KR20150144007A

KR20150144007A - drive automatic pest control machine: Module Type

Info

Publication number: KR20150144007A
Application number: KR1020140072563A
Authority: KR
Inventors: 김형주
Original assignee: 김형주
Priority date: 2014-06-16
Filing date: 2014-06-16
Publication date: 2015-12-24

Abstract

The present invention relates to an automatically driving pest controller module type and, more specifically, to an automatically driving 301 device, regarding a remote and automatic pest controller (301 device) for spraying a nutrient solution while automatically moving the device and rotating a nozzle, which comprises: a lower side driving unit for changing the direction and moving forward and backward by controlling the motor; an entire control unit of the device including a remote control system such as signal transmission for determining an automatic using signal of a direction sensor and a tension sensor, a driving control system for controlling the direction, a spray control system, and a sensor control system; a direction sensor unit (drawing 5) for detecting the direction of pulling a hose; a tension sensor unit (drawing 5) for detecting the force of pulling the hose; and a nozzle unit.

Description

Drive type automatic pest control machine (Module Type)

More specifically, the present invention relates to an agricultural automatic pesticide, and more particularly, to a pesticide, a liquid fertilizer, or an irrigation water for two or more persons in an orchard or a field, The present invention relates to an agricultural automatic processor module type for solving the problems of inhalation of air generated when direct spraying of agricultural chemicals.

In recent years, with the development of agricultural technology, it is possible to easily provide the whole plantation area by sprinkler without any extra effort to give water to places such as facility crops. However, due to the problem of high installation cost, Is working directly by the user to give water, spray the pesticide and give liquid fertilizer.

In this case, in order to give water to the dryer in particular, one end of the hose is connected to the general water or other water source, and the other end is moved and water is moved.

In this case, when the hose is twisted or moved, the crop is often hurt by the hose during the operation. When one person moves while holding the end of the hose by giving water, another person holds the hose appropriately in the path of the hose It can be loosened or changed, preventing crops from being hurt and hoses being twisted.

In recent years, a travel type sprayer having a small tank for storing an automatic control hosiery, an agricultural chemical, and other spray liquid that automatically winds or loosens a hose has been developed and used, but a travel type sprayer having a large tank has been developed and used, The running type sprayer can work while moving, but relatively narrow passage, sloping or uneven field is difficult to work, and because of the small amount of tank capacity, the working range is limited and the running type sprayer with large tank Has a disadvantage that it is limited to use alone because it can not work because it can move directly between the ridge and the ridge though the working range is larger than a small size.

In addition, the automatic control hosiery is automatically operated to wind or unwind, but there is a problem that additional manpower is consumed in order to prevent twisting of the hose or damage of the crop.

In order to work all at once without supplementing water, fertilizer, pesticide, nutrient solution to the crop due to the nature of the field or orchard, connect the pump and the hose by dragging the hose to the truck, However, in order to do so, it is necessary to break the angle of 90 degrees of the field usually when moving between the ridges, and it is necessary to repeat the work of loosening and winding.

One of the problems of spraying using a hose is that when the hose is directly sprayed and sprayed, the pesticide circulating in the air is often sucked in, which has a bad influence on the human body. As an alternative to solve this problem, there is a cabin type SS machine, but the size is so large that it can be used only in some large cultivation areas such as a wide orchard and it is very expensive and difficult to purchase.

The present invention has been developed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a hose control apparatus and a hose control apparatus, which are capable of solving hose loosening and unwinding operations, It is possible to prevent the twisting of the hose and to control the robot by radio, thereby reducing the cases of inhalation when spraying the pesticide, thereby developing a safer radio traveling type automatic controller module type.

In order to achieve the above object, the present invention is configured such that a plurality of independent devices are connected and operated as follows.

The left driving gear motor 395 including the speed reducer in the lower frame 377 is connected to the traveling motor bracket 381 via the battery 375 as the power source and the traveling wheels 393 are coupled to the two left traveling wheel axles 392, The right driving gear motor 385 including the speed reducer in the lower frame 377 is connected to the traveling motor bracket 390 through the right and left traveling wheel shafts 386, A nozzle unit 311 having nozzles 311 and sensors 326 and 320 for controlling the motions of the motors 325 and 315 for reciprocating the nozzles in the driving operation region, A hose fixing portion 359 for mounting the hose, a tension sensor portion for sensing the tension of the hose, a sensor portion 372 for sensing the hose in the left and right direction, a wireless remote control receiving portion 394 and a wireless remote control transmitting portion 602 There are remote automatic fire extinguishers (301 devices);

A hose aligning device that functions to constantly wind the hose and a hose reel for revolving hose and hose reel, a take-off device to take out the hose, A hose loosening device having a weight sensor portion, an automatic pinching device (201 device) composed of a take-out device, a control portion and a remote control receiving portion;

There is a non-powered up and down device (401 appliance) that can be used on trucks and similar mobile equipment to carry a remote automatic fire extinguisher (301 appliance) and travel a short distance.

In order to load a frame structure and a remote automatic controller (301 machine) which can be installed in a body, a truck and similar moving equipment, a remote automatic controller (301 machine) is installed on a sloping upper and lower plates And the slope frame is structured such that the bottom surface of the slope frame is kept flat and can move like a seesaw.

