CN110074086A - A kind of orchard automatic medicine sprayer - Google Patents

Abstract

The invention designs an automatic spraying machine for orchards. The spraying machine is composed of a walking mechanism, a spraying mechanism and a control system. The machine controls the walking of the machine through the remote control, keeping a certain distance between the operator and the machine, and reducing the harm of pesticides to the operator. The operator controls the rotation angle of the steering gear through the remote control to realize the steering function of the sprayer, which solves the problem that the traditional sprayer relies on manual steering. The control system can detect the distribution density of fruit tree leaves in space in real time, automatically adjust the spray volume, save pesticides, and help reduce environmental pollution. In order to prevent the pressure in the pipeline from increasing, a pipeline pressure sensor is installed in the pipeline to detect the pressure of the pipeline. When the pressure exceeds a certain dangerous value, the pipeline pressure sensor generates a current signal, and the current signal makes the alarm send out an alarm to prompt the operator to reduce the water pump. The speed of the motor. The nozzle assembly of the present invention is divided into a left nozzle group and a right nozzle group, and the control of the left and right groups of nozzles is independent of each other, which can meet the spraying requirements of orchards with different leaf densities on the left and right sides. The nozzle is installed at the air outlet of the fan, so that the range of the liquid sprayed from the nozzle is longer, the droplets are more uniformly dispersed, and the operation effect is improved.

Description

An orchard automatic spraying machine

technical field

The invention designs an orchard plant protection machinery technology, which can be widely used in the field of agricultural equipment.

Background technique

At present, there are many types of orchard plant protection machinery in our country, but the degree of automation is very low. Most of the orchard spraying machines are operated in close contact with the man-machine, resulting in the operator being directly exposed to the air rich in pesticides, which poisons the operator's body. healthy. In addition, the spraying machine cannot accurately adjust the spraying amount according to the density of fruit tree leaves during the working process, which greatly wastes pesticides, and at the same time, excessive pesticides also pollute the environment.

SUMMARY OF THE INVENTION

The present invention designs an automatic pesticide spraying machine for orchards. The walking of the machine is controlled by a remote controller to keep a certain distance between the operator and the machine, and reduce the harm of the pesticide to the operator. In addition, the machine can automatically adjust the spray volume according to the distribution density of fruit tree leaves in space, saving pesticides and helping to reduce environmental pollution.

The main technical solution of the present invention is that the walking power of the spraying machine is provided by a brushless motor, which is integrated with the rear axle of the chassis, the rotating speed of the motor 22 can be controlled by a remote controller, and the turning of the spraying machine is realized by steering steering gear control.

The medicine spraying mechanism of the present invention is made up of motor, medicine box, water pump, electromagnetic valve, pipeline pressure sensor, sprinkler head, and water pump motor 13 provides power for water pump, and the medicine liquid in the medicine box enters water pump, is pressurized by water pump, sprays forcefully from sprinkler head. out. The machine has two groups of nozzles distributed on the left and right sides of the spraying locomotive, that is, the left nozzle and the right nozzle. The left and right nozzles are respectively controlled by two solenoid valves, which can adjust the flow of each group of nozzles.

The core of the present invention is to control the opening and closing degree of the electromagnetic valves of the left and right nozzles through the machine vision system, and to control the spray volume in real time. The machine vision control system is composed of a camera, image acquisition card, microcomputer, and controller. The machine vision system can detect in real time The distribution density of the fruit tree leaves to be sprayed in the space, when the density is high, the opening of the solenoid valve increases, and the flow increases; when the density is small, the opening of the solenoid valve decreases, and the flow decreases.

The nozzle components of the present invention are divided into a left nozzle group and a right nozzle group, both of which are semicircular and installed on the edge of the fan. There is a certain gap between the fan and the circular bottom plate. The air flow is blocked by the bottom plate to change direction, blows out from the gap between the circular bottom plate and the fan, and blows the medicinal liquid flowing from the nozzle onto the leaves.

