CN109730050B - Spraying actuator of pesticide spraying vehicle - Google Patents

Spraying actuator of pesticide spraying vehicle Download PDF

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Publication number
CN109730050B
CN109730050B CN201910233261.0A CN201910233261A CN109730050B CN 109730050 B CN109730050 B CN 109730050B CN 201910233261 A CN201910233261 A CN 201910233261A CN 109730050 B CN109730050 B CN 109730050B
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gear
lifting frame
hinged
water spraying
actuator
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CN109730050A (en
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王沁
陈桦
赵鹏
刘康鑫
赵思琦
王鑫刚
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Xian Technological University
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Xian Technological University
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Abstract

The invention discloses a spraying actuator of a pesticide spraying vehicle, which comprises a top platform, a first lifting frame and a second lifting frame; the lower end of the first lifting frame is hinged with the front end of the top platform through a first hinge piece; the upper end of the first lifting frame is hinged with the lower end of the second lifting frame through a second hinge piece; a water spraying actuator is arranged on the second lifting frame; the invention can ensure that the inclination angle of the second lifting frame and the ground is kept unchanged all the time as long as the first linear push rod and the second linear push rod do synchronous shortening or synchronous extending movement, thereby realizing that the posture of the water spraying actuator is not changed while the height of the water spraying actuator is changed.

