CN110637800A - Automatic medicine spraying system - Google Patents
Automatic medicine spraying system Download PDFInfo
- Publication number
- CN110637800A CN110637800A CN201910950682.5A CN201910950682A CN110637800A CN 110637800 A CN110637800 A CN 110637800A CN 201910950682 A CN201910950682 A CN 201910950682A CN 110637800 A CN110637800 A CN 110637800A
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- track
- pesticide spraying
- fixed arm
- walking
- walking wheel
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- 238000005507 spraying Methods 0.000 title claims abstract description 95
- 239000003814 drug Substances 0.000 title claims abstract description 21
- 239000000575 pesticide Substances 0.000 claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 239000007921 spray Substances 0.000 claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 239000007788 liquid Substances 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 241000196324 Embryophyta Species 0.000 description 26
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 239000012895 dilution Substances 0.000 description 2
- 238000010790 dilution Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 241000207199 Citrus Species 0.000 description 1
- 241000826860 Trapezium Species 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000020971 citrus fruits Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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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
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides an automatic pesticide spraying system which comprises two support frames positioned between ridges when in use, wherein a fixed arm is arranged at the top of each support frame, the height of the fixed arm is higher than that of a plant, and the fixed arm extends to the outer sides of the two support frames to cover a plurality of ridges; the bottom of the support frame is provided with a walking wheel seat, and a walking driving mechanism is arranged on the walking wheel seat to drive the support frame to walk along the track; the support frame is provided with a steering driving mechanism to drive the traveling wheel seat to steer; a medicine spraying device and a water tank are arranged on the supporting frame or the fixed arm, the medicine spraying device is connected with the water tank through a pipeline, and a plurality of adjustable spray rods are hung on the fixed arm; a plurality of nozzles aligned with the plant direction are arranged on the adjustable spray rod from top to bottom, and the nozzles are connected with a pesticide spraying device through pipelines. The invention can cover ridges in a larger range and realize the pesticide spraying operation of plants. The suspended adjustable spray rod is adopted, so that the pesticide sprayed on the plants can be uniformly distributed. And the self weight can be reduced by adopting a truss type light structure.
Description
Technical Field
The invention relates to the field of farmland equipment, in particular to an efficient automatic pesticide spraying system.
Background
The existing farmland pesticide spraying method usually adopts manual or electric sprayer to spray pesticide, and has the problems of low efficiency, high labor intensity and poor safety protection. There are also solutions in the prior art for spraying pesticides using mechanical equipment. For example, chinese patent document CN107593677A is a track type intelligent pesticide spraying vehicle. Including sliding track, bracing piece, tractor, pesticide dilution tank and two sprinkler, the bracing piece erects on the field ridge, slide the track and slide the track including first track and the second that slides, and fixed laying respectively on the bracing piece, tractor slidable ground sets up on first track that slides, the pesticide dilution tank sets up on the bottom plate of tractor, two sprinkler symmetric distribution in the both sides of tractor have improved spraying efficiency, but this scheme is higher except that tractor self cost, because the dead weight of tractor is heavier, and it is higher to be under construction can possess enough bearing capacity's bracing piece cost. And the pesticide is sprayed from the top, and for some plants with luxuriant branches and leaves, the sprayed pesticide is difficult to be uniformly distributed on the plants. Chinese patent document CN108835073A describes an agricultural greenhouse pesticide spraying device, which comprises an upper end support plate, the upper surface of the upper end supporting plate is connected with a liquid medicine tank through a bolt, the lower end of one side of the liquid medicine tank is connected with a water suction pump through a bolt, the water inlet of the water suction pump is connected with the lower end of one side of the liquid medicine tank through a conduit, the lower surface of the upper end supporting plate is provided with a sliding track, the threaded rod can be driven to rotate by the motor, the sliding connecting seat can be driven to move by the threaded rod, the sliding connecting seat moves to drive the water spraying pipe to move, the water spraying pipe can spray pesticide to plants in the greenhouse, the pesticide in the liquid medicine tank can be pumped into the water spraying pipe through the water suction pump, the pesticide is sprayed through the atomizing nozzle on the water spraying pipe, the pesticide spraying device in the scheme has too low moving speed, and the problem that the sprayed pesticide is difficult to be uniformly distributed on plants also exists.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic pesticide spraying system which can realize the large-scale pesticide spraying with lower cost and can ensure that the sprayed pesticide is uniformly distributed on plants. In the preferred scheme, can realize spraying and the automatic control of removal, can conveniently remove other workplaces. And the rail-free remote movement can be conveniently realized.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an automatic pesticide spraying system comprises two support frames positioned between ridges when in use, wherein the top of each support frame is provided with a fixed arm, the height of each fixed arm is higher than that of a plant, and the fixed arms extend to the outer sides of the two support frames to cover a plurality of ridges;
the bottom of the support frame is provided with a walking wheel seat, and the walking wheel seat is provided with a walking driving mechanism so as to drive the support frame to walk along a track or a path;
the support frame is provided with a steering driving mechanism to drive the traveling wheel seat to steer;
a medicine spraying device and a water tank are arranged on the supporting frame or the fixed arm, the medicine spraying device is connected with the water tank through a pipeline, and a plurality of adjustable spray rods are hung on the fixed arm;
a plurality of nozzles aligned with the plant direction are arranged on the adjustable spray rod from top to bottom, and the nozzles are connected with a pesticide spraying device through pipelines.
