CN112974015A - Self-propelled highland crack pineapple flower forcing machine based on PLC control - Google Patents

Self-propelled highland crack pineapple flower forcing machine based on PLC control Download PDF

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Publication number
CN112974015A
CN112974015A CN202110137455.8A CN202110137455A CN112974015A CN 112974015 A CN112974015 A CN 112974015A CN 202110137455 A CN202110137455 A CN 202110137455A CN 112974015 A CN112974015 A CN 112974015A
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CN
China
Prior art keywords
flower forcing
spraying
steering
plc
motor
Prior art date
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Pending
Application number
CN202110137455.8A
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Chinese (zh)
Inventor
张日红
朱立学
陈天赐
刘义存
李小敏
任雷
张权
卢德贤
何凯均
王志伟
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Zhongkai University of Agriculture and Engineering
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Zhongkai University of Agriculture and Engineering
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Application filed by Zhongkai University of Agriculture and Engineering filed Critical Zhongkai University of Agriculture and Engineering
Priority to CN202110137455.8A priority Critical patent/CN112974015A/en
Publication of CN112974015A publication Critical patent/CN112974015A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/007—At least a part of the apparatus, e.g. a container, being provided with means, e.g. wheels, for allowing its displacement relative to the ground
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G7/00—Botany in general
    • A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/40—Filters located upstream of the spraying outlets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
    • B05B15/628—Arrangements for supporting spraying apparatus, e.g. suction cups of variable length
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0406—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with several pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0409—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material the pumps being driven by a hydraulic or a pneumatic fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0413—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with reciprocating pumps, e.g. membrane pump, piston pump, bellow pump
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Wood Science & Technology (AREA)
  • Botany (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention discloses a self-propelled high-ground-clearance pineapple flower forcing machine based on PLC control, which comprises a rack, a power system, a transmission system, a spraying system, a PLC control system and a steering system, wherein the power system is connected with the rack; the spraying system is driven by the push rod motor to lift up and down, the distance between the spray head and the spraying position is adjusted, and the spray head can be adjusted in the horizontal direction to adapt to the change of the pineapple planting row spacing; the PLC sets the advancing direction and speed of the vehicle body, the spraying interval time of the flower forcing liquid, the time of each spraying, the height of the spray head in the vertical direction and the maximum traveling distance of the vehicle body; after the system is started, the flower forcing liquid spraying system sprays flower forcing liquid to the pineapple seedlings according to preset interval time along with the uniform-speed advance of the vehicle body; the direct-current permanent magnet brushless motor drives the front high land wheel through the front axle assembly; the hydraulic steering system drives the two front wheel supporting legs to rotate to realize steering; the machine has the advantages of high degree of mechanization, convenient operation, low cost, time and labor saving, high spraying efficiency, long service life and the like.

Description

Self-propelled highland crack pineapple flower forcing machine based on PLC control
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a self-propelled high-ground-clearance pineapple flower forcing machine based on PLC control.
Background
In pineapple planting, the conditions that the flowering period of pineapples is long, fruits are not ripe intensively and the like are not beneficial to standardized management and picking and the like exist. And in order to standardize management and adjust the time for the pineapples to appear on the market, a higher production value is created, so that when the pineapples grow to a certain stage, the growth condition of the pineapples needs to be adjusted by spraying a flower forcing agent, the pineapples need to be sprayed with the flower forcing agent for multiple times when the pineapples mature to fruit, the fruits can be promoted to mature, and the high-quality fruits can be produced and can be listed on the market on time.
The flower forcing period is different from species to species, the planting area is large, and the artificial flower forcing is still a main flower forcing mode at the present stage; when the flower forcing agent is used for forcing flowers artificially, the using amount of the flower forcing agent is difficult to grasp, waste can be caused, the cost is increased, the flower forcing agent can have great harm to human bodies, the flower forcing agent is usually ethephon, the flower forcing agent is in direct contact with the skin, eyes and mucous membranes, the population is aged, the agricultural labor is reduced, the cost for artificially forcing the flowers is increased, and therefore, the development of an advanced automatic pineapple flower forcing technology and the research and development of an automatic pineapple flower forcing device have important significance.
