CN109864057A - A kind of self-propelled pesticide spraying device - Google Patents
A kind of self-propelled pesticide spraying device Download PDFInfo
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- CN109864057A CN109864057A CN201910264093.1A CN201910264093A CN109864057A CN 109864057 A CN109864057 A CN 109864057A CN 201910264093 A CN201910264093 A CN 201910264093A CN 109864057 A CN109864057 A CN 109864057A
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Abstract
A kind of self-propelled pesticide spraying device, belongs to agricultural machinery technological field.It is by body chassis, elevating mechanism, platform mechanism, winch mechanism, nozzle mechanism, drug storage mechanism composition, drug storage actuator base has the pressure sensor that can detecte residual drug, floating bearing on platform mechanism swings laterally spray head, elevating mechanism band moving platform mechanism vertically moves, the pesticide spraying for making machine be suitable for various crop works, it is wide to spray region, camera collection image on body chassis, it is exported after controller calculation process, cause a machine to automatic flexibly walking, spray registration, the completion of judgement task is automatically stopped, it is heavy that machine replaces people to complete, tired and dangerous work, avoid manual labor waste, protect life and health.
Description
Technical field
The present invention relates to a kind of self-propelled pesticide spraying devices, specifically use wheeled robot and mechanical arm knot
A kind of self-propelled pesticide spraying device closed, belongs to agricultural mechanical field.
Background technique
The mainly artificial sprinkling of the pesticide spraying of China now and unmanned plane sprinkling, the container of artificial spray pattern fill water
After weigh tens jin, medical fluid easily and human contact, causes damages to the health of people when needing high manual labor, and spraying, nothing
Man-machine sprinkling is not suitable for the multi obstacle environments such as greenhouse, and there is an urgent need to a kind of self-propelled pesticide spraying devices.
Summary of the invention
It for the above-mentioned high manual labor of needs, is detrimental to health and multi obstacle environment problem, the present invention provides one
The self-propelled pesticide spraying device of kind.
The present invention is achieved by the following technical solutions: a kind of self-propelled pesticide spraying device, is by elevating mechanism, puts down
Platform mechanism, body chassis, drug storage mechanism, nozzle mechanism and winch mechanism composition, the elevating mechanism be by Al pipe butt welding and
Body chassis is connected, and platform mechanism is mounted on elevating mechanism by machine screws, and winch mechanism passes through intermediate bearing and platform machine
Structure connection, nozzle mechanism, which is covered, to be connected in aluminum pipe with winch mechanism, and drug storage mechanism is placed horizontally on body chassis, and is rising
Welding aluminium tube is that drug storage mechanism supports on descending mechanism.
The elevating mechanism is the bearing block supported by synchronous pulley, belt, generic linear optical axis, shaft coupling, belt wheel
With synchronous belt alternating current generator composition, bearing block is fixed on above the aluminum pipe of top with machine screws, and generic linear optical axis passes through axis
Hold seat, belt is wrapped on synchronous pulley, and is connected with the synchronous pulley of platform mechanism, synchronous pulley is located among bearing block,
And passed through by generic linear optical axis, it is wound by belt, the generic linear optical axis of shaft coupling connecting platform mechanism, and connect synchronous belt
Motor makes the rotation of synchronous belt alternating current generator drive generic linear optical axis, synchronous pulley and belt rotation.
The platform mechanism is by platform acrylic board, triangle support frame, four sides sliding block, sliding rail, synchronous pulley, axis
Seat, generic linear optical axis and synchronous belt briquetting composition are held, four sides sliding block and sliding rail are connected to rolling bearing and machine screws
On the inside of elevating mechanism, triangle support frame is fixed on the inside of elevating mechanism by four sides sliding block, and platform acrylic board is solid with hot melt adhesive
It is scheduled on above triangle support frame, generic linear optical axis passes through synchronous pulley, and generic linear optical axis is fixed by bearing block, bearing block
It is fixed on above body chassis with machine screws, synchronous belt briquetting is located at the lower section of platform platform acrylic board, triangular support
The inside of aluminum pipe, is directly welded on aluminum pipe in front of frame, and synchronous belt briquetting compresses belt, transports platform mechanism together with belt
It is dynamic, play the purpose of lifting.
