CN105922274B - A kind of pesticide spraying machine people structure and traveling method - Google Patents
A kind of pesticide spraying machine people structure and traveling method Download PDFInfo
- Publication number
- CN105922274B CN105922274B CN201610543185.XA CN201610543185A CN105922274B CN 105922274 B CN105922274 B CN 105922274B CN 201610543185 A CN201610543185 A CN 201610543185A CN 105922274 B CN105922274 B CN 105922274B
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- load carrying
- main shaft
- carrying device
- spraying machine
- machine people
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of pesticide spraying machine people structure and traveling method, including walking foot, connecting rod, wheel, chain, large ratchet, flexible pipe, medicine-chest, fixing device, shower nozzle, main shaft bearing, small ratchet, transmission shaft bearing, power transmission shaft, decelerator, motor, battery, controller, load carrying device and main shaft.The battery is used to provide device power supply, and the controller drives the motor, and small pawl wheel is driven by decelerator and power transmission shaft.Small ratchet is rotated by chain-driving large ratchet, and large ratchet drives vehicle wheel rotation, so as to drive walking foot to be walked in farmland by connecting rod.Robot designed by the present invention can pass through the swing forward of load carrying device, the center of gravity reach of whole device is realized, and because the inertia of liquid in medicine-chest promotes forward, realizes whole robot by walking foot reach, can normally it be walked in the farmland of miriness, environmental suitability is strong.
Description
Technical field
The invention belongs to agricultural technology field, and in particular to a kind of pesticide spraying machine people structure and traveling method.
Background technology
At present, China's agricultural working population is fewer and fewer, and more and more higher is required to agricultural automation.Pesticide spraying machine people
Peasant's amount of labour can be effectively reduced, the quantity required to agricultural working population will necessarily be reduced after large-scale promotion.But due to
Farmland surface conditions are undesirable, or even some are needed in underwater work, therefore are badly in need of a kind of to be adapted to complicated walking road surface
Pesticide spraying machine people.
The content of the invention
Goal of the invention：The present invention walks not to solve pesticide spraying machine people in roughness pavement, particularly paddy field
Just the problem of, a kind of strong adaptability, pesticide spraying machine people structure stable and reliable for performance and traveling method are designed.
Technical scheme：A kind of pesticide spraying machine people's structure of the present invention, including walking foot, connecting rod, wheel, chain
Bar, large ratchet, flexible pipe, medicine-chest, fixing device, shower nozzle, main shaft bearing, small ratchet, transmission shaft bearing, power transmission shaft, decelerator, electricity
Machine, battery, controller, load carrying device and main shaft；The walking foot is uniformly fixed on the outer ring of the wheel of both sides by connecting rod
On circle, the wheel is fixedly connected with large ratchet, and is sleeved on by the main shaft bearing of both sides on main shaft, and the medicine-chest fixes peace
On the securing means, fixing device is fixedly set on main shaft dress, and the medicine-chest connects multiple shower nozzles by flexible pipe；The load-carrying
Device is fixedly mounted on main shaft, and decelerator, motor, battery that both sides wheel driving uses are fixed with the bottom plate of load carrying device
And controller, the battery are electrically connected by controller with motor, motor is coaxially connected with decelerator, and decelerator passes through power transmission shaft
Coaxially connected with small ratchet, power transmission shaft passes through load carrying device side by transmission shaft bearing, and small ratchet passes through chain and large ratchet
Drive connection.
Further, the shower nozzle is respectively and fixedly installed to the front and rear sides of fixing device.
Further, the walking foot arrives the distance between main shaft and arrives the distance between main shaft more than fixing device bottom.
Further, the fixing device, load carrying device are separately mounted to above and below main shaft.
Further, the load carrying device is using upper opening, bottom closed structure.
