CN205390137U - Two -wheeled self -balancing remote controlled electric plant protection car - Google Patents
Two -wheeled self -balancing remote controlled electric plant protection car Download PDFInfo
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- CN205390137U CN205390137U CN201620188643.8U CN201620188643U CN205390137U CN 205390137 U CN205390137 U CN 205390137U CN 201620188643 U CN201620188643 U CN 201620188643U CN 205390137 U CN205390137 U CN 205390137U
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Abstract
The utility model discloses a two -wheeled self -balancing remote controlled electric plant protection car, include: the two -wheeled balance car, the frame, spray the frame, first counter weight medical kit, second counter weight medical kit, it sets up with first counter weight medical kit symmetry, the buffering medical kit is with second counter weight medical kit homonymy, wherein, the buffering medical kit communicates with first counter weight medical kit and second counter weight medical kit respectively, measure plant protection car deflection angle and control first allotment mechanism and second allotment mechanism through angle slope measuring apparatu, splendid attire liquid volume in allocating two counter weight medical kits and cushioning the medical kit, the regulation of realization plant protection car counter weight self -balancing.
Description
Technical field
This utility model relates to electronic plant protection car field, particularly relates to a kind of electronic plant protection car of double-wheel self-balancing.
Background technology
Develop from world's plant protection technology, long duration chemical prevention from now on is the main method of preventing and treating crop disease, worm, grass and the plague of rats, Traditional Man plant protection operation is increasingly not suitable for China's Re-search on Urbanization construction, the paces that rural laborer sharply reduces, in known technology, plant protection apparatus in ground, all based on four-wheel or tricycle, has no a kind of double-wheel self-balancing remote control plant protection car at present.And the radius of turn of double-wheel self-balancing remote control plant protection car is zero, it is avoided that equipment for plant protection injury to crop in turning process, the pesticide injury to plant protection personnel can be reduced simultaneously.
Pesticide spraying forward accuracy pesticide applying direction is developed, and utilizes monolithic processor controlled irrigation system, is therefore badly in need of a kind of equipment and is capable of directed dispenser, and balance adjustment performance is good, and dispenser uniformity is good, and sprinkling irrigation direction whole process is controlled, and can precisely regulate sprinkling irrigation flow.
Utility model content
This utility model has designed and developed a kind of double-wheel self-balancing remote control electric plant protection car, overcome disadvantages described above, a purpose of the present utility model is by allocating splendid attire amount of liquid in two counterweight medicine-chests and buffering medicine-chest, it is achieved plant protection car counterweight self-balancing regulates, thus regulating sprinkling frame adjusting angle.
The technical scheme that this utility model provides is:
A kind of double-wheel self-balancing remote control electric plant protection car, including:
Two-wheeled balance car；
Vehicle frame, it can be rotatably set in described two-wheeled balance car top；
Spraying frame, it is arranged on described vehicle frame top, and includes the townhouse nozzle of spaced set；
First counterweight medicine-chest, it is arranged on described vehicle frame side, and connects with described sprinkling frame；
Second counterweight medicine-chest, itself and described first counterweight medicine-chest are symmetrical arranged, and connect with described sprinkling frame；
Buffering medicine-chest, it is arranged on described vehicle frame, with described second counterweight medicine-chest homonymy；
Wherein, described buffering medicine-chest connects with described first counterweight medicine-chest and described second counterweight medicine-chest respectively；
First allotment mechanism, it is arranged on inside described first counterweight medicine-chest, and can slide up and down along box house；
Second allotment mechanism, it is arranged on inside described second counterweight medicine-chest, and can slide up and down along box house；
Angle inclination measurement instrument, it is arranged on described two-wheeled balance car center, is used for detecting plant protection car incline direction and angle of inclination.