The hose is connected to the remote automatic sprayer (301 machine) and sprayed or sprayed through the nozzle. The automatic machine (201 machine) serves to release and roll the hose. In order to move from one ridge to another ridge, such as a truck or a fruit garden, a remote automatic sprayer (301 appliance) is used as a non-powered appliance (401 appliance) The remote automatic sprayer (301 appliance) and the truck move in a straight line motion, respectively. Most of the operations are controlled by wireless remote control.

For the sake of understanding the document, 'Automatic device' is indicated as '201 device', 'Remote automatic sprayer' is indicated as '301 device', and 'Non-powered device' is indicated as '401 device'.

As described above, according to the present invention, the control worker moves between the crop and the crop between the irrigation and the weir using the sprayer without using any additional personnel, and automatically repeats the unwinding and winding operation of the hose during the control work, Prevention of labor, reduction of working time, reduction of twisting of hose, reduction of risk of inhalation of pesticide, etc., so that the work is convenient and the need for additional manpower is eliminated.

Fig. 1 is a perspective view of a 301 device of the present invention
Fig. 2 is an exploded perspective view of the 301 appliance of the present invention
3 is a perspective view of a nozzle unit 301 of the present invention.
Fig. 4 is an exploded perspective view of the nozzle unit of the 301 appliance of the present invention
Fig. 5 is a perspective view of a moving sensor unit of the 301 device of the present invention
FIG. 6 is an exploded perspective view of the traveling sensor unit of the 301 appliance of the present invention
7 is a perspective view of the device 201 of the present invention.
8 is an exploded perspective view of the headset of the 201 device of the present invention
9 is a perspective view of a headset of the 201 device of the present invention
10 is an exploded perspective view of the 201 appliance of the present invention
11 is an exploded perspective view of a tension sensor of the 201 instrument of the present invention
12 is a perspective view of the remote controller of the present invention
FIG. 13 is a perspective view (stationary nozzle)
14 is a perspective view of the 401 device of the present invention
15 is a perspective view of the 402 apparatus of the present invention
16 is a view showing an assembly example of a 403 device bracket according to the present invention
Fig. 17 is a diagram showing an assembly example of the 403 apparatus of the present invention
Fig. 18 is a view showing an example of the 402
Fig. 19 is a schematic diagram of the 402 device according to the present invention
FIG. 20 shows an example of the 403 device of the present invention
FIG. 21 is a diagram illustrating an example of operation of the 301 device and 401 device of the present invention
22 is a system control perspective view of the present invention

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, in the drawings, it is noted that the same components or parts are denoted by the same reference numerals as possible.

In order to understand the module type of this wireless traveling type automatic controller, it will be explained in major units.

First, the configuration and operation of the 301 device will be described. The wheels are mounted on the front and rear driving wheels 386 and 392, respectively. The front and rear shafts are connected to a motor having a speed reducer, ) To supply power.

The left and right upper and lower nozzle modules 371 for spraying / spraying are mounted on the main frame upper cover 391, and are structured so as to be able to rotate 340 degrees around the left and right rotation axes, and are rotated 340 degrees around the upper and lower rotation axes . A sensor module 320 for sensing the rotational position is mounted on the vertical rotation axis 313 of the nozzle and a sensor module 326 for sensing the rotational position is mounted on the left and right rotation axis 330, It is possible to adjust the angle of the sensor when necessary and adjust the angle as desired. The gear motor 315 for up-and-down rotation and the gear motor 325 for the left-right rotation are used for rotating the nozzle.

301 device has a direction sensor that detects the direction of the hose and a tension sensor that detects the tension.

The direction sensor senses the direction of the hose and is used in backward movement. The hose assembles the hose fixing plate 359, which is a hose fixing part connected to the device 201, and the hose upper and lower working actuation lot bolts 358, And the left and right horizontal bolts 361 are fastened by fixing bolts 357 so that the hose fixing plate 359 connected to the hose can smoothly reciprocate up and down.

When the hose is pulled or pulled, the hose fixing plate 359 rotates naturally with reference to the rotation axis of the fixing bolt 357, so that the hose can be constantly pulled irrespective of the inclination of the front and rear of the 301 device.

The left and right horizontal brackets 363 and the left and right horizontal bearings 362 and 364 are assembled on one side of the left and right horizontal bolts 361 and the hose is not affected by twisting or kinking even when the 301 device is tilted to the left or right due to the inclination angle of the road surface Do not. 301 The orientation axis sensor 354 can correctly recognize the direction in which the hose is pulled without being affected by the inclination when the orientation of the device is changed and the deflection direction of the hose is changed or the hose is pulled,

A direction shaft 355 is fixed to one side of the left and right horizontal brackets 363 and a frame 351 for fixing the direction shaft 355 and the direction shaft fixing shaft 352 is fixed to the directional shaft 355, The directional axis sensor 354 is coupled with the bracket 353 to accurately sense the direction in which the hose is pulled by the directional axis sensor 354 and a plurality of linear motions for tension sensors 351 Type bearing 368 and a plurality of tension sensor sensor rods 369 and tension sensor springs 370 are assembled with a tension sensor frame 365 and a linear motion type bearing 368 for a tension sensor, A limit switch sensor bracket is provided at one side of the tension sensor bracket 365 and a limit switch 366 is provided at a side of the tension sensor bracket 365 and the upper cover 391 is assembled at both ends of the tension sensor bracket 365.

