CN103380766B - Automatic spraying robot for greenhouse - Google Patents
Automatic spraying robot for greenhouse Download PDFInfo
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- CN103380766B CN103380766B CN201310272642.2A CN201310272642A CN103380766B CN 103380766 B CN103380766 B CN 103380766B CN 201310272642 A CN201310272642 A CN 201310272642A CN 103380766 B CN103380766 B CN 103380766B
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Abstract
The invention relates to the technical field of intelligent equipment of the facility agriculture, particularly to an automatic spraying robot for a greenhouse, which comprises a track traveling component, a liquor spraying component fixed on the track traveling component and a control unit connected with the track traveling component and the liquor spraying component respectively, wherein the track traveling component comprises a driving device and track wheels; the track wheels travel on a group of tracks; the control unit is used for automatically controlling the traveling of the track traveling component and the spraying of the liquor spraying component. According to the automatic spraying robot for the greenhouse, provided by the invention, the track wheels are taken as supports, and travel on the tracks, all that is needed is to pave tracks on the ground, and a support frame is not needed to be erected, so that the cost is low, and the automatic spraying robot can be applied in a small-sized greenhouse; besides, the track automatic traveling manner has stronger adaptability to uneven pavements inside a greenhouse, and the robot can travel on a concave-convex ground well, so that the smooth traveling of the robot is guaranteed.
Description
Technical field
The present invention relates to industrialized agriculture intelligence equipment technology field, particularly a kind of greenhouse automatic medicine sprayer device people.
Background technology
Following three kinds of modes are had at present to the crop spraying medicine in greenhouse:
(1) artificial hand-held chemical spraying device, adopts engineered form to complete, and staff's backpack sprayer shuttles and carry out spray medicine between crop row.This mode efficiency is low, and labour intensity is large, and operator is in and is suspended with in the air ambient of pesticide droplet, and agricultural chemicals enters human body likely via breathing and skin pore, is thus unfavorable for own health and the safety of staff.
(2) large-scale attached-greenhouse automatic medicine sprayer (the such as patent No. is the Multifunction self-walking type sprager of 200320103129.2), adopt hang that spray boom and moving drive mechanism are positioned over top of greenhouse circuit orbit, spray boom realizes seedbed spray liquid below it along guide rail moving process, thus for the mechanization spray medicine operation to seedling.But this mode has following defect: 1. need to build bracing frame in greenhouse, require that working space is large and manufacturing cost is high, be unsuitable for using in small-sized greenhouse; 2. require that crop has identical height, be used for the spraying pesticide (as seedbed operation) of less crop; When crop is higher, the branches and leaves above crop can stop that herbal sprinkling arrives crop bottom, and cannot realize the spray medicine to crop whole body.
(3) ground running formula sprayer machine (the such as patent No. is the four wheel drive navigation atomizer machine robot system of 201210204818.6), electromagnetic navigation mode is adopted to carry out movement locus constraint to atomizer machine robot system, robot adopts four wheel drive, in the moving process of robot, spray medicine is carried out to the crop row of its adjacent both sides, thus realize chamber crop and automatically spray medicine operation.This mode has following defect: 1. adopt four wheel drive mode poor for the adaptability of roughness pavement in traditional greenhouse; 2. spray one by one crop in the process of walking, operating efficiency is limited.
Summary of the invention
(1) technical problem that will solve
The object of the invention is to provide a kind of greenhouse automatic medicine sprayer device people being applicable to small-sized greenhouse, and improves the adaptability to roughness pavement in greenhouse.
(2) technical scheme
For reaching above-mentioned purpose, the control assembly that the invention provides a kind of greenhouse automatic medicine sprayer device people, comprise track travel parts, be fixed on the liquid spraying part on described track travel parts and be connected with described track travel parts and liquid spraying part respectively; Described track travel parts comprise drive unit and rail wheel, and described rail wheel walks on one group of track, and described control assembly is used for automatically controlling the walking of described track travel parts and spraying of liquid spraying part.
