CN216775649U

CN216775649U - Spraying device and spraying robot

Info

Publication number: CN216775649U
Application number: CN202123174035.1U
Authority: CN
Inventors: 刘亮
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-06-21
Anticipated expiration: 2031-12-15

Abstract

The utility model provides a spraying device and a spraying robot. The spraying device comprises: a support arm; the spray head is arranged at one end of the supporting arm; the sprayer adjusting structure is used for being connected with the supporting arm and the sprayer, the sprayer adjusting structure comprises a rotating shaft, the rotating shaft is arranged on the supporting arm, and the sprayer is rotatably arranged around the axis of the rotating shaft relative to the supporting arm. According to the technical scheme, the spraying range can be expanded through the spraying device.

Description

Spraying device and spraying robot

Technical Field

The utility model relates to the technical field of spraying equipment, in particular to a spraying device and a spraying robot.

Background

Spray device is the important device that plant protection unmanned equipment sprayed the operation process, and current spray equipment mainly used pesticide sprays, the disinfection sprays environment such as, and this type of spray equipment generally includes removes the chassis and sets up the spray device on removing the chassis, and spray device can spray at the certain limit. However, since the spray head of such a spray device is generally fixed, the spray range is small.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a spraying device and a spraying robot, which can expand the spraying range.

In order to achieve the above object, according to one aspect of the present invention, there is provided a spray device including: a support arm; the spray head is arranged at one end of the supporting arm; the sprayer adjusting structure is used for being connected with the supporting arm and the sprayer, the sprayer adjusting structure comprises a rotating shaft, the rotating shaft is arranged on the supporting arm, and the sprayer is rotatably arranged around the axis of the rotating shaft relative to the supporting arm.

Furthermore, the spray head adjusting structure also comprises an adjusting plate, the spray head is connected with the adjusting plate, the adjusting plate is connected with the rotating shaft, and the adjusting plate is rotatably arranged around the axis of the rotating shaft; the sprinkler also includes a spray positioning structure for positioning the angle of rotation of the adjustment plate relative to the support arm.

Further, in the extending direction of the axis of the rotating shaft, the adjusting plate is movably arranged relative to the supporting arm; the shower nozzle location structure includes: the positioning groove is arranged at one end of the supporting arm; the positioning protrusion is arranged on the adjusting plate, and can be clamped in the positioning groove or separated from the positioning groove under the driving of the adjusting plate.

Furthermore, one end of the supporting arm is provided with a plurality of positioning grooves which are arranged at intervals around the axis of the rotating shaft; and/or the spray head positioning structure comprises a plurality of positioning bulges which are arranged on the adjusting plate at intervals around the axis of the rotating shaft.

Furthermore, the structure is adjusted to shower nozzle still includes the elastic component that sets up in the periphery of pivot, and the one end and the protruding connection of location of elastic component, the other end of elastic component and the one end of the orientation regulating plate of pivot are connected, and the elastic component is used for applying the effort that makes the regulating plate remove towards the support arm to the regulating plate.

Furthermore, the spraying device also comprises a mounting bracket, the mounting bracket comprises a cross rod and a main upright rod, one end of the cross rod is connected with the supporting arm, and the other end of the cross rod is connected with the main upright rod; the supporting arm is arranged in the cross rod in a penetrating way and can be movably arranged along the axis of the cross rod; the spraying device also comprises a first locking piece, one end of the first locking piece passes through one first mounting hole and then is selectively connected with one of the second mounting holes, so that the relative positions of the supporting arm and the cross bar are fixed; and/or the crossbar is rotatably arranged in a vertical plane with respect to the main uprights.

Furthermore, horizontal pole and main pole setting pivotal connection, sprinkler still include first drive structure, and first drive structure sets up in main pole setting, and first drive structure is connected with the horizontal pole drive to the drive horizontal pole rotates for main pole setting.

Further, the sprinkler device further includes a first link structure, the first link structure including: one end of the first connecting rod is connected with the driving end of the first driving structure; and the other end of the first connecting rod is pivotally connected with one end of the second connecting rod, and the other end of the second connecting rod is pivotally connected with the cross rod.

Further, the second link includes: a first pole segment; a second pole segment; the connecting piece has relative first end and the second end that sets up, and the first end of connecting piece is equipped with the first screw hole with first pole section screw-thread fit, and the second end of connecting piece is equipped with the second screw hole with second pole section screw-thread fit, first pole section and connecting piece threaded connection, second pole section and connecting piece threaded connection to make the length of second connecting rod adjustable.

Further, the installing support includes a plurality of horizontal poles and side pole setting, and sprinkler includes and corresponds a plurality of shower nozzles that set up with a plurality of horizontal poles, and a plurality of horizontal poles set up on main pole setting along vertical direction interval in proper order, and a plurality of horizontal poles all with side pole pivot connection, the drive end and the side pole pivot connection of first drive structure to drive a plurality of horizontal poles synchronous rotation.

Furthermore, a plurality of third mounting holes are formed in the side stand rod, the third mounting holes are sequentially arranged at intervals in the vertical direction, and the driving end of the first driving structure is selectively in pivot connection with one of the third mounting holes.

According to another aspect of the utility model, a spraying robot is provided, which comprises a vehicle body and a spraying device arranged on the vehicle body, wherein the spraying device is the spraying device.

By applying the technical scheme of the utility model, the supporting arm, the spray head adjusting structure and the spray head are sequentially connected, and the supporting arm has the functions of installing and supporting the spray head adjusting structure and the spray head. The pivot setting of structure is adjusted to the shower nozzle is on the support arm to the shower nozzle revolutes the axis of rotation rotatable for the support arm, that is to say, can adjust the turned angle of shower nozzle for the support arm according to actual need, and in the technical scheme of this application, it is rotatable for the support arm to set up the shower nozzle, through the rotation of shower nozzle, can enlarge the spraying range.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the utility model and together with the description serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 shows a partial structural schematic view of an embodiment of a spray robot according to the utility model (wherein the vehicle body is not shown);

FIG. 2 shows a cross-sectional view A-A of the spray robot of FIG. 1;

FIG. 3 shows an enlarged view of the spray robot of FIG. 2 at C;

FIG. 4 shows a close-up view of the spray robot of FIG. 1;

FIG. 5 shows another schematic structural view of the spray robot of FIG. 4;

fig. 6 shows an enlarged view at B of the spray robot of fig. 1; and

fig. 7 shows a schematic structural view of the spray robot of fig. 1.

