CN214800843U - Agricultural intelligent trolley - Google Patents

Abstract

The utility model discloses an agricultural intelligent trolley, which comprises a trolley body, a trolley shell, a wheel set, a battery pack, an inverter, a steering gear, a walking motor and an intelligent control system, wherein the trolley shell is arranged on the trolley body, a containing cavity is formed in the trolley shell, the intelligent trolley also comprises a mowing device and a pesticide spraying device, the mowing device comprises a front mowing device and two rear mowing devices, the front mowing device is arranged at the front side outside the containing cavity, the two rear mowing devices are respectively arranged at the left side and the right side outside the containing cavity, the rear mowing device comprises an avoiding mechanism and a rotary cutting knife, the pesticide spraying device is arranged at the rear side outside the containing cavity, the pesticide spraying device comprises a left pesticide tank, a right pesticide tank, a left water pump, a right water pump, a left high-pressure water pipe, a right high-pressure water pipe, a left spray gun, a right spray gun and a steering mechanism for driving the left spray gun and the right spray gun to rotate. The utility model discloses an agricultural intelligent vehicle has concurrently and mows and spouts the medicine function, realizes nursery stock intelligent management.

Description

Agricultural intelligent trolley

Technical Field

The utility model relates to the technical field of agricultural machinery, concretely relates to agricultural intelligent vehicle.

Background

The garden construction and development of China are rapidly developing, in the planting process of garden trees, particularly in the management process of nurseries, in order to improve the survival rate of nursery stocks, mowing and pesticide spraying are needed, however, most of the conventional nursery planting management processes still use original manual work to weed and spray pesticide, the working efficiency is low, the cost is high, and therefore automatic equipment is urgently needed to mow and spray pesticide, intelligent management is achieved, and the working efficiency is improved.

Disclosure of Invention

An object of the utility model is to provide an agricultural intelligent vehicle, this agricultural intelligent vehicle have concurrently mow and spout the medicine function, realize the intelligent management of nursery stock, improve work efficiency.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides an agricultural intelligent trolley, includes automobile body, hull, wheelset, battery package, dc-to-ac converter, direction machine, walking motor and intelligence control system, the automobile body includes frame, dolly roof and dolly bottom plate, the hull sets up on the automobile body, form in the hull and accept the chamber, intelligence control system includes man-machine exchange interface, PLC controller and driver, battery package, dc-to-ac converter, direction machine, PLC controller and driver set up in accept the intracavity, wheelset, walking motor and man-machine exchange interface set up in accept the outside in chamber, intelligence dolly still includes grass cutting device and spouts medicine device, grass cutting device includes anterior grass cutting device and two rear portion grass cutting device, anterior grass cutting device set up in accept the outside front side in chamber, anterior grass cutting device includes saw toothed plate down, Set up in saw toothed plate upper portion go up the serration plate and be used for the drive go up the serration plate and be reciprocating motion's drive transmission mechanism, two along the left and right sides, rear portion grass cutting device set up respectively in accept the outside left and right both sides in chamber, rear portion grass cutting device is including dodging mechanism and rotatory cutting knife, spout the medicine device set up in accept the outside rear side in chamber, it includes left side water medicine case, right side water medicine case, left side water pump, right side water pump, left side high pressure water pipe, right side high pressure water pipe, left side spray gun, right side spray gun and is used for the drive left side spray gun and right side spray gun pivoted steering mechanism.

In the above technical scheme, preferably, the upper serrated plate comprises a left serrated plate and a right serrated plate, the drive transmission mechanism drives the left serrated plate and the right serrated plate to reciprocate along the left and right directions respectively, and the moving directions of the left serrated plate and the right serrated plate are opposite.

In the above technical solution, it is further preferable that the driving transmission mechanism includes a first motor, a coupler, a master gear, a slave gear, a left swing link, a right swing link, a left connecting rod, and a right connecting rod, the coupler is connected to an output end of the first motor, an upper end of a gear shaft of the master gear is connected to the coupler, the slave gear is meshed to the master gear, the left swing link and the right swing link each have a swing link hole and a swing link shaft, a lower end of the gear shaft of the master gear is connected to the swing link hole of the left swing link, a lower end of a gear shaft of the slave gear is connected to the swing link hole of the right swing link, fisheye rod end joint bearings are disposed at left and right ends of the left connecting rod and left and right ends of the right connecting rod, the fisheye rod end joint bearing at the left end of the left connecting rod is connected to the left serration plate by a first pin shaft, and the fisheye rod end joint bearing at the right end of the left connecting rod is connected to the swing link of the left swing link, the fisheye rod end joint bearing at the left end of the right connecting rod is connected with the swing rod shaft of the right swing rod, and the fisheye rod end joint bearing at the right end of the right connecting rod is connected with the right sawtooth plate through a second pin shaft.