In the preferred scheme, the support frame adopt triangle-shaped or trapezium structure, the bottom of support frame is broad, is equipped with the walking wheel seat near the position at both ends in support frame bottom, and the bottom of walking wheel seat is equipped with rotatable walking wheel, and the walking actuating mechanism passes through drive mechanism and is connected with the walking wheel.
In the preferred scheme, the top of walking wheel seat has set firmly vertical steering spindle, and the steering spindle is rotatable to be connected with the support frame, and the steering spindle passes through drive mechanism and is connected with steering motor.
In the preferred scheme, a power unit and a generator set are further arranged on the support frame, the power unit is mechanically connected with the generator set, and the generator set is used for providing electric energy for the walking driving mechanism, the steering driving mechanism and the pesticide spraying device.
In the preferred scheme, in the pesticide spraying device, a pesticide spraying motor is mechanically connected with a pesticide spraying pump through a speed reducer, the pesticide spraying pump is a centrifugal pump, a sliding vane pump or a plunger pump, the pesticide spraying pump is connected with an electromagnetic valve through a pipeline, and the electromagnetic valve is connected with a nozzle through a pipeline;
and the space between the pesticide spraying pump and the electromagnetic valve is also connected with the water tank through a pressure overflow pipeline.
In a preferred embodiment, the plunger pump has a structure that: the medicine spraying motor is connected with a crankshaft through a speed reducer, the crankshaft is connected with a piston rod in a plunger cylinder, the plunger cylinder is respectively connected with a liquid inlet one-way valve and a liquid discharge one-way valve in a one-way valve group, the liquid inlet one-way valve is connected with a medicine inlet pipeline, and the liquid discharge one-way valve is connected with a medicine discharge pipeline.
In the preferred scheme, a spray control sensor is arranged between the support frames and used for detecting whether plants exist or not so as to open and close an electromagnetic valve of the control nozzle.
In the preferred scheme, the track comprises a working track positioned between ridges, a line changing track vertical to the working track is arranged at the end of the working track, and a line changing turntable is arranged at the intersection point of the working track and the line changing track;
the line-changing turntable is structurally characterized in that a rotary bearing is arranged at the bottom of a rotary turntable body, and a turntable rail is arranged at the top of the rotary turntable body;
the bottom of the walking wheel seat is provided with a rotatable walking wheel, the outer circular wall of the walking wheel is provided with a groove, and the groove can be clamped on the working track, the line changing track and the turntable track;
a positioning plate is arranged near the line feed turntable, a position sensor is arranged on the supporting frame, and the position sensor triggers the steering operation of the traveling wheel seat by detecting the positioning plate.
In a preferable scheme, the track comprises a working track positioned between ridges, a track groove is formed in one side, close to the end, of the working track, a detachable tire is fixedly arranged at the end of a wheel shaft of the walking wheel, and the radius of the tire is larger than the sum of the radius of the walking wheel and the height of the track;
and one end of the rail groove close to the end of the working rail is also provided with a slope.
In the preferred scheme, the fixed arm adopts a truss girder structure, two ends of the fixed arm are also provided with extending adjustable hanging arms, the adjustable hanging arms are in telescopic sliding connection or hinged connection with the end heads of the two ends of the fixed arm, and a plurality of adjustable spraying rods are hung on the adjustable hanging arms.
