine box are arranged above the crawler-type walking chassis in parallel, and the medicine spraying mechanism is arranged above the intelligent control cabinet; a PLC (programmable logic controller), a satellite positioning module, a speed sensor and a storage battery are arranged in the intelligent control cabinet, and the storage battery is used as a power supply of all power utilization parts in the pesticide spraying robot; an infrared image recognition camera is arranged on the pesticide spraying mechanism; an electric pesticide spraying pump is arranged in the pesticide storage tank; the two groups of pesticide spraying mechanisms are symmetrically distributed in a left-right mirror mode relative to the center of the crawler type walking chassis; the pesticide spraying mechanism comprises a stand column, a lifting sliding table, a guide rail, a sliding block, a rack, a gear, a lifting driving motor, a spray head mounting frame and a spray head group; the two groups of pesticide spraying mechanisms are fixedly connected through the cross beam, the number of the infrared image recognition cameras is two, and the two infrared image recognition cameras are respectively arranged at two ends of the cross beam.
Description
Technical Field
The utility model belongs to the technical field of plant protection machinery, especially, relate to a medicine robot is spouted in portable intelligent orchard of track.
Background
Fruit trees in the orchard have the characteristic of wide distribution area, in order to improve the disease resistance of the fruit trees, the fruit trees in the orchard need to be regularly sprayed with pesticides, the pesticide spraying work is finished manually in the early stage due to the low development level of science and technology, not only is the labor intensity high, but also the working efficiency is low, especially the pesticides have certain toxicity, and farmers are in the pesticide spraying environment for a long time and inevitably hurt the bodies.
Therefore, with the continuous improvement of the development level of science and technology, the pesticide spraying robot is applied to orchard spraying more and more, the labor intensity of farmers is reduced to a certain degree, the working efficiency is further improved, and the farmers do not need to be in the pesticide spraying environment, so that the harm of pesticide toxicity to bodies is avoided.
At present, the common pesticide spraying robots in the market mainly have three types, including a single-spray gun type pesticide spraying robot, a cross type double-spray gun type pesticide spraying robot and a spray pipe lifting type pesticide spraying robot, but the three types of pesticide spraying robots have some defects more or less. For a single-spray gun type pesticide spraying robot, only the pitching angle of a pesticide spray gun can be adjusted, the pesticide application precision is low, and only the pesticide spraying work of a single row of fruit trees can be completed each time. For the cross type double-spray gun type spraying robot, although spraying of double rows of fruit trees can be realized each time, the two spray guns can only adjust the pitching angle, and the spraying precision of each row of fruit trees is not improved. For the spray pipe lifting type pesticide spraying robot, the spray pipe lifting type pesticide spraying robot is only suitable for short fruit trees, when the height of the fruit trees exceeds 2.5 m, the spray pipe lifting type pesticide spraying robot cannot meet the pesticide spraying requirement of the tree crown layer, and therefore the application range of the spray pipe lifting type pesticide spraying robot is limited.
SUMMERY OF THE UTILITY MODEL
Problem to prior art exists, the utility model provides a medicine robot is spouted in portable intelligent orchard of track not only can accomplish the medicine work of spouting of double fruit tree, can effectively improve the precision of giving medicine to the poor free of charge moreover, to highly exceeding 2.5 meters's fruit tree, it still can satisfy the needs of spouting of crown layer to improve the application scope who spouts the medicine robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a crawler-type mobile intelligent orchard pesticide spraying robot comprises a crawler-type walking chassis, an intelligent control cabinet, a pesticide storage box and a pesticide spraying mechanism; the intelligent control cabinet and the pesticide box are arranged above the crawler-type walking chassis in parallel, and the pesticide spraying mechanism is arranged above the intelligent control cabinet; a PLC (programmable logic controller), a satellite positioning module, a speed sensor and a storage battery are arranged in the intelligent control cabinet, and the storage battery is used as a power supply of all power utilization parts in the pesticide spraying robot; an infrared image recognition camera is arranged on the pesticide spraying mechanism; an electric pesticide spraying pump is arranged in the pesticide storage box.