The body chassis is by directional wheel, chassis alternating current generator, chassis aluminum pipe bracket, camera, stm32f103 core
What core and chassis acrylic board were constituted, the chassis aluminum pipe bracket is formed by aluminum pipe assembly welding, camera, directional wheel and bottom
Disk alternating current generator is directly mounted on the aluminum pipe bracket of chassis with machine screws, wherein camera be located at chassis aluminum pipe bracket just before
Side, directional wheel are mounted on the surrounding of chassis aluminum pipe bracket, and chassis alternating current generator is located at the inside of each directional wheel, connection orientation
Wheel, chassis acrylic board are fixed on above the aluminum pipe near camera with machine screws, stm32f103 core board machine screws
It is mounted on above the acrylic board of chassis.
The drug storage mechanism is by explosive barrel, capstan winch, pressure sensor, pressure sensor fixed frame and explosive barrel support frame group
At, explosive barrel support frame is directly welded above body chassis, and pressure sensor fixed frame is fixed on chassis machine by machine screws
Structure overcentre, pressure sensor are attached among pressure sensor fixed frame by hot melt adhesive, and explosive barrel lies in a horizontal plane in pressure biography
Right above sensor fixed frame, and the explosive barrel support frame by being welded on body chassis is fixed.
The nozzle mechanism is made of pivoting support fixing piece, steering engine, pivoting support and aluminum pipe and Multi-direction spray head
, for pivoting support above platform mechanism, steering engine is located at, pivoting support fixing piece corresponding with pivoting support below platform mechanism
It is located at turn around bearing top, pivoting support fixing piece and pivoting support is passed through with tight fixed bolt, platform is penetrated, into lower section steering engine
Screw hole in, aluminum pipe is screwed into a diamond structure head internal screw thread and intermediate internal screw thread for pivoting support fixing piece with machine screws
It is interior, it is fixed on above pivoting support fixing piece, Multi-direction spray head is mounted on inside aluminum pipe, and is fixed with machine screws；Described returns
Turning supporting holder is cut by aluminium flake, is the water chestnut in three directions of three pieces by a centrally located internal screw thread, surrounding
Shape structure composition, the head of each diamond structure is made of three internal screw threads altogether, and the internal screw thread of three diamond structures of surrounding is used
In being screwed into machine screws, intermediate internal screw thread is for passing through steering engine axis.
The winch mechanism is made of capstan winch, the support of bearing and explosive barrel protective cradle, is welded on chassis with aluminum pipe
Connect one upwardly extend, the explosive barrel protective cradle positioned at explosive barrel both sides, capstan winch is fixed on medicine with machine screws by the support of bearing
At the top of bucket protective cradle below aluminum pipe.
The invention is beneficial in that entire machine is walked certainly, sprayed, realization automatic one of stopping departing from artificial level
Body, can effectively solve manually to spray need high manual labor and to people it is healthy and safe caused by hidden danger, using self-propelled spray
It spills, the processing of camera collection image stm32f103 core board enables the invention to flexibly cope with multi obstacle environment, poor using motor
The revolving speed that speed controls each wheel, which is realized, to be turned to, and turn to robot can flexibly freely in the narrow field of spacing or greenhouse,
The collected information of camera is handled by stm32f103 core board on body chassis, and driving motor exports after operation, energy
Machine Automatic-searching route is enough set to advance, Automatic-searching crops can make robot according to crops height adjustment oneself height
On correct route, the pressure sensor of drug storage mechanism can detect explosive barrel and drug weight traveling, obtain information and hand over
Stm32f103 core board is given, judges whether to need dosing, nozzle mechanism copies manpower to swing, elevating mechanism control
Machine moves up and down, and is adapted to the demand of different height crops, and making sprinkling, winch mechanism can collapse hose comprehensively, prevents
Only soft tube winding.
Detailed description of the invention
Accompanying drawing 1 is the structural representation of the present invention；In figure, elevating mechanism 1, platform mechanism 2, body chassis 3, drug storage mechanism
4, nozzle mechanism 5, winch mechanism 6；
Attached drawing 2 is elevating mechanism schematic diagram；In figure, synchronous pulley 11, belt 12, generic linear optical axis 13, shaft coupling 14；
Attached drawing 3 be elevating mechanism bottom schematic view, generic linear optical axis 13, shaft coupling 14, belt wheel support bearing block 15,
Synchronous belt alternating current generator 16；
Attached drawing 4 is platform mechanism schematic diagram；In figure, platform acrylic board 21, triangle support frame 22, four sides sliding block 23,
Sliding rail 24, synchronous pulley 25, bearing block 26, generic linear optical axis 27, synchronous belt briquetting 28；
Attached drawing 5 is body chassis schematic diagram；In figure, directional wheel 31, chassis alternating current generator 32, chassis aluminum pipe bracket 33 taken the photograph
As head 34, stm32f103 core board 35, chassis acrylic board 36；
Attached drawing 6 is drug storage structural scheme of mechanism；In figure, explosive barrel 41, capstan winch 42, pressure sensor 43, pressure sensor are fixed
Frame 44, explosive barrel support frame 45；
Attached drawing 7 is nozzle mechanism schematic diagram；In figure, pivoting support fixing piece 51, steering engine 52, pivoting support 53, aluminum pipe 54,
Multi-direction spray head 55；
8 winch mechanism schematic diagram of attached drawing；In figure, capstan winch 61, the support of bearing 62, explosive barrel protective cradle 63；
Specific embodiment
A kind of self-propelled pesticide spraying device is by elevating mechanism 1, platform mechanism 2, body chassis 3, drug storage mechanism 4, spray
What head mechanism 5 and winch mechanism 6 formed, the elevating mechanism 1 is to be connected by Al pipe butt welding with body chassis 3, and platform mechanism 2 leans on
Machine screws is mounted on elevating mechanism 1, and winch mechanism 6 is connect by intermediate bearing with platform mechanism 2, and 5 sets of nozzle mechanism exists
It is connected in aluminum pipe with winch mechanism 6, drug storage mechanism 4 is placed horizontally on body chassis 3, and welds aluminium on elevating mechanism 1
Pipe is that drug storage mechanism 4 supports.
The elevating mechanism 1 is by synchronous pulley 11, belt 12, generic linear optical axis 13, shaft coupling 14, belt wheel support
Bearing block 15 and synchronous belt alternating current generator 16 form, bearing block 15 with machine screws be fixed on top aluminum pipe above, commonly
Straight optical axis 13 passes through bearing block 15, belt 12 and is wrapped on synchronous pulley 11, and with 11 phase of the synchronous pulley of platform mechanism 2
Even, synchronous pulley 11 is located among bearing block 15, and is passed through by generic linear optical axis 13, wound by belt 12, and shaft coupling 14 connects
The generic linear optical axis 13 of platform mechanism 2 is connect, and connects synchronous belt alternating current generator 16, drives the rotation of synchronous belt alternating current generator 16
Generic linear optical axis 13, synchronous pulley 11 and belt 12 rotate.
The platform mechanism 2 is platform acrylic board 21, triangle support frame 22, four sides sliding block 23, sliding rail 24, synchronization
What belt wheel 25, bearing block 26, generic linear optical axis 27 and synchronous belt briquetting 28 formed, four sides sliding block 23 and sliding rail 24, with rolling
Bearing and machine screws are connected on the inside of elevating mechanism, and triangle support frame 22 is fixed in elevating mechanism 1 by four sides sliding block 23
Side, platform acrylic board 21 are fixed on 22 top of triangle support frame with hot melt adhesive, and generic linear optical axis 27 passes through synchronous pulley
25, generic linear optical axis 27 is fixed by bearing block 26, and bearing block 26 is fixed on 3 top of body chassis, synchronous belt with machine screws
Briquetting 28 is located at the inside of the lower section of platform acrylic board 21,22 front aluminum pipe of triangle support frame, is directly welded on aluminum pipe,
Synchronous belt briquetting 28 compresses belt 12, moves platform mechanism 2 together with belt 12, plays the purpose of lifting.
The body chassis 3 be by directional wheel 31, chassis alternating current generator 32, chassis aluminum pipe bracket 33, camera 34,
What stm32f103 core board 35 and chassis acrylic board 36 formed, the chassis aluminum pipe bracket 33 is formed by aluminum pipe assembly welding,
Camera 34, directional wheel 31 and chassis alternating current generator 32 are directly mounted on chassis aluminum pipe bracket 33 with machine screws, wherein taking the photograph
The front for being located at chassis aluminum pipe bracket 33 as first 34, directional wheel 31 are mounted on the surrounding of chassis aluminum pipe bracket 33, chassis exchange
Motor 32 is located at the inside of each directional wheel 31, is connected to directional wheel 31, and chassis acrylic board 36 is fixed on camera shooting with machine screws
Above aluminum pipe near first 34, stm32f103 core board 35 is mounted on 36 top of chassis acrylic board with machine screws.
The drug storage mechanism 4 is by explosive barrel 41, capstan winch 42, pressure sensor 43, pressure sensor fixed frame 44, explosive barrel
What support frame 45 formed, explosive barrel support frame 45 is directly welded at 3 top of body chassis, and pressure sensor fixed frame 44 is by mechanical spiral shell
Silk is fixed on 3 overcentre of body chassis, and pressure sensor 43 is attached among pressure sensor fixed frame 44 by hot melt adhesive, medicine
Bucket 41 is lain in a horizontal plane in right above pressure sensor fixed frame 44, and the explosive barrel support frame 45 by being welded on body chassis 3 is consolidated
It is fixed.
The nozzle mechanism 5 is by pivoting support fixing piece 51, steering engine 52, pivoting support 53, aluminum pipe 54 and multidirectional spray
First 55 composition, for pivoting support 53 above platform mechanism 2, it is opposite with pivoting support 53 that steering engine 52 is located at 2 lower section of platform mechanism
It answers, 53 fixing piece of pivoting support is located at turn around 53 top of bearing, passes through pivoting support fixing piece 51 and revolution branch with machine screws
53 are held, platform is penetrated, into the screw hole of lower section steering engine 52, aluminum pipe 54 is screwed into the one of pivoting support fixing piece 51 with machine screws
In a diamond structure head internal screw thread and intermediate internal screw thread, it is fixed on 51 top of pivoting support fixing piece, Multi-direction spray head 55 is installed
It is fixed inside aluminum pipe 54, and with machine screws, by；The pivoting support fixing piece 51 is cut by aluminium flake, in
One internal screw thread of the heart, three directions of surrounding three pieces diamond structure, totally three internal screw threads composition on each diamond shape head, surrounding three
A internal screw thread is for being screwed into machine screws, and intermediate internal screw thread is for confirming position and fixing 54 aluminum pipes.
The winch mechanism 6 is made of capstan winch 61, the support of bearing 62 and explosive barrel protective cradle 63, in body chassis
It is upwardly extended on 3 with Al pipe butt welding one, the explosive barrel protective cradle 63 positioned at 41 both sides of explosive barrel, capstan winch 61 is by the support of bearing 62
It is fixed below 63 top aluminum pipe of explosive barrel protective cradle with machine screws.
When this equipment works, machine is placed in sprinkling drug initial position by staff, pours into explosive barrel 41 through appropriate amount of drug,
General supply and 35 power supply of stm32f103 core board are opened, acquires road ahead image information, stm32f103 core through camera 34
After 35 analytical calculation of core, driving chassis alternating current generator 32 drives directional wheel 31 to rotate, and adjusts with four-wheel differentia steering principle
Direction of advance, synchronous belt alternating current generator 16 drive synchronous pulley 11 to rotate, and then pull belt 12 and move down on platform mechanism 2
Dynamic, steering engine 52 drives pivoting support rotation, and then rotates Multi-direction spray head 55, makes the fan-shaped sprinkling of machine, forms " detection-
The closed-loop control of movement-sprinkling-detection ".
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case where spirit, changes, modifications that embodiment is carried out, replacement and variant still fall within protection scope of the present invention it
It is interior.
Claims (7)
- It is by elevating mechanism, platform mechanism, chassis 1. a kind of self-propelled pesticide spraying device, belongs to agricultural mechanical field What mechanism, drug storage mechanism, nozzle mechanism and winch mechanism formed, it is characterised in that: drug storage actuator base can detecte residue The pressure sensor of dose variation；Nozzle mechanism can move up and down with elevating mechanism, can arbitrarily rotate again at spray head, protect Hinder and sprayed without dead angle, the elevating mechanism is to be connected by Al pipe butt welding with body chassis, and platform mechanism is installed by machine screws On elevating mechanism, winch mechanism is connect by intermediate bearing with platform mechanism, and nozzle mechanism covers in aluminum pipe and winch mechanism It is connected, drug storage mechanism is placed horizontally on body chassis, and welding aluminium tube is that drug storage mechanism supports on elevating mechanism.
- 2. a kind of self-propelled pesticide spraying device as described in claim 1, it is characterised in that: the elevating mechanism is by same Belt wheel, belt, generic linear optical axis, shaft coupling, the bearing block of belt wheel support and alternating current generator composition are walked, bearing block is mechanical Screw is fixed on above the aluminum pipe of top, and generic linear optical axis passes through bearing block, belt is wrapped on synchronous pulley, and and platform machine The synchronous pulley of structure is connected, and synchronous pulley is located among bearing block, and is passed through by generic linear optical axis, is wound by belt, shaft coupling The generic linear optical axis of device connecting platform mechanism, and connecting base plate motor make motor rotation drive generic linear optical axis, synchronous belt Wheel and belt rotation.
- 3. a kind of self-propelled pesticide spraying device as described in claim 1, it is characterised in that: the platform mechanism is By acrylic board, triangle support frame, four sides sliding block, sliding rail, synchronous pulley, bearing block, generic linear optical axis with it is synchronous with pressure Block composition.The four sides sliding block and sliding rail are connected on the inside of elevating mechanism, triangular support with rolling bearing and machine screws Frame is fixed on the inside of elevating mechanism by four sides sliding block, and acrylic board is fixed on above triangle support frame with hot melt adhesive, ordinary straight Linear light axis passes through synchronous pulley, and generic linear optical axis is fixed by bearing block, and bearing block is fixed on body chassis with machine screws Side, synchronous belt briquetting are located at the lower section of acrylic board, and the inside of aluminum pipe, is directly welded on aluminum pipe in front of triangle support frame, Synchronous belt briquetting compresses belt, moves platform mechanism together with belt, plays the purpose of lifting.
- 4. a kind of self-propelled pesticide spraying device as described in claim 1, it is characterised in that: the body chassis is by fixed It is formed to wheel, alternating current generator, chassis aluminum pipe bracket, camera, stm32f103 core board and acrylic board, the chassis aluminium Pipe holder is formed by aluminum pipe assembly welding, and camera, directional wheel and alternating current generator are directly mounted on chassis aluminum pipe with machine screws On bracket, wherein camera is located at the front of chassis aluminum pipe bracket, and directional wheel is mounted on the surrounding of chassis aluminum pipe bracket, exchange Motor is located at the inside of each directional wheel, is connected to directional wheel, and acrylic board is fixed on the aluminum pipe near camera with machine screws Top, stm32f103 core board are mounted on above acrylic board with machine screws.
