CN108094148A - Unmanned spraying machine - Google Patents
Unmanned spraying machine Download PDFInfo
- Publication number
- CN108094148A CN108094148A CN201711438831.7A CN201711438831A CN108094148A CN 108094148 A CN108094148 A CN 108094148A CN 201711438831 A CN201711438831 A CN 201711438831A CN 108094148 A CN108094148 A CN 108094148A
- Authority
- CN
- China
- Prior art keywords
- displacement
- car body
- liquid
- actuating unit
- frame
- 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
- 238000005507 spraying Methods 0.000 title claims abstract description 35
- 239000007788 liquid Substances 0.000 claims abstract description 104
- 238000006073 displacement reaction Methods 0.000 claims abstract description 101
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims description 30
- 230000007246 mechanism Effects 0.000 claims description 12
- 239000003814 drug Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000003973 irrigation Methods 0.000 abstract description 11
- 230000002262 irrigation Effects 0.000 abstract description 11
- 239000007921 spray Substances 0.000 abstract description 5
- 229940079593 drug Drugs 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Water Supply & Treatment (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses unmanned spraying machine, including：Car body, including vehicle frame and driving actuating unit；Shift unit, including displacement frame, displacement actuating unit and hydraulic cylinder；Cylindrantherae；Liquid output device；Multiple liquid efferent ducts；Control device, control driving actuating unit, liquid output device, displacement actuating unit and hydraulic cylinder works：It drives a vehicle actuating unit driving car body traveling standard running distance value in one direction, the water or liquid and liquid output device in liquid output device suction cylindrantherae enter in liquid efferent duct；The power output rod of hydraulic cylinder extends downwardly, and car body is supported to ground is departed from, and displacement actuating unit driving car body is moved to second portion from first portion, and the power output rod of hydraulic cylinder is withdrawn upwards, so that car body is contacted with ground；A pair of of travel switch is respectively arranged at the both ends of displacement frame.The present invention dramatically saves manpower, improves the efficiency of crop irrigation or spray.
Description
Technical field
The present invention relates to agricultural machinery.It is more particularly related to a kind of unmanned spraying machine.
Background technology
It is common a kind of equipment in agricultural production to irrigate spraying equipment and drugs, for farmland spray water or pesticide.At present
There are many kinds of common irrigation spraying equipment and drugs, such as handheld and surface irrigation pipe network etc., and there is many deficiencies.It is handheld
, it is necessary to manually back on the body under volume, manual work is carried out, hand labor intensity is big, and efficiency is low, and surface irrigation pipe network then needs
It is laid with pipe network in advance in underground, early investment is of high cost, higher to the whole construction requirements in farmland.It needs to provide a kind of automatic
Change degree is high, irrigation spraying equipment and drugs easy to use.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
In order to realize these purposes and further advantage according to the present invention, a kind of irrigation spraying equipment and drugs are provided：Including：
Car body including vehicle frame and is arranged on the vehicle frame and for driving the driving engine that the car body is advanced
Structure；
Shift unit is placed in institute including displacement frame, displacement actuating unit and at least a pair of hydraulic cylinders, the displacement erection
State the lower part of vehicle frame, and the vehicle frame is along the direction of the displacement frame transverse shifting can be arranged on the displacement frame, and institute
The first portion for stating displacement frame is located at the lower part of the vehicle frame, and second portion extends the one side of the vehicle frame, and the displacement is dynamic
Force mechanisms are connected to the vehicle frame, for driving vehicle frame transverse shifting on the displacement frame, at least a pair of of hydraulic pressure
Cylinder is arranged at the lower part of the displacement frame, and the power output rod of the hydraulic cylinder is set with the state that can be extended downwardly；
Cylindrantherae is arranged on the vehicle frame, for holding water or liquid；
Liquid output device is connected in the cylindrantherae, and the outlet end of the liquid output device is connected to one and goes out liquid
Pipe；
Multiple liquid efferent ducts, are arranged in the both sides of the cylindrantherae, the liquid efferent duct be connected to it is described go out liquid
Pipe；
Control device, including control module and setting module, the setting module for set the driving of standard away from
From value, the control module be connected to it is described driving actuating unit, the liquid output device, it is described displacement actuating unit and
The hydraulic cylinder, and control the driving actuating unit, the liquid output device, the displacement actuating unit and described
