CN101785450B - Fruit tree imitating precision spraying locomotive - Google Patents

Fruit tree imitating precision spraying locomotive Download PDF

Info

Publication number
CN101785450B
CN101785450B CN2009103126496A CN200910312649A CN101785450B CN 101785450 B CN101785450 B CN 101785450B CN 2009103126496 A CN2009103126496 A CN 2009103126496A CN 200910312649 A CN200910312649 A CN 200910312649A CN 101785450 B CN101785450 B CN 101785450B
Authority
CN
China
Prior art keywords
fan
microwave
hydraulic
fruit tree
supporting rod
Prior art date
Application number
CN2009103126496A
Other languages
Chinese (zh)
Other versions
CN101785450A (en
Inventor
汪小旵
孙国祥
丁为民
傅锡敏
Original Assignee
南京农业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京农业大学 filed Critical 南京农业大学
Priority to CN2009103126496A priority Critical patent/CN101785450B/en
Publication of CN101785450A publication Critical patent/CN101785450A/en
Application granted granted Critical
Publication of CN101785450B publication Critical patent/CN101785450B/en

Links

Abstract

The invention provides a fruit tree imitating precision spraying locomotive, which can imitate fruit trees, in particular the shape of leaf crown layer of fruit trees to spray, to reduce droplet drift and improve working efficiency. The invention comprises a motor vehicle, the chassis of the motor vehicle is provided with a fan supporting rod standing at one side of a crown, the fan supporting rod is connected with a transverse moving power mechanism driving the fan supporting rod to move along the chassis in the transverse direction; the fan supporting rod is fixed with a sleeve rod, a rotary guiding rod is rotationally connected in the sleeve rod; the rotary guiding rod is connected with a rotary power mechanism driving the rotary guiding rod to rotate; an imitated spraying rod for enveloping the upper part and the other side of the crown is hinged on the rotary guiding rod, the rotary guiding rod is connected with an up-down lifting power mechanism driving the rotary guiding rod to swing around the engagement point; a fan blowing to the crown is arranged on the fan supporting rod and the imitated spraying rod, the fan is provided with a spray head; and the spray head is connected with a drug supplying pipe serially connected with a drug spraying pump.

Description

Fruit tree imitating precision spraying locomotive

Technical field

The present invention relates to especially fruit tree imitating precision spraying locomotive of a planting fruit-trees, the smart amount of particularly a kind of employing vehicular ultrasonic automatic profiling fruit tree spraying locomotive.

Background technology

Along with the growing and continuous progress in science and technology of agricultural mechanization, also more and more higher to the specification requirement of agricultural tool.The orchard plant protection operation is directly connected to the growth and the results of fruit, in case prevent and treat the purpose that untimely or control efficiency does not reach control, will make the fruits output underproduction, causes serious economy loss.Particularly the control of orchard damage by disease and insect needs fruit tree is carried out comprehensively evenly spraying agent, more needs the utensil that sprays of efficient quick to improve orchard extermination of disease and insect pest effect.

At present, sprayer by traditional shoulder hands at the back the dynamic formula sprayer develop to the mechanization antomobile sprayer.In well-known sprayer, the prior mechanical sprayer mainly is the feed pipe that the spray tank that is placed on hutching is arranged, connect with the spray tank case, the compression sprayer that links to each other with the feed pipe other end, the outlet pipe that links to each other with the compression sprayer other end, the sparge pipe that links to each other with the outlet pipe other end, the shower nozzle composition that links to each other with the other end of sparge pipe.This mechanical type sprayer adopts single outspoken rod-type shower nozzle usually, causes spraying that coverage rate is narrower, scope is little, makes troubles to use.And, push away go-cart by the user and walk operation in the field, physical demands is big, and spray area is also very limited, and operating efficiency is lower.Application number is 200820114682.9 utility model patents, though solved above shortcoming, this sprayer unit only uses at lower plane and sprays medicament.

Summary of the invention

The purpose of this invention is to provide and a kind ofly can copy the especially fruit tree leaves canopy shape fruit tree imitating precision spraying locomotive of spraying of fruit tree, to reduce float of mist droplet and to improve operating efficiency.

This fruit tree imitating precision spraying locomotive comprises motor vehicle, and motor-vehicle chassis is provided with the fan supporting rod that is erected at tree crown one side, and horizontal horizontal mobile actuating unit that moves is connected fan supporting rod along the chassis with driving it; Be fixed with loop bar on the fan supporting rod, rotating guide is rotationally connected in the loop bar; Rotating guide is connected with the revolving power mechanism that drives its rotation; Be used to wrap the top of cage tree crown and the profile modeling spray bar of opposite side is hinged on rotating guide, rotating guide and drive its oscilaltion actuating unit and be connected around aforementioned pin joint swing; Fan supporting rod and profile modeling spray bar are provided with the fan to the tree crown blowing, and shower nozzle is set on the fan; Shower nozzle is connected with the delivery tube that is in series with spray liquid medicine pump.

