KR102465257B1 - Steering movement control device with adjustable spray height and direction - Google Patents

Abstract

The present invention relates to a steering movement control device with adjustable spray height and direction, comprising: a front body unit in which front wheels are coupled to both sides; a steering part coupled to the front body unit and controlling a traveling direction of the front body unit; a rear body unit positioned at the rear of the front body unit and having rear wheels coupled to both sides; a storage part coupled to the front body unit and accommodating a chemical solution; a pump part coupled to the storage part and applying pressure to move the chemical solution; a bending spraying unit connected to the pump part and adjusting the spraying direction of the chemical solution; and a control part controlling the steering part, the front wheels, the rear wheels, and the bending spraying unit.

Description

Steering movement control device with adjustable spray height and direction

The disclosed content relates to a steering movement control device in which spray height and direction are controlled.

Unless otherwise indicated herein, material described in this section is not prior art to the claims in this application, and it is not admitted that the material described in this section is prior art.

In general, crops refer to plants that dominate for the purpose of human use, and refer to food crops, craft crops, fodder crops, fertilizer crops, and horticultural crops cultivated in rice fields. Cultivation of such crops is done directly in the paddy field or using a plastic greenhouse, etc. In the normal cultivation process, the soil to be cultivated is fertilized, then the field is plowed and thick furrows are made. A relatively depressed furrow is formed, and the worker sows seeds, plants seedlings, thins out, fertilizes, and harvests crops as they grow while moving along these furrows.

However, in the case of such furrows, the width is narrow and the ground is uneven, so it is difficult for workers to move freely along the furrows, and when the above-described cultivation process is repeated in these furrows, cultivation workability and cultivation efficiency deteriorate. .

In addition, in order to protect crops from various diseases and pests and to increase yield, pesticides are sprayed on crops. . In the case of a large-scale cultivation area, the pesticide sprayer was mounted on a vehicle or cultivator, and the pesticide was sprayed using a hose-type pesticide sprayer connected to the pesticide sprayer.

However, even if a vehicle or cultivator is used in this way, there is a problem in the efficiency of pesticide spraying because the vehicle and cultivator cannot enter the narrow furrow. In addition, in the case of the conventional pesticide spraying device, there is a problem in that it is not sprayed in a spray form and does not spray over a long distance.

In general, work in a greenhouse such as a greenhouse is often solved by manpower due to the nature of the space, but due to the nature of the work, the worker may suffer health damage because the work is performed in an enclosed space. Most farms use a hand-operated sprayer. In the case of using a hand-operated sprayer, pesticides are sprayed using a small power sprayer or mister while carrying a heavy liquid container on their back. As it passes through, there is a problem that pesticide damage cannot be prevented due to the phenomenon of being inhaled into the body through the respiratory system.

In order to solve this problem, a remote spraying vehicle capable of spraying chemicals by being driven remotely is being developed. As it is remotely driven by detecting the motion of, it can be used only for loading objects, and there is a problem in that it is driven only at a distance where the motion of the operator can be detected.

In addition, in the case of a multi-purpose unmanned pest control vehicle, it is possible to simultaneously drive on running rails and open ground, and can spray chemicals and transport cultivated crops, but it is difficult to attach and detach the pesticide sprayer, and when used in places where rails do not exist There are many unnecessary configurations, and there is a problem that is inconvenient to use because the height or direction of pesticide spraying is not adjustable.

Republic of Korea Patent Registration No. 10-1460991 (Announced on November 21, 2014)

The present invention is to solve the above problems, by using a control unit to remotely control the steering unit and the front and rear wheel motors to adjust the traveling direction and forward and backward speeds of the front wheels, and to remotely control the bending spreading unit to spray the injection unit. The angle is adjusted, and the height adjustment unit is remotely controlled to adjust the spraying height of the bending spraying unit to change the direction to the desired place and spray the chemical liquid in the desired angle direction at the desired height. The spray height and direction are adjustable. It is an object of the present invention to provide a steering movement prevention device.

In addition, it is not limited to the technical problems as described above, and it is obvious that other technical problems may be derived from the following description.