Wherein the figures include the following reference numerals:

10. a support arm; 11. a second mounting hole; 20. a spray head; 30. a nozzle adjusting structure; 31. a rotating shaft; 32. an adjusting plate; 33. an elastic member; 34. an arc-shaped hole; 35. a swing plate; 41. a positioning groove; 42. positioning the projection; 50. mounting a bracket; 51. a cross bar; 52. a first mounting hole; 53. a main upright stanchion; 54. a side upright rod; 55. a third mounting hole; 60. a first drive structure; 70. a first link structure; 71. a first link; 72. a second link; 73. a first pole segment; 74. a second pole segment; 75. a connecting member; 80. installing a base; 90. a spraying device; 100. a vehicle body; 101. a traveling section; 102. a navigation system; 103. a medicine chest; 110. a spray adjustment structure; 161. a first limit plate; 191. a second locking member; 192. and a third locking member.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the utility model.

Present sprinkler is mostly with the manual work medicine chest of being carried on the back, swing driving lever on the other hand, handheld shower nozzle spouts to the crop, or open agricultural machinery and at the first long-time operation in field, but, at the in-process that uses above-mentioned sprinkler, operating personnel inhales poisonous pesticide very easily, this is very unfavorable to people's healthy, and also be an examination to people's physical power, in addition, the mode efficiency that the manual work was carried on the back and is spraying is not high, the also inhomogeneous that sprays, most sprinkler's shower nozzle is fixed, the scope of spraying is less, the pesticide also exists and sprays uneven condition, and mostly the switching of manual regulation shower nozzle, whole journey needs artifical the participation, the scene of using is single.

The spray head of the existing spraying device is mostly fixed, and the spraying range is smaller. In order to solve the above problems, the present invention and embodiments of the present invention provide a spraying apparatus and a spraying robot.

As shown in fig. 1, in the embodiment of the present invention, the spraying apparatus includes a supporting arm 10, a spray head 20, and a spray head adjusting structure 30, the spray head 20 being disposed at one end of the supporting arm 10; the nozzle adjustment structure 30 is used for connecting the support arm 10 and the nozzle 20, and the nozzle adjustment structure 30 includes a rotating shaft 31, the rotating shaft 31 is disposed on the support arm 10, and the nozzle 20 is rotatably disposed about the axis of the rotating shaft 31 relative to the support arm 10.

In the above arrangement, the supporting arm 10, the nozzle head adjusting structure 30 and the nozzle head 20 are connected in sequence, and the supporting arm 10 has an installation and supporting function for the nozzle head adjusting structure 30 and the nozzle head 20. The pivot 31 of structure 30 is adjusted to shower nozzle sets up on support arm 10 to shower nozzle 20 is rotatable for the axis of support arm 10 around pivot 31, that is to say, can be according to actual need, adjusts shower nozzle 20 for the turned angle of support arm 10, compares in the fixed technique that sets up of shower nozzle, among the technical scheme of this application, sets up shower nozzle 20 to rotatable for support arm 10, through shower nozzle 20's rotation, can enlarge the scope of spraying, adjusts the shower nozzle according to the demand, and the suitability is good.

In the technical scheme of the utility model, the spray head 20 can rotate 360 degrees around the axis of the rotating shaft 31, so that large-angle adjustment can be realized, the spraying range is wider, and the applicability is good.

As shown in fig. 2 and 3, in the embodiment of the present invention, the axis of the rotation shaft 31 extends in a direction parallel to the extending direction of the support arm 10. The spray head 20 rotates around the axis of the rotating shaft 31, so that the spray area of the spray head 20 can be increased, and the spray range can be enlarged.

As shown in fig. 3, in the embodiment of the present invention, the extending direction of the axis of the rotating shaft 31 coincides with the extending direction of the support arm 10. With this arrangement, the stability of the mounting of the rotary shaft 31 and the head 20 on the support arm 10 can be improved, and the head 20 can be rotated relatively uniformly with respect to the support arm 10 about the axis of the rotary shaft 31.

As shown in fig. 3 to 5, in the embodiment of the present invention, the nozzle adjusting structure 30 further includes an adjusting plate 32, the nozzle 20 is connected to the adjusting plate 32, the adjusting plate 32 is connected to the rotating shaft 31, and the adjusting plate 32 is rotatably disposed around the axis of the rotating shaft 31; the spraying device further comprises a spray head positioning structure for positioning the angle of rotation of the adjustment plate 32 relative to the support arm 10.

In the above arrangement, the spray head 20 is connected with the adjusting plate 32, the adjusting plate 32 is connected with the rotating shaft 31, and the adjusting plate 32 can rotate around the axis of the rotating shaft 31, so that the spray head 20 can rotate around the axis of the rotating shaft 31 under the driving of the adjusting plate 32. The adjusting plate 32 rotates about the rotating shaft 31, that is, the adjusting plate 32 rotates relative to the support arm 10, and the head positioning structure is used to position the rotating angle of the adjusting plate 32 relative to the support arm 10, so that the adjusting plate 32 can be fixed relative to the support arm 10 at a predetermined angle, and thus the head 20 can be fixed relative to the support arm 10 at a predetermined angle.

As shown in fig. 3, in the embodiment of the present invention, the rotating shaft 31 includes a screw, the adjusting plate 32 is provided with a first adjusting hole, the supporting arm 10 is provided with a second adjusting hole, an inner wall surface of the second adjusting hole is provided with an inner thread adapted to the outer thread of the screw, and one end of the screw passes through the first adjusting hole and then is connected to the second adjusting hole in a threaded manner.

