CN104642284B - Sprayer switching device based on steering engine driving - Google Patents
Sprayer switching device based on steering engine driving Download PDFInfo
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- CN104642284B CN104642284B CN201510062346.9A CN201510062346A CN104642284B CN 104642284 B CN104642284 B CN 104642284B CN 201510062346 A CN201510062346 A CN 201510062346A CN 104642284 B CN104642284 B CN 104642284B
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- rotating shaft
- sprayer bodies
- shower nozzle
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Abstract
The invention discloses a sprayer switching device based on steering engine driving. In a signal acquisition and processing unit, a CCD (Charge Coupled Device) camera is electrically connected with a PC (Personal Computer) through an Ethernet interface, the PC and a DSP (Digital Signal Processor) controller are in electrical connection and communicate in a serial mode, and the DSP controller is electrically connected with an electromagnetic valve and a steering engine respectively; the rotating shaft of a multi-sprayer body and the shell of the multi-sprayer body form a revolute pair and are connected with the electromagnetic valve through joints, and a plurality of sprayers with different spray angles are assembled on the shell of the multi-sprayer body; a gear on the output shaft of the steering engine in a steering engine driving unit is engaged with a gear on the shell of the multi-sprayer body; a fixed supporting unit is used for fixing the multi-sprayer body, the steering engine and the gear set, the two ends of the multi-sprayer body are fixed on a fork-shaped support frame, and the steering engine is connected with the fork-shaped support frame through a steering engine fixing plate. The sprayers with suitable spray angles are automatically switched according to the variation of plant widths, so that more accurate target spraying is realized, and the unsafety problems of food, environment and the like caused by excessive use of pesticides are reduced.
Description
Technical field
The present invention relates to shower nozzle switching device, especially relate in agricultural engineering field, be applied to the one of target spraying machinery
Plant the shower nozzle switching device based on servo driving.
Background technology
The agricultural of the agricultural pest and disease damage serious harm world today, production of forestry and ecological environment, chemical method prevents and treats disease pest
Evil remains topmost method, but equipment for plant protection and technique in using agriculture chemical delayed is so that agricultural chemicals utilization rate is low, dispenser effect
Really poor, the healthy and ecological balance giving people that is excessively used of agricultural chemicals brings serious threat.Exterior spraying can
Effectively solve this conflict, this technology mainly utilizes machine vision technique to obtain the information such as plant position, size, reduces target
Scope, realizes intermittent spraying.On the premise of ensureing to prevent and treat validity, exterior spraying decreases agricultural chemicals to a certain extent
Usage amount.
Current exterior spraying mainly utilizes machine vision technique to process target image, by the length of target boundary rectangle
Information sprays as the stream distance of spraying, the selectivity realized in spraying mechanical direction of advance.And spraying mechanical jet width
Adjust the main shower nozzle manually changing different jet flow angles to realize so that the jet width sprayed cannot be according to plant
Developed width carries out adjusting in real time and automatically.
Content of the invention
In order to solve problem present in background technology, it is an object of the invention to provide a kind of spray based on servo driving
Head switching device it is intended to the shower nozzle at suitable jet flow angle of being automatically switched according to the change of plant width during realizing plant protection operation,
Realize more accurate target spraying, that reduces agricultural chemicals is excessively used the safety problems such as the food bringing, environment.
