CN106070151A - A kind of high-clearance unmanned intelligence crawler belt spraying machine and control method - Google Patents
A kind of high-clearance unmanned intelligence crawler belt spraying machine and control method Download PDFInfo
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- CN106070151A CN106070151A CN201610554393.XA CN201610554393A CN106070151A CN 106070151 A CN106070151 A CN 106070151A CN 201610554393 A CN201610554393 A CN 201610554393A CN 106070151 A CN106070151 A CN 106070151A
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- 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
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- 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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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- 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
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The invention discloses a kind of high-clearance unmanned intelligence crawler belt spraying machine and control method, spraying machine walking arrangement is formed with the crawler type walking mechanism of In-wheel motor driving by two, the crawler type walking mechanism of both sides is connected by fixing bar, the crawler type walking mechanism top of both sides is equipped with spraying machine elevating mechanism, and humidifier includes medicament-mixing device and spray rod device；Trapezoid support assembly it is each equipped with inside each crawler type walking mechanism；Medicament-mixing device and control device are placed in inside the trapezoid support assembly of both sides, and spray rod device is arranged on spraying machine elevating mechanism and is connected with medicament-mixing device, along with the traction of spraying machine elevating mechanism moves up and down；Control device to be connected with wheel hub motor, spraying machine elevating mechanism, humidifier respectively.This device wide cut spray boom simultaneously can adjust up and down, can meet the spraying requirement of various crop different growing stage, be driven without artificial by remote control mode simultaneously, alleviate heavy burden, improve automatization level.
Description
Technical field
The present invention relates to a kind of atomizer machine, especially relate to a kind of high-clearance unmanned intelligence crawler belt spraying machine and control
Method processed.
Background technology
China is a large agricultural country, and the plant protection of crop and fertilising level of operation directly affect the yield of crops.
The mechanization of agriculture of China is relatively low with automatization level also ratio at present, lacks the facility of the efficient dispenser in land for growing field crops, simultaneously for having
The crop (such as Oryza sativa L. and long-stalked crops etc.) of complicated spray pesticide landform, conventional mechanical cannot be gone to the field, so mostly leaning on manpower
Or man-computer cooperation, cause the problems such as inefficiency, labor intensity are big, scale effect is poor.Number of patent application is
The patent crawler belt of CN201520140029.X uses conventional track structure from walking air-assisted type spraying machine, has one for complicated landform
Surely ability is adapted to, but bad by property, and spread of spray is limited, it is impossible to adapt to the spraying requirement of land for growing field crops long-stalked crops.Patent
The patent one tractor running gear of Application No. CN201310288169.7 uses triangle caterpillar belt structure, has complicated landform
Necessarily adapt to ability, but in agricultural application, yet suffer from that device center of gravity is too high, cannot adapt to long-stalked crops etc. by property
Problem.For the land for growing field crops above with complicated spray pesticide landform spray existing for drawback, devise a kind of high-clearance unmanned
Driving intelligent crawler belt spraying machine.Use caterpillar belt structure and unmanned intelligent control method to adapt to complicated spray pesticide landform
Impact, it addition, the long spray boom of syllogic height adjustable can meet the spray pesticide demand of field crop different growing stage.
Summary of the invention
It is an object of the invention to devise a kind of high-clearance unpiloted, adapt to land for growing field crops and there is complicated spraying
The spraying requirement of landform crop, can improve spraying machine and the control method of spray pesticide efficiency.
The technical scheme is that a kind of high-clearance unmanned intelligence crawler belt spraying machine, set including spraying machine walking
Standby, spraying machine elevating mechanism, humidifier, control device；Described spraying machine walking arrangement by two with In-wheel motor driving
Crawler type walking mechanism composition, the crawler type walking mechanism of both sides is connected by fixing bar, the crawler type walking mechanism top of both sides
End is equipped with spraying machine elevating mechanism, and described humidifier includes medicament-mixing device and spray rod device；Each crawler type walking mechanism
Inside is each equipped with trapezoid support assembly；Medicament-mixing device and control device are placed in inside the trapezoid support assembly of both sides, spray boom
Device is arranged on spraying machine elevating mechanism and is connected with medicament-mixing device, along with the traction of spraying machine elevating mechanism moves up and down；
Described control device is connected with wheel hub motor, spraying machine elevating mechanism, humidifier respectively, realizes In-wheel motor driving respectively
Control, the elevating control of spraying machine elevating mechanism, and the spraying of humidifier controls.
Further, described trapezoid support assembly periphery is wrapped up by crawler belt, and trapezoid support assembly is trapezoidal supporting construction, by propping up
Fagging is composed of a fixed connection, and the wheel of trapezoid support assembly Four built in boundaries can coordinate with crawler belt, is taken turns by In-wheel motor driving
Drive crawler belt is advanced.
Further, described trapezoid support assembly includes supporting transverse slat, supporting swash plate, hub support support, hub support horizontal stroke
Plate, described support transverse slat, support swash plate, hub support support, hub support transverse slat are encircled into trapezoid support, pass through welding manner
Connect；Described support transverse slat and support swash plate junction, support transverse slat and the junction of hub support support, support swash plate and
The junction of the junction of hub support transverse slat, hub support support and hub support transverse slat is all reserved with and supplies jackshaft to pass
Through hole；Described hub support support is transverse slat near one end of support transverse slat, and the other end is fixed with half mouthful of shape support A；Described take turns
It is transverse slat that hub supports transverse slat near one end of support swash plate, and the other end is fixed with half mouthful of shape support B, half mouthful of hub support transverse slat
Shape support B is fastened on inside half mouthful of shape support A of hub support support, and the two is connected by jackshaft；Described hub support is horizontal
Two A-frames of fixing connection bottom plate, both sides, A-frame base are reserved with the through hole passed for jackshaft.
