CN109730050A - A kind of spray actuator of pesticide-spraying cart - Google Patents
A kind of spray actuator of pesticide-spraying cart Download PDFInfo
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- CN109730050A CN109730050A CN201910233261.0A CN201910233261A CN109730050A CN 109730050 A CN109730050 A CN 109730050A CN 201910233261 A CN201910233261 A CN 201910233261A CN 109730050 A CN109730050 A CN 109730050A
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- crane
- gear
- articulation piece
- push rod
- arm
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- 239000007921 spray Substances 0.000 title claims abstract description 36
- 238000005507 spraying Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000001360 synchronised effect Effects 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000004904 shortening Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Abstract
The invention discloses a kind of spray actuators of pesticide-spraying cart, including roof platform, the first crane and the second crane；The lower end of first crane is hinged by the first articulation piece and the front end of the roof platform；The upper end of first crane and the lower end of second crane are hinged by the second articulation piece；Water spray actuator is installed on second crane；As long as the present invention guarantee first straight line push rod and second straight line push rod do it is synchronous shorten or the movement of synchronous elongation ensures that the inclination angle on the second crane and ground remains constant, and then realize the height for changing water spray actuator while, does not change the posture for actuator of spraying water.
Description
Technical field
The invention belongs to sprinkling wagon fields.
Background technique
Pesticide-spraying cart needs constantly to adjust its water spray height and spray angle, biggish in order to have in course of injection
Projected area and the uniformity, it is also necessary to do certain width pendular motion during injection to spray head.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention does not change when providing a kind of height adjustment
A kind of spray actuator of pesticide-spraying cart of actuator posture.
Technical solution: to achieve the above object, a kind of spray actuator of pesticide-spraying cart of the invention, including roof platform,
First crane and the second crane；It is cut with scissors by the front end of the first articulation piece and the roof platform lower end of first crane
It connects；The upper end of first crane and the lower end of second crane are hinged by the second articulation piece；Second lifting
Water spray actuator is installed on frame.
Further, the water spray actuator includes the gear stand that is obliquely installed, and the short end of the gear stand leads to
Cross the top that the 7th articulation piece is indirectly connected with second crane；The apical position of second crane is also fixedly installed with
The output end of lead screw motor, the lead screw motor has screw rod by first shaft coupling drive connection, further includes hanging down with the screw rod
Straight displaced block, perforation is provided with wire rod thread hole in the displaced block, and the screw rod transmission connects the wire rod thread hole；Institute
The two sides for stating displaced block are symmetrically fixedly connected with two guide rods；Two have been symmetrically arranged in the two sides beam body of second crane
Guide groove, activity is protruded into two guide groove respectively for the end of two two guide rods, and the guide rod can be along the length of the guide groove
Direction sliding；It further include connecting rod, the lower end of the connecting rod is articulated and connected the upper end of the displaced block by the 8th articulation piece；It is described
The upper end of connecting rod is articulated and connected the upper end of the gear stand by the 9th articulation piece；
Left gear and right gear are rotatably equipped in the gear stand respectively, the left gear is mutually nibbled with right gear
It closes；The gear stand two sides further include symmetrical left actuating arm and right actuating arm, the left actuating arm and right actuating arm
Root be respectively fixedly connected with the left gear and right gear；The gear stand two sides further include symmetrical left connecting rod arm
With right connecting rod arm, the root of the left connecting rod arm and right connecting rod arm is hingedly connected the gear stand；The gear stand
It is also fixedly installed with gear drive motor, the gear drive motor is drivingly connected the left gear or right gear；
The gear stand two sides are also symmetrically arranged with left sprinkling seat and right sprinkling seat, the left actuating arm and left connecting rod arm
End be hingedly connected the both ends of the left sprinkling seat, the end of the right actuating arm and right connecting rod arm is hingedly connected
The both ends of the right sprinkling seat；Several high-pressure nozzles, each high pressure are respectively arranged on the left sprinkling seat and right sprinkling seat
The spout of spray head is arranged outwardly.
