CN106106410A - A kind of lifting spray rod device - Google Patents
A kind of lifting spray rod device Download PDFInfo
- Publication number
- CN106106410A CN106106410A CN201610555207.4A CN201610555207A CN106106410A CN 106106410 A CN106106410 A CN 106106410A CN 201610555207 A CN201610555207 A CN 201610555207A CN 106106410 A CN106106410 A CN 106106410A
- Authority
- CN
- China
- Prior art keywords
- spray
- spray boom
- rod device
- transverse slat
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
-
- 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
- A01M7/0085—Tanks
Abstract
The invention discloses a kind of lifting spray rod device, 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 spray rod device that can be used for lifting therein.
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 liftable lifting spray rod device, adapt to land for growing field crops and there is complexity
The spraying requirement of spraying landform crop, can improve the spraying machine of spray pesticide efficiency.
The technical scheme is that a kind of lifting spray rod device, including rectangular pyramid frame, chain traction device, mixed medicine
Device, spray rod 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；
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 rod device；Tooth
Wheel 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 and brush DC
Motor coaxle connects, and two gear centres are on same vertical line, and DC brushless motor is fixed on the support transverse slat of bottom；
Described medicament-mixing device includes water tank, medicine-chest and spray tank, and water tank separates with medicine-chest, and output medicinal liquid is in proportion
Mixing, the medicinal liquid of mixing is pre-stored in spray tank, and spraying locomotive runs into rough topography condition when cannot roll away from, can be by the water of water tank
Bleed off Reduction of Students' Study Load；Described spray tank is connected with spray rod device；
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, 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 is fixed on the centre position supporting transverse slat both sides.
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 rectangular pyramid frame top
Spray boom draw-in groove in；Interior spray boom two respectively extends a spray boom kerve, is just stuck in spray boom kerve during outer spray boom horizontal positioned.
Further, also including controlling device, described control device includes embedded onboard control unit, and respectively with embedding
Enter the connected lifting motor driving of formula vehicular control unit, push-rod electric machine drives, suction pump drives, spray pump drives, mixed liquor
Pump drives, solenoid-driven, and described lifting motor drives and is connected with DC brushless motor, and described push-rod electric machine drives and pushes away with electronic
Bar is connected, and described suction pump drives and is connected with suction pump, and described spray pump drives and is connected with spray pump, and described mixture pump drives
Being connected with mixture pump, described solenoid-driven is connected with spray boom electromagnetic valve.
The invention has the beneficial effects as follows, each parts in the water route such as water tank, spray tank and the circuit part such as on-vehicle battery, driver
Divide and all concentrate on inside the trapezoidal crawler belt in both sides, dragged down center of gravity, be different from other creeper undercarriage so that walked the most steady
Structure that is strong, that only fixed by three fixing bars of spraying machine eminence so that good by property in the middle of spraying machine, adapts to various height
Low gap crop spray condition；Wide cut spray boom can adjust up and down according to crop actual height, when can meet the growth of various crop difference
The spraying requirement of phase, at the end of spraying, two sections of the both sides of syllogic spray boom can be with fold inward, and syllogic spray boom forms positive three
Corner structure, centrosymmetry, center of gravity is relatively steady, is different from other backfolding spray boom, spray boom will not up and down, swing, favorably
Walking and transport in spraying machine；Spraying machine uses water medicine to separate, the most mixed medicine water circuit system, runs into rough topography at spraying machine
When condition can not be rolled away from, the clear water that can discharge water tank is self Reduction of Students' Study Load, is conducive to reply rough topography condition and not to ring
Border pollutes；Pass through invented high-clearance unmanned intelligence crawler belt spraying machine, improve at big Tanaka's spray pesticide
Efficiency, alleviates labor intensity, and automatization 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
As shown in Fig. 1,2,4,5, a kind of lifting spray rod device of the present invention, including rectangular pyramid frame, chain traction device,
Medicament-mixing device, spray rod device；
Described rectangular pyramid frame includes bracing frame 10, supports transverse slat 11, be positioned at bottom support transverse slat 11 with its above
Bracing frame 10 forms rectangular pyramid structure, and described support transverse slat 11 is the flat board of quadrilateral structure；
Described chain traction device is arranged in rectangular pyramid frame, including trough of belt slide rail 14, gear 15, DC brushless motor
16 and 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
Transverse slat 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 slide block 54 with holes
Between circular hole be used for laying spray rod device；Gear 15 is positioned at the side of trough of belt slide rail 14, and it is solid that the gear 15 on top is fixed on gear
In locking member 52, the gear 15 of bottom is then coaxially connected with DC brushless motor, and two gear centres are on same vertical line, directly
Stream brushless electric machine 16 is fixed on the support transverse slat 11 of bottom；
Described medicament-mixing device includes water tank 6, medicine-chest 7 and spray tank 8, and water tank 6 separates with medicine-chest 7, exports medicinal liquid
Being mixed in proportion, the medicinal liquid of mixing is pre-stored in spray tank 8, and spraying locomotive runs into rough topography condition when cannot roll away from, can be by
The water of water tank bleeds off Reduction of Students' Study Load；Described spray tank 8 is connected with spray rod device；
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.