Further, described crawler type walking mechanism includes In-wheel motor driving wheel, road wheel, crawler belt, directive wheel, support
Wheel, described In-wheel motor driving wheel, road wheel, directive wheel, support wheel are all assemblied in each of trapezoid support assembly by jackshaft
The reserved through hole both sides of individual connection end, wherein In-wheel motor driving wheel and directive wheel are respectively assembled at the base of trapezoid support assembly
On the jackshaft of both sides, two support wheel and are assemblied on the jackshaft of both sides, top of trapezoid support assembly, 4 road wheels every two
Individual one group, it is assemblied on the A-frame on trapezoid support assembly base, In-wheel motor driving wheel and the connection of trapezoid support assembly
Being to use cross-over mode, half mouthful of shape that In-wheel motor driving wheel is arranged on hub support support, hub support transverse slat matches props up
On jackshaft inside frame；Described road wheel, directive wheel, support wheel are all two-wheel coaxial configurations；Crawler belt is by whole trapezoid support
Assembly periphery is wrapped up, and contacts with In-wheel motor driving wheel, road wheel, directive wheel, support wheel.
Further, described spraying machine elevating mechanism includes rectangular pyramid frame and chain traction device；
Described rectangular pyramid frame includes bracing frame, supports transverse slat, and be positioned at bottom supports transverse slat and the bracing frame above it
Composition rectangular pyramid structure, described support transverse slat is the flat board of quadrilateral structure；Ladder in terms of spraying machine side, inside trapezoidal crawler belt
Shape carriage assembly is combined into a triangle with two bracing frames of top, i.e. uses overall three-legged structure, has stability, from
Under on become narrow gradually；
Described chain traction device is arranged in rectangular pyramid frame, including trough of belt slide rail, gear, DC brushless motor and
Chain；Trough of belt slide rail includes slide block with holes and chute, and chute lower end is vertically connected by connector and supports transverse slat, and chute upper end is solid
Being connected on bracing frame top board, slide block with holes is arranged on trough of belt slide rail, and in the middle of slide block with holes, circular hole is used for laying spray boom；
Gear is positioned at the side of trough of belt slide rail, and the gear on top is fixed on gear fixture, and the gear of bottom is then
Coaxially connected with DC brushless motor, two gear centres are on same vertical line, and DC brushless motor is fixed on propping up of bottom
On support transverse slat.
Further, the bracing frame in described rectangular pyramid frame can substitute with two metal supporting frames summit welding, forms three
Dihedral bracing frame, triangle support frame bottom be fixed on support transverse slat both sides center so that triangle support frame with under
The trapezoid support assembly in portion forms firm triangular structure in terms of spraying machine side.
Further, in described humidifier, medicament-mixing device includes water tank, medicine-chest and spray tank, and water tank and medicine-chest are point
From, output medicinal liquid is mixed in proportion, and the medicinal liquid of mixing is pre-stored in spray tank, and spraying locomotive runs into rough topography condition cannot
When rolling away from, the water of water tank can be bled off Reduction of Students' Study Load；
Described spray rod device is three stage structure, is interior spray boom between the crawler type walking mechanism of both sides, the two of interior spray boom
Side is outer spray boom, uniform nozzle on spray rod device.
Further, described interior spray boom passes the slide block with holes of both sides and is fixed, and spray rod device can be at brush DC
Motor, gear drive under carry out a range of moving up and down.
Further, also include that electric pushrod, described interior spray boom are linked together by rotating shaft with outer spray boom, electric pushrod two
End is separately fixed on the interior spray boom above rotating shaft and outer spray boom, and the outer spray boom that vertical folding gets up is stuck in main fixing bar two ends
In spray boom draw-in groove；Interior spray boom two respectively extends a spray boom kerve, is just stuck in spray boom kerve during outer spray boom horizontal positioned.
Further, described fixing bar includes:
The master being connected with two bracing frame tops fixes bar, and two auxiliary being positioned at main fixing both sides, bar lower end are solid
Fixed pole, each auxiliary is fixed bar and is separately fixed on two side columns of bracing frame same side；Ensure that main fixing bar is positioned at simultaneously
The surface of two fixing bar centrages of auxiliary, and the bar parallel setting fixing with auxiliary of main fixing bar.
Further, also including cover plate, cover plate is fixed on crawler belt both sides, is slightly smaller in size than crawler belt, by trapezoid support assembly with
And water tank, medicine-chest, spray tank, control device all cover, it is fixed on each jackshaft taking turns outside.
Further, described control device include embedded onboard control unit, photographic head, gyroscope, electronic compass, GPS,
Draw water effusion meter, height sensor, velocity sensor, liquid level sensor, pressure transducer, nozzle flowmeter, remote controller, parameter
The real-time display screen of display screen, image, mobile phone application, In-wheel motor driving, lifting motor driving, push-rod electric machine driving, suction pump
Drive, spray pump drives, mixture pump drives, solenoid-driven；
Described photographic head, gyroscope, electronic compass, GPS, the effusion meter that draws water, height sensor, velocity sensor, liquid
Level sensor, pressure transducer, nozzle flowmeter are all connected with embedded onboard control unit；
Mobile phone application is connected with embedded onboard control unit by 4G wireless network and transmits data, and remote controller passes through 2.4G
Wireless network is connected with embedded onboard control unit and transmits data；
In-wheel motor driving, lifting motor drive, push-rod electric machine drives, suction pump drives, spray pump drives, mixture pump
Drive, solenoid-driven is all connected with embedded onboard control unit by CAN；
In-wheel motor driving wheel is connected with In-wheel motor driving, and DC brushless motor drives with lifting motor and is connected, electronic
Push rod drives with push-rod electric machine and is connected, and suction pump drives with suction pump and is connected, and spray pump drives with spray pump and is connected, mixture pump
Driving with mixture pump and be connected, spray boom electromagnetic valve is connected with solenoid-driven.