The tension sensor detects that the hose is tightened or loosened when the 301 device is moving forward or backward. When the 301 device is operated in a rough area or on an inclined surface, the hose pulling The automatic return system recognizes the direction in which the hose is pulled and recognizes the direction in which the hose is pulled.

301 devices are wirelessly controlled and are equipped with a wireless receiver on the 301 device and are configured to operate the back and forward direction and direction and whether the nozzle (311) is active or left and right using the wireless device. The transmitter (601, 602) is configured to be carried separately and can be used integrally with the 201 device or can be used alone when the 301 device is used alone.

The left and right upper and lower nozzle modules 371 are vertically installed with the left and right rotary shafts 330 rotating in the left and right directions by using the bearings 329 in more detail. The left and right rotation motor brackets 328 for rotating the left and right rotation shafts 330 are installed at one side of the left and right rotation shafts 330 and the sensor modules 326 for controlling the rotation positions of the left and right rotation shafts 330 and checking the limits are installed do.

The sensor module 326 can make the sensor brackets according to the rotation orbit so that the left and right rotation angles can be adjusted, and the sensors can be installed at desired positions. The power for rotating the left and right rotating shafts 330 uses a motor 325 with a speed reducer and transmits power by using a belt 324 and pulleys 322 and 323.

A nozzle assist plate 314 is provided on one side of the left and right rotary shaft 330 and a bearing 312 for rotating the motor 315 with the speed reducer and the vertical rotary shaft 313 and the pulley 321 and the belt 318 Install a power transmission unit and install a nozzle for spraying at the end of the shaft. In addition to the basic single nozzle, a separate injection nozzle device can be used to inject the liquid into the left and right. Since the nozzle rotates with respect to the left and right rotation axis and the vertical rotation axis, a torsion preventing connection is provided to prevent the hose from being bent.

Next, the configuration and functions of the [201 device] are as follows. The 201 device has a frame structure rotatable with the lower fixed frame, and a power unit and a control unit using a battery are provided in the lower frame. The vehicle battery can be used as a power source. In the upper part there is a hose reel with a hose, a pull-out device for pulling out the hose, an automatic alignment device, a sensor for detecting the degree of winding of the hose reel, and a sensor for detecting the hose tension in the take-off device. The horseshoe is driven by a motor 270 equipped with a speed reducer, and the drawing device is also driven by a motor 226 equipped with a speed reducer. The hose repositioner is located at the bottom of the drawer to align and roll the hose.

The rotating part of the frame allows the main frame to rotate by engaging with the rotating bearing, and the rotating pin hole is provided on one side of the rotating plate, so that the rotating reel can be fixed.

The tension sensor unit senses the rotation of the sensor shaft 243 by pulling the hose when the hose is pulled out. The tension sensor unit is mounted on one side of the tension sensor shaft 243 coupled to both sides of the headset assembly bracket by a bearing 240, 244 and the sensor module 245 are coupled to each other and the sensor plates 241 and 242 are brought into contact with each other on both sides of the sensor shaft 243 and the roller 246 to which the hose passes is moved up and down using a hose roller screw 247 and a nut When the hose is tightened and the hose is passed between the rollers 246, the lowest sensor is activated and the intermediate value is sensed when the hose is pulled. When the hose stopper is hung on the roller 246 when the hose is wound, the sensor is rotated in the upward direction with respect to the sensor shaft 243 so that the sensor is operated.

The winding amount sensor unit is for detecting the amount of winding of the hosel and is a structure in which the sensor shaft 284 is coupled to the bearing 280 on the side plate of the frame 251 and the sensor module 279 is connected to one side of the sensor shaft 284 A rod is attached to the center of the sensor shaft 284 and a sensor shaft bracket and a rotary roller 282 are installed on one side of the rod so that the rotary roller 282 can be positioned on the hose to detect the amount of hose.

The headset unit includes a rubber roller on an upper rubber roller shaft 236 and a lower rubber roller shaft 221 for pulling out the hose by using a rubber roller that rotates with a rotational force in the up and down direction respectively, A motor 226 including a speed reducer is mounted below one side of the headset assembly bracket to generate power, and a motor shaft and a lower rubber roller 230 shaft are connected to the sprockets 225 and 219 and the chain And the lower rubber roller shaft 221 is engaged with two direction switching gears 222 for changing the rotation direction of the shaft.

The direction change gear shaft 235 fixed by the flange type ball bearing has a sprocket 220 on the hinge shaft 234 connecting the upper plate 211 supporting the upper rubber roller 232 and the lower plate 223, A sprocket 213 is coupled to the lower plate 223 of the hinge shaft 234 by a flange type ball bearing and is coupled to the upper plate 211 by a flange type ball bearing and fastened to one side of the hinge shaft 234 212 are coupled to a sprocket 214 of an upper rubber roller shaft 236 coupled to a flange type ball bearing in a top plate 211 as a chain for driving the upper rubber roller 232 to transmit power. Finally, the power transmission order is transmitted from the motor 226 to the lower rubber roller shaft 221, the direction switching gear shaft 235, the hinge shaft, and the upper rubber roller shaft in this order.