The present invention regulates the state of profile modeling spray bar according to the fruit tree profile by the oscilaltion actuating unit.Regulate the distance of fan supporting rod by horizontal mobile actuating unit with respect to fruit tree.Rotate by revolving revolving power mechanism driven rotary guide rod, realization profile modeling spray bar is sprayed around fruit tree.The present invention adopts two-sided staggered form spraying to help reducing float of mist droplet to fruit tree, effectively saves pesticide dosage, and mechanized can be increased work efficiency again simultaneously.

As improvement, the front end that is positioned at the fan on the profile modeling spray bar is provided for detecting the ultrasonic sensor of fan to the tree crown distance, and the output of ultrasonic sensor connects the controlling organization of control oscilaltion actuating unit action.Detect fan on the profile modeling spray bar to the tree crown distance by ultrasonic sensor, and output signal control oscilaltion actuating unit moves, make that the fan on the profile modeling spray bar reaches optimum value to the distance of tree crown.Preferably, the front end that is positioned at the fan on the fan supporting rod is provided for detecting the ultrasonic sensor of fan to the tree crown distance, and the output of ultrasonic sensor connects the controlling organization of the horizontal mobile actuating unit action of control.In like manner, detect fan on the fan supporting rod to the tree crown distance, and output signal controls horizontal mobile actuating unit and move, make that the fan on the fan supporting rod reaches optimum value to the distance of tree crown by ultrasonic sensor.Here it is can be by the ultrasonic smart amount of the vehicular ultrasonic automatic profiling fruit tree spraying locomotive that the profile modeling spray support sprays that automatically adjusts.

As improvement, the fan periphery is equipped with the annular feed pipe that communicates with shower nozzle, and a plurality of shower nozzles are distributed on the annular feed pipe, and delivery tube communicates with annular feed pipe.Employing is distributed on the many nozzle structures on the fan circumference, has improved the spraying uniformity greatly.

As improvement, it also comprises the microwave device of being made up of microwave emission array device and microwaves corresponding receiving array device; Microwave emission array device is rotatably connected on the fan supporting rod by microwave emission array whirligig, and the microwave receiving array apparatus is installed on the profile modeling spray bar; Microwave emission array device rotates synchronously with rotating guide under the drive of microwave emission array whirligig; Microwave emission array device and microwave receiving array apparatus are parallel to each other; Microwave emission receiving array device sends the array structure that transmitter is formed by a plurality of microwaves respectively; The output of microwave device connects the fan wind speed control mechanism that is used to control rotation speed of the fan.When microwave device is primarily implemented in the spray truck spraying, detect the dense degree of fruit tree canopy in real time.Because the different dense degree of canopy of fruit tree will produce different attenuations to microwave, the signal attenuation degree that the microwave emission array device that receives according to the microwave receiving array apparatus sends, the signal that the microwave receiving array apparatus receives is transferred to the fan wind speed control mechanism, with real-time control fan wind speed, fruit tree is carried out the uniformly penetrating spraying, prevent spraying or owed the spraying non-uniform phenomenon of wait spraying, thereby reached the precision spraying optimum efficiency.

As improvement, described fan supporting rod, horizontal mobile actuating unit connection, loop bar, rotating guide, revolving power mechanism, profile modeling spray bar, oscilaltion actuating unit, microwave device, microwave emission array whirligig are two, and are symmetrical arranged with the motor vehicle longitudinal axis.Like this, the present invention has just adopted the symmetrical expression spray structure, can carry out the fruit tree of two row simultaneously and spray, and improves operating efficiency.

Improve as another kind, horizontal mobile actuating unit is laterally to move to drive oil cylinder, and revolving power mechanism drives oil cylinder for rotation, and microwave emission array whirligig is the microwave device rotary oil cylinder, the oscilaltion actuating unit is that oscilaltion drives oil cylinder, and fan is a hydraulic fan motor.Adopt hydraulic-driven, with low cost, be easy to control.Described fan supporting rod, horizontal mobile driving oil cylinder, loop bar, rotating guide, rotation driving oil cylinder, profile modeling spray bar, oscilaltion driving oil cylinder, microwave device, microwave device rotary oil cylinder are two, and be symmetrical arranged with the motor vehicle longitudinal axis, spray with the fruit trees that can carry out two row.

In order further to simplify hydraulic control, consider that simultaneously two adjacent row fruit tree general appearances are basic identical, two laterally mobile driving oil cylinders also are connected on the horizontal mobile oil feed line, be in series with flow speed control valve and choke valve on the horizontal mobile oil feed line, can control two simultaneously by this flow speed control valve and choke valve and laterally move the driving cylinder action.Two oscilaltion driving oil cylinders also are connected on the oscilaltion oil feed line, are in series with flow speed control valve and choke valve on the oscilaltion oil feed line, can control two oscilaltions simultaneously by this flow speed control valve and choke valve and drive cylinder actions.

