WO2024012132A1 - 一种具有自动均匀混药功能的植保机器人 - Google Patents

一种具有自动均匀混药功能的植保机器人 Download PDF

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Publication number
WO2024012132A1
WO2024012132A1 PCT/CN2023/100017 CN2023100017W WO2024012132A1 WO 2024012132 A1 WO2024012132 A1 WO 2024012132A1 CN 2023100017 W CN2023100017 W CN 2023100017W WO 2024012132 A1 WO2024012132 A1 WO 2024012132A1
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WIPO (PCT)
Prior art keywords
mixing
tube
fixed
plant protection
automatic
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Application number
PCT/CN2023/100017
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English (en)
French (fr)
Inventor
程军辉
黄友锐
贾卫东
于鹏澎
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皖西学院
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Application filed by 皖西学院 filed Critical 皖西学院
Publication of WO2024012132A1 publication Critical patent/WO2024012132A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
    • B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
    • B01F27/94—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with rotary cylinders or cones

Definitions

  • the invention relates to the field of plant protection, specifically a plant protection robot with the function of automatically mixing medicine evenly.
  • Plant protection robots are plant protection agricultural equipment used for agricultural and forestry plant protection operations. They can spray pesticides, seeds, powders, etc., and realize automated operations on automated agricultural equipment.
  • the plant protection robots have low operating heights and can increase the penetration of mist flow into crops. , the prevention and control effect is high.
  • the use of plant protection robots to perform spraying operations avoids the danger of exposure to pesticides and improves the safety of spraying operations.
  • the purpose of the present invention is to provide a plant protection robot with an automatic and uniform mixing function to solve the problems raised in the above background technology.
  • a plant protection robot with the function of automatically mixing chemicals evenly including:
  • the main body has a water tank and a mixing barrel fixed in the body, a medicine storage tank and a support plate are fixed on the mixing barrel, and the medicine storage tank is used to hold the medicine liquid;
  • a mixing mechanism is provided in the body and connected to the water tank and the mixing barrel.
  • the body is also provided with an intermittent feeding mechanism connected to the mixing mechanism and the medicine storage tank, so The mixing mechanism can intermittently transport the medicinal liquid in the medicine storage tank to the mixing mechanism through the intermittent feeding mechanism, and mix the medicinal liquid;
  • the nozzle is symmetrically arranged on the body.
  • the body is provided with an infusion mechanism connected to the nozzle and the mixing barrel.
  • the infusion mechanism can transport the solution in the mixing barrel to the nozzle.
  • a reciprocating component is disposed in the body and connected to the mixing mechanism and the infusion mechanism.
  • the mixing mechanism can drive the movement of the infusion mechanism through the reciprocating component.
  • the mixing mechanism includes a hollow plate fixedly installed in the mixing barrel, a water pump is fixed on the water tank, and the water pump is connected to the water tank and the hollow plate.
  • the main body is provided with a driving component connected to the hollow plate, and the driving component is connected to the reciprocating component and the intermittent feeding mechanism.
  • the driving assembly includes a motor fixedly installed on the mixing barrel, and a transmission rod connected to the output shaft of the motor is rotatably installed in the mixing barrel.
  • a mixing tube fixedly connected to the transmission rod is installed inside the mixing tube.
  • the mixing tube is provided with a plurality of through grooves arranged at equal intervals around the circumference and connected to the hollow plate.
  • a No. 1 spiral guide rail is fixed in the mixing tube. , the mixing tube is movably connected to the hollow plate.
  • the intermittent feeding mechanism includes a hollow tube fixedly installed on the medicine storage tank and fixedly connected to the hollow plate, and a hollow tube is movable installed in the hollow tube and penetrates the medicine storage tank.
  • a material guide tube, one end of the material guide tube away from the hollow plate is fixed with a sealing gasket that matches the medicine storage tank, and the body is provided with a gasket connected to the hollow tube and the material guide tube.
  • Elastic component, the elastic component is connected with the transmission rod.
  • the elastic component includes a clamping groove provided on the hollow tube, a discharge groove provided on the material guide tube, and a spring set on the hollow tube.
  • a limiting structure connected to the material guide tube and the spring is provided in the body.
  • the limiting structure includes a limiting ring fixedly installed on the guide tube and engaged with the slot, an inclined plate is fixed on the limiting ring, and the transmission A limiting wheel that cooperates with the inclined plate is fixed on the rod, and the limiting ring is in contact with the spring.
