CN106070151B - A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method - Google Patents
A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method Download PDFInfo
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- CN106070151B CN106070151B CN201610554393.XA CN201610554393A CN106070151B CN 106070151 B CN106070151 B CN 106070151B CN 201610554393 A CN201610554393 A CN 201610554393A CN 106070151 B CN106070151 B CN 106070151B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Catching Or Destruction (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The invention discloses a kind of unmanned intelligent crawler belt spraying machine of high-clearance and control methods, spraying machine walking arrangement is made of two crawler type walking mechanisms with In-wheel motor driving, the crawler type walking mechanism of two sides is connected by fixed link, the crawler type walking mechanism top of two sides is equipped with spraying machine elevating mechanism, and humidifier includes medicament-mixing device and spray rod device；Trapezoid support component is each equipped with inside each crawler type walking mechanism；Medicament-mixing device and control device are placed on the inside of the trapezoid support component of two sides, and spray rod device is arranged on spraying machine elevating mechanism and is connected with medicament-mixing device, as the traction of spraying machine elevating mechanism moves up and down；Control device is connected with hub motor, spraying machine elevating mechanism, humidifier respectively.Wide cut spray boom can adjust the device up and down simultaneously, be able to satisfy the spraying requirement of various crop different growing stage, while driving without artificial by remote control mode, alleviate weight bearing, improve automatization level.
Description
Technical field
The present invention relates to a kind of atomizer machines, more particularly, to a kind of unmanned intelligent crawler belt spraying machine of high-clearance and control
Method processed.
Background technique
China is a large agricultural country, and the plant protection of crop and fertilising operation level directly affect the yield of crops.
The mechanization of agriculture in China at present and automatization level are also relatively low, lack the equipment that is efficiently administered of crop field, simultaneously for having
The crop (such as rice and long-stalked crops) of complicated spray pesticide landform, conventional mechanical can not go to the field, so leaning on manpower mostly
Or man-computer cooperation, lead to problems such as inefficiency, large labor intensity, scale effect poor.Number of patent application is
The patent crawler belt of CN201520140029.X, using conventional track structure, has one for complicated landform from air-assisted type spraying machine is walked
Determine adaptability, but passability is bad, and spread of spray is limited, can not adapt to the spraying requirement of crop field long-stalked crops.Patent
Application No. is a kind of tractor running gears of the patent of CN201310288169.7 to use triangle caterpillar belt structure, has to complicated landform
Certain adaptability, but excessively high, passability can not adapt to long-stalked crops etc. for there are still device centers of gravity in agricultural application
Problem.For the above spraying existing drawback in the crop field with complicated spray pesticide landform, devise a kind of high-clearance nobody
Driving intelligent crawler belt spraying machine.Caterpillar belt structure and unmanned intelligent control method are used to adapt to complicated spray pesticide landform
Influence, in addition, the adjustable long spray boom of three-stage height can meet the spray pesticide demand of field crop different growing stage.
Summary of the invention
It is unpiloted it is an object of the invention to devise a kind of high-clearance, it adapts to crop field and has complicated spraying
The spraying requirement of landform crop can improve the spraying machine and control method of spray pesticide efficiency.
The technical solution of the present invention is as follows: a kind of unmanned intelligent crawler belt spraying machine of high-clearance, including spraying machine walking are set
Standby, spraying machine elevating mechanism, humidifier, control device；The spraying machine walking arrangement has In-wheel motor driving by two
Crawler type walking mechanism composition, the crawler type walking mechanism of two sides is connected by fixed link, the crawler type walking mechanism top of two sides
End is equipped with spraying machine elevating mechanism, and the humidifier includes medicament-mixing device and spray rod device；Each crawler type walking mechanism
Inside is each equipped with trapezoid support component；Medicament-mixing device and control device are placed on the inside of the trapezoid support component of two sides, spray boom
Device is arranged on spraying machine elevating mechanism and is connected with medicament-mixing device, as the traction of spraying machine elevating mechanism moves up and down；
The control device is connected with hub motor, spraying machine elevating mechanism, humidifier respectively, is realized respectively to In-wheel motor driving
Control, the spraying control of the elevating control and humidifier of spraying machine elevating mechanism.
Further, trapezoid support component periphery is wrapped up by crawler belt, and trapezoid support component is trapezoidal support construction, by propping up
Fagging is composed of a fixed connection, and the fixed wheel in four side of trapezoid support component can cooperate with crawler belt, passes through In-wheel motor driving wheel
Crawler belt is driven to advance.
Further, the trapezoid support component includes support transverse slat, support inclined plate, hub support bracket, hub support cross
Plate, the support transverse slat, support inclined plate, hub support bracket, hub support transverse slat are encircled into trapezoid support, pass through welding manner
Connection；It is described support transverse slat and support inclined plate junction, support transverse slat and hub support bracket junction, support inclined plate and
The junction of the junction of hub support transverse slat, hub support bracket and hub support transverse slat is reserved with to be passed through for jackshaft
Through-hole；The hub support bracket is transverse slat close to one end of support transverse slat, and the other end is fixed with half mouthful of shape bracket A；The wheel
It close to one end of support inclined plate is transverse slat that hub, which supports transverse slat, and the other end is fixed with half mouthful of shape bracket B, half mouthful of hub support transverse slat
Shape bracket B is fastened on the inside of half mouthful of shape bracket A of hub support bracket, and the two passes through intermediate axis connection；The hub support is horizontal
Board bottom portion is fixedly connected with two A-frames, and A-frame bottom edge two sides are reserved with the through-hole passed through for jackshaft.