The microwave device rotary oil cylinder of motor vehicle longitudinal axis both sides and rotation drive oil cylinder connect respectively after, again and be connected on the rotation oil feed line, be in series with flow speed control valve and choke valve on the rotation oil feed line.The microwave device rotary oil cylinder of motor vehicle longitudinal axis one side drives oil cylinder with rotation and connects respectively; the microwave device rotary oil cylinder drives oil cylinder with rotation and keeps working simultaneously; accomplish that synchronous same-speed rotates, and is parallel to each other all the time with microwave emission array device and the microwave receiving device array of guaranteeing motor vehicle longitudinal axis one side.Rotation is in series with flow speed control valve and choke valve on the oil feed line, drives the action of oil cylinder by microwave device rotary oil cylinder and the rotation of controller motor-car longitudinal axis both sides simultaneously of this flow speed control valve and choke valve.Hydraulic fan motor in motor vehicle longitudinal axis one side is connected on the fan oil feed line, be in series with flow speed control valve and choke valve on the fan oil feed line, by this flow speed control valve and the choke valve hydraulic fan motor synchronous same-speed action of controller motor-car longitudinal axis one side simultaneously.

Description of drawings

Fig. 1 is the structural representation of invention.

Fig. 2 is an imitating precision spray bracket structural representation.

Fig. 3 is the hydraulic fan motor structural representation.

Fig. 4 sends array apparatus and microwave receiving array apparatus work schematic diagram for microwave.

Fig. 5 is a hydraulic fan motor hydraulic control schematic diagram.

Fig. 6 is an imitating precision spray bracket hydraulic control schematic diagram.

Fig. 7 is the control panel schematic diagram of operating room.

Fig. 8 is that another kind of microwave sends array apparatus and microwave receiving array apparatus work schematic diagram.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further described, but it is not represented as unique embodiment of the present invention.

Fig. 1: truck 1, operating room 2 is observed speculum 3, agricultural chemicals jar filling opening 4, agricultural chemicals jar 5, hydraulic oil container 6, Air Filter 7, thermovent 8, hydraulic control system mechanical part 9, oil pipe (advancing back between fuel tank and hydraulic control part) 10, oil pipe (the hydraulic control part is advanced back with the hydraulic control system mechanical part) 11, hydraulic control cabinet 12.

Fig. 2: fruit tree signal 13, slide rail 14, left side spacing regulator solution cylinder pressure (horizontal mobile actuating unit laterally moves and drives oil cylinder) 15, fan supporting rod 16, the total bracing frame 17 of hydraulic control system, hydraulic fan motor 18, ultrasonic sensor 19, left side microwave device rotary oil cylinder (microwave emission array whirligig) 20, left side microwave emission array device 21, hydraulic fan motor fixture 22, left side microwave receiving array device 23, left side hydraulic rotating cylinder (revolving power mechanism, rotation drives oil cylinder) 24, rotating guide 25, rotating cylinder loop bar 26, hydraulic cylinder fixture 27, the left side is stretched and is shunk hydraulic cylinder (oscilaltion actuating unit, oscilaltion drives oil cylinder) 28, rotating cylinder loop bar fixture 29, the first rotary joints 30, second rotary joint 31, left side profile modeling spray support (profile modeling spray bar) 32.

Fig. 3: shower nozzle 181, hydraulic fan motor cover 182, annular feed flow aluminum pipe 183.

Fig. 4: fruit tree 13, microwave emission array 21, microwave receiving array 23.

Fig. 5: fan oil circuit oil filter 33, hydraulic pump 34, first overflow valve 35, first return duct 36, first manometer 37, left fan oil circuit choke valve 38, right side fan oil circuit choke valve 39, left side flow controller 40, right side flow controller 41, left side first hydraulic fan motor 42, left side second hydraulic fan motor 43, left side the 3rd hydraulic fan motor 44, left side the 4th hydraulic fan motor 45, right side first hydraulic fan motor 46, right side second hydraulic fan motor 47, right side the 3rd hydraulic fan motor 48, right side the 4th hydraulic fan motor 49, the left side first hydraulic fan motor return duct 50, the left side second hydraulic fan motor return duct 51, left side the 3rd hydraulic fan motor return duct 52, left side the 4th hydraulic fan motor return duct 53, the right side first hydraulic fan motor return duct 54, the right side second hydraulic fan motor return duct 55, right side the 3rd hydraulic fan motor return duct 56, right side the 4th hydraulic fan motor return duct 57.

