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Multi-ground-clearance self-steering intelligent sprayer and control method

A technology of self-steering and spraying machines, which is applied to the device for catching or killing insects, application, animal husbandry, etc. It can solve the problems of inability to guarantee the passability of the walking chassis, inability to meet the requirements of field operations, and the reduction of the overall storage space. Improved space utilization, light weight, light and convenient operation

Active Publication Date: 2017-05-31
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Chinese patent CN103964253A discloses a screw elevator, which is supported by several nested lifting cylinders. As the working height increases, the number of required lifting cylinders increases, and the size of the bottom lifting cylinder increases accordingly. , therefore, although this structure can reduce the vertical space, the horizontal space is still relatively large, and the reduction of the overall storage space is limited.
The application publication number is CN102146756A, the Chinese patent "High Ground Clearance Self-propelled Boom Sprayer". This invention adopts four-wheel hydraulic drive, and a hydraulic steering device is installed in the middle of the front and rear axles. This hydraulic steering device can only realize two-wheel steering, and the steering radius Large, cannot guarantee the passability of the walking chassis, so the whole machine cannot meet the requirements of field operations with various ground clearances

Method used

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  • Multi-ground-clearance self-steering intelligent sprayer and control method
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  • Multi-ground-clearance self-steering intelligent sprayer and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] like Figure 5-6 As shown, the self-steering walking chassis includes a slewing mechanism and tires 1;

[0067] The car platform 3 is a metal frame welded by many square metal tubes and two square metal plates, which can effectively reduce the weight of the car platform. Many square metal tubes are welded into a 3×5 square space. Two square metal plates are fixed in the spaces of the second row and the fourth row, and spray rod placement grooves 4 are respectively welded on the front and left and right sides of the car platform 3, and 8 stoppers 23 are welded on the bottom of the car platform 3. The rear portion of the car platform 3 is reserved with a through hole 25 for the fixed central axis 27 to pass through;

[0068] Wheel 1 selects herringbone pattern agricultural tires for use, also can select other tires such as common non-pattern tires according to the demand of driving road surface, in-wheel motor 24 is housed in the wheel hub;

[0069] The slewing mechanis...

Embodiment 2

[0071] like Figure 7 As shown, the slewing mechanism includes a single-row tapered roller bearing 39, a support column 44, a shock absorber 47 and a shock-absorbing bracket 46, and the outer ring or inner ring of the single-row tapered roller bearing 39 is connected with the vehicle platform 3 by welding, and the single-row tapered roller bearing The inner ring or outer ring of the roller bearing 39 and the top surface of the support column 44 are fixed concentrically. There are three sets of shock absorbers 47, wherein one end of the shock absorber is respectively fixed on the symmetrical sides and below of the support column 44, and the other end is respectively Be fixed on both sides and the central position of the shock absorber 46, the shock absorber 46 is a high-strength square metal frame close to the width of the car, and the two ends of the shock absorber 46 are fixed with the fuselage of the hub motor 24.

Embodiment example 3

[0073] like Figure 8 As shown, the self-steering running mechanism includes a slewing mechanism and a tire 1 with a hub motor 24;

[0074] The slewing structure includes plane cylindrical bearing 42, chassis platform 26 and axle 2; The hole makes the cylindrical roller 40 of the plane cylindrical bearing 42 contact with the bottom of the car platform 3, and there is a circular groove in the middle of the chassis platform 26, and there are gradually shrinking extensions on the left and right sides of the chassis platform 26, and the plane of the plane cylindrical bearing 42 maintains The frame assembly and the circular groove of the chassis platform 26 are fixed concentrically. The axle 2 is made of metal. The top of the axle 2 is fixed to the extension of the chassis platform 26 and forms an obtuse angle with the chassis platform 26. The fuselage is fixed; because the height of the vehicle axle 2 is higher than the ground, so this embodiment is applicable to the working occa...

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Abstract

The invention discloses a multi-ground-clearance self-steering intelligent sprayer and a control method. The sprayer comprises a vehicle platform, two self-steering traveling mechanisms, a controllable lifting spraying device, a gasoline power generation and supply device and a control device, and each self-steering traveling mechanism is connected with the vehicle platform by adopting a rotation structure; the controllable lifting spraying device is fixed at the tail of the vehicle platform and comprises a sprayer lifting mechanism, a spraying rod device and a drug mixing device, the spraying rod device is arranged on the sprayer lifting mechanism and connected with the drug mixing device, and a spraying rod can move up and down along with traction of the sprayer lifting mechanism; the drug mixing device is fixed in the middle of the vehicle platform and provides drug to spraying equipment for spraying, the gasoline power generation and supply device is fixed on the front portion of the vehicle platform and serves as a stable voltage power source of the equipment, and the control device is connected with driving equipment, a control motor and multiple sensors. Four hub motors are controlled by the control device to realize self-steering of wheels at differential speeds, and the sprayer is high in control accuracy and small in turning radius.

Description

technical field [0001] The invention relates to a spraying machine, in particular to a multi-gap self-steering intelligent spraying machine and a control method thereof. Background technique [0002] With the rapid development of agricultural mechanization, the long-term use of walking tractors or wheel-towed walking machinery has made the muddy feet of paddy fields deeper and deeper. On the one hand, the soil environment of paddy fields has been destroyed. Therefore, the demand for high ground clearance chassis is becoming more and more urgent. The study of high-gap spray walking equipment can fundamentally change the pesticide application methods of paddy fields based on manual sprayers and motorized stretcher sprayers, and realize automatic control of walking and spraying, which will improve the utilization rate of pesticides, save water, and improve the efficiency of pesticide application. and safety, reducing pesticide residues, and ensuring food production are of grea...

Claims

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Application Information

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IPC IPC(8): A01M7/00
CPCA01M7/0042A01M7/0057A01M7/0075A01M7/0082A01M7/0089
Inventor 沈跃刘慧
Owner JIANGSU UNIV
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