Further, the crawler type walking mechanism includes In-wheel motor driving wheel, traveling wheel, crawler belt, directive wheel, support
Wheel, the In-wheel motor driving wheel, traveling wheel, directive wheel, support wheel pass through jackshaft and are assemblied in each of trapezoid support component
The reserved through hole two sides of a connecting pin, wherein In-wheel motor driving wheel and directive wheel are respectively assembled at the bottom edge of trapezoid support component
On the jackshaft of two sides, two support wheels are assemblied on the jackshaft of top two sides of trapezoid support component, 4 traveling wheels every two
It a one group, is assemblied on the A-frame on trapezoid support component bottom edge, the connection of In-wheel motor driving wheel and trapezoid support component
It is half mouthful of shape branch that In-wheel motor driving wheel is mounted on hub support bracket, hub support transverse slat matches using cross-over mode
On jackshaft on the inside of frame；The traveling wheel, directive wheel, support wheel are all two-wheel coaxial configurations；Crawler belt is by entire trapezoid support
Component periphery package, and be in contact with In-wheel motor driving wheel, traveling wheel, directive wheel, support wheel.
Further, the spraying machine elevating mechanism includes rectangular pyramid rack and chain traction device；
The rectangular pyramid rack includes support frame, support transverse slat, the support frame above the support transverse slat of bottom end and its
Tetragonous wimble structure is formed, the support transverse slat is the plate of quadrilateral structure；Ladder in terms of spraying machine side, on the inside of trapezoidal crawler belt
Shape bracket component and two support frames of top are combined into a triangle, i.e., using whole three-legged structure, have stability, from
Under to above becoming narrow gradually；
The chain traction device is arranged in rectangular pyramid rack, including trough of belt sliding rail, gear, DC brushless motor and
Chain；Trough of belt sliding rail includes sliding block and sliding slot with holes, and sliding slot lower end is vertically connected by connector and supports transverse slat, and sliding slot upper end is solid
It is connected on support frame top plate, sliding block with holes is mounted on trough of belt sliding rail, and circular hole is for placing spray boom among sliding block with holes；
Gear is located at the side of trough of belt sliding rail, and the gear on top is fixed on gear fixing piece, and the gear of lower part is then
Coaxially connected with DC brushless motor, for two gear centres on same vertical line, DC brushless motor is fixed on the branch of bottom
It supports on transverse slat.
Further, the available two metal supporting frames vertex welding substitution of the support frame in the rectangular pyramid rack, composition three
Angular support frame, triangle support frame bottom end are fixed on the center of support transverse slat two sides, so that triangle support frame is under
The trapezoid support component in portion forms firm triangular structure in terms of spraying machine side.
Further, in the humidifier, medicament-mixing device includes water tank, medicine-chest and spray tank, and water tank and medicine-chest are point
From, output medical fluid mixes in proportion, and mixed medical fluid is pre-stored in spray tank, and spraying locomotive encounters rough topography condition can not
When being driven out to, the water of water tank can be bled off Reduction of Students' Study Load；
The spray rod device is three stage structure, is interior spray boom between the crawler type walking mechanism of two sides, the two of interior spray boom
Side is outer spray boom, uniformly distributed nozzle on spray rod device.
Further, the interior spray boom passes through the sliding block with holes of two sides and is fixed, and spray rod device can be in brush DC
Motor, gear drive under carry out a certain range of move up and down.
It further, further include electric pushrod, the interior spray boom is connected by a hinge with outer spray boom, electric pushrod two
End is separately fixed on the interior spray boom above shaft and outer spray boom, and the outer spray boom that vertical folding gets up is stuck in main fixed link both ends
In spray boom card slot；Interior spray boom both ends respectively extend a spray boom kerve, and outer spray boom is just stuck in spray boom kerve when horizontal positioned.
Further, the fixed link includes:
The main fixed link being connected with two top of support framees, and two auxiliary positioned at main fixed link lower end two sides are solid
Fixed pole is each auxiliarily fixed bar and is separately fixed on two side columns of support frame same side；Guarantee that main fixed link is located at simultaneously
Two are auxiliarily fixed the surface of bar center line, and the setting parallel with bar is auxiliarily fixed of main fixed link.
Further, further include cover board, cover board is fixed on crawler belt two sides, and size is slightly smaller than crawler belt, by trapezoid support component with
And water tank, medicine-chest, spray tank, control device all cover, and are fixed on the jackshaft on the outside of each wheel.
Further, the control device include embedded onboard control unit, camera, gyroscope, electronic compass, GPS,
It draws water flowmeter, height sensor, velocity sensor, liquid level sensor, pressure sensor, nozzle flowmeter, remote controler, parameter
Display screen, image real-time display screen, mobile phone application, In-wheel motor driving, lifting motor driving, push-rod electric machine driving, suction pump
Driving, spray pump driving, mixture pump driving, solenoid-driven；
The camera, gyroscope, electronic compass, GPS, the flowmeter that draws water, height sensor, velocity sensor, liquid
Level sensor, pressure sensor, nozzle flowmeter are connected with embedded onboard control unit；
Mobile phone, which is applied to be connected by 4G wireless network with embedded onboard control unit, transmits data, and remote controler passes through 2.4G
Wireless network is connected with embedded onboard control unit transmits data；
In-wheel motor driving, lifting motor driving, push-rod electric machine driving, suction pump driving, spray pump driving, mixture pump
Driving, solenoid-driven pass through CAN bus and are connected with embedded onboard control unit；
In-wheel motor driving wheel is connected with In-wheel motor driving, and DC brushless motor is connected with lifting motor driving, electronic
Push rod is connected with push-rod electric machine driving, and suction pump is connected with suction pump driving, and spray pump is connected with spray pump driving, mixture pump
It is connected with mixture pump driving, spray boom solenoid valve is connected with solenoid-driven.