The invention also discloses a kind of above-mentioned traveling method of pesticide spraying machine people's structure, including：
（1）Motor drives small pawl wheel by decelerator, and moving chain by small ratchet straps rotates；
（2）When chain rotates, because ground drag is big, load carrying device is light, thus it is initial when wheel and large ratchet it is motionless, and
Chain pulls load carrying device to swing forward；
（3）When load carrying device swings to certain altitude, whole device is because center of gravity moves forward, and wheel rotates forward, load-carrying
Device falls on device position straight down again, is repeated with this order, realization device moves forwards or backwards.
Further, step（3）Specific motion is as follows：
When load carrying device is swung forward, because load carrying device is fixedly connected with main shaft, main axis is driven, due to fixation
Device is also to be fixedly connected with main shaft, therefore fixing device swing backward, and now due to effect of inertia, liquid is to medicine-chest in medicine-chest
Anterior movements, promote whole device to travel forward, otherwise move backward.
Beneficial effect：Robot designed by the present invention by the swing forward of load carrying device, can realize the weight of whole device
The heart moves forward, and because the inertia of liquid in medicine-chest promotes forward, realizes that whole robot, can be in miriness by walking foot reach
Farmland is normally walked, and environmental suitability is strong.
Brief description of the drawings
Fig. 1 is the front view of robot architecture of the present invention；
Fig. 2 is the side view of robot architecture of the present invention.
Embodiment
A kind of pesticide spraying machine people's structure as indicated with 1, including walking foot 1, connecting rod 2, wheel 3, chain 4, megacanthopore
Wheel 5, flexible pipe 6, medicine-chest 7, fixing device 8, shower nozzle 9, main shaft bearing 10, small ratchet 11, transmission shaft bearing 12, power transmission shaft 13, subtracts
Fast device 14, motor 15, battery 16, controller 17, load carrying device 18 and main shaft 19；The walking foot 1 is uniformly solid by connecting rod 2
It is scheduled on the outer ring circle of the wheel 3 of both sides, the wheel 3 is fixedly connected with large ratchet 4, and 10 sets of main shaft bearing for passing through both sides
On main shaft 19, the medicine-chest 7 is fixedly mounted in fixing device 8, and fixing device 8 is fixedly set on main shaft 19, described
Medicine-chest 7 connects multiple shower nozzles 9 by flexible pipe 6；The load carrying device 18 is fixedly mounted on main shaft 19, the bottom plate of load carrying device 18
On be fixed with decelerator 14, motor 15, battery 16 and controller 17 that wheels driving in both sides uses, the battery 16 passes through control
Device 17 electrically connects with motor 15, and motor 15 and decelerator 14 are coaxially connected, and decelerator 14 is same by power transmission shaft 13 and small ratchet 11
Axis connection, power transmission shaft 13 pass through the side of load carrying device 18 by transmission shaft bearing 12, and small ratchet 11 passes through chain 4 and large ratchet 5
Drive connection.
Further optimization as above-mentioned technical proposal：
In order to expand spraying area and operating efficiency, the shower nozzle is respectively and fixedly installed to front and rear the two of fixing device
Side, and front shower nozzle or rear shower nozzle can be opened according to selection is actually needed.
In order to ensure that walking foot supports whole robot architecture, and ensure the normal walking of robot, the walking foot
To the distance between main shaft the distance between main shaft is arrived more than fixing device bottom.
In order to ensure that robot architecture normally walks backward forwards, backwards, the fixing device, load carrying device are installed respectively
Above and below main shaft.
Further, the load carrying device is using upper opening, bottom closed structure.
A kind of traveling method of above-mentioned pesticide spraying machine people's structure, including：
（1）Motor drives small pawl wheel by decelerator, and moving chain by small ratchet straps rotates；
（2）When chain rotates, because ground drag is big, load carrying device is light, thus it is initial when wheel and large ratchet it is motionless, and
Chain pulls load carrying device to swing forward；
（3）When load carrying device swings to certain altitude, whole device is because center of gravity moves forward, and wheel rotates forward, load-carrying
Device falls on device position straight down again, is repeated with this order, realization device moves forwards or backwards.