The invention provides an automatic pesticide spraying system, which can cover ridges in a large range by adopting the structure, and realizes pesticide spraying operation of plants. The scheme that a plurality of adjustable spray rods are suspended and a plurality of nozzles aligned with the plant direction are arranged on the adjustable spray rods from top to bottom is adopted, so that the pesticide sprayed on the plants can be uniformly distributed. The arranged traveling driving mechanism and the steering driving mechanism can conveniently switch positions on different working tracks by matching with the structures of the track and the line changing turntable. The spraying control sensor that sets up can conveniently detect whether have the plant on the ridge to stop when not having the plant, in order to save the pesticide. The arranged track groove and the externally hung tire can facilitate the automatic pesticide spraying system to move to a farther working track without the limitation of the track. The automatic pesticide spraying system has the advantages that the pesticide spraying operation with large area, high efficiency and high uniformity is realized at lower cost, the labor is greatly saved, and the efficiency is improved. Through measurement and calculation, the working efficiency of the invention is more than 200 times of that of manual work, and one person can finish pesticide spraying operation of 1000 mu of citrus in one day. And the medicine consumption is saved by 80 percent. And is not influenced by the environmental weather, can be operated in all weather, and the disinfection and sterilization after the heavy rain are easy to implement.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is an elevational view of the overall structure of the present invention.
Fig. 2 is a view a-a of fig. 1.
Fig. 3 is a view B-B of fig. 1.
Fig. 4 is a schematic structural view of a spraying device of the present invention.
Fig. 5 is a schematic structural view of the travel driving mechanism and the steering driving mechanism of the present invention.
Fig. 6 is a schematic top view of the track structure of the present invention.
Fig. 7 is a schematic front view of the track and the road wheel of the present invention.
Fig. 8 is a side view of the track and road wheel of the present invention.
Fig. 9 is a schematic view of a connection structure of a fixed arm and an adjustable hanging arm of the present invention.
Fig. 10 is a schematic front view of the line feed turntable of the present invention.
Fig. 11 is a block diagram of the overall control structure of the present invention.
In the figure: adjustable spray boom 1, nozzle 2, adjustable hanging arm 3, hanging arm hydraulic cylinder 4, fixed arm 5, main water tank 6, reserve water tank 7, main control console 8, power generation device 9, traveling wheel seat 10, steering shaft 101, thrust bearing 102, bearing 103, track 11, working track 111, line-changing track 112, positioning plate 113, line-changing turntable 114, turntable track 1141, rotating disc 1142, rotating bearing 1143, track base 115, track groove 116, pesticide spraying motor 12, speed reducer 121, crankshaft 122, pesticide spraying pump 13, plunger cylinder 131, check valve group 132, pesticide discharging pipeline 133, pesticide feeding pipeline 134, main control device 14, traveling drive mechanism 15, chain drive mechanism 151, steering drive mechanism 16, steering motor 161, worm 162, worm wheel 163, power unit 17, generator set 18, support frame 19, position sensor 20, spray control sensor 21, traveling wheel 22, wheel shaft 221, tire 222, stay cable 23.
Detailed Description
Example 1:
referring to fig. 1 ~ 10, an automatic pesticide spraying system comprises two support frames 19 which are located between ridges when in use, preferably referring to fig. 2 ~ 3, wherein the support frames 19 are triangular or trapezoidal, the bottoms of the support frames 19 are wider, and the support frames 19 are truss-structured to reduce weight.
The top of support frame 19 is equipped with fixed arm 5, fixed arm 5 also adopt the structure of truss girder, preferred fixed arm 5 adopts aluminum alloy material. The height of the fixed arm 5 is higher than that of the plant, and the fixed arm 5 extends to the outer sides of the two support frames 19 to cover a plurality of ridges; in this example, the fixed arm 5 of the invention is added with the adjustable hanging arm 3 which can be extended or folded, and can cover the ridge of 36 meters.
As shown in FIG. 1 ~ 3, the bottom of the supporting frame 19 is provided with a traveling wheel seat 10, and the traveling wheel seat 10 is provided with a traveling driving mechanism 15 to drive the supporting frame 19 to travel along a track 11 or a path, thereby realizing the automatic traveling of the automatic pesticide spraying system.