Preferably, described control assembly comprise be connected with described track travel parts for controlling track travel Parts Controller that track travel parts walk and the liquid sprayed for controlling described liquid spraying part that is connected with described liquid spraying part sprays Parts Controller, described track travel Parts Controller sprays Parts Controller with described liquid and is connected.
Preferably, described track is provided with one or more postive stop baffle, and the rear and front end of described track travel parts is respectively equipped with the photoelectric sensor for detecting described postive stop baffle, and described photoelectric sensor is connected with track travel Parts Controller; Described track travel Parts Controller is connected with described drive unit.
Preferably, described liquid spraying part comprises the spray tank, spray pump, drug liquid tube, atomising device and the blower fan that connect successively, the impeller motor that described blower fan comprises air funnel, is arranged at the draught fan impeller in air funnel and is connected with draught fan impeller, described atomising device is arranged at the front end of described air funnel, described atomising device connects atomization motor, and described impeller motor, spray pump all spray Parts Controller with described liquid with atomization motor and be connected.
Preferably, described atomising device is atomizer or centrifugal atomizing rotating disk.
Preferably, described track travel parts are fixed with support, and described blower fan is connected with described support.
Preferably, described support is provided with for the current sonac whether be in the middle of two row crops of track travel parts described in real-time detection, described sonac is arranged at the described support side relative with crop, and described sonac is connected with described track travel Parts Controller.
Preferably, described liquid spraying part also comprises the leading screw longitudinally arranged and the lifting motor be connected with described leading screw, described leading screw is fixing on the bracket, described blower fan is connected with the sliding nut be sheathed on described leading screw, described blower fan carries out elevating movement with the rotation of leading screw, and described lifting motor sprays Parts Controller with described liquid and is connected.
Preferably, the both sides of described support are provided with one group for retraining the riser guide of described blower fan elevating movement, and described blower fan is connected with described riser guide by riser guide slide block.
Preferably, described drug liquid tube is provided with liquid Controlling solenoid valve and the flow sensor for measuring liquid sprayed dose, described flow sensor all sprays Parts Controller with described liquid with liquid Controlling solenoid valve and is connected.
(3) beneficial effect
1, greenhouse automatic medicine sprayer device people provided by the invention, be support with rail wheel, and walk on track, only need lay track on ground, do not need to build bracing frame, low being suitable for of cost uses in small-sized greenhouse.In addition, the automatic walking manner of this track is comparatively strong to the adaptability of roughness pavement in greenhouse, also can travel well, ensure that this robot ambulation is smooth and easy on concavo-convex ground.
2, herb liquid spraying part of the present invention also comprises the leading screw longitudinally arranged and the lifting motor be connected with leading screw, blower fan is connected with the sliding nut be sheathed on leading screw and can carries out elevating movement with the rotation of leading screw, and lifting motor and liquid spray Parts Controller and be connected.Can realize spraying the crop of differing heights in greenhouse by the elevating control of blower fan simultaneously, and the spray medicine to crop whole body can be realized.
3, operating type of the present invention carries out spray medicine to crop line by line, and the rotating speed by adjusting impeller motor realizes carrying out spray medicine to the horizontal different depth of crop row, therefore substantially increases operating efficiency high.
4, liquid of the present invention is along spraying to crop perpendicular to plant height direction level, overcomes that background technology (2) sprays to this operating type bottom crop from crop top and branches and leaves above the crop that causes stop that herbal sprinkling cannot realize the defect to crop whole body spray medicine to crop bottom.
Accompanying drawing explanation
Fig. 1 is forward sight structural representation of the present invention;
Fig. 2 is backsight structural representation of the present invention;
Fig. 3 is control planning block diagram of the present invention;
Fig. 4 is greenhouse of the present invention automatic medicine sprayer device people applying working condition schematic diagram.