Further, before starting by spraying, two outer spray booms are laid flat by electric pushrod, mesh is obtained according to height sensor
The height for marking plant adjusts spray boom to distance is properly sprayed by DC brushless motor, then passes through remote control control spraying machine
Advance and direction, be performed simultaneously spray action；
In spray process, operator according to camera, gyroscope, electronic compass, GPS gathers information to spraying machine row
Effective and reasonable control is carried out into direction, embedded onboard control unit is according to velocity sensor, liquid level sensor, pressure sensing
The information that device, nozzle flowmeter return is to In-wheel motor driving wheel, suction pump, spray pump, mixture pump and spray boom solenoid valve
It is controlled, spraying machine speed, mixed medicine process and spray process is controlled；The flowmeter that draws water draws water for real-time detection
The water that pumping takes, the water control spray pump that embedded onboard control unit is extracted according to suction pump extract certain liquid volume
Mixed medicine process is carried out, so that water and medical fluid are mixed according to a certain percentage；Spray boom is three stage structure, and each part is corresponding
One spray boom solenoid valve, mixture pump are used cooperatively with spray boom solenoid valve, make stable water pressure in spray boom, and nozzle is pressure type,
It is i.e. spraying to reach certain hydraulic pressure；
After spraying, spray boom is transferred into trough of belt sliding rail bottom end by DC brushless motor and chain and gear,
It is acted on by electric pushrod folding, two sections of the outside of three-stage spray boom is folded inward, is seated in spray boom card slot, three-stage
Spray boom forms positive triangle structure, guarantees that spraying machine integral central is symmetrical and center of gravity is located on the vertical line of center, is conducive to spraying machine
Traveling and transport.
The invention has the advantages that a kind of unmanned intelligent crawler belt spraying machine of high-clearance and its control system, use
Wireless data transmission and remote control technology, it is no longer necessary to people drive, not only alleviate the own wt of spraying machine, but also not
It can make to improve the operating environment of operator, while also mitigating its manipulation strength among operator is exposed to and sprays insecticide.Left and right two
For side track drive using the embedded In-wheel motor driving of stand alone type, closure is good, reduces the components such as reduction gearbox, saved space and
Weight；The circuit parts such as each component in the water routes such as water tank, spray tank and on-vehicle battery, driver all concentrate on the trapezoidal shoe in both sides
Band is internal, has dragged down center of gravity, has been different from other creepers undercarriage, so that walking is more steady, only passes through spraying machine eminence
Three fixed links adapt to various height gap crop spray conditions so that passability is good among spraying machine come the structure fixed；Wide cut
Spray boom can adjust up and down according to crop actual height, the spraying requirement of various crop different growing stage is able to satisfy, in spraying knot
Two sections of the both sides of Shu Shi, three-stage spray boom can be folded inward, and three-stage spray boom forms positive triangle structure, central symmetry, center of gravity
It is relatively steady, be different from other spray booms to fold back, spray boom will not up and down, swing, be conducive to the walking and transport of spraying machine；
Spraying machine can be released using the separation of water medicine, real-time mixed medicine water circuit system when spraying machine, which encounters rough topography condition, to be driven out to
The clear water of water tank is bled off as itself Reduction of Students' Study Load, is conducive to cope with rough topography condition and not pollute the environment；By being invented
The unmanned intelligent crawler belt spraying machine of high-clearance, improve the efficiency in big Tanaka's spray pesticide, alleviate labor intensity, from
Dynamicization is horizontal higher, and scale effect is preferable.
Detailed description of the invention
Fig. 1 is a kind of unmanned intelligent crawler belt spraying machine inclined-plane overall structure diagram of high-clearance；
Fig. 2 is a kind of unmanned intelligent crawler belt spraying machine positive structure schematic of high-clearance；
Fig. 3 is a kind of unmanned intelligent crawler belt spraying machine vehicle frame part-structure figure of high-clearance；
Fig. 4 is chain traction schematic device；
Fig. 5 is interior spray boom and outer spray boom attachment structure schematic diagram；
Fig. 6 is that a kind of unmanned intelligent crawler belt of high-clearance is sprayed machine control system schematic diagram.
Wherein: 1- In-wheel motor driving wheel；2- traveling wheel；3- crawler belt；4- directive wheel；5- support wheel；6- water tank；7- medicine
Case；8- spray tank；9- trapezoid support component；10- support frame；11- supports transverse slat；The main fixed link of 12-；Bar is auxiliarily fixed in 13-；
14- trough of belt sliding rail；15- gear；16- DC brushless motor；Spray boom in 17-；The outer spray boom of 18-；19- nozzle；20- electric pushrod；
21- spray boom kerve；22- shaft；23- spray boom card slot；24- cover board；25- embedded onboard control unit；26- camera；27- top
Spiral shell instrument；28- electronic compass；29-GPS；30- velocity sensor；31- liquid level sensor；32- pressure sensor；33- nozzle flow
Meter；34- remote controler；35- parameter display screen；36- image real-time display screen；37- mobile phone application；38- In-wheel motor driving；39-
Lifting motor driving；The driving of 40- push-rod electric machine；The driving of 41- suction pump；42- suction pump；The driving of 43- spray pump；44- spray pump；
The driving of 45- mixture pump；46- mixture pump；47- solenoid-driven；48- spray boom solenoid valve；49- draws water flowmeter；50- spray boom
Solenoid valve；51- support frame top plate；52- gear fixing piece；53- connector；54- sliding block with holes；55- chain；56- support is horizontal
Plate, 57- support inclined plate, 58- hub support bracket, 59- hub support transverse slat.
Specific embodiment
A kind of work of the unmanned intelligent crawler belt spraying machine of the high-clearance invented is illustrated below with reference to schematic diagram
Process.