The supporting frame 19 is provided with a steering driving mechanism 16 for driving the traveling wheel seat 10 to steer; with the structure, the line change of the automatic pesticide spraying system is convenient to realize.
A medicine spraying device and a water tank are arranged on the supporting frame 19 or the fixed arm 5, the water tank in the embodiment comprises a main water tank 6 arranged on the supporting frame 19 and a standby water tank 7 arranged on the fixed arm 5, the medicine spraying device is connected with the water tank through a pipeline, and a plurality of adjustable spray rods 1 are hung on the fixed arm 5;
a plurality of nozzles 2 aligned with the plant direction are arranged on the adjustable spray rod 1 from top to bottom, the nozzles 2 are arranged on the adjustable spray rod 1 through a tee joint or a four-way joint, and the nozzles 2 are connected with a pesticide spraying device through a pipeline. The adjustable boom 1 in this example uses a flexible and bendable pipe, such as an inner hose, a pipe externally wrapped with a helical metal pipe, which can be bent and shaped at will to adjust to the height and shape of the plant. The nozzle 2 can spray the fruit trees by selecting various types of nozzles such as far fog, near fog, narrow angle, wide angle, large flow, small flow and the like according to needs.
As shown in fig. 5, the walking wheel seat 10 is disposed at the bottom of the supporting frame 19 near the two ends, the bottom of the walking wheel seat 10 is provided with a rotatable walking wheel 22, and the walking driving mechanism 15 is connected with the walking wheel 22 through a transmission mechanism. The walking driving mechanism 15 in this example comprises a walking motor and a speed reducer fixed on the walking wheel base 10, and the output shaft of the speed reducer is connected with the walking wheel 22 through a chain transmission mechanism. The walking motor adopts a variable frequency motor.
Preferably, as shown in fig. 5, a vertical steering shaft 101 is fixedly arranged at the top of the traveling wheel seat 10, the steering shaft 101 is rotatably connected with the support frame 19, and the steering shaft 101 is connected with the steering motor 161 through a transmission mechanism. In this example, the steering shaft 101 is connected to the rotatable support frame 19 via a thrust bearing 102 and two deep groove ball bearings to ensure reliable force application. The top end of the steering shaft 101 is provided with a worm wheel 163, the steering motor 161 is fixedly arranged on the support frame 19, the output shaft of the steering motor 161 is fixedly connected with the worm 162, and the worm 162 is meshed with the worm wheel 163.
In a preferred scheme, as shown in fig. 2, a power unit 17 and a generator unit 18 are further arranged on a support frame 19, the power unit 17 is mechanically connected with the generator unit 18, and the generator unit 18 is used for providing electric energy for the walking driving mechanism 15, the steering driving mechanism 16 and the pesticide spraying device. In this example, the power unit 17 is preferably a diesel engine, alternatively a gasoline engine, and the generator unit 18 is an ac generator unit. And the storage battery is used for outputting stable direct current for automatic control.
In the preferred scheme, as shown in fig. 3, in the pesticide spraying device, a pesticide spraying motor 12 is mechanically connected with a pesticide spraying pump 13 through a speed reducer, the pesticide spraying pump 13 is a centrifugal pump, a sliding vane pump or a plunger pump, the pesticide spraying pump 13 is connected with an electromagnetic valve through a pipeline, and the electromagnetic valve is connected with a nozzle 2 through a pipeline;
the space between the spraying pump 13 and the electromagnetic valve is also connected with the water tank through a pressure overflow pipeline. The solenoid valve in this example is controlled by a PLC to control the on/off of the nozzle 2.
The preferable scheme is as shown in fig. 4, the plunger pump has the structure that: the pesticide spraying motor 12 is connected with a crankshaft 122 through a speed reducer, the crankshaft 122 is connected with a piston rod in a plunger cylinder 131, the plunger cylinder 131 is respectively connected with a liquid inlet one-way valve and a liquid discharge one-way valve in a one-way valve set 132, the liquid inlet one-way valve is connected with a pesticide inlet pipeline 134, and the liquid discharge one-way valve is connected with a pesticide discharge pipeline 133. With this structure, a high spraying pressure can be obtained.