In figure, 1: lifting motor; 2: leading screw; 3: riser guide slide block; 4: sonac; 5: postive stop baffle; 6: photoelectric sensor; 7: track; 8: electronic back axle; 9: active track is taken turns; 10: control panel; 11: driven track is taken turns; 12: spray pump; 13: spray tank; 14: air funnel; 15: centrifugal atomizing rotating disk; 16: draught fan impeller; 17: support; 18: riser guide; 19: drug liquid tube; 20: impeller motor; 21: blower fan connecting plate; 22: sliding nut; 23: bearing block; 24: rear wall of greenhouse; 25: crop row.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
In describing the invention, it should be noted that, term " on ", D score, "left", "right", " in ", " transverse direction ", " longitudinal direction ", " vertically ", " level ", etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.Separately, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
See Fig. 1-Fig. 4, the control assembly that the invention provides a kind of greenhouse automatic medicine sprayer device people, comprise track travel parts, be fixed on the liquid spraying part on track travel parts and be connected with track travel parts and liquid spraying part respectively; Track travel parts as the carrying platform of liquid spraying part, ensure this greenhouse automatic medicine sprayer device people can in greenhouse autonomous.Track travel parts comprise vehicle frame, drive unit and rail wheel, and rail wheel comprises active track wheel 9 and driven track wheel 11, the drive axle that drive unit comprises drive motors and is connected with drive motors, and drive motors is by the motion of drive axle drive track wheel.Track travel parts can adopt remote control or manual mode to start, such as, on the control panel 10 of track ground-engaging element, arrange some buttons, as start button, realize manual mode and start; Or remote controller is set, this remote controller and the wireless connections of track travel Parts Controller, starts to realize remote control mode.Rail wheel walks in and is layed on one group of track 7 on ground, and track 7 can adopt angle steel to make, and to give full play to the advantage of angle steel high strength, the intensity of middle orbit 7 of the present invention is guaranteed.The present embodiment middle orbit ground-engaging element adopts electronic back axle 8 as drive axle, realizes the automatic walking of track travel parts.
Control assembly is used for automatically controlling the walking of track travel parts and spraying of liquid spraying part.The function of control assembly mainly comprises the spacing detection of spraying machine device people, the capable supersonic sounding of crop plant, the electronic rear bridge driven of track travel parts control, liquid sprays on off control, blower fan elevating control, liquid dose remote monitoring and Robot remote and operates control, and primarily of track travel controller, liquid sprays Parts Controller and correlated inputs output block is formed.Track travel Parts Controller and liquid spray Parts Controller and are respectively equipped with several interfaces be connected with other elements, and road ground-engaging element controller is sprayed Parts Controller with liquid and is connected by wiring.
Track travel parts mainly comprise postive stop baffle 5, electronic back axle 8, active track wheel 9, driven track wheel 11 and photoelectric sensor 6.Liquid spraying part mainly comprises lifting motor 1, leading screw 2, blower fan, support 17, spray tank 13, spray pump 12, centrifugal atomizing rotating disk 15, drug liquid tube 19, liquid Controlling solenoid valve, flow sensor and sonac 4.
In the present embodiment control assembly comprise be connected with track travel parts for controlling track travel Parts Controller that track travel parts walk and the liquid sprayed for controlling liquid spraying part that is connected with liquid spraying part sprays Parts Controller, track travel Parts Controller and liquid spray Parts Controller and are connected.Track travel Parts Controller is arranged on track travel parts, and liquid sprays Parts Controller and is arranged on liquid spraying part.The present embodiment middle orbit ground-engaging element and liquid spraying part have independently controller respectively, make automatic medicine sprayer device people device after being removed by spraying part, track travel parts can be used as greenhouse material transportation platform and independently use, thus greatly strengthen applicability of the present invention.