In the foregoing technical solution, it is further preferable that the lawn mower further includes a front mounting mechanism for mounting the front lawn mower, the front mounting mechanism is disposed on the front side of the vehicle body, the front mounting mechanism includes a second motor, a speed reducer, a lead screw, a nut, a mounting plate, two guide rails vertically disposed on the mounting plate, a sliding block disposed on the guide rail, and a connecting device for connecting the sliding block and the front lawn mower, the connecting device is further fixedly connected to the nut, and the front lawn mower is mounted on the front side of the front mounting mechanism in a vertically movable manner.

In the above technical solution, it is still further preferred that the connecting device includes a front connecting device and a rear connecting device, the front connecting device includes a back plate and a top plate, the rear connecting device includes a first connecting portion and a second connecting portion, the rear of the first connecting portion is connected with the sliding block, the front of the first connecting portion is connected with the back plate, the second connecting portion is sleeved on the lead screw, the second connecting portion is fixedly disposed below the nut, and the top plate is used for mounting the first motor.

Among the above-mentioned technical scheme, still further preferably, dodge the mechanism include the rear portion mounting panel, set up in piece is dodged to the level on the rear portion mounting panel, the level is dodged the piece and is included vertical axis of rotation and rotates to be connected vertical epaxial horizontal pendulum rod of rotating, the axial of vertical axis of rotation with the high extending direction of rear portion mounting panel is unanimous, be provided with the connecting rod on the horizontal pendulum rod, rotatory cutting knife set up in on the connecting rod, rotatory cutting knife set up in the rear of horizontal pendulum rod, rotatory cutting knife includes spinning blade and drive spinning blade pivoted third motor, the spinning blade is less than horizontal pendulum rod, horizontal pendulum rod is the piece of bending of L type, the place ahead of horizontal pendulum rod is provided with the spacing cover of rotatory cutting knife.

Among the above-mentioned technical scheme, and further preferably, still be provided with on the rear portion mounting panel and be used for driving a pivoted horizontal axis of rotation is dodged to the level, the axial of horizontal axis of rotation with the axial of vertical axis of rotation is perpendicular, the level is dodged the piece and is located the below of horizontal axis of rotation, the below of rotary blade still is provided with the vertical piece of dodging.

Among the above-mentioned technical scheme, preferably, steering mechanism includes that motor, motor pendulum rod, spray gun swing connecting rod, spray gun swinging arms, spray gun pivot, left side spray gun turn to seat and right side spray gun turn to the seat, the one end of motor pendulum rod with the output shaft of motor rotates to be connected, the front end of spray gun swing connecting rod with the other end of motor pendulum rod passes through motor pendulum arm round pin hub connection and rotates to be connected, the rear end of spray gun swing connecting rod with the front end of spray gun swinging arms passes through connecting rod round pin hub connection, the rear end of spray gun swinging arms is connected the spray gun pivot, left side spray gun turns to the seat and the right side spray gun turns to the seat and overlaps respectively and establishes the left and right both ends of spray gun pivot.

In the above technical solution, further preferably, the front and rear ends of the spray gun swing link are both provided with link connection holes, the spray gun swing link includes a spray gun swing link body and a spray gun swing link head located at the rear end of the spray gun swing link body, the front end of the spray gun swing link body is provided with a slot for accommodating the spray gun swing link and a connection hole for the link pin shaft to pass through, the spray gun swing link head is provided with a rotation shaft installation hole for the spray gun rotation shaft to pass through, the left spray gun steering seat and the right spray gun steering seat both include a spray gun steering seat body and a gun rod pressing plate, the spray gun steering seat body is provided with a rotation shaft connection hole and a gun rod installation half-groove one, the length extension direction of the rotation shaft connection hole is perpendicular to the length extension direction of the gun rod installation half-groove one, the gun rod pressing plate is provided with a gun rod installation half-groove two, and the first lance mounting half groove and the second lance mounting half groove are spliced to form a lance mounting groove for accommodating the lance of the left side spray gun or the right side spray gun.