In a preferred embodiment, as shown in fig. 2, a spray control sensor 21 is provided between the supports 19 for detecting the presence of plants to activate the solenoid valve controlling the nozzle 2. The spray control sensor 21 in this example employs a correlation photoelectric sensor. According to the scheme, when no plant exists, the oppositely-arranged photoelectric sensor is not blocked, so that the control electromagnetic valve is disconnected in the PLC, the spraying is suspended, and the oppositely-arranged photoelectric sensor is shielded by the plant again.
In a preferred scheme, as shown in fig. 6, the track 11 includes a working track 111 located between the ridges, a line-changing track 112 perpendicular to the working track 111 is provided at the end of the working track 111, and a line-changing turntable 114 is provided at the intersection point of the working track 111 and the line-changing track 112;
as shown in fig. 10, the line feed turntable 114 has a structure that a rotary bearing 1143 is disposed at the bottom of a rotary disc body 1142, and a turntable rail 1141 is disposed at the top of the rotary disc body 1142;
as shown in fig. 5, the bottom of the traveling wheel seat 10 is provided with a rotatable traveling wheel 22, and the outer circular wall of the traveling wheel 22 is provided with a groove which can be clamped on the working track 111, the line changing track 112 and the turntable track 1141;
a positioning plate 113 is provided near the line feed turn table 114, a position sensor 20 is provided on the support frame 19, and the position sensor 20 triggers the turning operation of the running wheel base 10 by detecting the positioning plate 113. The position sensor 20 in this example is a photoelectric sensor, a mechanical proximity sensor, a hall sensor, or a giant magnetoresistive sensor. Whether the road wheels 22 are positioned on the line feed turntable 114 is detected by the position sensor 20.
In a preferred scheme, as shown in fig. 7 and 8, the track 11 comprises a working track 111 positioned in a ridge, a track groove 116 is formed in one side of the working track 111 close to the end, a detachable tire 222 is fixedly arranged at the end of a wheel shaft 221 of a walking wheel 22, and the radius of the tire 222 is greater than the sum of the radius of the walking wheel 22 and the height of the track 11;
the end of the rail groove 116 near the end of the working rail 111 is also provided with a slope. With the structure, when the remote movement is needed, the tire 222 is fixedly arranged on the flange plate at the end of the wheel shaft 221 at the position of the track groove 116, and after the installation is finished, the automatic pesticide spraying system is continuously moved until the tire 222 climbs along the slope, so that the road wheels 22 are separated from the track 11. When moving to the next working track 111, the tire 222 is ramped into the track groove 116 until the road wheels 22 engage the track 11, and then the tire 222 is removed.
In a preferred scheme, as shown in fig. 9, two ends of a fixed arm 5 are further provided with extended adjustable hanging arms 3, the adjustable hanging arms 3 are telescopically connected with the two end heads of the fixed arm 5 in a sliding or hinged manner, and a plurality of adjustable spray rods 1 are suspended on the adjustable hanging arms 3. Preferably, the adjustable hanging arm 3 is hinged to the two ends of the fixed arm 5, and the adjustable hanging arm 3 is preferably made of aluminum alloy. The adjustable hanging arm 3 is hinged with the fixed arm 5 through a hanging arm hydraulic cylinder 4, so that the automatic opening and closing operation of the adjustable hanging arm 3 is realized. The hanging arm hydraulic cylinder 4 is connected with a small hydraulic station.
Example 2:
when the adjustable hanging arm device is used, the state of the adjustable hanging arm 3 is adjusted according to the spraying range of a plant, and if the adjustable hanging arm is in a sliding mode, the slidable adjustable hanging arm 3 is adjusted to a proper position. Preferably, in this example, a folding mode is adopted, the fixed arm 5 is hinged to the top of the adjustable hanging arm 3, the hanging arm hydraulic cylinder 4 obliquely penetrates through the fixed arm 5 to be hinged to an extension rod at the top of the adjustable hanging arm 3, and the adjustable hanging arm 3 can be controlled to fold and unfold by stretching and contracting of the hanging arm hydraulic cylinder 4. The adjustable spray rod 1 is arranged according to the height of plants, the adjustable spray rod 1 is made of a bendable spiral metal pipe, and the middle of the adjustable spray rod is connected with the spray nozzles 2 through a plurality of three-way joints. If the height of plant is higher, then straighten adjustable spray lance 1, if the height of plant is shorter, then crooked adjustable spray lance 1, several nozzles 2 at top can be pulled down to the end cap is plugged up, so as to avoid extravagant liquid medicine.
