CN219812992U - Automatic medicine spraying machine suitable for low trellis type grape - Google Patents
Automatic medicine spraying machine suitable for low trellis type grape Download PDFInfo
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- CN219812992U CN219812992U CN202320506788.8U CN202320506788U CN219812992U CN 219812992 U CN219812992 U CN 219812992U CN 202320506788 U CN202320506788 U CN 202320506788U CN 219812992 U CN219812992 U CN 219812992U
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- 239000003814 drug Substances 0.000 title claims abstract description 34
- 238000005507 spraying Methods 0.000 title claims abstract description 29
- 235000009754 Vitis X bourquina Nutrition 0.000 title abstract description 18
- 235000012333 Vitis X labruscana Nutrition 0.000 title abstract description 18
- 235000014787 Vitis vinifera Nutrition 0.000 title abstract description 18
- 240000006365 Vitis vinifera Species 0.000 title 1
- 239000007921 spray Substances 0.000 claims abstract description 43
- 239000000575 pesticide Substances 0.000 claims abstract description 23
- 239000007788 liquid Substances 0.000 claims abstract description 20
- 241000219094 Vitaceae Species 0.000 claims abstract description 14
- 235000021021 grapes Nutrition 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims abstract description 9
- 241000219095 Vitis Species 0.000 abstract description 17
- 230000033001 locomotion Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004383 yellowing Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Catching Or Destruction (AREA)
Abstract
The utility model discloses an automatic medicine spraying machine suitable for low trellis type grapes, which mainly comprises a traveling device, an automatic navigation device and a medicine spraying implementation device. The walking device is a crawler-type mobile chassis; the automatic navigation device mainly comprises a laser scanner, a displacement sensor, a speed sensor and a controller and is mainly used for implementing an automatic navigation walking route; the pesticide spraying implementation device mainly comprises a pesticide box, a liquid pump, a lifting platform, a rotating platform, a connecting frame and a spray rod arranged at the upper part of the connecting frame, wherein the connecting frames at the left side and the right side are connected with the spray rod and can be lifted up and down integrally, so that the pesticide spraying implementation device is suitable for different grape trellis heights; the left connecting frame and the right connecting frame are connected with the spray bars and are respectively arranged on the rotary platform, so that the horizontal plane can be rotated and unfolded to reach any angle, and the horizontal plane is suitable for different grape row spacing. The device can improve the medicine spraying efficiency, liberate labor force and fundamentally solve the medicine spraying difficulty of the low-trellis type grape.
Description
Technical Field
The utility model relates to the field of plant protection machinery, in particular to an automatic pesticide spraying machine suitable for low trellis type grapes.
Background
Tulugua is in dominant position in the development of grape industry in China, and is a gold zone for developing the grape industry nationally and worldwide, but the growth of grapes is easily inhibited by pests, and the grapes need to be sprayed with medicines. When the plant protection spraying operation is carried out on the grape, the back, the front and the branches of the leaf blade are required to be uniformly sprayed, and the fog drop adhesiveness is required to be good, so that the liquid medicine covers plants and leaf surfaces as much as possible. Because strong wind is generated in the Turpan spring and the sunshine is too strong in summer, the yield and quality of the grapes are seriously affected in order to improve the wind resistance and avoid the grapes from being burnt and yellowing by sunlight, and the grape is basically planted in a traditional low-low shed frame mode since the Turpan spring. There are two existing ways of spraying the grape with the medicine: one is that the manual back sprayer applies medicine, and the other is that the machine carries the sprayer and applies medicine, and this machine carries the sprayer size great, is not suitable for with the low rack vineyard of twise by planting mode restriction, and pesticide fog drops from the top down, and the grape of rack bottom generally can not spout medicine. At present, the spraying of the medicine or the manual operation in the grape trellis is mainly carried out, the labor intensity is high, the operation efficiency is low, the spraying is uneven, and the operation danger degree is high.
Therefore, the automatic medicine spraying machine which can comprehensively spray the bottoms of the grape leaves and the vines in the grape trellis and is suitable for the tall and low trellis type grapes with high efficiency is researched and has practical requirements and important significance.