According to the problems of the current pineapple flower forcing technology, a self-propelled high-ground-clearance pineapple flower forcing machine based on PLC control is developed.
Disclosure of Invention
The invention aims to provide a self-propelled high-ground-clearance pineapple flower forcing machine based on PLC control, which solves the problems in the prior art and can realize that at least four spray heads automatically spray flower forcing agents under the control of the PLC; in order to achieve the purpose, the invention provides the following scheme: the invention provides a self-propelled high-ground-clearance pineapple flower forcing machine based on PLC control, which comprises: the device comprises a rack, a power system, a transmission system, a spraying system, a PLC control system and a steering system;
the spraying system is installed at one end of the frame, and the power system is in transmission connection with the transmission system; the transmission system is arranged on the bottom surface of the frame; the PLC control system is fixedly arranged on the top surface of the frame; the PLC control system is respectively electrically connected with the power system, the transmission system, the steering system and the spraying system;
the spraying system comprises a water tank, a connecting pipeline, a spraying device and a lifting device; the lifting device comprises a frame plate, a shell, a push rod motor and a sliding plate, wherein the push rod motor and the sliding plate are arranged between the frame plate and the shell; the frame plate is vertically arranged at one end of the rack;
the push rod motor is fixedly arranged at the top of the frame plate; the sliding plate is arranged in parallel with the push rod motor, is in transmission connection with the push rod motor, and is at least provided with 2 blocks; the push rod motor is electrically connected with the PLC control system;
the spraying device comprises a sliding track; the sliding rails are horizontally arranged and fixedly connected with the bottom end of each sliding plate; the sliding rail is provided with at least 4 spray heads which are communicated with the connecting pipeline, and the connecting pipeline is fixedly clamped on the sliding plate and the top of the sliding rail through a fixed block; the water tank is fixedly arranged on the rack and is communicated with the spray head through the connecting pipeline.
Further, the rotary motion of the push rod motor is converted into linear motion through a pair of nuts and a lead screw, the push rod action is completed through positive and negative rotation of the motor, the end part of the lead screw is fixed on a sliding plate, the sliding plate is connected to a sliding track column in a sliding mode through a ball bearing, and the lead screw moves up and down to drive the sliding plate to move up and down along the moving track column; the spraying device can move in the horizontal direction, and the distance between the oil sprays is adjusted.
Preferably, the spraying system further comprises a filter, a dual-core diaphragm pump, a shunt pipeline and an electromagnetic valve; the water tank outlet pipe is communicated with one end of the filter, the other end of the water tank outlet pipe is communicated with the input end of the dual-core diaphragm pump, the output end of the water tank outlet pipe is communicated with the diversion pipeline, a plurality of communication holes are formed in the diversion pipeline, each communication hole is communicated with one connecting pipeline, and the electromagnetic valve is installed at the front end of the connecting pipeline.
Furthermore, the flower forcing agent aqueous solution stored in the water tank is filtered to remove impurities through a filter, then is pressurized through the dual-core diaphragm pump and flows to a shunt pipeline controlled by the electromagnetic valve through a pipeline, and the PLC control box controls the opening of the electromagnetic valve.
The transmission system comprises a transmission shaft, a front axle, a high land wheel and a rear leg; one end of the transmission shaft is in transmission connection with the power system, the other end of the transmission shaft is in transmission connection with the front axle, the front axle is in transmission connection with the highland wheel, the highland wheel is a driving wheel, the rear supporting leg is fixedly connected with the rack through a backing plate, two ends of the rear supporting leg are respectively fixedly connected with the highland wheel, and the highland wheel is a driven wheel.