Further, before starting spraying, by electric pushrod, two outer spray booms are set level, obtain mesh according to height sensor
The height of mark plant, by DC brushless motor regulation spray boom to distance of properly spraying, then controls spraying machine by remote controller
Advance and direction, perform spray action simultaneously；
In spray process, operator according to photographic head, gyroscope, electronic compass, GPS gather information to spraying machine row
Entering direction and carry out effective and reasonable control, embedded onboard control unit is according to velocity sensor, liquid level sensor, pressure sensing
The information of device, nozzle flowmeter passback is to In-wheel motor driving wheel, suction pump, spray pump, mixture pump and spray boom electromagnetic valve
It is controlled, spraying machine speed, mixed medicine process and spray process are controlled；The effusion meter that draws water draws water for detection in real time
The water yield that pumping takes, the water rate control spray pump that embedded onboard control unit extracts according to suction pump extracts certain amount of liquid medicine
Carry out mixed medicine process so that water and medicinal liquid mix according to certain ratio；Spray boom is three stage structure, and each part is corresponding
One spray boom electromagnetic valve, mixture pump and spray boom electromagnetic valve with the use of, make stable water pressure in spray boom, nozzle is pressure type,
Reach certain hydraulic pressure i.e. to spray；
After spraying terminates, spray boom is transferred to trough of belt slide rail bottom by DC brushless motor and chain and gear,
Acted on by electric pushrod folding, by two sections, the outside fold inward of syllogic spray boom, be seated in spray boom draw-in groove, syllogic
Spray boom forms positive three-legged structure, it is ensured that spraying machine integral central is symmetrical and center of gravity is positioned on the vertical line of center, beneficially spraying machine
Traveling and transport.
The invention has the beneficial effects as follows that a kind of high-clearance unmanned intelligence crawler belt spraying machine and control system thereof use
Wireless data transmission and remote control technology, it is no longer necessary to people drives, and not only alleviates the own wt of spraying machine, and not
Can make among operator is exposed to spray insecticide, to improve the operating environment of operator, also alleviate its manipulation strength simultaneously.Left and right two
Side track drive uses free-standing embedded In-wheel motor driving, and closure is good, decreases the parts such as reduction box, saved space and
Weight；The each parts in the water route such as water tank, spray tank and the circuit part such as on-vehicle battery, driver all concentrate on the trapezoidal shoe in both sides
Inside band, drag down center of gravity, be different from other creeper undercarriage so that walked the most sane, only by spraying machine eminence
The structure that three fixing bars fix so that good by property in the middle of spraying machine, adapts to various height gap crop spray condition；Wide cut
Spray boom can adjust up and down according to crop actual height, can meet the spraying requirement of various crop different growing stage, at spraying knot
Shu Shi, two sections of the both sides of syllogic spray boom can be with fold inward, and syllogic spray boom forms positive three-legged structure, centrosymmetry, center of gravity
Relatively steady, be different from other backfolding spray boom, spray boom will not up and down, swing, the beneficially walking of spraying machine and transport；
Spraying machine uses water medicine to separate, real-time mixed medicine water circuit system, spraying machine run into rough topography condition can not roll away from time, can release
The clear water bleeding off water tank is self Reduction of Students' Study Load, is conducive to reply rough topography condition and not to environment；Pass through to be invented
High-clearance unmanned intelligence crawler belt spraying machine, improve the efficiency at big Tanaka's spray pesticide, alleviate labor intensity, from
Dynamicization level is higher, and scale effect is preferable.
Accompanying drawing explanation
Fig. 1 is a kind of high-clearance unmanned intelligence crawler belt spraying machine inclined-plane overall structure schematic diagram；
Fig. 2 is a kind of high-clearance unmanned intelligence crawler belt spraying machine Facad structure schematic diagram；
Fig. 3 is a kind of high-clearance unmanned intelligence crawler belt spraying machine vehicle frame part-structure figure；
Fig. 4 is chain traction device schematic diagram；
Fig. 5 is interior spray boom and outer spray boom attachment structure schematic diagram；
Fig. 6 is a kind of high-clearance unmanned intelligence crawler belt spraying machine control system schematic diagram.
Wherein: 1-In-wheel motor driving is taken turns；2-road wheel；3-crawler belt；4-directive wheel；5-supports wheel；6-water tank；7-medicine
Case；8-spray tank；9-trapezoid support assembly；10-bracing frame；11-supports transverse slat；12-master fixes bar；The fixing bar of 13-auxiliary；
14-trough of belt slide rail；15-gear；16-DC brushless motor；Spray boom in 17-；The outer spray boom of 18-；19-nozzle；20-electric pushrod；
21-spray boom kerve；22-rotating shaft；23-spray boom draw-in groove；24-cover plate；25-embedded onboard control unit；26-photographic head；27-top
Spiral shell instrument；28-electronic compass；29-GPS；30-velocity sensor；31-liquid level sensor；32-pressure transducer；33-nozzle flow
Meter；34-remote controller；35-parameter display screen；The real-time display screen of 36-image；37-mobile phone is applied；38-In-wheel motor driving；39-
Lifting motor drives；40-push-rod electric machine drives；41-suction pump drives；42-suction pump；43-spray pump drives；44-spray pump；
45-mixture pump drives；46-mixture pump；47-solenoid-driven；48-spray boom electromagnetic valve；49-draws water effusion meter；50-spray boom
Electromagnetic valve；51-bracing frame top board；52-gear fixture；53-connector；54-slide block with holes；55-chain；56-supports horizontal stroke
Plate, 57-support swash plate, 58-hub support support, 59-hub support transverse slat.
Detailed description of the invention
The work of a kind of high-clearance invented unmanned intelligence crawler belt spraying machine is illustrated below in conjunction with schematic diagram
Process.