Among the above-mentioned technical scheme, further preferably, it still includes spray gun seat of honour, spray gun lower carriage and spray gun stand to spout medicine mechanism, the spray gun stand set up in between spray gun seat of honour and the spray gun lower carriage, the spray gun seat of honour set up in between left side spray gun and the right side spray gun, the upper portion of spray gun seat of honour is provided with and is used for holding the holding chamber of spray gun swinging arms head and is used for supplying the spray gun seat of honour connecting hole that the spray gun pivot passed, the bottom of spray gun seat of honour is provided with and is used for holding the stand top holding chamber of spray gun stand upper end, the spray gun lower carriage is including being used for holding the stand bottom holding chamber of spray gun stand lower extreme.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses an agricultural intelligent vehicle, the front side sets up the left side of anterior lawn mower and dolly, the right side sets up rear portion lawn mower, carry out the scale through anterior lawn mower to the grass of nursery stock row interval and cut off, carry out mechanized cutting through rear portion lawn mower to the grass of nursery stock trunk interval, improve the efficiency of mowing greatly, on the other hand, the dolly sets up has the medicine device that spouts of left side spray gun steering seat and right side spray gun steering seat, can be to its left side, the nursery stock of right side both sides sprays the pesticide, thereby the direction of just spraying the pesticide can change and realize the multi-direction function of spouting the medicine, simultaneously have concurrently and mow and spout the medicine function, realize the intelligent management of ornamental trees and shrubs, and work efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of an agricultural intelligent vehicle;

FIG. 2 is a schematic structural diagram (shell removal) of an agricultural intelligent vehicle;

FIG. 3 is a schematic view of the front mower configuration (including the front mounting mechanism);

FIG. 4 is a schematic view of the front mower configuration (gearless mount, including front mounting mechanism);

FIG. 5 is a schematic structural view of the front mounting mechanism (front attachment means removed);

FIG. 6 is a schematic view of the rear attachment;

FIG. 7 is a schematic structural view of the rear connection device (including a nut and a slider);

FIG. 8 is a schematic view of a first angled configuration of the rear mower;

FIG. 9 is a second angled configuration of the rear mower;

FIG. 10 is an enlarged view of FIG. 8 at B;

FIG. 11 is a schematic structural diagram of an agricultural intelligent vehicle (shell removal, motor cover removal and steering cover removal);

FIG. 12 is an enlarged view of FIG. 11 at A;

FIG. 13 is a schematic view of the construction of the spray gun oscillating lever;

FIG. 14 is a schematic structural view of a spray gun steering seat body;

FIG. 15 is a schematic view of the structure of the gun bar pressing plate;

FIG. 16 is a schematic structural diagram of an agricultural intelligent vehicle (seen from the rear);

FIG. 17 is a schematic view of the structure of the upper seat of the spray gun (first angle);

FIG. 18 is a schematic view of the structure of the upper seat of the spray gun (second angle);

in the figure: a vehicle body-100, a vehicle shell-110, a vehicle frame-120, a vehicle top plate-130, a vehicle bottom plate-140, a battery pack-160, a front mowing device-200, a lower toothed plate-210, a left toothed plate-221, a right toothed plate-222, a gear seat-230, a first motor-231, a coupler-232, a main gear-233, a driven gear-234, a left oscillating bar-235, a right oscillating bar-236, a left connecting rod-237, a right connecting rod-238, a fisheye rod end joint bearing-239, a first pin shaft 241, a second pin shaft-242, a second motor-250, a speed reducer-251, a lead screw-252, a nut-253, a mounting plate 254-255, a guide rail-255, a sliding block-256, a back plate-2571, a top plate-2572 and a rear connecting device-258, a first connecting part-2581, a second connecting part-2582, a rear grass cutting device-300, a rear mounting plate-310, a connecting plate seat-311, a fixed shaft bracket-312, a vertical rotating shaft-321, a horizontal swing rod-322, a connecting rod-323, a rotating blade-324, a third motor-325, a rotating cutting knife limit cover-326, a vertical avoiding block-327, a horizontal rotating shaft-330, a hinge A-331, a hinge B-332, a connecting piece-340, a motor cover-400, a left side liquid medicine tank-410, a right side liquid medicine tank-420, a left side water pump-430, a right side water pump-440, a left side high pressure water pipe-450, a right side high pressure water pipe-460, a left side spray gun-470, a right side spray gun-480, a steering cover-500 and a motor-510, the spray gun comprises a motor swing rod-520, a spray gun swing connecting rod-530, a spray gun swing rod-540, a spray gun swing rod body-541, a spray gun swing rod head-542, a slot-543, a connecting hole 544, a rotating shaft mounting hole 545, a spray gun rotating shaft-550, a left spray gun steering seat-560, a right spray gun steering seat-570, a spray gun steering seat body-571, a gun rod mounting half slot-5711, a rotating shaft connecting hole-5712, a gun rod pressing plate-572, a spray gun upper seat-610, a containing cavity-611, a spray gun upper seat connecting hole-612, a top containing cavity-613, a spray gun lower seat-620 and a spray gun upright post-630.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 and 2, in an embodiment of the present invention, an agricultural intelligent cart includes a cart body 100, a cart shell 110, a battery pack 160, an inverter, a steering gear, a traveling motor, a wheel set, an intelligent control system, a mowing device, and a spraying device. The vehicle body 100 comprises a vehicle frame 120, a vehicle top plate 130 and a vehicle bottom plate 140, the vehicle shell 110 is arranged on the vehicle body 100, a containing cavity is formed in the vehicle shell 110, a battery pack 160 is a lithium battery and used for supplying power to the intelligent vehicle, an inverter is used for converting direct current into alternating current, a wheel set is arranged outside the containing cavity and comprises two front wheels and two rear wheels, a wheel axle is arranged between the two rear wheels, a walking motor is in transmission connection with the wheel axle, the wheel axle is connected with the vehicle frame 110 and is used for driving the intelligent vehicle to advance, an intelligent control system comprises a touch screen, a PLC (programmable logic controller) and a driver, wherein the touch screen is arranged outside the containing cavity, the PLC, the driver, the battery pack 160, the steering gear and the inverter are all arranged in the containing cavity. The mowing device comprises a front mowing device 200 arranged on the front side of the vehicle body 100 and rear mowing devices 300 arranged on the left side and the right side of the vehicle body 100, wherein the front mowing device 200 is arranged on the front side outside the accommodating cavity, and the two rear mowing devices 300 are respectively arranged on the left side and the right side outside the accommodating cavity. The pesticide spraying device is arranged at the rear part of the vehicle body 100, specifically, the pesticide spraying device is positioned at the rear part of the trolley top plate 130, the pesticide spraying device is arranged on the trolley top plate 130, and the pesticide spraying device is arranged at the rear side outside the accommodating cavity.

