CN109430225A - The overhead crop scissor-type in greenhouse in the ranks spraying machine - Google Patents
The overhead crop scissor-type in greenhouse in the ranks spraying machine Download PDFInfo
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- CN109430225A CN109430225A CN201811609534.9A CN201811609534A CN109430225A CN 109430225 A CN109430225 A CN 109430225A CN 201811609534 A CN201811609534 A CN 201811609534A CN 109430225 A CN109430225 A CN 109430225A
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- scissor
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- type
- greenhouse
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- 238000005507 spraying Methods 0.000 title claims abstract description 38
- 239000007921 spray Substances 0.000 claims abstract description 59
- 239000000575 pesticide Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 61
- 238000010008 shearing Methods 0.000 claims description 32
- 238000004064 recycling Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 229910003460 diamond Inorganic materials 0.000 claims description 5
- 239000010432 diamond Substances 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 2
- 239000003814 drug Substances 0.000 abstract description 12
- 240000008067 Cucumis sativus Species 0.000 abstract description 4
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 abstract description 4
- 241000196324 Embryophyta Species 0.000 abstract description 4
- 235000007688 Lycopersicon esculentum Nutrition 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 3
- 206010008428 Chemical poisoning Diseases 0.000 abstract description 2
- 235000013399 edible fruits Nutrition 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 240000003768 Solanum lycopersicum Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 229940079593 drug Drugs 0.000 description 6
- 241000227653 Lycopersicon Species 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000002253 acid Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 231100000567 intoxicating Toxicity 0.000 description 1
- 230000002673 intoxicating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 201000009032 substance abuse Diseases 0.000 description 1
- 235000013311 vegetables Nutrition 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
- A01M7/0089—Regulating or controlling systems
Abstract
The invention discloses a kind of heliogreenhouse high-level cultivating crop, in the ranks automatic medicine sprayer, cucumber in solar-greenhouse, tomato etc. take rope " hanging tendril " planting type, and plant is higher closeer, and current sprayer machine can not go deep into crop and in the ranks uniformly spray.The spraying machine is made of chassis rail vehicle, scissor pesticide spraying system, control system.Chassis rail vehicle travels on the track that heliogreenhouse north side channel is laid with, it can be individually used for the transport of goods and materials in greenhouse, fruit etc., scissor pesticide spraying system can on Fast Installation chassis rail vehicle, when railcar drives to crop in the ranks, crop can be deep into along east-west direction to be in the ranks administered, the uniformity that sprays is more preferable, control system is mounted on chassis rail car, automatic unmanned spray in traveling and heliogreenhouse for controlling chassis rail vehicle, avoid pesticide poisoning situation, it can reduce labor intensity, improve operating efficiency.
Description
Technical field
The invention belongs to the device for administration of drugs technical fields in the ranks of heliogreenhouse high-level cultivating crop, and in particular to a kind of scissor
Formula heliogreenhouse high-level cultivating crop in the ranks automatic medicine sprayer.
Background technique
China's industrialized agriculture rapidly develops, but industrialized agriculture outfitting tool type is less, and the degree of automation is lower.Facility vegetable
Dish is because high temperature and humidity pest and disease damage takes place frequently, and chemical prevention is still main means, and for peasant in order to pursue high yield, pesticide abuses phenomenon ten
A series of problems, such as dividing seriously, leading to exceeded Practice for Pesticide Residue in Agricultural Products, Sichuan, and because heliogreenhouse environment is closed,
Spray intoxicating phenomenon happens occasionally.Cucumber in solar-greenhouse, tomato etc. take rope " hanging tendril " planting type, plant it is higher compared with
Close, current sprayer machine can not go deep into crop and in the ranks uniformly spray.Currently, most of the heliogreenhouse pest control equipment in China is hand
Dynamic application equipment, technological means fall behind, and application method is extensive, simple, do not consider to be administered uniformity, pesticide utilization rate is low.In order to
It improves pesticide utilization rate and reduces injury of the pesticide to operating personnel, the accurate spray appliance of intelligent agriculture becomes agriculture in the world
The main contents of plant protection instrument field research, from the big dose of traditional pest control equipment, it is inefficient gradually to target is administered, variable spray
The intelligent accuracy pesticide applying technology development such as medicine, low amounts sprinkling.For the overhead cultivated crop such as greenhouse cucumber, tomato, design is deep
Entering crop and in the ranks carries out the equipment being precisely administered automatically, the damage to reducing to Health Status For Workers Exposed improves pesticide utilization rate, with
And General Promotion heliogreenhouse automated production ability plays huge impetus, there is good application prospect.
Summary of the invention
The object of the present invention is to provide a kind of overhead crop in greenhouse in the ranks spraying machines, and intelligent control is easy to operate, and performance can
It leans on, dynamical stability, is able to achieve during spray and gos deep into the overhead crop in greenhouse and in the ranks carry out accurate intelligent application, with intelligent control generation
For artificial, saving labour.
The present invention is achieved by the following technical solutions:
The overhead crop scissor-type in greenhouse spraying machine, including shipping platform and scissor pesticide spraying system (2) in the ranks；The scissor spray
Medicine system (2) is mounted on shipping platform, and shipping platform travels on the track that heliogreenhouse north side channel is laid with；Shipping platform
When driving to crop in the ranks, crop can be deep into along east-west direction and be in the ranks administered.
The shipping platform is chassis rail vehicle (1), and chassis rail vehicle (1) is by rack (11), a pair of of driving wheel (12), one
Slow down to driven wheel (16), driving shaft (13), driven shaft (17), rolling bearing units (14), DC speed-reducing (19), direct current electric
Machine mounting plate (115), drive sprocket (112), driven sprocket (114), chain (113), diamond shape rolling bearing units (111), diamond shape axis
Mounting plate (110), scissor recycling plate (15), handle (18) composition are held, DC speed-reducing (19) drives master by chain (113)
Driving wheel (12) completes stable forward-reverse in orbit；Scissor recycling plate (15) is for carrying scissor advancement mechanism, to drive
Scissor pesticide spraying system (2) is mobile in orbit.
The scissor pesticide spraying system (2) includes shearing fork telescopic mechanism (21), scissor advancement mechanism (25), scissor recovering mechanism
(26), medicine-chest (27), Teat pipette (29), pencil (28), spray boom (24), solenoid valve (22), spray head (23)；Spray head (23) installation
On the spray boom (24) of shearing fork telescopic mechanism (21) front end, scissor advancement mechanism (25) drives spray head (23) to go deep into crop in the ranks,
Scissor recovering mechanism (26) drives spray head (23) to be recovered in chassis rail vehicle scissor recycling plate (15), Teat pipette (29) and medicine-chest
(27) it is fixed on chassis rail vehicle (1) and medical fluid and pressure is provided, be delivered to spray head (23) by pencil (28), spray head (23) point
It is two groups, towards two sides crop, controls every group of on-off by solenoid valve (22) respectively.
The shearing fork telescopic mechanism (21) includes c-type slideway (211), scissor connecting shaft (212), scissor sliding axle
(213), scissor fixing axle (215), scissor connecting rod (216), slideway wheel (214)；The scissor connecting rod (216) passes through scissor
Connecting shaft (212) forms two groups of parallel multistage X-type scissors mechanisms, and passes through scissor sliding axle (213) and scissor fixing axle
(215) it scissor connecting rod (216) will be installed on c-type slideway (211) end to end, slideway wheel (214) is mounted on scissor sliding axle
(212) both ends roll in c-type track (211) with shearing fork telescopic mechanism (21)；The tail end track of c-type track (211) can be straight
It patches in the corresponding slot in track vehicle device frame (11), and then fixed scissor pesticide spraying system (2).
The scissor advancement mechanism (25) is by hub motor (256), U-shaped mounting rack (255), spring damper (252/
253/254) it forms, front end and spring damper phase of the U-shaped mounting rack (255) with shearing fork telescopic mechanism c-type slideway (211)
Even, hub motor (256) is connected with spring damper, and hub motor (256) rotation drives scissor advancement mechanism (25), spring
Damper guarantees hub motor (256) close proximity to ground always.
The scissor recovering mechanism (26) by capstan winch pedestal (261), driving gear shaft (262), driven gear shaft (263),
Stepper motor (264), shaft coupling (265), steel wire, capstan winch fixed plate (267) composition；Capstan winch fixed plate (267) recycles scissor
Mechanism (26) and chassis rail vehicle (1) are fixed, and steel wire is connected with shearing fork telescopic mechanism (25) front end, capstan winch driving gear shaft
(262) it is connected by shaft coupling (265) with stepper motor (264), stepper motor (264) rotation drives driving gear shaft (262)
Rotation pulls steel wire to withdraw shearing fork telescopic mechanism (21).
Spray railcar realizes that heliogreenhouse is unmanned and sprays between the control system control greenhouse ridge, including battery,
Travel switch, avoiding obstacles by supersonic wave sensor, laser positioning sensor, wireless communication module, warning light, control cabinet, laser positioning
Sensor is between positioning crop ridge, avoiding obstacles by supersonic wave sensor to be detected mounted in vehicle track running direction in front of vehicle track running
Whether barrier is had, and travel switch is used for and greenhouse Internet of Things for controlling shearing fork telescopic mechanism telescopic extensions, wireless communication module
Net system communication carries out the setting of spray value.
Chassis rail vehicle (1) drives scissor pesticide spraying system (2) in the ranks to travel along heliogreenhouse north wall, chassis rail vehicle (1)
Side is equipped with laser positioning sensor, and when it, which is detected, sprays mark on heliogreenhouse north wall between ridge, chassis rail vehicle (1) stops
Only, shearing fork telescopic mechanism (21) extending transversely between ridge then is driven by scissor advancement mechanism (25), adheres to shearing fork telescopic machine
The spray boom of structure (21) also gos deep between ridge therewith, and after shearing fork telescopic mechanism (21) is fully deployed, solenoid valve (22), Teat pipette (29) are opened
It opens, spray head (23) starts to spray, while hub motor (256) stops working, and the stepper motor of scissor recovering mechanism (26) drives
Winching operations retract spray head (23) with wirerope, while scissor is shunk therewith, return until hub motor (256) are recovered to scissor
It receives plate (15), that is, completes the spray drug operation of a line.Railcar advances to next ridge, and repeats above-mentioned operation process, until
It completes all to spray in greenhouse.In addition, in the ranks spraying machine also has avoiding obstacles by supersonic wave to the overhead crop scissor-type in this greenhouse, when there is barrier
Object or people is hindered to be automatically stopped in track.After spray drug operation, scissor pesticide spraying system can be removed from chassis rail vehicle (1),
Chassis rail vehicle (1) can also be used in hauling operation, by the button in operation railcar, can adjust its direction of advance.
The beneficial effects of the invention are that:
(1) in the ranks spraying machine is advantageously implemented and gos deep into overhead crop and in the ranks precisely sprayed the overhead crop scissor-type in greenhouse
Medicine improves the uniformity of application.
(2) the overhead crop scissor-type in greenhouse in the ranks spraying machine introduce avoiding obstacles by supersonic wave module, locating module between laser ridge, from
Dynamic charging module etc., keeps works more intelligent, realizes unmanned spray in greenhouse.
(3) in the ranks spraying machine helps to realize the full-automatic spray of the overhead crop in greenhouse to the overhead crop scissor-type in greenhouse, subtracts
The case where having lacked the operating personnel's poisoning occurred because greenhouse is closed.
(4) in the ranks spraying machine is conducive to through control wheel hub motor speed, scissor recycling step the overhead crop scissor-type in greenhouse
Into motor speed, to guarantee that scissor device is at the uniform velocity flexible, guarantee pesticide supplying effect.
Detailed description of the invention
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is the overall structure diagram of the overhead crop scissor-type in greenhouse of the present invention in the ranks spraying machine；
Fig. 2 is the structural schematic diagram of chassis rail vehicle of the present invention；
Fig. 3 is the structural schematic diagram of chain conveyer of the present invention connection；
Fig. 4 is shearing fork telescopic apparatus structure schematic diagram of the present invention；
Fig. 5 is scissor advancement mechanism structural schematic diagram；
Fig. 6 is scissor recovering mechanism structural schematic diagram；
Fig. 7 is control system schematic diagram of the present invention；
Fig. 8 is control system block schematic illustration of the present invention.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is for saying
The bright present invention, but cannot be used to limit the scope of the invention.
As shown in Figure 1, in the ranks automatic medicine sprayer includes chassis rail vehicle 1, scissor spray to heliogreenhouse high-level cultivating crop
System 2, control system 3.Angle bar two-orbit 4 is laid on the north channel of heliogreenhouse, and chassis rail vehicle 1 can be in daylight along track
It walks in greenhouse along east-west direction, scissor pesticide spraying system 2 can be fixed on chassis rail by the C type slideway 211 and bolt of side
Che Shang, control system 3 in chassis rail vehicle device frame, go deep by the traveling and scissor pesticide spraying system 2 for controlling chassis rail vehicle 1
Crop in the ranks carries out spray drug operation.
As shown in Figure 2,3, chassis rail vehicle 1 is recycled by rack 11, driving wheel 12, driving shaft 13, rolling bearing units 14, scissor
Plate 15, driven wheel 16, driven shaft 17, handle 18, DC speed-reducing 19, bearing mounting plate 110, diamond shape rolling bearing units 111, master
Movable sprocket 112, chain 113, driven sprocket 114, direct current generator mounting plate 115 form.Driving wheel 12 and driven wheel 16 are V-type
Wheel, can travel on angle bar two-orbit 4, and left and right sides driving wheel 12 and driven wheel 16 pass through driving shaft 13 and driven shaft respectively
17 link together, and are connected by key together with axis, and driving wheel 12 and driven wheel 16 are by being installed to usheing to seat in rack
Bearing supports.DC speed-reducing 19 is fixed in rack 11, is connected with sprocket shaft by key, driven sprocket 114 and active
Axis 13 is connected by key, and drive sprocket 112 drives driven sprocket 114 that driving wheel 12 is driven to rotate by chain 113, is realized
The forward-reverse of chassis rail vehicle.Scissor recycling plate 15 is fixed on the part that rack 11 is fallen in, for carrying scissor feeder wheel
That is hub motor 256, to drive scissor pesticide spraying system 2 mobile in orbit.Handle 18 is mounted on the side of rack 11, for straight
Stream decelerating motor 19 pushes chassis rail vehicle mobile when not working.
As shown in Figure 1, scissor pesticide spraying system includes shearing fork telescopic mechanism 21, scissor advancement mechanism 22, scissor recovering mechanism
25, medicine-chest 27, pencil 28, spray boom 24, solenoid valve 22, spray head 23.Medicine-chest 27 and Teat pipette 29 are fixed on chassis rail vehicle 1, medicine
Pipe 28 is fixed on the inside of shearing fork telescopic mechanism 21, acts with shearing fork telescopic mechanism 21, and spray head 23 is fixed on by vertical spray boom 24
The front end of shearing fork telescopic mechanism 21 can be driven to crop from shearing fork telescopic mechanism 21 and in the ranks be sprayed vertically to two sides, the left and right sides
It is two groups that spray head 23, which is divided to, and there are two solenoid valves 22 to control respectively, opens or closes certain side spray head 23 as needed.Shearing fork telescopic machine
Structure 21 is used for connecting base plate railcar 1 and spray boom 24, and limits spray boom 24 and move left and right, and scissor advancement mechanism 22 drives spray boom 24
It stretches out, scissor recovering mechanism 26 drives spray boom 24 to be recovered on the scissor recovering mechanism 26 of chassis rail vehicle 1.
As shown in figure 4, shearing fork telescopic mechanism 21 is made of the parallel multistage X-type scissors mechanism in two groups of left and right, including c-type is sliding
Road 211, scissor connecting shaft 212, scissor sliding axle 213, movable pulley 214, scissor fixing axle 215, scissor connecting rod 216, sliding rail
Fixed plate 217 forms.It is formed hingedly between scissor connecting rods 216 at different levels with scissor connecting shaft 212, and passes through the fixed two sides of nut
The spacing of scissor connecting rod 216.213 lower part of scissor connecting rod of level-one scissors mechanism passes through scissor fixing axle 215 and a left side end to end
Right two sides c-type slideway 211 is fixed together, and 216 top of scissor connecting rod passes through scissor sliding axle 213 and 214 phase of movable pulley
Even, movable pulley 214 is driven to slide in c-type slideway 211 when shearing fork telescopic.Sliding rail fixed plate 217 consolidates two sides c-type slideway 211
It is scheduled on together, and limits its distance.211 tail end track of c-type slideway can be inserted directly into the corresponding slot in railcar rack 12, into
And fix a whole set of scissor pesticide spraying system.
As shown in fig. 6, scissor advancement mechanism 25 is by hub motor fixed plate 251, spring damper upper-part 252, spring
253, spring damper lower component 254, U-shaped mounting rack 255, hub motor 256 form, and U-shaped mounting rack 255 is used for fast pulley
Hub motor 256, hub motor fixed plate 251 and the c-type slideway 211 of shearing fork telescopic mechanism 21 are bolted, spring shock absorption
Device is mounted among U-shaped mounting rack and hub motor fixed plate；Spring damper is made of the spring of upper and lower component and centre
For guarantee hub motor always with ground face contact.
As shown in fig. 6, scissor recyclable device 26 is by capstan winch pedestal 261, driving gear shaft 262, driven gear shaft 263, step
Into motor 264, shaft coupling 265, fixed plate 267.The c-type slideway 211 of 267 one side of fixed plate and shearing fork telescopic mechanism 21 and
1 rack 11 of chassis rail vehicle is bolted together, and stepper motor 264 and the left plate of fixed plate 267 are fixed by bolts to
Together, capstan winch pedestal 261 is fixed together with fixed plate bottom plate 267, and 264 axis of stepper motor passes through shaft coupling 265 and capstan winch master
Movable gear shaft 262 is connected, and steel wire winding is on driven gear shaft 263, the cunning of one section of wirerope and shearing fork telescopic mechanism 21 front end
Rail fixing piece is connected, and the other end is fixed with capstan winch wheel disc, and when needing to withdraw spray boom, stepper motor 264 drives capstan wheel disc spins,
Wirerope-winding drives the hub motor 265 of scissor advancement mechanism to be recovered to the scissor recycling plate of railcar on capstan winch wheel disc
On.
As shown in fig. 7, control system is by avoiding obstacles by supersonic wave module, laser positioning module, upper and lower limit switch, lead acid storage battery
Pond, power module, key, core board, direct current generator drive module, stepper motor drive module, In-wheel motor driving module, object
Combined network communication module, solenoid valve driving module, warning light composition.As shown in figure 8, ultrasonic obstacle avoidance module 31 is fixed on chassis rail
Whether vehicle driving direction has barrier on track for detecting, detects that barrier then stops in emergency；Laser positioning module 32 is pacified
In the fixed plate of scissor recyclable device, for detecting whether scissor chemical spraying device reaches crop in the ranks；Upper and lower limit switch
33 are fixed on the c-type sliding rail of shearing fork telescopic mechanism, for limiting the stroke of shearing fork telescopic；Lead-acid accumulator 37 is mounted on chassis
In the rack of railcar, for powering to control system.Warning light 36 is mounted on chassis rail vehicle shell side, for showing machine
The working condition of tool.Other control modules are mounted in control cabinet 36, and core control panel selects Arduino UNO, DC driven
Module is used to control DC motor speed-regulating and the positive and negative rotation of chassis rail vehicle, and In-wheel motor driving module is for controlling scissor advance
Hub motor rotation, speed regulation and the stopping of device, solenoid valve driving module are used to drive the opening and closing of scissor pesticide spraying system solenoid valve,
Stepper motor drive module is used to control the capstan wheel disc spins of scissor recyclable device, and Internet of Things communication module is for receiving Internet of Things
The operative signals and feedback job state of net.
Rope " hanging tendril " planting type is taken for cucumber in solar-greenhouse, tomato etc., plant is higher closeer, current to spray
Machinery can not go deep into crop and in the ranks uniformly spray.In the ranks automatic medicine sprayer can be independent for heliogreenhouse high-level cultivating crop of the invention
For the transport of goods and materials, fruit etc. in greenhouse, scissor pesticide spraying system can drive on Fast Installation chassis rail vehicle, when railcar
Crop in the ranks when, crop can be deep into along east-west direction and be in the ranks administered, spray uniformity it is more preferable, control system is mounted on bottom
In disk railcar, automatic unmanned spray, avoids pesticide poisoning shape in the traveling and heliogreenhouse for controlling chassis rail vehicle
Condition can reduce labor intensity, improve operating efficiency.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (7)
1. the overhead crop scissor-type in greenhouse in the ranks spraying machine, which is characterized in that including shipping platform and scissor pesticide spraying system (2)；
The scissor pesticide spraying system (2) is mounted on shipping platform, the track uplink that shipping platform is laid in heliogreenhouse north side channel
It sails；When shipping platform drives to crop in the ranks, crop can be deep into along east-west direction and be in the ranks administered.
2. the overhead crop scissor-type in greenhouse according to claim 1 in the ranks spraying machine, which is characterized in that the shipping platform
For chassis rail vehicle (1), chassis rail vehicle (1) is by rack (11), a pair of of driving wheel (12), a pair of driven (16), driving shaft
(13), driven shaft (17), rolling bearing units (14), DC speed-reducing (19), DC speed-reducing mounting plate (115), drive chain
Take turns (112), driven sprocket (114), chain (113), diamond shape rolling bearing units (111), diamond shape bearing mounting plate (110), scissor time
Plate (15), handle (18) composition are received, DC speed-reducing (19) drives driving wheel (12) to complete in orbit by chain (113)
Stable forward-reverse；Scissor recycling plate (15) is for carrying scissor advancement mechanism, to drive scissor pesticide spraying system (2) in track
Upper movement.