Preferably, the front axle comprises a bridge package, a first half axle, an adapter and a second half axle; two ends of the bridge package are in transmission connection with one end of a first half shaft respectively, and the other end of the first half shaft is fixedly connected with one end of a second half shaft through the adapter; the other end of the second half shaft is in transmission connection with the driving high land wheel.
More closely, the power output by the power system is increased in torque through the cycloidal pin gear speed reducer and then transmitted to the front axle package through the transmission shaft, the front axle package transmits power to the first half shafts at two ends through the conical gears, the first half shafts transmit power to the second half shafts through the gears, finally, the power is transmitted to the driving high land wheel, and the driving high land wheel transmits the power to the driven high land wheel through the frame, so that the vehicle body can walk.
The steering system comprises a hydraulic device, a steering oil cylinder, a steering pull rod, a limiting support, a hydraulic oil inlet pipe and a hydraulic oil return pipe, wherein the hydraulic device is fixed on the rack, one end of the hydraulic oil return pipe is respectively communicated with the hydraulic device, the other end of the hydraulic oil return pipe is communicated with the steering oil cylinder, two end faces of the steering oil cylinder are respectively connected with one end of the steering pull rod, the other end of the steering pull rod is hinged to a second half shaft, the second half shaft is a revolving body, the hydraulic cylinder controls the steering pull rod to extend and shorten the revolving body through oil inlet and oil return, so that the second half shaft rotates to drive the high-ground wheel to steer, one end of the limiting support is fixed on the second half shaft, and the other end of the limiting support is fixedly hinged; the limit bracket limits the steering angle, and the hydraulic device is electrically connected with the PLC control system.
Preferably, the hydraulic device comprises a hydraulic pump hydraulic motor, the hydraulic motor provides power for the hydraulic pump, steering fluid enters the hydraulic cylinder through the oil inlet pipe after being pressurized by the hydraulic pump, the hydraulic cylinder moves left and right to drive the steering pull rod to move left and right, one end of the steering pull rod is fixed on a support, the support is fixed on a second half shaft, the second half shaft is a revolving body, the steering pull rod moves left and right to drive the second half shaft to rotate, so that the highland wheel is driven to rotate, and the steering system is provided with the steering support to limit the steering angle.
The power system comprises a battery module, a direct current motor and a speed reducer; the battery module is fixed on the rack, the speed reducer is fixed on the bottom surface of the rack through a connecting plate, the output end of the direct current motor is connected to the input end of the speed reducer, and the direct current motor is electrically connected with the battery module.
The PLC control system comprises a PLC control module, a walking motor controller, a vehicle body steering hydraulic controller, a flower forcing liquid injection group control relay, a flower forcing injection height control motor, a position encoder and a speed regulation potentiometer; the position encoder and the speed-regulating potentiometer control the walking motor controller; the walking motor controller is electrically connected with the direct current motor; the output signals of the PLC control module comprise the signals for starting and stopping the forward and backward movement of the walking motor, the left and right steering of the vehicle body, the rising and falling of the motor controlled by the spraying height of the flower forcing liquid and the spraying of the flower forcing liquid; the speed-regulating potentiometer is used for regulating the forward or backward speed of the walking motor; the position encoder is used for feeding back the rotation direction, the rotation angular displacement and the rotation speed of the walking motor, and further indirectly obtaining the advancing displacement, the advancing direction and the walking speed of the vehicle body.
The vehicle body steering hydraulic controller is electrically connected with the hydraulic device; the flower forcing liquid injection group control relay is electrically connected with the electromagnetic valve; the flower forcing spraying height control motor is electrically connected with the push rod motor.
The walking direct current motor is a direct current permanent magnet brushless motor.
The speed reducer is a cycloidal pin wheel speed reducer.