In order to prevent the pressure of the pipeline from increasing due to the decrease in the opening of the solenoid valve, a pipeline pressure sensor is installed in the pipeline to detect the pressure of the pipeline. When the pressure exceeds a certain dangerous value, the pipeline pressure sensor generates a current signal, which makes an alarm The controller sends out an alarm to prompt the operator to reduce the speed of the water pump motor.

Description of drawings

Fig. 1 is an isometric view of the present invention

Fig. 2 is the top view of the present invention

Fig. 3 is a side view of the present invention

Figure 4 is a schematic diagram of chassis motor installation

Figure 5 is a schematic diagram of the steering mechanism

Figure 6 is a schematic diagram of the spraying system

In the figure: 1-medicine box, 2-medicine box guardrail, 3-chassis, 4-rear wheel, 5-battery, 6-battery rack, 7, 12-machine vision system, 8-V belt, 9-water pump, 10 -Front wheel, 11-steering system, 13-water pump motor, 14-microcomputer, 15-transmission shaft, 16-pulley, 17-fan, 18-nozzle group, 19-circular bottom plate, 20-bearing seat, 21 -Bearing seat, 22-motor, 23-differential, 24-half shaft, 111-rudder, 112-pinion, 113-bracket, 114-wheel frame, 116-shaft sleeve, 117-steering shaft, 118- Radial plate, 119-big gear, 181-left nozzle group, 182-right nozzle group,

specific implementation plan

An automatic spraying machine for orchards includes a medicine box 1, a chassis 3, a battery pack 5, a steering system 11, spraying systems 9, 11, 17, 18, 19, and a water pump motor 13. The power of the chassis 3 is provided by a motor 22, and the motor 22. The differential 23 and the axle shaft 24 are integrated, and the power supply of the motor 22 is provided by the battery pack 5 . The rotating speed and direction of motor 22 are controlled by remote controller.

Steering mechanism of the present invention is as shown in Figure 5, and front wheel steering shaft 117 and axle sleeve 116 are axle hole fits, and the axle sleeve 116 of steering mechanism and chassis 3 are welded as a whole, and steering gear support 113 is welded on the axle sleeve 116, and spoke The plate 118 and the bracket 113 are matched by bolts, the front wheel 20 is installed on the wheel frame 114, the steering gear 111 is installed on the web 118, the small gear 112 on the steering gear shaft meshes with the large gear 119 on the top of the steering shaft 117, and the remote control Control the rotation of the steering gear 111 to drive the rotation of the steering shaft 117 to realize the steering function of the sprayer.

The spraying system is shown in Figure 6. The liquid medicine in the medicine box 1 enters the water pump 9 through the pipeline 92, and the liquid medicine is delivered to the left nozzle group 181 and the right nozzle group 182 after being pressurized by the water pump 9. The spray volume of the left nozzle 181 is determined by the electromagnetic Controlled by valve 96, the spray volume of right nozzle 182 is controlled by solenoid valve 95, and the openings of solenoid valves 96 and 95 are controlled by machine vision system respectively. As the opening decreases, the flow rate of the nozzle decreases. Conversely, when the distribution density of fruit tree leaves in space increases, the opening of the control solenoid valve increases, and the flow rate of the nozzle increases. In order to prevent the pressure of the pipeline 93 from increasing due to the decrease in the opening of the solenoid valve, a pressure pipeline pressure sensor 94 is installed on the pipeline 93 to detect the pressure of the pipeline. When the pressure exceeds a dangerous value, the pipeline pressure sensor 94 generates a current signal , the current signal causes the alarm to send out an alarm to prompt the operator to reduce the speed of the water pump motor. The power of water pump 9 comes from water pump motor 13, and the rotating speed of water pump motor 13 is controlled by remote controller.

The nozzle components are divided into left nozzle group 181 and right nozzle group 182, both of which are semicircular and installed on the edge of the fan 17. There is a certain gap between the fan 17 and the circular bottom plate 19. When the fan rotates during the spraying process, a high-speed airflow is generated. , the high-speed airflow is blocked by the base plate 19 and changes direction, blows out from the gap between the circular base plate 19 and the blower fan, and blows the medicinal liquid flowing out from the nozzle onto the leaves.