In order to accurately control the job area of greenhouse automatic medicine sprayer device people spraying pesticide, to realize the automatic job in default operating area, improve automaticity, in the present embodiment, track 7 is provided with one or more postive stop baffle 5, is generally two, one in front and one in back.The rear and front end of track travel parts is respectively equipped with the photoelectric sensor 6 for detecting postive stop baffle 5, and photoelectric sensor 6 is connected with track travel Parts Controller, and track travel Parts Controller is connected with drive unit (i.e. drive motors) simultaneously.Photoelectric sensor 6 also can adopt sonac or other elements that can realize identical function to replace.Photoelectric sensor 6 is that the change by the change of luminous intensity being converted to the signal of telecommunication realizes controlling, when photoelectric sensor 6 front limited location baffle plate, the luminous intensity in photoelectric sensor 6 front changes, after this change is changed into the signal of telecommunication by photoelectric sensor 6, send track travel Parts Controller to.Preferred light electric transducer 6 of the present invention, have precision high, react fast, non-contacting advantage, can postive stop baffle be detected to stop rapidly sensitive and accurately.Model can be adopted to be the photoelectric sensor 6 of EE-SX1070 or GP1S50.The structure of photoelectric sensor 6 belongs to prior art, is not repeating herein.Track travel Parts Controller is by controlling the start and stop of the open and close controlling track travel parts of drive motors.Detailed process is as follows:
See Fig. 4, operator is interval according to the operation walking of greenhouse automatic medicine sprayer device people, place postive stop baffle 5 in the middle appropriate location of track 7 to limit, when photoelectric sensor detects that its dead ahead limited location baffle plate 5 exists, the signal that postive stop baffle 5 exists is sent to track travel Parts Controller, track travel Parts Controller accepts this signal and sends stop motion instruction to drive unit (drive motors), then track travel parts automatic stopping.When photoelectric sensor detects that its dead ahead does not have a postive stop baffle 5, non-existent for postive stop baffle 5 signal is sent to track travel Parts Controller, track travel Parts Controller accepts this signal and accessory drive (drive motors) works on, then track travel parts continue walking, thus accurately ensure the job area of greenhouse automatic medicine sprayer device people.
In the present embodiment, liquid spraying part comprises the spray tank 13, spray pump 12, drug liquid tube 19, atomising device and the blower fan that connect successively, the impeller motor 20 that blower fan comprises air funnel 14, is arranged at the draught fan impeller 16 in air funnel 14 and is connected with draught fan impeller 16, atomising device is arranged at the front end of air funnel 14, atomising device connects atomization motor, and impeller motor 20, spray pump 12 all spray Parts Controller with liquid with atomization motor and be connected.As shown in Figure 1, Figure 2 with shown in Fig. 4, the air port of air funnel 14 is towards crop, and the blowing direction of draught fan impeller 16 is perpendicular to plant height direction, and the liquid that atomising device is atomized out is along spraying to crop perpendicular to plant height direction level.Impeller motor 20 drives draught fan impeller 16 to rotate, and atomization motor drives atomising device, and atomising device can be atomizer or centrifugal atomizing rotating disk 15, and centrifugal atomizing rotating disk 15 can rotate and become vaporific after by medical liquid atomizing under the driving of atomization motor.The greenhouse automatic medicine sprayer device people that the present embodiment provides supports and walks on track 7, in the process of walking, sprays Parts Controller control the opening and closing of impeller motor 20, atomization motor and spray pump 12 to control spray medicine process by liquid.Specific as follows: when needs spray medicine, liquid sprays Parts Controller control spray pump 12, atomization motor and impeller motor 20 and opens, liquid in spray tank 13 pressurizes through spray pump 12, enter in drug liquid tube 19, high pressure liquid in drug liquid tube 19 becomes droplet after centrifugal atomizing rotating disk 15 is atomized, impeller motor 20 drives draught fan impeller 16 to rotate, and droplet rotates with draught fan impeller 16 air thrust produced and is sprayed at crop leaf; When not needing spray medicine, liquid sprays Parts Controller control spray pump 12, atomization motor and impeller motor 20 and closes, to stop the operation of spray medicine.
In the present embodiment, track travel parts are fixed with support 17, blower fan is connected with support 17.Support 17 shown in Fig. 1, Fig. 2 and Fig. 4 is rectangle, other shapes (as frame-type) can certainly be arranged to as required, support 17 is for fixed support blower fan and relevant related devices, and because support 17 has certain height, thus this support 17 facilitates liquid spraying part to spray operation to comparatively high crop.
In the present embodiment, support 17 is provided with for the current sonac 4 whether be in the middle of two row crops of real-time detection track travel parts, and sonac 4 is connected with track travel Parts Controller.Sonac 4 is arranged at support 17 side relative with crop.Object is had to exist when sonac 4 detects its front, then think that this greenhouse automatic medicine sprayer device people is current just to crop row 25, and this position signalling is sent to track travel Parts Controller, the treated accessory drive of track travel Parts Controller works on, thus continue walk forward do not carry out spray medicine operate; When two groups of sonacs 4 all do not detect its front have object to block time, then thinking that this greenhouse automatic medicine sprayer device people is current is in the middle of two row crops, now track travel Parts Controller controls drive motors and closes to realize stopping, and send spray medicine signal to liquid spraying part, then liquid sprays Parts Controller and controls unlatching spray pump 12 and impeller motor 20, to carry out spray medicine to crop row 25 spaces.
In the present embodiment, liquid spraying part also comprises the leading screw 2 longitudinally arranged and the lifting motor 1 be connected with leading screw 2, leading screw 2 is fixed on support 17, blower fan is connected with the sliding nut 22 be arranged on leading screw 2, blower fan can carry out elevating movement with the rotation of leading screw 2, lifting motor 1 and liquid spray Parts Controller and are connected, and liquid sprays the opening and closing of Parts Controller lifting controllable motor 1.Stress balance during in order to ensure blower fan oscilaltion campaign, preferred leading screw 2 is arranged on support 17 central authorities.Concrete, lifting motor 1 axle is connected with leading screw 2 by shaft coupling, and leading screw about 2 two ends are fixedly connected with support 17 respectively by bearing block 23, leading screw 2 are arranged with sliding nut 22, and blower fan is fixed by upper and lower two groups of blower fan connecting plates 21 and sliding nut 22.When liquid spray Parts Controller control the unlatching of lifting motor 1 time, lifting motor 1 drives leading screw 2 to rotate, the longitudinal lifting moving of centrifugal atomizing rotating disk 15 making blower fan and be connected with blower fan, thus meets crop differing heights crop leaf liquid and spray needs.
For the ease of blower fan and the longitudinal lifting moving of centrifugal atomizing rotating disk 15, in the present embodiment, the both sides of support 17 are provided with one group for retraining the riser guide 18 of blower fan elevating movement, and the blower fan left and right sides is connected with riser guide 18 by riser guide slide block 3.This riser guide 18 is that the elevating movement of blower fan and centrifugal atomizing rotating disk 15 is led, and provides support power for the blower fan left and right sides, makes lifting process steady.
In order to fixing quantity medicine liquid spray dosage, in the present embodiment, drug liquid tube 19 is provided with liquid Controlling solenoid valve and the flow sensor for measuring liquid sprayed dose, flow sensor all sprays Parts Controller with liquid with liquid Controlling solenoid valve and is connected.Liquid sprays Parts Controller and accepts flow sensor data and the unlatching controlling adjustment liquid Controlling solenoid valve.Concrete, when lifting motor 1 drives leading screw 2 to rotate, with the movement of sliding nut 22 on leading screw 2, blower fan carries out oscilaltion campaign along riser guide 18, through drug liquid tube 19 after liquid in spray tank 13 is pressurizeed by spray pump 12, liquid Controlling solenoid valve and flow sensor arrive the centrifugal atomizing rotating disk 15 rotated, under centrifugal action, rotate with draught fan impeller 16 air-flow produced after medical liquid atomizing be spread across crop leaf, flow sensor is for measuring administration of medical fluid dosage, liquid sprays Parts Controller by PWM(Pulse Width Modulation, pulse width modulation) opening of control signal adjustment liquid Controlling solenoid valve, realize the real-time control to medicine liquid spray dosage.When medicine liquid spray dosage reaches preset value, liquid sprays Parts Controller and controls the closedown of liquid Controlling solenoid valve.Draught fan impeller 16 is driven by impeller motor 20, can spray distance regulate by regulating the rotating speed of impeller motor 20 to liquid droplet.