  • the infusion mechanism includes a piston cylinder fixedly installed in the body, a delivery tube connected to the mixing barrel is fixed on the piston cylinder, and two tubes are fixed in the delivery tube. No. 1 spiral guide rail, the piston cylinder is connected with a conduit fixedly connected to the nozzle, the body is provided with a driven component connected to the piston cylinder, and the driven component is connected to the reciprocating component.
  • the driven assembly includes a limiting sleeve fixedly installed on the piston cylinder, and a movable rod penetrating the piston cylinder is movably installed in the limiting sleeve.
  • a piston movably connected to the piston cylinder is fixed on the rod, and a connecting plate is fixed on one end of the movable rod away from the piston, and the connecting plate is connected to the reciprocating assembly.
  • the reciprocating assembly includes a rotating rod rotatably installed on the supporting plate, a turntable is fixed on the rotating rod, and a connecting rod is hinged on the rotating plate and is hinged with the supporting plate.
  • the rotating rod is covered with a belt connected to the transmission rod.
  • this application can mix the medicinal liquid for a second time and transport it to the green plants after the mixing is completed.
  • the water in the water tank can be transported to the mixing barrel.
  • the mixing mechanism will also intermittently transport the liquid in the storage tank to the mixing barrel through the intermittent discharging mechanism.
  • the liquid is mixed and evenly mixed.
  • the mechanism will also drive the reciprocating components to move, thereby driving the infusion mechanism to move, so that the liquid in the mixing barrel is transported to the nozzle and discharged through the nozzle.
  • Figure 1 is a schematic structural diagram of an embodiment of a plant protection robot with an automatic and uniform mixing function.
  • Figure 2 is a schematic structural diagram from another angle of an embodiment of a plant protection robot with the function of automatically mixing chemicals evenly.
  • Figure 3 is a schematic diagram of a half-section structure of an embodiment of a plant protection robot with an automatic and even mixing function.
  • Figure 4 is an enlarged schematic diagram of the structure at point A in Figure 3.
  • Figure 5 is a schematic diagram of the connection relationship between part of the mixing mechanism, the reciprocating component, and part of the infusion mechanism in an embodiment of the plant protection robot with the function of automatically mixing medicine evenly.
  • Figure 6 is a schematic diagram of the connection relationship between part of the mixing mechanism and part of the intermittent feeding mechanism in an embodiment of a plant protection robot with automatic and even mixing function.
  • Figure 7 is a schematic diagram of the exploded structure of part of the intermittent feeding mechanism in an embodiment of a plant protection robot with an automatic and uniform mixing function.
  • Figure 8 is a schematic exploded view of part of the infusion mechanism in an embodiment of a plant protection robot with the function of automatically mixing medicine evenly.
  • an element is said to be “fixed to” or “disposed on” another element, which may be directly on the other element or intervening elements may also be present.
  • an element is said to be “connected” to another element, it can be directly connected to the other element or there may also be intervening elements present.
  • the terms “vertical”, “horizontal”, “left”, “right” and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner.
  • a plant protection robot with an automatic and uniform mixing function includes:
  • a water tank 2 and a mixing barrel 3 are fixed in the body 1.
  • a medicine storage tank 13 and a support plate 24 are fixed on the mixing barrel 3.
  • the medicine storage tank 13 is used to hold the medicine liquid;
  • the water tank 2 contains water
  • the medicine storage tank 13 contains a medicinal liquid, which needs to be mixed with water for dilution
  • the mixing barrel 3 is used to hold the mixed medicinal liquid.
  • a mixing mechanism is provided in the body 1 and connected to the water tank 2 and the mixing barrel 3.
  • the mixing mechanism includes a Hollow plate 6.
  • a water pump 4 is fixed on the water tank 2.
  • a water pipe 5 connected to the water tank 2 and the hollow plate 6 is connected to the water pump 4.
  • a water pipe 5 connected to the hollow plate is provided in the body 1.
  • 6 connected driving assembly, the driving assembly is connected with the reciprocating assembly and the intermittent feeding mechanism, wherein the driving assembly includes a motor 10 fixedly installed on the mixing barrel 3, the mixing barrel
  • a transmission rod 11 connected to the output shaft of the motor 10 is rotatably installed in the mixing barrel 3.
  • a mixing tube 7 fixedly connected to the transmission rod 11 is rotatably installed in the mixing barrel 3.
  • the mixing tube 7 is provided with a A plurality of through grooves 9 are arranged at equal intervals around the circumference and are connected to the hollow plate 6.
  • a spiral guide rail 8 is fixed in the mixing tube 7, and the mixing tube 7 is movably connected to the hollow plate 6.
  • the through slot 9 there are two groups in the through slot 9, one group is connected to the hollow plate 6, and the other group is located at the bottom of the mixing pipe 7.