Fig. 6: profile modeling spray machinery control section oil circuit oil filter 58, second overflow valve 59, second return duct 60, second manometer 61, stretch and shrink hydraulic circuit choke valve 62, between left and right apart from regulating oil circuit choke valve 63, rotating cylinder oil circuit choke valve 64, stretch and shrink hydraulic cylinder direction control valve 65, apart from regulator solution cylinder pressure direction control valve 66, direction of rotation control valve 67 stretches contraction speed control valve 68 between left and right, spacing governing speed control valve 69, rotary speed control valve 70, left side stretch and shrink hydraulic cylinder 71 (being the left side stretching, extension contraction hydraulic cylinder 28 among Fig. 2), and the right side is stretched and shunk hydraulic cylinder 72, left side spacing regulator solution cylinder pressure 73 (being the left side spacing regulator solution cylinder pressure 15 among Fig. 2), right side spacing regulator solution cylinder pressure 74, left side rotating cylinder 75 (being the left side hydraulic rotating cylinder 24 among Fig. 2), right side rotating cylinder 76, left side microwave device rotary oil cylinder 77 (being the left side microwave device rotary oil cylinder 20 among Fig. 2), right side microwave device rotary oil cylinder 78.

Fig. 7: power controling box 79, total power switch 791, pump power switch 792, hydraulic pump power switch 793, mist flow control cabinet 80, fan swicth 801, wind speed adjusting knob 802, spray amount control handle 803, profile modeling spray support control cabinet 81, bracket switch 811 is propped up in manual adjusting, stretches shrinkage direction switch 812, between left and right apart from by-pass cock 813, direction of rotation switch 814, spraying frame stretches contraction speed control handle 815, between left and right apart from governing speed control handle 816, and rotary speed control handle 817, hydraulic pump pressure regulation case 82, hydraulic pump profile modeling spray frame branch road manometer 821 and pressure adjustment knob 823, hydraulic fan motor branch road manometer 822 and pressure adjustment knob 824, microwave device range adjuster 83.

Please read Fig. 1, the smart amount of vehicular ultrasonic automatic profiling fruit tree spraying locomotive, truck 1 loading space rear portion is provided with agricultural chemicals jar 5, agricultural chemicals jar 5 tops are hydraulic oil container 6, Air Filter 7 prevents that mainly dust from entering hydraulic oil container 6, hydraulic oil container 6 connects the oil circuit of 12 in hydraulic oil containers 5 and hydraulic control cabinet by oil pipe 10, hydraulic control cabinet 12 connects the oil circuit of 9 of hydraulic control system mechanical parts by oil pipe 11, medicament can add by agricultural chemicals jar filling opening 4, thermovent 8 main realizations are cooled off the oil of hydraulic oil container 6, are equipped with in the operating room 2 to observe speculum 3 and imitating precision spraying control panel.

Please read Fig. 2, the smart amount of vehicular ultrasonic automatic profiling fruit tree spraying locomotive rearview, the spraying object is a fruit tree 13, hydraulic fan motor 18 is fixed on the fan supporting rod 16 by fixture, regulate in the left side spacing under the effect of cylinder 15, can regulate left fan support bar 16 and on slide rail 14, carry out left and right sides slippage, range finding ultrasonic sensor 19 is housed at the center of hydraulic fan motor 18.

Left side microwave device rotary oil cylinder 20 is installed on the fan supporting rod 16, left side microwave emission array device 21 is installed on the left side microwave device rotary oil cylinder 20, left side microwave receiving array device 23 is installed on the left side profile modeling spray support 32, and left side microwave emission array device is in parallel with left side microwave receiving array device original state.But rotating cylinder 24 driven rotary guide rod 25 under hydraulic-driven in left side rotates in rotating cylinder loop bar 26, and the left side is stretched contraction hydraulic cylinder 28 left side profile modeling spray support 32 under hydraulic-driven and stretched contractile motion.Profile modeling spray support 32 mechanism's states mainly according to the real-time detection information of ultrasonic sensor 19, by hydraulic control system governor motion state, reach fruit tree profile modeling spray purpose.Microwave device detects the full of leaves density of fruit tree canopy in real time simultaneously, regulates the real-time wind speed of hydraulic fan motor group automatically, realizes the precision spraying purpose.The structure of right side humidifier among the figure, function are consistent with structure, the function in left side, no longer describe.

Please read Fig. 3, hydraulic fan motor 18 circumference 8 shower nozzles 181 that evenly distribute, fan guard 182 prevent mainly that fruit tree leaves from coming off to carry out in the fan, at the rear side of hydraulic fan motor 18 annular feed flow aluminum pipe 183 is arranged, and provides spray pharmacy by water pump.