In the present embodiment, liquid sprays Parts Controller and connects remote operation terminal, for the spray pharmacy amount of this greenhouse of real time monitoring automatic medicine sprayer device people, to carry out remote flow control.Concrete, liquid sprays between Parts Controller and remote operation terminal and carries out real-time traffic data remote transmission, and pass through the open and-shut mode of operated from a distance regulating liquid Controlling solenoid valve, carry out the control of real-time radio remote flow, thus spray pharmacy amount is set according to actual needs.
See Fig. 3, photoelectric sensor 6 signal, sonac 4 signal and remote control (manually) operational order before and after track travel Parts Controller receives, export electronic back axle 8 on off control signal, spray Parts Controller transmission spray medicine signal to liquid; After liquid sprays the unlatching spray medicine signal of Parts Controller reception track travel Parts Controller transmission, export to spray pump 12, liquid Controlling solenoid valve, atomization motor, impeller motor 20 and lifting motor 1 start spray medicine signal, determine to spray dose volume according to flow sensor measurement data and spray date, after reaching expection dose, lifting motor 1, spray pump 12, liquid Controlling solenoid valve, atomization motor, impeller motor 20 and ground-engaging element controller are exported and stop spray medicine signal.Measurement result sends to liquid to spray Parts Controller by flow sensor simultaneously, liquid is sprayed Parts Controller and is sent to the user's remote operation terminal spraying Parts Controller with liquid and be connected by wireless transport module, and pass through the open and-shut mode of operated from a distance regulating liquid Controlling solenoid valve, carry out the control of real-time radio remote flow, thus spray pharmacy amount is set according to actual needs.Track travel Parts Controller receives liquid spraying part and stops spray medicine signal, then drive electronic back axle 8, make robot walk on arrive next crop row 25 gap carry out spray medicine, if now receive photoelectric sensor 6 limit signal, then control assembly thinks that robot arrives expection spray border, medicine operating area, namely terminate to spray medicine, until move to initial position by remote control or manual mode control.
Using method of the present invention is as follows:
As shown in Figure 4, track 7 is fixed on the ground near rear wall of greenhouse 24, greenhouse automatic medicine sprayer device people walks along track 7, and direction of travel plants line direction perpendicular to chamber crop.Perfusion liquid is added to the medicine-chest of greenhouse automatic robot, by the postive stop baffle 5 placed in the middle of track 7, setting greenhouse automatic robot expects behind operating area, power-on switch, operating personnel are started the machine by remote control or manual mode after people's operation, then can leave green house.After this greenhouse automatic medicine sprayer device people runs to crop row 25 gap automatically (Fig. 4 medium temperature chamber automatic medicine sprayer device people is in the gap location between two crop rows 25 just), start to spray medicine, open spray pump 12, blower fan, atomization motor and lifting motor 1.In spray medicine process, blower fan moves up and down and sprays crop differing heights blade, and rotation speed of fan is by accelerating to spray the longitudinal different depth crop of crop row 25 slowly.Operating personnel can observe by remote operation terminal the data on flows that liquid sprays Parts Controller transmission, and expection liquid sprayed dose can be revised according to actual needs, after flow sensor is measured and spraying time determines that spraying dosage reaches sprayed dose requirement, then system stops spraying medicine automatically, robot walks on, and arrives another crop row 25 gap and carries out spraying operation.After photoelectric sensor 6 detects arrival expection spray border, medicine operating area by postive stop baffle 5, then robot is to the end of job of this region spray medicine.
Separately, the non-narrating content of the present invention is prior art, therefore repeats no more.
