CN109601511A - A kind of automatic spray running gear - Google Patents
A kind of automatic spray running gear Download PDFInfo
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- CN109601511A CN109601511A CN201811569978.4A CN201811569978A CN109601511A CN 109601511 A CN109601511 A CN 109601511A CN 201811569978 A CN201811569978 A CN 201811569978A CN 109601511 A CN109601511 A CN 109601511A
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- cabinet
- spray
- wheel
- fixedly installed
- driving motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- 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
- A01G13/00—Protecting plants
- A01G13/10—Devices for affording protection against animals, birds or other pests
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- Life Sciences & Earth Sciences (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Birds (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of automatic spray running gears, for the crop spraying medicine operation of greenhouse inside, obtain the influence in car body walking front in real time based on cradle head camera (9), and (13) are taken turns for two forerunners in car body accordingly and synchronize rotation control, and differential rotation control, realize the traveling of car body all directions, the position to spray crop is obtained by cradle head camera (9) simultaneously, and combine the control for being directed to mechanical arm (8), by electrodynamic pump (7) through hose (3), the spray to crop is realized using spray head (4), so realize automatically walk, and automatic spray operation, solves existing original spray mode labor intensive resource problem, substantially increase the working efficiency of spray.
Description
Technical field
The present invention relates to a kind of automatic spray running gears, belong to plant protection technology field.
Background technique
In present agricultural production process, this link that sprays is indispensable operation.That mainly use at this stage is people
The sprinkling of work small area either carries out the sprinkling of large area with unmanned plane.The mode of two kinds of sprays has larger drawback: first
First, the safety it is difficult to ensure that spray person itself is manually sprayed, and spraying operation is affected by weather, is blown
Weather is unable to operation.If need to expend a large amount of human resources using manually being sprayed in large area, this is provided to manpower
The waste in source.It not can be carried out accurate operation secondly, being sprayed using unmanned plane, do not have specific aim.What is wasted to drug
It is simultaneously also that huge destruction is caused to ecological environment；Therefore there is also insufficient for existing spray pattern.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of greenhouse inside processings, can be to greenhouse plants pest and disease damage portion
Position identification, and spray automatically, the automatic spray for solving existing original spray mode labor intensive resource problem, which is walked, to be filled
It sets.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme: the present invention devises a kind of automatic spray row
Walking apparatus, including car body, cabinet, spray tank, hose, spray head and control module, and the electricity being connected respectively with control module
Source, electrodynamic pump, mechanical arm, two cradle head cameras；Power supply is respectively that electrodynamic pump, mechanical arm, two holders are taken the photograph through control module
As head is powered；
Wherein, car body includes two connecting rods, two telescopic rods, four casings, two forerunner's wheels, two driven wheels, two pieces
Plate, two groups of electricity driving devices；The specification of the equal length of two connecting rods, two telescopic rods is mutually the same, and two connecting rods are put down each other
Row, two telescopic rods are parallel to each other, and two connecting rods, two telescopic rods are coplanar, constitute rectangular frame；Four casings are located at square
The same side of shape frame, four casings are corresponded with four vertex of rectangular frame respectively, wherein one end on each casing
The vertex of fixed docking rectangular frame respectively, and each casing is each perpendicular to face where rectangular frame；The length of connecting rod two end casing
Degree is equal to each other；The structure of two telescopic rods is mutually the same, and telescopic rod is more piece cannula structure；The length of two pieces of plates is equal
It is adapted with the length of connecting rod and each piece of planar surface is rectangle, the both ends of one of plate are fixedly installed respectively
In on two telescopic rods, wherein at the top of an equidirectional end sleeve outer wall, the planar surface long side is parallel with connecting rod；Separately
The both ends of one flat plate are fixedly installed on respectively on two telescopic rods, in addition at the top of an equidirectional end sleeve outer wall, this is flat
Plate surface long side is parallel with connecting rod；The wherein activity respectively of the end on a telescopic rod both ends institute connected set pipe, far from telescopic rod
Driven wheel is docked, and driven wheel is universal wheel；On another telescopic rod both ends institute connected set pipe, far from telescopic rod end distinguish
Movable docking forerunner wheel, and forerunner's wheel is not that face where universal wheel and forerunner's wheel is parallel with the vertical plane where connecting rod；
Two groups of electricity driving devices take turns with two forerunners correspond respectively, and two groups of electricity driving devices include motor driven mould respectively
Block, idler wheel driving motor, drive rod, two groups of angular wheels；In each group electricity driving device, motor drive module and idler wheel driving electricity
Machine is connected with each other, and is fixedly installed on corresponding forerunner and takes turns on other plate upper surface, and drive rod is movably placed in corresponding forerunner and takes turns institute
In casing even, the both ends of drive rod are located at the outside at set casing both ends, the drive rod place of idler wheel driving motor
Straight line and straight line where drive rod are perpendicular, the end towards one side on the driving boom end and drive rod of idler wheel driving motor
Portion is connected to each other by wherein one group of angular wheel, and drive rod drives under the linkage of connected angular wheel, with idler wheel driving motor
The rotation of lever and rotate, it is perpendicular each other to take turns central axes place straight line based on straight line where drive rod and corresponding forerunner, is driven
On bar the end of the other side and corresponding forerunner take turns wherein one side, be connected to each other by another group of angular wheel, forerunner's wheel is connecting
It is rotated under the linkage of angular wheel, with the rotation of drive rod；
Straight line where being located at line and telescopic rod between the part of corresponding plate upper surface in two groups of electricity driving devices
It is parallel；Motor drive module in each group electricity driving device is connected with control module respectively；
Cabinet is fixedly installed on the upper surface of two pieces of plates, and is located in the corresponding two groups of electricity driving devices in cabinet lower surface
Groove is arranged in the overall region of plate upper surface portion line, and recess cover, which is set in two groups of electricity driving devices, to be located on corresponding plate
The overall region of surface portion line；The synchronous elongation of adjoint two telescopic rods or synchronous shortening, two plates are remotely located from each other
Or it is close, meanwhile, the part that corresponding plate upper surface is located in two groups of electricity driving devices is remote each other in the groove of cabinet lower surface
From or it is close；Top of the box is opened wide, and open ports detachable lid in top of the box sets, is corresponding with top open ports size
Box Cover, spray tank are fixedly installed on box house, liquid injection port are arranged at the top of spray tank, and be covered on cabinet based on Box Cover
Top open ports, position corresponding with liquid injection port at the top of spray tank, setting run through thereon cabinet cap surface in the vertical direction
Following through-hole, spray tank top liquid injection port dock wherein one end of a pipeline, and the other end of the pipeline passes vertically through Box Cover
The through-hole on surface, the detachable lid of the other end of the pipeline set medical fluid case lid；
The fixed marginal position for being lifted on cabinet lower surface, corresponding two forerunners wheel side of the pedestal of mechanical arm, two clouds
Fixed two side positions for being lifted on cabinet lower surface, mechanical arm pedestal of the head seat of platform camera；Spray head is set to mechanical arm
On front end；Control module, power supply, electrodynamic pump are fixedly installed on box house respectively, and the bottom delivery outlet of spray tank is right by the road
The input terminal of electrodynamic pump is connect, the output end of electrodynamic pump is through the input terminal of hose docking spray head.
As a preferred technical solution of the present invention: further including driving motor, gear, gear bar and diamond shape frame knot
Structure；The activity docking each other of four sides of diamond shape frame structure, and four sides of diamond shape frame structure are coplanar, diamond shape frame structure its
In between a vertex and two forerunners wheel the midpoint of telescopic rod be connected to each other, pair on the vertex is crossed in diamond shape frame structure
Straight line where telescopic rod is perpendicular between linea angulata and two forerunner's wheels, and gear bar is fixedly installed on the diagonal line on another vertex
Surface, and the straight line where groove is upward and gear bar of gear bar is mutually conllinear with the diagonal line, while diamond shape frame structure
The upper vertex positioned at the diagonal line two sides respectively with its towards link sidewalls be connected to each other；
The plan structure of the cabinet is n shape, and box house region is arranged along each side of n shape, along the throwing of vertically downward direction
Shadow, gear bar are located at the region between cabinet n shape two sides, and driving motor is connected with the control module, and driving motor
It is fixedly installed on the region that box house corresponds to n shape wherein a side, and the rotation axis end of driving motor passes through case where its
The medial surface of internal portion n shape side, and between cabinet n shape two sides, the rotation axis end opposing teeth wheel of driving motor,
And the groove of gear is mutually engaged with the groove on gear bar surface, gear bar is with driving motor to the driving of gear, edge and two forerunners
The perpendicular horizontal linear direction of telescopic rod moves back and forth between wheel, and drives diamond shape frame structure set by it as gear bar
Vertex is mobile, two telescopic rods based on car body, realize between two connecting rods of car body close to or far from.
As a preferred technical solution of the present invention: further including miniature transformer and acusector, miniature transformer fixation is set
Be placed in the box house, acusector is fixedly installed on the spray head, and the front end of acusector and spray head to touch mouth in the same direction, it is miniature
The output end of transformer is connected to each other through the end of conducting wire and acusector.
As a preferred technical solution of the present invention: further including the level sensing being fixedly installed in the spray tank
Device, and the output end of liquid level sensor docks the control module through conducting wire.
As a preferred technical solution of the present invention: each cradle head camera is holder infrared camera.
A kind of automatic spray running gear of the present invention compared with the prior art by using the above technical solution, has following
Technical effect:
(1) spray running gear automatically designed by the present invention, for the crop spraying medicine operation of greenhouse inside, is imaged based on holder
Head obtains the influence in car body walking front in real time, and accordingly for two forerunners wheel in car body synchronize rotation control, with
And differential rotation control, realize the traveling of car body all directions, while the position to spray crop is obtained by cradle head camera
It sets, and combines the control for being directed to mechanical arm, by electrodynamic pump through hose, realize the spray to crop using spray head, so realize
Automatically walk and automatic spray operation, solve existing original spray mode labor intensive resource problem, substantially increase
The working efficiency of spray；
(2) sprayed automatically in running gear designed by the present invention, based on telescopic rod design in car body, for body construction into
The diamond shape frame structure of one step introducing activity deformation type, and gear driven mechanism can be flexible under the control of driving motor
Realize the adjustment of width of the carbody；
(3) it sprays automatically designed by the present invention in running gear, is further introduced into miniature transformer and acusector, be based on holder
The image capture and mechanical arm of camera control application, on the basis of obtaining crop location, are by miniature transformer
Acusector conveys electric energy, and passes through the electric discharge of acusector front end, realizes physical deinsectization, further increases the working efficiency of crop maintenance；
(4) it sprays automatically designed by the present invention in running gear, for spray tank inside, liquid level sensor is applied in setting,
The liquid level of medical fluid inside spray tank can be obtained in real time, and is uploaded to control module in time, and entirety is coordinated by control module accordingly
Crop spraying medicine operation；And it is directed to each cradle head camera, holder infrared camera is further applied, can be effectively applicable in
In compared with the image capture under low-light level light environment, the working efficiency of image acquisition can be effectively improved.
Detailed description of the invention
Fig. 1 is the side view of running gear of spraying automatically designed by the present invention；
Fig. 2 is the top view of running gear of spraying automatically designed by the present invention；
Fig. 3 is the schematic top plan view of car body in present invention design；
Fig. 4 is width of the carbody control side view in present invention design.
Wherein, 1. cabinet, 2. spray tanks, 3. hoses, 4. spray heads, 5. control modules, 6. power supplys, 7. electrodynamic pumps, 8. is mechanical
Arm, 9. cradle head cameras, 10. connecting rods, 11. telescopic rods, 12. casings, 13. forerunners wheel, 14. driven wheels, 15. plates, 16. electricity
Machine drive module, 17. idler wheel driving motors, 18. medical fluid case lids, 19. driving motors, 20. gears, 21. gear bars, 22. water chestnuts
Shape frame structure, 23. liquid level sensors, 24. grooves.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
The present invention devises a kind of automatic spray running gear, in practical application, as shown in Figure 1, specifically including car body, case
Body 1, spray tank 2, hose 3, spray head 4, gear 20, gear bar 21, diamond shape frame structure 22, acusector and control module 5, and
Power supply 6, electrodynamic pump 7, mechanical arm 8, driving motor 19, the miniature transformer, level sensing being connected respectively with control module 5
23, two holder infrared cameras of device；Power supply 6 through control module 5 is respectively electrodynamic pump 7, mechanical arm 8, driving motor 19, micro-
23, two type transformer, liquid level sensor holder infrared cameras are powered.
Wherein, as shown in figure 3, car body includes two 10, two, the connecting rod forerunner of casing 12, two of telescopic rod 11, four wheels
13, two 14, two pieces of driven wheel, 15, two groups of plate electricity driving devices；The equal length of two connecting rods 10, two telescopic rods 11
Specification is mutually the same, and two connecting rods 10 are parallel to each other, two telescopic rods 11 are parallel to each other, and two connecting rods, 10, two telescopic rods
11 is coplanar, constitutes rectangular frame；Four casings 12 are located at the same side of rectangular frame, four casings 12 respectively with rectangular frame
Four vertex correspond, the vertex of the fixed docking rectangular frame respectively of wherein one end on each casing 12, and each set
Pipe 12 is each perpendicular to face where rectangular frame；The length of 10 both ends casing 12 of connecting rod is equal to each other；The structure of two telescopic rods 11
Mutually the same, telescopic rod 11 is more piece cannula structure；The length of two pieces of plates 15 is adapted with the length of connecting rod 10, with
And each piece of 15 surface of plate is rectangle, the both ends of one of plate 15 are fixedly installed on respectively on two telescopic rods 11,
Wherein at the top of an equidirectional end sleeve outer wall, the 15 surface long side of plate is parallel with connecting rod 10；Another one flat plate 15
Both ends are fixedly installed on respectively on two telescopic rods 11, in addition at the top of an equidirectional end sleeve outer wall, 15 surface of plate
Long side is parallel with connecting rod 10；Wherein the end on a 11 both ends institute connected set pipe 12 of telescopic rod, far from telescopic rod 11 is lived respectively
Dynamic docking driven wheel 14, and driven wheel 14 is universal wheel；On another 11 both ends institute connected set pipe 12 of telescopic rod, far from telescopic rod
Activity docking forerunner takes turns 13 respectively for 11 end, and not universal wheel and forerunner take turns 13 place faces and connecting rod 10 to forerunner's wheel 13
The vertical plane at place is parallel.
Two groups of electricity driving devices are corresponded with two forerunner's wheels 13 respectively, and two groups of electricity driving devices include motor driven respectively
Module 16, idler wheel driving motor 17, drive rod, two groups of angular wheels；In each group electricity driving device, motor drive module 16 and rolling
Wheel drive motor 17 is connected with each other, and is fixedly installed on 15 upper surface of plate on corresponding 13 side of forerunner's wheel, and drive rod activity is set
It is taken turns in 13 connected casings 12 in corresponding forerunner, the both ends of drive rod are located at the outside at set 12 both ends of casing, idler wheel
Straight line where the drive rod of driving motor 17 and straight line where drive rod are perpendicular, the driving boom end of idler wheel driving motor 17
With on drive rod towards one side end, be connected to each other by wherein one group of angular wheel, drive rod is in connected angular wheel
It rotates under linkage, with the rotation of 17 drive rod of idler wheel driving motor, is taken turns in 13 based on straight line where drive rod with corresponding forerunner
Straight line where axis is perpendicular each other, on drive rod the end of the other side and corresponding forerunner take turns 13 wherein one side, pass through it is another
Group angular wheel is connected to each other, and forerunner's wheel 13 rotates under the linkage of connected angular wheel, with the rotation of drive rod.
Where the line and telescopic rod 11 that are located in two groups of electricity driving devices between the part of corresponding 15 upper surface of plate
Straight line is parallel；Motor drive module 16 in each group electricity driving device is connected with control module 5 respectively.
Cabinet 1 is fixedly installed on the upper surface of two pieces of plates 15, and in the corresponding two groups of electricity driving devices in 1 lower surface of cabinet
Groove 24 is arranged in overall region positioned at 15 upper surface portion line of plate, and groove 24, which is covered in two groups of electricity driving devices, to be located at
The overall region of corresponding 15 upper surface portion line of plate；With the synchronous elongation or synchronous shortening of two telescopic rods 11, two is flat
Plate 15 is remotely located from each other or close, meanwhile, the part of corresponding 15 upper surface of plate is located in two groups of electricity driving devices in cabinet 1
It is away from each other or close in the groove 24 of lower surface；At the top of cabinet 1 open wide, and 1 top open ports of cabinet it is detachable lid set,
Box Cover corresponding with top open ports size, spray tank 2 are fixedly installed on inside cabinet 1, and the fixation of liquid level sensor 23 is set
It is placed in spray tank 2, liquid injection port is set at the top of spray tank 2, and is covered on 1 top open ports of cabinet, Box Cover based on Box Cover
Surface in the vertical direction position corresponding with 2 top liquid injection port of spray tank, setting run through its top and bottom through-hole, medical fluid
2 top liquid injection port of case docks wherein one end of a pipeline, and the other end of the pipeline passes vertically through the through-hole of cabinet cap surface, should
The detachable lid of the other end of pipeline sets medical fluid case lid 18.
As shown in figure 3, the activity docking each other of four sides of diamond shape frame structure 22, and four sides of diamond shape frame structure 22 are total
Face, the midpoint of telescopic rod 11 is connected to each other between one of vertex of diamond shape frame structure 22 and two forerunner's wheels 13, water chestnut
It is perpendicular that 11 place straight line of telescopic rod between the diagonal line on the vertex and two forerunner's wheels 13 is crossed in shape frame structure 22, gear
Item 21 is fixedly installed on the diagonal line another vertex upper surface, and gear bar 21 is straight where groove is upward and gear bar 21
Line is mutually conllinear with the diagonal line, at the same in diamond shape frame structure 22 positioned at the diagonal line two sides vertex respectively with its institute towards
10 side wall of connecting rod be connected to each other.
As shown in Figure 2 and Figure 4, the plan structure of cabinet 1 is n shape, and 1 interior zone of cabinet is arranged along each side of n shape, along perpendicular
Directly projection in downward direction, gear bar 21 are located at the region between cabinet 1n shape two sides, driving motor 19 and the control mould
Block 5 is connected, and driving motor 19 is fixedly installed on the region that n shape wherein a side is corresponded to inside cabinet 1, and driving motor
The medial surface of 1 inside n shape side of cabinet where 19 rotation axis end passes through it, and between cabinet 1n shape two sides, it drives
The rotation axis end opposing teeth wheel 20 of dynamic motor 19, and the groove of gear 20 is mutually engaged with the groove on 21 surface of gear bar, gear
Item 21 is with driving motor 19 to the driving of gear 20, along the perpendicular horizontal linear side of telescopic rod 11 between two forerunners wheel 13
Drive the vertex of diamond shape frame structure 22 set by it mobile to moving back and forth, and as gear bar 21, two based on car body flexible
Bar 11, realize two connecting rods 10 of car body between close to or far from.
The fixed marginal position for being lifted on 1 lower surface of cabinet, 13 sides of corresponding two forerunners wheel of the pedestal of mechanical arm 8, two
Fixed two side positions for being lifted on 1 lower surface of cabinet, 8 pedestal of mechanical arm of the head seat of a holder infrared camera；Such as Fig. 2 institute
Show, spray head 4 is set on the front end of mechanical arm 8；Control module 5, power supply 6, electrodynamic pump 7 are fixedly installed on respectively in cabinet 1
Portion, the bottom delivery outlet of spray tank 2 dock the input terminal of electrodynamic pump 7 by the road, and the output end of electrodynamic pump 7 is docked through hose 3 to be sprayed
First 4 input terminal.
Miniature transformer is fixedly installed on inside the cabinet 1, and acusector is fixedly installed on the spray head 4, and acusector
Front end and spray head 4 touch that mouth is in the same direction, and the output end of miniature transformer is connected to each other through the end of conducting wire and acusector.
Spray running gear automatically designed by above-mentioned technical proposal, for the crop spraying medicine operation of greenhouse inside, is based on holder
Camera 9 obtains the influence in car body walking front in real time, and synchronizes rotation for two forerunners wheel 13 in car body accordingly
Control and differential rotation control, realize the traveling of car body all directions, while obtaining by cradle head camera 9 and making wait spray
The position of object, and the control for being directed to mechanical arm 8 is combined, by electrodynamic pump 7 through hose 3, the spray to crop is realized using spray head 4
Medicine, so realization automatically walk and automatic spray operation, solve existing original spray mode labor intensive resource problem,
Substantially increase the working efficiency of spray.
A series of preferred embodiment is further devised simultaneously, is designed based on telescopic rod 11 in car body, for body construction
It is further introduced into the diamond shape frame structure 22 of movable deformation type, and gear driven mechanism, under the control of driving motor 19, energy
Enough adjustment for flexibly realizing width of the carbody；It is further introduced into miniature transformer and acusector, the image based on cradle head camera 9 is caught
It obtains and the control application of mechanical arm 8 is that acusector conveys electric energy by miniature transformer on the basis of obtaining crop location,
And pass through the electric discharge of acusector front end, it realizes physical deinsectization, further increases the working efficiency of crop maintenance；For in spray tank 2
Portion, setting apply liquid level sensor 23, can obtain the liquid level of 2 inside medical fluid of spray tank in real time, and be uploaded to control mould in time
Block 5 is coordinated whole crop spraying medicine by control module 5 accordingly and is operated；And it is directed to each cradle head camera 9, further apply
Holder infrared camera can be effectively applicable to effectively improve image compared with the image capture under low-light level light environment and obtain
The working efficiency taken.
Above-mentioned designed automatic spray running gear is applied in real work, covers the pipe set through medical fluid case lid 18
Road, the perfusion solution into spray tank 2, two holder infrared cameras are under the control of control module 5, before capturing car body in real time
The image of side, and control module 5 is transferred to be analyzed, control module 5 judges front row based on the real-time imaging in front of car body
Route line, and respectively through the motor drive module 16 in each group electricity driving device, control is sent to corresponding idler wheel driving motor 17 respectively
System instruction controls each idler wheel driving motor 17 and works, and realizes the rotation control for corresponding forerunner's wheel 13, wherein by being directed to
Two forerunner's wheels 13 synchronize rotation control and differential rotation control, realize the traveling of car body all directions.
In car body traveling process, control module 5 is captured when spray crop by holder infrared camera, control
Module 5 controls mechanical arm 8 and moves, and spray head 4 is directed toward to spray crop, and and then control module 5 controls electrodynamic pump 7 and works, and mentions
Medical fluid in taking liquid case 2, and sprayed through hose 3 by spray head 4, realize the spray drug operation for treating spray crop；At the same time,
If control module 5 observes discovery crop surface there are when insect pest by holder infrared camera, control module 5 controls mechanical arm
8 work, drive acusector set by 8 front end of mechanical arm to be directed toward insect pest, and then control module 5 is put through miniature transformer control acusector
Electricity completes the elimination operation of insect pest.
In entire crop maintenance process, the liquid level sensor real-time working being built in inside spray tank 2 obtains medicine in real time
The liquid level of 2 Chinese medicine liquid of liquid case, and it is sent to control module 5 in real time, control module 5 is high according to the real-time received liquid level of institute
Degree, judges whether to alarm.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (5)
1. a kind of automatic spray running gear, it is characterised in that: including car body, cabinet (1), spray tank (2), hose (3), spray head
, and the power supply (6), electrodynamic pump (7), the mechanical arm (8), two that are connected respectively with control module (5) (4) and control module (5)
A cradle head camera (9)；Power supply (6) is respectively electrodynamic pump (7), mechanical arm (8), two cradle head cameras through control module (5)
(9) it is powered；
Wherein, car body includes two connecting rods (10), two telescopic rods (11), four casings (12), two forerunners' wheels (13), two
Driven wheel (14), two pieces of plates (15), two groups of electricity driving devices；The equal length of two connecting rods (10), two telescopic rods (11)
Specification is mutually the same, and two connecting rods (10) are parallel to each other, two telescopic rods (11) are parallel to each other, and two connecting rods (10), two
Telescopic rod (11) is coplanar, constitutes rectangular frame；Four casings (12) are located at the same side of rectangular frame, and four casings (12) are respectively
It is corresponded with four vertex of rectangular frame, the top of docking rectangular frame is fixed in wherein one end on each casing (12) respectively
Point, and each casing (12) is each perpendicular to face where rectangular frame；The length of connecting rod (10) both ends casing (12) is equal to each other；Two
The structure of root telescopic rod (11) is mutually the same, and telescopic rod (11) is more piece cannula structure；The length of two pieces of plates (15) with
The length of connecting rod (10) is adapted and each piece of plate (15) surface is rectangle, the both ends point of one of plate (15)
It is not fixedly installed on two telescopic rods (11), wherein an equidirectional end sleeve outer wall top, plate (15) surface are long
Side is parallel with connecting rod (10)；The both ends of another one flat plate (15) are fixedly installed on respectively on two telescopic rods (11), in addition one
At the top of equidirectional end sleeve outer wall, plate (15) the surface long side is parallel with connecting rod (10)；A wherein telescopic rod
(11) activity docking driven wheel (14), and driven wheel respectively of the end on both ends institute connected set pipe (12), far from telescopic rod (11)
It (14) is universal wheel；End activity respectively on another telescopic rod (11) both ends institute's connected set pipe (12), far from telescopic rod (11)
Docking forerunner's wheel (13), and it is not that universal wheel and forerunner take turns (13) place face and erecting where connecting rod (10) that forerunner, which takes turns (13),
It faces directly parallel；
Two groups of electricity driving devices are taken turns (13) with two forerunners respectively and are corresponded, and two groups of electricity driving devices include motor driven mould respectively
Block (16), idler wheel driving motor (17), drive rod, two groups of angular wheels；In each group electricity driving device, motor drive module (16) with
Idler wheel driving motor (17) is connected with each other, and is fixedly installed on corresponding forerunner and takes turns on (13) other plate (15) upper surface, transmission
Bar is movably placed in corresponding forerunner and takes turns in (13) connected casing (12), and the both ends of drive rod are located at set casing (12) two
The outside at end, straight line where the drive rod of idler wheel driving motor (17) and straight line where drive rod are perpendicular, idler wheel driving motor
(17) driving boom end on drive rod towards one side end, be connected to each other by wherein one group of angular wheel, drive rod
It is rotated under the linkage of connected angular wheel, with the rotation of idler wheel driving motor (17) drive rod, based on straight where drive rod
Straight line where line takes turns (13) central axes with corresponding forerunner is perpendicular each other, and the end of the other side is taken turns with corresponding forerunner on drive rod
(13) wherein one side, be connected to each other by another group of angular wheel, forerunner take turns (13) under the linkage of connected angular wheel, with biography
The rotation of lever and rotate；
Where the line being located in two groups of electricity driving devices between the part of corresponding plate (15) upper surface and telescopic rod (11)
Straight line is parallel；Motor drive module (16) in each group electricity driving device is connected with control module (5) respectively；Cabinet (1)
It is fixedly installed on the upper surface of two pieces of plates (15), and is located at plate in the corresponding two groups of electricity driving devices in cabinet (1) lower surface
(15) groove (24) are arranged in the overall region of upper surface portion line, and groove (24) is covered on to be located in two groups of electricity driving devices and correspond to
The overall region of plate (15) upper surface portion line；With the synchronous elongation or synchronous shortening of two telescopic rods (11), two is flat
Plate (15) is remotely located from each other or close, meanwhile, the part of corresponding plate (15) upper surface is located in two groups of electricity driving devices in case
It is away from each other or close in the groove (24) of body (1) lower surface；It is opened wide at the top of cabinet (1), and open ports can divide at the top of cabinet (1)
It is set from formula lid, Box Cover corresponding with top open ports size, spray tank (2) is fixedly installed on cabinet (1) inside, spray tank
(2) liquid injection port is arranged in top, and is covered on open ports at the top of cabinet (1) based on Box Cover, and cabinet cap surface is in the vertical direction
The through-hole of its top and bottom, liquid injection port at the top of spray tank (2) are run through in position corresponding with liquid injection port at the top of spray tank (2), setting
Wherein one end of a pipeline is docked, the other end of the pipeline passes vertically through the through-hole of cabinet cap surface, and the other end of the pipeline can
Separate type lid sets medical fluid case lid (18)；
The fixed marginal position for being lifted on cabinet (1) lower surface, corresponding two forerunners wheel (13) side of the pedestal of mechanical arm (8),
Fixed two side positions for being lifted on cabinet (1) lower surface, mechanical arm (8) pedestal of the head seat of two cradle head cameras (9)；Spray head
(4) it is set on the front end of mechanical arm (8)；Control module (5), power supply (6), electrodynamic pump (7) are fixedly installed on cabinet (1) respectively
Inside, the bottom delivery outlet of spray tank (2) dock the input terminal of electrodynamic pump (7) by the road, and the output end of electrodynamic pump (7) is through hose
(3) input terminal of spray head (4) is docked.
2. a kind of automatic spray running gear according to claim 1, it is characterised in that: further include driving motor (19), tooth
Take turns (20), gear bar (21) and diamond shape frame structure (22)；The activity docking, and diamond shape each other of four sides of diamond shape frame structure (22)
Four sides of frame structure (22) are coplanar, and one of vertex of diamond shape frame structure (22) and two forerunners take turns and stretch between (13)
The midpoint of bar (11) is connected to each other, in diamond shape frame structure (22) the diagonal line on the vertex and two forerunners take turns between (13)
Straight line where telescopic rod (11) is perpendicular, and gear bar (21) is fixedly installed on the diagonal line another vertex upper surface, and gear bar
(21) groove is upward and gear bar (21) place straight line is mutually conllinear with the diagonal line, while in diamond shape frame structure (22)
Positioned at the diagonal line two sides vertex respectively with its towards connecting rod (10) side wall be connected to each other；
The plan structure of the cabinet (1) is n shape, and cabinet (1) interior zone is arranged along each side of n shape, along vertically downward direction
Projection, gear bar (21) are located at the region between cabinet (1) n shape two sides, driving motor (19) and the control module (5) phase
Connection, and driving motor (19) is fixedly installed on the region of the wherein a side of corresponding n shape inside cabinet (1), and driving motor
(19) medial surface of the internal n shape side of cabinet (1) where rotation axis end passes through it, and be located at cabinet (1) n shape two sides it
Between, the rotation axis end opposing teeth wheel (20) of driving motor (19), and the tooth of the groove of gear (20) and gear bar (21) surface
Line is mutually engaged, and gear bar (21) takes turns telescopic rod between (13) to the driving of gear (20), along with two forerunners with driving motor (19)
(11) perpendicular horizontal linear direction moves back and forth, and the top of its set diamond shape frame structure (22) is driven by gear bar (21)
Point movement, two telescopic rods (11) based on car body, realize two connecting rods (10) of car body between close to or far from.
3. a kind of automatic spray running gear according to claim 1, it is characterised in that: further include miniature transformer and electricity
Needle, miniature transformer are fixedly installed on the cabinet (1) inside, and acusector is fixedly installed on the spray head (4), and before acusector
It holds and to touch that mouth is in the same direction with spray head (4), the output end of miniature transformer is connected to each other through the end of conducting wire and acusector.
4. a kind of automatic spray running gear according to claim 1, it is characterised in that: further include being fixedly installed on the medicine
Liquid level sensor (23) in liquid case (2), and the output end of liquid level sensor (23) docks the control module through conducting wire
(5)。
5. a kind of automatic spray running gear according to claim 1, it is characterised in that: each cradle head camera (9) is equal
For holder infrared camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569978.4A CN109601511B (en) | 2018-12-21 | 2018-12-21 | Automatic spout medicine running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569978.4A CN109601511B (en) | 2018-12-21 | 2018-12-21 | Automatic spout medicine running gear |
Publications (2)
| Publication Number | Publication Date |
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| CN109601511A true CN109601511A (en) | 2019-04-12 |
| CN109601511B CN109601511B (en) | 2021-07-27 |
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ID=66009774
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811569978.4A Active CN109601511B (en) | 2018-12-21 | 2018-12-21 | Automatic spout medicine running gear |
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| Country | Link |
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| CN112088863A (en) * | 2020-10-30 | 2020-12-18 | 济南大学 | Plant protection machine is with spouting medicine device |
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|---|---|
| CN109601511B (en) | 2021-07-27 |
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