1. A pesticide spraying robot for agricultural plant protection machinery and a use method thereof are characterized in that: a pesticide spraying robot for an agricultural plant protection mechanical road comprises a robot body;

the robot body is of a rectangular cavity structure, a medicine box is arranged at the top end of the robot body, and a connecting rod is arranged on one side of the medicine box;

a fixed box is arranged at the rear end inside the robot body, the fixed box is of a rectangular cavity structure, an antenna box is arranged in the fixed box, and an installation plate is arranged at the rear end of the robot body and is matched with the fixed box in position;

a support rod is arranged between the connecting rod and the robot body, and the front end of the connecting rod is provided with an adjusting seat;

the top end of the adjusting seat is provided with a rotating seat, and the rotating seat is connected with the medicine chest through a corrugated hose.

2. A spraying robot for an agricultural plant protection machine according to claim 1, wherein: the antenna box comprises clamping grooves, two groups of clamping grooves are formed in the rear end of the antenna box and are distributed in a symmetrical mode, and the antenna box is arranged on the mounting plate.

3. A spraying robot for an agricultural plant protection machine according to claim 2, wherein: the mounting panel includes telescopic link, baffle, T type spout and splint, and the mounting panel passes through pivot and fixed box hinged joint, and is equipped with two telescopic links between mounting panel and the fixed box, and mounting panel top front side is equipped with two baffles, and mounting panel top rear side is opened and is equipped with two T type spouts, and all is equipped with splint in the T type spout to two splint distribute with the baffle symmetric mode.

4. A spraying robot for an agricultural plant protection machine according to claim 3, wherein: the clamping plate comprises a clamping block, a sliding rod and an extension spring, the clamping block is arranged at the front end of the clamping plate, the sliding rod penetrates through the bottom of the clamping plate, the clamping plate is connected with the sliding rod in a sliding mode, and the extension spring is sleeved on the sliding rod.

5. A spraying robot for an agricultural plant protection machine according to claim 4, wherein: the two ends of the extension spring are respectively connected with the clamping plate and the side wall of the T-shaped sliding groove, and the clamping plate is clamped with the clamping groove through the clamping block.

6. A spraying robot for an agricultural plant protection machine according to claim 1, wherein: the connecting rod includes support frame, first cylinder and mount, and the connecting rod rear end rotates and is connected with the mount, and mount fixed mounting is equipped with the support frame on the mount on the robot body top, and is equipped with first cylinder on the support frame to the push rod and the connecting rod hinged joint of first cylinder, the connecting rod is connected with the bracing piece through adjusting the seat.

7. A spraying robot for an agricultural plant protection machine according to claim 6, wherein: adjust the seat and include motor, driving gear, driven gear and rotation cardboard, be equipped with the motor through screw fixed mounting on adjusting the seat, and be equipped with the driving gear in the pivot of motor, it is connected with driven gear through the pivot rotation to adjust the seat top, and driven gear is connected with the driving gear meshing, it is equipped with the rotation cardboard to adjust the seat bottom, and rotate the cardboard and all rotate through pivot and connecting rod and bracing piece and be connected, the V type bayonet socket has been seted up on the rotation cardboard, and the bracing piece rotates the V type bayonet socket department of joint in rotation cardboard.

8. A spraying robot for an agricultural plant protection machine according to claim 1, wherein: the rotating seat comprises a spray head, a rotating rod, a rotating frame and a separation blade, the rotating seat is arranged on the top end of a rotating shaft of the driven gear, the rotating seat is connected with the adjusting seat in a rotating mode through the rotating shaft, the spray head is arranged on one side of the rotating seat, the rotating rod is arranged at the nozzle opening of the spray head, the rotating frame is provided with two rotating frames, the rotating frame is connected with the nozzle opening of the spray head in a rotating mode through the rotating rod, the two rotating frames are of a trapezoidal frame structure, and the inner side of the rotating frame is provided with the two separation blades.