Preferably, described first allotment mechanism, including:
First lead screw shaft, its outer surface is provided with hemisphere face ball road；
First hollow stem, its inner hollow, and it is provided with female thread, it is set in described first lead screw shaft；
First drive motor, it drives described first lead screw shaft to rotate；
First piston, it is arranged on bottom described first hollow stem；
Described second allotment mechanism, including:
Second lead screw shaft, its outer surface is provided with hemisphere face ball road；
Second hollow stem, its inner hollow, and it is provided with female thread, it is set in described second lead screw shaft；
Second drive motor, it drives described second lead screw shaft to rotate；
Second piston, it is arranged on bottom described second hollow stem.
Preferably, between lead screw shaft and hollow stem, it is provided with ball, is used for reducing gearing friction resistance.
Preferably, described lead screw shaft helical pitch is 3mm-5mm.
Preferably, also include:
First coupled valve, it is arranged on buffering medicine-chest and the first counterweight medicine-chest connectivity part；
Second coupled valve, it is arranged on buffering medicine-chest and the second counterweight medicine-chest connectivity part；
3rd coupled valve, it is arranged on the first counterweight medicine-chest and sprays frame connectivity part；
4th attachment valve, it is arranged on the second counterweight medicine-chest and sprays frame connectivity part.
Preferably, also include system control module, it connects described angle inclination measurement instrument, described system control module, for receiving the angle signal that described angle inclination measurement instrument detects, controls the opening and closing of described first allotment mechanism and second allotment mechanism's direction of motion and speed and coupled valve.
Preferably, described angle inclination measurement instrument is inertial gyroscope.
Preferably, it is provided with liquid level sensor in described first counterweight medicine-chest, the second counterweight medicine-chest and buffering medicine-chest.
Beneficial effect described in the utility model:
1. the radius of turn of double-wheel self-balancing remote control plant protection car described in the utility model is zero, is avoided that equipment for plant protection injury to crop in turning process, can reduce the pesticide injury to plant protection personnel simultaneously.
2. double-wheel self-balancing remote control plant protection car described in the utility model is by allocating splendid attire amount of liquid in two counterweight medicine-chests and buffering medicine-chest, realize plant protection car counterweight self-balancing to regulate, thus regulating sprinkling frame adjusting angle, it is achieved simply, accurately and timely, response time is short for process.
Accompanying drawing explanation
Fig. 1 is the structural representation of double-wheel self-balancing remote control electric plant protection car described in the utility model.
Fig. 2 is townhouse nozzle schematic diagram described in the utility model.
Fig. 3 is the first counterweight medicine-chest described in the utility model, the second counterweight medicine-chest, buffering medicine-chest, sprays frame connection diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described in further detail, to make those skilled in the art can implement according to this with reference to description word.
As it is shown in figure 1, a kind of double-wheel self-balancing remote control electric plant protection car that this utility model provides, including: two-wheeled balance car 100, vehicle frame 200, sprinkling frame the 300, first counterweight medicine-chest the 400, second counterweight medicine-chest 500 and buffering medicine-chest 600.
Two-wheeled balance car 100, its upper end is provided with vehicle frame 200；Wherein vehicle frame 200 can rotate, and rotating shaft is two wheel center lines.
Spray frame 300, it is arranged on vehicle frame 200 top, and includes the townhouse nozzle 310 of spaced set, sprays frame 300 one end and is provided with angle electrical machinery, sprinkling frame 300 is made to rotate around own axes by controlling the angle electrical machinery anglec of rotation, to adjust townhouse nozzles spray direction；Plant protection car is mainly used in pesticide spraying and field irrigation, can increase spray area with multiple sprinkler heads, reduces and sprays number of times.Sprinkling uses high pressure shower nozzle, adds many in spray effect and effect.
As shown in Figure 2, townhouse nozzle 310 top is provided with dead ring 311, bottom is provided with nozzle 312, it is internally provided with flow regulating plate for regulating the flow of townhouse nozzle, the quantity of flow regulating plate is two, including upper flow regulating plate and down-off adjustment sheet, and it is the metal disk of formed objects, there is half-circle locating aperture at its center, rotary course above can produce between flow regulating plate and down-off adjustment sheet fan-shaped circular hole, relative position between upper flow regulating plate and down-off adjustment sheet determines the size of fan-shaped circular hole, to realize the Flow-rate adjustment of townhouse nozzle 310.