Referring to fig. 3 and 4, the front mower 200 includes a lower toothed plate 210, an upper toothed plate disposed on an upper portion of the lower toothed plate 210, and a driving transmission mechanism for driving the upper toothed plate to reciprocate along a left-right direction, where the upper toothed plate includes a left toothed plate 221 and a right toothed plate 222, and of course, a sufficient distance is left between a right end of the left toothed plate 221 and a left end of the right toothed plate 222 for the two toothed plates (221 and 222) to move along the left-right direction, and the driving transmission mechanism drives the left toothed plate 221 and the right toothed plate 222 to reciprocate along the left-right direction, specifically, the moving directions of the left toothed plate 221 and the right toothed plate 222 are opposite. The upper serrated plate is a combination of the left serrated plate 221 and the right serrated plate 222, and the upper serrated plate and the right serrated plate reciprocate in opposite directions, so that compared with the traditional integral upper serrated plate, the inertia of the two serrated plates is offset, and the stability is better in the moving process. The driving transmission mechanism comprises a first motor 231, a coupler 232, a main gear 233, a slave gear 234, a left swing rod 235, a right swing rod 236, a left connecting rod 237 and a right connecting rod 238, wherein the main gear 233 and the slave gear 234 are both arranged in a gear seat 230, the coupler 232 is connected with the output end of the first motor 231, the upper end of a gear shaft of the main gear 233 is connected with the coupler 232, the slave gear 234 is meshed with the main gear 233, the left swing rod 235 and the right swing rod 236 are both provided with swing rod holes and swing rod shafts, the lower end of a gear shaft of the main gear 233 is connected with the swing rod hole of the left swing rod 235, the lower end of the gear shaft of the gear 234 is connected with the swing rod hole of the right swing rod 236, fisheye rod end joint bearings 239 are arranged at the left end and the right end of the left connecting rod 237 and the right end of the right connecting rod 238, the fisheye rod end joint bearing 239 at the left end of the left connecting rod 237 is connected with the left sawtooth plate 221 through a first pin shaft 241, the fisheye rod end joint bearing 239 at the right end of the left connecting rod 237 is connected with the swing rod 235, the fisheye rod end joint bearing 239 at the left end of the right connecting rod 238 is connected with the swing rod shaft of the right swing rod 236, and the fisheye rod end joint bearing 239 at the right end of the right connecting rod 238 is connected with the right sawtooth plate 222 through a second pin shaft 242. The first motor 231 is connected with an intelligent control system, and the intelligent control system controls the first motor 231 to work, so that the left serration plate 221 and the right serration plate 222 move to form a cutting action with the lower serration plate 210 to cut grass.