Further, the tail portion of the roof platform is fixedly installed with the first hinged seat, also fixed peace on first crane
Equipped with the second hinged seat；The actuator height adjustment mechanism further includes the first push rod linear motor and second straight line push rod straight line
Motor；The tail end of the first push rod linear motor is articulated and connected by third articulation piece and first hinged seat；Described
The end of the first straight line push rod of one push rod linear motor passes through the 4th articulation piece articulated connection second hinged seat；Described
The tail end of two line handspike linear motors passes through the 5th articulation piece articulated connection second hinged seat；The second straight line push rod
The second straight line push rod end of linear motor is hingedly connected to the medium position of second crane by the 6th hinge member；
The third articulation piece is A, and the 4th articulation piece is B, and the first articulation piece is C；5th articulation piece be a, the described 6th
Hinge member is b, and second articulation piece is c；The triangle that line between the ABC is constituted is triangle D, the abc
Between the triangle that is constituted of line be triangle d；Meet triangle D and triangle d congruence.
The utility model has the advantages that as long as the present invention guarantees that first straight line push rod does synchronous shortening or synchronous elongation with second straight line push rod
Movement ensure that the inclination angle on the second crane and ground remains constant, and then realize and change water spray actuator
The posture of water spray actuator is not changed while height；The spout certain amplitude of each high-pressure nozzle swings back and forth, Jin Erzeng
Add its spray regime and the uniformity.
Detailed description of the invention
Attached drawing 1 is actuator height adjustment mechanism and water spray actuator structure schematic diagram；
Attached drawing 2 is water spray actuator structure schematic diagram；
Attached drawing 3 is that attached drawing 3 conceals the schematic diagram after outlet tube；
Attached drawing 4 is the first schematic diagram of tilt adjustment of gear stand；
Attached drawing 5 is the second schematic diagram of tilt adjustment of gear stand；
Attached drawing 6 is water system structural schematic diagram.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
A kind of jungle cross-country spray robot as shown in attached drawing 1 to 6, tank unit 38, the tank unit 38
Water outlet is connect with water spray 26 water inlet end of actuator by water system；The upside of the tank unit 38 is also equipped with actuator
Height adjustment mechanism, the water spray actuator 26 are mounted on the actuator height adjustment mechanism.
The upside of the tank unit 38 is fixedly installed with roof platform 101；The actuator height adjustment mechanism 27 includes the
One crane 66 and the second crane 73；The lower end of first crane 66 passes through the first articulation piece 63 and the roof platform 101
Front end it is hinged；The upper end of first crane 66 and the lower end of second crane 73 are cut with scissors by the second articulation piece 71
It connects；The water spray actuator 26 is mounted on second crane 73；
The water system includes water tank outlet tube 43, high-pressure hydraulic pump 46, riser 67, isocon 74,75 and of battery valve
Outlet pipe 76；The water outlet of the tank unit 38 connects the water inlet end of the high-pressure hydraulic pump 46, institute by water tank outlet tube 43
The water outlet for stating high-pressure hydraulic pump 46 is connected to the water inlet end of the riser 67, and the water outlet of the riser 67, which shunts, is connected with two
The water inlet end of the isocon 74；
Two battery valves 75 are fixedly mounted on side by side respectively on second crane 73, and two isocons 74 go out
Water end (W.E.) is respectively communicated with the water inlet end of two battery valves 75；The water outlet of two battery valves 75 has been respectively communicated with two water outlets
The liquid feeding end of pipe 76, the water outlet of two outlet pipes 76 be respectively communicated with water spray actuator 26 on several high-pressure nozzles 79 into
Water end (W.E.)；The riser 67 and outlet pipe 76 are catheter structure；
The tail portion of the roof platform 101 is fixedly installed with the first hinged seat 59, is also fixedly mounted on first crane 66
There is the second hinged seat 64；The actuator height adjustment mechanism 27 further includes the first push rod linear motor 60 and second straight line push rod
Linear motor 69；The tail end of the first push rod linear motor 60 is hinged by third articulation piece 58 and first hinged seat 59
Connection；The end of the first straight line push rod 61 of the first push rod linear motor 60 is articulated and connected described by the 4th articulation piece 62
Second hinged seat 64；The tail end of the second straight line push rod linear motor 69 is articulated and connected described second by the 5th articulation piece 65
Hinged seat 64；70 end of second straight line push rod of the second straight line push rod linear motor 69 is hinged by the 6th hinge member 72
It is connected to the medium position of second crane 73.