The number of the pesticide spraying mechanisms is two, and the two pesticide spraying mechanisms are distributed in a left-right mirror symmetry mode relative to the center of the crawler type walking chassis; the pesticide spraying mechanism comprises a stand column, a lifting sliding table, a guide rail, a sliding block, a rack, a gear, a lifting driving motor, a spray head mounting frame and a spray head group; the upright post is vertically and fixedly arranged above the intelligent control cabinet, the guide rail and the rack are fixedly arranged on the upright post, and the guide rail and the rack are parallel to the upright post; the lifting sliding table is sleeved outside the upright post and fixedly connected to the sliding block, and the lifting sliding table follows the sliding block; the lifting driving motor is horizontally and fixedly arranged on the lifting sliding table, the gear is fixedly arranged on a motor shaft of the lifting driving motor, and the gear is meshed with the rack; the spray head mounting rack is fixedly arranged on the lifting sliding table, and the spray head group is arranged on the spray head mounting rack; two sets of spout medicine mechanism's stand top links firmly mutually by a crossbeam between, the quantity of infrared image identification camera is two, and two infrared image identification cameras are installed respectively at the crossbeam both ends.
The spray head mounting frame is of an H-shaped structure, the spray head group is composed of six spray heads, the six spray heads are fixedly arranged on the spray head mounting frame through spray head adapter seats, and liquid inlets of the six spray heads are communicated with liquid outlets of electric spray pumps in the medicine storage box through hoses; the top, the middle part and the bottom of the spray head mounting frame of the H-shaped structure are respectively provided with two spray heads, the spouts of the two spray heads positioned at the top of the spray head mounting frame are inclined downwards, the spouts of the two spray heads positioned at the middle part of the spray head mounting frame are in horizontal orientation, and the spouts of the two spray heads positioned at the bottom of the spray head mounting frame are inclined upwards.
The utility model has the advantages that:
the utility model discloses a medicine robot is spouted in portable intelligent orchard of track not only can accomplish the medicine work of spouting of double fruit tree, can effectively improve the precision of giving medicine to the poor free of charge moreover, to the fruit tree that highly exceeds 2.5 meters, it still can satisfy the medicine needs of spouting on crown layer to improve the application scope who spouts the medicine robot.
Drawings
Fig. 1 is a schematic structural view of a crawler-moving intelligent orchard pesticide spraying robot of the present invention;
FIG. 2 is a schematic structural view of the spraying mechanism of the present invention;
FIG. 3 is an assembly view of the nozzle mounting bracket and nozzle assembly of the present invention;
in the figure, 1-crawler-type walking chassis, 2-intelligent control cabinet, 3-explosive box, 4-medicine spraying mechanism, 5-infrared image recognition camera, 6-upright post, 7-lifting sliding table, 8-guide rail, 9-slider, 10-rack, 11-gear, 12-lifting driving motor, 13-spray head mounting rack, 14-spray head, 15-spray head adapter and 16-crossbeam.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, a crawler-moving intelligent orchard pesticide spraying robot comprises a crawler-moving chassis 1, an intelligent control cabinet 2, a pesticide storage box 3 and a pesticide spraying mechanism 4; the intelligent control cabinet 2 and the medicine chest 3 are arranged above the crawler-type walking chassis 1 in parallel, and the medicine spraying mechanism 4 is arranged above the intelligent control cabinet 2; a PLC (programmable logic controller), a satellite positioning module, a speed sensor and a storage battery are arranged in the intelligent control cabinet 2, and the storage battery is used as a power supply of all power utilization components in the pesticide spraying robot; an infrared image recognition camera 5 is arranged on the pesticide spraying mechanism 4; an electric pesticide spraying pump is arranged in the pesticide storage box 3.