The front mowing device 200 is arranged at the front side of the vehicle body 100 through a front mounting mechanism, and the front mowing device 200 is mounted at the front side of the front mounting mechanism in a vertically movable manner, so that the position of the front mowing device 200 in the vertical direction can be adjusted according to actual needs, and the mowing height can be adjusted. Specifically, referring to fig. 5, the front mounting mechanism includes a second motor 250, a speed reducer 251, a lead screw 252, a nut 253, a mounting plate 254, two guide rails 255 vertically disposed on the mounting plate 254, a sliding block 256 disposed on the guide rails 255, and a connecting device for connecting the sliding block 256 and the front mowing device 200, and the connecting device is further fixedly connected with the nut 253. Referring to fig. 6 and 7, the connecting device includes a front connecting device and a rear connecting device 258, the front connecting device includes a back plate 2571 and a top plate 2572, the rear connecting device 258 includes a first connecting portion 2581 and a second connecting portion 2582, a rear surface of the first connecting portion 2581 is connected to the sliding block 256, a front surface of the first connecting portion 2581 is connected to the back plate 2571, the second connecting portion 2582 is sleeved on the lead screw 252, the second connecting portion 2582 is fixedly disposed below the nut 253, and the top plate 2572 is used for mounting the first motor 231. The second motor 250 is connected with the intelligent control system, and the position of the front mowing device 200 in the vertical direction can be adjusted by the second motor 250 according to actual needs, so that mowing height can be adjusted.

Referring to fig. 8 and 9, the rear mowing device 300 includes an avoidance mechanism, including a rear mounting plate 310, set up the horizontal dodge piece on rear portion mounting panel 310, the horizontal dodge piece includes vertical axis of rotation 321 and rotates the horizontal pendulum rod 322 of connecting on vertical axis of rotation 321, the axial of vertical axis of rotation 321 is unanimous with the high extending direction of rear portion mounting panel 310, be provided with connecting rod 323 on the horizontal pendulum rod 322, rotatory cutting knife sets up on connecting rod 323, rotatory cutting knife sets up in the rear of horizontal pendulum rod 322, rotatory cutting knife includes rotary blade 324 and drive rotary blade 324 pivoted third motor 325, rotary blade 324 is less than horizontal pendulum rod 322, horizontal pendulum rod 322 is the piece of bending of L type, rear portion grass cutting device 300 still includes and is used for connecting its connecting 340 on dolly bottom plate 140, third motor 325 is connected with intelligent control system. Through setting up rear portion grass cutting device 300, the in-process of mowing, weeds between the nursery stock trunk interval can be cut off with rotatory cutting knife, and when the intelligent vehicle gos forward, rear portion grass cutting device 300 of both sides met the nursery stock, through dodging the peculiar structure of mechanism, and horizontal pendulum rod 322 rotates the shrink backward through its vertical axis of rotation 321, and ingenious realization nursery stock is dodged. A rotary cutting knife limit cover 326 is arranged in front of the horizontal swing rod 322. The rotary cutting knife limit cover 326 is arranged, and the horizontal swing rod 322 is blocked by the rotary cutting knife limit cover 326 at the front part of the horizontal swing rod, so that the horizontal swing rod cannot rotate forwards and touch other parts, and the normal operation of the mowing device cannot be influenced. The rear mounting plate 310 is further provided with a horizontal rotating shaft 330 for driving the horizontal avoiding member to rotate, the axial direction of the horizontal rotating shaft 330 is perpendicular to the axial direction of the vertical rotating shaft 321, the horizontal avoiding member is located below the horizontal rotating shaft 330, and a vertical avoiding block 327 is further arranged below the rotary blade 324. Regarding the specific connection mode of the horizontal rotation shaft 330 and the vertical rotation shaft 321, referring to fig. 10, the rear mounting plate 310 is fixed with the connecting plate seat 311, the horizontal rotation shaft 330 includes a hinge a331 and a hinge B332, the hinge a331 includes a rotation shaft, one side of the hinge a331 close to the smart car is fixed on the connecting plate seat 331, one side of the hinge B332 close to the smart car is connected with a fixed shaft bracket 312 for mounting the vertical rotation shaft 321, that is, the fixed shaft bracket 312 is connected with the hinge B332 and is not fixedly connected with the rear mounting plate 310, the hinge a331 and the hinge B332 cooperate to form the horizontal rotation shaft 330, when the ground is uneven, the vertical avoidance block 327 first contacts with an obstacle, and the whole horizontal avoidance piece rotates upwards through the horizontal rotation shaft 330, thereby avoiding the damage of the rotary blade 324 and the third belt motor 325 caused by the rotary blade 324 contacting with the obstacle.