Since the compression force between the rubber rollers through which the hose is passed in the headset can be adjusted, it is possible to cope with the thickness of the hose. A rod bolt 215 is fastened to the headset upper plate 211 and a rod end bearing 217 is fastened to the lower plate 223 to adjust the pressing force between the upper rubber roller 232 and the lower rubber roller 230 by using a spring And a spring 216 is fastened to the bolt 218. The compression force between the rubber rollers is changed by adjusting the fastening position of the nut for supporting the spring.

The hinge shaft 234 is a structure in which the upper plate 211 and the lower plate 223 are opened with respect to one axis, regardless of whether one side is opened using a sprocket or a chain, Type ball bearing and a flange-type ball bearing 234 are fastened to the lower plate 223 and a flange-type ball bearing is fastened to the upper plate 211 at the same time, and two sprockets are used for the hinge shaft 234 Thereby transmitting power.

The right and left alignment scan shaft 268 is coupled to the left and right reciprocating device pin box 264 and is fastened together with the bearings 269 and 263 on both sides of the rotatable reel frame 260.

The left and right alignment guide shafts 267 are fixed to both sides of the rotatable reel frame 260 by being coupled to the left and right reciprocating device pin box 264 on both sides in order to correct the left and right alignment scan axis 268. [

And a reverse cam gear 262 is fastened to one side of the left-right alignment lever scan shaft 268 to constantly wind the hose.

201 device is controlled by radio, it is possible to wirelessly control the wireless receiver by attaching it to one side. The wireless transmitter can be used in conjunction with the 301 device or can be used alone in the 201 device alone.

401 If you look at the configuration and functions of your device

A plurality of upper and lower plate height adjusting holes 422 and a lower frame fixing hole 420 are formed in the loading frame side fixing frame 421 to fix the lower side frame, The frame 421 forms a U-shape.

The lower side frame fixing bar 425 and the lower side frame 426 are fastened to one side of the loading side side fixing frame 421 and the upper side frame 425 and the lower side frame 426 for connecting the loading side side fixing frame 421 and the lower side frame 426 The side frame fixing frame 421 is coupled to the upper and lower plate height fixing rods 423 and the upper and lower central axle 431 and the upper and lower plates 432 ) And the lower frame. A plurality of height adjustment pinholes 430 can be used to fasten the upper and lower central axes 431 to maintain the height of the ground with the upper and lower plates 432 irrespective of the loading height of the portable equipment.

A stop plate 429 having a plurality of stop plate height adjusting pinholes 428 for stopping the upper and lower plates at the time of standing on one side of the lower frame 426 is coupled with a stop plate fixing pin 427, The rubber wheel fixing shaft 433 is fastened to the rubber wheel fixing bracket 435 at one side of the upper and lower plates 432 to reduce the impact upon lowering the rubber wheel 434 and the rubber wheel 434 is fastened to the shaft end. At both upper ends of the upper and lower plates 432, a detachment prevention guide plate 436 is attached to prevent the equipment from being displaced.

Fasten a plurality of hose inner roller sets 437, 438, and 439 to one side of the lower frame 426 and the loading side frame 421 to connect the hose from the 201 device to the 301 device. The upper and lower plate 431 is rotated in a seesaw shape by a rotation shaft. When the upper plate 432 is not provided with a loading device, the upper plate 432 tilts toward the rubber wheel 434 due to the center of gravity of the upper plate 432, When the center of gravity of the wheel 434 comes into contact with the ground and the center of gravity of the wheel 434 crosses the center shaft rod 431, the center of gravity moves as one side touches the stop plate 429 and stops and tilts. Even if there is vibration, it does not separate.

When the 401 device is operated, 301 devices are responsible for moving forward and backward, and trucks with 401 devices are responsible for vertical movement in the left and right directions, respectively, reducing the hassle of adjusting direction rotations to move 301 devices to the next elevation 301 can be used conveniently and efficiently.

402 device is a modification of the 401 device and is attached to the rear surface of the moving equipment. The lower frame 441 is fastened to both sides of the rear frame fixing frame 440 and a hole for fixing the 201 device is provided on one side of the lower frame 441 And fixes the formed 201 lower support plate 442. Hose liner rollers are not required to secure the 201 instrument to the 402 instrument.

403 device is a modification of the 402 device and is attached to the front of the mobile equipment. In order to mount the device on the front of the mobile equipment, the joining bracket 450 is fastened to the truck front main body lower frame main body 451, The lower frame 441 is fastened.

Hereinafter, an operation example of the present invention configured as described above will be described.

When truck is used in the control work, connect the hose to the pump inlet, and connect the hose of the 201 machine to the pump outlet with the cleaning liquid tank and engine type pressure pump mounted on the truck. 201 device is automatically released when the hose is pulled out. When pushing forward the 301 device with the remote control, the 301 device advances forward and pulls the hose. At this time, since the 201 device and the 301 device are connected by the hose, the hose is pulled so that the hose of the 201 is pulled and the tension sensor operates and the reel is released.