A kind of high-clearance unmanned intelligence crawler belt spraying machine, including spraying machine walking arrangement, spraying machine elevating mechanism, spray
Mist mechanism, controls device；Described spraying machine walking arrangement is formed with the crawler type walking mechanism of In-wheel motor driving by two,
The crawler type walking mechanism of both sides is connected by fixing bar, and the crawler type walking mechanism top of both sides is equipped with spraying machine elevator
Structure, described humidifier includes medicament-mixing device and spray rod device；It is each equipped with trapezoid support inside each crawler type walking mechanism
Assembly；Medicament-mixing device and control device are placed in inside the trapezoid support assembly of both sides, and spray rod device is arranged on spraying machine lifting
It is connected in mechanism and with medicament-mixing device, along with the traction of spraying machine elevating mechanism moves up and down；Described control device respectively with wheel
Hub motor, spraying machine elevating mechanism, humidifier are connected, and realize respectively In-wheel motor driving control, spraying machine elevating mechanism
Elevating control, and humidifier spraying control.
Described trapezoid support assembly periphery is wrapped up by crawler belt 3, and trapezoid support assembly 9 is trapezoidal supporting construction, by gripper shoe
Being composed of a fixed connection, the wheel of trapezoid support assembly Four built in boundaries can coordinate with crawler belt 3, and then drives crawler belt 3 to advance.
As shown in Figure 1-2, described crawler type walking mechanism includes In-wheel motor driving wheel 1, road wheel 2, crawler belt 3, guides
Wheel 4, support wheel 5, described In-wheel motor driving wheel 1, road wheel 2, directive wheel 4, support wheel 5 are all assemblied in trapezoidal by jackshaft
The reserved through hole both sides of each connection end of carriage assembly 9, wherein In-wheel motor driving wheel 1 is respectively assembled at ladder with directive wheel 4
On the jackshaft of the both sides, base of shape carriage assembly 9, two support wheel 5 and are assemblied in the both sides, top of trapezoid support assembly 9
On countershaft, 4 road wheel 2 each two one group, it is assemblied on the A-frame on trapezoid support assembly 9 base, In-wheel motor driving
Wheel 1 and the connection of trapezoid support assembly 9 are to use cross-over mode, In-wheel motor driving wheel (1) be arranged on hub support support 58,
On the jackshaft inside half mouthful of shape support that hub support transverse slat 59 matches；Described road wheel 2, directive wheel 4, support wheel 5 are all
It it is two-wheel coaxial configuration；Crawler belt 3 by peripheral for whole trapezoid support assembly 9 parcel, and with In-wheel motor driving wheel 1, road wheel 2,
Directive wheel 4, support wheel 5 contact.
In described humidifier, described medicament-mixing device includes water tank 6, medicine-chest 7 and spray tank 8, described water tank 6, medicine-chest
7, spray tank 8, control device are fixed on the inside of trapezoid support assembly 9 inside trapezoidal crawler belt；Center of gravity is transferred, and spraying machine is in walking
During more sane, and trapezoidal height of crawler is higher so that the capacity of medicine-chest is relatively big, is suitable for land for growing field crops spraying.Water tank 6 and medicine
Case 7 is to separate, and output medicinal liquid is mixed in proportion, and the medicinal liquid of mixing is pre-stored in spray tank 8, and spraying locomotive runs into rough topography
When condition cannot be rolled away from, the water of water tank can be bled off Reduction of Students' Study Load, without to environment.
Described spray rod device is three stage structure, is interior spray boom 17 between the crawler type walking mechanism of both sides, interior spray boom 17
Both sides be outer spray boom 18, uniform nozzle 19 on spray rod device.Described humidifier also includes electric pushrod 20, described interior spray
Bar 17 is linked together by rotating shaft 22 with outer spray boom 18, and electric pushrod 20 two ends are separately fixed at the interior spray boom above rotating shaft 22
17 with on outer spray boom 18, and the outer spray boom 18 that vertical folding gets up is stuck in the spray boom draw-in groove 23 at main fixing bar two ends；Interior spray boom 17
Two respectively extends a spray boom kerve 21, is just stuck in spray boom kerve 21 during outer spray boom 18 horizontal positioned.
The benefit that above-mentioned spray rod device is arranged is to carry the pressure of spray boom both sides outside, prevent because of wind simultaneously and
The reason jolted, swings before and after causing outer spray boom 18.Electric pushrod 20 two ends are separately fixed at interior spray boom 17 and outer spray boom 18
On, after spraying terminates, spray boom is transferred to trough of belt slide rail 14 bottom by DC brushless motor and chain pitch wheel, by electricity
Dynamic push rod 20 folding effect, two sections of the both sides of syllogic spray boom can be folded inwardly in spray boom draw-in groove 23, with traditional spray machine
The mode that spray boom folds to spraying machine rear is compared, and syllogic spray boom forms positive three-legged structure, and center of gravity is relatively steady, beneficially spraying machine
Traveling and transport；Before starting spraying, then by electric pushrod 20, two outer spray booms are set level, then according to target plant
Altitude mixture control spray boom is to suitably height, then performs spray action.
As in figure 2 it is shown, present invention additionally comprises cover plate 24, cover plate 24 is fixed on crawler belt 3 both sides, is slightly smaller in size than crawler belt 3, will
Trapezoid support assembly 9 and water tank 6, medicine-chest 7, spray tank 8, control device and all cover, be fixed on each centre taking turns outside
On axle.Cover plate 24 can preferably protect internal mechanism, water tank and controller etc. not to be polluted by adverse circumstances, corrode.
As it is shown on figure 3, an embodiment of the trapezoid support assembly 9 given by the present invention.
This trapezoid support assembly 9 includes supporting transverse slat 56, supporting swash plate 57, hub support support 58, hub support transverse slat
59, described support transverse slat 56, support swash plate 57, hub support support 58, hub support transverse slat 59 are encircled into trapezoid support, pass through
Welding manner connects；Described support transverse slat 56 and support the junction of swash plate 57, support transverse slat 56 and hub support support 58
Junction, support swash plate 57 and the junction of hub support transverse slat 59, hub support support 58 and the company of hub support transverse slat 59
The place of connecing all is reserved with the through hole passed for jackshaft；Described hub support support 58 is transverse slat near one end of support transverse slat 56,
The other end is fixed with half mouthful of shape support A (for " П " shape)；Described hub support transverse slat 59 is horizontal near the one end supporting swash plate 57
Plate, the other end is fixed with half mouthful of shape support B, and half mouthful of shape support B of hub support transverse slat 59 is fastened on hub support support 58
Inside half mouthful of shape support A, the two is connected by jackshaft；Bottom described hub support transverse slat 59, two triangles of fixing connection prop up
Frame, both sides, A-frame base are reserved with the through hole passed for jackshaft.
As shown in Figure 3-4, described spraying machine elevating mechanism includes rectangular pyramid frame and chain traction device；Described rectangular pyramid
Frame includes bracing frame 10, supports transverse slat 11, is positioned at the support transverse slat 11 of bottom and the bracing frame 10 above it forms rectangular pyramid
Structure, described support transverse slat 11 is the flat board of quadrilateral structure；Described support transverse slat 11 is metal plate, under metal plate corner
Four triangle iron plates are extended in portion, and four triangle iron plates are connected across and support on the jackshaft that wheel 5 both sides external are extended；Support horizontal stroke
Plate 11 and four triangle iron plate welding, gear fixture 52 and bracing frame top board 51 weld.
Described chain traction device is arranged in rectangular pyramid frame, including trough of belt slide rail 14, gear 15, DC brushless motor
16, chain 55；Trough of belt slide rail 14 includes slide block 54 with holes and chute, and chute lower end is vertically connected by connector (53) and supports horizontal stroke
Plate 11, chute upper end is connected on bracing frame top board 51, and slide block 54 with holes is arranged on trough of belt slide rail 14, in the middle of slide block 54 with holes
Circular hole is used for laying spray boom；Gear 15 is positioned at the side of trough of belt slide rail 14, and the gear 15 on top is fixed on gear fixture 52
On, the gear 15 of bottom is then coaxially connected with DC brushless motor, two gear centres on same vertical line, brush DC
Motor 16 is fixed on the support transverse slat 11 of bottom.
As one embodiment of the present of invention, the bracing frame 10 in described rectangular pyramid frame can also select two metals to prop up
Support summit is welded to form triangle support frame, and triangle support frame bottom is fixed on the center supporting transverse slat 11 both sides,
Triangle support frame is made to form firm triangular structure from the side with the trapezoid support assembly 9 of bottom.
Every two bracing frame 10 heads on one side connect, and bottom is extended two bars and is connected across support wheel both sides external, two
Being stitched together with support transverse slat bottom bracing frame 10, such tripod adds transverse slat structure, spatially constitutes a rectangular pyramid,
There is stability.In terms of spraying machine side, the trapezoid support assembly 9 inside trapezoidal crawler belt combines with two bracing frames 10 of top
Become a triangle, i.e. use overall three-legged structure, there is stability, become narrow gradually from top to bottom, walked more sane.
The crawler type walking mechanism of the both sides of the present invention is identical, fixes bar 12 and two fixing bars 13 of auxiliary by a master
Being connected, main fixing bar 12 two is connected with two bracing frame 10 head joints on every limit respectively, fixing bar 13 two of auxiliary
It is separately fixed on two side columns of every limit bracing frame 10, can be more firm by 3 fixing bars and 10 fixing points above
The mechanism on both sides is linked together by ground, and walking gets up to have stability.
As shown in Figure 4, for chain traction trough of belt slide rail, including trough of belt slide rail 14, connector 53, slide block with holes 54, chain
55；Support transverse slat 11；Gear 15；DC brushless motor 16；Bracing frame top board 51；Gear fixture 52；Wherein, trough of belt slide rail
14 upper ends are fixed on bracing frame top board 51 center, and lower end is fixed in the middle part of support transverse slat 11 by a base, slide block 54 with holes
Being arranged on trough of belt slide rail 14, the middle circular hole of slide block 54 with holes is laid for spray boom, gear fixture 52 and bracing frame top board
51 weld together, and DC brushless motor 16 is fixed on support transverse slat 11, relative to trough of belt slide rail 14 secundly, direct current without
Brush motor 16 driven gear 15 rotates, and chain 55 links together with slide block 54 with holes, and then drives the upper and lower of slide block 54 with holes
Mobile, both sides device keeps synchronizing, then drive moving up and down of syllogic spray boom.
As embodiments of the invention, the crawler belt 3 roller hub motor gear 1 of described spraying machine drives, and trapezoidal crawler belt is high
Degree is about 1.2 meters；Described intelligence crawler belt spraying machine roller hub motor gear structure drives, and wheel hub motor closure is good, it is not necessary to volume
Outer gearbox structure, has saved complete machine space and weight, adapts to the walking requirement of various complicated landform, meets the spray of high-clearance crop
The requirement for height of mist.
Described spray boom is three stage structure, and interior spray boom 17 uses titanium alloy material, is unlikely to deform, and enabling capabilities is strong, length
1.5 meters, spray boom 18 carbon fibre material outside both sides, length 2 meters, interior spray boom 17 all launches up to 5.5 meters with outer spray boom 18；Due to
Outer spray bar length is longer, uses titanium alloy can meet requirement of strength, can alleviate again deadweight, will not deform because of overweight；And
And, interior spray boom and outer spray boom all launch up to 5.5 meters, adapt to field crop spraying operation.Traditional is to fold back, this
It is high that bright center of gravity concentrates on crawler belt upward stability, and each joint spray boom gravity holding capacity is little.