A kind of unmanned intelligent crawler belt spraying machine of high-clearance, including spraying machine walking arrangement, spraying machine elevating mechanism, spray
Mist mechanism, control device；The spraying machine walking arrangement is made of two crawler type walking mechanisms with In-wheel motor driving,
The crawler type walking mechanism of two sides is connected by fixed link, and the crawler type walking mechanism top of two sides is equipped with spraying machine elevator
Structure, the humidifier include medicament-mixing device and spray rod device；Trapezoid support is each equipped with inside each crawler type walking mechanism
Component；Medicament-mixing device and control device are placed on the inside of the trapezoid support component of two sides, and spray rod device setting is gone up and down in spraying machine
It is connected in mechanism and with medicament-mixing device, as the traction of spraying machine elevating mechanism moves up and down；The control device respectively with wheel
Hub motor, spraying machine elevating mechanism, humidifier are connected, and realize control In-wheel motor driving respectively, spraying machine elevating mechanism
Elevating control and humidifier spraying control.
Trapezoid support component periphery is wrapped up by crawler belt 3, and trapezoid support component 9 is trapezoidal support construction, by support plate
It is composed of a fixed connection, the fixed wheel in four side of trapezoid support component can cooperate with crawler belt 3, and then crawler belt 3 is driven to advance.
As shown in Figs. 1-2, the crawler type walking mechanism includes In-wheel motor driving wheel 1, traveling wheel 2, crawler belt 3, guiding
4, support wheel 5 are taken turns, the In-wheel motor driving wheel 1, traveling wheel 2, directive wheel 4, support wheel 5 are assemblied in by jackshaft trapezoidal
The reserved through hole two sides of each connecting pin of bracket component 9, wherein In-wheel motor driving wheel 1 and directive wheel 4 are respectively assembled at ladder
On the jackshaft of the bottom edge two sides of shape bracket component 9, two support wheels 5 are assemblied in the top two sides of trapezoid support component 9
Between on axis, 4 one group of 2 every two of traveling wheel are assemblied on the A-frame on 9 bottom edge of trapezoid support component, In-wheel motor driving
Wheel 1 and the connection of trapezoid support component 9 be using cross-over mode, In-wheel motor driving wheel (1) be mounted on hub support bracket 58,
On the jackshaft on the inside of half mouthful of shape bracket that hub support transverse slat 59 matches；The traveling wheel 2, directive wheel 4, support wheel 5 are all
It is two-wheel coaxial configuration；Crawler belt 3 wraps up 9 periphery of entire trapezoid support component, and with In-wheel motor driving wheel 1, traveling wheel 2,
Directive wheel 4, support wheel 5 are in contact.
In the humidifier, the medicament-mixing device includes water tank 6, medicine-chest 7 and spray tank 8, the water tank 6, medicine-chest
7, spray tank 8, control device are fixed on the inside of trapezoid support component 9 on the inside of trapezoidal crawler belt；Center of gravity decentralization, spraying machine are being walked
It is more steady in the process, and trapezoidal height of crawler is higher, so that the capacity of medicine-chest is larger, is suitble to crop field spraying.Water tank 6 and medicine
Case 7 is separation, and output medical fluid mixes in proportion, and mixed medical fluid is pre-stored in spray tank 8, and spraying locomotive encounters rough topography
When condition can not be driven out to, the water of water tank can be bled off into Reduction of Students' Study Load, without can cause environmental pollution.
The spray rod device is three stage structure, is interior spray boom 17, interior spray boom 17 between the crawler type walking mechanism of two sides
Two sides be outer spray boom 18, uniformly distributed nozzle 19 on spray rod device.It further include electric pushrod 20 in the humidifier, the interior spray
Bar 17 is linked together with outer spray boom 18 by shaft 22, and 20 both ends of electric pushrod are separately fixed at the interior spray boom of 22 top of shaft
17 on outer spray boom 18, and the outer spray boom 18 that vertical folding gets up is stuck in the spray boom card slot 23 at main fixed link both ends；Interior spray boom 17
Both ends respectively extend a spray boom kerve 21, and outer spray boom 18 is just stuck in spray boom kerve 21 when being horizontally arranged.
The benefit of above-mentioned spray rod device setting be can carry the pressure of spray boom both sides outside, while prevent because of wind and
The reason of jolting leads to the swing of outer spray boom 18.20 both ends of electric pushrod are separately fixed at interior spray boom 17 and outer spray boom 18
On, after spraying, spray boom is transferred into 14 bottom end of trough of belt sliding rail by DC brushless motor and chain pitch wheel, passes through electricity
Dynamic 20 folding of push rod effect, two sections of the both sides of three-stage spray boom can be folded inwardly into spray boom card slot 23, with traditional spray machine
Spray boom is compared to the mode that spraying machine rear folds, and three-stage spray boom forms positive triangle structure, and center of gravity is more steady, is conducive to spraying machine
Traveling and transport；Before starting by spraying, then two outer spray booms are laid flat by electric pushrod 20, then according to target plant
Height adjustment spray boom is to suitable height, then executes spray action.
As shown in Fig. 2, cover board 24 is fixed on 3 two sides of crawler belt the invention also includes cover board 24, size is slightly smaller than crawler belt 3, will
Trapezoid support component 9 and water tank 6, medicine-chest 7, spray tank 8, control device all cover, and are fixed on the centre on the outside of each wheel
On axis.Cover board 24 can preferably protect internal mechanism, water tank and controller etc. not by the pollution of adverse circumstances, corrode.
As shown in figure 3, one embodiment of trapezoid support component 9 given by the present invention.