The number of the pesticide spraying mechanisms 4 is two, and the two pesticide spraying mechanisms 4 are distributed in a left-right mirror symmetry mode relative to the center of the crawler-type traveling chassis 1; the pesticide spraying mechanism 4 comprises an upright post 6, a lifting sliding table 7, a guide rail 8, a sliding block 9, a rack 10, a gear 11, a lifting driving motor 12, a sprayer mounting frame 13 and a sprayer group; the upright post 6 is vertically and fixedly arranged above the intelligent control cabinet 2, the guide rail 8 and the rack 10 are both fixedly arranged on the upright post 6, and the guide rail 8 and the rack 10 are both parallel to the upright post 6; the sliding block 9 is arranged on the guide rail 8, the sliding block 9 can move linearly along the guide rail 8, the lifting sliding table 7 is sleeved on the outer side of the upright post 6 and is fixedly connected to the sliding block 9, and the lifting sliding table 7 follows the sliding block 9; the lifting driving motor 12 is horizontally and fixedly arranged on the lifting sliding table 7, the gear 11 is fixedly arranged on a motor shaft of the lifting driving motor 12, and the gear 11 is meshed with the rack 10; the spray head mounting rack 13 is fixedly arranged on the lifting sliding table 7, and the spray head group is arranged on the spray head mounting rack 13; two sets of spout 6 tops of medicine mechanism 4 are linked firmly mutually by a crossbeam 15 between, the quantity of infrared image identification camera 5 is two, and two infrared image identification cameras 5 are installed respectively at 16 both ends of crossbeam.
The spray head mounting rack 13 adopts an H-shaped structure, the spray head group consists of six spray heads 14, the six spray heads 14 are fixedly arranged on the spray head mounting rack 13 through spray head adapter seats 15, and liquid inlets of the six spray heads 14 are communicated with liquid outlets of electric pesticide spraying pumps in the pesticide storage box 3 through hoses; the top, the middle and the bottom of the spray head mounting frame 13 with the H-shaped structure are respectively provided with two spray heads 14, the spouts of the two spray heads 14 positioned at the top of the spray head mounting frame 13 incline downwards, the spouts of the two spray heads 14 positioned at the middle of the spray head mounting frame 13 are in horizontal orientation, and the spouts of the two spray heads 14 positioned at the bottom of the spray head mounting frame 13 incline upwards.
The utility model is described with the following drawings in the process of one-time use:
in this embodiment, the control mode of spouting the medicine robot adopts the remote control mode, operating personnel plan in advance on remote terminal equipment and spout the medicine route, then start crawler-type walking chassis 1, make spout the medicine robot and get into the orchard according to the route of marcing of planning, the position information of spouting the medicine robot is fed back in real time by the satellite positioning module in the intelligent control cabinet 2 simultaneously to the route of marcing that spouts the medicine robot is used for real-time calibration, crawler-type walking chassis 1, intelligent control cabinet 2 and stand 6 the overall height is 3 meters.
In the process of advancing the pesticide spraying robot according to the planned route, the speed sensor in the intelligent control cabinet 2 feeds back the advancing speed data in real time, the pesticide spraying robot is guaranteed to move at the set advancing speed, in the moving process, the infrared image recognition camera 5 scans fruit trees on the left side and the right side of the pesticide spraying robot, when the fruit trees are judged to enter a pesticide spraying range, the moving speed of the pesticide spraying robot is reduced, meanwhile, the PLC in the intelligent control cabinet 2 sends a starting instruction to the electric pesticide spraying pump in the pesticide storage cabinet 3, pesticide in the pesticide storage cabinet 3 is pumped into the spray head 14 through the electric pesticide spraying pump, and finally, the pesticide is sprayed onto the fruit trees through the spray head 14.
In the process of spraying the liquid medicine, the three rows of spray heads 14 at the top, the middle and the bottom of the spray head mounting frame 13 are matched, so that the liquid medicine can be sprayed on the blades relatively and intensively, the upper surface and the lower surface of the blades can be ensured to be uniformly sprayed, and the pesticide spraying precision is further improved. When the electric pesticide spraying pump is started, the lifting driving motor 12 in the pesticide spraying mechanism 4 is synchronously started and drives the gear 11 to rotate, and the lifting sliding table 7 and the spray nozzle mounting rack 13 are driven to move from bottom to top along the upright post 6 and the guide rail 8 at a constant speed through the meshing transmission action of the gear 11 and the rack 10 until the fruit tree moves from the lower part to the tree crown layer and then moves back to the lower part of the fruit tree through the tree crown layer, and the operation is repeated until the pesticide spraying operation of the whole fruit tree is completed.
After the fruit trees break away from the scanning range of the infrared image recognition camera 5, the electric pesticide spraying pump stops working, the sprayer 14 stops spraying pesticide, meanwhile, the sprayer mounting frame 13 returns to the bottom of the upright post 6 again, the moving speed of the pesticide spraying robot is increased to the initial advancing speed until the next fruit tree enters the pesticide spraying range, the previous pesticide spraying process is repeated, and the pesticide spraying work of the subsequent fruit trees is completed.