- 5. a kind of self-propelled pesticide spraying device as described in claim 1, it is characterised in that: the drug storage mechanism is It is made of explosive barrel, capstan winch, pressure sensor, pressure sensor fixed frame and explosive barrel support frame, the explosive barrel support frame is straight It connects and is welded on above body chassis, pressure sensor fixed frame is fixed on body chassis overcentre by machine screws, and pressure passes Sensor is attached among pressure sensor fixed frame by hot melt adhesive, and explosive barrel is lain in a horizontal plane in right above pressure sensor fixed frame, And the explosive barrel support frame by being welded on body chassis is fixed.
- 6. a kind of self-propelled pesticide spraying device as described in claim 1, it is characterised in that: the nozzle mechanism is It is made of pivoting support fixing piece, steering engine, pivoting support and aluminum pipe and Multi-direction spray head, the pivoting support is in platform machine Above structure, steering engine is located at corresponding with pivoting support below platform mechanism, and pivoting support fixing piece is located at turn around above bearing, use Tight fixed bolt passes through pivoting support fixing piece and pivoting support, penetrates platform, and into the screw hole of lower section steering engine, aluminum pipe is mechanical Screw is screwed into the diamond structure head internal screw thread and intermediate internal screw thread of pivoting support fixing piece, and it is solid to be fixed on pivoting support Determine above part, Multi-direction spray head is mounted on inside aluminum pipe, and is fixed with machine screws；The pivoting support fixing piece is by aluminium flake It cuts, is made of the diamond structure of a centrally located internal screw thread, three directions of three pieces of surrounding, each diamond shape The head of structure is made of three internal screw threads altogether, and the internal screw thread of three diamond structures of surrounding is for being screwed into machine screws, in centre Screw thread is for passing through steering engine axis.
- 7. a kind of self-propelled pesticide spraying device as described in claim 1, it is characterised in that: the winch mechanism is It is made of capstan winch, the support of bearing and explosive barrel protective cradle, upwardly extends protection with Al pipe butt welding one on chassis and be located at medicine The explosive barrel protective cradle on bucket both sides, capstan winch are fixed on the bracket that chassis is extended by the support of bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910264093.1A CN109864057A (en) | 2019-04-02 | 2019-04-02 | A kind of self-propelled pesticide spraying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910264093.1A CN109864057A (en) | 2019-04-02 | 2019-04-02 | A kind of self-propelled pesticide spraying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109864057A true CN109864057A (en) | 2019-06-11 |
Family
ID=66922004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910264093.1A Withdrawn CN109864057A (en) | 2019-04-02 | 2019-04-02 | A kind of self-propelled pesticide spraying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109864057A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236822A (en) * | 2019-07-09 | 2019-09-17 | 西安建筑科技大学 | A kind of combined wheelchair bed and its operating method |
| US10905057B2 (en) | 2017-08-08 | 2021-02-02 | Deere & Company | Thermal imaging drift sensor for agricultural spraying |
| US10913086B2 (en) | 2017-08-08 | 2021-02-09 | Deere & Company | Drift sensor for agricultural spraying |
| CN113109523A (en) * | 2021-06-01 | 2021-07-13 | 张红梅 | Automatic detection robot for farm crop medicines |
| TWI768816B (en) * | 2021-04-07 | 2022-06-21 | 陳韋誠 | Self-propelled crop sprinkler |
-
2019
- 2019-04-02 CN CN201910264093.1A patent/CN109864057A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10905057B2 (en) | 2017-08-08 | 2021-02-02 | Deere & Company | Thermal imaging drift sensor for agricultural spraying |
| US10913086B2 (en) | 2017-08-08 | 2021-02-09 | Deere & Company | Drift sensor for agricultural spraying |
| CN110236822A (en) * | 2019-07-09 | 2019-09-17 | 西安建筑科技大学 | A kind of combined wheelchair bed and its operating method |
| TWI768816B (en) * | 2021-04-07 | 2022-06-21 | 陳韋誠 | Self-propelled crop sprinkler |
| CN113109523A (en) * | 2021-06-01 | 2021-07-13 | 张红梅 | Automatic detection robot for farm crop medicines |
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Application publication date: 20190611 |