Hydraulic cylinder works in the following manner：
The control module sends thermoacoustic prime engine instruction to the driving actuating unit, so that the driving actuating unit
The car body is driven to advance in one direction the standard running distance value, and the driving actuating unit drives the car body
During advancing in one direction, the control module sends suction control instruction to the liquid output device, so that
Water or liquid and liquid output device in the liquid output device suction cylindrantherae enter in the liquid efferent duct；
The car body advance the standard running distance value when, the power output rod of the hydraulic cylinder extends downwardly, and by the car body
Support is to ground is departed from, and the displacement actuating unit driving car body is along the displacement frame from first of the displacement frame
Divide the second portion for being moved to the displacement frame, the power output rod of the hydraulic cylinder is withdrawn upwards, so that the car body and ground
Face contacts；The driving actuating unit drives the car body along another direction traveling mark opposite with one direction
Quasi- running distance value, and during another direction traveling described in of the driving actuating unit driving car body, institute
It states the water in the liquid output device suction cylindrantherae or liquid and liquid output device enters in the liquid efferent duct；
The control device includes external input module, and the external input module is connected with the setting module, described
External input module is inputed to for receiving externally input standard running distance value in the setting module；
Infrared shooting device, including multiple infrared transmitters and an infrared remote receiver, wherein, the infrared transmitter
It is arranged on the first column, the infrared remote receiver is arranged on the second column, and multiple first columns are arranged at the car body
The final position of each section of travel path, second column are arranged on the car body, and the infrared remote receiver is connected to institute
State control device, the infrared remote receiver sends the first detection letter after the infrared signal that the infrared transmitter sends is received
Number, the infrared remote receiver sends the second detection signal, institute after the infrared signal that the infrared transmitter sends is not received
Control module is stated in the case where receiving the second detection signal, the driving actuating unit is controlled to be stopped.
Preferably, in the unmanned spraying machine, the external input module is touch screen or numeric keypad.
Preferably, in the unmanned spraying machine, second column is arranged at the headstock position of the car body.
Preferably, in the unmanned spraying machine, the displacement actuating unit includes a displacement motor and a chain
Chain wheel driving mechanism, the chain sprocket transmission mechanism include three sprocket wheels and a chain, and two of which sprocket wheel respectively can
The both ends of the displacement frame are rotatably arranged at, the chain is set on the two of which sprocket wheel, with the two of which
Sprocket wheel is engaged with each other, another sprocket wheel is rotatably connected to the vehicle frame, and another described sprocket wheel is engaged with the chain,
The displacement motor is connected to a sprocket wheel positioned at one end of the displacement frame；The displacement actuating unit drives the car body
In the case of the second portion of the displacement frame being moved to along the first portion of the displacement frame from the displacement frame, the shifting
A motor driving sprocket wheel positioned at one end of the displacement frame in position rotates, and then drives the displacement frame along the chain
Item moves.
Preferably, in the unmanned spraying machine, further include：A pair of of travel switch is respectively arranged at the shifting
The both ends of position frame, the travel switch is connected to the control device, when the car body is located at the first portion of the displacement frame,
It being resisted against on one of travel switch, one of travel switch sends the 3rd detection signal to the control module,
Another travel switch does not send the 4th detection signal, and when the car body is moved to the second portion of the displacement frame, institute
It states car body to be resisted against on another described travel switch, another described travel switch sends the 4th detection to the control module
Signal, one of travel switch do not send the 3rd detection signal, the control module receive the 3rd detection signal or
4th detection signal.
Preferably, in the unmanned spraying machine, further include：Alarm；Liquid level detector is arranged at described
In cylindrantherae, for detecting the liquid measure of water or liquid in the cylindrantherae；The fluid level controller is connected to the control device,
In the case where the liquid level detector detects that the liquid measure of water in the cylindrantherae or liquid is reduced to bottom level limit, to
The control device sends alarm signal, and the control module controls the alarm equipment alarm according to the alarm signal.