Specific traveling method introduces the motion process of the present apparatus by taking Fig. 2 as an example.When motor 15 is along indicators turn, pass
Moving axis 13 drives chain 4 to rotate clockwise.Now because large ratchet 5 is fixedly connected with wheel 3, and wheel 3 is due to by ground
Resistance is big, fixed.Chain 4 produces breaking-out to small ratchet 11 and exerted oneself, and makes fixing device 8 drive main shaft 19 to rotate counterclockwise.
During beginning, whole device does not produce relative motion with ground, due to being installed with motor, battery, decelerator in fixing device 8
Deng weight, therefore when swinging, the reach of whole device center of gravity, wheel is set to be moved right along indicators turn, device.It is inverse in main shaft 19
Medicine-chest 7 is installed, the liquid in medicine-chest 7, can be toward right due to effect of inertia when hour hands are swung, in the fixing device 8 above it
Impact, so as to further promote whole device to move right.After wheel 3 is along indicators turn certain angle, load carrying device 18 is again
State straight down is returned to, is changed into initial poised state.Motor 15 is rotated further, and drives load carrying device 18 to continue to put
Dynamic, wheel 3 rotates clockwise, and with this reciprocation cycle, realizes that whole device moves right.It is changed into state motor 15 during left movement
Rotate counterclockwise, principle is identical with this.
The robot architecture of the present invention and traveling method, pesticide spraying machine people can be made to be realized by the change of itself center of gravity
The stabilized walking in the farmland of miriness, the situation appearance that is absorbed in and can not be rolled away from mud is avoided, does not apply to crawler-type traveling side
Formula, avoid and the large area of crops is rolled.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent change and modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (6)
- A kind of 1. traveling method of pesticide spraying machine people's structure, it is characterised in that：Pesticide spraying machine people structure includes walking Foot (1), connecting rod (2), wheel (3), chain (4), large ratchet (5), flexible pipe (6), medicine-chest (7), fixing device (8), shower nozzle (9), main shaft bearing (10), small ratchet (11), transmission shaft bearing (12), power transmission shaft (13), decelerator (14), motor (15), electricity Pond (16), controller (17), load carrying device (18) and main shaft (19)；The walking foot (1) is uniformly fixed on by connecting rod (2) On the outer ring circle of the wheel (3) of both sides, the wheel (3) is fixedly connected with large ratchet (5), and the main shaft bearing for passing through both sides (10) it is sleeved on main shaft (19), the medicine-chest (7) is fixedly mounted in fixing device (8), and fixing device (8) is fixedly set in On main shaft (19), the medicine-chest (7) connects multiple shower nozzles (9) by flexible pipe (6)；The load carrying device (18) is fixedly mounted on master On axle (19), decelerator (14), motor (15), battery that both sides wheel driving uses are fixed with the bottom plate of load carrying device (18) (16) electrically connected with controller (17), the battery (16) by controller (17) with motor (15), motor (15) and decelerator (14) coaxially connected, decelerator (14) is coaxially connected by power transmission shaft (13) and small ratchet (11), and power transmission shaft (13) passes through transmission Axle bearing (12) passes through load carrying device (18) side, and small ratchet (11) is connected by chain (4) and large ratchet (5)；The traveling method of described pesticide spraying machine people's structure, including：(1) motor drives small pawl wheel by decelerator, and moving chain by small ratchet straps rotates；(2) when chain rotates, because ground drag is big, load carrying device is light, thus it is initial when wheel and large ratchet it is motionless, and chain Load carrying device is pulled to swing forward；(3) when load carrying device swings to certain altitude, whole device is because center of gravity moves forward, and wheel rotates forward, load carrying device Device position straight down is fallen on again, is repeated with this order, realization device moves forwards or backwards.
- A kind of 2. traveling method of pesticide spraying machine people's structure according to claim 1, it is characterised in that：The shower nozzle (9) front and rear sides of fixing device (8) are respectively and fixedly installed to.
- A kind of 3. traveling method of pesticide spraying machine people's structure according to claim 1, it is characterised in that：The walking Foot (1) arrives the distance between main shaft (19) more than the distance between fixing device (8) bottom to main shaft (19).