Releasing the forward button on the remote control will stop the machine and the hose will loosen as the reel keeps releasing the hose. Then, the tension sensor of the 201 device recognizes the looseness and stops the unwinding of the reel. Pressing the reverse button on the remote control will cause the reel to rewind. At this time, the reel is wound and the hose is pulled and the tension of the tightened hose is recognized by the 301 device, and then the backward movement is performed. If you release the reverse button on the remote control, the reel-winding operation of the 201 unit stops. The hose tension will then loosen and the 201 machine will recognize this and stop the reverse operation. Nozzles can be sprayed while moving forward or at any time regardless of the time of forward, backward, or stop. Due to the above-described operation structure of the present invention, the 201 device and the 301 device are operated in a manner as a single structure in cooperation with each other.

More specifically, the 301 device has forward, reverse, left turn, right turn, and nozzle injection functions, all remotely controlled with the remote control. The forward, backward, left, right turn of the remote control, left turn, right turn, up and down buttons of the remote control are made with a joystick to enhance user convenience. The forward and backward joystick are interpreted as pushing the button and pushing the joystick in one direction. If you press the forward button first, the two left and right driving motors move in forward direction. When you release the forward button on the wireless remote control, each travel motor stops and the 301 device stops running. However, even if the 301 device is moving forward, the hose becomes more tight than necessary and the process is stopped when the tension sensor is activated.

Activating the reverse button on the remote control activates the rewinder function of the 201 unit and tightens the hose by winding it. At this time, the 301 device recognizes the pulling of the hose, operates the traveling motor in the reverse direction, and the device performs the reverse operation. When the hose becomes loose and the tensile force weakens, the backward movement stops, and when the hose is pulled back, the backward movement continues.

301 When moving forward, the direction can be changed to the left or right by the direction switch button on the remote control, and the direction can be set automatically by the direction sensor when moving backward. When reversing, when the hose line is pulled from the left side with reference to the 301 device, the direction sensor is moved to the left side, and in this state, the direction is changed to the left side and the direction is changed until the direction sensor is in the middle. If the direction sensor is in the middle position, stop the direction change and proceed backward. Conversely, if the hose is bent to the right and the direction sensor is to the right, the 301 device will turn to the right and proceed until the direction sensor is in the middle. One of the important features of the 301 appliance is the automatic return system that automatically reverses the direction of the 301 device along the path of the hose.

When you turn on the nozzle injection switch on the remote control, the liquid is sprayed through the nozzle, and when the spray switch is turned off, the liquid is blocked and the nozzle injection is stopped.

When the nozzle injection stop switch is activated, the solenoid valve connected to the pump operates, and the liquid sent from the pump is returned to the recovery tank along the recovery pipe. When the nozzle injection operation switch is turned on, the solenoid valve operates and the liquid does not flow into the recovery tank To the nozzle through the hose.

The nozzles for spraying were operated using two motors. One is configured to rotate left and right in the direction of travel in the direction of rotating the motor including the speed reducer located at the top of the cover, and is configured to rotate 340 degrees of the circle except the lowest direction. And the other is configured to rotate 340 degrees except for the rear side on the basis of the direction of rotation when the rotating shaft itself supporting the nozzle portion is rotated through the upper cover. With two motors, it is possible to spray in various ways such as 180 degree reciprocating motion to the left and right with respect to the upper surface, or zigzag spraying to one side.

201 device , the 201 device pulls the hose 301 when the forward button is pressed with the remote control, and when the hose tension is generated at this time, the tension sensor of the take-out motor is operated to perform the releasing action. In the releasing operation, the releasing reel motor rotates in the releasing direction and the discharging motor is also operated in the releasing direction. In the hose releasing operation, the unloading motor is driven at a constant speed and the unloading reel motor is controlled to operate in a multi-step manner in accordance with the unlocking reel volume sensor. When you release the remote control's forward button, the 301 unit stops advancing. At this time, the unrolling reel continues to loosen the hose and the hose loosens downwardly by the 301 device which has stopped moving forward. Then, the tension sensor of the take-out motor is activated and immediately the operation of the take-off reel motor and the take-off take-out motor is stopped.

The hose is constantly moved left and right by the left and right alignment device, and the hose is wound or unwound constantly.