The present invention includes at least following advantageous effect：
(1) when being irrigated farmland or being sprayed, machine is advanced since one end of a field, engine of driving a vehicle
Structure driving car body is advanced along a direction, while by the water in cylindrantherae, either liquid extracts water or medicine out to liquid output device
Liquid is sprayed to by liquid efferent duct on the crop of field both sides.Treat that car body marches to the other end of field, then engine of driving a vehicle
Structure is stopped, and liquid output device also stops pumping.Next, car body is in rotational power mechanism and hydraulic pressure liquid output device
Under the action of be moved to another adjacent field, in order to which the crop to another field both sides is irrigated.Specifically, liquid
The power output rod of pressing liquid output device first extends downwardly, and car body is supported, away from ground, backward shift power
Mechanism drives car body along displacement frame transverse shifting, so as to be moved to second portion from the first portion of displacement frame, hydraulic cylinder
Power output rod is withdrawn upwards, car body is slowly positioned on the ground of adjacent another field.Driving actuating unit drives again
Car body is advanced in the opposite direction, and the crop of adjacent another field both sides is irrigated.Actuating unit to be driven a vehicle is advanced again
To the other end of adjacent another field, can be repeated above-mentioned by machine to be manually moved to one end of adjacent next field
Process.
(2) unmanned spraying machine of the present invention can be dramatically saved manpower, improved crop with automatic running
The efficiency irrigated or sprayed.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the structure diagram of the irrigation spray automatic one machine of one embodiment of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or its combination.
As shown in Figure 1, the present invention provides a kind of irrigation spraying equipment and drugs：Including：Car body including vehicle frame and is arranged at institute
It states on vehicle frame 4 and for driving the driving actuating unit that the car body is advanced；Shift unit, including displacement frame 5, displacement power
Mechanism and at least a pair of hydraulic cylinders 9,10, the displacement frame 5 are arranged at the lower part of the vehicle frame 4, and the vehicle frame is with can be along institute
The direction for stating displacement frame transverse shifting is arranged on the displacement frame, and the first portion of the displacement frame is located at the vehicle frame
Lower part, second portion extend the one side of the vehicle frame, and the displacement actuating unit is connected to the vehicle frame, described for driving
Vehicle frame transverse shifting on the displacement frame, described at least a pair of hydraulic cylinders 9,10 is arranged at the lower part of the displacement frame, described
The power output rod of hydraulic cylinder is set with the state that can be extended downwardly；Cylindrantherae 1 is arranged on the vehicle frame, for holding water
Or liquid；Liquid output device is connected in the cylindrantherae, and the outlet end of the liquid output device is connected to one and goes out liquid
Pipe 2；Multiple liquid efferent ducts 3, are arranged in the both sides of the cylindrantherae, and the liquid efferent duct 3 is connected to the outlet tube；
Control device, including control module and setting module, the setting module is described for setting a standard running distance value
Control module is connected to the driving actuating unit, the liquid output device, the displacement actuating unit and the hydraulic pressure
Cylinder, and control it is described driving actuating unit, the liquid output device, it is described displacement actuating unit and the hydraulic cylinder with
In the following manner works：The control module sends thermoacoustic prime engine instruction to the driving actuating unit, so that the driving is dynamic
Force mechanisms drive the car body to advance in one direction the standard running distance value, and the driving actuating unit driving institute
It states during car body advances in one direction, the control module sends suction control instruction to the liquid output device,
So that the water or liquid and liquid output device in the liquid output device suction cylindrantherae enter the liquid output
In pipe；When the car body advances the standard running distance value, the power output rod of the hydraulic cylinder extends downwardly, and by institute
It states car body to support to ground is departed from, the displacement actuating unit drives the car body along the frame that shifts from the displacement frame
First portion is moved to the second portion of the displacement frame, and the power output rod of the hydraulic cylinder is withdrawn upwards, so that the vehicle
Body is contacted with ground；The driving actuating unit drives the car body to advance along another direction opposite with one direction
The standard running distance value, and the driving actuating unit drives the process that the car body is advanced along another described direction
In, water or liquid and liquid output device in the liquid output device suction cylindrantherae enter the liquid efferent duct
It is interior；The control device includes external input module, and the external input module is connected with the setting module, and the outside is defeated
Enter module for receiving externally input standard running distance value, and input in the setting module；Infrared shooting device,
Including multiple infrared transmitters and an infrared remote receiver 13, wherein, the infrared transmitter is arranged on the first column, described
Infrared remote receiver is arranged on the second column, and multiple first columns are arranged at the terminal position of each section of travel path of the car body
It puts, second column is arranged on the car body, and the infrared remote receiver is connected to the control device, the infrared receiver
Device sends first detection signal after the infrared signal that the infrared transmitter sends is received, and the infrared remote receiver is not connecing
The second detection signal is sent after receiving the infrared signal that the infrared transmitter is sent, the control module is receiving the second inspection
In the case of surveying signal, the driving actuating unit is controlled to be stopped.