In the above arrangement, one end of the screw passes through the first adjusting hole and then is connected with the second adjusting hole by screw threads, and the adjusting plate 32 is mounted on the support arm 10 by the screw. The adjusting plate 32 is rotatably provided about the axis of the screw with respect to the support arm 10, and can adjust the rotation angle of the head 20.

As shown in fig. 4 and 5, in the embodiment of the present invention, the adjusting plate 32 is movably disposed with respect to the support arm 10 in the extending direction of the axis of the rotating shaft 31; the spray head positioning structure comprises a positioning groove 41 and a positioning bulge 42, wherein the positioning groove 41 is arranged at one end of the support arm 10; the positioning protrusion 42 is disposed on the adjusting plate 32, and the positioning protrusion 42 can be engaged with the positioning groove 41 or disengaged from the positioning groove 41 under the driving of the adjusting plate 32.

In the above-mentioned setting, shower nozzle location structure includes positioning groove 41 and positioning protrusion 42, positioning groove 41 sets up on support arm 10, positioning protrusion 42 sets up on regulating plate 32, because positioning protrusion 42 can block and establish in positioning groove 41 or deviate from in positioning groove 41, therefore, when positioning protrusion 42 blocks and establishes in positioning groove 41, regulating plate 32 and support arm 10 joint cooperation, regulating plate 32 is fixed for the position of support arm 10, thereby realize that shower nozzle location structure fixes a position the effect of regulating plate 32 for the turned angle of support arm 10, when positioning protrusion 42 deviates from in positioning groove 41, regulating plate 32 and support arm 10 remove the joint cooperation, regulating plate 32 is rotatable for support arm 10, thereby can adjust shower nozzle 20 for the turned angle of support arm 10.

In addition, in the embodiment of the present invention, the adjusting plate 32 is movable relative to the supporting arm 10 in the extending direction of the axis of the rotating shaft 31, because the positioning groove 41 is disposed on the supporting arm 10, and the positioning protrusion 42 is disposed on the adjusting plate 32, during the movement of the adjusting plate 32 relative to the supporting arm 10, the adjusting plate 32 can drive the positioning protrusion 42 to move together, so that the positioning protrusion 42 is close to the positioning groove 41 to be clamped in the positioning groove 41, or the positioning protrusion 42 is far away from the positioning groove 41 to be released from the positioning groove 41, that is, by the movement of the adjusting plate 32 relative to the supporting arm 10, the positioning protrusion 42 can be switched between the two states of being clamped in the positioning groove 41 and being released from the positioning groove 41.

As shown in fig. 5, in the embodiment of the present invention, one end of the support arm 10 is provided with a plurality of positioning recesses 41, and the plurality of positioning recesses 41 are spaced around the axis of the rotary shaft 31.

In the above arrangement, the positioning protrusion 42 is engaged with the positioning groove 41, so as to position the rotation angle of the adjusting plate 32 relative to the supporting arm 10. By providing a plurality of positioning recesses 41 on the support arm 10 and disposing the plurality of positioning recesses 41 at intervals around the axis of the rotary shaft 31, the positioning protrusions 42 can be selectively engaged with some of the plurality of positioning recesses 41, thereby achieving a positioning function, and the adjustment plate 32 can be fixed to the support arm 10 at a predetermined angle. In the embodiment of the present invention, the larger the number of the positioning grooves 41 is, the finer the division of the angle by the plurality of positioning grooves 41 is around the axis of the rotating shaft 31, so that the rotation angle of the adjusting plate 32 relative to the supporting arm 10 can be adjusted more finely and precisely.

As shown in fig. 5, in the embodiment of the present invention, the nozzle positioning structure includes a plurality of positioning protrusions 42, and the plurality of positioning protrusions 42 are provided on the adjustment plate 32 at intervals around the axis of the rotating shaft 31.

In the above arrangement, by providing the plurality of positioning projections 42, the angles on the axis of the rotary shaft 31 can be finely divided, so that the rotation angle of the adjustment plate 32 with respect to the support arm 10 can be adjusted more finely and accurately.

Preferably, the number of the positioning grooves 41 is equal to or greater than the number of the positioning protrusions 42. With such an arrangement, the positioning protrusion 42 can be selectively engaged with at least a portion of the positioning groove 41, so as to achieve positioning, and achieve finer and more precise adjustment of the rotation angle of the adjusting plate 32.

In the embodiment of the present invention, the number of the positioning grooves 41 is four, and the number of the positioning projections 42 is four. The supporting arm 10 is a square tube, the positioning groove 41 is arranged at one end of the square tube, and the four positioning grooves 41 are correspondingly arranged on four tube walls of the square tube respectively. The structure is simple, and the processing is convenient.

As shown in fig. 3, in the embodiment of the present invention, the nozzle adjusting structure 30 further includes an elastic member 33 disposed at an outer circumference of the rotating shaft 31, one end of the elastic member 33 is connected to the positioning protrusion 42, the other end of the elastic member 33 is connected to one end of the rotating shaft 31 facing the adjusting plate 32, and the elastic member 33 is used to apply a force to the adjusting plate 32 to move the adjusting plate 32 toward the support arm 10.

In the above arrangement, the elastic member 33 is disposed on the outer periphery of the rotating shaft 31, and the rotating shaft 31 has a supporting function on the elastic member 33. One end of the elastic element 33 is connected to the positioning protrusion 42, the other end of the elastic element 33 is connected to one end of the rotating shaft 31 facing the adjusting plate 32, when the rotation angle of the adjusting plate 32 relative to the support arm 10 needs to be adjusted, the positioning protrusion 42 needs to be disengaged from the positioning groove 41, the adjusting plate 32 drives the positioning protrusion 42 to move towards the side away from the positioning groove 41 under the external force, in the above process, the elastic element 33 is compressed, after the adjustment of the rotation angle of the adjusting plate 32 relative to the support arm 10 is completed, the positioning protrusion 42 and the adjusting plate 32 both move towards the support arm 10 under the elastic force of the elastic element 33, that is, the positioning protrusion 42 moves towards the positioning groove 41, so that the positioning protrusion 42 can be clamped in the positioning groove 41, and the adjusting plate 32 can be fixed on the support arm 10 at a predetermined angle.