201: 201 Device name 211: Top plate
212: gear 213: gear
214: gear 215: lot bolt
216: spring 217: rod end bearing
218: Bolt 219: Gear
220: Gear 221: Lower rubber roller shaft
222: direction switching gear 223: lower plate
224: drawing roller 225: gear
226: Gear motor 227: Headset bracket
228: upper and lower roller bracket 229: lower rubber roller guide
230: Lower rubber roller 231: Upper rubber roller guide
232: upper rubber roller 233: bearing
234: gear shaft 235: direction changing gear shaft
236: upper rubber roller shaft 237: upper and lower rollers
240: Bearing 241: Sensor shaft guide
242: Sensor shaft guide 243: Rotation sensor shaft
244: Sensor bracket 245: Sensor module
246: Draw-out roller 247: Hose roller screw
251: rotation reel cover 252: direction shaft fixing nut
253: upper thrust bearing 254: lower thrust bearing
256: Hoist roller bearing 257: Hoist roller
258: Hosurile gear 259: Rotary reel cover
260: Rotary reel frame 261: Rotary reel front cover
262: reverse cam gear 263: bearing
264: Left and right reciprocating pin box 265: Drawer 3
267: Right and left alignment guide shaft 268: Right and left alignment scanning axis
269: Bearing 270: Gear motor
271: Rotary reel lower frame and rotating shaft 272: Rotary pin bracket
273: pin for fixing the direction shaft 274:
275: pipe shaft cover 276: anti-twisted connector
277: Hose 278: Horsehole shaft bearing
279: Sensor module 280: Bearing
281: screw for hose roller 282: roller
283: Nut 284: Reel sensor shaft
285: Wireless receiver
301: 301 device name 310: anti-twisted connector
311: Nozzle 312: Bearing
313: Up and down rotary shaft 314: Nozzle assist plate
315: Gear motor 316: Motor bracket
317: pulley 318: belt
319: Sensor bracket 320: Sensor module
321: Pulley 322: Pulley
323: pulley 324: belt
325: Gear motor 326: Sensor module
327: Sensor bracket 328: Left and right rotation motor bracket
329: Bearing 330: right and left rotation axis
331: anti-twisted connector 332: right and left rotating pipe shaft
333: Hose
351: Frame for fixing the direction shaft 352: Bearing for fixing the direction shaft
353: Sensor bracket 354: Directional axis sensor
355: direction shaft 357: fixing bolt
358: Hose upper and lower working lot bolts 359: Hose fixing plate
360: Fixing nut 361: Left and right horizontal bolts
362: Left and right horizontal bearings 363: Left and right horizontal brackets
364: Left and right horizontal bearings
365: Tension sensor frame 366 Limit switch for tension sensor
367: Limit switch sensor bracket 368: Linear motion type bearing for tension sensor
369: Tension sensor sensor rod 370: Tension sensor spring
371: left and right upper and lower nozzle module 372: tension sensor and direction sensor module
373: rear cover 374: battery fixing cover
375: Battery 376: Battery support
377: Lower frame 378: Main wheel support bearing
379: Wheel shaft sprocket 380: Driving motor gear
381: Travel motor bracket 382: Wheel shaft sprocket
383: Driving wheel 384: Wheel shaft sprocket
385: Gear motor for traveling 386:
387: front cover 388: control panel
389: Driving motor gear 390: Driving motor bracket
391: upper cover 392: driving wheel axle
393: Driving wheel 394: Wireless receiver
395: Gear motor for traveling 399: Fixed type left and right nozzles
401: 401 device name 402: 402 device name
403: 403 Device name 420: Lower side frame fixing hole
421: Frame for fixing the loading side surface 422: Height adjustment hole for height adjustment
423: Upper and lower plate height fixing rod 424: Upper and lower plate side bracket
425: lower frame fixing rod 426: lower frame
427: Pin for fixing the stop plate 428: Pin hole for adjusting the stop plate height
429: stop plate 430: height adjustment pinhole
431: center shaft rod of the upper and lower plates 432: upper and lower plates
433: Shaft for fixing the rubber wheel 434: Rubber wheel
435: Rubber wheel fixing bracket 436: Guide plate
437: Hose roller set 438: Hose roller set
439: Hose roller set 440: Rear frame fixing frame
441: Lower frame 442: 201 Lower support plate
443: 201 Fixing hole for equipment 444: Stiffener for preventing the wheel from retracting
450: Coupling bracket 451: Truck front lower body Main frame
511: Nutrient solution tank 512: Power sprayer
513: 201 device mounted on the rear type 402 device
514: 402 device
515: 301 devices mounted on top of rear type 402 unit
516: Truck
601: Simple wireless remote control 602: Joystick type remote control

Claims

A remote automatic controller (301 device) for remotely controlling and driving a motor using a battery power to automatically move the apparatus, rotate the nozzle, and spray the nutrient solution;
A left driving gear motor 395 including a speed reducer in the lower frame 377 is connected to the traveling motor bracket 381 via a battery 375 as a power source and a traveling wheel 393 is coupled to two left traveling wheel axles 392, And a sprocket 380 is provided on one side of the left traveling gear motor 395 and is connected to a sprocket 398 coupled to the left traveling wheel axis 392 through a chain and the left wheel front sprocket 396 and the left The right rear wheel sprocket 379 and the right rear wheel sprocket 379 are connected by a chain and the right and left traveling wheel shafts 386 are coupled to the traveling wheels 383, A right wheel front sprocket 397 is connected by a chain to a sprocket 384 fastened to the right traveling wheel axis and having a sprocket 389 at one side of the right traveling gear motor 385, And the right rear sprocket (382) Structure and the lower-side driving section to control the motor to reverse direction and move the switch and;
The wireless receiver 394 is attached to the 301 device and the remote controller 602 is used to transmit signals such as forward, backward, leftward, right turn, left and right nozzle up and down and signal transmission for determining the automatic use signal of the direction sensor and the tension sensor An overall control unit of a device including a control system, a running control system for controlling the direction, a spray control system, and a sensor control system;
A direction sensor unit (FIG. 5) for sensing a hose pulling direction;
A tension sensor unit (FIG. 5) for sensing the pulling force of the hose;
301 device is rotated by a motor 315 including a speed reducer on the vertical rotary shaft 313 and a nozzle 311 is installed on one side of the vertical rotary shaft 313 so that vertical spraying is possible and a speed reducer is mounted on the left rotary shaft 330 And a nozzle unit designed to be horizontally sprayed by horizontally rotating the left and right rotating shafts 330 by coupling the upper and lower rotating parts to the left and right rotating shafts 330. [

The method of claim 1, wherein
A plate-shaped end hose fixing portion 359, a long long bolt 357 and two short bolts 358, which are formed in a hole for fixing the hose and fastening the short bolts, And two flange type ball bearings 362 and 364 are fastened to both sides of the rotary shaft of the structure which can be rotated by the long rotary bolt 357 axis and operated to move up and down and left and right horizontal brackets 363, A structure in which the left and right horizontal bolts 361 are coupled so that the hose fixing portion is always directed downward;
A structure in which a direction shaft 355 is attached to the left and right horizontal brackets 363 and is coupled to the tension sensor plate 351 by two flange type ball bearings 352 so as to be rotatable along the direction shaft 355,
And a sensor module (354) coupled to the directional axis (355) to sense rotation of the directional axis (355)

The method of claim 1, wherein
A tension sensor plate (351) coupling the direction sensor unit so that a tension acting on the hose is transmitted through the direction sensor unit;
A plurality of bearing units 368 for fixing the tension sensor plate 351 so as to be movable forward and backward;
Each spring 370 serving to restore when there is no tension;
A tension rod 369 for coupling and supporting the plurality of bearing units 368 and the spring 370;
The tension sensor plate 351 includes a tension sensor check plate 367 and a moving sensor switch 366 so as to determine whether the tension sensor plate 351 is moved according to the position of the tension sensor plate 351 301 devices

The method according to claim 1,
A structure for coupling the motor bracket 316 to the nozzle assisting plate 314 for the up-and-down rotational power and coupling the motor 315 including the speed reducer thereto;
A structure in which the pulley 321 and the belt 318 are connected to the rotation shaft of the motor 315 and the front and rear nozzle shafts 313 supported on the opposite pulley 317 and the bearings 312 are positioned;
A nozzle 311 is provided at the end of the front and rear nozzle shafts 313 and a torsion preventing connection 310 is connected between the nozzle 311 and the hose 333 to prevent twisting, A sensor bracket 319 and a sensor module 320 are installed.
A structure for coupling a motor 325 including a reduction gear to the left and right rotation motor bracket 328 for left and right rotation power;
A structure in which a pulley 323 and a belt 324 are provided on a motor rotating shaft and a left and right rotating shaft 330 supported by both pulleys 322 and bearings 329 is provided;
A sensor bracket 327 and a sensor module 326 for detecting the rotation are installed on one side of the left and right rotation shaft 330 and a torsion preventing connection terminal 352 for preventing the twist of the hose 333 and the left and right rotation shaft 330 331) is provided on the rotating nozzle device

The method according to claim 1,
In order to effectively spray the crops on both sides of the field furrows and the vinyl house furrows and the like, a vertical-side nozzle pipe frame 399 having the same structure on both sides as shown in Fig. 13 is fixed on the upper side of the 301 appliance upper cover, &Lt; RTI ID = 0.0 > 301 <