  • One end of the water pipe 5 is connected to the water tank 2, and the other end is connected to the hollow plate 6.
  • the water pump 4 works and transports the water in the water tank 2 to the hollow plate 6 through the water pipe 5.
  • the hollow plate 6 is connected to the through pipe 5.
  • the groove 9 is connected, so that the water enters the mixing tube 7.
  • the mixing tube 7 Since the mixing tube 7 is fixed with a spiral guide rail 8, when the water enters the mixing tube 7, it will flow along the trajectory of the spiral guide rail 8, making the water flow in the direction of the spiral guide rail 8. It flows spirally downward and is discharged into the mixing barrel 3 through the slot 9 at the bottom of the mixing tube 7.
  • the motor 10 works to drive the transmission rod 11 to rotate, thereby driving the mixing tube 7 to rotate, so as to mix the mixing barrel 3
  • the solution in the tank is mixed, and the transmission rod 11 will also drive the movement of the intermittent feeding mechanism, and intermittently transport the liquid medicine in the medicine storage tank 13 to the hollow plate 6. Under the action of the water flow impact, the medicine liquid will follow the water flow into the mixing In the tube 7, since the water flow is conveyed downward in a spiral manner, it is ensured that the medicinal liquid and water are fully mixed.
  • the body 1 is also provided with an intermittent feeding mechanism connected to the mixing mechanism and the medicine storage tank 13.
  • the mixing mechanism can pass through the intermittent feeding mechanism.
  • the unloading mechanism intermittently transports the medicinal liquid in the medicine storage tank 13 to the mixing mechanism, and mixes the medicinal liquid.
  • the intermittent unloading mechanism includes a device fixedly installed on the medicine storage tank. 13 and is fixedly connected to the hollow plate 6.
  • a material guide tube 16 that penetrates the medicine storage tank 13 is movably installed in the hollow tube 14.
  • the material guide tube 16 is away from the hollow tube 13.
  • One end of the disk 6 is fixed with a sealing gasket 18 that cooperates with the medicine storage tank 13.
  • An elastic component connected to the hollow tube 14 and the guide tube 16 is provided in the body 1.
  • the elastic component is connected with the medicine storage tank 13.
  • the transmission rod 11 is connected, wherein the elastic component includes a slot 15 provided on the hollow tube 14, a discharge chute 17 provided on the guide tube 16,
  • the spring 21 on the tube 14 is provided with a limiting structure connected to the material guide tube 16 and the spring 21 in the body 1.
  • the above-mentioned limiting structure includes a structure fixedly installed on the material guide tube. 16 and a limiting ring 19 that engages with the slot 15.
  • a tilting plate 20 is fixed on the limiting ring 19, and a limiting wheel 12 that cooperates with the tilting plate 20 is fixed on the transmission rod 11. , the limiting ring 19 is in contact with the spring 21 .
  • the medicinal solution needs to be diluted and delivered to the green plants.
  • the spring 21 is in a compressed state, so that the limit ring 19 is located in the stroke of the groove 15 toward the side of the hollow plate 6
  • the limit ring 19 will also drive the material guide tube 16 to move, so that the material guide tube 16 is located at the end of the stroke in the direction of the hollow plate 6, and the sealing gasket 18 is in contact with the bottom of the medicine storage tank 13, thereby ensuring that the medicine liquid will not enter the guide tube.
  • the material tube 16 when the water pump 4 is working, it is necessary to intermittently transport the liquid medicine to the hollow plate 6.
  • the transmission rod 11 rotates, driving the limit wheel 12 to rotate around the transmission rod 11.
  • the inclined plate 20 When the limit wheel 12 moves to the When the inclined surfaces of the inclined plate 20 are in contact, the inclined plate 20 is driven to move, thereby driving the limiting ring 19 to move along the length direction of the slot 15 and compressing the spring 21, causing the material guide tube 16 to move toward the medicine storage tank 13.
  • the material guide tube 16 will also drive the sealing gasket 18 and the discharging chute 17 to move.
  • the discharging chute 17 enters the medicine storage tank 13
  • the medicinal liquid in the medicine storage tank 13 will enter the material guide tube 16 through the material discharging chute 17. and is transported to the hollow plate 6. Under the impact of the water flow, the medicinal liquid follows the water flow and enters the mixing tube 7.
  • the spring 21 When the limiting wheel 12 moves to separate from the inclined plate 20, the spring 21 is elastically released and passes through the limiting wheel 12.