The main tank 6 and the reserve tank 7 are filled with a chemical liquid. Starting a power unit and a generator set of the power generation device 9, and testing the working states of the hydraulic station, the spraying motor and the walking motor. Personnel enter the main console 8 or are remotely operated using a control handle. The walking motor in the walking driving mechanism 15 is started, the walking motor drives the walking wheel 22 to walk along the track 11 through the straight gear reducer and the chain transmission mechanism 151, when the spraying control sensor 21 detects that plants exist, the spraying valve is opened, the spraying pump preferably adopts a three-cylinder piston pump to spray liquid medicine from the nozzle 2, when the spraying control sensor 21 does not detect the plants, the spraying valve is closed, and the liquid medicine flows back to the main water tank 6 or the standby water tank 7 through the overflow valve. When the plants in a row are sprayed, the power supply of the spraying motor 12 is turned off. The traveling drive mechanism 15 drives the traveling wheels 22 to rotate reversely and move to the line feed turntable 114, and when the position sensor 20 detects the positioning plate 113 near the line feed turntable 114, the PLC cuts off the power supply of the traveling drive mechanism 15. The PLC controls the steering motor 161 to operate, the steering motor 161 drives the steering shaft 101 to rotate through the worm 162 and the worm wheel 163, so as to drive the traveling wheel seat 10 to rotate, the line feed turntable 114 correspondingly rotates by taking the circle center of the rotating bearing 1143 as an axis, and the turntable rail 1141 is aligned with the line feed rail 112 until 90 degrees later. The power supply of the steering motor 161 is cut off, and the walking driving mechanism 15 drives the walking wheels 22 to move to the position of the other row of the working tracks 111, and the positioning plate 113 is positioned. The steering motor 161 is again operated to rotate the carousel track 1141 again 90 ° into alignment with the row of work tracks 111, again starting the spraying task. When the work is finished and the whole automatic pesticide spraying system needs to be moved to other places for work, the automatic pesticide spraying system is firstly operated to the position where the track groove 116 is arranged at the end of the track 11, the tyre 222 is fixedly arranged on the wheel shaft 221 in the track groove 116, then the walking driving mechanism 15 is started to continue walking, the tyre 222 goes up the ground along the slope of the track groove 116, the tyre is remotely moved to the next work place, and the tyre 222 is removed at the position of the track groove 116 and then continues to work.
Preferably, in this embodiment, the steering motor 161 may be replaced by a hydraulic cylinder, and the traveling wheel base 10 is driven to rotate by 90 ° by the hydraulic cylinder. The travel motor of the travel drive 15 may be replaced with a hydraulic motor.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. The automatic pesticide spraying system is characterized in that: the device comprises two support frames (19) which are positioned between ridges when in use, a fixed arm (5) is arranged at the top of each support frame (19), the height of each fixed arm (5) is higher than that of a plant, and each fixed arm (5) extends to the outer sides of the two support frames (19) to cover a plurality of ridges;
the bottom of the support frame (19) is provided with a walking wheel seat (10), and the walking wheel seat (10) is provided with a walking driving mechanism (15) so as to drive the support frame (19) to walk along a track (11) or a path;
the supporting frame (19) is provided with a steering driving mechanism (16) for driving the traveling wheel seat (10) to steer;
a medicine spraying device and a water tank are arranged on the supporting frame (19) or the fixed arm (5), the medicine spraying device is connected with the water tank through a pipeline, and a plurality of adjustable spray rods (1) are suspended on the fixed arm (5);
a plurality of nozzles (2) aligned with the plant direction are arranged on the adjustable spray rod (1) from top to bottom, and the nozzles (2) are connected with a pesticide spraying device through pipelines.
2. The automatic pesticide spraying system of claim 1, which is characterized in that: the supporting frame (19) adopt a triangular or trapezoidal structure, the bottom of the supporting frame (19) is wide, the positions of the bottom of the supporting frame (19) close to the two ends are provided with walking wheel seats (10), the bottom of each walking wheel seat (10) is provided with a rotatable walking wheel (22), and a walking driving mechanism (15) is connected with the walking wheels (22) through a transmission mechanism.