When being irrigated farmland or being sprayed, machine is advanced since one end of a field and (is set in setting module
Fixed standard running distance value is exactly the length of a field), driving actuating unit driving car body is advanced along a direction, together
When liquid output device by the water in cylindrantherae either liquid extraction water or liquid field both sides are sprayed to by liquid efferent duct
Crop on.Treat that car body marches to the other end of field, then actuating unit of driving a vehicle is stopped, and liquid output device also stops taking out
Water.Next, car body is moved to another adjacent field under the action of rotational power mechanism and hydraulic pressure liquid output device,
In order to which the crop to another field both sides is irrigated.Specifically, hydraulic pressure liquid output device power output rod first to
Lower stretching, car body is supported, away from ground, backward shift actuating unit car body is driven laterally to be moved along displacement frame
Dynamic, so as to be moved to second portion from the first portion of displacement frame, the power output rod of hydraulic cylinder is withdrawn upwards, and car body is slow
It is positioned on the ground of adjacent another field.Driving actuating unit drives car body to advance in the opposite direction again, to adjacent another
The crop of one field both sides is irrigated.Actuating unit to be driven a vehicle marches to the other end of adjacent another field again, can be by
Machine is manually moved to one end of adjacent next field, repeats the above process.
Wherein, the spacing that the width of second portion should be at least between adjacent two fields is equal, to ensure that car body can
To be moved to from a field on adjacent another field.
Driving actuating unit includes being arranged at three wheel bodys and the driving motor below the vehicle frame, and wheel body is rotatably
The vehicle frame is arranged at, two of which wheel body is connected to the drive shaft by a driving axis connection, the driving motor, with
It is exported rotary driving force to the drive shaft.Driving motor is exported rotary driving force to drive shaft, and drive shaft drives a pair of of wheel body
Rotation, so as to fulfill the traveling of car body.When needing to change direct of travel, then the driving force of driving motor output opposite direction is
It can be achieved.
Control device includes external input module, and external input module is connected with setting module, and external input module is used for
Externally input standard running distance value is received, and is inputed in setting module.The length of field can be true according to actual conditions
It after fixed, inputs to external input module, then completes to set by setting module.
First column is respectively provided in the final position of each section of travel paths, in car body along a normal row of field
Into when, and when not having barrier on this field, the infrared remote receiver on the second column can receive infrared transmitter and send
Infrared signal so that infrared remote receiver generate first detection signal.But when car body is not advanced normally, for example car body does not have
Have along field advance or field on placed influence car body advance barrier, cause infrared remote receiver that can not receive
Infrared signal, infrared remote receiver will send the second detection signal, and control module controls car body according to this second detection signal
Parking.Operating personnel see such case, can the state to car body and the situation of field check in time, fix a breakdown.
Unmanned spraying machine of the present invention can dramatically save manpower with automatic running, improve crop filling
The efficiency irrigate or sprayed.
Preferably, in the unmanned spraying machine, the multiple liquid efferent duct is in put compared with the cylindrantherae
Penetrate shape arrangement.
Multiple liquid efferent ducts can spray water or liquid simultaneously, add the area coverage once sprayed, improve
The efficiency of irrigation.
Preferably, in the unmanned spraying machine, the alarm is arranged on the car body.
Alarm is set on the car body, can be to sending alarm in time, in order to be located at the work people near machine
Member recognizes situation.
Preferably, in the unmanned spraying machine, the alarm is audible-visual annunciator.
