CN108464168B - Rail-mounted precise pesticide application and irrigation integrated mechanism - Google Patents
Rail-mounted precise pesticide application and irrigation integrated mechanism Download PDFInfo
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- CN108464168B CN108464168B CN201810268611.2A CN201810268611A CN108464168B CN 108464168 B CN108464168 B CN 108464168B CN 201810268611 A CN201810268611 A CN 201810268611A CN 108464168 B CN108464168 B CN 108464168B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
- A01G9/247—Watering arrangements
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Catching Or Destruction (AREA)
- Greenhouses (AREA)
Abstract
The invention provides a track type precise pesticide application and irrigation integrated mechanism, and belongs to the technical field of plant protection machinery. The outer sides of the two ends of the primary transverse rail are respectively provided with a driving motor III, and the output shaft of the driving motor III is fixed with the gear; one end of the secondary transverse rail is respectively fixed with two ends of a T-shaped beam of the longitudinal railway car; two sides of the bottom plate of the transverse railway car are respectively provided with a second driving motor, and the output shafts of the second driving motors are respectively fixed with driving wheel shafts on one side of the second driving motors; the medicine box and the water tank are arranged above the bottom plate of the transverse railway car in parallel and are connected with the electromagnetic directional valve, the hydraulic pump and the spray head thereof through pipelines; a rotating shaft motor is arranged below the bottom plate of the transverse railway car, and an output shaft of the rotating shaft motor is fixed with the driving turntable; the bottom edge of the driving turntable is connected with the upper end of the connecting rod through a spherical hinge pair; the driven turntable is connected with the lower end of the connecting rod through a spherical hinge pair, three arc-shaped baffles are uniformly distributed below the edge of the driven turntable, and a hinge is arranged between the two arc-shaped baffles; the lower end of the hinge is provided with a spray head. The method is mainly used for accurately applying and irrigating in a greenhouse.
Description
Technical Field
The invention belongs to the technical field of plant protection machinery.
Background
In order to obtain high-quality agricultural products and higher economic income, agricultural chemicals are needed to prevent and control diseases and insect pests. At present, most greenhouses still adopt a manual mode to apply pesticides, so that the working efficiency is low, the working environment is bad, the pesticide utilization rate is low, the waste is large, the loss is serious, and the pesticide waste and the food safety problem are easily caused.
According to the search, most of the existing pesticide application machines have poor targeting property, limited working range and still have a certain degree of excessive pesticide application problem. For example, a greenhouse track pesticide application robot disclosed in China patent application No. 201620065780.2 can identify the position of crops and automatically apply pesticide, but an electric trolley of the pesticide application robot can only move along one direction, each pesticide application can only accurately reach ridges, the targeting property is poor, and the pesticide application amount is uneven due to different distances between each crop and a spray head; as disclosed in chinese patent application No. 201510630986.5, the moving platform of the automatic sprayer can only move along one direction, and the direction of the spray head is fixed and inclined downward, so that when the area of the greenhouse is large, the problem that the liquid medicine cannot cover all crops can occur.
It is therefore necessary to design a mechanism for applying drugs that is well targeted and that has a working range that covers the whole greenhouse.
Disclosure of Invention
The invention aims to provide a track type precise pesticide application and irrigation integrated mechanism which can effectively solve the problem of precise movement of a spray head.