Described interior spray boom 17 is through the slide block with holes 54 of the trough of belt slide rail 14 on both sides, and spray boom can be at DC brushless motor
16, moving up and down of certain limit (1.2m-1.8m) is carried out under the drive of gear 15, and DC brushless motor 16 band self-locking merit
Energy；For high-clearance crop (such as Later Stage of Rice and long-stalked crops etc.), there is the preferable suitability.
As shown in Figure 6, a kind of high-clearance unmanned intelligence crawler belt spraying machine control system, photographic head is used for Real-time Collection
The image information of spraying machine front crop, control unit is transmitted on the real-time display screen of image, observes spraying for operator
Machine front environmental characteristic.Gyroscope is believed mainly for detection of the deviation of the spraying locomotive attitude angle caused due to ground out-of-flatness
Breath, and it is transferred to parameter display screen by control unit.In like manner, electronic compass and GPS be mainly used in spraying locomotive course angle with
And the measurement of positional information, and it is transferred to parameter display screen by control unit, handle spraying locomotive traveling side as operator
To foundation.Height sensor is mainly used in measuring the elevation information of crop, and control unit information accordingly controls brush DC electricity
Machine so that spray boom spraying is in suitable height.Velocity sensor, liquid level sensor, pressure transducer, nozzle flowmeter are respectively
For measuring the gait of march of spraying locomotive, the liquid level of spray tank, the hydraulic pressure of spray boom and the flow of nozzle spray, control unit
In-wheel motor driving wheel, suction pump, spray pump, mixture pump are controlled by the feedack according to each sensor.Draw water
Effusion meter is for the water yield of detection suction pump extraction in real time, the water rate control spray pump extraction that control unit extracts according to suction pump
Certain amount of liquid medicine carries out mixed medicine process so that water and medicinal liquid mix according to certain ratio.Spray boom is three stage structure,
The corresponding electromagnetic valve of each part, mixture pump and electromagnetic valve with the use of, make stable water pressure in spray boom, nozzle is pressure
Formula, reaches certain hydraulic pressure and i.e. sprays.Mobile phone application is connected with embedded onboard control unit by 4G network, for mobile phone remote
Observe spray condition and spray process is controlled；Remote controller is connected with embedded onboard control unit by 2.4G, can
With the real time imaging of spraying locomotive front crop returned by the real-time display screen of the image on remote controller and parameter display screen
Various information, remotely control spraying locomotive.
High-clearance unmanned intelligence crawler belt spraying machine control system workflow: before starting spraying, pushed away by electronic
Two outer spray booms are set level by bar, then regulate spray boom to the highest according to the height of target plant by DC brushless motor
Degree, is then controlled the direction of advance of spraying machine, performs spray action simultaneously by remote controller；In spray process, operator's root
The information gathered according to photographic head, gyroscope, electronic compass, GPS etc. carries out effective and reasonable control to spraying machine direct of travel, control
Wheel hub motor is driven by the information that unit processed returns according to velocity sensor, liquid level sensor, pressure transducer, nozzle flowmeter etc.
Driving wheel, suction pump, spray pump, mixture pump and electromagnetic valve are controlled, and to spraying machine speed, mix medicine process and spray
Journey is controlled.Draw water effusion meter for the water yield that detection suction pump extracts in real time, the water that control unit extracts according to suction pump
Amount controls the certain amount of liquid medicine of spray pump extraction and carries out mixed medicine process so that water and medicinal liquid mix according to certain ratio.
Spray boom is three stage structure, the corresponding electromagnetic valve of each part, mixture pump and electromagnetic valve with the use of, make water in spray boom
Pressure is stable, and nozzle is pressure type, reaches certain hydraulic pressure and i.e. sprays.After spraying terminates, by spray boom by DC brushless motor with
And gear transfers to trough of belt slide rail bottom, being acted on by electric pushrod folding, two sections of the both sides of syllogic spray boom can be to infolding
Being laminated in spray boom draw-in groove, syllogic spray boom forms traveling and the transport of positive three-legged structure, beneficially spraying machine.
In the description of this specification, reference term " embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " concrete example " or " some examples " etc. means to combine this embodiment or the specific features of example description, knot
Structure, material or feature are contained at least one embodiment or the example of the present invention.In this manual, to above-mentioned term
Schematic representation is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or spy
Point can combine in any one or more embodiments or example in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
These embodiments can be carried out multiple change in the case of departing from the principle of the present invention and objective, revise, replace and modification, this
The scope of invention is limited by claim and equivalent thereof.
Claims (13)
1. a high-clearance unmanned intelligence crawler belt spraying machine, it is characterised in that include spraying machine walking arrangement, spraying machine liter
Descending mechanism, humidifier, control device；
Described spraying machine walking arrangement is formed with the crawler type walking mechanism of In-wheel motor driving by two, the crawler type of both sides
Walking mechanism is connected by fixing bar, and the crawler type walking mechanism top of both sides is equipped with spraying machine elevating mechanism, described spraying machine
Structure includes medicament-mixing device and spray rod device；Trapezoid support assembly it is each equipped with inside each crawler type walking mechanism；Medicament-mixing device
With control device be placed in inside the trapezoid support assembly of both sides, spray rod device be arranged on spraying machine elevating mechanism and with mixed medicine
Device is connected, along with the traction of spraying machine elevating mechanism moves up and down；Described control device respectively with wheel hub motor, spraying machine liter
Descending mechanism, humidifier are connected, and realize In-wheel motor driving control respectively, the elevating control of spraying machine elevating mechanism, and
The spraying of humidifier controls.
High-clearance the most according to claim 1 unmanned intelligence crawler belt spraying machine, it is characterised in that described trapezoid support
Assembly is peripheral to be wrapped up by crawler belt (3), and trapezoid support assembly (9) is trapezoidal supporting construction, gripper shoe be composed of a fixed connection, trapezoidal
The wheel of carriage assembly Four built in boundaries can coordinate with crawler belt (3), drives crawler belt (3) to advance by In-wheel motor driving wheel (1).