Please read Fig. 4, Fig. 8, left side microwave emission array device 21 launched microwaves pass through fruit tree 13, and microwave is received by left side microwave receiving array device 23.Because the different dense degree of fruit tree will produce different attenuations to microwave, according to the signal attenuation degree that the microwave receiving array received arrives, control hydraulic fan motor wind speed, thus reach the precision spraying optimum efficiency.Referring to Fig. 4, under profile modeling spray support 32 original states, left side microwave emission array device 21 is in parastate with left side microwave receiving array device 23, when profile modeling spray support 32 rotates under the driving of hydraulic rotating cylinder 24, microwave device rotary oil cylinder 20 is rotated with same speed and direction, also keeps the state that is parallel to each other when making left side microwave emission array device 21 with 23 motions of left side microwave receiving array device.It is average as the critical parameter that detects the dense degree of fruit tree that microwave device is got its microwave receiving array attenuation, improved the dense degree detection accuracy of fruit tree.When stretching in the left side, shrinks under hydraulic cylinder 28 drivings on profile modeling spray support 32, make microwave transmission array apparatus and microwave receiving array apparatus no longer be in the state (referring to Fig. 8) that is parallel to each other, reduced the microwave signal received quantity, for this situation, because the spraying control system realizes smart amount control, according to the dense degree mean parameter of the preceding canopy of fruit tree several times, control hydraulic fan wind speed, reduce control deviation, improved spray effect.

Please read Fig. 5; the hydraulic oil that hydraulic pump 34 extracts in the hydraulic oil container 6; carry out impurity screening by fan oil circuit oil filter 33; adopt first overflow valve 35 to carry out the hydraulic system pressure protection; when hydraulic pressure during greater than setting pressure; be back in the hydraulic oil container 6 by first return duct 36, first manometer 37 shows hydraulic pressure this moment in real time.Can realize the switch of left hydraulic motor fan (42-45) by regulating left fan oil circuit choke valve 38, rotating speed by left side flow controller 40 adjusting left hydraulic motor fans (42-45) can be back in the hydraulic oil container 6 by left hydraulic motor fan return duct (50-53) more than hydraulic oil.Can realize the switch of left hydraulic motor fan (46-49) by regulating right side fan oil circuit choke valve 39, rotating speed by right side flow controller 41 adjusting left hydraulic motor fans (46-49) can be back in the hydraulic oil container 6 by left hydraulic motor fan return duct (54-57) more than hydraulic oil.

Please read Fig. 6; the hydraulic oil that hydraulic pump 34 extracts in the hydraulic oil container 6; carry out impurity screening by imitating precision spraying tool control section oil circuit oil filter 58; adopt second overflow valve 59 to carry out the hydraulic system pressure protection; when hydraulic pressure during greater than setting pressure; be back in the hydraulic oil container 6 by second return duct 60, second manometer 61 shows hydraulic pressure this moment in real time.Can shrink the switch that hydraulic circuit choke valve 62 is realized the stretching, extension contraction oil circuit of left and right sides profiling support by regulating to stretch, realize the switch of left and right sides spacing adjusting oil circuit by regulating between left and right apart from regulating oil circuit choke valve 63, realize the switch of left side hydraulic rotating cylinder 24, right side hydraulic rotating cylinder 76, left side microwave device rotary oil cylinder 20, right side microwave device rotary oil cylinder 78 by regulating rotating cylinder oil circuit choke valve 64.Shrink the direction transformation that hydraulic cylinder direction control valve 65 is realized the stretching, extension contraction cylinder (71,72) of left and right sides profiling support by stretching, by realize the direction transformation of left and right sides spacing regulator solution cylinder pressure (73,74) between left and right apart from regulator solution cylinder pressure direction control valve 66, realize the direction of rotation conversion of left side hydraulic rotating cylinder 24, right side hydraulic rotating cylinder 76, left side microwave device rotary oil cylinder 20, right side microwave device rotary oil cylinder 78 by direction of rotation control valve 67.Stretch contraction speed control valve 68 and regulate the stretching, extension contraction speed of both sides profiling support, spacing governing speed control valve 69 regulate both sides between left and right apart from governing speed, rotary speed control valve 70 is regulated the rotary speed of left side hydraulic rotating cylinders 24, right side hydraulic rotating cylinder 76, left side microwave device rotary oil cylinder 20, right side microwave device rotary oil cylinder 78.

Please read Fig. 7, total power switch 791 is arranged on the power controling box 79, pump power switch 792, hydraulic pump power switch 793,

All switches on the opening power control cabinet, imitating precision spraying enters duty, also can open respective switch on demand respectively; Open and close fan by fan swicth on the mist flow control cabinet 80 801, regulate fan revolution speed, by spray amount control handle 803 control spray amount by wind speed adjusting knob 802; There is manual adjusting to prop up bracket switch 811 on the profile modeling spray support control cabinet 81, can according to circumstances select manual operation or operation automatically, when operating automatically, the shape that the profile modeling spray frame is directly regulated the profile modeling spray frame according to ultrasonic sensor real time distance data, can be according to the actual job needs, by stretching contraction speed control handle 815, between left and right apart from governing speed control handle 816, rotary speed control handle 817 is regulated the responsiveness of profile modeling spray frame; Can pass through hydraulic pump profile modeling spray frame branch road pressure 821 and hydraulic fan motor branch road pressure 822 on pressure adjustment knob (813,814) the adjusting spraying frame hydraulic pump pressure regulation case 82.Microwave device range adjuster 83 links to each other with microwave emission array device, with according to the different sizes of fruit tree crown diameter, controls the microwave emitted power, satisfies different microwave hops, satisfies actual precision spraying requirement.