According to the present invention, the steering movement control device for adjusting the injection height and direction includes a front body unit coupled to front wheels on both sides, a steering unit coupled to the front body unit and adjusting the direction of travel of the front body unit, and the front body unit. A rear body unit located at the rear of and having rear wheels coupled to both sides, a storage unit coupled to the front body unit and accommodating the chemical liquid, a pump unit coupled to the storage unit and moving the chemical liquid by applying pressure, connected to the pump unit And may include a bending spraying unit in which the direction of spraying the chemical solution is adjusted, and a control unit for controlling the steering unit, the front wheel, the rear wheel, and the bending spraying unit.

The front body unit includes a front transverse axle to which the front wheels are coupled to both sides, one side of which is coupled to the steering unit and the other side to be coupled to the rear body unit to couple the front and rear body units to each other; And further comprising a front wheel motor unit driving the front wheels forward and backward, wherein the front wheel motor unit is coupled to the left side inside the front cross axle unit to drive the left front wheel unit, and the front wheel motor unit drives the left front wheel unit, and the front side axle unit to the right side inside the front cross axle unit. and a right front wheel motor unit coupled to drive a right front wheel, wherein the control unit controls the steering unit and the front wheel motor unit to adjust the number of rotations of the front wheel according to the left and right traveling direction of the front wheel.

The rear body unit includes a rear transverse axle coupled to both sides of the rear wheels, a power unit coupled to the rear cross axle and supplying electric power, and a rear wheel motor connected to the electric power unit and driving the rear wheels. The rear wheel motor unit includes a left rear wheel motor unit coupled to a left side inside the rear cross axle unit to drive a left rear wheel, and a right rear wheel motor unit coupled to a right side inside the rear cross axle unit to drive a right rear wheel. The control unit may control the steering unit and the rear wheel motor unit to adjust the number of revolutions of the rear wheels according to the left and right traveling directions of the front wheels.

The bending spraying unit may include a spraying unit located on one side and including an elastic material, and a wire unit coupled to the spraying unit and bending the spraying unit.

The bending spreading unit may further include a bending motor unit for providing tension to the wire unit.

The steering movement control device in which the spray height and direction are adjusted according to the present invention further includes a height adjustment unit for adjusting the height of the bending spreading unit, wherein one side of the height adjustment unit is coupled to the rear body unit and the other side is It is combined with the bending spraying unit to adjust the spraying height of the chemical solution of the bending spraying unit, and may include a pneumatic cylinder or a hydraulic cylinder.

The bending spreading unit includes a left spreading part having one side coupled to the front body unit and extending to the left, and a right spreading part having one side coupled to the front body unit and extending to the right. It is located on the left height adjustment unit coupled to the other side of the left spraying unit, and located on the right side and may include a right height adjustment unit coupled to the other side of the right spraying unit.

The control unit controls the steering unit and the front wheel motors to adjust the number of rotations of the front wheels according to the left and right traveling directions of the front wheels so that the course can be changed quickly and stably. By adjusting the number of revolutions of the rear wheel according to the speed, it is possible to change the course stably and quickly.

Left and right front wheel motors and left and right rear wheel motors that drive each of the four wheels are installed to control each wheel, making it convenient and efficient to use for agricultural purposes on various uneven ground.

By controlling the bending spraying unit and adjusting the spraying angle or direction of the spraying part through a plurality of wire parts, it is possible to remotely spray the chemical liquid according to the shape of the crop, reducing the worker's fatigue and the risk of poisoning due to a large amount of pesticides. can get out of

By controlling the height adjustment unit through the control unit to adjust the spraying height of the bending spraying unit, the chemical solution can be remotely sprayed according to the height of the crop while moving.

The height adjustment unit is formed of a pneumatic cylinder or a hydraulic cylinder and has a simple structure, so replacement and repair are easy and economical due to the reduction of component parts.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of a steering movement control device in which spray height and direction are adjusted according to an embodiment of the present disclosure;
Figure 2 is a state of use of the steering movement control device steering unit in which the injection height and direction are adjusted according to an embodiment of the present disclosure.
Figure 3 is a plan view of the rear transverse axle and the rear wheel motor of the steering movement control device in which the injection height and direction are adjusted according to an embodiment of the present disclosure.
Figure 4 is a perspective view of the bending spraying unit, the left and right spraying units, and the left and right height adjusting units of the steering movement control device in which spray height and direction are adjusted according to an embodiment of the disclosed subject matter.
Figure 5 is a state of use of the steering movement control device bending control unit in which the injection height and direction are adjusted according to an embodiment of the present disclosure.
Figure 6 is a state of use of the steering movement control device height adjustment unit in which the injection height and direction are adjusted according to an embodiment of the present disclosure.