Because the capacity of the medicine storage box 3 is limited, a liquid medicine replenishing point can be arranged on the travelling route, when the medicine spraying robot runs to the liquid medicine replenishing point, the liquid medicine replenishing can be carried out in an automatic mode or a manual mode, the downtime of the medicine spraying robot is reduced, and the efficiency of medicine spraying operation is ensured.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. The utility model provides a medicine robot is spouted in portable intelligent orchard of track which characterized in that: comprises a crawler-type walking chassis, an intelligent control cabinet, a medicine storage box and a medicine spraying mechanism; the intelligent control cabinet and the pesticide box are arranged above the crawler-type walking chassis in parallel, and the pesticide spraying mechanism is arranged above the intelligent control cabinet; a PLC (programmable logic controller), a satellite positioning module, a speed sensor and a storage battery are arranged in the intelligent control cabinet, and the storage battery is used as a power supply of all power utilization parts in the pesticide spraying robot; an infrared image recognition camera is arranged on the pesticide spraying mechanism; an electric pesticide spraying pump is arranged in the pesticide storage box.
2. The intelligent orchard spraying robot with movable tracks as claimed in claim 1, is characterized in that: the number of the pesticide spraying mechanisms is two, and the two pesticide spraying mechanisms are distributed in a left-right mirror symmetry mode relative to the center of the crawler type walking chassis; the pesticide spraying mechanism comprises a stand column, a lifting sliding table, a guide rail, a sliding block, a rack, a gear, a lifting driving motor, a spray head mounting frame and a spray head group; the upright post is vertically and fixedly arranged above the intelligent control cabinet, the guide rail and the rack are fixedly arranged on the upright post, and the guide rail and the rack are parallel to the upright post; the lifting sliding table is sleeved outside the upright post and fixedly connected to the sliding block, and the lifting sliding table follows the sliding block; the lifting driving motor is horizontally and fixedly arranged on the lifting sliding table, the gear is fixedly arranged on a motor shaft of the lifting driving motor, and the gear is meshed with the rack; the spray head mounting rack is fixedly arranged on the lifting sliding table, and the spray head group is arranged on the spray head mounting rack; two sets of spout medicine mechanism's stand top links firmly mutually by a crossbeam between, the quantity of infrared image identification camera is two, and two infrared image identification cameras are installed respectively at the crossbeam both ends.
3. The intelligent orchard spraying robot with movable tracks as claimed in claim 2, wherein: the spray head mounting frame is of an H-shaped structure, the spray head group is composed of six spray heads, the six spray heads are fixedly arranged on the spray head mounting frame through spray head adapter seats, and liquid inlets of the six spray heads are communicated with liquid outlets of electric spray pumps in the medicine storage box through hoses; the top, the middle part and the bottom of the spray head mounting frame of the H-shaped structure are respectively provided with two spray heads, the spouts of the two spray heads positioned at the top of the spray head mounting frame are inclined downwards, the spouts of the two spray heads positioned at the middle part of the spray head mounting frame are in horizontal orientation, and the spouts of the two spray heads positioned at the bottom of the spray head mounting frame are inclined upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021328814.5U CN212260259U (en) | 2020-07-08 | 2020-07-08 | Crawler-mobile intelligent orchard pesticide spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021328814.5U CN212260259U (en) | 2020-07-08 | 2020-07-08 | Crawler-mobile intelligent orchard pesticide spraying robot |
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| CN212260259U true CN212260259U (en) | 2021-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021328814.5U Active CN212260259U (en) | 2020-07-08 | 2020-07-08 | Crawler-mobile intelligent orchard pesticide spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114375930A (en) * | 2022-01-10 | 2022-04-22 | 泗县汉和智能装备科技有限公司 | Orchard pesticide spraying robot |
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2020
- 2020-07-08 CN CN202021328814.5U patent/CN212260259U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114375930A (en) * | 2022-01-10 | 2022-04-22 | 泗县汉和智能装备科技有限公司 | Orchard pesticide spraying robot |
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