The elastic piece 33 is used for applying acting force for enabling the adjusting plate 32 to move towards the supporting arm 10 to the adjusting plate 32, so that the positioning protrusions 42 can be conveniently matched with the positioning grooves 41 in a clamping mode, the problem that the adjusting plate 32 rotates relative to the supporting arm 10 again to cause inaccurate adjustment of the rotating angle is avoided, and the adjusting plate 32 can be fixed on the supporting arm 10 at an accurate preset angle.

As shown in fig. 3, in the embodiment of the present invention, the elastic member 33 includes a spring.

As shown in fig. 1, 2 and 6, in the embodiment of the present invention, the spraying device further includes a mounting bracket 50, the mounting bracket 50 is connected with one end of the supporting arm 10 far away from the spray head 20, and the supporting arm 10 is movably arranged relative to the mounting bracket 50.

In the above arrangement, the spray head 20 is arranged on the support arm 10, the support arm 10 is connected with the mounting bracket 50, and the mounting bracket 50 has the mounting and supporting functions for both the support arm 10 and the spray head 20. Because the supporting arm 10 is movable relative to the mounting bracket 50, the spray head 20 is movable relative to the mounting bracket 50 under the driving of the supporting arm 10, that is, the distance between the spray head 20 and the mounting bracket 50 can be adjusted, so that the spray head 20 can move in a larger range, thereby improving the spraying range of the spray head 20.

As shown in fig. 1, 2 and 6, in the embodiment of the present invention, the mounting bracket 50 includes a cross bar 51, and the supporting arm 10 is inserted into the cross bar 51 and movably disposed along the axis of the cross bar 51; the cross bar 51 is provided with at least one first mounting hole 52, and the support arm 10 is provided with a plurality of second mounting holes 11; the sprinkler further includes a first locking member having one end passing through one of the first mounting holes 52 and selectively coupled to one of the second mounting holes 11 to fix the relative positions of the support arm 10 and the cross bar 51.

In the above arrangement, the supporting arm 10 is inserted into the cross bar 51 and is movable along the axis of the cross bar 51, so that the distance between the spray head 20 and the cross bar 51 can be adjusted, and the spraying range of the spray head 20 is increased. Because the cross bar 51 is provided with at least one first mounting hole 52, and the support arm 10 is provided with a plurality of second mounting holes 11, one end of the first locking member can pass through one first mounting hole 52 and then be selectively connected with one of the plurality of second mounting holes 11, so that the support arm 10 is fixed on the cross bar 51, the relative position of the support arm 10 and the cross bar 51 is fixed, and the relative position of the spray head 20 and the cross bar 51 is fixed.

Through setting up first mounting hole 52 and second mounting hole 11, can adjust and fix the relative position of shower nozzle 20 and horizontal pole 51, can be according to actual need, adjust the distance between shower nozzle 20 and the horizontal pole 51 for the predetermined distance, satisfy the actual production demand.

As shown in fig. 6, in the embodiment of the present invention, the cross bar 51 is provided with a plurality of first mounting holes 52, and the support arm 10 is provided with a plurality of second mounting holes 11, so that the spraying device can include a plurality of first locking pieces according to actual requirements, and the support arm 10 and the cross bar 51 are fixedly connected through the plurality of first locking pieces, thereby improving the fixing effect and the connection stability.

In the embodiment of the utility model, the cross rod 51 and the support arm 10 are both square tubes, the plurality of first mounting holes 52 on the cross rod 51 are sequentially and uniformly arranged at intervals along the axis of the cross rod 51, the plurality of second mounting holes 11 on the support arm 10 are sequentially and uniformly arranged at intervals along the axis of the support arm 10, and the plurality of first locking pieces are correspondingly arranged and matched with the plurality of first mounting holes 52 and the plurality of second mounting holes 11 to fixedly connect the cross rod 51 and the support arm 10, so that the fixing effect and the connection stability are improved. And can realize the purpose of adjusting the distance between the spray head 20 and the cross rod 51 by matching the first locking piece with different first mounting holes 52 and second mounting holes 11, thereby adjusting the overall width between the spray head 20 and the cross rod 51 and further improving the spraying range.

Preferably, the first locking member is a screw.

As shown in fig. 1 and 6, in the embodiment of the present invention, the mounting bracket 50 includes a cross bar 51 and a main upright 53, one end of the cross bar 51 is connected to the support arm 10, and the other end of the cross bar 51 is pivotally connected to the main upright 53, so that the cross bar 51 is rotatably disposed in a vertical plane with respect to the main upright 53.

In the above arrangement, the spray head 20 is arranged on the supporting arm 10, the supporting arm 10 is connected with the cross bar 51, the cross bar 51 is connected with the main upright 53, and the main upright 53 has the functions of mounting and supporting the cross bar 51, the supporting arm 10 and the spray head 20. Because the cross bar 51 is pivotally connected with the main upright 53, the cross bar 51 can rotate relative to the main upright 53, and under the driving of the cross bar 51, the supporting arm 10 and the spray head 20 can rotate in a vertical plane relative to the supporting arm 10, so that the spray head 20 can swing within a certain angle range in the vertical plane according to actual needs, and the spraying range of the spray head 20 can be increased through the swing of the spray head 20 in the vertical plane.

As shown in fig. 1 and 6, in the embodiment of the present invention, the spraying device further includes a first driving structure 60, the first driving structure 60 is disposed on the main upright 53, and the first driving structure 60 is drivingly connected to the cross bar 51 to drive the cross bar 51 to rotate relative to the main upright 53.