A hose having a hose aligning device which is provided on one side of the main frame and is rotatable about an axis so as to move the hose in a direction of the axial direction of the horseshoe, a drive motor for driving the horseshoe, 1. An automatic winding device comprising:
A structure in which the sensor bracket 244 and the sensor module 245 are coupled to one side of the tension sensor shaft 243 coupled with the bearings 240 on both sides of the headset assembly bracket to sense the rotation of the sensor shaft 243
The sensor plates 241 and 242 are brought into contact with both sides of the sensor shaft 243 and the roller 246 to which the hose passes is fastened to both the upper and lower portions using the hose roller screw 247 and the nut, A tensile sensor part characterized by a structure through which the wire is passed;
A structure in which the sensor shaft 284 is coupled to the bearing 280 on the side plate of the frame 251 and the sensor module 279 is connected to one side of the sensor shaft 284 and the sensor shaft 284 is connected to the sensor shaft 284, And a sensor shaft bracket and a rotating roller (282) are provided on one side of the rod, with a rod attached at the center thereof;
A system controller including a main power control and a motor control for controlling a motor for withdrawing the hose and a motor for winding the horseshoe, and an input signal controller for controlling the sensor signal and the radio signal;
A wireless communication receiving unit mounted on the main body and connected to the control unit and a wireless communication transmitting unit connected to the wireless communication receiving unit through wireless communication, and the control unit controls the driving unit according to a signal received from the wireless communication receiving unit A remote control unit;
A lower spindle device having a lower bracket and a thrust bearing (254) interposed therebetween to allow the upper frame to rotate;
The upper rubber roller shaft 236 and the lower rubber roller shaft 221, which are rotated in opposite directions in the up-and-down direction, respectively, are provided with rubber rollers. The gap between the rubber rollers is adjustable. A motor 226 including a speed reducer is attached below
In order to transmit the power, the shaft of the motor rotation shaft and the shaft of the lower rubber roller 230 are fastened to the sprockets 225 and 219 by a chain,
The lower rubber roller shaft 221 has a structure in which two direction switching gears 222 for changing the rotating direction of the shaft are engaged with each other,
The direction change gear shaft 235 fixed by the flange type ball bearing has a sprocket 220 on the hinge shaft 234 connecting the upper plate 211 supporting the upper rubber roller 232 and the lower plate 223, And is fastened by a sprocket 213,
A flange type ball bearing is coupled to the lower plate 223 of the hinge shaft 234, a flange type ball bearing is coupled to the upper plate 211,
The sprocket 212 fastened to one side of the hinge shaft 234 is supported by a sprocket of an upper rubber roller shaft 236 coupled with a flange type ball bearing on the upper plate 211 as a chain for driving the upper rubber roller 232 214) of the headset (200);
A rod bolt 215 is fastened to the headset upper plate 211 and a rod end bearing 217 is fastened to the lower plate 223 to adjust the pressing force between the upper rubber roller 232 and the lower rubber roller 230 by using a spring And a spring (216) is fastened to the bolt (218);
A direction changing gear shaft 235 is provided in the middle in order to change the rotating direction of the upper rubber roller and is fastened to the sprocket 213 of the hinge shaft 234 by a chain with the sprocket 220
A hinge shaft 234 is fastened to the lower plate 223 together with a flange type ball bearing and is fastened together with a flange type ball bearing to the upper plate 211,
The other sprocket 212 fastened to the hinge shaft 234 is connected to the sprocket 214 of the shaft 236 with the upper rubber ruler 232 to transmit the power. 201 devices that contain devices.

A plurality of upper and lower plate height adjusting holes 422 and a lower side frame fixing hole 420 are formed for fixing the lower frame to the loading unit side fixing frame 421;
To mount on the side of the mobile equipment, the loading frame side frame 421 forms a U-shape;
A lower side frame fixing rod 425 and a lower side frame 426 are fastened to one side of the loading unit side fixing frame 421;
The side frame fixing frame 421 is mounted on one side of the upper and lower plate side brackets 424 for connecting the loading frame side fixing frames 421 and the lower side frames 426 with the upper and lower plate height fixing rods 423, The upper and lower central axes 431 and the upper and lower plates 432 and the lower frame are coupled to the height adjusting holes 430 formed in the lower and upper frames;
A stop plate 429 having a plurality of stop plate height adjusting pinholes 428 for stopping the upper and lower plates at one side of the lower frame 426 is coupled with a stop plate fixing pin 427;
A rubber wheel fixing shaft 433 is fastened to the rubber wheel fixing bracket 435 to reduce the impact upon lowering of the upper and lower plates 432 and the rubber wheel 434 is fastened to the shaft end;
A detachment prevention guide plate 436 is attached to prevent the device from being displaced on both ends of the upper and lower plates 432;
A plurality of hose inner roller sets 437, 438 and 439 are fastened to one side of the loading frame side fixing frame 421 and the lower frame 426 to prevent the hoses from being turned and separated from each other;
The upper and lower central axes 431 are fixed to the upper and lower plates 432 by using the height adjustment pinholes 430 so as to maintain the height of the ground surface constant regardless of the height of the loading table of the portable equipment.
In a structure in which the upper and lower plates are rotated in a seesaw form with the upper and lower center shaft bars 431 as rotation axes, when there is no loading device on the upper and lower plates 432, the wheels are pivoted toward the rubber wheels 434 due to the center of gravity of the upper plates 432, (401) for mobile side mounting having a structure in which the contact surface (434)

8. The method of claim 7, further comprising:
Characterized by a structure for mounting on the rear of the mobile equipment;
For loading on the rear of the mobile equipment, the loading frame side securing frame 440 forms a U-shape;
Fastening the lower frame 441 to both sides of the loading frame rear fixing frame 440;
The upper frame 441 is fixed to the lower support plate 442 of the 201 equipment,

The method of claim 8, further comprising:
Characterized by a structure for mounting on the front of the mobile equipment;
A structure in which a coupling bracket 450 is fastened to a truck front main body lower frame main body 451 for mounting on a front surface of a mobile equipment;
And a lower frame 441 is fastened to one side of the coupling bracket 450,

For 201 appliances, 301 appliances and 401 appliances;
301 device (FIG. 1); an independent operating system that can be used alone;
201 device (FIG. 7); an independent operating system that can be used alone;
A module combination operating system that can use a combination of 201 and 301 devices;
A module combination operation system that can use a combination of 301 and 401 devices;
Module type of traveling type automatic sprayer having a feature of using each device in a modular manner including a module combination operating system which can use a combination of 201 apparatus, 301 apparatus and 401 apparatus;