The invention discloses the following technical effects: the device can adopt a spraying device with adjustable vertical height, the spray head moves in the horizontal direction according to actual needs, the device is adjusted to adopt a front wheel two-drive system, power is provided by a direct current motor in the middle part below the vehicle body, and the vehicle body is driven to run by a transmission system after torque is increased by a cycloidal pin wheel speed reducer; the machine has the advantages of high degree of mechanization, convenient operation, low cost, time and labor saving, high spraying efficiency, long service life and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the spraying device of the present invention.
Fig. 3 is a schematic structural diagram of the lifting mechanism of the present invention.
Fig. 4 is a schematic structural view of the spraying mechanism of the present invention.
FIG. 5 is a schematic view of the transmission system and the steering system of the present invention.
Fig. 6 is a schematic diagram of PLC system control according to the present invention.
FIG. 7 is a schematic diagram of the overall on/off control of the circuit of the present invention.
Wherein, 1 is a frame, 2 is a power system, 3 is a transmission system, 4 is a spraying system, 5 is a PLC control system, 6 is a steering system, 2-1 is a battery module, 2-2 is a direct current motor, 2-3 is a speed reducer, 3-1 is a transmission shaft, 3-2 is a front axle, 3-3 is a ground wheel, 3-4 is a rear supporting leg, 3-2-1 is a bridge package, 3-2-2 is a first half shaft, 3-2-3 is an adapter, 3-2-4 is a second half shaft, 4-1 is a water tank, 4-2 is a filter, 4-3 is a dual-core diaphragm pump, 4-4 is a shunt pipeline, 4-5 is an electromagnetic valve, 4-6 is a connecting pipeline, 4-7 is a spraying device, 4-8 is a lifting device, 4-8-1 is a frame plate, 4-8-2 is a shell, 4-8-3 is a push rod motor, 4-8-4 is a sliding plate, 4-7-1 is a sliding rail, 4-7-2 is a spray head, 6-1 is a hydraulic device, 6-2 is a steering oil cylinder, 6-3 is a steering pull rod, 6-4 is a limit bracket, 6-5 is a hydraulic oil inlet pipe, and 6-6 is a hydraulic oil return pipe.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
A self-propelled high-ground-clearance pineapple flower forcing machine based on PLC control comprises a rack 1, a power system 2, a transmission system 3, a spraying system 4, a PLC control system 5 and a steering system 6; one end of the frame 1 is provided with a spraying system 4, and the power system 2 is in transmission connection with the transmission system 3; the transmission system 3 is arranged on the bottom surface of the frame 1; the PLC control system 5 is fixedly arranged on the top surface of the frame 1; the PLC control system 5 is respectively electrically connected with the power system 2, the transmission system 3, the steering system 6 and the spraying system 4;
the spraying system 4 comprises a water tank 4-1, a connecting pipeline 4-6, a spraying device 4-7 and a lifting device 4-8; the lifting device 4-8 comprises a frame plate 4-8-1, a shell 4-8-2, a push rod motor 4-8-3 arranged between the frame plate 4-8-1 and the shell 4-8-2 and a sliding plate 4-8-4; the frame plate 4-8-1 is vertically arranged at one end of the frame 1;
the push rod motor 4-8-3 is fixedly arranged at the top of the frame plate 4-8-1; the sliding plate 4-8-4 is arranged in parallel with the push rod motor 4-8-3, is in transmission connection with the push rod motor 4-8-3 and is at least provided with 2 blocks; the push rod motor 4-8-3 is electrically connected with the PLC control system 5;
the spraying device 4-7 comprises a sliding track 4-7-1; the sliding rails 4-7-1 are horizontally arranged and fixedly connected with the bottom end of each sliding plate 4-8-4; the sliding rail 4-7-1 is at least provided with 4 spray heads 4-7-2, the spray heads 4-7-2 are all communicated with a connecting pipeline 4-6, the connecting pipeline 4-6 is fixedly clamped on the sliding plate 4-8-4 and the top of the sliding rail 4-7-1 through a fixing block, the water tank 4-1 is fixedly arranged on the rack 1, and the water tank 4-1 is communicated with the spray heads 4-7-2 through the connecting pipeline 4-6.