As it is shown on figure 3, the first counterweight medicine-chest 400, it is arranged on vehicle frame 200 side, and with spraying frame 300, pipeline communication, the first counterweight medicine-chest 400 and sprinkling frame 300 connectivity part is provided with the 3rd coupled valve 630；
Second counterweight medicine-chest 500, itself and the first counterweight medicine-chest 400 are symmetrical arranged, and with spraying frame 300, pipeline communication, the second counterweight medicine-chest 500 and sprinkling frame 300 connectivity part are provided with the 4th coupled valve 640；
Buffering medicine-chest 600, it is arranged on vehicle frame 200, with the second counterweight medicine-chest 500 homonymy；
Buffering medicine-chest 600 connects with the first counterweight medicine-chest 400 and the second counterweight medicine-chest 500 respectively；Buffering medicine-chest 600 and the first counterweight medicine-chest 400 connectivity part are provided with the first coupled valve 610；Buffering medicine-chest 600 is provided with the second coupled valve 620 with described second counterweight medicine-chest 500 connectivity part.
The first allotment mechanism it is provided with in first counterweight medicine-chest 400, comprising:
First lead screw shaft, its outer surface is provided with hemisphere face ball road；
First hollow stem, its inner hollow, and it is provided with female thread, it is set in the first lead screw shaft；
First drive motor, it is arranged on the first lead screw shaft top, to drive the first lead screw shaft to rotate；
First piston, it is arranged on bottom the first hollow stem；
It is provided with ball between first lead screw shaft and the first hollow stem, is used for reducing frictional resistance.
In work process, first drive motor drives the first lead screw shaft to rotate, and the first hollow stem is internally provided with screw thread, and the first lead screw shaft slides up and down along the first hollow stem, realize the length change of the expansion link of the first lead screw shaft and the first hollow stem composition, promote first piston to slide up or down.
Second counterweight medicine-chest 500 is internally provided with the second allotment mechanism, including:
Second lead screw shaft, its outer surface is provided with hemisphere face ball road；
Second hollow stem, its inner hollow, and it is provided with female thread, it is set in described second lead screw shaft；
Second drive motor, it drives described second lead screw shaft to rotate；
Second piston, it is arranged on bottom described second hollow stem；
It is provided with ball between second lead screw shaft and the second hollow stem, is used for reducing frictional resistance.
It is identical that second allotment mechanism allocates mechanism's work process with first.
Preferred as one, lead screw shaft helical pitch is 3mm-5mm.
Angle inclination measurement its be arranged on described two-wheeled balance car center, for detecting plant protection car incline direction and angle of inclination, preferred as one, angle inclination measurement instrument adopts inertial gyroscope, being provided that the signal such as orientation, level, position, speed and acceleration accurately, response time is fast；
Preferred as one, also include system control module, it connects described angle inclination measurement instrument, described system control module is for receiving the angle signal that described angle inclination measurement instrument detects, control the opening and closing of described first allotment mechanism and second allotment mechanism's direction of motion and speed and coupled valve, described system control module also includes wireless transport module, and the remote sensing for plant protection car controls.
As one preferably, it is provided with liquid level sensor in first counterweight medicine-chest the 400, second counterweight medicine-chest 500 and buffering medicine-chest 600.