3. the overhead crop scissor-type in greenhouse according to claim 1 in the ranks spraying machine, which is characterized in that the scissor spray
System (2) includes shearing fork telescopic mechanism (21), scissor advancement mechanism (25), scissor recovering mechanism (26), medicine-chest (27), Teat pipette
(29), pencil (28), spray boom (24), solenoid valve (22), spray head (23)；The spray head (23) is mounted on shearing fork telescopic mechanism (21)
On the spray boom (24) of front end, scissor advancement mechanism (25) drives spray head (23) to go deep into crop in the ranks, scissor recovering mechanism (26) band
Dynamic spray head (23) are recovered in chassis rail vehicle scissor recycling plate (15), and Teat pipette (29) and medicine-chest (27) are fixed on chassis rail vehicle
(1) medical fluid and pressure are provided on, are delivered to spray head (23) by pencil (28), spray head (23) is divided into two groups, towards two sides crop,
Every group of on-off is controlled by solenoid valve (22) respectively.
4. the overhead crop scissor-type in greenhouse according to claim 3 in the ranks spraying machine, which is characterized in that the scissor is stretched
Contracting mechanism (21) includes c-type slideway (211), scissor connecting shaft (212), scissor sliding axle (213), scissor fixing axle (215), cuts
Pitch connecting rod (216), slideway wheel (214)；The scissor connecting rod (216) is parallel by two groups of scissor connecting shaft (212) composition
Multistage X-type scissors mechanism, and will scissor connecting rod (216) end to end by scissor sliding axle (213) and scissor fixing axle (215)
It is installed on c-type slideway (211), slideway wheel (214) is mounted on the both ends of scissor sliding axle (212), in c-type track (211)
It is rolled with shearing fork telescopic mechanism (21)；The tail end track of c-type track (211) can be inserted directly into corresponding in railcar rack (11)
In slot, so it is fixed scissor pesticide spraying system (2).
5. the overhead crop scissor-type in greenhouse according to claim 2 in the ranks spraying machine, which is characterized in that the scissor advances
Mechanism (25) is made of hub motor (256), U-shaped mounting rack (255), spring damper (252/253/254), U-shaped mounting rack
(255) it is connected with the front end of shearing fork telescopic mechanism c-type slideway (211) and spring damper, hub motor (256) subtracts with spring
It shakes device to be connected, hub motor (256) rotation drives scissor advancement mechanism (25), and spring damper guarantees that hub motor (256) begin
Whole close proximity to ground.
6. the overhead crop scissor-type in greenhouse according to claim 2 in the ranks spraying machine, which is characterized in that the scissor recycling
Mechanism (26) is by capstan winch pedestal (261), driving gear shaft (262), driven gear shaft (263), stepper motor (264), shaft coupling
(265), steel wire, capstan winch fixed plate (267) composition；Capstan winch fixed plate (267) is by scissor recovering mechanism (26) and chassis rail vehicle
(1) fixed, steel wire is connected with shearing fork telescopic mechanism (25) front end, capstan winch driving gear shaft (262) passes through shaft coupling (265) and step
It is connected into motor (264), stepper motor (264) rotation drives driving gear shaft (262) rotation, and steel wire is pulled to withdraw shearing fork telescopic
Mechanism (21).
7. the control system of the overhead crop scissor-type in greenhouse in the ranks spraying machine, which is characterized in that the control system controls temperature
The railcar that sprays between the ridge of room realizes the unmanned spray of heliogreenhouse, including battery, travel switch, avoiding obstacles by supersonic wave sensor, swashs
Light-seeking sensor, wireless communication module, warning light, control cabinet, between laser positioning sensor is used to position crop ridge, ultrasonic wave
Obstacle avoidance sensor detects whether have barrier in front of vehicle track running mounted in vehicle track running direction, and travel switch is for controlling
Shearing fork telescopic mechanism telescopic extensions, wireless communication module are used to communicate with greenhouse Internet of things system, carry out the setting of spray value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113841672A (en) * | 2021-08-18 | 2021-12-28 | 山东农业大学 | Multi-span greenhouse variable-pitch height-adjusting plant protection robot and control method |
| CN114105023A (en) * | 2021-10-11 | 2022-03-01 | 衢州学院 | Building material is removed with removing lift freight train |
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