3. The automatic pesticide spraying system of claim 2, which is characterized in that: the top of walking wheel seat (10) sets firmly vertical steering spindle (101), and steering spindle (101) are rotatable to be connected with support frame (19), and steering spindle (101) are connected with steering motor (161) through drive mechanism.
4. The automatic pesticide spraying system of claim 1, which is characterized in that: the supporting frame (19) is also provided with a power unit (17) and a generator set (18), the power unit (17) is mechanically connected with the generator set (18), and the generator set (18) is used for providing electric energy for the walking driving mechanism (15), the steering driving mechanism (16) and the pesticide spraying device.
5. The automatic pesticide spraying system of claim 1, which is characterized in that: in the pesticide spraying device, a pesticide spraying motor (12) is mechanically connected with a pesticide spraying pump (13) through a speed reducer, the pesticide spraying pump (13) is a centrifugal pump, a sliding vane pump or a plunger pump, the pesticide spraying pump (13) is connected with an electromagnetic valve through a pipeline, and the electromagnetic valve is connected with a nozzle (2) through a pipeline;
the space between the pesticide spraying pump (13) and the electromagnetic valve is also connected with the water tank through a pressure overflow pipeline.
6. The automatic pesticide spraying system of claim 5, which is characterized in that: the plunger pump has the structure that: the pesticide spraying motor (12) is connected with a crankshaft (122) through a speed reducer, the crankshaft (122) is connected with a piston rod in a plunger cylinder (131), the plunger cylinder (131) is respectively connected with a liquid inlet one-way valve and a liquid discharge one-way valve in a one-way valve group (132), the liquid inlet one-way valve is connected with a pesticide inlet pipeline (134), and the liquid discharge one-way valve is connected with a pesticide discharge pipeline (133).
7. An automatic pesticide spraying system as claimed in any one of claims 5 or 6, wherein: a spraying control sensor (21) is arranged between the supporting frames (19) and is used for detecting whether plants exist or not so as to open and close the electromagnetic valve of the control nozzle (2).
8. The automatic pesticide spraying system of claim 1, which is characterized in that: the track (11) comprises a working track (111) positioned between ridges, a line changing track (112) perpendicular to the working track (111) is arranged at the end of the working track (111), and a line changing turntable (114) is arranged at the intersection point of the working track (111) and the line changing track (112);
the line feed turntable (114) is structurally characterized in that a rotary bearing (1143) is arranged at the bottom of a rotary turntable body (1142), and a turntable track (1141) is arranged at the top of the rotary turntable body (1142);
the bottom of the walking wheel seat (10) is provided with a rotatable walking wheel (22), the outer circular wall of the walking wheel (22) is provided with a groove, and the groove can be clamped on the working track (111), the line changing track (112) and the turntable track (1141);
a positioning plate (113) is arranged near the line feed turntable (114), a position sensor (20) is arranged on the support frame (19), and the position sensor (20) triggers the steering operation of the traveling wheel seat (10) by detecting the positioning plate (113).
9. The automatic pesticide spraying system of claim 1, which is characterized in that: the track (11) comprises a working track (111) positioned between ridges, a track groove (116) is formed in one side, close to the end, of the working track (111), a detachable tire (222) is fixedly arranged at the end of a wheel shaft (221) of the walking wheel (22), and the radius of the tire (222) is larger than the sum of the radius of the walking wheel (22) and the height of the track (11);
one end of the rail groove (116) close to the end of the working rail (111) is also provided with a slope.
10. The automatic pesticide spraying system of claim 7, wherein: the fixed arm (5) adopt a truss girder structure, the two ends of the fixed arm (5) are also provided with the extending adjustable hanging arms (3), the adjustable hanging arms (3) are connected with the two ends of the fixed arm (5) in a telescopic sliding connection or a hinged connection, and a plurality of adjustable spraying rods (1) are hung on the adjustable hanging arms (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910950682.5A CN110637800B (en) | 2019-10-08 | 2019-10-08 | Automatic medicine spraying system |
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|---|---|---|---|
| CN201910950682.5A CN110637800B (en) | 2019-10-08 | 2019-10-08 | Automatic medicine spraying system |
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| CN110637800A true CN110637800A (en) | 2020-01-03 |
| CN110637800B CN110637800B (en) | 2023-04-18 |
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| Publication number | Publication date |
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| CN110637800B (en) | 2023-04-18 |
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