Bracing frame 10 in described rectangular pyramid frame can substitute with two metal supporting frames summit welding, and composition triangle props up
Support, triangle support frame bottom is fixed on the centre position supporting transverse slat 11 both sides.
Described interior spray boom 17 passes the slide block with holes 54 of both sides and is fixed, and spray rod device can be at brush DC electricity
Machine, gear drive under carry out a range of moving up and down.
A kind of lifting spray rod device of the present invention also includes electric pushrod 20, and described interior spray boom 17 and outer spray boom 18 are by turning
Axle 22 links together, and electric pushrod 20 two ends are separately fixed on the interior spray boom 17 above rotating shaft 22 and outer spray boom 18, vertically
The outer spray boom 18 folded up is stuck in the spray boom draw-in groove 23 on rectangular pyramid frame top；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.
Described control device includes embedded onboard control unit 25, and respectively with embedded onboard control unit 25 phase
Lifting motor even drives 39, push-rod electric machine drives 40, suction pump drives 41, spray pump drives 43, mixture pump drives 45, electricity
Magnet valve drives 47, and described lifting motor drives 39 to be connected with DC brushless motor 16, and described push-rod electric machine drives 40 to push away with electronic
Bar 20 is connected, and described suction pump drives 41 to be connected with suction pump 42, and described spray pump drives 43 to be connected with spray pump 44, described mixed
Closing liquid pump drives 45 to be connected with mixture pump 46, and described solenoid-driven 47 is connected with spray boom electromagnetic valve 48.
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 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 support 58, wheel
Hub supports on the jackshaft inside half mouthful of shape support that transverse slat 59 matches；Described road wheel 2, directive wheel 4, support wheel 5 are all
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, lead
Contact to wheel 4, support wheel 5.
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 transverse slat
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, slide block 54 middle circle with holes
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,
The gear 15 of bottom is then coaxially connected with DC brushless motor, and two gear centres are on same vertical line, and brush DC is electric
Machine 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 (5)
1. a lifting spray rod device, it is characterised in that include that rectangular pyramid frame, chain traction device, medicament-mixing device, spray boom fill
Put；
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；
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 rod device；Gear (15) is positioned at the side of trough of belt slide rail (14), on
The gear (15) in portion is fixed on gear fixture (52), and the gear (15) of bottom is then coaxially to connect with DC brushless motor
Connecing, two gear centres are on same vertical line, and DC brushless motor (16) is fixed on the support transverse slat (11) of bottom；
Described medicament-mixing device includes water tank (6), medicine-chest (7) and spray tank (8), and water tank (6) separates with medicine-chest (7), defeated
Going out medicinal liquid to be mixed in proportion, 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 tank (8) is connected with spray rod device；
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.
A kind of lifting spray rod device the most according to claim 1, it is characterised in that the bracing frame in described rectangular pyramid frame
(10) welding of available two metal supporting frames summits substitutes, and forms triangle support frame, and triangle support frame bottom is fixed on props up
The centre position of support transverse slat (11) both sides.
A kind of lifting spray rod device the most according to claim 1 and 2, it is characterised in that described interior spray boom (17) passes two
The slide block with holes (54) of side is also fixed, spray rod device can DC brushless motor, gear drive under carry out certain model
That encloses moves up and down.
A kind of lifting spray rod device the most according to claim 1, it is characterised in that also include electric pushrod (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 separately fixed at rotating shaft
(22) the interior spray boom (17) of top is with on outer spray boom (18), and the outer spray boom (18) that vertical folding gets up is stuck in rectangular pyramid frame top
Spray boom draw-in groove (23) in；Interior spray boom (17) two respectively extends a spray boom kerve (21), during outer spray boom (18) horizontal positioned just
It is stuck in well in spray boom kerve (21).