Audible-visual annunciator makes a sound prompting and light prompting, prompts effect good, is easily noticed by staff.
Preferably, in the unmanned spraying machine, the liquid output device is pump.
Pump is selected to be easily achieved as liquid output device, be conducive to the cost of manufacture of control device.
Preferably, in the unmanned spraying machine, the external input module is touch screen or numeric keypad.
The numerical value that must be set is inputted to setting module using touch screen or numeric keypad, operating process is simple and reliable.
Preferably, in the unmanned spraying machine, second column is arranged at the headstock position of the car body.
Second column is located at the headstock position of car body, ensures that in the case of no barrier, infrared remote receiver can connect
Receive the infrared signal that infrared transmitter is sent.
Preferably, in the unmanned spraying machine, the displacement actuating unit includes a displacement motor and a chain
Chain wheel driving mechanism, the chain sprocket transmission mechanism include three sprocket wheels and a chain, and two of which sprocket wheel 6,8 is distinguished
The both ends of the displacement frame are rotatably arranged in, the chain is set on the two of which sprocket wheel, with described wherein two
A sprocket wheel is engaged with each other, another sprocket wheel 7 is rotatably connected to the vehicle frame, and another described sprocket wheel is nibbled with the chain
It closes, the displacement motor is connected to a sprocket wheel positioned at one end of the displacement frame.
Preferably, in the unmanned spraying machine, the displacement actuating unit drives the car body along described
In the case that the first portion of displacement frame from the displacement frame is moved to the second portion of the displacement frame, the displacement motor is driven
A dynamic sprocket wheel positioned at one end of the displacement frame rotates, and then the displacement frame is driven to be moved along the chain.
After completing to the irrigation operation of two neighboring field, car body needs to be moved to next field again.At this time, it may be necessary to
It shifts frame first to move to the direction of next field, i.e. displacement frame moves with respect to the car body, and first portion is made to be moved to car body
Lower part.Driving actuating unit and liquid output device are first stopped, and the state that car body holding is contacted with ground shifts engine
Structure first acts, and displacement motor work, the first portion for shifting frame moves back to the lower part of car body, and second portion is then moved to next
The top of field.Next, the power output rod of hydraulic pressure liquid output device extends downwardly, car body is lifted, shifts engine
Structure reoperates, and displacement motor changes direction of rotation, and car body is moved to second portion, driving actuating unit driving from first portion
Car body is advanced along this field, so as to fulfill the irrigation operation to this field both sides crop.
Preferably, in the unmanned spraying machine, described at least a pair of hydraulic cylinders includes being evenly distributed on described
Shift four hydraulic cylinders of frame lower part.
Four hydraulic cylinders can provide for displacement frame steadily to be supported, so as to ensure the steady progress of displacement.
Preferably, in the unmanned spraying machine, the end of the liquid efferent duct is provided with atomizing nozzle
12。
Either liquid sprays to form spraying and ensure that water or liquid can equably be sprayed at work via atomizing nozzle water
On object.
Preferably, in the unmanned spraying machine, further include：A pair of of travel switch is respectively arranged at the shifting
The both ends of position frame, the travel switch is connected to the control device, when the car body is located at the first portion of the displacement frame,
It being resisted against on one of travel switch, one of travel switch sends the 3rd detection signal to the control module,
Another travel switch does not send the 4th detection signal, and when the car body is moved to the second portion of the displacement frame, institute
It states car body to be resisted against on another described travel switch, another described travel switch sends the 4th detection to the control module
Signal, one of travel switch do not send the 3rd detection signal, the control module receive the 3rd detection signal or
4th detection signal.
The present invention also monitors the position of car body and state by a pair of of travel switch.Car body is located at first of displacement frame
Timesharing is resisted against on one of travel switch, so that the trip switch sends the 3rd detection signal, at this time another stroke
Switch does not send the 4th detection signal, and control module determines that car body is located at first portion；When car body is in the work of displacement actuating unit
When being moved to second portion under, car body is resisted against on another travel switch, and the trip switch sends the 4th detection signal, control
Molding block determines that car body is located at second portion.