The trapezoid support component 9 includes support transverse slat 56, support inclined plate 57, hub support bracket 58, hub support transverse slat
59, the support transverse slat 56, support inclined plate 57, hub support bracket 58, hub support transverse slat 59 are encircled into trapezoid support, pass through
Welding manner connection；The support transverse slat 56 and junction, support transverse slat 56 and the hub support bracket 58 for supporting inclined plate 57
Junction, support inclined plate 57 and the junction of hub support transverse slat 59, hub support bracket 58 and hub support transverse slat 59 company
The place of connecing is reserved with the through-hole passed through for jackshaft；The hub support bracket 58 is transverse slat close to one end of support transverse slat 56,
The other end is fixed with half mouthful of shape bracket A (for " П " shape)；The hub support transverse slat 59 is cross close to one end of support inclined plate 57
Plate, the other end are fixed with half mouthful of shape bracket B, and half mouthful of shape bracket B of hub support transverse slat 59 is fastened on hub support bracket 58
On the inside of half mouthful of shape bracket A, the two passes through intermediate axis connection；59 bottom of hub support transverse slat is fixedly connected with two triangle branch
Frame, A-frame bottom edge two sides are reserved with the through-hole passed through for jackshaft.
As shown in Figure 3-4, the spraying machine elevating mechanism includes rectangular pyramid rack and chain traction device；The rectangular pyramid
Rack includes support frame 10, support transverse slat 11, and the support frame 10 above the support transverse slat 11 of bottom end and its forms rectangular pyramid
Structure, the support transverse slat 11 are the plate of quadrilateral structure；The support transverse slat 11 is metal plate, under metal plate quadrangle
Four triangle iron plates are extended in portion, and four triangle iron plates are connected across on the jackshaft that 5 both sides external of support wheel is extended；Support is horizontal
Plate 11 and four triangle iron plate welding, gear fixing piece 52 and support frame top plate 51 weld.
The chain traction device is arranged in rectangular pyramid rack, including trough of belt sliding rail 14, gear 15, DC brushless motor
16, chain 55；Trough of belt sliding rail 14 includes sliding block 54 with holes and sliding slot, and by connector (53), vertically connected support is horizontal for sliding slot lower end
Plate 11, sliding slot upper end are connected on support frame top plate 51, and sliding block 54 with holes is mounted on trough of belt sliding rail 14, among sliding block 54 with holes
Circular hole is for placing spray boom；Gear 15 is located at the side of trough of belt sliding rail 14, and the gear 15 on top is fixed on gear fixing piece 52
On, the gear 15 of lower part be then it is coaxially connected with DC brushless motor, two gear centres are on same vertical line, brush DC
Motor 16 is fixed on the support transverse slat 11 of bottom.
As an embodiment of the present invention, the support frame 10 in the rectangular pyramid rack can also select two metal branch
Support vertex is welded to form triangle support frame, and triangle support frame bottom end is fixed on the center of support 11 two sides of transverse slat,
So that triangle support frame and the trapezoid support component 9 of lower part form firm triangular structure from the side.
Two, every one side, 10 head of support frame connects, and bottom extends two bars and is connected across support wheel both sides external, and two
10 bottom of support frame is stitched together with support transverse slat, and such tripod adds transverse plate structure, spatially constitutes a rectangular pyramid,
With stability.In terms of spraying machine side, the trapezoid support component 9 on the inside of trapezoidal crawler belt is combined with two support frames 10 of top
At a triangle, i.e., using whole three-legged structure, there is stability, become narrow gradually from top to bottom, it is more steady to have walked.
The crawler type walking mechanism of two sides of the invention is identical, and bar 13 is auxiliarily fixed by a main fixed link 12 and two
It is connected, main 12 both ends of fixed link are connect with two support frames, the 10 head joint on every side respectively, and 13 both ends of bar are auxiliarily fixed
It is separately fixed on two side columns of every side support frame 10,10 fixed points by 3 fixed links and above can be consolidated relatively
Ground links together the mechanism on both sides, and walking is got up with stability.
As shown in figure 4, being chain traction trough of belt sliding rail, including trough of belt sliding rail 14, connector 53, sliding block with holes 54, chain
55；Support transverse slat 11；Gear 15；DC brushless motor 16；Support frame top plate 51；Gear fixing piece 52；Wherein, trough of belt sliding rail
14 upper ends are fixed on 51 center of support frame top plate, and lower end is fixed on 11 middle part of support transverse slat, sliding block 54 with holes by a pedestal
It is mounted on trough of belt sliding rail 14, the intermediate circular hole of sliding block 54 with holes is placed for spray boom, gear fixing piece 52 and support frame top plate
51 weld together, and DC brushless motor 16 is fixed on support transverse slat 11, relative to 14 secundly of trough of belt sliding rail, direct current without
Brush motor 16 is rotated with moving gear 15, and chain 55 links together with sliding block 54 with holes, and then drives the upper and lower of sliding block 54 with holes
Mobile, both sides device keeps synchronizing, then drives moving up and down for three-stage spray boom.
As the embodiment of the present invention, the crawler belt 3 of the spraying machine drives by wheel hub motor gear 1, and trapezoidal crawler belt is high
About 1.2 meters of degree；The intelligence crawler belt spraying machine drives by wheel hub motor gear structure, and hub motor closure is good, is not necessarily to volume
Outer gearbox structure has saved complete machine space and weight, adapts to the walking requirement of various complicated landforms, meets the spray of high-clearance crop
The requirement for height of mist.
The spray boom is three stage structure, and interior spray boom 17 uses titanium alloy material, is unlikely to deform, enabling capabilities are strong, length
1.5 meters, 18 carbon fibre material of spray boom outside both sides, 2 meters of length, all expansion is up to 5.5 meters to interior spray boom 17 with outer spray boom 18；Due to
Outer spray bar length is longer, is not only able to satisfy intensity requirement using titanium alloy, but also can mitigate self weight, will not deform because of overweight；And
And all expansion is up to 5.5 meters for interior spray boom and outer spray boom, adapts to field crop spraying operation.Traditional is to fold back, this hair
Bright center of gravity concentrates on crawler belt upward stability height, and each section spray boom gravity endurance is small.
The interior spray boom 17 passes through the sliding block with holes 54 of the trough of belt sliding rail 14 on both sides, and spray boom can be in DC brushless motor
16, moving up and down for a certain range (1.2m-1.8m) is carried out under the drive of gear 15, and DC brushless motor 16 is with self-locking function
Energy；There is preferable applicability for high-clearance crop (such as Later Stage of Rice and long-stalked crops).
As shown in fig. 6, a kind of unmanned intelligent crawler belt of high-clearance is sprayed machine control system, camera for acquiring in real time
The image information of crop, control unit are transmitted on image real-time display screen in front of spraying machine, are observed for operator spraying
Environmental characteristic in front of machine.Gyroscope mainly for detection of as ground out-of-flatness and caused by spraying locomotive attitude angle deviation letter
Breath, and parameter display screen is transferred to by control unit.Similarly, electronic compass and GPS be mainly used for spraying locomotive course angle with
And the measurement of location information, and parameter display screen is transferred to by control unit, spraying locomotive traveling side is manipulated as operator
To foundation.Height sensor is mainly used for measuring the elevation information of crop, and information control brush DC is electric accordingly for control unit
Machine, so that spray boom is in height appropriate by spraying.Velocity sensor, liquid level sensor, pressure sensor, nozzle flowmeter difference
For measuring the travel speed of spraying locomotive, the liquid level of spray tank, the hydraulic pressure of spray boom and the flow of nozzle spray, control unit
In-wheel motor driving wheel, suction pump, spray pump, mixture pump are controlled according to the information of the feedback of each sensor.It draws water
Flowmeter is used for the water that real-time detection suction pump extracts, and the water control spray pump that control unit is extracted according to suction pump extracts
Certain liquid volume carries out mixed medicine process, so that water and medical fluid are mixed according to a certain percentage.Spray boom is three stage structure,
Being used cooperatively for the corresponding solenoid valve in each part, mixture pump and solenoid valve, makes stable water pressure in spray boom, nozzle is pressure
It is i.e. spraying to reach certain hydraulic pressure for formula.Mobile phone, which is applied, to be connected by 4G network with embedded onboard control unit, and mobile phone remote is used for
It observes spray condition and spray process is controlled；Remote controler is connected by 2.4G with embedded onboard control unit, can
With the realtime graphic and parameter display screen of the spraying locomotive front crop returned by the image real-time display screen on remote controler
Various information, remotely control spraying locomotive.
The unmanned intelligent crawler belt of high-clearance is sprayed machine control system workflow: before starting by spraying, being pushed away by electronic
Two outer spray booms are laid flat by bar, then adjust spray boom to suitable height by DC brushless motor according to the height of target plant
Then degree passes through the direction of advance of remote control control spraying machine, is performed simultaneously spray action；In spray process, operator's root
Effective and reasonable control is carried out to spraying machine direction of travel according to the information of the acquisitions such as camera, gyroscope, electronic compass, GPS, is controlled
Unit processed drives hub motor according to the information of the passbacks such as velocity sensor, liquid level sensor, pressure sensor, nozzle flowmeter
Driving wheel, suction pump, spray pump, mixture pump and solenoid valve are controlled, and to spraying machine speed, mixed medicine process and are sprayed
Cheng Jinhang control.The flowmeter that draws water is used for the water that real-time detection suction pump extracts, the water that control unit is extracted according to suction pump
Amount control spray pump extracts certain liquid volume and carries out mixed medicine process, so that water and medical fluid are mixed according to a certain percentage.
Spray boom is three stage structure, the corresponding solenoid valve in each part, and being used cooperatively for mixture pump and solenoid valve makes water in spray boom
Pressure is stablized, and nozzle is pressure type, and it is i.e. spraying to reach certain hydraulic pressure.After spraying, by spray boom by DC brushless motor with
And gear transfers to trough of belt sliding rail bottom end, is acted on by electric pushrod folding, two sections of the both sides of three-stage spray boom can be to infolding
It is laminated in spray boom card slot, three-stage spray boom forms positive triangle structure, is conducive to the traveling and transport of spraying machine.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (11)
1. a kind of unmanned intelligent crawler belt spraying machine of high-clearance, which is characterized in that including spraying machine walking arrangement, spraying machine liter
Descending mechanism, humidifier, control device；
The spraying machine walking arrangement is made of two crawler type walking mechanisms with In-wheel motor driving, the crawler type of two sides
Walking mechanism is connected by fixed link, and the crawler type walking mechanism top of two sides is equipped with spraying machine elevating mechanism, the spraying machine
Structure includes medicament-mixing device and spray rod device；Trapezoid support component is each equipped with inside each crawler type walking mechanism；Medicament-mixing device
Be placed in control device on the inside of the trapezoid support component of two sides, spray rod device be arranged on spraying machine elevating mechanism and with mixed medicine
Device is connected, as the traction of spraying machine elevating mechanism moves up and down；The control device respectively with hub motor, spraying machine liter
Descending mechanism, humidifier are connected, and realize control In-wheel motor driving respectively, the elevating control of spraying machine elevating mechanism, and
The spraying control of humidifier；
The unmanned intelligent crawler belt spraying machine of the high-clearance further includes cover board (24), and cover board (24) is fixed on crawler belt (3) two sides,
Size is slightly smaller than crawler belt (3), and trapezoid support component (9) and water tank (6), medicine-chest (7), spray tank (8), control device is whole
It covers, is fixed on the jackshaft on the outside of each wheel；
The trapezoid support component (9) includes support transverse slat (56), support inclined plate (57), hub support bracket (58), wheel hub branch
It supports transverse slat (59), the support transverse slat (56), support inclined plate (57), hub support bracket (58), hub support transverse slat (59) close
Trapezoid support is surrounded, is connected by welding manner；The junction of support transverse slat (56) and support inclined plate (57), support transverse slat
(56) and the junction of hub support bracket (58), support inclined plate (57) and hub support transverse slat (59) junction, wheel hub branch
The junction of support bracket (58) and hub support transverse slat (59) is reserved with the through-hole passed through for jackshaft；The hub support branch
Frame (58) is transverse slat close to one end of support transverse slat (56), and the other end is fixed with half mouthful of shape bracket A；The hub support transverse slat
It (59) is transverse slat close to one end of support inclined plate (57), the other end is fixed with half mouthful of shape bracket B, and the half of hub support transverse slat (59)
Mouth shape bracket B is fastened on the inside of half mouthful of shape bracket A of hub support bracket (58), and the two passes through intermediate axis connection；The wheel hub
Support transverse slat (59) bottom is fixedly connected with two A-frames, and A-frame bottom edge two sides are reserved with to be led to for what jackshaft passed through
Hole.
2. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 1, which is characterized in that the trapezoid support
Component periphery is wrapped up by crawler belt (3), and trapezoid support component (9) is trapezoidal support construction, is composed of a fixed connection by support plate, trapezoidal
The fixed wheel in four side of bracket component can cooperate with crawler belt (3), drive crawler belt (3) to advance by In-wheel motor driving wheel (1).
3. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 1, which is characterized in that the crawler type row
Walking mechanism includes In-wheel motor driving wheel (1), traveling wheel (2), crawler belt (3), directive wheel (4), support wheel (5), the wheel hub electricity
Machine driving wheel (1), traveling wheel (2), directive wheel (4), support wheel (5) are assemblied in trapezoid support component (9) by jackshaft
The reserved through hole two sides of each connecting pin, wherein In-wheel motor driving wheel (1) and directive wheel (4) are respectively assembled at trapezoid support group
On the jackshaft of the bottom edge two sides of part (9), two support wheels (5) are assemblied in the centre of the top two sides of trapezoid support component (9)
It on axis, 4 one group of every two of traveling wheel (2), is assemblied on the A-frame on trapezoid support component (9) bottom edge, hub motor is driven
The connection of driving wheel (1) and trapezoid support component (9) is using cross-over mode, and In-wheel motor driving wheel (1) is mounted on hub support
On the jackshaft on the inside of half mouthful of shape bracket that bracket (58), hub support transverse slat (59) match；The traveling wheel (2), guiding
Take turns (4), support wheel (5) is all two-wheel coaxial configuration；Crawler belt (3) wraps up entire trapezoid support component (9) periphery, and same wheel hub
Motor driving wheel (1), traveling wheel (2), directive wheel (4), support wheel (5) are in contact.
4. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 1, which is characterized in that the spraying machine liter
Descending mechanism includes rectangular pyramid rack and chain traction device；
The rectangular pyramid rack includes support frame (10), support transverse slat (11), above the support transverse slat (11) of bottom end and its
Support frame (10) form tetragonous wimble structure, support transverse slat (11) is the plate of quadrilateral structure；In terms of spraying machine side,
Two support frames (10) of trapezoid support component (9) and top on the inside of trapezoidal crawler belt are combined into a triangle, i.e., using whole
Body three-legged structure has stability, becomes narrow gradually from top to bottom；
The chain traction device is arranged in rectangular pyramid rack, including trough of belt sliding rail (14), gear (15), DC brushless motor
(16) and chain (55)；Trough of belt sliding rail (14) includes sliding block with holes (54) and sliding slot, and sliding slot lower end is hung down by connector (53)
Straight support transverse slat (11) that is connected, sliding slot upper end are connected on support frame top plate (51), and sliding block (54) with holes is mounted on trough of belt sliding rail
(14) on, the intermediate circular hole of sliding block (54) with holes is for placing spray boom；
Gear (15) is located at the side of trough of belt sliding rail (14), and the gear (15) on top is fixed on gear fixing piece (52), under
The gear (15) in portion be then it is coaxially connected with DC brushless motor (16), two gear centres on same vertical line, direct current without
Brush motor (16) is fixed on the support transverse slat (11) of bottom.
5. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 4, which is characterized in that the rectangular pyramid machine
The available two metal supporting frames vertex welding substitution of support frame (10) on frame, forms triangle support frame, triangle support frame
Bottom end is fixed on the center of support transverse slat (11) two sides, so that the trapezoid support component (9) of triangle support frame and lower part
Firm triangular structure is formed in terms of spraying machine side.
6. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 4, which is characterized in that the humidifier
In, medicament-mixing device includes water tank (6), medicine-chest (7) and spray tank (8), and water tank (6) is separated with medicine-chest (7), exports medical fluid
It mixing in proportion, mixed medical fluid is pre-stored in spray tank (8), when spraying locomotive encounters rough topography condition and can not be driven out to, energy
The water of water tank is bled off into Reduction of Students' Study Load；
The spray rod device is three stage structure, is interior spray boom (17) between the crawler type walking mechanism of two sides, interior spray boom (17)
Two sides be outer spray boom (18), on spray rod device uniformly distributed nozzle (19).
7. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 6, which is characterized in that the interior spray boom
(17) it passes through the sliding block with holes (54) of two sides and is fixed, spray rod device can be in DC brushless motor (16), gear (15)
Drive under carry out a certain range of move up and down.
8. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 6, which is characterized in that further include electronic push away
Bar (20), the interior spray boom (17) are linked together with outer spray boom (18) by shaft (22), electric pushrod (20) both ends difference
It is fixed on the interior spray boom (17) above shaft (22) and outer spray boom (18), the outer spray boom (18) that vertical folding gets up is stuck in fixation
In the spray boom card slot (23) at bar both ends；Interior spray boom (17) both ends respectively extend a spray boom kerve (21), and outer spray boom (18) level is put
It is just stuck in when setting in spray boom kerve (21).
9. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 4, which is characterized in that the fixed link packet
It includes:
The main fixed link (12) being connected with two support frame (10) tops, and it is located at the two of main fixed link (12) lower end two sides
It is a that bar (13) are auxiliarily fixed, bar (13) is each auxiliarily fixed and is separately fixed on two side columns of support frame (10) same side；
Guarantee that main fixed link (12) are located at two surfaces that bar (13) center line is auxiliarily fixed, and main fixed link (12) and auxiliary simultaneously
The parallel setting of fixed link (13).
10. the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 8, which is characterized in that the control dress
It sets including embedded onboard control unit (25), camera (26), gyroscope (27), electronic compass (28), GPS (29), draw water
Flowmeter (49), height sensor (50), velocity sensor (30), liquid level sensor (31), pressure sensor (32), nozzle stream
Meter (33), remote controler (34), parameter display screen (35), image real-time display screen (36), mobile phone application (37), hub motor are driven
Dynamic (38), lifting motor driving (39), push-rod electric machine driving (40), suction pump driving (41), spray pump drive (43), mixed liquor
Pump driving (45), solenoid-driven (47)；
The camera (26), gyroscope (27), electronic compass (28), GPS (29), the flowmeter that draws water (49), highly sensing
Device (50), velocity sensor (30), liquid level sensor (31), pressure sensor (32), nozzle flowmeter (33) with it is embedded
Vehicular control unit (25) is connected；
Mobile phone application (37), which is connected by 4G wireless network with embedded onboard control unit (25), transmits data, remote controler (34)
Be connected by 2.4G wireless network with embedded onboard control unit (25) transmission data；
In-wheel motor driving (38), lifting motor driving (39), push-rod electric machine driving (40), suction pump drive (41), spray pump
(43), mixture pump driving (45), solenoid-driven (47) is driven to pass through CAN bus and embedded onboard control unit (25)
It is connected；
In-wheel motor driving wheel (1) is connected with In-wheel motor driving (38), and DC brushless motor (16) and lifting motor drive
(39) it is connected, electric pushrod (20) is connected with push-rod electric machine driving (40), and suction pump (42) is connected with suction pump driving (41), medicine
Liquid pump (44) is connected with spray pump driving (43), and mixture pump (46) is connected with mixture pump driving (45), spray boom solenoid valve
(48) it is connected with solenoid-driven (47).
11. the control method of the unmanned intelligent crawler belt spraying machine of high-clearance according to claim 10, which is characterized in that
Before starting by spraying, two outer spray booms (18) are laid flat by electric pushrod (20), are obtained according to height sensor (50)
The height of target plant adjusts spray boom to distance is properly sprayed by DC brushless motor (16), then passes through remote controler (34)
Advance and the direction for controlling spraying machine, are performed simultaneously spray action；
In spray process, operator according to camera (26), gyroscope (27), electronic compass (28), GPS (29) acquire letter
Breath carries out effective and reasonable control to spraying machine direction of travel, and embedded onboard control unit (25) is according to velocity sensor
(30), the information that liquid level sensor (31), pressure sensor (32), nozzle flowmeter (33) return is to In-wheel motor driving wheel
(1), suction pump (42), spray pump (44), mixture pump (46) and spray boom solenoid valve (48) are controlled, to spraying machine speed
Degree, mixed medicine process and spray process are controlled；Draw water flowmeter (49) for real-time detection suction pump extract water, it is embedding
Enter the water control spray pump that formula vehicular control unit (25) extracts according to suction pump (42) and extract certain liquid volume to be mixed
Medicine process, so that water and medical fluid are mixed according to a certain percentage；Spray boom is three stage structure, the corresponding spray in each part
Bar solenoid valve (48), mixture pump (46) are used cooperatively with spray boom solenoid valve (48), make stable water pressure in spray boom, and nozzle is pressure
It is i.e. spraying to reach certain hydraulic pressure for power formula；
After spraying, spray boom is transferred into trough of belt by DC brushless motor (16) and chain (55) and gear (15) and is slided
Rail (14) bottom end is acted on by electric pushrod (20) folding, two sections of the outside of three-stage spray boom is folded inward, spray is seated to
In bar card slot (23), three-stage spray boom forms positive triangle structure, guarantees that spraying machine integral central is symmetrical and center of gravity is hung down positioned at center
On straight line, be conducive to the traveling and transport of spraying machine.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610554393.XA CN106070151B (en) | 2016-07-14 | 2016-07-14 | A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method |
| PCT/CN2016/091968 WO2018010216A1 (en) | 2016-07-14 | 2016-07-28 | Unmanned intelligent tracked high-clearance sprayer and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610554393.XA CN106070151B (en) | 2016-07-14 | 2016-07-14 | A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method |
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| Publication Number | Publication Date |
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| CN106070151A CN106070151A (en) | 2016-11-09 |
| CN106070151B true CN106070151B (en) | 2019-08-27 |
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| CN201610554393.XA Active CN106070151B (en) | 2016-07-14 | 2016-07-14 | A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method |
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| Country | Link |
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| CN (1) | CN106070151B (en) |
| WO (1) | WO2018010216A1 (en) |
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| WO2018010216A1 (en) | 2018-01-18 |
| CN106070151A (en) | 2016-11-09 |
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