Referring to fig. 11 and 12, the spraying device includes a left spray tank 410, a right spray tank 420, a left water pump 430, a right water pump 440, a left high-pressure water pipe 450, a right high-pressure water pipe 460, a left spray gun 470, a right spray gun 480, and a steering mechanism for driving the left spray gun 470 and the right spray gun 480 to rotate, the left spray tank 410, the left water pump 430, the left high-pressure water pipe 450, and the left spray gun 470 are sequentially connected, the right spray tank 420, the right water pump 440, the right high-pressure water pipe 460, and the right spray gun 480 are sequentially connected, the left water pump 430, the right water pump 440, and a portion of the left high-pressure water pipe 450 and the right high-pressure water pipe 460 are installed in a motor cover 400, the steering mechanism includes a motor 510, a motor swing rod 520, a spray gun swing link 530, a spray gun swing link 540, a spray gun rotating shaft 550, a left spray gun steering base 560, and a right spray gun steering base 570, wherein the motor 510, the spray gun swing link 540, the spray gun rotating shaft is installed in a left spray gun steering base 410, a right spray gun steering base is installed in a left spray gun cover 400, a right spray gun cover is installed in a left spray gun cover, a right spray gun cover is installed in a right spray gun cover, a right spray gun cover is installed in a spray gun cover, a spray gun cover is installed in a spray gun cover, a spray gun cover is installed in a spray gun cover, a spray gun cover is installed in a spray gun cover, The motor swing rod 520, the spray gun swing connecting rod 530, the spray gun swing rod 540 and the spray gun rotating shaft 550 are all arranged in the steering cover 500, one end of the motor swing rod 520 is rotatably connected with an output shaft of the motor 510, the front end of the spray gun swing connecting rod 530 is rotatably connected with the other end of the motor swing rod 520 through a motor swing arm pin shaft, the rear end of the spray gun swing connecting rod 530 is connected with the front end of the spray gun swing rod 540 through a connecting rod pin shaft, the rear end of the spray gun swing rod 540 is connected with the spray gun rotating shaft 550, and the left spray gun steering seat 560 and the right spray gun steering seat 570 are respectively sleeved at the left end and the right end of the spray gun rotating shaft 550.

The spray gun swing link 530 has link connection holes at both front and rear ends thereof, referring to fig. 13, the spray gun swing link 540 includes a spray gun swing link body 541 and a spray gun swing link head 542 located at the rear end of the spray gun swing link body 541, the front end of the spray gun swing link body 541 is provided with a slot 543 for accommodating the spray gun swing link 530 and a connection hole 544 for allowing a link pin shaft to pass through, and the spray gun swing link head 542 is provided with a rotation shaft mounting hole 545 for allowing the spray gun rotation shaft 550 to pass through.

Referring to fig. 14 and 15, the left spray gun steering seat 560 and the right spray gun steering seat 570 each include a spray gun steering seat body 571 and a gun rod pressing plate 572, the spray gun steering seat body 571 is provided with a rotating shaft connecting hole 5712 and a gun rod mounting half-groove first 5711, a length extending direction of the rotating shaft connecting hole 5712 is perpendicular to a length extending direction of the gun rod mounting half-groove first 5711, the gun rod pressing plate 572 is provided with a gun rod mounting half-groove second 5721, and the gun rod mounting half-groove first 5711 and the gun rod mounting half-groove second 5721 are spliced to form a gun rod mounting groove for accommodating a gun rod of the left spray gun 470 or the right spray gun 480.

Referring to fig. 16-18, the spraying device further includes a spray gun upper seat 610, a spray gun lower seat 620 and a spray gun upright 630, the spray gun upright 630 is disposed between the spray gun upper seat 610 and the spray gun lower seat 620, the spray gun upper seat 610 is disposed between the left spray gun 470 and the right spray gun 480, the upper portion of the spray gun upper seat 610 is provided with a receiving cavity 611 for receiving a spray gun swing rod head 542 and a spray gun upper seat connection hole 612 for allowing the spray gun rotation shaft 550 to pass through, the bottom of the spray gun upper seat 610 is provided with an upright top receiving cavity 613 for receiving an upper end of the spray gun upright 630, and the spray gun lower seat 620 includes an upright bottom receiving cavity for receiving a lower end of the spray gun upright 630. The spraying device further comprises a motor support 580 arranged on the back surface of the spray gun upper seat 610, the motor support 580 comprises a first panel and a second panel, the first panel and the second panel are vertically arranged, the first panel is used for installing the motor 510, and the second panel is used for being connected with the spray gun upper seat 610. In addition, the medicine spraying device also comprises a plurality of medicine box supports for supporting the left medicine box 410 and the right medicine box 420, the medicine box supports are arranged below the trolley top plate 130, and the medicine box supports are concave.

The walking motor, the first motor 231, the second motor 250, the third motor 325, the motor 510, the left water pump 430 and the right water pump 440 are respectively connected with an intelligent control system, and the intelligent control system controls the actions of the motors according to a preset program.

When the intelligent trolley mows, the intelligent control system controls the walking motor to start, drives the wheel set to walk, so that the intelligent trolley advances, controls the first motor 231 to start, so as to drive the left serrated plate 221 and the right serrated plate 222 of the front mowing device 200 to reciprocate, so as to realize the grass cutting function of the front mowing device 200, can adjust and control the moving speed of the left serrated plate 221 and the right serrated plate 222, so as to control the grass cutting speed, and can also control the second motor 250 to start and close according to requirements, so as to adjust the up-and-down position of the front mowing device 200. When the grass cutting machine is used for cutting grass, the intelligent control system can also control the third motor 325 to be started to drive the rotary blade 324 to cut grass in the distance between the nursery stock plants, and when the rear grass cutting device 300 meets the nursery stock in the advancing process of the intelligent trolley, the horizontal swing rod 322 is close to the intelligent trolley and retracts, so that the advancing work of the intelligent trolley is not hindered.

When the intelligent trolley sprays the pesticide, the intelligent control system controls the left water pump 430 and the right water pump 440 to respectively suck the pesticide into the left pesticide tank 410 and the right pesticide tank 420 and respectively spray the pesticide onto the nursery stock on the corresponding side by using the spray gun on the corresponding side, thereby the motor 510 is controlled by the intelligent control system to simultaneously drive the left spray gun 470 and the right spray gun 480 to spray back and forth in the vertical direction, thereby the spraying range of the left spray gun 470 or the right spray gun 480 in the vertical direction is adjusted, in addition, the gun rod at the lower end of the left spray gun 470 or the right spray gun 480 can be manually rotated to change the spraying range of the corresponding spray gun in the horizontal direction.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (10)

1. The utility model provides an agricultural intelligent trolley, includes automobile body, hull, wheelset, battery package, dc-to-ac converter, direction machine, walking motor and intelligence control system, the automobile body includes frame, dolly roof and dolly bottom plate, the hull sets up on the automobile body, form in the hull and accept the chamber, intelligence control system includes man-machine exchange interface, PLC controller and driver, battery package, dc-to-ac converter, direction machine, PLC controller and driver set up in accept the intracavity, wheelset, walking motor and man-machine exchange interface set up in accept the outside in chamber, its characterized in that, intelligence dolly still includes grass cutting device and spouts medicine device, grass cutting device includes anterior grass cutting device and two rear portion grass cutting device, anterior grass cutting device set up in accept the outside front side in chamber, anterior grass cutting device includes saw toothed plate, the toothed plate of saw down, Set up in saw toothed plate upper portion go up the serration plate and be used for the drive go up the serration plate and be reciprocating motion's drive transmission mechanism, two along the left and right sides, rear portion grass cutting device set up respectively in accept the outside left and right both sides in chamber, rear portion grass cutting device is including dodging mechanism and rotatory cutting knife, spout the medicine device set up in accept the outside rear side in chamber, it includes left side water medicine case, right side water medicine case, left side water pump, right side water pump, left side high pressure water pipe, right side high pressure water pipe, left side spray gun, right side spray gun and is used for the drive left side spray gun and right side spray gun pivoted steering mechanism.

2. The agricultural intelligent trolley according to claim 1, wherein the upper serrated plate comprises a left serrated plate and a right serrated plate, the driving transmission mechanism drives the left serrated plate and the right serrated plate to respectively reciprocate in the left and right directions, and the moving directions of the left serrated plate and the right serrated plate are opposite.

3. The agricultural intelligent trolley according to claim 2, wherein the driving transmission mechanism comprises a first motor, a coupler, a main gear, a slave gear, a left swing link, a right swing link, a left connecting rod and a right connecting rod, the coupler is connected with an output end of the first motor, an upper end of a gear shaft of the main gear is connected with the coupler, the slave gear is meshed with the main gear, the left swing link and the right swing link are respectively provided with a swing link hole and a swing link shaft, a lower end of a gear shaft of the main gear is connected with the swing link hole of the left swing link, a lower end of a gear shaft of the slave gear is connected with the swing link hole of the right swing link, fisheye rod end joint bearings are respectively arranged at the left end and the right end of the left connecting rod and the left end and the right end of the right connecting rod, and the fisheye rod end joint bearing at the left end of the left connecting rod is connected with the left serration plate through a first pin shaft, the fisheye rod end joint bearing at the right end of the left connecting rod is connected with the swing rod shaft of the left swing rod, the fisheye rod end joint bearing at the left end of the right connecting rod is connected with the swing rod shaft of the right swing rod, and the fisheye rod end joint bearing at the right end of the right connecting rod is connected with the right serrated plate through a second pin shaft.

4. The agricultural intelligent trolley as claimed in claim 3, further comprising a front mounting mechanism for mounting the front mowing device, wherein the front mounting mechanism is arranged on the front side of the trolley body, the front mounting mechanism comprises a second motor, a speed reducer, a lead screw, a nut, a mounting plate, two guide rails vertically arranged on the mounting plate, a sliding block arranged on the guide rails, and a connecting device for connecting the sliding block and the front mowing device, the connecting device is further fixedly connected with the nut, and the front mowing device is mounted on the front side of the front mounting mechanism in a manner of moving up and down.

5. The agricultural intelligent trolley of claim 4, wherein the connecting device comprises a front connecting device and a rear connecting device, the front connecting device comprises a back plate and a top plate, the rear connecting device comprises a first connecting portion and a second connecting portion, the rear of the first connecting portion is connected with the sliding block, the front of the first connecting portion is connected with the back plate, the second connecting portion is sleeved on the lead screw, the second connecting portion is fixedly arranged below the nut, and the top plate is used for mounting the first motor.

6. The agricultural intelligent trolley according to claim 5, wherein the avoiding mechanism comprises a rear mounting plate and a horizontal avoiding piece arranged on the rear mounting plate, the horizontal avoiding piece comprises a vertical rotating shaft and a horizontal swinging rod rotatably connected to the vertical rotating shaft, the axial direction of the vertical rotating shaft is consistent with the height extending direction of the rear mounting plate, a connecting rod is arranged on the horizontal swinging rod, a rotary cutting knife is arranged on the connecting rod and is arranged behind the horizontal swinging rod, the rotary cutting knife comprises a rotary blade and a third motor for driving the rotary blade to rotate, the rotary blade is lower than the horizontal swinging rod, the horizontal swinging rod is an L-shaped bending piece, and a rotary cutting knife limiting cover is arranged in front of the horizontal swinging rod.

7. An agricultural intelligent trolley according to claim 6, wherein a horizontal rotating shaft for driving the horizontal avoiding member to rotate is further arranged on the rear mounting plate, the axial direction of the horizontal rotating shaft is perpendicular to the axial direction of the vertical rotating shaft, the horizontal avoiding member is located below the horizontal rotating shaft, and a vertical avoiding block is further arranged below the rotary blade.

8. The agricultural intelligent trolley of claim 1, wherein the steering mechanism comprises a motor, a motor swing rod, a spray gun swing connecting rod, a spray gun swing rod, a spray gun rotating shaft, a left spray gun steering seat and a right spray gun steering seat, one end of the motor swing rod is rotatably connected with an output shaft of the motor, the front end of the spray gun swing connecting rod is rotatably connected with the other end of the motor swing rod through a motor swing arm pin shaft, the rear end of the spray gun swing connecting rod is connected with the front end of the spray gun swing rod through a connecting rod pin shaft, the rear end of the spray gun swing rod is connected with the spray gun rotating shaft, and the left spray gun steering seat and the right spray gun steering seat are respectively sleeved at the left end and the right end of the spray gun rotating shaft.

9. The agricultural intelligent trolley of claim 8, wherein the spray gun swing link has link connection holes at both the front and rear ends, the spray gun swing link comprises a spray gun swing link body and a spray gun swing link head located at the rear end of the spray gun swing link body, the front end of the spray gun swing link body is provided with a slot for accommodating the spray gun swing link and a connection hole for passing the link pin shaft, the spray gun swing link head is provided with a rotation shaft mounting hole for passing the spray gun rotation shaft, the left spray gun steering seat and the right spray gun steering seat each comprise a spray gun steering seat body and a gun rod pressing plate, the spray gun steering seat body is provided with a rotation shaft connection hole and a gun rod mounting half-groove I, the length extension direction of the rotation shaft connection hole is perpendicular to the length extension direction of the gun rod mounting half-groove I, the lance pressing plate is provided with a lance mounting half groove II, and the lance mounting half groove I and the lance mounting half groove II are spliced to form a lance mounting groove for accommodating a lance of the left side spray gun or the right side spray gun.

10. The agricultural intelligent trolley of claim 9, wherein the pesticide spraying mechanism further comprises a spray gun upper seat, a spray gun lower seat and a spray gun upright post, the spray gun upright post is arranged between the spray gun upper seat and the spray gun lower seat, the spray gun upper seat is arranged between the left spray gun and the right spray gun, an accommodating cavity for accommodating the head of the spray gun swing rod and a spray gun upper seat connecting hole for the spray gun rotating shaft to pass through are formed in the upper portion of the spray gun upper seat, an upright post top accommodating cavity for accommodating the upper end of the spray gun upright post is formed in the bottom of the spray gun upper seat, and the spray gun lower seat comprises an upright post bottom accommodating cavity for accommodating the lower end of the spray gun upright post.

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