In the above arrangement, the main upright 53 is used to mount and support the first drive structure 60. The first drive structure 60 powers the rotation of the crossbar 51. The first driving structure 60 drives the cross bar 51, so that the cross bar 51 can rotate relative to the main upright 53, and the cross bar 51 drives the supporting arm 10 and the spray head 20 to swing, thereby improving the spraying range.

Preferably, the first drive structure 60 comprises an electric motor.

As shown in fig. 6, in the embodiment of the present invention, the first driving structure 60 is disposed on the first limiting plate 161, and the first limiting plate 161 is used for mounting and supporting the first driving structure 60. The first limiting plate 161 is connected with the main vertical rod 53, and an included angle is formed between the extending direction of the first limiting plate 161 and the extending direction of the main vertical rod 53. The main upright 53 is used to mount and support the first stopper plate 161.

As shown in fig. 1 and 6, in the embodiment of the present invention, the spraying device further includes a first link structure 70, the first link structure 70 includes a first link 71 and a second link 72, and one end of the first link 71 is connected to the driving end of the first driving structure 60; the other end of the first link 71 is pivotally connected to one end of the second link 72, and the other end of the second link 72 is pivotally connected to the cross bar 51.

In the above arrangement, the first linkage structure 70 serves as a transmission structure for transmitting the power provided by the first driving structure 60 to the cross bar 51 to swing the cross bar 51. The driving end of the first driving structure 60 drives the first connecting rod 71 to swing, the first connecting rod 71 drives the second connecting rod 72 to move, and the cross rod 51 rotates in a vertical plane relative to the main upright 53 under the driving of the second connecting rod 72.

Of course, in alternative embodiments of the present application, other transmission structures may be adopted according to actual needs, so that the first driving structure 60 is connected with the cross bar 51 through the transmission structure, and the purpose of driving the cross bar 51 to swing is achieved. It should be noted that any transmission structure capable of achieving the above-mentioned purpose is within the scope of the present application.

As shown in fig. 6, in the embodiment of the present invention, the second link 72 includes a first rod segment 73, a second rod segment 74 and a connecting member 75, the connecting member 75 has a first end and a second end which are oppositely arranged, the first end of the connecting member 75 is provided with a first threaded hole which is in threaded fit with the first rod segment 73, the second end of the connecting member 75 is provided with a second threaded hole which is in threaded fit with the second rod segment 74, the first rod segment 73 is in threaded connection with the connecting member 75, and the second rod segment 74 is in threaded connection with the connecting member 75, so that the length of the second link 72 can be adjusted.

In the above arrangement, the lengths of the second links 72 are different, and the rotation angles of the cross bar 51 driven by the second links 72 are different, that is, when the lengths of the second links 72 are adjustable, the rotation angles of the cross bar 51 are adjustable. By adjusting the length of the second connecting rod 72, the rotation angle of the cross rod 51 can be adjusted, so that the swing angle of the spray head 20 can be adjusted, and the spraying range can be expanded.

Since the first rod segment 73 is screwed to the connecting element 75 and the second rod segment 74 is screwed to the connecting element 75, the rotational movement can be converted into a linear movement by screwing, i.e. by screwing the first rod segment 73 or the connecting element 75, the rotational movement between the first rod segment 73 and the connecting element 75 can be converted into a linear movement of the first rod segment 73 relative to the connecting element 75, and the movement between the second rod segment 74 and the connecting element 75 can be adjusted by the movement of the first rod segment 73 relative to the connecting element 75 and the movement of the second rod segment 74 relative to the connecting element 75.

Of course, in the alternative embodiment of the present application, the following may also be provided according to actual needs: a first threaded hole in threaded fit with the first rod section 73 is formed in the first end of the connecting piece 75, the first rod section 73 is in threaded connection with the connecting piece 75, and the second rod section 74 is connected with the connecting piece 75; alternatively, the second end of the connecting member 75 is provided with a second threaded hole which is in threaded engagement with the second rod segment 74, the second rod segment 74 is in threaded engagement with the connecting member 75, and the first rod segment 73 is connected to the connecting member 75.

As shown in fig. 1, in the embodiment of the present invention, the mounting bracket 50 includes a plurality of cross bars 51 and side vertical bars 54, the spraying device includes a plurality of spraying heads 20 disposed corresponding to the plurality of cross bars 51, the plurality of cross bars 51 are sequentially disposed on the main vertical bar 53 at intervals along the vertical direction, the plurality of cross bars 51 are all pivotally connected to the side vertical bars 54, and the driving end of the first driving structure 60 is pivotally connected to the side vertical bars 54 to drive the plurality of cross bars 51 to rotate synchronously.

In the above arrangement, by providing a plurality of the spray heads 20, the spraying efficiency can be improved. The plurality of spray heads 20 are arranged corresponding to the plurality of cross rods 51, and the plurality of cross rods 51 are sequentially arranged on the main upright 53 at intervals, so that the problem of mutual interference among the plurality of cross rods 51 and the plurality of spray heads 20 can be avoided. A plurality of horizontal poles 51 all with main pole 53 pivotal connection, a plurality of horizontal poles 51 are all rotatable for main pole 53, side pole 54 and the equal pivotal connection of a plurality of horizontal poles 51, and the drive end and the side pole 54 pivotal connection of first drive structure 60, under the drive of first drive structure 60, side pole 54 can remove in vertical plane, can drive a plurality of horizontal poles 51 simultaneously through side pole 54 and rotate, also can drive a plurality of horizontal poles 51 and rotate in step, thereby make the synchronous swing of a plurality of shower nozzles 20, can improve and spray efficiency, and can improve and spray the area, thereby improve and spray the scope.

In the embodiment of the present invention, the main upright 53 is connected to the cross bar 51 by means of cotter pins and pins or hinge-hole screws and bearings. The side uprights 54 are connected to the cross-bar 51 by means of cotter and pin or hinge-hole screws and bearings.