Greenhouse automatic medicine sprayer device people provided by the invention, based on expection operating area automatic detection, crop row gap supersonic sounding, spray traffic probe, automatic walking is moved and the key technology such as electrical atomizing sprinkling, support straighforward operation, remote monitoring spray pharmacy amount, thus achieve in greenhouse according to presumptive area, predetermined close, the full-automatic unmannedization pesticide spraying operation of predetermined efficiency, ensure the safety of greenhouse pesticide spraying operation, prevent agricultural chemicals to human injury, Chinese Small-sized green house working condition can be adapted to simultaneously, be conducive to lowering and automatically spray medicine equipment cost and improve operating efficiency.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and replacement, these improve and replace and also should be considered as protection scope of the present invention.
Claims (8)
1. a greenhouse automatic medicine sprayer device people, is characterized in that, the control assembly comprising track travel parts, be fixed on the liquid spraying part on described track travel parts and be connected with described track travel parts and liquid spraying part respectively, described track travel parts comprise drive unit and rail wheel, described rail wheel walks on one group of track, described control assembly is used for automatically controlling the walking of described track travel parts and spraying of liquid spraying part, described control assembly comprise be connected with described track travel parts for controlling track travel Parts Controller that track travel parts walk and the liquid sprayed for controlling described liquid spraying part that is connected with described liquid spraying part sprays Parts Controller, described track travel Parts Controller sprays Parts Controller with described liquid and is connected, described track travel parts are fixed with support, described support is provided with for the current sonac whether be in the middle of two row crops of track travel parts described in real-time detection, described sonac is arranged at the described support side relative with crop, described sonac is connected with described track travel Parts Controller.
2. greenhouse automatic medicine sprayer device people as claimed in claim 1, it is characterized in that, described track is provided with one or more postive stop baffle, the rear and front end of described track travel parts is respectively equipped with the photoelectric sensor for detecting described postive stop baffle, and described photoelectric sensor is connected with track travel Parts Controller; Described track travel Parts Controller is connected with described drive unit.
3. greenhouse automatic medicine sprayer device people as claimed in claim 2, it is characterized in that, described liquid spraying part comprises the spray tank, spray pump, drug liquid tube, atomising device and the blower fan that connect successively, the impeller motor that described blower fan comprises air funnel, is arranged at the draught fan impeller in air funnel and is connected with draught fan impeller, described atomising device is arranged at the front end of described air funnel, described atomising device connects atomization motor, and described impeller motor, spray pump all spray Parts Controller with described liquid with atomization motor and be connected.
4. greenhouse automatic medicine sprayer device people as claimed in claim 3, it is characterized in that, described atomising device is atomizer or centrifugal atomizing rotating disk.
5. greenhouse automatic medicine sprayer device people as claimed in claim 4, it is characterized in that, described blower fan is connected with described support.
6. greenhouse automatic medicine sprayer device people as claimed in claim 5, it is characterized in that, described liquid spraying part also comprises the leading screw longitudinally arranged and the lifting motor be connected with described leading screw, described leading screw is fixing on the bracket, described blower fan is connected with the sliding nut be sheathed on described leading screw, described blower fan carries out elevating movement with the rotation of leading screw, and described lifting motor sprays Parts Controller with described liquid and is connected.
7. greenhouse automatic medicine sprayer device people as claimed in claim 6, it is characterized in that, the both sides of described support are provided with one group for retraining the riser guide of described blower fan elevating movement, and described blower fan is connected with described riser guide by riser guide slide block.
8. greenhouse automatic medicine sprayer device people as claimed in claim 7, it is characterized in that, described drug liquid tube is provided with liquid Controlling solenoid valve and the flow sensor for measuring liquid sprayed dose, described flow sensor all sprays Parts Controller with described liquid with liquid Controlling solenoid valve and is connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310272642.2A CN103380766B (en) | 2013-07-01 | 2013-07-01 | Automatic spraying robot for greenhouse |
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| CN201310272642.2A CN103380766B (en) | 2013-07-01 | 2013-07-01 | Automatic spraying robot for greenhouse |
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| CN103380766A CN103380766A (en) | 2013-11-06 |
| CN103380766B true CN103380766B (en) | 2015-02-11 |
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