The aim of the invention is realized by the following technical scheme: the track type precise pesticide application and irrigation integrated mechanism comprises a longitudinal track vehicle, a transverse track vehicle and a water tank, wherein two groups of wheel treads of the longitudinal track vehicle are respectively matched with horizontal planes in longitudinal tracks of two symmetrical equilateral right-angle structures, and each group of wheels is provided with a driving motor I which is fixed with a driving wheel shaft; two ends of a primary transverse rail of two square steel pipe structures are respectively provided with a secondary transverse rail of a channel steel structure, a waist is arranged between the two secondary transverse rails, the upper surface of a lower leg is provided with a rack meshed with a gear in the end part of the primary transverse rail, the outer sides of the two ends of the primary transverse rail are respectively provided with a driving motor III, and the output shaft of the driving motor III is fixed with the gear; one end of the secondary transverse rail is respectively fixed with two ends of a T-shaped beam of the longitudinal railway car; two sides of the bottom plate of the transverse railway car are respectively provided with two wheels, and the tread of the wheels is matched with the primary transverse rail and the secondary transverse rail; two sides of the bottom plate of the transverse railway car are respectively provided with a second driving motor, and the output shafts of the second driving motors are respectively fixed with driving wheel shafts on one side of the second driving motors; the medicine box and the water tank are arranged on one side of the upper computer above the bottom plate of the transverse railway car in parallel, and are connected with the input of the electromagnetic directional valve and the hydraulic pump through pipelines, and the output of the hydraulic pump is connected with the spray head through the pipelines; a rotating shaft motor is arranged below the bottom plate of the transverse railway car, and an output shaft of the rotating shaft motor is fixed with the driving turntable; the bottom edge of the driving turntable is connected with the upper end of the connecting rod through a spherical hinge pair; the driven turntable is connected with the lower end of the connecting rod through a spherical hinge pair, two sets of pistons which are vertically arranged are arranged below the bottom plate of the transverse railway vehicle, the upper end of a cylinder body of each piston is fixed with the bottom plate of the transverse railway vehicle, the lower end of each piston rod is fixed with the upper surface of the driven turntable, three arc-shaped baffle plates are uniformly distributed below the edge of the driven turntable, and hinges are arranged between the two arc-shaped baffle plates; the lower end of the hinge is provided with a spray head.
The longitudinal rail car and the transverse rail car are arranged up and down, are longitudinally arranged down and are transversely arranged up.
One end of the second-stage transverse rail is positioned inside the first-stage transverse rail of the square steel tube structure and is in clearance fit with the first-stage transverse rail.
The working process and principle of the invention are as follows:
the drug application process comprises the following steps: the global camera transmits the image to the upper computer, the plant where the plant diseases and insect pests occur is determined after the image processing, and the position information of the plant is transmitted to the lower computer, and the first driving motor and the second driving motor work in sequence, so that the center of the driven turntable moves to the position right above the target plant; then the rotating shaft motor starts to work, so that the driving turntable rotates, the included angle between the connecting rod and the plane of the driven turntable is increased, the height of the driven turntable is reduced, and the baffle and the spray head fall to the height of the canopy of the target plant; at the moment, the electromagnetic reversing valve is connected with the medicine box and the hydraulic pump; immediately after the hydraulic pump starts to work, the spray head sprays the liquid medicine; when the medicine is applied, the medicine liquid which is not adhered to the blades can be blocked by the baffle plate and finally gathered into the cavity below the baffle plate, so that the medicine liquid can be recycled; finally, the hydraulic pump stops rotating, the driving turntable rotates in the opposite direction to reset, and the driven turntable rises to finish one-time pesticide application operation.
Irrigation: the electromagnetic reversing valve is communicated with the water tank and the hydraulic pump, the rest processes are the same as the pesticide application process, and the longitudinal rail car and the trolley sequentially move, so that the trolley can sequentially pass through the upper space of each plant of crop according to an S-shaped path, and the spray heads are lowered to spray water.
When the length of the transverse rail needs to be increased to enlarge the working range, the two driving motors begin to work, and the rack moves along the direction away from the primary transverse rail to drive the secondary transverse rails at the two ends of the primary transverse rail to extend out, so that the length of the transverse rail is increased.
Compared with the prior art, the invention has the beneficial effects that: the rectangular coordinate positioning mode is adopted, so that the complexity of a mechanism and a control system is reduced; the working range is large, and the greenhouse can be suitable for most scales by changing the length of the transverse rail; the pesticide is accurately applied to single crops, so that the problem of excessive pesticide application is further improved; and a baffle is arranged on the opposite side of the spray head to recycle the liquid medicine which is not effectively utilized, so that pesticide waste is effectively reduced.