The water spray actuator 26 includes the gear stand 83 being obliquely installed, and the short end of the gear stand 83 passes through the 7th
Articulation piece 078 is indirectly connected with the top of second crane 73；The apical position of second crane 73 is also fixedly mounted
Have a lead screw motor 92, the output end of the lead screw motor 92 has screw rod 94 by the drive connection of first shaft coupling 93, further include with
The vertical displaced block 90 of the screw rod 94, perforation is provided with wire rod thread hole in the displaced block 90, and the transmission of screw rod 94 connects
Connect the wire rod thread hole；The two sides of the displaced block 90 are symmetrically fixedly connected with two guide rods 89；Second crane 73
Two guide grooves 8 are symmetrically arranged in the beam body of two sides, two guide groove 8 is protruded into activity respectively for the end of two two guide rods 89
It is interior, and the guide rod 89 can be slided along the length direction of the guide groove 8；It further include connecting rod 91, the lower end of the connecting rod 91 passes through
8th articulation piece 080 is articulated and connected the upper end of the displaced block 90；The upper end of the connecting rod 91 is hinged by the 9th articulation piece 079
Connect the upper end of the gear stand 83；
Left gear 86 and right gear 87, the left gear 86 and right gear are rotatably equipped in the gear stand 83 respectively
87 intermeshings；83 two sides of gear stand further include symmetrical left actuating arm 78 and right actuating arm 84, the left drive
The root of swing arm 78 and right actuating arm 84 is respectively fixedly connected with the left gear 86 and right gear 87；83 two sides of gear stand
It further include symmetrical left connecting rod arm 77 and right connecting rod arm 85, the root of the left connecting rod arm 77 and right connecting rod arm 85 is cut with scissors respectively
The gear stand 83 is connect in succession；The gear stand 83 is also fixedly installed with gear drive motor 82, the gear driving electricity
Machine 82 is drivingly connected the left gear 86 or right gear 87；
83 two sides of gear stand are also symmetrically arranged with left sprinkling seat 81.1 and right sprinkling seat 81.2, the left actuating arm
78 and the end of left connecting rod arm 77 be hingedly connected the both ends of the left sprinkling seat 81.1, the right actuating arm 84 and right connecting rod
The end of arm 85 is hingedly connected the both ends of the right sprinkling seat 81.2；On the left sprinkling seat 81.1 and right sprinkling seat 81.2
Several high-pressure nozzles 79 are respectively arranged with, the spout 80 of each high-pressure nozzle 79 is arranged outwardly.
The third articulation piece 58 is A, and the 4th articulation piece 62 is B, and the first articulation piece 63 is C；Described 5th is hinged
Part 65 is a, and the 6th hinge member 72 is b, and second articulation piece 71 is c；The triangle that line between the ABC is constituted
Shape is triangle D, and the triangle that the line between the abc is constituted is triangle d；Meet triangle D and triangle d is complete
Deng.
The operating method of this programme, process and technological progress arrange:
If desired the height for actuator 26 of spraying water is turned down or is turned up, control while control 60 He of the first push rod linear motor
Second straight line push rod linear motor 69 makes first straight line push rod 61 do synchronous shortening with second straight line push rod 70 or synchronize elongation
Movement, and then water spray actuator 26 is made to do down or up movement, it realizes and the height for actuator 26 of spraying water is turned down or adjusted
Height, since first straight line push rod 61 is synchronous shortening with second straight line push rod 70 or synchronizes elongation, the line between the ABC
The triangle d that line between the triangle D and abc of composition is constituted still maintain congruence state, according to its structure it is found that
As long as guaranteeing that first straight line push rod 61 and second straight line push rod 70 do synchronous shortening or the synchronous movement extended ensures that the
Two cranes 73 and the inclination angle on ground remain constant, so realize change water spray actuator 26 height while do not change
Become the posture of water spray actuator 26；
First freedom degree adjusting method of water spray actuator 2: control lead screw motor 92, and then screw rod 94 is rotated, in turn
The rotation of screw rod 94 drives displaced block 90 to be displaced along screw rod 94, at the same time 89 adaptability of guide rod of the two sides of displaced block 90
Sliding in two guide grooves 8；The movement of displaced block 90 drives gear stand 83 to rotate along the 7th articulation piece 078 by connecting rod 91, in turn
Change 83 posture of gear stand, and then realizes and 80 spray angle of spout of each high-pressure nozzle 79 is adjusted；
Second freedom degree movement technique of water spray actuator 2: control gear drive motor 82 drives left gear 86 or right tooth
Wheel 87 is done in gear motion periodically back and forth, and then 80 certain amplitude of spout of each high-pressure nozzle 79 is made to swing back and forth,
And then increase its spray regime and the uniformity.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of spray actuator of pesticide-spraying cart, it is characterised in that: including roof platform (101), the first crane (66) and
Two cranes (73)；The lower end of first crane (66) passes through the front end of the first articulation piece (63) and the roof platform (101)
Hingedly；The upper end of first crane (66) and the lower end of second crane (73) are cut with scissors by the second articulation piece (71)
It connects；Water spray actuator (26) is installed on second crane (73).
2. a kind of spray actuator of pesticide-spraying cart shown according to claim 1, it is characterised in that: the water spray actuator
It (26) include the gear stand (83) being obliquely installed, the short end of the gear stand (83) is indirect by the 7th articulation piece (078)
Connect the top of second crane (73)；The apical position of second crane (73) is also fixedly installed with lead screw motor
(92), the output end of the lead screw motor (92) is drivingly connected by first shaft coupling (93) screw rod (94), further includes and institute
The vertical displaced block (90) of screw rod (94) is stated, perforation is provided with wire rod thread hole, the screw rod (94) on the displaced block (90)
Be sequentially connected the wire rod thread hole；The two sides of the displaced block (90) are symmetrically fixedly connected with two guide rods (89)；Described second
It has been symmetrically arranged in the two sides beam body of crane (73) two guide grooves (8), the activity respectively of the end of two two guide rods (89)
It protrudes into two guide groove (8), and the guide rod (89) can be slided along the length direction of the guide groove (8)；It further include connecting rod
(91), the upper end that the lower end of the connecting rod (91) passes through the 8th articulation piece (080) the articulated connection displaced block (90)；The company
The upper end that the upper end of bar (91) passes through the 9th articulation piece (079) the articulated connection gear stand (83)；
Left gear (86) and right gear (87), the left gear (86) and the right side are rotatably equipped in the gear stand (83) respectively
Gear (87) intermeshing；Gear stand (83) two sides further include symmetrical left actuating arm (78) and right actuating arm
(84), the root of the left actuating arm (78) and right actuating arm (84) is respectively fixedly connected with the left gear (86) and right gear
(87)；Gear stand (83) two sides further include symmetrical left connecting rod arm (77) and right connecting rod arm (85), the left company
The root of lever arm (77) and right connecting rod arm (85) is hingedly connected the gear stand (83)；The gear stand (83) is also solid
Dingan County is equipped with gear drive motor (82), and the gear drive motor (82) is drivingly connected the left gear (86) or right gear
(87)；
Gear stand (83) two sides are also symmetrically arranged with left sprinkling seat (81.1) and right sprinkling seat (81.2), the left driving
The end of arm (78) and left connecting rod arm (77) is hingedly connected the both ends of the left sprinkling seat (81.1), the right actuating arm
(84) and the end of right connecting rod arm (85) is hingedly connected the both ends of the right sprinkling seat (81.2)；The left sprinkling seat
(81.1) and on right sprinkling seat (81.2) it is respectively arranged with several high-pressure nozzles (79), the spout of each high-pressure nozzle (79)
(80) it is arranged outwardly.
3. a kind of spray actuator of pesticide-spraying cart shown according to claim 1, it is characterised in that: the roof platform (101)
Tail portion be fixedly installed with the first hinged seat (59), be also fixedly installed with the second hinged seat on first crane (66)
(64)；The actuator height adjustment mechanism (27) further includes the first push rod linear motor (60) and second straight line push rod straight-line electric
Machine (69)；The tail end of the first push rod linear motor (60) is cut with scissors by third articulation piece (58) and first hinged seat (59)
It connects in succession；The end of the first straight line push rod (61) of the first push rod linear motor (60) is hinged by the 4th articulation piece (62)
Connect second hinged seat (64)；The tail end of the second straight line push rod linear motor (69) is cut with scissors by the 5th articulation piece (65)
Second hinged seat (64) is connect in succession；Second straight line push rod (70) end of the second straight line push rod linear motor (69) is logical
Cross the medium position that the 6th hinge member (72) is hingedly connected to second crane (73)；The third articulation piece (58) is
A, the 4th articulation piece (62) are B, and the first articulation piece (63) is C；5th articulation piece (65) is a, and the described 6th is hinged
Component (72) is b, and second articulation piece (71) is c；The triangle that line between the ABC is constituted is triangle D, described
The triangle that line between abc is constituted is triangle d；Meet triangle D and triangle d congruence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233261.0A CN109730050B (en) | 2019-03-26 | 2019-03-26 | Spraying actuator of pesticide spraying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233261.0A CN109730050B (en) | 2019-03-26 | 2019-03-26 | Spraying actuator of pesticide spraying vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109730050A true CN109730050A (en) | 2019-05-10 |
| CN109730050B CN109730050B (en) | 2023-11-10 |
Family
ID=66371368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910233261.0A Active CN109730050B (en) | 2019-03-26 | 2019-03-26 | Spraying actuator of pesticide spraying vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109730050B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080051255A1 (en) * | 2006-06-28 | 2008-02-28 | Equipment Technologies, Inc. | Apparatus and method for controlling rotational speed and direction of a crop sprayer |
| CN203072736U (en) * | 2013-02-05 | 2013-07-24 | 宋成胜 | Self-propelled boom sprayer spraying device |
| CN104259117A (en) * | 2014-08-27 | 2015-01-07 | 重庆至启新能源有限公司 | Multi-DOF (multiple degrees of freedom) adjustable mobile cleaning unit and control method thereof |
| EP2910113A1 (en) * | 2014-02-21 | 2015-08-26 | Fiedler Maschinenbau und Technikvertrieb GmbH | Watering arm for a mobile trailer vehicle, in particular a narrow track device carrier |
| CN105660575A (en) * | 2016-01-25 | 2016-06-15 | 广西大学 | Pesticide spraying device |
| CN108177152A (en) * | 2017-12-27 | 2018-06-19 | 华南智能机器人创新研究院 | A kind of high speed robot for positioning spray painting |
| CN108575959A (en) * | 2018-04-24 | 2018-09-28 | 西安工业大学 | A kind of agricultural Multifunctional spraying-vehicle and its method |
| CN108669047A (en) * | 2018-05-16 | 2018-10-19 | 西南大学 | A kind of two-way chemical spraying device of multi-mode |
| CN109122217A (en) * | 2018-08-29 | 2019-01-04 | 昆明理工大学 | One kind can windproof irrigation sprinkler |
| CN209862063U (en) * | 2019-03-26 | 2019-12-31 | 西安工业大学 | Gear engagement pendulum type spraying device |
-
2019
- 2019-03-26 CN CN201910233261.0A patent/CN109730050B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080051255A1 (en) * | 2006-06-28 | 2008-02-28 | Equipment Technologies, Inc. | Apparatus and method for controlling rotational speed and direction of a crop sprayer |
| CN203072736U (en) * | 2013-02-05 | 2013-07-24 | 宋成胜 | Self-propelled boom sprayer spraying device |
| EP2910113A1 (en) * | 2014-02-21 | 2015-08-26 | Fiedler Maschinenbau und Technikvertrieb GmbH | Watering arm for a mobile trailer vehicle, in particular a narrow track device carrier |
| CN104259117A (en) * | 2014-08-27 | 2015-01-07 | 重庆至启新能源有限公司 | Multi-DOF (multiple degrees of freedom) adjustable mobile cleaning unit and control method thereof |
| CN105660575A (en) * | 2016-01-25 | 2016-06-15 | 广西大学 | Pesticide spraying device |
| CN108177152A (en) * | 2017-12-27 | 2018-06-19 | 华南智能机器人创新研究院 | A kind of high speed robot for positioning spray painting |
| CN108575959A (en) * | 2018-04-24 | 2018-09-28 | 西安工业大学 | A kind of agricultural Multifunctional spraying-vehicle and its method |
| CN108669047A (en) * | 2018-05-16 | 2018-10-19 | 西南大学 | A kind of two-way chemical spraying device of multi-mode |
| CN109122217A (en) * | 2018-08-29 | 2019-01-04 | 昆明理工大学 | One kind can windproof irrigation sprinkler |
| CN209862063U (en) * | 2019-03-26 | 2019-12-31 | 西安工业大学 | Gear engagement pendulum type spraying device |
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| Publication number | Publication date |
|---|---|
| CN109730050B (en) | 2023-11-10 |
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