Hereinafter, with reference to the accompanying drawings, look at the configuration and operational effects of the preferred embodiment. For reference, in the drawings below, each component is omitted or schematically illustrated for convenience and clarity, and the size of each component does not reflect the actual size. In addition, like reference numerals refer to like components throughout the specification, and reference numerals for like components in individual drawings will be omitted.

Hereinafter, a steering movement control device 2000 in which spray height and direction are adjusted according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a perspective view of a steering shift control device 2000 in which spray height and direction are adjusted according to an embodiment of the disclosed subject matter, and FIG. 2 is a steering shift control device in which spray height and direction are adjusted according to an embodiment of the disclosed subject matter. 3 is a diagram showing a state of use of the steering unit 200 of the device 2000, and FIG. 3 is a rear cross axle 310 and a rear wheel motor of the steering movement control device 2000 in which spray height and direction are adjusted according to an embodiment of the present disclosure. A plan view of section 1100.

The present invention relates to a steering movement control device (2000) in which spray height and direction are adjusted, and the control unit (700) is used to remotely control the steering unit (200) and the front and rear wheel motor unit (1100) to control the front wheels (10). Adjust the forward direction and forward/backward speed, remotely control the bending spraying unit 600 through the control unit 700 to adjust the spray angle of the spraying unit 610, and adjust the height adjustment unit 1200 through the control unit 700. ) By remotely controlling the spraying height of the bending spraying unit 600, it is possible to change the direction and move to a desired place and spray the chemical liquid 30 in a desired angular direction at a desired height. The steering movement control device 2000 in which spray height and direction are adjusted according to an example of the present invention includes a front body unit 100, a steering unit 200, a rear body unit 300, a storage unit 400, a pump unit ( 500), bending spreading unit 600, control unit 700, connecting shaft unit 800, front wheel motor unit 900, power unit 1000, rear wheel motor unit 1100, and height adjustment unit 1200, etc. can include

According to the present invention, the steering movement control device 2000 in which the injection height and direction are adjusted is coupled to the front body unit 100 to which the front wheels 10 are coupled to both sides and the front body unit 100, and the front body unit 100 A steering unit 200 that controls the traveling direction of the vehicle, a rear body unit 300 located at the rear of the front body unit 100 and coupled to rear wheels 20 on both sides, coupled to the front body unit 100 and chemical solution ( 30) for accommodating the storage unit 400, a pump unit 500 coupled to the storage unit 400 and moving the chemical solution 30 by applying pressure, and a pump unit 500 that is connected to and sprays the chemical solution 30 It may include a bending spreading unit 600 whose direction is controlled and a control unit 700 that controls the steering unit 200, the front wheel 10, the rear wheel 20 and the bending spreading unit 600, and the front body unit ( 100) includes a front cross axle portion 110 to which front wheels 10 are coupled to both sides, one side is coupled to the steering unit 200 and the other side is coupled to the rear body unit 300 to form a front body unit 100 and a connecting shaft unit 800 that couples the rear body unit 300, and a front wheel motor unit 900 that drives the front wheels 10 forward and backward. ) The left front wheel motor unit 910 coupled to the inside left side to drive the left front wheel 10 and the right front wheel motor unit 920 coupled to the right side inside the front transverse axle unit 110 to drive the right front wheel 10 ), and the control unit 700 controls the steering unit 200 and the front wheel motor unit 900 to adjust the number of revolutions of the front wheels 10 according to the left and right traveling directions of the front wheels 10, and the rear body unit 300 includes a rear cross axle portion 310 to which rear wheels 20 are coupled to both sides, a power unit 1000 coupled to the rear cross axle portion 310 and supplying power, and a power unit 1000 It is connected to and further includes a rear wheel motor unit 1100 for driving the rear wheel 20, and the rear wheel motor unit 1100 is coupled to the left side inside the rear cross axle unit 310 to drive the left rear wheel 20. Attached to the right side of the left rear wheel motor unit 1110 and the rear cross axle unit 310 It includes a right rear wheel motor unit 1120 that drives the right rear wheel 20 together, and the control unit 700 controls the steering unit 200 and the rear wheel motor unit 1100 according to the left and right traveling direction of the front wheel 10. The number of revolutions of the rear wheel 20 can be adjusted.