Among the present invention, the truck loading space is provided with agricultural chemicals jar, hydraulic oil container, hydraulic control system mechanical part and switch board, wherein the hydraulic control system mechanical part is mainly realized the frame for movement of fruit tree profiling, will comprise diesel generating set in the switch board, water pump, hydraulic pump and control valve etc.Water pump pipette and return duct insert in the agricultural chemicals jar, and hydraulic pump pipette and return duct insert in the hydraulic oil container.Diesel generating set is embodied as hydraulic control system and spray liquid medicine pump provides power supply.Hydraulic control system mainly comprises: the profile modeling spray support stretches and shrinks hydraulic cylinder, between left and right apart from the regulator solution cylinder pressure, and rotating hydraulic cylinder, oil filter, reversal valve, flow control valve, choke valve, compositions such as manometer.According to the fruit tree external form, by stretching the state that hydraulic cylinder is regulated the profiling support that shrinks.According to two row fruit tree spacings, by regulate the spacing of left and right sides support between left and right apart from the regulator solution cylinder pressure.Realize spraying by the rotating hydraulic cylinder around fruit tree.The spraying part mainly comprises: spray liquid medicine pump, water pipe, hydraulic fan motor, ultrasonic sensor, microwave device, compositions such as flow control valve, annular feed pipe and a plurality of shower nozzle are housed on hydraulic fan motor, ultrasonic sensor is contained in the front end center of hydraulic fan motor, detect the distance of hydraulic fan and integral shroud layer, realize regulating automatically the shape of profile modeling spray frame, microwave device detects the dense degree of fruit tree canopy in real time, the different wind speed of control hydraulic fan motor output, thus satisfy imitating precision spraying requirement.The indoor profile modeling spray electrical locomotive power control cabinet that is provided with of truck operations, mist flow control cabinet, profile modeling spray support control cabinet, hydraulic pump and water-aspirator pressure regulating box, microwave device range adjuster etc.

Described operating room is located in the driver's cabin of truck, and total power switch, pump power switch, hydraulic pump power switch are arranged on the power controling box; Fan swicth, wind speed adjusting knob, spray amount control handle are arranged on the mist flow control cabinet; Have manual adjusting to prop up bracket switch on the profiling support control cabinet, stretch the shrinkage direction switch, between left and right apart from by-pass cock, direction of rotation switch, spraying frame stretch the contraction speed control handle, between left and right apart from governing speed control handle, rotary speed control handle; Hydraulic pump profile modeling spray frame branch road manometer and pressure adjustment knob are arranged, hydraulic fan motor branch road manometer and pressure adjustment knob on the hydraulic pump pressure regulation case; Microwave device range adjuster.

The observation speculum is equipped with in described operating room inside, can be for operating personnel's corresponding situation of fruit tree of profile modeling spray support and car both sides outside the observation ward under situation about need not turn one's head.

Described hydraulic fan motor is fixed on the profile modeling spray frame, and 4 fans are each side arranged, and has 8 tack to be evenly distributed on a week of fan on each fan.

Described annular feed pipe is fixed in the hydraulic fan motor rear side, provides spray liquid by water pump.

The present invention by the ultrasonic sensor real time data, regulates the profiling support by hydraulic control system automatically owing to adopted ultrasonic automatic profiling technology, can carry out the operation of spraying of two row fruit trees simultaneously, has improved the spraying operating efficiency greatly.Adopt windy fan, many nozzle structures, improved the spraying uniformity greatly.Adopt microwave device to detect the dense degree of fruit tree canopy in real time, control the hydraulic fan motor wind speed in real time, carry out the uniformly penetrating spraying, prevent that fruit tree from crossing spraying non-uniform phenomenons such as spraying or owe to spray, controls purpose thereby reach smart amount.Adopt the smart amount of vehicular ultrasonic automatic profiling fruit tree spraying locomotive, carry out fruit tree spraying, improved fruit tree spraying efficient greatly, effectively save pesticide dosage and reduced float of mist droplet.The operating room of whole system is located in the driver's cabin of truck, and the operator can be sitting in operating room, and operation profile modeling spray system can select for use automatically and manual operation, prevents that operating personnel are by the possibility of liquid medicine contamination.The present invention is specially adapted to plant atomizing chemical sprays such as the orchard, city fruit tree greenbelt of middle-size and small-size fruit tree.