The spraying system 4 also comprises a filter 4-2, a dual-core diaphragm pump 4-3, a shunt pipeline 4-4 and an electromagnetic valve 4-5; a water outlet pipe of the water tank 4-1 is communicated with one end of the filter 4-2, the other end of the water tank is communicated with the input end of the dual-core diaphragm pump 4-3, the output end of the water tank is communicated with a shunt pipeline 4-4, a plurality of communicating holes are formed in the shunt pipeline 4-4, each communicating hole is communicated with a connecting pipeline 4-6, and the electromagnetic valve 4-5 is installed at the front end of the connecting pipeline 4-6.
The transmission system 3 comprises a transmission shaft 3-1, a front axle 3-2, a high ground wheel 3-3 and a rear supporting leg 3-4; one end of a transmission shaft 3-1 is in transmission connection with the output end of a speed reducer 2-3, the other end of the transmission shaft is in transmission connection with the power system 2, a front axle 3-2 is in transmission connection with a driving high land wheel 3-3, a rear supporting leg 3-4 is fixedly connected with the machine frame 1 through a backing plate, and two ends of the rear supporting leg 3-4 are respectively fixedly connected with a driven high land wheel 3-3.
The front axle 3-2 comprises a bridge package 3-2-1, a first half axle 3-2-2, a joint 3-2-3 and a second half axle 3-2-4; two ends of the bridge package 3-2-1 are respectively in transmission connection with one end of a first half shaft 3-2-2, and the other end of the first half shaft 3-2-2 is fixedly connected with one end of a second half shaft 3-2-4 through a joint 3-2-3; the other end of the second half shaft 3-2-4 is in transmission connection with a high land wheel 3-3.
The steering system 6 includes: a hydraulic device 6-1, a steering oil cylinder 6-2, a steering pull rod 6-3, the hydraulic steering device comprises a limiting support 6-4, a hydraulic oil inlet pipe 6-5 and a hydraulic oil return pipe 6-6, wherein a hydraulic device 6-1 is fixed on a rack 1, the hydraulic oil inlet pipe 6-5 is communicated with the hydraulic device 6-1 at one end of the hydraulic oil return pipe 6-6 and communicated with a steering oil cylinder 6-3 at the other end, two end faces of the steering oil cylinder 6-3 are respectively connected with one end of a steering pull rod 6-4, the other end of the steering pull rod 6-4 is hinged on a second half shaft 3-2-3, the second half shaft 3-2-3 is a revolving body, one end of the limiting support 6-4 is fixed on the second half shaft 3-2-3, and the other end of the limiting support is fixedly hinged on the adapter 3-2; the hydraulic device 6-1 is electrically connected with the PLC control system 5.
The power system 2 comprises a battery module 2-1, a direct current motor 2-2 and a speed reducer 2-3; the battery module 2-1 is fixed on the frame 1, the speed reducer 2-3 is fixed on the bottom surface of the frame 1 through a connecting plate, the output end of the direct current motor 2-2 is connected with the input end of the speed reducer 2-3, and the direct current motor 2-2 is electrically connected with the battery module 2-1.
The PLC control system 5 comprises a PLC control module, a walking motor controller, a vehicle body steering hydraulic controller, a flower forcing liquid injection group control relay and a flower forcing injection height control motor; the position encoder and the speed-regulating potentiometer control the walking motor controller; the traveling motor controller is electrically connected with the direct current motor 2-2; the vehicle body steering hydraulic controller is electrically connected with the hydraulic package 6-1; the flower forcing liquid injection group control relay is electrically connected with the electromagnetic valve 4-5; the flower forcing spraying height control motor is electrically connected with the push rod motor 4-8-3.