The power output by the water pump motor 13 is transmitted to the transmission shaft 15 through the transmission belt through the pulley 16 . , the rotating shaft is installed on the chassis 3 through the bearing housings 20, 21, the transmission shaft 15 has two functions, one is to drive the blades of the fan to rotate, because the fan blades are installed on the rotating shaft, and the other is to drive the power through the V-belt 8 Passed on the water pump 9.

Concrete working process of the present invention. The operator's remote control controls the sprayer to enter the orchard to carry out the spraying work. The driving force of the sprayer is provided by the motor 22. The speed and direction of the motor 22 are controlled by the remote control. The electromagnetic wave signal sent by the remote control is received and converted by the signal receiver. It is a PWM signal, and the PWM signal is converted into a voltage analog signal through an integrating circuit to drive the motor to rotate, and the speed of the motor 22 can be changed by changing the size of the PWM signal through the remote controller. . When the sprayer walks among the rows of fruit trees and sprays, the machine vision system automatically detects the distribution density of fruit tree leaves in space in real time, thereby generating control signals of different sizes to control the opening of the left and right solenoid valves 96 and 95, and control the flow of the left and right nozzle groups. Real-time control of the spraying amount, when the machine vision system detects that the distribution density of fruit tree leaves in space decreases, the opening of the solenoid valve is controlled to decrease, and the flow rate of the nozzle decreases. Conversely, when the distribution density of fruit tree leaves in space increases, the opening of the control solenoid valve increases, and the flow rate of the nozzle increases. In order to prevent the pressure of the pipeline 93 from increasing due to the decrease in the opening of the solenoid valve, a pressure pipeline pressure sensor 94 is installed on the pipeline 93 to detect the pressure of the pipeline. When the pressure exceeds a dangerous value, the pipeline pressure sensor 94 generates a current signal , the current signal causes the alarm to send out an alarm to prompt the operator to reduce the speed of the water pump motor.

The operator controls the rotation angle of the steering gear 111 through the remote control. The small gear 112 on the steering gear shaft meshes with the large gear 119 on the top of the steering shaft 117. The remote control controls the rotation of the steering gear 111 so as to drive the steering shaft 117 to rotate to realize the spraying machine. steering function. The left and right nozzles are independently controlled by the solenoid valves 95 and 96, that is, the solenoid valve 95 controls the right nozzle 182, and the solenoid valve 96 controls the left nozzle 181, and the flow rates of the nozzles on the left and right sides can be different. When spraying medicine, the impeller of water pump motor 13 rotations that drives blower fan 17 rotates and water pump 9 works, and medicinal liquid is blown on the leaf by the high-speed airflow that comes out from blower fan 17 after spraying.

Claims (5)

1. An automatic spraying machine for orchards is composed of a walking mechanism, a spraying mechanism and a control system. The power source of the walking mechanism is a brushless motor, and the brushless motor, reducer, differential and half shaft are integrated, and no transmission is required. The shaft transmits power. 2. The present invention adopts the remote controller to wirelessly control the speed of the motor of the traveling mechanism and the water pump motor, and the rotation angle of the steering gear shaft, which can realize the remote control of the walking speed, steering and spraying operation of the present invention. 3. In order to prevent the pressure in the pipeline from increasing, a pipeline pressure sensor is installed in the pipeline to detect the pressure of the pipeline. When the pressure exceeds a certain dangerous value, the pipeline pressure sensor generates a current signal, and the current signal makes the alarm send out an alarm to prompt the operator to reduce the pressure. The speed of the small water pump motor. 4. The nozzle assembly of the present invention is divided into a left nozzle group and a right nozzle group, and the control of the left and right groups of nozzles is independent of each other, which can meet the spraying requirements of orchards with different leaf densities on the left and right sides. 5. The control system can detect the distribution density of fruit tree leaves in space in real time, automatically adjust the spray volume, save pesticides, and help reduce environmental pollution.