Description

Spraying actuator of pesticide spraying vehicle
Technical Field
The invention belongs to the field of spray trucks.
Background
The pesticide spraying vehicle needs to continuously adjust the water spraying height and the spraying angle, and a certain swing motion is required to be carried out on the spray head in the spraying process in order to have larger spraying area and uniformity in the spraying process.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides the spraying actuator of the pesticide spraying vehicle, which does not change the posture of the actuator during height adjustment.
The technical scheme is as follows: in order to achieve the above object, the spraying actuator of the pesticide spraying vehicle comprises a top platform, a first lifting frame and a second lifting frame; the lower end of the first lifting frame is hinged with the front end of the top platform through a first hinge piece; the upper end of the first lifting frame is hinged with the lower end of the second lifting frame through a second hinge piece; and a water spraying actuator is arranged on the second lifting frame.
Further, the water spraying actuator comprises a gear bracket which is obliquely arranged, and the short end of the gear bracket is indirectly connected with the top end of the second lifting frame through a seventh hinge; the top end of the second lifting frame is fixedly provided with a screw motor, the output end of the screw motor is in driving connection with a screw through a first coupling, the second lifting frame further comprises a displacement block perpendicular to the screw, a screw threaded hole is formed in the displacement block in a penetrating manner, and the screw is in transmission connection with the screw threaded hole; two guide rods are symmetrically and fixedly connected to two sides of the displacement block; two guide grooves are symmetrically arranged in the two side beam bodies of the second lifting frame respectively, the tail ends of the two guide rods respectively extend into the two guide grooves in a movable mode, and the guide rods can slide along the length direction of the guide grooves; the lower end of the connecting rod is hinged with the upper end of the displacement block through an eighth hinge; the upper end of the connecting rod is hinged with the upper end of the gear bracket through a ninth hinge piece;
a left gear and a right gear are respectively rotatably arranged in the gear bracket, and the left gear and the right gear are meshed with each other; the two sides of the gear bracket also comprise a left driving arm and a right driving arm which are symmetrical with each other, and the root parts of the left driving arm and the right driving arm are respectively and fixedly connected with the left gear and the right gear; the two sides of the gear bracket also comprise a left connecting rod arm and a right connecting rod arm which are symmetrical to each other, and the root parts of the left connecting rod arm and the right connecting rod arm are respectively hinged with the gear bracket; the gear bracket is also fixedly provided with a gear driving motor which is in driving connection with the left gear or the right gear;
the two sides of the gear bracket are symmetrically provided with a left water spraying seat and a right water spraying seat, the tail ends of the left driving arm and the left connecting rod arm are respectively hinged with the two ends of the left water spraying seat, and the tail ends of the right driving arm and the right connecting rod arm are respectively hinged with the two ends of the right water spraying seat; the left water spraying seat and the right water spraying seat are respectively provided with a plurality of high-pressure spray heads, and the spray nozzles of the high-pressure spray heads are outwards arranged.
Further, a first hinging seat is fixedly arranged at the tail part of the top table, and a second hinging seat is fixedly arranged on the first lifting frame; the actuator height adjusting mechanism further comprises a first push rod linear motor and a second push rod linear motor; the tail end of the first push rod linear motor is hinged with the first hinge seat through a third hinge piece; the tail end of a first linear push rod of the first push rod linear motor is hinged with the second hinge seat through a fourth hinge piece; the tail end of the second linear push rod linear motor is hinged with the second hinge seat through a fifth hinge piece; the tail end of the second linear push rod linear motor is hinged to the middle position of the second lifting frame through a sixth hinge component; the third hinge part is A, the fourth hinge part is B, and the first hinge part is C; the fifth hinge member is a, the sixth hinge member is b, and the second hinge member is c; the triangle formed by the connecting lines between the ABCs is a triangle D, and the triangle formed by the connecting lines between the ABCs is a triangle D; meets the requirement of triangle D and triangle D.
The beneficial effects are that: according to the invention, the inclination angle between the second lifting frame and the ground can be kept unchanged all the time as long as the first linear push rod and the second linear push rod are synchronously shortened or synchronously lengthened, so that the posture of the water spraying actuator is not changed while the height of the water spraying actuator is changed; the nozzle of each high-pressure nozzle swings back and forth with a certain amplitude, so that the spraying range and the uniformity of the nozzle are increased.
Drawings
FIG. 1 is a schematic diagram of an actuator height adjustment mechanism and a water spray actuator;
FIG. 2 is a schematic diagram of a water spray actuator configuration;
FIG. 3 is a schematic illustration of FIG. 3 with the drain pipe removed;
FIG. 4 is a first schematic view of the tilt adjustment of the gear rack;
FIG. 5 is a second schematic view of the tilt adjustment of the gear rack;
fig. 6 is a schematic view of a water supply system.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
A jungle cross-country type spray robot as shown in fig. 1 to 6, a water tank unit 38, wherein the water outlet end of the water tank unit 38 is connected with the water inlet end of a water spraying actuator 26 through a water supply system; an actuator height adjustment mechanism is also mounted on the upper side of the water tank unit 38, and the water spray actuator 26 is mounted on the actuator height adjustment mechanism.
A top platform 101 is fixedly arranged on the upper side of the water tank unit 38; the actuator height adjustment mechanism 27 includes a first lift 66 and a second lift 73; the lower end of the first lifting frame 66 is hinged with the front end of the top platform 101 through a first hinge member 63; the upper end of the first lifting frame 66 is hinged with the lower end of the second lifting frame 73 through a second hinge 71; the water spraying actuator 26 is mounted on the second lifting frame 73;
the water supply system comprises a water tank outlet pipe 43, a high-pressure water pump 46, a lifting pipe 67, a shunt pipe 74, a battery valve 75 and a water outlet pipe 76; the water outlet end of the water tank unit 38 is connected with the water inlet end of the high-pressure water pump 46 through a water tank outlet pipe 43, the water outlet end of the high-pressure water pump 46 is communicated with the water inlet end of the lifting pipe 67, and the water outlet end of the lifting pipe 67 is connected with the water inlet ends of the two shunt pipes 74 in a shunt manner;
the two battery valves 75 are respectively and fixedly installed on the second lifting frame 73 in parallel, and the water outlet ends of the two shunt tubes 74 are respectively communicated with the water inlet ends of the two battery valves 75; the water outlet ends of the two battery valves 75 are respectively communicated with the water inlet ends of the two water outlet pipes 76, and the water outlet ends of the two water outlet pipes 76 are respectively communicated with the water inlet ends of a plurality of high-pressure spray heads 79 on the water spraying actuator 26; the lifting pipe 67 and the water outlet pipe 76 are both of a liquid guide hose structure;
the tail part of the top platform 101 is fixedly provided with a first hinging seat 59, and the first lifting frame 66 is also fixedly provided with a second hinging seat 64; the actuator height adjustment mechanism 27 further includes a first push rod linear motor 60 and a second linear push rod linear motor 69; the tail end of the first push rod linear motor 60 is hinged with the first hinge seat 59 through a third hinge piece 58; the tail end of the first linear push rod 61 of the first push rod linear motor 60 is hinged with the second hinge seat 64 through a fourth hinge piece 62; the tail end of the second linear push rod linear motor 69 is hinged with the second hinge seat 64 through a fifth hinge piece 65; the end of the second linear push rod 70 of the second linear push rod linear motor 69 is hinged to the middle position of the second lifting frame 73 through a sixth hinge component 72.
The water spraying actuator 26 comprises a gear bracket 83 which is obliquely arranged, and the short end of the gear bracket 83 is indirectly connected with the top end of the second lifting frame 73 through a seventh hinging piece 078; a screw motor 92 is fixedly mounted at the top end of the second lifting frame 73, the output end of the screw motor 92 is in driving connection with a screw 94 through a first coupling 93, the second lifting frame further comprises a displacement block 90 perpendicular to the screw 94, a screw threaded hole is formed in the displacement block 90 in a penetrating manner, and the screw 94 is in transmission connection with the screw threaded hole; two guide rods 89 are symmetrically and fixedly connected to two sides of the displacement block 90; two guide grooves 88 are symmetrically arranged in the two side beam bodies of the second lifting frame 73 respectively, the tail ends of two guide rods 89 respectively extend into the two guide grooves 88 in a movable mode, and the guide rods 89 can slide along the length direction of the guide grooves 88; the lower end of the connecting rod 91 is hinged with the upper end of the displacement block 90 through an eighth hinge 080; the upper end of the connecting rod 91 is hinged with the upper end of the gear bracket 83 through a ninth hinge 079;
a left gear 86 and a right gear 87 are rotatably mounted on the gear bracket 83, respectively, and the left gear 86 and the right gear 87 are meshed with each other; the two sides of the gear bracket 83 further comprise a left driving arm 78 and a right driving arm 84 which are symmetrical to each other, and the root parts of the left driving arm 78 and the right driving arm 84 are respectively and fixedly connected with a left gear 86 and a right gear 87; the two sides of the gear bracket 83 also comprise a left connecting rod arm 77 and a right connecting rod arm 85 which are symmetrical to each other, and the root parts of the left connecting rod arm 77 and the right connecting rod arm 85 are respectively hinged with the gear bracket 83; the gear bracket 83 is also fixedly provided with a gear driving motor 82, and the gear driving motor 82 is in driving connection with the left gear 86 or the right gear 87;
the two sides of the gear bracket 83 are symmetrically provided with a left water spraying seat 81.1 and a right water spraying seat 81.2, the tail ends of the left driving arm 78 and the left connecting rod arm 77 are respectively hinged with the two ends of the left water spraying seat 81.1, and the tail ends of the right driving arm 84 and the right connecting rod arm 85 are respectively hinged with the two ends of the right water spraying seat 81.2; the left water spraying seat 81.1 and the right water spraying seat 81.2 are respectively provided with a plurality of high-pressure spray heads 79, and the spray nozzles 80 of each high-pressure spray head 79 are outwards arranged.
The third hinge 58 is a, the fourth hinge 62 is B, and the first hinge 63 is C; the fifth hinge 65 is a, the sixth hinge part 72 is b, and the second hinge 71 is c; the triangle formed by the connecting lines between the ABCs is a triangle D, and the triangle formed by the connecting lines between the ABCs is a triangle D; meets the requirement of triangle D and triangle D.
The operation method, the process and the technical progress of the scheme are finished:
if the height of the water spraying actuator 26 needs to be adjusted down or up, the first linear push rod motor 60 and the second linear push rod motor 69 are controlled to synchronously shorten or synchronously lengthen the first linear push rod 61 and the second linear push rod 70, so that the water spraying actuator 26 is lowered or lifted, the height of the water spraying actuator 26 is adjusted down or up, as the first linear push rod 61 and the second linear push rod 70 are synchronously shortened or synchronously elongate, the triangle D formed by the connection line between ABC and the triangle D formed by the connection line between ABC still keeps an equal state, according to the structure of the triangle D, the inclination angle between the second lifting frame 73 and the ground can be kept unchanged all the time as long as the first linear push rod 61 and the second linear push rod 70 are synchronously shortened or synchronously elongate, and the posture of the water spraying actuator 26 is not changed while the height of the water spraying actuator 26 is changed;
the first degree of freedom adjustment method of the water spray actuator 26: the screw rod motor 92 is controlled, so that the screw rod 94 rotates, the screw rod 94 rotates to drive the displacement block 90 to displace along the screw rod 94, and meanwhile, the guide rods 89 on two sides of the displacement block 90 slide in the two guide grooves 88 in an adaptive manner; the movement of the displacement block 90 drives the gear bracket 83 to rotate along the seventh hinging piece 078 through the connecting rod 91, so that the posture of the gear bracket 83 is changed, and the spray angle adjustment of the spray nozzles 80 of each high-pressure spray head 79 is realized;
second degree of freedom movement method of the water spray actuator 26: the gear driving motor 82 is controlled to drive the left gear 86 or the right gear 87 to perform periodic back and forth meshing motion, so that the nozzle 80 of each high-pressure nozzle 79 swings back and forth to a certain extent, and the injection range and uniformity of the nozzle are increased.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims (2)

1. A spray actuator for a pesticide spray vehicle, characterized by: comprises a top platform (101), a first lifting frame (66) and a second lifting frame (73); the lower end of the first lifting frame (66) is hinged with the front end of the top platform (101) through a first hinge piece (63); the upper end of the first lifting frame (66) is hinged with the lower end of the second lifting frame (73) through a second hinge piece (71); the second lifting frame (73) is provided with a water spraying actuator (26);
the water spraying actuator (26) comprises a gear bracket (83) which is obliquely arranged, and the short end of the gear bracket (83) is indirectly connected with the top end of the second lifting frame (73) through a seventh hinge (078); a screw motor (92) is fixedly arranged at the top end of the second lifting frame (73), the output end of the screw motor (92) is in driving connection with a screw (94) through a first coupling (93), the device further comprises a displacement block (90) perpendicular to the screw (94), a screw threaded hole is formed in the displacement block (90) in a penetrating mode, and the screw (94) is in transmission connection with the screw threaded hole; two guide rods (89) are symmetrically and fixedly connected to two sides of the displacement block (90); two guide grooves (88) are symmetrically arranged in the two side beam bodies of the second lifting frame (73) respectively, the tail ends of the two guide rods (89) respectively extend into the two guide grooves (88) in a movable mode, and the guide rods (89) can slide along the length direction of the guide grooves (88); the device further comprises a connecting rod (91), wherein the lower end of the connecting rod (91) is hinged with the upper end of the displacement block (90) through an eighth hinge piece (080); the upper end of the connecting rod (91) is hinged with the upper end of the gear bracket (83) through a ninth hinge piece (079);
a left gear (86) and a right gear (87) are respectively rotatably arranged on the gear bracket (83), and the left gear (86) and the right gear (87) are meshed with each other; the two sides of the gear bracket (83) further comprise a left driving arm (78) and a right driving arm (84) which are symmetrical to each other, and the root parts of the left driving arm (78) and the right driving arm (84) are respectively and fixedly connected with a left gear (86) and a right gear (87); the two sides of the gear bracket (83) further comprise a left connecting rod arm (77) and a right connecting rod arm (85) which are symmetrical to each other, and the root parts of the left connecting rod arm (77) and the right connecting rod arm (85) are respectively hinged with the gear bracket (83); the gear bracket (83) is also fixedly provided with a gear driving motor (82), and the gear driving motor (82) is in driving connection with the left gear (86) or the right gear (87);
the two sides of the gear bracket (83) are symmetrically provided with a left water spraying seat (81.1) and a right water spraying seat (81.2), the tail ends of the left driving arm (78) and the left connecting rod arm (77) are respectively hinged with the two ends of the left water spraying seat (81.1), and the tail ends of the right driving arm (84) and the right connecting rod arm (85) are respectively hinged with the two ends of the right water spraying seat (81.2); the left water spraying seat (81.1) and the right water spraying seat (81.2) are respectively provided with a plurality of high-pressure spray heads (79), and the spray nozzles (80) of each high-pressure spray head (79) are outwards arranged;
the first degree of freedom adjusting method of the water spraying actuator (26) comprises the steps of controlling a screw motor (92) to enable a screw (94) to rotate, enabling a displacement block (90) to be driven to displace along the screw (94) by rotation of the screw (94), and enabling guide rods (89) on two sides of the displacement block (90) to slide in two guide grooves (88) in an adaptive mode; the movement of the displacement block (90) drives the gear bracket (83) to rotate along the seventh hinge member (078) through the connecting rod (91), so that the posture of the gear bracket (83) is changed, and the spray angle of the nozzles (80) of each high-pressure spray head (79) is adjusted;
the second degree of freedom adjusting method of the water spraying actuator (26) comprises the steps of controlling a gear driving motor (82) to drive a left gear (86) or a right gear (87) to do periodic back and forth meshing movement, and further enabling the nozzles (80) of each high-pressure spray head (79) to swing back and forth, so that the spraying range and the uniformity of the water spraying actuator are increased.
2. A spray actuator for a pesticide spray vehicle as set forth in claim 1 wherein: the tail part of the top platform (101) is fixedly provided with a first hinging seat (59), and the first lifting frame (66) is also fixedly provided with a second hinging seat (64); the actuator height adjusting mechanism (27) further comprises a first push rod linear motor (60) and a second linear push rod linear motor (69); the tail end of the first push rod linear motor (60) is hinged with the first hinge seat (59) through a third hinge piece (58); the tail end of a first linear push rod (61) of the first push rod linear motor (60) is hinged with the second hinging seat (64) through a fourth hinging piece (62); the tail end of the second linear push rod linear motor (69) is hinged with the second hinge seat (64) through a fifth hinge piece (65); the tail end of a second linear push rod (70) of the second linear push rod linear motor (69) is hinged and connected to the middle position of the second lifting frame (73) through a sixth hinge component (72); the third hinge member (58) is A, the fourth hinge member (62) is B, and the first hinge member (63) is C; -the fifth articulation (65) is a, -the sixth articulation (72) is b, and-the second articulation (71) is c; the triangle formed by the connecting lines between the ABCs is a triangle D, and the triangle formed by the connecting lines between the ABCs is a triangle D; meets the requirement of triangle D and triangle D.
CN201910233261.0A 2019-03-26 2019-03-26 Spraying actuator of pesticide spraying vehicle Active CN109730050B (en)

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CN109730050B true CN109730050B (en) 2023-11-10

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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

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7563199B2 (en) * 2006-06-28 2009-07-21 Equipment Technology, Inc. Apparatus and method for controlling rotational speed and direction of a crop sprayer

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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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