As shown in fig. 6, in the embodiment of the present invention, a plurality of third mounting holes 55 are formed on the side stand bar 54, the plurality of third mounting holes 55 are sequentially spaced apart in the vertical direction, and the driving end of the first driving structure 60 is selectively pivotally connected to one of the plurality of third mounting holes 55.

In the above arrangement, the first drive structure 60 can be selectively pivotally coupled to one of the plurality of third mounting holes 55 by providing the plurality of third mounting holes 55 in the side stand bar 54. The first driving structure 60 is connected to different third mounting holes 55, so that the connecting positions of the first driving structure 60 and the side vertical rods 54 are different, and when the first driving structure 60 drives the side vertical rods 54 to move, the side vertical rods 54 drive the cross bar 51 to rotate at different rotation angles, so that the cross bar 51 drives the spray head 20 to swing at different swing angles. That is, the swing angle of the head 20 can be adjusted by connecting the first driving structure 60 to the different third mounting holes 55.

As shown in FIG. 6, in an embodiment of the present invention, the first drive structure 60 is coupled to the side stand bar 54 by a first linkage structure 70. The driving end of the first driving structure 60 is connected to the first link 71, one end of the first link 71 is pivotally connected to the first rod section 73 of the second link 72, and one end of the second rod section 74 of the second link 72 is pivotally connected to the side stand bar 54. The first drive structure 60 moves the side uprights 54 in a vertical plane via a first linkage structure 70. The second lever section 74 is selectively pivotally connected to one of the third plurality of mounting holes 55 to adjust the swing angle of the spray head 20.

In an embodiment of the utility model, the first drive structure 60 is connected to a reduction gearbox, which is connected to the first linkage structure 70.

Preferably, the first drive structure 60 comprises a dc brush motor.

Preferably, the main uprights 53, the side uprights 54, the cross bar 51 and the support arms 10 are square tubes.

Preferably, the cartridge reaches the spray head 20 via the main upright 53 along the rail 51 and the support arm 10, leaving enough room for adjustment.

Specifically, as shown in fig. 6, in the embodiment of the present invention, the first driving structure 60 is connected to the side stand bar 54 through the first connecting rod structure 70, one end of the first connecting rod 71 is fixed to the driving end of the first driving structure 60, one end of the second connecting rod 72 is connected to the first connecting rod 71 and is rotatably disposed around the hole at the end of the first connecting rod 71, the second connecting rod 72 is further connected to the side stand bar 54, the continuous rotation of the first driving structure 60 provides the power required by the up-and-down reciprocating movement of the nozzle 20, and the reduction gearbox is added to increase the torque. Controlling the rotational speed of the first drive structure 60 controls the frequency of the wobble, adjusting the length of the second link 72 and adjusting the second link 72 to connect to different third mounting holes 55 on the side uprights 54 adjusts the angular range of the wobble, such as ± 20 °, -10 ° -30 °, -30 ° -10 ° (the above-mentioned angles are based on the horizontal position of the cross bar 51).

In the embodiment of the present invention, as shown in fig. 3 to 5, an arc hole 34 is formed on the adjusting plate 32, the head adjusting structure 30 further includes a swing plate 35, the head 20 is connected to the swing plate 35, the swing plate 35 is connected to the adjusting plate 32, and a portion of the swing plate 35 is disposed in the arc hole 34 and slidably engaged with the arc hole 34, so that the head 20 is swingably disposed relative to the adjusting plate 32.

In the above arrangement, the shower head 20 is connected to the adjustment plate 32 through the swing plate 35, and the adjustment plate 32 has a function of mounting and supporting the swing plate 35 and the shower head 20. Because the swing plate 35 is in sliding fit with the arc-shaped hole 34 on the adjusting plate 32, the spray head 20 can slide along the arc-shaped hole 34 under the driving of the swing plate 35, so that the spray head 20 can swing relative to the adjusting plate 32, the swing angle of the spray head 20 can be further adjusted, and the spraying range is expanded.

In the embodiment of the present invention, the position and the angle of each spray head 20 can be adjusted in a large range, and the specific implementation method is as follows: the supporting arm 10 is sleeved in the cross rod 51, the edges of the supporting arm 10 and the adjusting plate 32 are mutually meshed through the positioning groove 41 and the positioning protrusion 42, the elastic piece 33 is sleeved in the middle of the rotating shaft 31 at the connecting central position of the supporting arm 10 and the adjusting plate 32, the elastic piece 33 has enough elasticity to ensure that one side of the spray head 20 is not shaken under the condition of not bearing tensile force, and the compression stroke of the elastic piece 33 is slightly longer than the distance required by meshing, separating and rotating of the spray head positioning structure, so that the adjusting plate 32 can rotate around the center of the supporting arm 10 by 90 degrees under the pulling of external force. In addition, a fourth mounting hole (preferably, the fourth mounting hole is a round hole) is formed on the adjusting plate 32, an arc-shaped hole 34 is formed by taking the fourth mounting hole as a circle center and taking a certain length as a radius, a fifth mounting hole corresponding to the fourth mounting hole is formed on the swinging plate 35, the spraying device further comprises a second locking member 191, one end of the second locking member 191 can sequentially penetrate through the fourth mounting hole and the fifth mounting hole, the swinging plate 35 is mounted on the adjusting plate 32, and, the swing plate 35 can rotate around the axis of the second locking piece 191 relative to the adjusting plate 32, the swing plate 35 is further provided with a sixth mounting hole corresponding to the arc-shaped hole 34, the sixth mounting hole slides along the arc-shaped hole 34, the spraying device further comprises a third locking piece 192, one end of the third locking piece 192 can sequentially penetrate through the arc-shaped hole 34 and the sixth mounting hole, the swing plate 35 is locked on the adjusting plate 32, and the swing plate 35 and the spray head 20 mounted on the swing plate 35 are fixed on the adjusting plate 32 at a preset angle. With the above arrangement, the swing angle of the head 20 with respect to the adjustment plate 32 can be adjusted.