  • the ring 19 drives the material guide tube 16 to move toward the initial position, causing the discharge chute 17 and the sealing gasket 18 to move.
  • the discharging chute 17 is separated from the medicine storage tank 13 and the sealing gasket 18 and the medicine storage tank 13 are in contact again, the liquid medicine No more conveying, repeat the above steps to achieve the effect of intermittent blanking.
  • the nozzle 35 is symmetrically arranged on the body 1.
  • An infusion mechanism connected to the nozzle 35 and the mixing barrel 3 is provided in the body 1.
  • the infusion mechanism can transport the solution in the mixing barrel 3 to the nozzle 35.
  • the infusion mechanism includes a piston cylinder 29 fixedly installed in the body 1.
  • the piston cylinder 29 is fixed with a
  • the conveying pipe 27 connected to the mixing barrel 3 has a No. 2 spiral guide rail 28 fixed in the conveying pipe 27.
  • the piston cylinder 29 is connected to a conduit 34 fixedly connected to the nozzle 35.
  • a driven component connected to the piston cylinder 29 is provided inside, and the driven component is connected to the reciprocating component, wherein the driven component includes a limiting sleeve 32 fixedly installed on the piston cylinder 29 , a movable rod 31 penetrating the piston cylinder 29 is movably installed in the limiting sleeve 32.
  • a piston 30 movably connected to the piston cylinder 29 is fixed on the movable rod 31.
  • the movable rod 31 is away from the piston cylinder 29.
  • a connecting plate 33 is fixed at one end of the piston 30, and the connecting plate 33 is connected to the reciprocating assembly.
  • the mixing barrel 3 is provided with a one-way valve, which is connected to the delivery pipe 27.
  • the piston cylinder 29 is also provided with a one-way valve, and this one-way valve is connected to the conduit 34.
  • the piston 30 is located at the end of the stroke in the direction of the mixing barrel 3.
  • the transmission rod 11 will drive the reciprocating assembly to move, thereby driving the connecting plate 33 to move, so that the movable rod 31 moves along the limiting sleeve.
  • a limit groove is provided in the limit sleeve 32, and a limit rod that engages with the limit groove is fixed on the movable rod 31.
  • the movable rod 31 will also drive the piston 30 to move, causing the pressure in the piston cylinder 29 to change, thereby sucking the liquid in the mixing barrel 3 into the piston cylinder 29 through the delivery pipe 27 Inside, the medicinal liquid will flow through the No. 2 spiral guide rail 28, causing the medicinal liquid to enter the piston cylinder 29 in a spiral shape, thereby mixing the medicinal liquid again.
  • the reciprocating assembly is arranged in the body 1 and connected to the mixing mechanism and the infusion mechanism.
  • the mixing mechanism can drive the movement of the infusion mechanism through the reciprocating assembly.
  • the reciprocating assembly includes a rotating rod 23 that is rotatably mounted on the support plate 24.
  • a turntable 25 is fixed on the rotating rod 23, and a connecting rod 26 is hingedly connected to the rotating plate 25 and is hinged with the connecting plate 33.
  • the rotating rod 23 is covered with a belt 22 connected to the transmission rod 11 .
  • the belt 22 drives the rotating rod 23 to rotate, thereby driving the turntable 25 to rotate.
  • the turntable 25 also drives the connecting rod 26 to move, thereby driving the connecting plate 33 to reciprocate, so that the piston 30 moves in the piston cylinder 29 Internal reciprocating motion.