Implement for double-wheel self-balancing remote control electric plant protection car work process, be described further:
First, angle inclination measurement instrument measures plant protection car tilt angle alpha, and judges plant protection car incline direction；
When plant protection car is to the first counterweight medicine-chest 400 lopsidedness, 3rd coupled valve 630 and the second coupled valve 620 are closed, first coupled valve 610 and the 4th coupled valve 640 are opened, first allotment mechanism moves downward, contain liquid in first counterweight medicine-chest 400 and enter buffering medicine-chest 600, so that the equalising torque that plant protection car left and right wheel shaft obtains；
When plant protection car is to the second ballast box 500 lopsidedness, 3rd coupled valve 630 and the second coupled valve 620 are closed, first coupled valve 610 and the 4th coupled valve 640 are opened, first allotment mechanism moves upward, contain liquid in buffering medicine-chest 600 and enter the first counterweight medicine-chest 400, so that the equalising torque that plant protection car left and right wheel shaft obtains；
Plant protection car tilts in process, and the second allotment mechanism moves downward, and the second counterweight medicine-chest 500 connects sprinkling frame 300 and realizes spraying operation；
When plant protection Herba Plantaginis inclines or during hypsokinesis, angle electrical machinery is opened, spraying frame 300 to rotate about the axis thereof, the anglec of rotation is α, makes townhouse nozzle 310 spray direction and is perpendicular to ground all the time, first coupled valve 610 and the second coupled valve 620 are closed, 3rd coupled valve 630 and the 4th coupled valve 640 are opened, and the first drive motor 413 and the second drive motor move downward, and the first counterweight medicine-chest 400 connects sprinkling frame 300 with the second counterweight medicine-chest 500, through townhouse spray 210, it is achieved spraying operation.
In another embodiment, also include medicinal liquid balance to control, detect liquid level in first counterweight medicine-chest the 400, second counterweight medicine-chest 500 and buffering medicine-chest 600 in real time, when the second counterweight medicine-chest 500 inner liquid medicine is lower than threshold value, the first connection valve 610 and the 4th coupled valve 640 are closed, and the second connection valve 620 and the 3rd connection valve 630 are opened, second speed adjusting gear moves upward, drawing in buffering medicine-chest 600 and contain liquid, the first allotment mechanism moves downward, it is achieved spraying operation.
Double-wheel self-balancing remote control electric plant protection car work process, including:
Step one: angle inclination measurement instrument measures plant protection car tilt angle alpha, and judges plant protection car incline direction；
Step 2: when plant protection car tilts to the left or to the right, the second allotment mechanism moves downward, and the second drive motor revolution is:
Its unit is r/min；
WhereinIt amasss for townhouse jet area, and its unit is m；LpIt is m for its unit of nozzle length；NmFor townhouse injector spacing, its unit is m；vcaFor plant protection car gait of march, its unit is m/s；PhFor lead screw shaft helical pitch, its unit is mm；S is counterweight medicine-chest sectional area, and its unit is m2；H is for spraying frame from ground level, and its unit is m；
When plant protection car is to the first counterweight medicine-chest 400 lopsidedness, 3rd coupled valve 630 and the second coupled valve 620 are closed, first coupled valve 610 and the 4th coupled valve 640 are opened, first allotment mechanism moves downward, contain liquid in first counterweight medicine-chest 400 and enter buffering medicine-chest 600, so that the equalising torque that plant protection car left and right wheel shaft obtains, the first drive motor 400 revolution is:
Its unit is r/min；
When plant protection car is to the second ballast box 500 lopsidedness, 3rd coupled valve 630 and the second coupled valve 620 are closed, first coupled valve 610 and the 4th coupled valve 640 are opened, first allotment mechanism moves upward, contain liquid in buffering medicine-chest 600 and enter the first counterweight medicine-chest 400, so that the equalising torque that plant protection car left and right wheel shaft obtains, the first drive motor 400 revolution is:
Its unit is r/min；
Wherein, L is for spraying frame length, and its unit is m；PhFor lead screw shaft helical pitch, its unit is m；tλFor the time constant extrapolated according to the parameter of electric machine, its numerical value is 0.58s, FpFor the lead screw shaft opposite direction active force to motor, unit is N；R is lead screw shaft diameter, and its unit is mm；I is the length being connected axle between motor bearings with lead screw shaft, and its unit is mm；G connects the modulus of shearing of shaft material, and its unit is N/m2；J is the cross sectional moment of inertia of motor shaft, and unit is m4。
Step 3: liquid level T in detection the first counterweight medicine-chest 400 in real time1, liquid level T in the second counterweight medicine-chest 5002With liquid level T in buffering medicine-chest 600h；
WhenAnd ThDuring > 0, the first connection valve 610 and the 4th coupled valve 640 are closed, and the second connection valve 620 and the 3rd connection valve 630 are opened, second speed adjusting gear moves upward, drawing in buffering medicine-chest 600 and contain liquid, the first allotment mechanism moves downward, it is achieved spraying operation；
Step 4: when plant protection Herba Plantaginis inclines or during hypsokinesis, spray frame 300 to rotate about the axis thereof, the anglec of rotation is α, make townhouse nozzle 310 spray direction and be perpendicular to ground all the time, first coupled valve 610 and the second coupled valve 620 are closed, 3rd coupled valve 630 and the 4th coupled valve 640 are opened, and the first drive motor and the second drive motor revolution be:
Wherein, g is acceleration of gravity, and n is townhouse nozzle quantity.