High-clearance the most according to claim 1 and 2 unmanned intelligence crawler belt spraying machine, it is characterised in that described trapezoidal
Carriage assembly (9) includes supporting transverse slat (56), supporting swash plate (57), hub support support (58), hub support transverse slat (59), institute
State support transverse slat (56), support swash plate (57), hub support support (58), hub support transverse slat (59) are encircled into trapezoid support,
Connected by welding manner；Described support transverse slat (56) and the junction of support swash plate (57), support transverse slat (56) and wheel hub prop up
Support support (58) junction, support swash plate (57) and the junction of hub support transverse slat (59), hub support support (58) and
The junction of hub support transverse slat (59) is all reserved with the through hole passed for jackshaft；Described hub support support (58) is near propping up
One end of support transverse slat (56) is transverse slat, and the other end is fixed with half mouthful of shape support A；Described hub support transverse slat (59) is near supporting tiltedly
One end of plate (57) is transverse slat, and the other end is fixed with half mouthful of shape support B, half mouthful of shape support B engaging of hub support transverse slat (59)
Inside half mouthful of shape support A of hub support support (58), the two is connected by jackshaft；Described hub support transverse slat (59) end
Portion is fixing connects two A-frames, and both sides, A-frame base are reserved with the through hole passed for jackshaft.
High-clearance the most according to claim 3 unmanned intelligence crawler belt spraying machine, it is characterised in that described crawler type row
Walk mechanism to include In-wheel motor driving wheel (1), road wheel (2), crawler belt (3), directive wheel (4), support wheel (5), described wheel hub electricity
Machine driving wheel (1), road wheel (2), directive wheel (4), support wheel (5) are all assemblied in trapezoid support assembly (9) by jackshaft
Each connects the reserved through hole both sides of end, and wherein In-wheel motor driving wheel (1) and directive wheel (4) are respectively assembled at trapezoid support group
On the jackshaft of the both sides, base of part (9), two support the centre that wheel (5) is assemblied in the both sides, top of trapezoid support assembly (9)
On axle, 4 road wheel (2) each two one group, it is assemblied on the A-frame on trapezoid support assembly (9) base, wheel hub motor drives
Driving wheel (1) is to use cross-over mode with the connection of trapezoid support assembly (9), and In-wheel motor driving wheel (1) is arranged on hub support
On the jackshaft inside half mouthful of shape support that support (58), hub support transverse slat (59) match；Described road wheel (2), guiding
Wheel (4), support wheel (5) are all two-wheel coaxial configurations；Crawler belt (3) is by peripheral for whole trapezoid support assembly (9) parcel, and same wheel hub
Motor driving wheel (1), road wheel (2), directive wheel (4), support wheel (5) contact.
High-clearance the most according to claim 1 unmanned intelligence crawler belt spraying machine, it is characterised in that described spraying machine liter
Descending mechanism includes rectangular pyramid frame and chain traction device；
Described rectangular pyramid frame includes bracing frame (10), supports transverse slat (11), be positioned at the support transverse slat (11) of bottom with its above
Bracing frame (10) composition rectangular pyramid structure, described support transverse slat (11) is the flat board of quadrilateral structure；In terms of spraying machine side,
Trapezoid support assembly (9) inside trapezoidal crawler belt is combined into a triangle with two bracing frames (10) of top, i.e. uses whole
Body three-legged structure, has stability, becomes narrow gradually from top to bottom；
Described chain traction device is arranged in rectangular pyramid frame, including trough of belt slide rail (14), gear (15), DC brushless motor
And chain (55) (16)；Trough of belt slide rail (14) includes slide block with holes (54) and chute, is hung down by connector (53) in chute lower end
Straight being connected supports transverse slat (11), and chute upper end is connected on bracing frame top board (51), and slide block with holes (54) is arranged on trough of belt slide rail
(14), on, in the middle of slide block with holes (54), circular hole is used for laying spray boom；
Gear (15) is positioned at the side of trough of belt slide rail (14), and the gear (15) on top is fixed on gear fixture (52), under
The gear (15) in portion is then coaxially connected with DC brushless motor (16), two gear centres on same vertical line, direct current without
Brush motor (16) is fixed on the support transverse slat (11) of bottom.
High-clearance the most according to claim 5 unmanned intelligence crawler belt spraying machine, it is characterised in that described rectangular pyramid machine
The available two metal supporting frames summits welding of bracing frame (10) on frame substitutes, and forms triangle support frame, triangle support frame
Bottom is fixed on the center supporting transverse slat (11) both sides so that triangle support frame and the trapezoid support assembly (9) of bottom
Firm triangular structure is formed in terms of spraying machine side.
High-clearance unmanned intelligence crawler belt spraying machine the most according to claim 1 or 5, it is characterised in that described spraying
In mechanism, medicament-mixing device includes water tank (6), medicine-chest (7) and spray tank (8), and water tank (6) separates with medicine-chest (7), output
Medicinal liquid is mixed in proportion, and the medicinal liquid of mixing is pre-stored in spray tank (8), and spraying locomotive runs into rough topography condition and cannot roll away from
Time, the water of water tank can be bled off Reduction of Students' Study Load；
Described spray rod device is three stage structure, is interior spray boom (17) between the crawler type walking mechanism of both sides, interior spray boom (17)
Both sides be outer spray boom (18), uniform nozzle (19) on spray rod device.
High-clearance the most according to claim 7 unmanned intelligence crawler belt spraying machine, it is characterised in that described interior spray boom
(17) passing the slide block with holes (54) of both sides and fixed, spray rod device can be at DC brushless motor (16), gear (15)
Drive under carry out a range of moving up and down.