In order to achieve the above object, the technical solution used in the present invention is:
The present invention includes signal acquisition process unit, magnetic valve, shower nozzle, many sprayer bodies, servo driving unit, fixed bearing
Unit；
Signal acquisition process unit: include ccd video camera, pc machine and dsp controller；Ccd video camera and pc machine pass through with
Too network interface electrical connection, pc machine electrically connected with dsp controller and communicated by serial mode, dsp controller respectively with magnetic valve and
Steering wheel electrically connects；
Many sprayer bodies: include circumference and be provided with many shower nozzles body case of equidistantly distributed nozzle boss, the rotating shaft of many sprayer bodies, bullet
Spring, sealing ring；The rotating shaft of many sprayer bodies is formed with many sprinkler bodies housing center hole and rotates pair, and one end of spring withstands on the end of hollow cylinder
On face, hollow cylinder forms sliding pair with vertical run in the rotating shaft of many sprayer bodies, and the other end of spring withstands on the top of vertical run
On face, sealing ring embeds many sprayer bodies rotating shaft water outlet, in the inwall of many shower nozzles body case and the outer wall of many sprayer bodies rotating shaft
Between form sealing, the shower nozzle at multiple difference jet flow angles is threaded connection and is assemblied on respective nozzle boss, joint one end with
Many sprayer bodies rotating shaft horizontal run connects, and the joint other end is connected with magnetic valve delivery port；
Servo driving unit: include steering wheel, first gear and second gear, steering wheel output shaft is equipped with first gear, the
Two gears are meshed with many shower nozzles body case interference fit and with first gear；
Fixing support unit: include fork-shaped bracing frame and steering wheel fixed plate；Bolt and fork-shaped are passed through in one end of many sprayer bodies
The one side of bracing frame connects, and the other end of many sprayer bodies is connected with the another side interference of fork-shaped bracing frame, on fork-shaped bracing frame and
The lateral surface in the face that the interference of many sprayer bodies connects is connected with steering wheel by steering wheel fixed plate.
The inner flow passage of described many sprayer bodies rotating shaft is that vertical run and horizontal run intersect vertically composition, and vertical current is said
The groove of embedding sealing circle is had, horizontal run water inlet is drilled with screw thread with jointing at the mouth of a river, the one of the rotating shaft of many sprayer bodies
End is drilled with four screwed holes to fix with fork-shaped bracing frame.
The end head that described hollow cylinder is not contacted with spring is in arcuation.
The shower nozzle at the plurality of difference jet flow angle is standard component, is chosen according to job requirements.
Described fork-shaped bracing frame is provided with three joint faces, and first joint face has the hole of four insertion bolts, inwall
With propping up the flange of many shower nozzles body case, second joint face has a hole with many sprayer bodies rotating shaft interference fit, the 3rd
Joint face has a pair and is suitable to the fixing regulation slotted eye of steering wheel under different condition.
The invention has the advantages that:
The present invention is to drive the shower nozzle on many sprayer bodies to switch by steering wheel.In target spraying operation process, pass through
Video camera Real-time Collection target information, using machine vision technique obtain the presence or absence of target situation and its boundary rectangle length and
Width information.Shower nozzle is determined according to the length information of the presence or absence of the target obtaining situation and its boundary rectangle by dsp controller
Whether and stream distance jet, and controls opening and closing and the duration of magnetic valve；According to the target boundary rectangle obtaining
Width information selects the shower nozzle at suitable spray angle, and drives steering wheel to rotate to switch shower nozzle.Thus penetrate in realizing spray process
Stream apart from adjustable while so that spraying mechanical can automatically switch according to the change of plant width suitable jet flow angle shower nozzle,
Realize more accurate target spraying, improve the utilization rate of agricultural chemicals, the excess alleviating agricultural chemicals applies the peace such as the food bringing, environment
Full problem.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is carried out the exploded perspective view of mechanism.
Fig. 3 is many sprayer bodies and the profile of fork-shaped bracing frame cooperation.
In figure: 1. fork-shaped bracing frame, 2. steering wheel fixed plate, 3. steering wheel, 4. first gear, 5. second gear, 6.
Many shower nozzles body case, 7. more than sprayer body rotating shaft, 8. spring, 9. sealing ring, 10. joint, 11. magnetic valves, 12. shower nozzles,
Sprayer body more than 13., 14. ccd video cameras, 15. pc machines, 16. dsp controllers.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, Figure 3 shows, including signal acquisition process unit, magnetic valve 11, shower nozzle 12, many sprayer bodies 13, rudder
Machine driver element, fixed bearing unit.