The traveling direct current motor 2-2 is a direct current permanent magnet brushless motor.
The speed reducer 2-3 is a cycloidal pin gear speed reducer.
Example 1:
the spraying system 4 comprises a water tank 4-1, a connecting pipeline 4-6, a spraying device 4-7 and a lifting device 4-8; the lifting device 4-8 comprises a frame plate 4-8-1, a shell 4-8-2, a push rod motor 4-8-3 arranged between the frame plate 4-8-1 and the shell 4-8-2 and a sliding plate 4-8-4; the frame plate 4-8-1 is vertically arranged at one end of the frame 1;
the push rod motor 4-8-3 is fixedly arranged at the top of the frame plate 4-8-1; the sliding plate 4-8-4 is arranged in parallel with the push rod motor 4-8-3, is in transmission connection with the push rod motor 4-8-3 and is at least provided with 2 blocks; the push rod motor 4-8-3 is electrically connected with the PLC control system 5;
the spraying device 4-7 comprises a sliding track 4-7-1; the sliding rails 4-7-1 are horizontally arranged and fixedly connected with the bottom end of each sliding plate 4-8-4; the sliding rail 4-7-1 is at least provided with 4 nozzles 4-7-2, the nozzles 4-7-2 are all communicated with a connecting pipeline 4-6, the connecting pipeline 4-6 is fixedly clamped on the sliding plate 4-8-4 through a fixed block, the water tank 4-1 is fixedly arranged on the rack 1, and the water tank 4-1 is communicated with the nozzles 4-7-2 through the connecting pipeline 4-6.
The spraying system 4 also comprises a filter 4-2, a dual-core diaphragm pump 4-3, a shunt pipeline 4-4 and an electromagnetic valve 4-5; a water outlet pipe of the water tank 4-1 is communicated with one end of the filter 4-2, the other end of the water tank is communicated with the input end of the dual-core diaphragm pump 4-3, the output end of the water tank is communicated with a flow dividing pipeline 4-4, a plurality of communicating holes are arranged on the flow dividing pipeline 4-4, each communicating hole is communicated with a connecting pipeline 4-6, and the electromagnetic valve 4-5 is arranged at the front end of the connecting pipeline 4-6.
The working process of the device is as follows: referring to fig. 6 and 7, the output signal of the PLC control module is sent to the traveling motor controller, the traveling motor is adjusted to move forward or backward by the speed-adjusting potentiometer, and the position encoder indirectly obtains the traveling displacement, the traveling direction and the traveling speed of the vehicle body, so that the spraying interval distance of the flower forcing liquid, the maximum traveling distance of the flower forcing liquid spraying, the time of spraying the flower forcing liquid each time, the rising control relay and the falling control relay control the flower forcing spraying height control motor to perform rising and falling adjustment, and the distance between the liquid medicine spray head and the spraying position is adjusted; the flower forcing liquid injection group control relay controls a medicine spraying electromagnetic valve, and the medicine spraying electromagnetic valve is opened or closed according to preset interval time; the vehicle body steering hydraulic controller controls a hydraulic device, and the hydraulic device comprises a hydraulic motor and a hydraulic pump.
Example 2: the device has two control modes of manual operation and automatic operation, wherein the manual control mode is mainly used for adjusting the state of the device and debugging the device, and the pineapple flower forcing device automatically moves at a constant speed according to the set speed in the automatic mode.
Example 3: the bottom of the rack is connected with a plurality of beams in a specified manner, and the beams strengthen the strength of the rack.
Example 4: the spray head comprises a liquid spraying head, a fixed stop block, a cushion block and a wrench, the stop block is connected with the sliding rail in a sliding mode, the cushion block is fixed on the stop block, and the liquid spraying head is fixed on the stop block through a fixing belt; the fixed stop block plays a limiting role, and the wrench adjusts the position of the guide rail where the spray head is located.