- A kind of 4. traveling method of pesticide spraying machine people's structure according to claim 1, it is characterised in that：The fixation Device (8), load carrying device (18) are separately mounted to above and below main shaft (19).
- A kind of 5. traveling method of pesticide spraying machine people's structure according to claim 1, it is characterised in that：The load-carrying Device (18) is using upper opening, bottom closed structure.
- A kind of 6. traveling method of pesticide spraying machine people's structure according to claim 1, it is characterised in that：Step (3) Specific motion is as follows：When load carrying device is swung forward, because load carrying device is fixedly connected with main shaft, main axis is driven, due to fixing device With main shaft and being fixedly connected, therefore fixing device swing backward, now due to effect of inertia, liquid is anterior to medicine-chest in medicine-chest Motion, promote whole device to travel forward, otherwise move backward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543185.XA CN105922274B (en) | 2016-07-12 | 2016-07-12 | A kind of pesticide spraying machine people structure and traveling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543185.XA CN105922274B (en) | 2016-07-12 | 2016-07-12 | A kind of pesticide spraying machine people structure and traveling method |
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| Publication Number | Publication Date |
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| CN105922274A CN105922274A (en) | 2016-09-07 |
| CN105922274B true CN105922274B (en) | 2017-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610543185.XA Active CN105922274B (en) | 2016-07-12 | 2016-07-12 | A kind of pesticide spraying machine people structure and traveling method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106614466B (en) * | 2016-09-14 | 2022-09-02 | 西安理工大学 | Six-foot walking type pesticide spraying robot |
| CN109213160B (en) * | 2018-08-31 | 2020-11-24 | 西南大学 | Multi-wheel foot robot for field weeding and fertilizing operation |
| CN109109024A (en) * | 2018-10-31 | 2019-01-01 | 西北农林科技大学 | A kind of orchard spray robot competition venue |
| CN112438245A (en) * | 2020-12-09 | 2021-03-05 | 塔里木大学 | Self-propelled spraying insecticide sprayer for walnut forest |
Citations (6)
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|---|---|---|---|---|
| CN2354385Y (en) * | 1998-07-31 | 1999-12-22 | 李赐平 | Manpower sprayer with winch, or chain wheel and pulling rope or chain |
| CN201467856U (en) * | 2009-08-11 | 2010-05-19 | 中国烟草总公司黑龙江省公司牡丹江烟草科学研究所 | Flue-cured tobacco high-foot insecticide spray machine |
| CN102258001A (en) * | 2011-04-29 | 2011-11-30 | 张亚洲 | Agricultural multi-trundle spray vehicle capable of running automatically |
| CN103563880A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Pesticide spraying machine |
| CN204836969U (en) * | 2015-04-30 | 2015-12-09 | 李士贤 | Intelligence agricultural machine |
| CN205799539U (en) * | 2016-07-12 | 2016-12-14 | 江苏工程职业技术学院 | A kind of pesticide spraying machine people's structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103596732A (en) * | 2010-11-30 | 2014-02-19 | 侦察机器人技术公司 | Robotic payload delivery device |
-
2016
- 2016-07-12 CN CN201610543185.XA patent/CN105922274B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2354385Y (en) * | 1998-07-31 | 1999-12-22 | 李赐平 | Manpower sprayer with winch, or chain wheel and pulling rope or chain |
| CN201467856U (en) * | 2009-08-11 | 2010-05-19 | 中国烟草总公司黑龙江省公司牡丹江烟草科学研究所 | Flue-cured tobacco high-foot insecticide spray machine |
| CN102258001A (en) * | 2011-04-29 | 2011-11-30 | 张亚洲 | Agricultural multi-trundle spray vehicle capable of running automatically |
| CN103563880A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Pesticide spraying machine |
| CN204836969U (en) * | 2015-04-30 | 2015-12-09 | 李士贤 | Intelligence agricultural machine |
| CN205799539U (en) * | 2016-07-12 | 2016-12-14 | 江苏工程职业技术学院 | A kind of pesticide spraying machine people's structure |
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| CN105922274A (en) | 2016-09-07 |
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