Signal acquisition process unit: include ccd video camera 14, pc machine 15 and dsp controller 16；Ccd video camera 14 and pc
Machine 15 is electrically connected by Ethernet interface, and pc machine 15 is electrically connected with dsp controller 16 and communicated by serial mode, dsp controller
16 are electrically connected with magnetic valve 11 and steering wheel 3 respectively.
Many sprayer bodies 13: include circumference and be provided with many shower nozzles body case 6 of equidistantly distributed nozzle boss, the rotating shaft of many sprayer bodies
7th, spring 8, sealing ring 9；Many sprayer bodies rotating shaft 7 is formed with many sprinkler bodies shell 6 centre bore and rotates pair, and one end of spring 8 withstands on sky
On the end face of heart cylinder, hollow cylinder forms sliding pair with vertical run in many sprayer bodies rotating shaft 7, and the other end of spring 8 withstands on
On the top surface of vertical run, sealing ring 9 embeds many sprayer bodies rotating shaft 7 water outlet, sprays with the inwall of many shower nozzles body case 6 more
Form sealing, the shower nozzle 12 at multiple difference jet flow angles is threaded connection and is assemblied in respective spray between the outer wall of head body rotating shaft 7
On headstock, joint 10 one end is connected with many sprayer bodies rotating shaft 7 horizontal run, and joint 10 other end is with magnetic valve 11 delivery port even
Logical.
Servo driving unit: include steering wheel 3, first gear 4 and second gear 5, steering wheel output shaft is passed through with first gear 4
Spline is driven, and second gear 5 is meshed with many shower nozzles body case 6 interference fit and with first gear 4.
Fixing support unit: include fork-shaped bracing frame 1 and steering wheel fixed plate 2；One end of many sprayer bodies 13 pass through bolt with
The one side of fork-shaped bracing frame 1 connects, and the other end of many sprayer bodies 13 is connected with the another side interference of fork-shaped bracing frame 1, and fork-shaped props up
The lateral surface in the face being connected with the interference of many sprayer bodies 13 on support 1 is connected with steering wheel 3 by steering wheel fixed plate 2.
The inner flow passage of described many sprayer bodies rotating shaft 7 is that vertical run and horizontal run intersect vertically composition, vertical run
Water outlet has the groove of embedding sealing circle 9, and horizontal run water inlet is drilled with screw thread with jointing 10, the rotating shaft of many sprayer bodies
7 one end is drilled with four screwed holes with fixing with fork-shaped bracing frame 1.
The end head that described hollow cylinder is not contacted with spring is in arcuation.
The shower nozzle 12 at the plurality of difference jet flow angle is standard component, is chosen in market according to job requirements.
Described fork-shaped bracing frame 1 is provided with three joint faces, and first joint face has the hole of four insertion bolts, inwall
With propping up the flange of many shower nozzles body case 6, second joint face has a hole with many sprayer bodies rotating shaft 7 interference fit, and the 3rd
Individual joint face has a pair and is suitable to the fixing regulation slotted eye of steering wheel 3 under different condition.
The operation principle of the present invention is as follows:
During use, this device is arranged in the hydraulic pressure Force system with walking chassis, pc machine 15 is imaged with ccd respectively
Machine 14 and dsp controller 16 electrically connect, and dsp controller 16 is electrically connected with magnetic valve 11 and steering wheel 3 respectively, will have a level pressure
The liquid output pipe of power is connected to the water inlet of magnetic valve 11, starts walking chassis.During bobbin movement, preposition
Ccd video camera 14 Real-time Collection target information, and pc machine 15 is transferred information to by Ethernet interface, pc machine 15 passes through image
Treatment technology obtains the information such as the length and width of the presence or absence of target situation and its boundary rectangle and data is passed through serial communication
Mode sends dsp controller 16 to, and dsp controller 16 is according to the length letter of the presence or absence of the target obtaining situation and its boundary rectangle
Whether and stream distance breath calculates shower nozzle 12 jet, is calculated for current according to the width information of target boundary rectangle simultaneously
The shower nozzle 12 at the suitable spray angle of target width.According to calculated spraying information, by dsp controller 16 to magnetic valve 11
The action of closure and steering wheel 3 is manipulated, and realizes the duration to magnetic valve 11 on-off action and to shower nozzle 12 switching
Control.