Preferably, in the unmanned spraying machine, further include：Alarm；Liquid level detector is arranged at described
In cylindrantherae, for detecting the liquid measure of water or liquid in the cylindrantherae；The fluid level controller is connected to the control device,
In the case where the liquid level detector detects that the liquid measure of water in the cylindrantherae or liquid is reduced to bottom level limit, to
The control device sends alarm signal, and the control module controls the alarm equipment alarm according to the alarm signal.
Displacement in cylindrantherae is subject to the real-time detection of liquid level detector, when liquid measure is reduced to bottom level limit, is then reported
It is alert, remind staff that water or liquid is replenished in time.
Although the embodiments of the present invention have been disclosed as above, but its be not restricted in specification and embodiment it is listed
With.It can be applied to various suitable the field of the invention completely.It, can be easily for those skilled in the art
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (6)
1. unmanned spraying machine, which is characterized in that including：
Car body including vehicle frame and is arranged on the vehicle frame and for driving the driving actuating unit that the car body is advanced；
The driving actuating unit includes being arranged at three wheel bodys and the driving motor below the vehicle frame, and the wheel body can revolve
It is arranged at the vehicle frame with turning, two of which wheel body is connected to the driving by a driving axis connection, the driving motor
Axis, to be exported rotary driving force to the drive shaft；
Shift unit is placed in the vehicle including displacement frame, displacement actuating unit and at least a pair of hydraulic cylinders, the displacement erection
The lower part of frame, and the vehicle frame is along the direction of the displacement frame transverse shifting can be arranged on the displacement frame, and the shifting
The first portion of position frame is located at the lower part of the vehicle frame, and second portion extends the one side of the vehicle frame, the displacement engine
Structure is connected to the vehicle frame, for the vehicle frame transverse shifting, described at least a pair of hydraulic cylinders on the displacement frame to be driven to set
The lower part of the displacement frame is placed in, the power output rod of the hydraulic cylinder is set with the state that can be extended downwardly；
Cylindrantherae is arranged on the vehicle frame, for holding water or liquid；
Liquid output device is connected in the cylindrantherae, and the outlet end of the liquid output device is connected to an outlet tube；
Multiple liquid efferent ducts, are arranged in the both sides of the cylindrantherae, and the liquid efferent duct is connected to the outlet tube；
Control device, including control module and setting module, the setting module is used to set a standard running distance value,
The control module is connected to the driving actuating unit, the liquid output device, the displacement actuating unit and described
Hydraulic cylinder, and control the driving actuating unit, the liquid output device, the displacement actuating unit and the hydraulic pressure
Cylinder works in the following manner：
The control module sends thermoacoustic prime engine instruction to the driving actuating unit, so that the driving actuating unit driving
The car body is advanced the standard running distance value in one direction, and the driving actuating unit drives the car body along one
During a direction is advanced, the control module sends suction control instruction to the liquid output device, so that described
Water or liquid and liquid output device in the liquid output device suction cylindrantherae enter in the liquid efferent duct；Described
During the car body traveling standard running distance value, the power output rod of the hydraulic cylinder extends downwardly, and the car body is supported
To ground is departed from, the displacement actuating unit drives the car body to be moved along the first portion of the displacement frame from the displacement frame
It moves to the second portion of the displacement frame, the power output rod of the hydraulic cylinder is withdrawn upwards, so that the car body connects with ground
It touches；The driving actuating unit drives the car body along another direction traveling standard row opposite with one direction
Vehicle distance value, and during another direction traveling described in of the driving actuating unit driving car body, the medicine
Water or liquid and liquid output device in the liquid output device suction cylindrantherae enter in the liquid efferent duct；The control
Device includes external input module, and the external input module is connected with the setting module, and the external input module is used for
Externally input standard running distance value is received, and is inputed in the setting module；
Infrared shooting device, including multiple infrared transmitters and an infrared remote receiver, wherein, the infrared transmitter is set
In on the first column, the infrared remote receiver is arranged on the second column, and multiple first columns are arranged at each of the car body
The final position of section travel path, second column are arranged on the car body, and the infrared remote receiver is connected to the control
Device processed, the infrared remote receiver send first detection signal after the infrared signal that the infrared transmitter sends is received,
The infrared remote receiver sends the second detection signal, the control after the infrared signal that the infrared transmitter sends is not received
Molding block controls the driving actuating unit to be stopped in the case where receiving the second detection signal.
2. unmanned spraying machine as described in claim 1, which is characterized in that the external input module for touch screen or
Numeric keypad.
3. unmanned spraying machine as claimed in claim 2, which is characterized in that second column is arranged at the car body
Headstock position.
4. unmanned spraying machine as described in claim 1, which is characterized in that the displacement actuating unit includes a displacement electricity
Machine and a chain sprocket transmission mechanism, the chain sprocket transmission mechanism include three sprocket wheels and a chain, two of which chain
Wheel is rotatably arranged in the both ends of the displacement frame respectively, and the chain is set on the two of which sprocket wheel, and described
Two of which sprocket wheel is engaged with each other, another sprocket wheel is rotatably connected to the vehicle frame, and another described sprocket wheel with it is described
Chain engages, and the displacement motor is connected to a sprocket wheel positioned at one end of the displacement frame；The displacement actuating unit drives
The first portion for moving the car body along the displacement frame from the displacement frame is moved to the feelings of the second portion for shifting frame
Under condition, a displacement motor driving sprocket wheel positioned at one end of the displacement frame rotates, and then drives the displacement
Frame is moved along the chain.
5. unmanned spraying machine as claimed in claim 4, which is characterized in that further include：A pair of of travel switch, is set respectively
In the both ends of the displacement frame, the travel switch is connected to the control device, and the car body is located at the of the displacement frame
It during a part, is resisted against on one of travel switch, one of travel switch sends the 3rd to the control module
Signal is detected, another travel switch does not send the 4th detection signal, and when the car body is moved to the second of the displacement frame
During part, the car body is resisted against on another described travel switch, another described travel switch is sent out to the control module
Go out the 4th detection signal, one of travel switch does not send the 3rd detection signal, and the control module receives the 3rd inspection
Survey signal or the 4th detection signal.
6. unmanned spraying machine as described in claim 1, which is characterized in that further include：Alarm；Liquid level detector,
It is arranged in the cylindrantherae, for detecting the liquid measure of water or liquid in the cylindrantherae；The fluid level controller is connected to institute
Control device is stated, the liquid measure for detecting water in the cylindrantherae or liquid in the liquid level detector is reduced to bottom level limit
In the case of, alarm signal is sent to the control device, the control module controls the alarm according to the alarm signal
Device is alarmed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711438831.7A CN108094148B (en) | 2017-12-27 | 2017-12-27 | Unmanned pesticide spraying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711438831.7A CN108094148B (en) | 2017-12-27 | 2017-12-27 | Unmanned pesticide spraying machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108094148A true CN108094148A (en) | 2018-06-01 |
| CN108094148B CN108094148B (en) | 2020-10-16 |
Family
ID=62211826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711438831.7A Active CN108094148B (en) | 2017-12-27 | 2017-12-27 | Unmanned pesticide spraying machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108094148B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819958A (en) * | 2019-02-21 | 2019-05-31 | 山东理工大学 | A kind of high pressure ionization wind spraying aid type AGV system plant protection vehicle for adding water that pesticide is not added |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2317319A1 (en) * | 1970-11-02 | 1974-10-31 | Perrot Regnerbau Gmbh & Co | DEVICE FOR EXECUTING AN IRRIGATION PROCEDURE |
| US4313566A (en) * | 1979-06-04 | 1982-02-02 | Klein Richard F | Fluid balancing system for tank vehicle |
| CN1524724A (en) * | 2003-02-25 | 2004-09-01 | 杨金强 | Turning, turning around and translating apparatus of saloon car |
| CN201970977U (en) * | 2010-07-19 | 2011-09-14 | 王向鹏 | Transversely moving parking device for automobiles |
| CN102442363A (en) * | 2011-11-18 | 2012-05-09 | 陈瑞阳 | Automobile chassis device |
| CN103183013A (en) * | 2011-12-28 | 2013-07-03 | 李坚 | Automotive self-rescuing, translation and in-situ turning-around or turning device |
| CN205256295U (en) * | 2015-12-29 | 2016-05-25 | 中国人民解放军空军预警学院黄陂士官学校 | Oversize vehicle pirouette is to reaching vertical translation device |
| CN107360949A (en) * | 2017-09-22 | 2017-11-21 | 镇江科众信息科技发展有限公司 | A kind of movable-type intelligent irrigation system |
-
2017
- 2017-12-27 CN CN201711438831.7A patent/CN108094148B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2317319A1 (en) * | 1970-11-02 | 1974-10-31 | Perrot Regnerbau Gmbh & Co | DEVICE FOR EXECUTING AN IRRIGATION PROCEDURE |
| US4313566A (en) * | 1979-06-04 | 1982-02-02 | Klein Richard F | Fluid balancing system for tank vehicle |
| CN1524724A (en) * | 2003-02-25 | 2004-09-01 | 杨金强 | Turning, turning around and translating apparatus of saloon car |
| CN201970977U (en) * | 2010-07-19 | 2011-09-14 | 王向鹏 | Transversely moving parking device for automobiles |
| CN102442363A (en) * | 2011-11-18 | 2012-05-09 | 陈瑞阳 | Automobile chassis device |
| CN103183013A (en) * | 2011-12-28 | 2013-07-03 | 李坚 | Automotive self-rescuing, translation and in-situ turning-around or turning device |
| CN205256295U (en) * | 2015-12-29 | 2016-05-25 | 中国人民解放军空军预警学院黄陂士官学校 | Oversize vehicle pirouette is to reaching vertical translation device |
| CN107360949A (en) * | 2017-09-22 | 2017-11-21 | 镇江科众信息科技发展有限公司 | A kind of movable-type intelligent irrigation system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819958A (en) * | 2019-02-21 | 2019-05-31 | 山东理工大学 | A kind of high pressure ionization wind spraying aid type AGV system plant protection vehicle for adding water that pesticide is not added |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108094148B (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104082268B (en) | Self-adaptive orchard sprayer | |
| CN102613162A (en) | Self-propelled automatically targeting precise pesticide spraying machine | |
| CN105874947B (en) | A kind of greenhouse 3D agricultural machinery working platform | |
| CN103929946A (en) | Variable-speed irrigation system | |
| US5341995A (en) | Relocatable irrigator | |
| CN107372433A (en) | A kind of wind send device for administration of drugs and method | |
| CN107114046A (en) | A kind of high-effective chemical fertilizer pesticide spraying spreads device | |
| CN108094148A (en) | Unmanned spraying machine | |
| CN108464229B (en) | Agricultural spraying machine | |
| CN203194378U (en) | Crawler-type spray vehicle | |
| CN203884321U (en) | Automatic greenhouse irrigating system | |
| CN203492641U (en) | Accurate and intelligent target-alignment pesticide spraying machine | |
| CN103563880A (en) | Pesticide spraying machine | |
| US3246848A (en) | Irrigation system and apparatus therefor | |
| CN207075305U (en) | A kind of green house of vegetables for facilitating dispenser | |
| CN206547713U (en) | A kind of electronic plant protection car | |
| US3465766A (en) | Ambulatory irrigating device | |
| CN111386895B (en) | Accurate pesticide application equipment and pesticide application method for trunk | |
| CN107950510A (en) | Travelling spraying machine | |
| CN108077035A (en) | Can inter-bank operation irrigation equipment | |
| CN203827929U (en) | Pesticide spraying machine | |
| CN110199979A (en) | A kind of wheatland auto spraying weeding irrigation device | |
| CN107950511B (en) | Full-automatic all-in-one machine for irrigating and spraying medicine | |
| CN112425588A (en) | Eminence laxative machine | |
| CN207075446U (en) | A kind of rose herbal sprinkling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240227 Address after: 315012 room 1025, Liyuan North Road, Haishu District, Ningbo, Zhejiang, China, 755 Patentee after: Ningbo yuanzhicube Energy Technology Co.,Ltd. Country or region after: China Address before: No.211, No.212, Renmin East Road, Xingning District, Nanning City, Guangxi Zhuang Autonomous Region Patentee before: NANNING ZHIQIAO AGRICULTURAL Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |