CN108703134A - Intelligent pesticide spraying machine people - Google Patents
Intelligent pesticide spraying machine people Download PDFInfo
- Publication number
- CN108703134A CN108703134A CN201810720328.9A CN201810720328A CN108703134A CN 108703134 A CN108703134 A CN 108703134A CN 201810720328 A CN201810720328 A CN 201810720328A CN 108703134 A CN108703134 A CN 108703134A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- pesticide spraying
- machine people
- spraying machine
- spray boom
- 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.)
- Pending
Links
- 239000000575 pesticide Substances 0.000 title claims abstract description 24
- 238000005507 spraying Methods 0.000 title claims abstract description 20
- 239000007921 spray Substances 0.000 claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000000889 atomisation Methods 0.000 claims abstract description 8
- 210000000245 forearm Anatomy 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000002955 isolation Methods 0.000 abstract description 2
- 230000002265 prevention Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 6
- 241000238631 Hexapoda Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
Abstract
The present invention relates to a kind of intelligent pesticide spraying machine people, structure includes cradle head camera, spray boom, high atomization nozzle, crank mechanism, supporting rod, sufficient formula steelframe, driving steering engine, digital transmission module, medicine-chest, delivery pipe, water pump, chassis overhang, control module, power supply, forearm, steering engine I, steering engine holder, steering wheel, steering engine II.Advantageous effect：The growing environment of cover crop in spraying operation may be implemented；Remote control, contact of the isolation pesticide with operating personnel, harm of the prevention pesticide to operating personnel can be realized in spraying operation；The efficiency of pesticide spraying can be improved；The flexibility of spray appliance can be improved.
Description
Technical field
The present invention relates to agricultural equipment technology field, especially intelligent pesticide spraying machine people.
Background technology
Advanced pesticide spraying machinery is mainly unmanned plane, large-scale wheeled sprinkling wagon etc. now.Existing unmanned plane sprays agriculture
The pesticide of medicine device sprinkling is uneven, and space needed for landing is too big, excessively high to operating environment requirement, is not suitable for small-sized agricultural land
With chamber planting, and large-scale wheeled sprinkling wagon is advanced into big to soil harm in the process, and the growing environment of cover crop is unfavorable for.
The working method of unmanned plane determines that its applicable range is smaller, and influence factor is too many, for example, the weather such as wind-force because
Element.Large-scale wheeled sprinkling wagon heavier-weight, the forced area of wheel is big, can influence the growing environment of crop.
Invention content
In order to overcome the shortage of prior art, the move mode of sprinkling machinery is solved so that its process sprayed will not be to making
The growing environment of object adversely affects.The field in small-scale farmland and chamber planting is allow to have a kind of sprinkling machinery generation
For artificial, while pesticide utilization rate is improved, reduces the pollution of the waste and pesticide of pesticide for environment.
The technical solution adopted by the present invention to solve the technical problems is：The present invention relates to a kind of intelligent vehicle-mounted sprayers
Device people uses walking manner to advance for sufficient formula, becomes face contact as point contact, reduces contact, chassis is in crop top row
It walks, crop will not be damaged, two parapodum structures are in the ranks moved in crop two, spraying of spraying insecticide backward.Chassis is one
Hexapod Robot chassis can highly be lifted by servos control, and the spacing of walking can also be adjusted by servos control.
Its structure includes cradle head camera, spray boom, high atomization nozzle, crank mechanism, supporting rod, sufficient formula steelframe, driving rudder
Machine, digital transmission module, medicine-chest, delivery pipe, water pump, chassis overhang, control module, power supply, forearm, steering engine I, steering engine holder, steering wheel,
Steering engine II.Above-mentioned driving steering engine, steering wheel, steering engine holder, bearing, the sufficient sufficient structure of formula steelframe composition, above-mentioned foot formula steelframe include again
The forearm being connected by screw by sheet metal and the large arm being made of steering engine holder, six sufficient structure structures are identical.It is above-mentioned
Equipped with driving steering engine in sufficient structure, there are two steering engines for a foot dress, control upper and lower and former and later two degree of freedom of foot respectively.Above-mentioned rudder
Machine is connected through a screw thread connection steering wheel and steering engine holder, a steering engine are connected through a screw thread chassis, another steering engine passes through screw thread
Small arm section is connected, the steering engine holder of the two is connected through a screw thread composition large arm, sufficient is all around moved with this to control.On
Sufficient formula steelframe is stated to advance under the driving of steering engine.Control panel and microcontroller are equipped with by screw on chassis, all steering engines pass through
Conducting wire is connected on control panel, and control panel is connected to by conducting wire on microcontroller, and the rotation of steering engine is controlled with this.Chassis lower part
Power supply has been connected by screw with control panel and microcontroller to be connected.It powers for equipment.
It is sequentially placed water pump, medicine-chest and spray boom supporting rod on above-mentioned chassis overhang, is connected water pump and medicine-chest by delivery pipe
It connects, water pump is connect by another delivery pipe with spray boom, and spray boom is located at the both sides above supporting rod, and a row is equipped with backward on spray boom
High atomization nozzle.The place that spray boom is connect with supporting rod is rotatable, drives a crank mechanism to be controlled by motor, supports
Cradle head camera is installed on bar, it can 360 ° of monitoring operation process.Front is equipped with wifi digital transmission modules, can remote control equipment
Operation.
The beneficial effects of the invention are as follows：
1, the growing environment of cover crop in spraying operation may be implemented
2, remote control can be realized in spraying operation, contact of the isolation pesticide with operating personnel, prevention pesticide is to operation people
The harm of member.
3, the efficiency of pesticide spraying can be improved.
4, the flexibility of spray appliance can be improved.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall schematic of the present invention；
Fig. 2 is front view of the present invention；
Fig. 3 is side view figure of the present invention；
Fig. 4 is vertical view figure of the present invention；
Fig. 5 is cradle head camera partial enlarged view of the present invention；
Fig. 6 is spray boom partial enlarged view of the present invention；
Fig. 7 is the sufficient structure partial enlarged drawing of the present invention；
Fig. 8 is traveling mode first step schematic diagram of the present invention；
Fig. 9 is traveling mode second step schematic diagram of the present invention；
Figure 10 is that traveling mode third of the present invention walks schematic diagram.
In figure：1- cradle head cameras；2- spray booms；3- high atomization nozzles；4- crank mechanisms；5- supporting rods；6- foot formula steelframes；
7- drives steering engine；8- digital transmission modules；9- medicine-chests；10- delivery pipes；11- water pumps；12- chassis overhangs;13- control modules；14- electricity
Source；15- forearms；16- steering engines I；17- steering engine holders；18- steering wheels；19- steering engines II.
Specific implementation mode
Walking manner is used to advance for sufficient formula, chassis is the Hexapod Robot chassis of 12 degree of freedom, equipped with 12 drives
Dynamic steering engine, there are two steering engines for a foot dress, control upper and lower and former and later two degree of freedom of foot respectively, be achieved in the lifting on chassis with
The adjustment for spacing of walking.
Steering engine 16 is connected through a screw thread connection steering wheel 18 and steering engine holder 17, and bearing is mounted on steering wheel 18, and the two is kept
Interference fit.Steering engine 19 is connected through a screw thread chassis 12, and steering engine 16 is connected through a screw thread 15 part of forearm, the steering engine holder of the two
17 are connected through a screw thread composition large arm, are moved with this to control sufficient all directions.Wherein, forearm 15 passes through 4 by two panels sheet metal
Group screw connection.
The triped gait traveling mode of bionic insect when chassis is integrally advanced.The sufficient formula steelframe of six of both sides is divided into two group three
Angular combined and alternatively is advanced, first group first from servos control side upwards simultaneously to being forwarded to an angle, while it is another
The lateral upper and angle that rotates backward；Then first group of steering engine is fallen under all thinking；Before and after following first group of control
Steering engine homing with this come provide one backward pedal power simultaneously second group of first group of repetition operation, move forward；It connects down
Carry out second group of steering engine and fall first group of repetition downwards, is alternately travelled with this.This traveling mode may make equipment center of gravity to be maintained at three
The center of angular inside, that is, equipment, ultrahigh in efficiency while greatly promoting stability when advancing.
The rotation of steering engine and its rotational angle are preprogrammed in specific action group input control plate in traveling process, by list
Piece machine connects control panel and controls traveling by specific program.
By being sequentially placed water pump 11, medicine-chest 9 and spray boom supporting rod 5 on chassis 12, by delivery pipe 10 by water pump 11 with
Medicine-chest 9 connects, and water pump 11 connect by another delivery pipe 10 with spray boom 2, and spray boom is located at the both sides above supporting rod 5, on spray boom 2
The high atomization nozzle 3 of one row backward is installed.The place that spray boom 2 is connect with supporting rod 5 is rotatable, and a crank is driven by motor
Mechanism is controlled, and cradle head camera is equipped on supporting rod, can 360 ° of monitoring operation process.Control module 13 is mounted on chassis
12 lower parts control the work that the motor 7 on chassis 12 and spray boom 2 also has water pump 11.The power supply 14 of power supply is mounted in 12 lower section of chassis.
Spray boom opens water pump and starts to work when this product operation, extracts pesticide from medicine-chest by delivery pipe and is transported to spray boom
In, pesticide spray is formed at rear by high atomization nozzle, while chassis is advanced forward.Water pump stops when stopping operation, spray boom
It is closed in supporting rod both sides by motor control.Encounter small space in operation, water pump stops spray boom and folds, wait through later again into
Row operation.
Claims (7)
1. a kind of intelligence pesticide spraying machine people, it is characterised in that；Including cradle head camera (1), spray boom (2), high atomization nozzle
(3), crank mechanism (4), supporting rod (5), sufficient formula steelframe (6), driving steering engine (7), digital transmission module (8), medicine-chest (9), delivery pipe
(10), water pump (11), chassis overhang (12), control module (13), (14) power supply, forearm（15）, steering engine I（16）, steering engine holder
（17）, steering wheel（18）, steering engine II（19）, uniformly it is connected on the spray boom (2) and is connected with holder above high atomization nozzle (3) and takes the photograph
As head (1), the spray boom (2) is also connected to by the crank mechanism (4) controlled by driving steering engine (7) on supporting rod (5), described
With sufficient formula steelframe (6) by driving steering engine (7) to be threadedly coupled, delivery pipe (10) both sides are separately connected chassis overhang (12)
There are water pump (11) and medicine-chest (9), chassis overhang (12) top to be connected with digital transmission module (8), water pump in turn by screw thread
(11), medicine-chest (9), supporting rod (5), chassis overhang (12) lower section are connected with control module (13), power supply (14).
2. intelligence pesticide spraying machine people according to claim 1, it is characterised in that：The foot formula steelframe (6) has 6 groups.
3. intelligence pesticide spraying machine people according to claim 1, it is characterised in that：The foot formula steelframe (6) is divided into greatly
Arm and forearm（15）.
4. intelligence pesticide spraying machine people according to claim 1, it is characterised in that：The steering engine holder（17）It constitutes big
Arm.
5. intelligence pesticide spraying machine people according to claim 1, it is characterised in that：The driving steering engine (7) has 2,
Steering engine I（16）With steering engine II（19）Each six.
6. intelligence pesticide spraying machine people according to claim 1, it is characterised in that:Control module (13) is divided into control
Plate and singlechip group at.