9. A spraying robot for an agricultural plant protection machine according to claim 6, characterized in that: the support rod comprises a pulley, a slide rail and a second cylinder, the slide rail is fixedly mounted at the top end of the robot body, the second cylinder is arranged in a groove in the middle of the slide rail, the end part of the support rod is provided with the pulley, the support rod is connected with the slide rail in a rolling mode through the pulley, and the end part of a push rod of the second cylinder is connected with the support rod in a rotating mode.

10. The use method of the spraying robot for the agricultural plant protection machinery according to claim 1, characterized by comprising the following steps:

01) firstly, the antenna box is arranged between the clamping plate and the baffle plate, and the clamping plate is clamped with the clamping groove through the clamping block;

02) utilize extension spring's elastic action, with antenna box stable mounting on the mounting panel, rotate the mounting panel simultaneously and can receive and release antenna box in fixed incasement.

03) In addition, when the second cylinder is in an opening state, the telescopic rod of the second cylinder pushes the support rod to slide forwards along the slide rail;

04) the supporting rod is fixed in a vertical state through the V-shaped bayonet of the rotating clamping plate, so that the supporting rod, the connecting rod and the top surface of the robot body form a triangular structure, and thus, the lifting process of the rotating seat in the device is completed.

Background

In order to prevent and control the plant diseases and insect pests of trees, pesticide is sprayed on the trees, and in order to improve the working conditions and prevent the pesticide from poisoning operators, a robot for spraying pesticide is developed in Japan. The robot is provided with an induction sensor, an automatic spraying control device (namely, a computer which can process signals from various sensors and control various actuating elements), a pressure sensor and the like.

For example, application No.: CN201811120697.0 provides an agricultural plant protection robot of self-balancing belongs to agricultural machine technical field, mainly by agricultural solution splendid attire container, walking wheel, self-balancing unit, machine vision module, laser tracking module, variable spray application liquid device, static bearing support, remote control unit, group battery, spout required pipeline of application liquid etc. and constitute. The invention aims to provide a single-wheel agricultural plant protection robot with self-balancing performance, which can accurately or variably spray agricultural liquid medicament or liquid fertilizer in the working process and can automatically or semi-automatically operate. The popularization of the invention can reduce the labor intensity of farmers and protect the life health of the farmers. Compared with the existing high-ground-clearance pesticide spraying machine, the invention can reduce the damage of plant protection operation to crop seedlings, and compared with the existing plant protection unmanned aerial vehicle, the invention can obviously reduce the fogdrop drifting.

Present agricultural plant protection machine tool is with spouting medicine robot when using, antenna box connection structure is complicated in the device, be not convenient for change and maintenance, pesticide and dust cause the pollution to the antenna box easily simultaneously, and when highly adjusting the shower nozzle, the shower nozzle rocks by the recoil influence when spraying the medicine owing to the shower nozzle, lead to holistic stability nature of falling, sand and stone in farmland or orchard and deadwood block up the shower nozzle easily simultaneously, need regularly clear up the shower nozzle, can consume a large amount of time, and the work efficiency is reduced.

In view of the above, research and improvement are made in view of the existing structure and defects, and a pesticide spraying robot for an agricultural plant protection machine and a use method thereof are provided, so as to achieve the purpose of higher practical value.

Disclosure of Invention

In order to solve the technical problems, the invention provides a pesticide spraying robot for an agricultural plant protection mechanical path and a using method thereof, and aims to solve the problems that when the existing pesticide spraying robot for the agricultural plant protection mechanical path is used, an antenna box connecting structure in the device is complex, the replacement and the maintenance are inconvenient, pesticide and dust easily pollute the antenna box, when the height of a spray head is adjusted, the spray head is shaken under the influence of recoil when spraying pesticide, so that the stability and the reduction of the whole are caused, and meanwhile, sand stones and dead branches in farmlands or orchards easily block the spray head, so that the spray head needs to be cleaned regularly, a large amount of time is consumed, and the working efficiency is reduced.

The invention relates to a pesticide spraying robot for an agricultural plant protection mechanical road and an application method thereof, and aims and effects are achieved by the following specific technical means:

a pesticide spraying robot for agricultural plant protection machinery and a use method thereof comprise a robot body;

the robot body is of a rectangular cavity structure, a medicine box is arranged at the top end of the robot body, and a connecting rod is arranged on one side of the medicine box;

a fixed box is arranged at the rear end inside the robot body, the fixed box is of a rectangular cavity structure, an antenna box is arranged in the fixed box, and an installation plate is arranged at the rear end of the robot body and is matched with the fixed box in position;

a support rod is arranged between the connecting rod and the robot body, and the front end of the connecting rod is provided with an adjusting seat;

the top end of the adjusting seat is provided with a rotating seat, and the rotating seat is connected with the medicine chest through a corrugated hose.

Further, the antenna box includes the draw-in groove, and two sets of draw-in grooves have been seted up to antenna box rear end, and two sets of draw-in grooves are the symmetric mode and distribute to the antenna box sets up on the mounting panel.

Further, the mounting panel includes telescopic link, baffle, T type spout and splint, and the mounting panel passes through pivot and fixed case hinged joint, and is equipped with two telescopic links between mounting panel and the fixed case, and mounting panel top front side is equipped with two baffles, and mounting panel top rear side is opened and is equipped with two T type spouts, and all is equipped with splint in the T type spout to two splint distribute with the baffle symmetry mode.

Further, splint include fixture block, slide bar and extension spring, and the splint front end is equipped with the fixture block, and the slide bar has run through to splint bottom, and splint and slide bar sliding connection to the cover is equipped with extension spring on the slide bar.

Furthermore, the two ends of the extension spring are respectively connected with the clamping plate and the side wall of the T-shaped sliding groove, and the clamping plate is clamped with the clamping groove through the clamping block.

Further, the connecting rod includes support frame, first cylinder and mount, and the connecting rod rear end rotates and is connected with the mount, and mount fixed mounting is equipped with the support frame on the mount on the robot body top, and is equipped with first cylinder on the support frame to the push rod and the connecting rod hinged joint of first cylinder, the connecting rod is connected with the bracing piece through adjusting the seat.

Further, adjust the seat and include motor, driving gear, driven gear and rotation cardboard, be equipped with the motor through screw fixed mounting on adjusting the seat, and be equipped with the driving gear in the pivot of motor, it is connected with driven gear to adjust the seat top through the pivot rotation, and driven gear is connected with driving gear engagement, it is equipped with the rotation cardboard to adjust the seat bottom, and rotate the cardboard and all rotate through pivot and connecting rod and bracing piece and be connected, the V type bayonet socket has been seted up on the rotation cardboard, and the bracing piece rotates the V type bayonet socket department of joint in rotation cardboard.

Further, the rotating seat comprises a spray head, a rotating rod, a rotating frame and a separation blade, the rotating seat is arranged on the top end of the rotating shaft of the driven gear, the rotating seat is connected with the adjusting seat in a rotating mode through the rotating shaft, the spray head is arranged on one side of the rotating seat, the rotating rod is arranged at the nozzle opening of the spray head, two rotating frames are arranged on the rotating rod and connected with the nozzle opening of the spray head in a rotating mode through the rotating rod, the two rotating frames are of a trapezoidal frame structure, and the separation blade is arranged on the inner side of the frame of the rotating frame. .

Furthermore, the bracing piece includes pulley, slide rail and second cylinder, and slide rail fixed mounting is in robot body top, and the second cylinder sets up in the middle recess of slide rail, and the bracing piece tip is equipped with the pulley, and the bracing piece passes through pulley and slide rail roll connection to the push rod tip and the bracing piece of second cylinder rotate to be connected.

The invention discloses a using method of a pesticide spraying robot for an agricultural plant protection mechanical road, which is characterized by comprising the following steps of:

01) firstly, the antenna box is arranged between the clamping plate and the baffle plate, and the clamping plate is clamped with the clamping groove through the clamping block;

02) utilize extension spring's elastic action, with antenna box stable mounting on the mounting panel, rotate the mounting panel simultaneously and can receive and release antenna box in fixed incasement.

03) In addition, when the second cylinder is in an opening state, the telescopic rod of the second cylinder pushes the support rod to slide forwards along the slide rail;

04) the supporting rod is fixed in a vertical state through the V-shaped bayonet of the rotating clamping plate, so that the supporting rod, the connecting rod and the top surface of the robot body form a triangular structure, and thus, the lifting process of the rotating seat in the device is completed.

Compared with the prior art, the invention has the following beneficial effects:

1. because the rotating rod is arranged at the nozzle orifice, the rotating rod is provided with two rotating frames, the rotating frames are rotatably connected with the nozzle orifice through the rotating rod, the two rotating frames are both in a trapezoidal frame structure, and two blocking pieces are arranged on the inner sides of the rotating frame frames, the rotating frames can rotate through liquid medicine sprayed out of the nozzles in the pesticide spraying process, and the nozzles are effectively prevented from being blocked by sand and withered branches in farmlands or orchards;

2. the antenna box is arranged between the clamping plate and the baffle plate, the clamping plate is clamped with the clamping groove through the clamping block, the antenna box is stably arranged on the mounting plate by utilizing the elastic action of the extension spring, and meanwhile, the antenna box can be stored in the fixed box by rotating the mounting plate, so that the connecting structure is simple, the antenna box is convenient to replace and maintain, and the pollution of pesticide and dust to the antenna box can be reduced;

3. when the second cylinder is the open mode, promote the bracing piece and slide forward along the slide rail to fixed being the vertical state with the bracing piece through the V type bayonet socket that rotates the cardboard, making bracing piece, connecting rod and robot top surface constitute the triangle-shaped structure, it is more firm to make the connecting rod support to rotate the seat, thereby reduces and rocks owing to the recoil production when the shower nozzle sprays the medicine, strengthens holistic stability.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic view of the present invention.

Fig. 2 is a schematic view of the rotated view structure of fig. 1.

Fig. 3 is a schematic structural view of the antenna box of the present invention in a state of being separated from the mounting plate.

Fig. 4 is a structural schematic diagram of the mounting plate of the present invention in an exploded state.

Fig. 5 is a schematic structural view of a part of the top part of the robot body of the present invention.

Fig. 6 is a schematic view of a triangular structure formed by the support rod, the connecting rod and the top surface of the robot body led out from fig. 5.

Fig. 7 is a schematic view of the structure of the adjusting seat of the present invention.

Fig. 8 is a schematic view of the internal structure of the head according to the present invention.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. a robot body; 2. a medicine chest; 3. an antenna box; 301. a card slot; 4. mounting a plate; 401. a telescopic rod; 402. a baffle plate; 403. a T-shaped chute; 404. a splint; 40401. a clamping block; 40402. a slide bar; 40403. an extension spring; 5. a fixed box; 6. a connecting rod; 601. a support frame; 602. a first cylinder; 603. a fixed mount; 7. an adjusting seat; 701. a motor; 702. a driving gear; 703. a driven gear; 704. rotating the clamping plate; 8. a rotating seat; 801. a spray head; 802. a rotating rod; 803. a rotating frame; 804. a baffle plate; 9. a support bar; 901. a pulley; 902. a slide rail; 903. a second cylinder; 10. a corrugated hose.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

as shown in figures 1 to 8:

the invention provides a pesticide spraying robot for an agricultural plant protection mechanical path and a using method thereof, wherein the pesticide spraying robot comprises a robot body 1, and a fixing box 5 is arranged at the rear end position in the robot body 1; the fixed box 5 is of a rectangular cavity structure, and an antenna box 3 is arranged in the fixed box 5; the antenna box 3 comprises clamping grooves 301, two groups of clamping grooves 301 are formed in the rear end of the antenna box 3, and the two groups of clamping grooves 301 are distributed in a symmetrical mode; the rear end of the robot body 1 is provided with a mounting plate 4, and the mounting plate 4 is matched with the fixed box 5 in position; the mounting plate 4 comprises an expansion link 401, a baffle 402, T-shaped chutes 403 and clamping plates 404, the mounting plate 4 is hinged with the fixed box 5 through a rotating shaft, two expansion links 401 are arranged between the mounting plate 4 and the fixed box 5, two baffles 402 are arranged on the front side of the top end of the mounting plate 4, two T-shaped chutes 403 are arranged on the rear side of the top end of the mounting plate 4, the clamping plates 404 are arranged in the T-shaped chutes 403, and the two clamping plates 404 and the baffles 402 are symmetrically distributed; a medicine box 2 is arranged at the top end of the robot body 1; the top end of the robot body 1 is provided with a connecting rod 6, and a supporting rod 9 is arranged between the connecting rod 6 and the robot body 1; the supporting rod 9 comprises a pulley 901, a sliding rail 902 and a second cylinder 903, the sliding rail 902 is fixedly mounted at the top end of the robot body 1, the second cylinder 903 is arranged in a groove in the middle of the sliding rail 902, the pulley 901 is arranged at the end part of the supporting rod 9, the supporting rod 9 is in rolling connection with the sliding rail 902 through the pulley 901, and the end part of a push rod of the second cylinder 903 is in rotating connection with the supporting rod 9; the connecting rod 6 comprises a supporting frame 601, a first cylinder 602 and a fixing frame 603, the fixing frame 603 is rotatably connected to the rear end of the connecting rod 6, the fixing frame 603 is fixedly mounted at the top end of the robot body 1, the supporting frame 601 is arranged on the fixing frame 603, the first cylinder 602 is arranged on the supporting frame 601, and a push rod of the first cylinder 602 is hinged to the connecting rod 6; the front end of the connecting rod 6 is provided with an adjusting seat 7; the top end of the adjusting seat 7 is provided with a rotating seat 8, and the rotating seat 8 is connected with the medicine chest 2 through a corrugated hose 10.

The specific structure and working principle of the robot body 1 are the existing mature technology, and will not be described herein.

Wherein, splint 404 includes fixture block 40401, slide bar 40402 and extension spring 40403, splint 404 front end is equipped with fixture block 40401, splint 404 bottom is run through there is slide bar 40402, and splint 404 and slide bar 40402 sliding connection, the cover is equipped with extension spring 40403 on the slide bar 40402, and extension spring 40403 both ends are connected with splint 404 and T type spout 403 lateral wall respectively, antenna box 3 sets up between splint 404 and baffle 402, splint 404 passes through fixture block 40401 and draw-in groove 301 looks joint, utilize extension spring 40403's elastic action, install antenna box 3 stably on mounting panel 4, rotate mounting panel 4 simultaneously and can receive and release antenna box 3 in fixed box 5, its connection structure is simple, be convenient for change and maintenance of antenna box 3, and can reduce the pollution of pesticide and dust to antenna box 3.

Wherein, the adjusting seat 7 comprises a motor 701, a driving gear 702, a driven gear 703 and a rotating chuck plate 704, the adjusting seat 7 is fixedly provided with the motor 701 through a screw, the rotating shaft of the motor 701 is provided with the driving gear 702, the top end of the adjusting seat 7 is rotatably connected with the driven gear 703 through the rotating shaft, the driven gear 703 is meshed with the driving gear 702, the bottom end of the adjusting seat 7 is provided with the rotating chuck plate 704, the rotating chuck plates 704 are rotatably connected with the connecting rod 6 and the supporting rod 9 through the rotating shaft, the rotating chuck plate 704 is provided with a V-shaped bayonet, the supporting rod 9 is rotatably clamped at the V-shaped bayonet of the rotating chuck plate 704, the second air cylinder 903 provides power to push the supporting rod 9 to slide forwards along the sliding rail 902, the supporting rod 9 is fixed to be in a vertical state through the V-shaped bayonet of the rotating chuck plate 704, so that the supporting rod 9, the connecting rod 6 and the top surface of the robot body 1 form a triangular structure, make connecting rod 6 support and rotate seat 8 more firm to the reduction is rocked because recoil production when shower nozzle 801 sprays the medicine, strengthens holistic stability.

Wherein, the rotating seat 8 comprises a spray head 801, a rotating rod 802, a rotating frame 803 and a blocking piece 804, the rotating seat 8 is arranged at the top end of a rotating shaft of the driven gear 703, the rotating seat 8 is rotatably connected with the adjusting seat 7 through the rotating shaft, the spray head 801 is arranged on one side of the rotating seat 8, the rotating rod 802 is arranged at the pipe orifice of the spray head 801, two rotating frames 803 are arranged on the rotating rod 802, the rotating frames 803 are rotatably connected with the pipe orifice of the spray head 801 through the rotating rod 802, the two rotating frames 803 are both in a trapezoidal frame structure, two blocking pieces 804 are arranged on the inner side of the frame of the rotating frames 803, during pesticide spraying, the rotating frames 803 can rotate through the liquid medicine sprayed by the spray head 801, and the spray head 801 is effectively prevented from being blocked by sand stones and dead branches in farmlands or orchards.

In another embodiment, a restoring spring is arranged in the sliding rail 902 and is located in the middle of the sliding rail 902, and the restoring spring is supported between the bottom end of the supporting rod 9 and the side wall of the sliding rail 902, when the supporting rod 9 moves along the sliding rail 902 through the pulley 901, the supporting rod 9 can stably support the rotating seat 8 by using the elastic action of the restoring spring, so that the spraying nozzle 801 can be more stable when spraying the medicine.

The specific use mode and function of the embodiment are as follows:

firstly, the antenna box 3 is arranged between a clamping plate 404 and a baffle 402, the clamping plate 404 is clamped with a clamping groove 301 through a clamping block 40401, the antenna box 3 is stably arranged on the mounting plate 4 by utilizing the elastic action of an extension spring 40403, and meanwhile, the antenna box 3 can be stored in the fixed box 5 by rotating the mounting plate 4, so that the connection structure is simple, the antenna box 3 is convenient to replace and maintain, and the pollution of pesticide and dust to the antenna box 3 can be reduced;

secondly, the bottom end of the adjusting seat 7 is provided with a rotating clamping plate 704, the rotating clamping plate 704 is rotatably connected with the connecting rod 6 and the supporting rod 9 through a rotating shaft, a V-shaped bayonet is formed in the rotating clamping plate 704, the supporting rod 9 is rotatably clamped at the V-shaped bayonet of the rotating clamping plate 704, power is provided by a second air cylinder 903, the supporting rod 9 is pushed to slide forwards along the sliding rail 902, the supporting rod 9 is fixed in a vertical state through the V-shaped bayonet of the rotating clamping plate 704, the supporting rod 9, the connecting rod 6 and the top surface of the robot body 1 form a triangular structure, the connecting rod 6 is enabled to support the rotating seat 8 more firmly, and therefore shaking caused by recoil when the spray head 801 sprays medicines is reduced, and the stability of the whole is enhanced;

in addition, a rotating rod 802 is arranged at the pipe orifice of the spray head 801, two rotating frames 803 are arranged on the rotating rod 802, the rotating frames 803 are rotatably connected with the pipe orifice of the spray head 801 through the rotating rod 802, the two rotating frames 803 are both in a trapezoidal frame structure, two blocking pieces 804 are arranged on the inner sides of the frames of the rotating frames 803, and in the pesticide spraying process, the rotating frames 803 can rotate through liquid medicine sprayed out of the spray head 801, so that sand and stones and dry branches in farmlands or orchards can be effectively prevented from blocking the spray head 801.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.