As can be seen in the example of FIG. 1, the front body unit 100 constitutes the front frame of the steering movement control device 2000 for which the spray height and direction are adjusted, and may include the front cross axle portion 110. have.

As can be seen in the example of FIG. 1 or FIG. 2, for example, the front cross axle 110 may be coupled to the front wheels 10 on both sides in the form of a square cylinder frame. For example, the front cross axle portion 110 supports the front wheels 10 on both sides, is combined with a steering portion 200 to be described later to support the steering portion 200, and is coupled with a connecting shaft portion 800 to be described below. It may serve to tow the rear body unit 300 to be described later.

As can be seen in the example of FIG. 2 , the steering unit 200 is coupled to the front body unit 100 and can play a role of adjusting the traveling direction of the front body unit 100 .

As can be seen in the example of FIG. 1 or 2, for example, the steering unit 200 may be coupled to the central portion of the front cross axle unit 110, and the front wheels ( 10) can adjust the direction of movement of the steering movement control device 2000, the spray height and direction of which are controlled by adjusting the left and right rotation angles.

As can be seen in the example of FIG. 1 or 2, the connecting shaft portion 800 has one side coupled to the steering unit 200 and the other side coupled to the rear body unit 300 to be described later, and the front body unit 100 ) and the rear body unit 300.

As can be seen in the example of FIG. 1 or 2, the front wheel motor unit 900 serves to drive the front wheels 10 forward and backward, and may be disposed inside the front cross axle unit 110, and the left front wheel A motor unit 910 and a right front wheel motor unit 920 may be included.

The left front wheel motor unit 910 is coupled to the left side of the inside of the front cross axle unit 110, and can drive the left front wheel 10, and the right front wheel motor unit 920 is inside the front cross axle unit 110. By coupling to the right side of , the right front wheel 10 can be driven.

As can be seen in the example of FIG. 3 , the rear body unit 300 is positioned at the rear of the front body unit 100 to form a skeleton of the rear, and may include a rear cross axle portion 310 .

As can be seen in the example of FIG. 3, for example, the rear cross axle portion 310 is coupled to the rear wheels 20 on both sides in the form of a square cylinder frame, supporting the rear wheels 20 on both sides and connecting the shaft portion 800 ) and can be connected to the front body unit 100. For example, the rear body unit 300 may be provided with a loading frame to load and transport necessary items.

The power unit 1000 is coupled to the rear cross axle unit 310 to supply power, and can supply power to the front wheel 10 and the rear wheel motor unit 1100, the bending motor unit 630 to be described later, and the like. As can be seen in the example of FIG. 2 , as an example, the power unit 1000 may be coupled to the rear cross axle unit 310 .

As can be seen in the example of FIG. 3, the rear wheel motor unit 1100 serves to drive the rear wheel 20 forward and backward, and may be disposed inside the rear cross axle unit 310, and the left rear wheel motor unit ( 1110) and a right rear wheel motor unit 1120.

The left rear wheel motor unit 1110 is coupled to the left side inside the rear cross axle unit 310, and can drive the left rear wheel 20, and the right rear wheel motor unit 1120 is inside the rear cross axle unit 310. By coupling to the right side of , the right rear wheel 20 can be driven.

The control unit 700 controls the steering unit 200, the front wheel motor unit 900, the rear wheel motor unit 1100, the bending spreading unit 600 described later, and the height adjustment unit 1200, and the steering unit 200 ) to control the left and right rotation angles of the front wheels 10 and control the front wheel motor unit 900 and the rear wheel motor unit 1100 to control the rotational speed of the front wheel 10 and the rear wheel 20. have. As can be seen in the example of FIG. 2 , for example, the control unit 700 may be disposed in the rear body unit 300 and may be remotely controlled using wireless communication, including the transceiver 710 .