Amount of liquid is contained, it is achieved plant protection car counterweight self-balancing regulates, thus regulating sprinkling frame adjusting angle, it is achieved simply, accurately and timely, response time is short for process by allocating in two counterweight medicine-chests and buffering medicine-chest.Adopting control module accurately to control motor speed and realize containing in medicine-chest being precisely controlled of amount of liquid, control strategy is simple and easy effectively.
Described step 4 also includes leaning forward and hypsokinesis speed balanced adjustment process, including:
When plant protection car tilt angle alpha forward or backward, vehicle frame 200 rotates to its rightabout, and the anglec of rotation is β, so that balance car center of gravity moves round about, it is to avoid topple over；
Wherein:
Wherein h is height of chassis above ground, and its unit is m；ω is vehicle frame angular velocity of rotation, and its unit is radian per second；G is its unit of acceleration of gravity is m/s2；
In another embodiment, plant protection car car often produces very big dash current in start-up course, other circuit can be caused electromagnetic interference on the one hand；On the other hand owing to the internal resistance of cell causes the voltage at battery two ends to decline, even can lower than the minimum voltage value required for mu balanced circuit, generation monolithic processor resetting phenomenon.In order to overcome the impact of inrush current, it is possible to increase the electrolysis filter capacitor that capacitance is bigger in the supply, it would however also be possible to employ the mode of delay startup controls motor.When starting, drive circuit output voltage has a gradual change engineering so that electric motor starting speed slightly reduces thus reducing the amplitude of inrush current.
Although embodiment of the present utility model is disclosed as above, but listed utilization that it is not restricted in description and embodiment, it can be applied to various applicable field of the present utility model completely, for those skilled in the art, it is easily achieved other amendment, therefore, under the general concept limited without departing substantially from claim and equivalency range, this utility model is not limited to specific details and shown here as the legend with description.
Claims (8)
1. a double-wheel self-balancing remote control electric plant protection car, it is characterised in that including:
Two-wheeled balance car；
Vehicle frame, it can be rotatably set in described two-wheeled balance car top；
Spraying frame, it is arranged on described vehicle frame top, and includes the townhouse nozzle of spaced set；
First counterweight medicine-chest, it is arranged on described vehicle frame side, and connects with described sprinkling frame；
Second counterweight medicine-chest, itself and described first counterweight medicine-chest are symmetrical arranged, and connect with described sprinkling frame；
Buffering medicine-chest, it is arranged on described vehicle frame, with described second counterweight medicine-chest homonymy；
Wherein, described buffering medicine-chest connects with described first counterweight medicine-chest and described second counterweight medicine-chest respectively；
First allotment mechanism, it is arranged on inside described first counterweight medicine-chest, and can slide up and down along box house；
Second allotment mechanism, it is arranged on inside described second counterweight medicine-chest, and can slide up and down along box house；
Angle inclination measurement instrument, it is arranged on described two-wheeled balance car center, is used for detecting plant protection car incline direction and angle of inclination.