High-clearance the most according to claim 7 unmanned intelligence crawler belt spraying machine, it is characterised in that also include electronic pushing away
Bar (20), described interior spray boom (17) is linked together by rotating shaft (22) with outer spray boom (18), and electric pushrod (20) two ends are respectively
Being fixed on interior spray boom (17) and the outer spray boom (18) of rotating shaft (22) top, the outer spray boom (18) that vertical folding gets up is stuck in main solid
In the spray boom draw-in groove (23) at fixed pole two ends；Interior spray boom (17) two respectively extends a spray boom kerve (21), outer spray boom (18) level
Just it is stuck in during placement in spray boom kerve (21).
High-clearance the most according to claim 5 unmanned intelligence crawler belt spraying machine, it is characterised in that described fixing bar
Including:
The master being connected with two bracing frame (10) tops fixes bar (12), and is positioned at the two of main fixing bar (12) both sides, lower end
Individual auxiliary fixes bar (13), and each auxiliary is fixed bar (13) and is separately fixed on two side columns of bracing frame (10) same side；
The fixing bar (12) of guarantee master is positioned at the surfaces of two fixing bar (13) centrages of auxiliary simultaneously, and master fixes bar (12) and auxiliary
Fixing bar (13) parallel setting.
11. high-clearances according to claim 4 unmanned intelligence crawler belt spraying machine, it is characterised in that also include cover plate
(24), cover plate (24) is fixed on crawler belt (3) both sides, is slightly smaller in size than crawler belt (3), by trapezoid support assembly (9) and water tank
(6), medicine-chest (7), spray tank (8), control device all cover, be fixed on each take turns outside jackshaft on.
12. high-clearances according to claim 1 unmanned intelligence crawler belt spraying machine, it is characterised in that described control fills
Put and include embedded onboard control unit (25), photographic head (26), gyroscope (27), electronic compass (28), GPS (29), draw water
Effusion meter (49), height sensor (50), velocity sensor (30), liquid level sensor (31), pressure transducer (32), nozzle stream
Gauge (33), remote controller (34), parameter display screen (35), the real-time display screen of image (36), mobile phone application (37), wheel hub motor drive
Dynamic (38), lifting motor drive (39), push-rod electric machine to drive (40), suction pump to drive (41), spray pump to drive (43), mixed liquor
Pump drives (45), solenoid-driven (47)；
Described photographic head (26), gyroscope (27), electronic compass (28), GPS (29), the effusion meter that draws water (49), highly sensing
Device (50), velocity sensor (30), liquid level sensor (31), pressure transducer (32), nozzle flowmeter (33) are all with embedded
Vehicular control unit (25) is connected；
Mobile phone application (37) is connected with embedded onboard control unit (25) by 4G wireless network and transmits data, remote controller (34)
It is connected with embedded onboard control unit (25) transmission data by 2.4G wireless network；
In-wheel motor driving (38), lifting motor drive (39), push-rod electric machine to drive (40), suction pump to drive (41), spray pump
(43), mixture pump are driven to drive (45), solenoid-driven (47) all by CAN and embedded onboard control unit (25)
It is connected；
In-wheel motor driving wheel (1) is connected with In-wheel motor driving (38), and DC brushless motor (16) drives with lifting motor
(39) being connected, electric pushrod (20) drives (40) to be connected with push-rod electric machine, and suction pump (42) drives (41) to be connected with suction pump, medicine
Liquid pump (44) drives (43) to be connected with spray pump, and mixture pump (46) drives (45) to be connected with mixture pump, spray boom electromagnetic valve
(48) it is connected with solenoid-driven (47).
The control method of 13. high-clearances according to claim 12 unmanned intelligence crawler belt spraying machine, it is characterised in that
Before starting spraying, by electric pushrod (20), two outer spray booms (18) are set level, obtain according to height sensor (50)
The height of target plant, by DC brushless motor (16) regulation spray boom to distance of properly spraying, then by remote controller (34)
Control advance and the direction of spraying machine, perform spray action simultaneously；
In spray process, the letter that operator gathers according to photographic head (26), gyroscope (27), electronic compass (28), GPS (29)
Breath carries out effective and reasonable control to spraying machine direct of travel, and embedded onboard control unit (25) is according to velocity sensor
(30), In-wheel motor driving is taken turns by the information that liquid level sensor (31), pressure transducer (32), nozzle flowmeter (33) return
(1), suction pump (42), spray pump (44), mixture pump (46) and spray boom electromagnetic valve (48) are controlled, to spraying machine speed
Degree, mixed medicine process and spray process are controlled；The effusion meter (49) that draws water is for the water yield of detection suction pump extraction in real time, embedding
Enter the water rate control spray pump that formula vehicular control unit (25) extracts according to suction pump (42) to extract certain amount of liquid medicine and mix
Medicine process so that water and medicinal liquid mix according to certain ratio；Spray boom is three stage structure, the corresponding spray of each part
Bar electromagnetic valve (48), mixture pump (46) and spray boom electromagnetic valve (48) with the use of, make stable water pressure in spray boom, nozzle is pressure
Power formula, reaches certain hydraulic pressure and i.e. sprays；
After spraying terminates, spray boom is transferred to trough of belt by DC brushless motor (16) and chain (55) and gear (15) sliding
Rail (14) bottom, by electric pushrod (20) folding effect, by two sections, the outside fold inward of syllogic spray boom, is seated to spray
In bar draw-in groove (23), syllogic spray boom forms positive three-legged structure, it is ensured that spraying machine integral central is symmetrical and center of gravity is positioned at center and hangs down
On straight line, the beneficially traveling of spraying machine and transport.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610554393.XA CN106070151B (en) | 2016-07-14 | 2016-07-14 | A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method |
| PCT/CN2016/091968 WO2018010216A1 (en) | 2016-07-14 | 2016-07-28 | Unmanned intelligent tracked high-clearance sprayer and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610554393.XA CN106070151B (en) | 2016-07-14 | 2016-07-14 | A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method |
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| CN106070151B CN106070151B (en) | 2019-08-27 |
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| CN106070151B (en) | 2019-08-27 |
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