A kind of lifting spray rod device the most according to claim 1, it is characterised in that also include controlling device, described control
Device includes embedded onboard control unit (25), and the lifting motor being connected respectively with embedded onboard control unit (25)
(39), push-rod electric machine are driven to drive (40), suction pump to drive (41), spray pump to drive (43), mixture pump to drive (45), electromagnetism
Valve drive (47), described lifting motor drive (39) be connected with DC brushless motor (16), described push-rod electric machine driving (40) and
Electric pushrod (20) is connected, and described suction pump drives (41) to be connected with suction pump (42), and described spray pump drives (43) and medicinal liquid
Pump (44) is connected, and described mixture pump drives (45) to be connected with mixture pump (46), described solenoid-driven (47) and spray boom electricity
Magnet valve (48) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555207.4A CN106106410B (en) | 2016-07-14 | 2016-07-14 | A kind of lifting spray rod device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555207.4A CN106106410B (en) | 2016-07-14 | 2016-07-14 | A kind of lifting spray rod device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106106410A true CN106106410A (en) | 2016-11-16 |
| CN106106410B CN106106410B (en) | 2019-12-03 |
Family
ID=57283781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610555207.4A Active CN106106410B (en) | 2016-07-14 | 2016-07-14 | A kind of lifting spray rod device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106106410B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106622773A (en) * | 2016-11-19 | 2017-05-10 | 农业部南京农业机械化研究所 | Profiling spraying rod of spraying machine and control method of profiling spraying rod |
| WO2018010216A1 (en) * | 2016-07-14 | 2018-01-18 | 江苏大学 | Unmanned intelligent tracked high-clearance sprayer and control method |
| CN108174837A (en) * | 2018-02-05 | 2018-06-19 | 王云国 | A kind of agricultural chemical spraying fertilizer applicator |
| CN108684635A (en) * | 2017-04-05 | 2018-10-23 | 株式会社丸山制作所 | Spray bar type spraying machine |
| CN109663689A (en) * | 2019-02-28 | 2019-04-23 | 山东农业工程学院 | A kind of scalable humidifier for spray truck |
| CN109769449A (en) * | 2019-02-28 | 2019-05-21 | 山东农业工程学院 | A kind of water-fertilizer-pesticide one fruit tree spraying vehicle |
| CN112913824A (en) * | 2021-04-01 | 2021-06-08 | 黑龙江省农业机械工程科学研究院 | Boom sprayer |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6053419A (en) * | 1996-12-30 | 2000-04-25 | Case Corporation | Velocity damping system |
| WO2003005799A2 (en) * | 2001-07-09 | 2003-01-23 | Richard Murphy | A stabilised agricultural apparatus |
| CN101518223A (en) * | 2009-04-03 | 2009-09-02 | 西北农林科技大学 | Self-propelled remote control spraying machine |
| CN101843235A (en) * | 2010-04-29 | 2010-09-29 | 华辉动力机械(南通)有限公司 | Light high-efficiency intelligentized spray rod spraying machine |
| CN203801554U (en) * | 2013-12-23 | 2014-09-03 | 广西田园生化股份有限公司 | High-ground-clearance track type multifunctional plant protector |
| CN204070261U (en) * | 2014-09-22 | 2015-01-07 | 张�杰 | A kind of crawler type pesticide spray car |
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
| CN104920327A (en) * | 2015-06-04 | 2015-09-23 | 江苏大学 | Automatic regulating device for spray lance balance |
| US20150264914A1 (en) * | 2002-11-07 | 2015-09-24 | Mark S. Ellsworth | System for Balancing and Tilt Biasing a Self-Leveling Crop Spraying Apparatus |
| CN105284764A (en) * | 2015-09-23 | 2016-02-03 | 常州机电职业技术学院 | Spraying apparatus for riding type rice transplanter |
| CN205266738U (en) * | 2016-01-07 | 2016-06-01 | 陈志渊 | Spraying vehicle with mix medicine device liftable |
-
2016
- 2016-07-14 CN CN201610555207.4A patent/CN106106410B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6053419A (en) * | 1996-12-30 | 2000-04-25 | Case Corporation | Velocity damping system |
| WO2003005799A2 (en) * | 2001-07-09 | 2003-01-23 | Richard Murphy | A stabilised agricultural apparatus |
| US20150264914A1 (en) * | 2002-11-07 | 2015-09-24 | Mark S. Ellsworth | System for Balancing and Tilt Biasing a Self-Leveling Crop Spraying Apparatus |
| CN101518223A (en) * | 2009-04-03 | 2009-09-02 | 西北农林科技大学 | Self-propelled remote control spraying machine |