Claims (9)

1. fruit tree imitating precision spraying locomotive comprises motor vehicle, it is characterized in that: motor-vehicle chassis is provided with the fan supporting rod that is erected at tree crown one side, and horizontal horizontal mobile actuating unit that moves is connected fan supporting rod along the chassis with driving it; Be fixed with loop bar on the fan supporting rod, rotating guide is rotationally connected in the loop bar; Rotating guide is connected with the revolving power mechanism that drives its rotation; Be used to wrap the top of cage tree crown and the profile modeling spray bar of opposite side is hinged on rotating guide, rotating guide and drive its oscilaltion actuating unit and be connected around aforementioned pin joint swing; Fan supporting rod and profile modeling spray bar are provided with the fan to the tree crown blowing, and shower nozzle is set on the fan; Shower nozzle is connected with the delivery tube that is in series with spray liquid medicine pump; This fruit tree imitating precision spraying locomotive also comprises the microwave device of being made up of microwave emission array device and microwaves corresponding receiving array device; Microwave emission array device is rotatably connected on the fan supporting rod by microwave emission array whirligig, and the microwave receiving array apparatus is installed on the profile modeling spray bar; Microwave emission array device rotates synchronously with rotating guide under the drive of microwave emission array whirligig; Microwave emission array device and microwave receiving array apparatus are parallel to each other; Microwave emission receiving array device sends the array structure that transmitter is formed by a plurality of microwaves respectively; The output of microwave device connects the fan wind speed control mechanism that is used to control rotation speed of the fan.
2. fruit tree imitating precision spraying locomotive according to claim 1, it is characterized in that: the front end that is positioned at the fan on the profile modeling spray bar is provided for detecting the ultrasonic sensor of fan to the tree crown distance, and the output of ultrasonic sensor connects the controlling organization of control oscilaltion actuating unit action.
3. fruit tree imitating precision spraying locomotive according to claim 1, it is characterized in that: the front end that is positioned at the fan on the fan supporting rod is provided for detecting the ultrasonic sensor of fan to the tree crown distance, and the output of ultrasonic sensor connects the controlling organization of the horizontal mobile actuating unit action of control.
4. fruit tree imitating precision spraying locomotive according to claim 1 is characterized in that: the fan periphery is equipped with the annular feed pipe that communicates with shower nozzle, and a plurality of shower nozzles are distributed on the annular feed pipe, and delivery tube communicates with annular feed pipe.
5. fruit tree imitating precision spraying locomotive according to claim 1, it is characterized in that: described fan supporting rod, horizontal mobile actuating unit, loop bar, rotating guide, revolving power mechanism, profile modeling spray bar, oscilaltion actuating unit, microwave device, microwave emission array whirligig are two, and are symmetrical arranged with the motor vehicle longitudinal axis.
6. fruit tree imitating precision spraying locomotive according to claim 1, it is characterized in that: horizontal mobile actuating unit drives oil cylinder for laterally moving, revolving power mechanism drives oil cylinder for rotation, microwave emission array whirligig is the microwave device rotary oil cylinder, the oscilaltion actuating unit is that oscilaltion drives oil cylinder, and fan is a hydraulic fan motor; Described fan supporting rod, horizontal mobile driving oil cylinder, loop bar, rotating guide, rotation driving oil cylinder, profile modeling spray bar, oscilaltion driving oil cylinder, microwave device, microwave device rotary oil cylinder are two, and are symmetrical arranged with the motor vehicle longitudinal axis.
7. fruit tree imitating precision spraying locomotive according to claim 6 is characterized in that: two laterally mobile driving oil cylinders also are connected on the horizontal mobile oil feed line, are in series with flow speed control valve and choke valve on the horizontal mobile oil feed line; Two oscilaltion driving oil cylinders also are connected on the oscilaltion oil feed line, are in series with flow speed control valve and choke valve on the oscilaltion oil feed line.
8. fruit tree imitating precision spraying locomotive according to claim 6, it is characterized in that: the microwave device rotary oil cylinder of motor vehicle longitudinal axis both sides and rotation drive oil cylinder connect respectively after, again and be connected on the rotation oil feed line, rotation is in series with flow speed control valve and choke valve on the oil feed line.
9. fruit tree imitating precision spraying locomotive according to claim 6 is characterized in that: the hydraulic fan motor in motor vehicle longitudinal axis one side is connected on the fan oil feed line, is in series with flow speed control valve and choke valve on the fan oil feed line.
CN2009103126496A 2009-12-30 2009-12-30 Fruit tree imitating precision spraying locomotive CN101785450B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009103126496A CN101785450B (en) 2009-12-30 2009-12-30 Fruit tree imitating precision spraying locomotive

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009103126496A CN101785450B (en) 2009-12-30 2009-12-30 Fruit tree imitating precision spraying locomotive

Publications (2)

Publication Number Publication Date
CN101785450A CN101785450A (en) 2010-07-28
CN101785450B true CN101785450B (en) 2011-11-16

Family

ID=42528952

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009103126496A CN101785450B (en) 2009-12-30 2009-12-30 Fruit tree imitating precision spraying locomotive

Country Status (1)

Country Link
CN (1) CN101785450B (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102318593A (en) * 2011-08-18 2012-01-18 刘增祥 Gantry mist sprayer
CN102613162B (en) * 2012-04-23 2013-12-18 西北农林科技大学 Self-propelled automatically targeting precise pesticide spraying machine
CN102716830A (en) * 2012-05-22 2012-10-10 王光树 Protective wing of sprayer
CN102696572B (en) * 2012-06-21 2014-01-15 农业部南京农业机械化研究所 Self-propelled boom sprayer
CN103004732B (en) * 2012-12-17 2014-07-30 西北农林科技大学 Orchard medicament spraying machine with manual air blower rotating speed adjustment device
CN103004733B (en) * 2012-12-17 2014-07-30 西北农林科技大学 Orchard pesticide spraying machine with controllable fan rotation speed
CN103004736B (en) * 2012-12-31 2014-07-09 山东农业大学 Three-in-one multifunctional spraying machine
CN103651319B (en) * 2013-12-09 2015-09-23 扬州大学 Gap tunnel, a kind of change ground spray angle self-adapting type sprayer
CN104957125A (en) * 2015-07-14 2015-10-07 合肥多加农业科技有限公司 Blower device of remote control plant protection machinery
CN105918291B (en) * 2016-05-04 2018-08-28 徐州工程学院 A kind of endangered plants katsura tree vehicular diagnoses and treatment equipment and its working method
CN107242225B (en) * 2017-07-19 2020-08-14 深圳龙图腾创新设计有限公司 Sprayer with protection function
CN108432433A (en) * 2018-05-25 2018-08-24 道真自治县精品水果科技开发有限公司 Fertilizing method for Kiwi berry plantation
CN108849830A (en) * 2018-08-31 2018-11-23 江苏大学 A kind of automatic profiling spraying machine suitable for citrus orcharding shape

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1190359A (en) * 1995-07-07 1998-08-12 吉尔摩公司 Backpack sprayer
US6302332B1 (en) * 1999-06-30 2001-10-16 Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of Universite Laval, Office Of Technology Transfer, Vice-Rectorat Research Laval Universitie Method and apparatus for spraying trees, plants, etc
CN2867879Y (en) * 2006-03-02 2007-02-14 华南农业大学 Copying spraying unit for fruit tree pesticide application

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1190359A (en) * 1995-07-07 1998-08-12 吉尔摩公司 Backpack sprayer
US6302332B1 (en) * 1999-06-30 2001-10-16 Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of Universite Laval, Office Of Technology Transfer, Vice-Rectorat Research Laval Universitie Method and apparatus for spraying trees, plants, etc
CN2867879Y (en) * 2006-03-02 2007-02-14 华南农业大学 Copying spraying unit for fruit tree pesticide application

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JP特开2004-57023A 2004.02.26

Also Published As

Publication number Publication date
CN101785450A (en) 2010-07-28

Similar Documents

Publication Publication Date Title
CN103380766B (en) Automatic spraying robot for greenhouse
CN100413410C (en) Vehicle mounted double-mast up-down long-spray-distance forest protecting wind delivering spray machine
CN105360095B (en) A kind of greenhouse single track plant protection robot and its control method
CN205378738U (en) Electric sprayer
CN106111390B (en) A kind of high pressure fog gun machine
CN104521931B (en) Intelligent pneumatic conveying variable spraying machine provided with laser sensor
CN2931204Y (en) Vehicle mounted double-mast up-down long-spray-distance forest protecting wind delivering spray machine
CN201064149Y (en) Self-propelled boom sprayer
CN106733351A (en) Semi-automatic white wash machine for trees
CN101972721B (en) Controllable spraying device
KR200432955Y1 (en) An apparatus for Medicine sprinkle using the radio-controlled air plane
KR101207485B1 (en) Auto sprayer for Green house
CN202680317U (en) Land high-amplitude-width full-automatic variable pesticide spraying machine
CN107018864A (en) It is a kind of to add the gard watering device of medicament, uniform stirring medicament automatically
CN207805853U (en) A kind of trunk whitewashes equipment automatically
CN101816990B (en) Jet rod spraying machine and jet rod replacing method thereof
CN203761832U (en) Farmland water, fertilizer and pesticide spraying device
CN201380128Y (en) Multifunctional spraying electric bicycle combining device
CN202524958U (en) Orchard sprayer with rotatable bellows
CN105052684A (en) Intelligent water sprinkler
CN105706862A (en) Garden intelligent irrigation system and irrigation method
CN105076099B (en) A kind of forest obstacle medicine band annular sprayer apparatus and method
CN102440231A (en) Automatic spraying machine
US4447007A (en) Swivelling device for spreading liquids by spraying
CN2640615Y (en) Air feeding low volume boom atomizer for paddy field

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
EE01 Entry into force of recordation of patent licensing contract

Assignee: Xuzhou Longhua Agricultural Machinery Technology Development Co., Ltd.

Assignor: Nanjing Agricultural University

Contract record no.: 2012320000366

Denomination of invention: Fruit tree imitating precision spraying locomotive

Granted publication date: 20111116

License type: Exclusive License

Open date: 20100728

Record date: 20120401

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20111116

Termination date: 20131230

C17 Cessation of patent right