In the embodiment of the present invention, as shown in fig. 3 to 5, the arc-shaped hole 34 is a quarter-arc-shaped hole, that is, the swinging plate 35 drives the nozzle 20 to perform an angle adjustment within 90 degrees along the arc-shaped hole 34.

As shown in fig. 4 and 5, in the embodiment of the present invention, the swing plate 35 is an L-shaped plate, the fifth mounting hole and the sixth mounting hole are disposed on one side wall of the L-shaped plate, and the spray head 20 is disposed on the other side wall of the L-shaped plate, so that interference can be avoided, and the spray head 20 can be guaranteed to swing.

Preferably, in the technical scheme of this application, the position that needs dismouting to adjust can be connected with the mode that cotter pin and pin or screw and nut are connected, in order to increase sprinkler and the upper end of spraying robot firm, can adorn the screw in fastening screw hole.

In the embodiment of the present invention, each nozzle 20 can be independently controlled to open or close, and the specific implementation method includes:

scheme 1, adopt peristaltic pump to combine the form of high-speed atomizer to constitute shower nozzle 20 among the technical scheme of this application, a peristaltic pump corresponds a shower nozzle, and the switching of power of control peristaltic pump can control the switching of shower nozzle. The rotating speed of the peristaltic pump or the rotating speed of the high-speed atomizing motor or the shape of the nozzle are controlled, so that the aims of changing the angle of the sprayed particles, the effective spraying distance and the atomizing effect can be fulfilled.

Scheme 2, high-pressure plunger pump combine the form of solenoid valve and high-pressure atomizer to constitute shower nozzle 20 among this application technical scheme, can join in marriage a plurality of shower nozzles by a plunger pump, and every shower nozzle joins in marriage a solenoid valve, and the switching of the corresponding shower nozzle of switching control through control solenoid valve adjusts the shape of pump motor rotational speed and shower nozzle, also can realize changing the angle of spun particle, effectively sprays distance and atomization effect, and this scheme needs to use the high-pressure tube.

Through the arrangement, the purposes of adjusting the size and the angle of the particles sprayed by the spray head 20 and the effective spraying distance can be achieved, and the opening and closing of a single spray head can be remotely controlled.

As shown in fig. 7, in the embodiment of the present invention, the spraying robot includes a vehicle body 100 and a spraying device 90 disposed on the vehicle body 100, and the spraying device 90 is the spraying device described above.

In the above arrangement, the vehicle body 100 is used to mount and support the sprinkler 90. The spraying device 90 is used to perform a spraying work.

It should be noted that, since the spraying robot of the present application includes the spraying device 90 of the present application, the spraying robot of the present application also has the above advantages of the spraying device 90 of the present application, and the details are not repeated here.

In the technical scheme of this application, through simple structure, convenient operation, nimble shower nozzle regulation structure 30 and first retaining member, first mounting hole 52 and second mounting hole 11, can adjust the width of the width angle of spouting and overall structure of shower nozzle 20 to can carry out the field adjustment according to the operation demand of reality, strong adaptability sways shower nozzle 20 during the operation and reaches and spray more even effect.

As shown in fig. 7, in the embodiment of the present invention, the spraying robot includes a vehicle body 100, a spraying device 90 and a spraying adjustment structure 110, the spraying device 90 is disposed on the vehicle body 100, and the spraying device 90 includes a spray head 20; the spraying device 90 is connected with the vehicle body 100 through a spraying adjustment structure 110; wherein the spraying device 90 is rotatably disposed with respect to the spraying adjustment structure 110 in the front-rear direction of the vehicle body 100, and the spraying device 90 is rotatably disposed with respect to the spraying adjustment structure 110 in the left-right direction of the vehicle body 100, so that the spraying robot has a plurality of spraying modes.

In the above arrangement, the vehicle body 100 has a mounting and supporting function for both the spraying device 90 and the spray adjusting structure 110. The spray head 20 is used to perform a spraying function. Because sprinkler 90 both can rotate along the fore-and-aft direction of automobile body 100 for spraying regulation structure 110, can rotate along the left and right sides direction of automobile body 100 again, consequently, make spraying robot have through sprinkler 90 along the fore-and-aft direction of automobile body 100 rotate the multiple spray pattern that realizes and rotate the multiple spray pattern that realizes through sprinkler 90 along the left and right sides direction of automobile body 100, that is to say, through the aforesaid setting, can make spraying robot have multiple spray pattern, thereby make spraying robot satisfy the multi-scene and spray the demand.

As shown in fig. 1 and 7, in the embodiment of the present invention, the spray robot includes two spray devices 90 and two spray adjusting structures 110 provided corresponding to the two spray devices 90. The two spraying devices 90 are spaced apart in the left-right direction of the vehicle body 100, and the two spray adjusting structures 110 are disposed in the left-right direction of the vehicle body 100.

As shown in fig. 1, in the embodiment of the present invention, the spraying robot further includes a mounting base 80, the mounting base 80 is connected to the vehicle body 100, and the spraying device 90 and the spraying adjustment structure 110 are both mounted on the vehicle body 100 through the mounting base 80.

As shown in fig. 7, in the embodiment of the present invention, the vehicle body 100 includes a traveling unit 101, a navigation system 102 mounted on the traveling unit 101, and a medicine box 103 mounted on the traveling unit 101, the traveling unit 101 performs a traveling function, the navigation system 102 performs a guiding function, and the medicine box 103 is used for containing a medicine liquid to be sprayed. The vehicle body 100 is an unmanned vehicle which has a positioning function and can autonomously travel along a planned path, so that the contact time of people with pesticides is reduced, the separation of people and pesticides is realized, and the harm of the pesticides to human bodies is reduced.