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Abstract

一种具有自动均匀混药功能的植保机器人，涉及植保领域，包括：本体（1），本体（1）内固定有水箱（2）和混料桶（3），混料桶（3）上固定有储药罐（13））和支撑板（24），储药罐（13）用于盛放药液；混匀机构（7），设置在本体（1）内且与水箱（2）和混料桶（3）连接，本体（1）内还设置有与混匀机构和储药罐（13）连接的间歇下料机构，混匀机构（7）能够通过间歇下料机构将储药罐（13）内的药液间歇性的输送至混匀机构（7）内，并对药液进行混匀处理；喷头，对称设置在本体（1）上，本体（1）内设置有与喷头（35）和混料桶连接的输液机构，输液机构能够将混料桶内的溶液输送至喷头（35）内；往复组件，设置在本体（1）内且与混匀机构和输液机构连接。

Description

一种具有自动均匀混药功能的植保机器人 技术领域
本发明涉及一种植保领域，具体是一种具有自动均匀混药功能的植保机器人。
 背景技术
农业生产中，林地、果树、大棚等果林区域作物的病虫草害防治一直是农业生产中比较重要的一项工作，目前，采用最多的还是人工背药喷洒，然而人工喷洒药物会对人体有害，会引起人体的潜在病变危害，因此，植保机器人的使用显得尤为重要。
植保机器人是用于农林植物保护作业的植保农业设备，可以实现喷洒药剂、种子、粉剂等，实现在自动化农业设备自动化操作，且植保机器人具有作业高度低，通过增加雾流对作物的穿透性，防治效果高，使用植保机器人实施喷洒作业人员避免了暴露于农药的危险，提高了喷洒作业安全性。
现有的植保机器人在使用前，需要人工提前将药液配备好，然而，在实际使用时，由于喷洒过程中，没有持续混合的操作，随着药液的静置时间增长，将会导致药液分层，使得喷洒效果不佳。
 发明内容
本发明的目的在于提供一种具有自动均匀混药功能的植保机器人，以解决上述背景技术中提出的问题。
为实现上述目的，本发明提供如下技术方案：
一种具有自动均匀混药功能的植保机器人，包括：
本体，所述本体内固定有水箱和混料桶，所述混料桶上固定有储药罐和支撑板，所述储药罐用于盛放药液；
混匀机构，设置在所述本体内且与所述水箱和所述混料桶连接，所述本体内还设置有与所述混匀机构和所述储药罐连接的间歇下料机构，所述混匀机构能够通过所述间歇下料机构将所述储药罐内的药液间歇性的输送至所述混匀机构内，并对药液进行混匀处理；
喷头，对称设置在所述本体上，所述本体内设置有与所述喷头和所述混料桶连接的输液机构，所述输液机构能够将所述混料桶内的溶液输送至所述喷头内；
往复组件，设置在所述本体内且与所述混匀机构和所述输液机构连接，所述混匀机构能够通过所述往复组件驱动所述输液机构运动。
作为本发明进一步的方案：所述混匀机构包括固定安装在所述混料桶内的中空盘，所述水箱上固定有水泵，所述水泵上连接有与所述水箱和所述中空盘接通的水管，所述本体内设置有与所述中空盘连接的驱动组件，所述驱动组件与所述往复组件和所述间歇下料机构连接。
作为本发明再进一步的方案：所述驱动组件包括固定安装在所述混料桶上的电机，所述混料桶内转动安装有与所述电机输出轴连接的传动杆，所述混料桶内转动安装有与所述传动杆固定连接的混合管，所述混合管上开设有呈圆周等距设置且与所述中空盘接通的多个通槽，所述混合管内固定有一号螺旋导轨，混合管与所述中空盘活动连接。
作为本发明再进一步的方案：所述间歇下料机构包括固定安装在所述储药罐上且与所述中空盘固定连接的中空管，所述中空管内活动安装有贯穿所述储药罐的导料管，所述导料管远离所述中空盘的一端固定有与所述储药罐配合的密封垫，所述本体内设置有与所述中空管和所述导料管连接的弹性组件，所述弹性组件与所述传动杆连接。
作为本发明再进一步的方案：所述弹性组件包括开设在所述中空管上的卡槽、开设在所述导料管上的出料槽、套设在所述中空管上的弹簧，所述本体内设置有与所述导料管和所述弹簧连接的限位结构。
作为本发明再进一步的方案：所述限位结构包括固定安装在所述导料管上且与所述卡槽卡合的限位环，所述限位环上固定有倾斜板，所述传动杆上固定有与所述倾斜板配合的限位轮，所述限位环与所述弹簧抵接。
作为本发明再进一步的方案：所述输液机构包括固定安装在所述本体内的活塞缸，所述活塞缸上固定有与所述混料桶接通的输送管，所述输送管内固定有二号螺旋导轨，所述活塞缸上接通有与所述喷头固定连接的导管，所述本体内设置有与所述活塞缸连接的从动组件，所述从动组件与所述往复组件连接。
作为本发明再进一步的方案：所述从动组件包括固定安装在所述活塞缸上的限位套筒，所述限位套筒内活动安装有贯穿所述活塞缸的活动杆，所述活动杆上固定有与所述活塞缸活动连接的活塞，所述活动杆远离所述活塞的一端固定有连接板，所述连接板与所述往复组件连接。
作为本发明再进一步的方案：所述往复组件包括转动安装在所述支撑板上的转动杆，所述转动杆上固定有转盘，所述转盘上铰接有与所述支撑板铰接的连杆，所述转动杆上套设有与所述传动杆连接的皮带。
与现有技术相比，本发明的有益效果是：本申请可对药液进行二次混合，并在混合完成后输送至绿植上，在混匀机构的作用下，将水箱中的水输送至混料桶内，同时，混匀机构还会通过间歇下料机构将储药罐内的药液间歇输送至混料桶内，在混匀机构的作用下，对药液进行混合，混匀机构还会带动往复组件运动，从而带动输液机构运动，使得混料桶的药液输送至喷头处，并通过喷头排出。
 附图说明
图1为具有自动均匀混药功能的植保机器人一种实施例的结构示意图。
图2为具有自动均匀混药功能的植保机器人一种实施例中又一角度的结构示意图。
图3为具有自动均匀混药功能的植保机器人一种实施例中的半剖结构示意图。
图4为图3中A处的结构放大示意图。
图5为具有自动均匀混药功能的植保机器人一种实施例中部分混匀机构、往复组件、部分输液机构的连接关系示意图。
图6为具有自动均匀混药功能的植保机器人一种实施例中部分混匀机构、部分间歇下料机构的连接关系示意图。
图7为具有自动均匀混药功能的植保机器人一种实施例中部分间歇下料机构的爆炸结构示意图。
图8为具有自动均匀混药功能的植保机器人一种实施例中部分输液机构的爆炸结构示意图。
图中：1、本体；2、水箱；3、混料桶；4、水泵；5、水管；6、中空盘；7、混合管；8、一号螺旋导轨；9、通槽；10、电机；11、传动杆；12、限位轮；13、储药罐；14、中空管；15、卡槽；16、导料管；17、出料槽；18、密封垫；19、限位环；20、倾斜板；21、弹簧；22、皮带；23、转动杆；24、支撑板；25、转盘；26、连杆；27、输送管；28、二号螺旋导轨；29、活塞缸；30、活塞；31、活动杆；32、限位套筒；33、连接板；34、导管；35、喷头。
 具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
另外，本发明中的元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
请参阅图1~8，本发明实施例中，一种具有自动均匀混药功能的植保机器人，包括：
本体1，所述本体1内固定有水箱2和混料桶3，所述混料桶3上固定有储药罐13和支撑板24，所述储药罐13用于盛放药液；
详细来说，水箱2内装有水，储药罐13内装有药液，药液需要与水混合进行稀释，混料桶3用于盛放混合后的药液。
请参阅图1-6，混匀机构，设置在所述本体1内且与所述水箱2和所述混料桶3连接，所述混匀机构包括固定安装在所述混料桶3内的中空盘6，所述水箱2上固定有水泵4，所述水泵4上连接有与所述水箱2和所述中空盘6接通的水管5，所述本体1内设置有与所述中空盘6连接的驱动组件，所述驱动组件与所述往复组件和所述间歇下料机构连接，其中，所述驱动组件包括固定安装在所述混料桶3上的电机10，所述混料桶3内转动安装有与所述电机10输出轴连接的传动杆11，所述混料桶3内转动安装有与所述传动杆11固定连接的混合管7，所述混合管7上开设有呈圆周等距设置且与所述中空盘6接通的多个通槽9，所述混合管7内固定有一号螺旋导轨8，混合管7与所述中空盘6活动连接。
需要说明的是，通槽9开设有两组，一组与中空盘6接通，另一组位于混合管7底部，水管5的一端与水箱2连接，另一端与中空盘6连接，当需要进行混药时，需要将水和药液输送至混合管7内进行稀释混合，此时，水泵4工作，并通过水管5将水箱2内的水输送至中空盘6内，中空盘6与通槽9接通，从而使水进入混合管7内，由于混合管7内固定有一号螺旋导轨8，水进入混合管7内时，将会沿着一号螺旋导轨8的轨迹流动，使得水呈螺旋向下流动，并通过开设在混合管7底部的通槽9排出至混料桶3内，同时，电机10工作，带动传动杆11转动，从而带动混合管7转动，以对混料桶3内的溶液进行混合，传动杆11还会带动间歇下料机构运动，并将储药罐13内的药液间歇输送至中空盘6内，在水流冲击的作用下，使得药液跟随水流进入混合管7内，由于水流呈螺旋向下输送，确保药液和水得到充分混合。
请参阅图3-4、图6-7，所述本体1内还设置有与所述混匀机构和所述储药罐13连接的间歇下料机构，所述混匀机构能够通过所述间歇下料机构将所述储药罐13内的药液间歇性的输送至所述混匀机构内，并对药液进行混匀处理，所述间歇下料机构包括固定安装在所述储药罐13上且与所述中空盘6固定连接的中空管14，所述中空管14内活动安装有贯穿所述储药罐13的导料管16，所述导料管16远离所述中空盘6的一端固定有与所述储药罐13配合的密封垫18，所述本体1内设置有与所述中空管14和所述导料管16连接的弹性组件，所述弹性组件与所述传动杆11连接，其中，所述弹性组件包括开设在所述中空管14上的卡槽15、开设在所述导料管16上的出料槽17、套设在所述中空管14上的弹簧21，所述本体1内设置有与所述导料管16和所述弹簧21连接的限位结构，上述提到的所述限位结构包括固定安装在所述导料管16上且与所述卡槽15卡合的限位环19，所述限位环19上固定有倾斜板20，所述传动杆11上固定有与所述倾斜板20配合的限位轮12，所述限位环19与所述弹簧21抵接。
进一步来说，在植保过程中，需要对药液进行稀释，并输送至绿植上，初始状态下，弹簧21处于压缩状态，使得限位环19位于卡槽15朝向中空盘6一侧的行程末端，限位环19还会带动导料管16运动，使得导料管16位于朝向中空盘6方向的行程末端，密封垫18与储药罐13底部抵接，从而确保药液不会进入导料管16内，当水泵4工作时，还需要间歇输送药液至中空盘6内，此时传动杆11转动，带动限位轮12围绕着传动杆11转动，当限位轮12运动至与倾斜板20的倾斜面抵接时，带动倾斜板20运动，从而带动限位环19沿着卡槽15的长度方向运动，并压缩弹簧21，使得导料管16朝向储药罐13内运动，导料管16还会带动密封垫18和出料槽17运动，当出料槽17进入储药罐13内时，储药罐13内的药液将会通过出料槽17进入导料管16内，并输送至中空盘6内，在水流的冲击下，使得药液跟随水流进入混合管7内，当限位轮12运动至与倾斜板20分离时，弹簧21弹性释放，并通过限位环19驱动导料管16朝向初始位置运动，使得出料槽17和密封垫18运动，当出料槽17与储药罐13分离且密封垫18与储药罐13再次抵接时，药液不再输送，重复上述步骤，从而实现间歇下料的效果。
请参阅图1-3、图5、图8，喷头35，对称设置在所述本体1上，所述本体1内设置有与所述喷头35和所述混料桶3连接的输液机构，所述输液机构能够将所述混料桶3内的溶液输送至所述喷头35内，所述输液机构包括固定安装在所述本体1内的活塞缸29，所述活塞缸29上固定有与所述混料桶3接通的输送管27，所述输送管27内固定有二号螺旋导轨28，所述活塞缸29上接通有与所述喷头35固定连接的导管34，所述本体1内设置有与所述活塞缸29连接的从动组件，所述从动组件与所述往复组件连接，其中，所述从动组件包括固定安装在所述活塞缸29上的限位套筒32，所述限位套筒32内活动安装有贯穿所述活塞缸29的活动杆31，所述活动杆31上固定有与所述活塞缸29活动连接的活塞30，所述活动杆31远离所述活塞30的一端固定有连接板33，所述连接板33与所述往复组件连接。
再进一步来说，混料桶3上设置有一个单向阀，单向阀与输送管27接通，活塞缸29上同样设置有一个单向阀，此单向阀与导管34接通，初始状态下，活塞30位于朝向混料桶3方向的行程末端，当药液混合完成后，传动杆11将会驱动往复组件运动，从而带动连接板33运动，使得活动杆31沿着限位套筒32的长度方向运动，且活动杆31朝向远离混料桶3的方向运动，限位套筒32内开设有限位槽，活动杆31上固定有与所述限位槽卡合的限位杆，确保活动杆31在运动时不会发生偏移，活动杆31还会带动活塞30运动，使得活塞缸29内的压强变化，从而通过输送管27将混料桶3内的药液吸入活塞缸29内，药液将会流经二号螺旋导轨28，使得药液呈螺旋状进入活塞缸29内，从而对药液起到再次混合的效果，当活动杆31运动至行程末端时，在往复组件的作用下，使得活动杆31朝向混料桶3方向运动，使得活塞缸29内的药液通过导管34输送至喷头35内，并通过喷头35排出，重复上述步骤，从而实现对药液二次混匀后输送至绿植内。
请参阅图3、图5，往复组件，设置在所述本体1内且与所述混匀机构和所述输液机构连接，所述混匀机构能够通过所述往复组件驱动所述输液机构运动，所述往复组件包括转动安装在所述支撑板24上的转动杆23，所述转动杆23上固定有转盘25，所述转盘25上铰接有与所述连接板33铰接的连杆26，所述转动杆23上套设有与所述传动杆11连接的皮带22。
优选的，当传动杆11转动时，通过皮带22带动转动杆23转动，从而带动转盘25转动，转盘25还会带动连杆26运动，从而驱动连接板33往复运动，使得活塞30在活塞缸29内往复运动。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。 
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (9)

  1. 一种具有自动均匀混药功能的植保机器人，其特征在于，包括：
    本体（1），所述本体（1）内固定有水箱（2）和混料桶（3），所述混料桶（3）上固定有储药罐（13）和支撑板（24），所述储药罐（13）用于盛放药液；