Drawings
FIG. 1 is a perspective three-dimensional view of the present invention;
FIG. 2 is a bottom three-dimensional view of the present invention;
FIG. 3 is a front view of the present invention;
fig. 4 is a partial view of a cross rail portion of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the track type precise pesticide application and irrigation integrated mechanism comprises a longitudinal track vehicle, a transverse track vehicle and a water tank, wherein two groups of wheel treads of the longitudinal track vehicle 4 are respectively matched with the horizontal planes in a longitudinal track 1 of two symmetrical equilateral right-angle structures, and each group of wheels is provided with a driving motor I5 which is fixed with a driving wheel shaft; two ends of a primary transverse rail 3 of two square steel pipe structures are respectively provided with a secondary transverse rail 2 of a channel steel structure, a waist is arranged between the two secondary transverse rails 2, the upper surface of a lower leg is provided with a rack 22 meshed with a gear 21 in the end part of the primary transverse rail 3, the outer sides of the two ends of the primary transverse rail 3 are respectively provided with a driving motor three 11, and an output shaft of the driving motor three 11 is fixed with the gear 21; one end of the secondary transverse rail 2 is respectively fixed with two ends of a T-shaped beam of the longitudinal railway car 4; two wheels are respectively arranged on two sides of the bottom plate of the transverse rail car 10, and the tread of the wheels is matched with the primary transverse rail 3 and the secondary transverse rail 2; two sides of the bottom plate of the transverse railway car 10 are respectively provided with a second driving motor 18, and the output shafts of the second driving motors are respectively fixed with driving wheel shafts on one side of the second driving motors; the medicine box 8 and the water tank 9 are arranged above the bottom plate of the transverse railway car 10 in parallel and are connected with the input of the electromagnetic directional valve 7 and the hydraulic pump 6 through pipelines, and the output of the hydraulic pump 6 is connected with the spray head 16 through pipelines; a rotating shaft motor 19 is arranged below the bottom plate of the transverse railcar 10, and an output shaft of the rotating shaft motor 19 is fixed with the driving turntable 12; the bottom edge of the driving turntable 12 is connected with the upper end of the connecting rod 13 through a spherical hinge pair; the driven turntable 14 is connected with the lower end of the connecting rod 13 through a spherical hinge pair, two sets of pistons 20 which are vertically arranged are arranged below the bottom plate of the transverse railcar 10, the upper end of a cylinder body of each piston 20 is fixed with the bottom plate of the transverse railcar 10, the lower end of each piston rod is fixed with the upper surface of the driven turntable 14, three arc-shaped baffle plates 17 are uniformly distributed below the edge of the driven turntable 14, and a hinge 15 is arranged between the two arc-shaped baffle plates 17; the lower end of the hinge 15 is provided with a spray head 16.
The longitudinal rail car 4 and the transverse rail car 10 are arranged up and down, are longitudinally arranged down and are transversely arranged up.
One end of the second-stage transverse rail 2 is positioned inside the first-stage transverse rail 3 of the square steel tube structure and in clearance fit.
The working process and principle of the invention are as follows:
the drug application process comprises the following steps: the global camera transmits the image to the upper computer 23, the plant where the plant diseases and insect pests occur is determined after the image processing, and the position information of the plant is transmitted to the controller, and the first driving motor 5 and the second driving motor 18 work sequentially, so that the center of the driven turntable 14 moves to the position right above the target plant; then the rotating shaft motor 19 starts to work, so that the driving turntable 12 rotates, the included angle between the connecting rod 13 and the plane of the driven turntable 14 becomes larger, the height of the driven turntable 14 is reduced, and the baffle 17 and the spray head 16 fall to the height of the canopy of the target plant; at the moment, the electromagnetic directional valve 7 is connected with the medicine box 8 and the hydraulic pump 6; immediately after the hydraulic pump 6 starts to operate, the spray head 16 sprays the liquid medicine; the liquid medicine which is not adhered to the blades during the application can be blocked by the baffle 17 and finally gathered into the cavity below the baffle 17 for recycling; finally, the hydraulic pump 6 stops rotating, the driving turntable 12 rotates reversely to reset, and the driven turntable 14 rises to finish one-time pesticide application operation.
Irrigation: the electromagnetic reversing valve 7 is communicated with the water tank 9 and the hydraulic pump 6, the rest processes are the same as the pesticide application process, and the longitudinal railway car 4 and the trolley 10 sequentially move, so that the trolley 10 can sequentially pass through the upper space of each plant of crop according to an S-shaped path, and the spray heads 16 are lowered to perform irrigation operation.
Claims (1)
1. The utility model provides a track formula is irrigated and accurate mechanism of dosing, includes vertical railcar, horizontal railcar and water tank, its characterized in that: two groups of wheel treads of the longitudinal railcar (4) are respectively matched with the inner side horizontal plane of two symmetrical equilateral right-angle structural longitudinal rails (1), and each group of wheels is provided with a driving motor I (5) which is fixed with a driving wheel shaft; two ends of a primary transverse rail (3) of two square steel pipe structures are respectively provided with a secondary transverse rail (2) of a channel steel structure, a waist is arranged between the two secondary transverse rails (2), the upper surface of a lower leg is provided with a rack (22) meshed with a gear (21) in the end part of the primary transverse rail (3), the outer sides of the two ends of the primary transverse rail (3) are respectively provided with a driving motor III (11), and an output shaft of the driving motor III is fixed with the gear (21); one end of the secondary transverse rail (2) is respectively fixed with two ends of a T-shaped beam of the longitudinal railway car (4); two sides of a bottom plate of the transverse rail car (10) are respectively provided with two wheels, and the tread of the wheels is matched with the primary transverse rail (3) and the secondary transverse rail (2); two sides of a bottom plate of the transverse railway car (10) are respectively provided with a second driving motor (18), and output shafts of the second driving motors are respectively fixed with driving wheel shafts on one side of the second driving motor; the medicine box (8) and the water tank (9) are arranged on one side of an upper computer (23) above a bottom plate of the transverse railway car (10) in parallel, and are connected with the input of the electromagnetic directional valve (7) and the hydraulic pump (6) through pipelines, and the output of the hydraulic pump (6) is connected with the spray head (16) through the pipelines; a rotating shaft motor (19) is arranged below the bottom plate of the transverse railway car (10), and an output shaft of the rotating shaft motor (19) is fixed with the driving turntable (12); the bottom edge of the driving turntable (12) is connected with the upper end of the connecting rod (13) through a spherical hinge pair; the driven turntable (14) is connected with the lower end of the connecting rod (13) through a spherical hinge pair, two sets of pistons (20) which are vertically arranged are arranged below the bottom plate of the transverse railway car (10), the upper end of a cylinder body of each piston (20) is fixed with the bottom plate of the transverse railway car (10), the lower end of each piston rod is fixed with the upper surface of the driven turntable (14), three arc-shaped baffles (17) are uniformly distributed below the edge of the driven turntable (14), and hinges (15) are arranged between the two arc-shaped baffles (17); the lower end of the hinge (15) is provided with a spray head (16); the longitudinal rail car (4) and the transverse rail car (10) are arranged up and down, are longitudinally arranged down and transversely arranged up; one end of the second-stage transverse rail (2) is positioned in the first-stage transverse rail (3) of the square steel tube structure and is in clearance fit with the first-stage transverse rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810268611.2A CN108464168B (en) | 2018-03-29 | 2018-03-29 | Rail-mounted precise pesticide application and irrigation integrated mechanism |
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| CN201810268611.2A CN108464168B (en) | 2018-03-29 | 2018-03-29 | Rail-mounted precise pesticide application and irrigation integrated mechanism |
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| CN108464168A CN108464168A (en) | 2018-08-31 |
| CN108464168B true CN108464168B (en) | 2023-06-20 |
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| CN109496799A (en) * | 2018-12-29 | 2019-03-22 | 江苏西顿科技有限公司 | Intelligent patrol detection sprinkling irrigation things system |
| CN110663526B (en) * | 2019-11-07 | 2021-08-20 | 菏泽学院 | Accurate watering device for dry land economic crop root system |
| CN111528083B (en) * | 2020-04-24 | 2023-07-28 | 山西农业大学小麦研究所(山西省农业科学院小麦研究所) | Wheat chemistry is killed androstane and is used spouting medicine device |
| CN111512858B (en) * | 2020-05-21 | 2021-09-28 | 苏州市小林农业科技发展有限公司 | Energy-saving spraying equipment for agricultural greenhouse and working method thereof |
| CN112021288B (en) * | 2020-09-10 | 2022-03-29 | 山东农业大学 | Self-adaptive canopy opening airflow auxiliary spraying device and method |
| CN112449951A (en) * | 2020-11-23 | 2021-03-09 | 林洪鑫 | Automatic formula support frame of irrigating of tomato |
| CN114916421B (en) * | 2022-06-07 | 2023-07-25 | 上海派璐斯信息科技有限公司 | Strawberry soilless culture environment control system |
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