The technical scheme of this application has effectively compensatied not enough of current sprinkler and spraying robot, has satisfied actual conditions's needs, is showing and is promoting agricultural production efficiency.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the supporting arm, the spray head adjusting structure and the spray head are sequentially connected, and the supporting arm has the mounting and supporting effects on the spray head adjusting structure and the spray head. The pivot setting of structure is adjusted to the shower nozzle is on the support arm to the shower nozzle is rotatable for the axis of support arm gyration pivot, that is to say, can adjust the turned angle of shower nozzle for the support arm according to actual need, among the technical scheme of this application, sets up the shower nozzle as rotatable for the support arm, through the rotation of shower nozzle, can enlarge the spray range.

It is to be understood that the above-described embodiments are only a few, and not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A spraying device, comprising:

a support arm (10);

a spray head (20) arranged at one end of the support arm (10);

the sprayer adjusting structure (30) is used for connecting the supporting arm (10) and the sprayer (20), the sprayer adjusting structure (30) comprises a rotating shaft (31), the rotating shaft (31) is arranged on the supporting arm (10), and the sprayer (20) is rotatably arranged around the axis of the rotating shaft (31) relative to the supporting arm (10).

2. The spraying device according to claim 1, wherein the nozzle head adjusting structure (30) further comprises an adjusting plate (32), the nozzle head (20) is connected with the adjusting plate (32), the adjusting plate (32) is connected with the rotating shaft (31), and the adjusting plate (32) is rotatably arranged around the axis of the rotating shaft (31);

the spraying device further comprises a spray head positioning structure, and the spray head positioning structure is used for positioning the rotation angle of the adjusting plate (32) relative to the supporting arm (10).

3. A spraying device as claimed in claim 2, characterized in that the adjusting plate (32) is movably arranged relative to the support arm (10) in the direction of extension of the axis of the swivel shaft (31); the shower nozzle location structure includes:

a positioning groove (41) provided at one end of the support arm (10);

positioning protrusion (42) sets up on regulating plate (32) under the drive of regulating plate (32), positioning protrusion (42) can be established by the card in positioning groove (41) or follow deviate from in positioning groove (41).

4. A spraying device as claimed in claim 3,

one end of the supporting arm (10) is provided with a plurality of positioning grooves (41), and the plurality of positioning grooves (41) are arranged at intervals around the axis of the rotating shaft (31); and/or the presence of a gas in the gas,

the spray head positioning structure comprises a plurality of positioning protrusions (42), and the positioning protrusions (42) are arranged on the adjusting plate (32) at intervals around the axis of the rotating shaft (31).

5. A spraying device according to claim 3, wherein the head adjusting structure (30) further comprises an elastic member (33) provided at an outer periphery of the rotating shaft (31), one end of the elastic member (33) is connected to the positioning boss (42), the other end of the elastic member (33) is connected to an end of the rotating shaft (31) facing the adjusting plate (32), and the elastic member (33) is used to apply a force to the adjusting plate (32) to move the adjusting plate (32) toward the support arm (10).

6. A spraying device as claimed in any one of claims 1 to 5, characterized in that the spraying device further comprises a mounting bracket (50), the mounting bracket (50) comprising a crossbar (51) and a main upright (53), one end of the crossbar (51) being connected to the support arm (10) and the other end of the crossbar (51) being connected to the main upright (53);

the supporting arm (10) is arranged in the cross rod (51) in a penetrating mode and can be movably arranged along the axis of the cross rod (51); the cross bar (51) is provided with at least one first mounting hole (52), the support arm (10) is provided with a plurality of second mounting holes (11), the spraying device further comprises a first locking piece, one end of the first locking piece passes through one first mounting hole (52) and then is selectively connected with one of the second mounting holes (11), so that the relative position of the support arm (10) and the cross bar (51) is fixed; and/or the presence of a gas in the atmosphere,

the crossbar (51) is rotatably arranged in a vertical plane relative to the main upright (53).

7. Spraying device according to claim 6, characterized in that the crossbar (51) is pivotally connected to the main upright (53), and in that the spraying device further comprises a first driving structure (60), the first driving structure (60) being arranged on the main upright (53), the first driving structure (60) being drivingly connected to the crossbar (51) for driving the crossbar (51) in rotation relative to the main upright (53).

8. A spraying device as claimed in claim 7, further comprising a first linkage structure (70), the first linkage structure (70) comprising:

a first link (71), one end of the first link (71) being connected to the driving end of the first driving structure (60);

the other end of the first connecting rod (71) is pivotally connected with one end of the second connecting rod (72), and the other end of the second connecting rod (72) is pivotally connected with the cross rod (51).

9. A spraying device as claimed in claim 8, characterised in that the second link (72) comprises:

a first pole segment (73);

a second pole segment (74);

the connecting piece (75) has relative first end and the second end that sets up, the first end of connecting piece (75) be equipped with first pole section (73) screw-thread fit's first screw hole, the second end of connecting piece (75) be equipped with second pole section (74) screw-thread fit's second screw hole, first pole section (73) with connecting piece (75) threaded connection, second pole section (74) with connecting piece (75) threaded connection to make the length of second connecting rod (72) adjustable.

10. The spraying device according to claim 7, wherein the mounting bracket (50) comprises a plurality of the cross bars (51) and side uprights (54), the spraying device comprises a plurality of the spray heads (20) arranged corresponding to the cross bars (51), the cross bars (51) are sequentially arranged on the main upright (53) at intervals along a vertical direction, the cross bars (51) are all pivotally connected with the side uprights (54), and the driving end of the first driving structure (60) is pivotally connected with the side uprights (54) to drive the cross bars (51) to rotate synchronously.

11. A spraying device as claimed in claim 10, characterised in that the side uprights (54) are provided with a plurality of third mounting holes (55), the plurality of third mounting holes (55) being spaced one after the other in the vertical direction, the drive end of the first drive structure (60) being selectively pivotally connected to one of the plurality of third mounting holes (55).

12. A spraying robot, characterized by comprising a vehicle body (100) and a spraying device (90) arranged on the vehicle body (100), the spraying device (90) being a spraying device according to any one of claims 1 to 11.