For example, the control unit 700 controls the steering unit 200 and the front wheel motor unit 900 to adjust the number of revolutions of the front wheels 10 according to the left and right traveling directions of the front wheels 10 so that the course can be changed stably and quickly. can be made In addition, the control unit 700 controls the steering unit 200 and the rear wheel motor unit 1100 to adjust the number of revolutions of the rear wheels 20 according to the left and right traveling directions of the front wheels 10 so that the course can be changed stably and quickly. can do.

4 is a bending spraying unit 600, left and right spraying units 650 and 660, and left and right height adjusting units 1210 of a steering movement control device 2000 in which spray height and direction are adjusted according to an embodiment of the disclosed subject matter. 1220) is a perspective view, and FIG. 5 is a view showing a state of use of the bending spraying unit 600 of the steering movement control device 2000 in which spray height and direction are adjusted according to an embodiment of the disclosed content, and FIG. 6 is an embodiment of the disclosed content. It is a state of use of the height adjustment unit 1200 of the steering movement control device 2000 in which the injection height and direction are adjusted according to the example.

The bending spraying unit 600 is located on one side and includes a spraying unit 610 including an elastic material, a wire unit 620 coupled to the spraying unit 610 and bending the spraying unit 610 by pulling, and a wire unit ( 620) may include a bending motor unit 630 that provides tension, and the steering movement control device 2000 in which spray height and direction are adjusted is a height adjustment unit 1200 that adjusts the height of the bending spraying unit 600. ), and the height adjustment unit 1200 has one side coupled with the rear body unit 300 and the other side coupled with the bending spraying unit 600 to adjust the spraying height of the chemical solution 30 of the bending spraying unit 600. adjustable, and may include a pneumatic cylinder or a hydraulic cylinder, and the bending spraying unit 600 has a left spraying unit 650, one side of which is coupled to the front body unit 100 and extends to the left, and one side of the front body unit (100) and includes a right spraying unit 660 extending to the right, and the height adjustment unit 1200 is located on the left side and is coupled to the other side of the left spraying unit 650. The left height adjusting unit 1210 , And it is located on the right side and may include a right height adjustment unit 1220 coupled to the other side of the right spraying unit 660.

As can be seen in the example of FIG. 1 , the storage unit 400 serves to store the liquid medicine 30 and may be coupled to the front body unit 100 .

As can be seen in the example of FIG. 1 or FIG. 4, the pump unit 500 is coupled to the storage unit 400 and applies pressure to move the chemical liquid 30 to the bending spraying unit 600. .

The bending spraying unit 600 is connected to the pump unit 500 to control the spraying direction of the chemical solution 30 and serves to spray, and is combined with the height adjustment unit 1200 to be described later to spray the chemical solution 30 The height can be adjusted, and may include a spraying unit 610, a wire unit 620, a bending motor unit 630, a left spraying unit 650, and a right spraying unit 660.

For example, as can be seen in the example of FIG. 5, the injection unit 610 is located on one side of the bending spraying unit 600 and serves to spray the chemical solution 30, including an elastic material and a wire to be described later. It is bent by the pulling of the part 620 to adjust the spraying direction of the chemical solution 30 .

The wire part 620 is coupled to the spraying part 610 and can serve to bend the spraying part 610 by pulling the spraying part 610, and includes the first and second wire parts 621 and 622 and the like. can do. For example, when the wire unit 620 is relaxed, the injection unit 610 has elasticity and can be restored to its original position.

The first wire part 621 is coupled to one side of the spraying part 610, and the second wire part 622 is coupled to the other side of the spraying part 610, and the first wire part 621 and the second The wire unit 622 is coupled to form a predetermined angle with respect to the center of the spray unit 610 in the form of a hose, so that the spray unit 610 can be buckled at several bending angles and bending directions.

The bending motor unit 630 provides tension to the wire unit 620 and may serve to pull the wire unit 620 . For example, the bending motor unit 630 may be remotely controlled through the control unit 700 .

The height adjusting unit 1200 is combined with the bending spraying unit 600 to adjust the height of the spraying part 610 of the bending spraying unit 600 to control the spray height of the chemical solution 30, and the left height adjusting unit 1210 and a right height adjusting unit 1220 may be included.

As can be seen in the example of FIG. 1 or FIG. 4, for example, the height adjustment unit 1200 has one side coupled to the rear body unit 300 and the other side coupled to the bending spreading unit 600 to form a bending spreading unit 600. ) The spray height of the chemical solution 30 can be adjusted.

For example, the height adjustment unit 1200 may be formed of a pair of pneumatic cylinders or hydraulic cylinders. For example, a head portion of the pneumatic cylinder may be attached to the bending spreading unit 600, and a rod portion of the pneumatic cylinder may be coupled to the rear body unit 300.

In addition, the height adjustment unit 1200 may control the operation of the height adjustment unit 1200 through the control unit 700 to adjust the height of the bending spreading unit 600 according to whether or not it is stretched.

As can be seen in the example of FIG. 4 , as an example, the left spraying unit 650 may have one side coupled to the front body unit 100 and extending to the left to have the spraying unit 610 at the other end. One side of the right spray unit 660 is coupled to the front body unit 100 and extends to the right side, so that the spray unit 610 may be provided at the other end.

The left height adjusting unit 1210 has one side coupled to the rear body unit 300 and the other side coupled to the left spreading unit 650, and is located on the left side to adjust the spraying height of the left spreading unit 650. The right height adjustment unit 1220 has one side coupled to the rear body unit 300 and the other side coupled to the rain spraying unit 660, and is located on the right side to adjust the spraying height of the rain spraying unit 660.

For example, when the user remotely manipulates the left height adjusting unit 1210, the linear reciprocating motion of the piston existing inside the left pneumatic cylinder is generated through the control unit 700, and the rod of the left pneumatic cylinder is elongated. As the left height adjusting unit 1210 is extended, the height of the left spreading unit 650 rises. Conversely, when the user remotely manipulates the right height adjusting unit 1220, the reciprocating linear motion of the piston existing inside the right pneumatic cylinder is generated through the control unit 700, and the rod of the right pneumatic cylinder is stretched to increase the right height. As the control unit 1220 is extended, the height of the rain spray unit 660 rises.

The present invention relates to a steering shift control device (2000) in which spray height and direction are adjusted, and controls the steering unit (200) through a control unit (700) to remotely adjust the left and right movement angles of the front wheels (10), bending By controlling the spraying unit 600, the spraying direction of the spraying unit 610 is adjusted to various angles, and by controlling the height adjustment unit 1200, the spraying height of the bending spraying unit 600 can be remotely adjusted, and It relates to a steering movement control device (2000) in which direction is controlled.

The control unit 700 controls the steering unit 200 and the front wheel motor unit 900 to adjust the number of rotations of the front wheels 10 according to the left and right traveling directions of the front wheels 10 so that the course can be changed stably and quickly. In addition, by controlling the steering unit 200 and the rear wheel motor unit 1100, the number of revolutions of the rear wheel 20 can be adjusted according to the left and right traveling direction of the front wheel 10 so that the course can be changed stably and quickly. Left and right front wheel motor units (910, 920) and left and right rear wheel motor units (1110, 1120) that drive each of the four wheels are installed to control each wheel, making it convenient and efficient to use for agricultural purposes on various uneven ground. to be. By controlling the bending spraying unit 600 to move by adjusting the spraying angle or direction of the spraying unit 610 through the plurality of wire units 620, the chemical solution 30 can be remotely sprayed according to the shape of the crop, Workers' fatigue is reduced and they can escape from the risk of poisoning due to large amounts of pesticides. By controlling the height adjustment unit 1200 through the control unit 700 to adjust the spraying height of the bending spraying unit 600, it is possible to remotely spray the chemical solution 30 according to the height of the crop while moving. The height adjustment unit 1200 is formed of a pneumatic cylinder or a hydraulic cylinder and has a simple structure, so replacement and repair are easy and economical due to the reduction of component parts.

Although the preferred embodiments of the present invention have been described with reference to the accompanying drawings, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and represent all the technical ideas of the present invention. Since it is not, it should be understood that there may be various equivalents and modifications that can replace them at the time of this application. Therefore, the embodiments described above should be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the claims to be described later rather than the detailed description, and the meaning and scope of the claims and their All changes or modified forms derived from equivalent concepts should be construed as being included in the scope of the present invention.

10: front wheel
20: rear wheel
30: chemical solution
100: front body unit
110: front transverse axle
200: steering unit
300: rear body unit
310: rear transverse axle
400: storage unit
500: pump unit
600: bending spraying unit
610: injection unit
620: wire part
630: bending motor part
650: left spraying unit
660: right spray part
700: control unit
710: transceiver
800: connecting shaft
900: front wheel motor
910: left front wheel motor unit
920: right front wheel motor
1000: power unit
1100: rear wheel motor
1110: left rear wheel motor
1120: right rear wheel motor
1200: height adjustment unit
1210: left height adjustment unit
1220: right height adjustment unit
2000: Steering movement control device with adjustable spray height and direction

Claims (7)

A front body unit in which front wheels are coupled to both sides;
a steering unit coupled to the front body unit and controlling a traveling direction of the front body unit;
a rear body unit positioned behind the front body unit and having rear wheels coupled to both sides;
a storage unit coupled to the front body unit and accommodating a liquid medicine;
a pump unit coupled to the storage unit and applying pressure to move the chemical solution;
a bending spraying unit that is connected to the pump and adjusts the spraying direction of the chemical solution;
a height adjusting unit having one side coupled to the rear body unit and the other side coupled to the bending spreading unit to adjust the spraying height of the bending spreading unit and including a pneumatic cylinder or a hydraulic cylinder; and
A controller for controlling the steering unit, the front wheel, the rear wheel, the bending spreading unit, and the height adjustment unit; includes,
The bending spraying unit,
A spraying unit located on one side and including an elastic material;
a wire unit coupled to the injection unit and bending the injection unit by pulling;
a bending motor unit providing tension to the wire unit;
a left spreading unit having one side coupled to the front body unit and extending to the left; and
Including; right scattering part, one side of which is coupled to the front body unit and extends to the right,
The control unit controls the left spraying unit coupled with the left spraying unit and the right spraying unit coupled with the right spraying unit to separately spray the chemical solution to both sides,
The wire part,
A first wire unit coupled to one side of the injection unit; and
A second wire part coupled to the other side of the injection part; includes,
The first and second wire parts are coupled to form a predetermined angle at the center of the hose-shaped injection part to buckle the injection part in a plurality of bending angles and bending directions,
The height adjustment unit,
Located on the left side and coupled to the other side of the left spraying unit left height adjustment unit; and
It includes; a right height adjustment unit located on the right side and coupled to the other side of the right spraying unit;
The control unit controls the left height adjusting unit and the right height adjusting unit, respectively, so that the liquid medicine can be sprayed at different heights,
The control unit is a steering movement control device in which a remotely adjustable spray height and direction are adjusted, including a transceiver. The method of claim 1,
The front body unit includes a front transverse axle portion to which the front wheels are coupled to both sides,
a connecting shaft having one side coupled to the steering unit and the other side coupled to the rear body unit to couple the front and rear body units; and
Further comprising a front wheel motor unit for driving the front wheel forward and backward,
The front wheel motor unit,
a left front wheel motor unit coupled to a left side inside the front cross axle unit to drive a left front wheel; and
A right front wheel motor unit coupled to the right side of the front cross axle unit to drive the right front wheel; includes,
The control unit controls the steering unit and the front wheel motor unit to adjust the spray height and direction for adjusting the number of rotations of the front wheels according to the left and right traveling directions of the front wheels. The method of claim 1,
The rear body unit includes a rear transverse axle portion to which the rear wheels are coupled to both sides,
a power unit coupled to the rear cross axle unit and supplying power; and
Further comprising: a rear wheel motor unit connected to the power unit and driving the rear wheels;
The rear wheel motor unit,
a left rear wheel motor unit coupled to a left side inside the rear cross axle unit to drive a left rear wheel; and
A right rear wheel motor unit coupled to the right side inside the rear cross axle unit to drive the right rear wheel; includes,
The control unit controls the steering unit and the rear wheel motor unit to adjust the spray height and direction of the rotation speed of the rear wheel according to the left and right traveling directions of the front wheel. delete delete delete delete

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