The invention discloses the following technical effects: the device can adopt a spraying device with adjustable vertical height, the spray head moves in the horizontal direction according to actual needs, the device is adjusted to adopt a front wheel two-drive system, power is provided by a direct current motor in the middle part below the vehicle body, and the vehicle body is driven to run by a transmission system after torque is increased by a cycloidal pin wheel speed reducer; the machine has the advantages of high degree of mechanization, convenient operation, low cost, time and labor saving, high spraying efficiency, long service life and the like.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-mentioned embodiments are only for describing the preferred mode of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (9)

1. A self-propelled highland crack pineapple flower forcing machine based on PLC control, its characterized in that includes: the device comprises a rack (1), a power system (2), a transmission system (3), a spraying system (4), a PLC control system (5) and a steering system (6); the spraying system (4) is installed at one end of the frame (1), and the power system (2) is in transmission connection with the transmission system (3); the transmission system (3) is arranged on the bottom surface of the frame (1); the PLC control system (5) is fixedly arranged on the top surface of the frame (1); the PLC control system (5) is respectively electrically connected with the power system (2), the transmission system (3), the steering system (6) and the spraying system (4);
the spraying system (4) comprises a water tank (4-1), a connecting pipeline (4-6), a spraying device (4-7) and a lifting device (4-8); the lifting device (4-8) comprises a frame plate (4-8-1), a shell (4-8-2), a push rod motor (4-8-3) arranged between the frame plate (4-8-1) and the shell (4-8-2), and a sliding plate (4-8-4); the frame plate (4-8-1) is vertically arranged at one end of the rack (1), and the shell (4-8-2) is fixedly connected with the frame plate (4-8-1);
the push rod motor (4-8-3) is fixedly arranged at the top of the frame plate (4-8-1); the sliding plate (4-8-4) is arranged in parallel with the push rod motor (4-8-3), is in transmission connection with the push rod motor (4-8-3), and is at least provided with 2 blocks; the push rod motor (4-8-3) is electrically connected with the PLC control system (5);
the spraying device (4-7) comprises a sliding track (4-7-1); the sliding rails (4-7-1) are horizontally arranged and fixedly connected with the bottom end of each sliding plate (4-8-4); the water tank is characterized in that at least 4 spray heads (4-7-2) are installed on the sliding rail (4-7-1), each spray head (4-7-2) is communicated with one connecting pipeline (4-6), the connecting pipelines (4-6) are fixedly clamped on the sliding plate (4-8-4) and the top of the sliding rail (4-7-1) through fixing blocks, the water tank (4-1) is fixedly installed on the rack (1), and the water tank (4-1) is communicated with the spray heads (4-7-2) through the connecting pipelines (4-6).
2. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the spraying system (4) further comprises a filter (4-2), a dual-core diaphragm pump (4-3), a shunt pipeline (4-4) and an electromagnetic valve (4-5); the water tank (4-1) is communicated with one end of the filter (4-2), the other end of the filter (4-2) is communicated with the input end of the dual-core diaphragm pump (4-3), the output end of the dual-core diaphragm pump (4-3) is communicated with the diversion pipeline (4-4), a plurality of communication holes are formed in the diversion pipeline (4-4), each communication hole is communicated with one connecting pipeline (4-6), and the electromagnetic valve (4-5) is installed on the connecting pipeline (4-6).
3. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the transmission system (3) comprises a transmission shaft (3-1), a front axle (3-2), a ground wheel (3-3) and a rear supporting leg (3-4); one end of the transmission shaft (3-1) is in transmission connection with the power system (2), the other end of the transmission shaft is in transmission connection with the front axle (3-2), the front axle (3-2) is in transmission connection with the high land wheel (3-3), the rear supporting leg (3-4) is fixedly connected with the rack (1) through a base plate, and two ends of the rear supporting leg (3-4) are fixedly connected with the high land wheel (3-3) respectively.
4. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the front axle (3-2) comprises an axle packet (3-2-1), a first half axle (3-2-2), an adapter (3-2-3) and a second half axle (3-2-4); the two ends of the bridge package (3-2-1) are respectively in transmission connection with one end of a first half shaft (3-2-2), and the other end of the first half shaft (3-2-2) is fixedly connected with one end of a second half shaft (3-2-4) through the adapter (3-2-3); the other end of the second half shaft (3-2-4) is in transmission connection with the high land wheel (3-3).
5. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the steering system (6) comprises a hydraulic device (6-1), a steering oil cylinder (6-2), a steering pull rod (6-3), a limiting bracket (6-4), a hydraulic oil inlet pipe (6-5) and a hydraulic oil return pipe (6-6); the hydraulic device (6-1) is fixed on the rack (1), one end of the hydraulic oil inlet pipe (6-5) and one end of the hydraulic oil return pipe (6-6) are respectively communicated with the hydraulic device (6-1), the other end of the hydraulic oil inlet pipe and the other end of the hydraulic oil return pipe are communicated with the steering oil cylinder (6-3), two end faces of the steering oil cylinder (6-3) are respectively connected with one end of a steering pull rod (6-4), the other end of the steering pull rod (6-4) is hinged to the second half shaft (3-2-3), the second half shaft (3-2-3) is a revolving body, one end of the limiting support (6-4) is fixed on the second half shaft (3-2-3), and the other end of the limiting support is fixedly hinged to the adapter (3-2-3); the hydraulic device (6-1) is electrically connected with the PLC control system (5).
6. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the power system (2) comprises a battery module (2-1), a direct current motor (2-2) and a speed reducer (2-3); the battery module (2-1) is fixed on the rack (1), the speed reducer (2-3) is fixed on the bottom surface of the rack (1) through a connecting plate, the output end of the direct current motor (2-2) is connected to the input end of the speed reducer (2-3), and the direct current motor (2-2) is electrically connected with the battery module (2-1).
7. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the PLC control system (5) comprises a PLC control module, a walking motor controller, a vehicle body steering hydraulic controller, a flower forcing liquid injection group control relay, a flower forcing injection height control motor, a position encoder and a speed regulation potentiometer; the position encoder and the speed-regulating potentiometer control the walking motor controller; the walking motor controller is electrically connected with the direct current motor (2-2); the vehicle body steering hydraulic controller is electrically connected with the hydraulic device (6-1); the flower forcing liquid injection group control relay is electrically connected with the electromagnetic valve (4-5); the flower forcing spraying height control motor is electrically connected with the push rod motor (4-8-3).
8. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the direct current motor (2-2) is a direct current permanent magnet brushless motor.
9. The PLC-based self-propelled high-clearance pineapple flower forcing machine is characterized in that: the speed reducer (2-3) is a cycloidal pin gear speed reducer.
CN202110137455.8A 2021-02-01 2021-02-01 Self-propelled highland crack pineapple flower forcing machine based on PLC control Pending CN112974015A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115617050A (en) * 2022-12-02 2023-01-17 华南理工大学 Automatic flower dotting method, robot, electronic equipment and storage medium
CN116235720A (en) * 2022-07-27 2023-06-09 广东海洋大学 Automatic pineapple flower forcing robot and flower forcing method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116235720A (en) * 2022-07-27 2023-06-09 广东海洋大学 Automatic pineapple flower forcing robot and flower forcing method thereof
CN116235720B (en) * 2022-07-27 2024-04-12 广东海洋大学 Automatic pineapple flower forcing robot and flower forcing method thereof
CN115617050A (en) * 2022-12-02 2023-01-17 华南理工大学 Automatic flower dotting method, robot, electronic equipment and storage medium
CN115617050B (en) * 2022-12-02 2023-03-31 华南理工大学 Automatic flower dotting method, robot, electronic equipment and storage medium

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