7. intelligence pesticide spraying machine people according to claim 1, it is characterised in that：Control module (13) is with conducting wire and drive
Dynamic steering engine (7), steering engine I（16）, steering engine II（19）It is connected with power supply (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720328.9A CN108703134A (en) | 2018-07-02 | 2018-07-02 | Intelligent pesticide spraying machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720328.9A CN108703134A (en) | 2018-07-02 | 2018-07-02 | Intelligent pesticide spraying machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108703134A true CN108703134A (en) | 2018-10-26 |
Family
ID=63872370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810720328.9A Pending CN108703134A (en) | 2018-07-02 | 2018-07-02 | Intelligent pesticide spraying machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108703134A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002794A (en) * | 2021-03-22 | 2021-06-22 | 华南理工大学 | Watering unmanned aerial vehicle based on pitching quick-release holder |
| CN113601529A (en) * | 2021-08-19 | 2021-11-05 | 扬州大学 | High-efficient laxative robot is used in farmland |
| US11832609B2 (en) | 2020-12-21 | 2023-12-05 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| US11944087B2 (en) | 2020-12-21 | 2024-04-02 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202232660U (en) * | 2011-07-19 | 2012-05-30 | 山东科技大学 | Small pesticide spraying vehicle |
| CN105216906A (en) * | 2015-09-22 | 2016-01-06 | 国网山东省电力公司枣庄供电公司 | A kind of Power Material firefighting of warehouse pat-car |
| CN205059786U (en) * | 2015-08-18 | 2016-03-02 | 长安大学 | Polypody robot platform with visual system |
| CN205455564U (en) * | 2016-02-19 | 2016-08-17 | 范明合 | Self -propelled medicine machine that spouts of remote control |
| CN207151125U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform |
| WO2018090492A1 (en) * | 2016-11-17 | 2018-05-24 | 江苏大学 | Self-steering intelligent sprayer with multiple ground clearances and control method therefor |
| CN208338745U (en) * | 2018-07-02 | 2019-01-08 | 济南大学 | Intelligent pesticide spraying machine people |
-
2018
- 2018-07-02 CN CN201810720328.9A patent/CN108703134A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202232660U (en) * | 2011-07-19 | 2012-05-30 | 山东科技大学 | Small pesticide spraying vehicle |
| CN205059786U (en) * | 2015-08-18 | 2016-03-02 | 长安大学 | Polypody robot platform with visual system |
| CN105216906A (en) * | 2015-09-22 | 2016-01-06 | 国网山东省电力公司枣庄供电公司 | A kind of Power Material firefighting of warehouse pat-car |
| CN205455564U (en) * | 2016-02-19 | 2016-08-17 | 范明合 | Self -propelled medicine machine that spouts of remote control |
| WO2018090492A1 (en) * | 2016-11-17 | 2018-05-24 | 江苏大学 | Self-steering intelligent sprayer with multiple ground clearances and control method therefor |
| CN207151125U (en) * | 2017-07-28 | 2018-03-30 | 天津农学院 | A kind of agricultural fertilizer pesticide applying vehicle suitable for complicated landform |
| CN208338745U (en) * | 2018-07-02 | 2019-01-08 | 济南大学 | Intelligent pesticide spraying machine people |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11832609B2 (en) | 2020-12-21 | 2023-12-05 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| US11944087B2 (en) | 2020-12-21 | 2024-04-02 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| CN113002794A (en) * | 2021-03-22 | 2021-06-22 | 华南理工大学 | Watering unmanned aerial vehicle based on pitching quick-release holder |
| CN113002794B (en) * | 2021-03-22 | 2024-04-09 | 华南理工大学 | Sprinkler unmanned aerial vehicle based on but every single move quick detach cloud platform |
| CN113601529A (en) * | 2021-08-19 | 2021-11-05 | 扬州大学 | High-efficient laxative robot is used in farmland |
| CN113601529B (en) * | 2021-08-19 | 2023-12-01 | 扬州大学 | Efficient pesticide spraying robot for farmland |
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