Steering wheel 3 drives second gear 5 to rotate specified angle according to the instruction of dsp controller 16 by first gear 4, thus
Make many shower nozzles body case 6 with fixed many sprayer bodies rotating shaft 7 for axis rotation equal angular, allow the shower nozzle at specified spray angle
12 are communicated with the vertical run of many sprayer bodies rotating shaft 7, and now original place extends under elastic force effect in the spring 8 of compressive state, makes
Obtain the recess that hollow cylinder props up many shower nozzles body case 6 inwall.In many shower nozzles body case 6 rotary course, spring 8 utilizes it
Scalable and hollow feature plays the site error of fine setting shower nozzle body case 6 and the effect of guiding liquid medicine flow.
Claims (5)
1. a kind of shower nozzle switching device based on servo driving it is characterised in that: include signal acquisition process unit, magnetic valve
(11), shower nozzle (12), many sprayer bodies (13), servo driving unit, fixed bearing unit；
Signal acquisition process unit: include ccd video camera (14), pc machine (15) and dsp controller (16)；Ccd video camera (14)
Electrically connected by Ethernet interface with pc machine (15), pc machine (15) is electrically connected with dsp controller (16) and communicated by serial mode,
Dsp controller (16) is electrically connected with magnetic valve (11) and steering wheel (3) respectively；
Many sprayer bodies (13): include circumference and be provided with many shower nozzles body case (6) of equidistantly distributed nozzle boss, the rotating shaft of many sprayer bodies
(7), spring (8), sealing ring (9)；Many sprayer bodies rotating shaft (7) and many shower nozzles body case (6) centre bore form and rotate secondary, spring
(8) one end withstands on the end face of hollow cylinder, and hollow cylinder forms sliding pair with vertical run in many sprayer bodies rotating shaft (7),
The other end of spring (8) withstands on the top surface of vertical run, and sealing ring (9) embeds many sprayer bodies rotating shaft (7) water outlet, many
Form sealing, the shower nozzle at multiple difference jet flow angles between the outer wall of the inwall of shower nozzle body case (6) and many sprayer bodies rotating shaft (7)
(12) it is threaded connection and is assemblied on respective nozzle boss, joint (10) one end is with many sprayer bodies rotating shaft (7) horizontal run even
Logical, joint (10) other end is connected with magnetic valve (11) delivery port；
Servo driving unit: include steering wheel (3), first gear (4) and second gear (5), steering wheel output shaft is equipped with the first tooth
Wheel (4), second gear (5) is meshed with many shower nozzles body case (6) interference fit and with first gear (4)；
Fixing support unit: include fork-shaped bracing frame (1) and steering wheel fixed plate (2)；Bolt is passed through in one end of many sprayer bodies (13)
It is connected with the one side of fork-shaped bracing frame (1), the other end of many sprayer bodies (13) is connected with the another side interference of fork-shaped bracing frame (1)
Connect, the lateral surface in the upper face being connected with many sprayer bodies (13) interference of fork-shaped bracing frame (1) passes through steering wheel fixed plate (2) and steering wheel
(3) connect.
2. a kind of shower nozzle switching device based on servo driving according to claim 1 it is characterised in that: described many shower nozzles
The inner flow passage of body rotating shaft (7) is that vertical run and horizontal run intersect vertically composition, and vertical run water outlet has embedded
The groove of sealing ring (9), horizontal run water inlet is drilled with screw thread with jointing (10), and one end of many sprayer bodies rotating shaft (7) is bored
There are four screwed holes with fixing with fork-shaped bracing frame (1).
3. a kind of shower nozzle switching device based on servo driving according to claim 1 it is characterised in that: described open circles
The end head that post is not contacted with spring is in arcuation.
4. a kind of shower nozzle switching device based on servo driving according to claim 1 it is characterised in that: the plurality of not
Shower nozzle (12) with jet flow angle is standard component, is chosen according to job requirements.
5. a kind of shower nozzle switching device based on servo driving according to claim 1 it is characterised in that: described fork-shaped
Bracing frame (1) is provided with three joint faces, and first joint face has the hole of four insertion bolts, and inwall carries and props up many sprayer bodies
The flange of shell (6), second joint face has the hole with many sprayer bodies rotating shaft (7) interference fit, and the 3rd joint face has
It is suitable to the fixing regulation slotted eye of steering wheel under different condition (3) for a pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510062346.9A CN104642284B (en) | 2015-02-06 | 2015-02-06 | Sprayer switching device based on steering engine driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510062346.9A CN104642284B (en) | 2015-02-06 | 2015-02-06 | Sprayer switching device based on steering engine driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104642284A CN104642284A (en) | 2015-05-27 |
| CN104642284B true CN104642284B (en) | 2017-01-25 |
Family
ID=53234343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510062346.9A Expired - Fee Related CN104642284B (en) | 2015-02-06 | 2015-02-06 | Sprayer switching device based on steering engine driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104642284B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538911B (en) * | 2017-08-09 | 2019-11-26 | 武汉华星光电半导体显示技术有限公司 | A kind of ink jet printing device spray head conversion equipment and ink jet printing device |
| CN107282344B (en) * | 2017-08-17 | 2019-02-22 | 穆特科技（武汉）股份有限公司 | A kind of spray equipment |
| CN108816559A (en) * | 2018-08-09 | 2018-11-16 | 杭州前茂保健食品有限公司 | A kind of environmental protection polychrome spray-painting plant |
| CN108855730A (en) * | 2018-08-09 | 2018-11-23 | 杭州前茂保健食品有限公司 | A kind of closed spray-painting plant |
| CN109184470A (en) * | 2018-09-18 | 2019-01-11 | 深圳勇艺达机器人有限公司 | Overhead door between a kind of storing for transportation robot |
| CN109876955B (en) * | 2019-04-12 | 2021-04-06 | 郑州工业应用技术学院 | Electromechanical integrated rapid spraying device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10174906A (en) * | 1996-12-17 | 1998-06-30 | Kioritz Corp | Switching nozzle for speed sprayer |
| DE102010036437A1 (en) * | 2010-07-16 | 2012-01-19 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Multiple nozzle body |
| CN102669079A (en) * | 2012-04-09 | 2012-09-19 | 浙江大学 | Toward-target variable spray tester |
| CN202548587U (en) * | 2012-04-09 | 2012-11-21 | 浙江大学 | Control system for target variable spray testing machine |
| CN102893969B (en) * | 2012-10-12 | 2014-05-07 | 浙江大学 | Wrapped target spraying device |
| CN103262832B (en) * | 2013-04-25 | 2014-10-08 | 浙江大学 | Precision adjusting device based on stepper motor drive |
| CN203457694U (en) * | 2013-09-15 | 2014-03-05 | 贵州大学 | Variable spraying control device based on DSP (digital signal processor) |
| CN204466705U (en) * | 2015-02-06 | 2015-07-15 | 浙江大学 | A kind of shower nozzle switching device shifter based on servo driving |
-
2015
- 2015-02-06 CN CN201510062346.9A patent/CN104642284B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104642284A (en) | 2015-05-27 |
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Granted publication date: 20170125 Termination date: 20200206 |
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| CF01 | Termination of patent right due to non-payment of annual fee |