    混匀机构，设置在所述本体（1）内且与所述水箱（2）和所述混料桶（3）连接，所述本体（1）内还设置有与所述混匀机构和所述储药罐（13）连接的间歇下料机构，所述混匀机构能够通过所述间歇下料机构将所述储药罐（13）内的药液间歇性的输送至所述混匀机构内，并对药液进行混匀处理；
    喷头（35），对称设置在所述本体（1）上，所述本体（1）内设置有与所述喷头（35）和所述混料桶（3）连接的输液机构，所述输液机构能够将所述混料桶（3）内的溶液输送至所述喷头（35）内；
    往复组件，设置在所述本体（1）内且与所述混匀机构和所述输液机构连接，所述混匀机构能够通过所述往复组件驱动所述输液机构运动。
  2. 根据权利要求1所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述混匀机构包括固定安装在所述混料桶（3）内的中空盘（6），所述水箱（2）上固定有水泵（4），所述水泵（4）上连接有与所述水箱（2）和所述中空盘（6）接通的水管（5），所述本体（1）内设置有与所述中空盘（6）连接的驱动组件，所述驱动组件与所述往复组件和所述间歇下料机构连接。
  3. 根据权利要求2所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述驱动组件包括固定安装在所述混料桶（3）上的电机（10），所述混料桶（3）内转动安装有与所述电机（10）输出轴连接的传动杆（11），所述混料桶（3）内转动安装有与所述传动杆（11）固定连接的混合管（7），所述混合管（7）上开设有呈圆周等距设置且与所述中空盘（6）接通的多个通槽（9），所述混合管（7）内固定有一号螺旋导轨（8），混合管（7）与所述中空盘（6）活动连接。
  4. 根据权利要求3所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述间歇下料机构包括固定安装在所述储药罐（13）上且与所述中空盘（6）固定连接的中空管（14），所述中空管（14）内活动安装有贯穿所述储药罐（13）的导料管（16），所述导料管（16）远离所述中空盘（6）的一端固定有与所述储药罐（13）配合的密封垫（18），所述本体（1）内设置有与所述中空管（14）和所述导料管（16）连接的弹性组件，所述弹性组件与所述传动杆（11）连接。
  5. 根据权利要求4所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述弹性组件包括开设在所述中空管（14）上的卡槽（15）、开设在所述导料管（16）上的出料槽（17）、套设在所述中空管（14）上的弹簧（21），所述本体（1）内设置有与所述导料管（16）和所述弹簧（21）连接的限位结构。
  6. 根据权利要求5所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述限位结构包括固定安装在所述导料管（16）上且与所述卡槽（15）卡合的限位环（19），所述限位环（19）上固定有倾斜板（20），所述传动杆（11）上固定有与所述倾斜板（20）配合的限位轮（12），所述限位环（19）与所述弹簧（21）抵接。
  7. 根据权利要求1所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述输液机构包括固定安装在所述本体（1）内的活塞缸（29），所述活塞缸（29）上固定有与所述混料桶（3）接通的输送管（27），所述输送管（27）内固定有二号螺旋导轨（28），所述活塞缸（29）上接通有与所述喷头（35）固定连接的导管（34），所述本体（1）内设置有与所述活塞缸（29）连接的从动组件，所述从动组件与所述往复组件连接。
  8. 根据权利要求7所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述从动组件包括固定安装在所述活塞缸（29）上的限位套筒（32），所述限位套筒（32）内活动安装有贯穿所述活塞缸（29）的活动杆（31），所述活动杆（31）上固定有与所述活塞缸（29）活动连接的活塞（30），所述活动杆（31）远离所述活塞（30）的一端固定有连接板（33），所述连接板（33）与所述往复组件连接。
  9. 根据权利要求8所述的一种具有自动均匀混药功能的植保机器人，其特征在于，所述往复组件包括转动安装在所述支撑板（24）上的转动杆（23），所述转动杆（23）上固定有转盘（25），所述转盘（25）上铰接有与所述支撑板（33）铰接的连杆（26），所述转动杆（23）上套设有与所述传动杆（11）连接的皮带（22）。
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