Disclosure of Invention
In view of the above, the utility model provides an automatic pesticide sprayer which can comprehensively spray the bottoms of grape leaves and vines in a grape trellis, is unmanned and has high efficiency and is suitable for low trellis type grapes.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
an automatic chemical spraying machine suitable for low trellis type grapes, comprising:
the crawler-type walking chassis is provided with an automatic navigation device, the automatic navigation device mainly comprises a laser scanner, a displacement sensor, a speed sensor and a controller, and is characterized in that the displacement sensor, the speed sensor and the laser scanner are installed at the front end of a vehicle body chassis through bolt connection by using a supporting frame and are communicated with the controller through a serial port, and the controller is connected on the walking chassis through bolts and is connected with a crawler driving system.
Carry on the walking chassis and spout medicine device, spout medicine device mainly by pesticide case, liquid pump, the main line that is connected with the liquid pump, three way connection, pesticide hose, armature frame, rotary platform, spout medicine pole and nozzle and constitute its characterized in that:
the liquid medicine box is fixedly arranged on the chassis, the top of the liquid medicine box is provided with a feed inlet, the lower part of the side face is provided with a discharge outlet and is communicated with the liquid pump through a conduit, and the conduit is provided with a valve;
the liquid pump is fixedly arranged on the chassis through bolts, the water inlet is communicated with the liquid medicine tank through a conduit, the water outlet is connected with a pesticide hose, and liquid medicine is conveyed;
the folding lifting platform is fixedly arranged on the chassis through bolts and is provided with a first motor for driving, the first motor is fixed with the folding lifting platform through a motor bracket, and the motor is started through a switch to drive a screw rod to rotate, so that the folding supporting legs are contracted and stretched, and the whole up-and-down movement is realized;
the two rotary platforms are respectively fixedly arranged on an upper bottom plate of the lifting platform through bolts, the two rotary platforms are respectively provided with a second motor and a third motor for driving, the second motor and the third motor are respectively fixed with the first rotary platform and the second rotary platform through motor supports, and the internal gear of the rotary platform is driven to rotate through a switch starting motor, so that the rotary platform realizes rotary motion in a horizontal plane;
the two connecting frames are respectively and fixedly arranged on the rotating platform through calipers in the first rotating platform and the second rotating platform; the first connecting frame vertical rod and the second connecting frame vertical rod are hollow, and the inner space is used for a pesticide hose to pass through;
the pesticide hose is divided into two branches through a three-way joint, and the branches respectively penetrate through the middle of the vertical rods of the left and right holding frames to be communicated with the pesticide spraying rod;
the two spray bars are a first spray bar and a second spray bar, and are fixedly arranged on the two connecting frame cross bars respectively through a front end buckle and a rear end buckle of the first spray bar and a front end buckle and a rear end buckle of the second spray bar, and the two spray bars are communicated with the pesticide hose;
the spray nozzles are arranged in a plurality, are uniformly distributed along the height direction of the medicine spraying pipe, face vertically upwards and are positioned at one side of the medicine spraying pipe far away from the medicine box;
the system power supply is a power source and is arranged in the mobile chassis, and all subsystems are powered through wires.
Compared with the prior art, the utility model discloses a pesticide spraying machine suitable for low trellis type grapes, which has the beneficial effects that:
(1) The chemical spraying machine has small structural size and can enter the grape trellis for operation;
(2) The automatic navigation system device can automatically walk, unmanned operation is realized, and labor force is liberated;
(3) The folding lifting platform can be used for spraying medicines to vineyards with different height sheds, and the rotating platform can be used for opening and closing the two medicine spraying rods at different angles, so that the folding lifting platform can be suitable for spraying operations to vineyards with different row spacing;
(4) The spray rod is provided with a plurality of spray nozzles, so that the spray range is enlarged, and the spray efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a chemical spraying machine according to the present utility model;
fig. 2 is a schematic structural view of the spray rod of the spray machine provided by the utility model after being opened.
Wherein, in the drawing,
1-a crawler-type mobile chassis; 1.1-a power supply; 2-a vehicle chassis; 3-supporting frames; a 4-displacement sensor; 5-a speed sensor; 6-a laser scanner; 7-a controller; 8-folding a lifting platform; 8.1-a first motor; 8.2-screw rod; 8.3-folding the legs; 8.4-folding the upper base plate of the platform; 9.1-a first rotary stage; 9.2-a second rotary stage; 9.1.1-a second motor; 9.2.1-a third motor; 10.1.1-first boom front end catch; 10.1.2-the back end of the first spray rod is buckled; 10.2.1-the front end buckle of the second spray rod; 10.2.2-second boom rear end catch; 11-nozzles; 12.1-a first spray bar; 12.2-a second spray bar; 13.1-a first rack; 13.2-a second rack; 13.1.1-first rack rail; 13.2.1-a second rack rail; 13.1.2-first rack mount bar; 13.2.2-second connecting frame vertical rods; 14-a liquid medicine tank; 15-a liquid pump; 16-three-way joint; 17-pesticide hose.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.
The crawler-type walking chassis 1 is provided with a displacement sensor 4, a speed sensor 5 and a laser scanner 6 which are arranged on the crawler-type walking chassis 1, are arranged on the vehicle body chassis 2 through a supporting frame 3 and are connected and communicated with a controller 7;
the controller 7 receives data collected by the displacement sensor 4, the speed sensor 5 and the laser scanner 6, determines the position information on two sides of the grape trellis and the walking speed of the whole machine, operates a navigation control algorithm, generates a navigation center line, obtains proper steering control quantity, controls the left driving wheel and the right driving wheel of the crawler driving mechanism, and accordingly steering, accelerating and decelerating control is carried out on the walking device, and automatic navigation walking is achieved.
The liquid medicine tank 14 is fixedly arranged on the chassis 2, a feed inlet is formed in the top of the liquid medicine tank 14, a discharge hole is formed in the lower portion of the side face and communicated with the liquid pump 15 through a conduit, and a valve is arranged on the conduit;
the liquid pump 15 is fixedly arranged on the chassis 2 through bolts, the water inlet is communicated with the liquid medicine tank 14 through a conduit, and the water outlet is connected with the pesticide hose 17 for conveying liquid medicine.
The folding lifting platform 8, folding lifting platform 8 is provided with first motor 8.1 through bolt fixed mounting on chassis 2, folding lifting platform 8 is provided with and drives, first motor 8.1 is fixed with folding lifting platform 8 through the motor support, with lead screw 8.2 fixed connection, drives lead screw 8.2 corotation or reversal through the switch start, thereby makes folding landing leg 8.3 shrink or stretch and realizes whole reciprocates.
The first rotary platform 9.1 is fixedly arranged on the upper bottom plate 8.4 of the lifting platform through bolts, the first rotary platform 9.1 is provided with a second motor 9.1.1, the second motor 9.1.1 is fixed with the first rotary platform 9.1 through a motor bracket, and the second motor is started through a switch to drive the internal gear of the rotary platform to rotate, so that the first rotary platform 9.1 realizes the rotary motion in the horizontal plane;
the second rotary platform 9.2 is fixedly arranged on the upper bottom plate 8.4 of the lifting platform through bolts, the second rotary platform 9.2 is provided with a third motor 9.2.1, the third motor 9.2.1 is fixed with the second rotary platform 9.2 through a motor bracket, and the third motor is started through a switch to drive the internal gear of the rotary platform to rotate, so that the second rotary platform 9.2 realizes the rotary motion in the horizontal plane.
The first connecting frame 13.1, the first connecting frame 13.1 is fixedly arranged on the first rotating platform 9.1 through calipers in the first rotating platform 9.1, the first connecting frame can rotate in the horizontal plane through the first rotating platform 9.1, a vertical rod 13.1.2 part of the first connecting frame is hollow, and an inner space is used for a pesticide hose 17 to pass through;
the second connecting frame 13.2, the second connecting frame 13.2 is fixedly arranged on the second rotating platform 9.2 through calipers in the second rotating platform 9.2, the second rotating platform 9.2 can realize the rotation in the horizontal plane, the part of the second connecting frame vertical rod 13.2.2 is hollow, and the inner space is used for the pesticide hose 17 to pass through.
The pesticide hose 17, the pesticide hose 17 is divided into two branches through the three-way joint 16 and respectively passes through the first connecting frame vertical rod 13.1.2 and the second connecting frame vertical rod 13.2.2 to be communicated with the first spray rod 12.1 and the second spray rod 12.2.
The first spray rod 12.1 is fixedly arranged on the first connecting frame cross rod 13.1.1 through a first spray rod front end clamp 10.1.1 and a first spray rod rear end clamp 10.1.2 and is communicated with the pesticide hose 17;
the second spray rod 12.2 is fixedly arranged on the second connecting frame cross rod 13.2.1 through the second spray rod front end clamping buckle 10.2.1 and the second spray rod rear end clamping buckle 10.2.2 and is communicated with the pesticide hose 17.
The spray nozzles 11, the spray nozzles 11 are provided with a plurality of spray nozzles, and are uniformly distributed along the height direction of the spray boom, and the spray nozzles 11 are vertically upwards oriented and are positioned on one side of the spray pipe away from the medicine chest.
The power supply 1.1, the power supply 1.1 is a power source and is arranged in the crawler-type mobile chassis 1, and all subsystems are powered through wires.
In this specification, various embodiments are described in a progressive manner, and identical and similar parts between the various embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An automatic medicine spraying machine suitable for low trellis type grapes comprises a travelling device and is characterized in that an automatic navigation device is arranged on a crawler-type movable chassis (1), and the automatic navigation device mainly comprises a displacement sensor (4), a speed sensor (5), a laser scanner (6) and a controller (7); one end of the laser scanner (6) is connected with the power supply (1.1), the other end of the laser scanner is connected with the controller (7), the stay wire displacement sensor (4) and the speed sensor (5) are connected with the controller (7), the controller (7) is connected with the power supply (1.1), and the controller (7) is connected with the laser scanner (6), the displacement sensor (4) and the speed sensor (5).
2. An automatic spraying machine for low trellis type grapes according to claim 1, wherein: the device comprises a liquid medicine box (14), a liquid pump (15), a folding lifting platform (8), a three-way joint (16), a pesticide hose (17), a first connecting frame (13.1), a second connecting frame (13.2), a first rotary platform (9.1), a second rotary platform (9.2), a first spray rod (12.1), a second spray rod (12.2) and a plurality of spray nozzles (11); the first spray boom (12.1) and the second spray boom (12.2) are fixedly arranged on the first connecting frame cross rod (13.1.1) and the second connecting frame cross rod (13.2.1), and the whole body is driven to lift by the folding lifting platform (8).
3. An automatic spraying machine for low trellis type grapes according to claim 2, wherein: the first connecting frame (13.1) and the second connecting frame (13.2) rotate by any angle in the horizontal plane through the first rotating platform (9.1) and the second rotating platform (9.2) which are respectively assembled.
4. An automatic spraying machine for low trellis type grapes according to claim 2, wherein: and a plurality of nozzles (11) are uniformly distributed on the upper parts of the first spray boom (12.1) and the second spray boom (12.2) to perform spraying operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320506788.8U CN219812992U (en) | 2023-03-16 | 2023-03-16 | Automatic medicine spraying machine suitable for low trellis type grape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320506788.8U CN219812992U (en) | 2023-03-16 | 2023-03-16 | Automatic medicine spraying machine suitable for low trellis type grape |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219812992U true CN219812992U (en) | 2023-10-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320506788.8U Active CN219812992U (en) | 2023-03-16 | 2023-03-16 | Automatic medicine spraying machine suitable for low trellis type grape |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219812992U (en) |
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2023
- 2023-03-16 CN CN202320506788.8U patent/CN219812992U/en active Active
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