2. double-wheel self-balancing remote control electric plant protection car according to claim 1, it is characterised in that described first allotment mechanism, including:
First lead screw shaft, its outer surface is provided with hemisphere face ball road；
First hollow stem, its inner hollow, and it is provided with female thread, it is set in described first lead screw shaft；
First drive motor, it drives described first lead screw shaft to rotate；
First piston, it is arranged on bottom described first hollow stem；
Described second allotment mechanism, including:
Second lead screw shaft, its outer surface is provided with hemisphere face ball road；
Second hollow stem, its inner hollow, and it is provided with female thread, it is set in described second lead screw shaft；
Second drive motor, it drives described second lead screw shaft to rotate；
Second piston, it is arranged on bottom described second hollow stem.
3. double-wheel self-balancing remote control electric plant protection car according to claim 2, it is characterised in that be provided with ball between lead screw shaft and hollow stem, be used for reducing gearing friction resistance.
4. the double-wheel self-balancing remote control electric plant protection car according to Claims 2 or 3, it is characterised in that described lead screw shaft helical pitch is 3mm-5mm.
5. double-wheel self-balancing remote control electric plant protection car according to claim 1, it is characterised in that also include:
First coupled valve, it is arranged on buffering medicine-chest and the first counterweight medicine-chest connectivity part；
Second coupled valve, it is arranged on buffering medicine-chest and the second counterweight medicine-chest connectivity part；
3rd coupled valve, it is arranged on the first counterweight medicine-chest and sprays frame connectivity part；
4th attachment valve, it is arranged on the second counterweight medicine-chest and sprays frame connectivity part.
6. double-wheel self-balancing remote control electric plant protection car according to claim 1, it is characterized in that, also include system control module, it connects described angle inclination measurement instrument, described system control module, for receiving the angle signal that described angle inclination measurement instrument detects, controls the opening and closing of described first allotment mechanism and second allotment mechanism's direction of motion and speed and coupled valve.
7. double-wheel self-balancing remote control electric plant protection car according to claim 1, it is characterised in that described angle inclination measurement instrument is inertial gyroscope.
8. double-wheel self-balancing remote control electric plant protection car according to claim 1, it is characterised in that be provided with liquid level sensor in described first counterweight medicine-chest, the second counterweight medicine-chest and buffering medicine-chest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620188643.8U CN205390137U (en) | 2016-03-11 | 2016-03-11 | Two -wheeled self -balancing remote controlled electric plant protection car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620188643.8U CN205390137U (en) | 2016-03-11 | 2016-03-11 | Two -wheeled self -balancing remote controlled electric plant protection car |
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| Publication Number | Publication Date |
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| CN205390137U true CN205390137U (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620188643.8U Expired - Fee Related CN205390137U (en) | 2016-03-11 | 2016-03-11 | Two -wheeled self -balancing remote controlled electric plant protection car |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105707043A (en) * | 2016-03-11 | 2016-06-29 | 吉林省农业机械研究院 | Two-wheel self-balancing remote control electric plant protection vehicle and control method thereof |
| CN110122458A (en) * | 2019-05-15 | 2019-08-16 | 宁波鄞州中铭农业科技有限公司 | A kind of active balancing formula farmland flusher |
-
2016
- 2016-03-11 CN CN201620188643.8U patent/CN205390137U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105707043A (en) * | 2016-03-11 | 2016-06-29 | 吉林省农业机械研究院 | Two-wheel self-balancing remote control electric plant protection vehicle and control method thereof |
| CN105707043B (en) * | 2016-03-11 | 2018-11-06 | 吉林省农业机械研究院 | A kind of double-wheel self-balancing remote control electric plant protection vehicle and its control method |
| CN110122458A (en) * | 2019-05-15 | 2019-08-16 | 宁波鄞州中铭农业科技有限公司 | A kind of active balancing formula farmland flusher |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160727 Termination date: 20190311 |