| CN101843235A (en) * | 2010-04-29 | 2010-09-29 | 华辉动力机械(南通)有限公司 | Light high-efficiency intelligentized spray rod spraying machine |
| CN203801554U (en) * | 2013-12-23 | 2014-09-03 | 广西田园生化股份有限公司 | High-ground-clearance track type multifunctional plant protector |
| CN204070261U (en) * | 2014-09-22 | 2015-01-07 | 张�杰 | A kind of crawler type pesticide spray car |
| CN104920327A (en) * | 2015-06-04 | 2015-09-23 | 江苏大学 | Automatic regulating device for spray lance balance |
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
| CN105284764A (en) * | 2015-09-23 | 2016-02-03 | 常州机电职业技术学院 | Spraying apparatus for riding type rice transplanter |
| CN205266738U (en) * | 2016-01-07 | 2016-06-01 | 陈志渊 | Spraying vehicle with mix medicine device liftable |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018010216A1 (en) * | 2016-07-14 | 2018-01-18 | 江苏大学 | Unmanned intelligent tracked high-clearance sprayer and control method |
| CN106622773A (en) * | 2016-11-19 | 2017-05-10 | 农业部南京农业机械化研究所 | Profiling spraying rod of spraying machine and control method of profiling spraying rod |
| CN108684635A (en) * | 2017-04-05 | 2018-10-23 | 株式会社丸山制作所 | Spray bar type spraying machine |
| CN108174837A (en) * | 2018-02-05 | 2018-06-19 | 王云国 | A kind of agricultural chemical spraying fertilizer applicator |
| CN109663689A (en) * | 2019-02-28 | 2019-04-23 | 山东农业工程学院 | A kind of scalable humidifier for spray truck |
| CN109769449A (en) * | 2019-02-28 | 2019-05-21 | 山东农业工程学院 | A kind of water-fertilizer-pesticide one fruit tree spraying vehicle |
| CN109663689B (en) * | 2019-02-28 | 2020-10-16 | 山东农业工程学院 | A scalable spraying mechanism for spraying car |
| CN109769449B (en) * | 2019-02-28 | 2021-09-28 | 山东农业工程学院 | Integrative fruit tree spraying vehicle of liquid manure medicine |
| CN112913824A (en) * | 2021-04-01 | 2021-06-08 | 黑龙江省农业机械工程科学研究院 | Boom sprayer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106106410B (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106070151A (en) | A kind of high-clearance unmanned intelligence crawler belt spraying machine and control method | |
| CN106106410A (en) | A kind of lifting spray rod device | |
| US20240032464A1 (en) | Maintenance and transportation method, system, and apparatus | |
| WO2018090492A1 (en) | Self-steering intelligent sprayer with multiple ground clearances and control method therefor | |
| JP6143716B2 (en) | Work vehicle | |
| JP6253538B2 (en) | Work vehicle | |
| CN105284771B (en) | High-clearance full hydraulic drive self-propelled corn takes out male spraying fertilization all-in-one machine | |
| CN107938579A (en) | A kind of multifunctional vehicle mounted sprinkling system | |
| CN106080816A (en) | A kind of high-clearance crawler travel equipment for farm work | |
| CN108132654A (en) | A kind of agriculture multinode monitoring method based on Internet of Things | |
| CN108052084A (en) | A kind of agricultural monitoring system based on Internet of Things | |
| CN106612671A (en) | Intelligent multifunctional hillside orchard operation platform | |
| CN108112457A (en) | A kind of plant detection method based on Multifunctional mobile detection vehicle | |
| CN106857471A (en) | A kind of laborsaving Self-propelled high-and-low bar crop field chemical spraying device | |
| CN206502030U (en) | Vacant lot one agricultural plant protection system and device | |
| CN108132655A (en) | A kind of Multifunctional mobile detection device for farmland | |
| CN107757457A (en) | A kind of vehicle-mounted sprinkling control method | |
| CN110547279A (en) | Greenhouse pesticide sprayer and pesticide spraying trolley thereof | |
| CN107372434B (en) | A kind of field pesticide spray truck and its spray method | |
| CN106665539A (en) | Split type pesticide sprayer | |
| CN108207581B (en) | Intelligent self-propelled translation cantilever sprinkler is simplified to light | |
| CN113371200B (en) | Unmanned aerial vehicle accurate pesticide spraying system for planting crops in large scale | |
| ES2237263B1 (en) | INTEGRATED VERSATILE EQUIPMENT FOR COLLECTION AND TREATMENT OF FRUITS IN TREES. | |
| CN110809951A (en) | Full-hydraulic crawler-type unmanned rape direct seeder | |
| CN216018690U (en) | Full-automatic environmental monitoring expansion pesticide spraying vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |