An agricultural machine and a multi-machine linkage mechanism

Abstract

The present invention relates to an agricultural machine and a multi-machine linkage mechanism, which includes a frame, a traveling device and a spraying device. The traveling device is arranged at the bottom of the frame. The spraying device includes a material tank and a spray boom. The material tank is arranged on the side of the frame, and the height of the lower end of the material tank is lower than the height of the lower end of the traveling device. The height difference between the lower end of the traveling device and the lower end of the material tank is equal to the height difference between the upper end of the ridge and the bottom of the side of the ridge. In the present invention, the material tanks are arranged on both sides of the frame and the lower ends thereof are in contact with the ground outside the ridge, which greatly reduces the load on the frame and the requirement for the structural strength of the frame. The frame travels on the ridge with small traveling resistance and strong passability, reducing the damage to crops during the plant protection process. The frame is characterized by being light and having a simple structure.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and specifically to an agricultural machine and a multi-machine linkage mechanism. Background Art

[0002] Existing crop protection machinery mainly includes plant protection drones and ground walking plant protection machines. Plant protection drones carry a small amount of medicine each time and have high requirements for operators. Ground walking plant protection machines directly drive in the fields, which have high requirements for structural strength, poor passing ability, and cause great damage to crops.

[0003] After retrieval, it is found that the Chinese patent with the publication number CN205887270U discloses a push-type sprayer with center of gravity balance, which includes a frame, on which a front wheel and a rear wheel are provided. Along the direction from the front wheel to the rear wheel, the frame is successively formed with a liquid medicine tank, a receiving cavity, and a placement platform. When the liquid medicine tank is filled with liquid medicine, the weight of the liquid medicine tank will be shared by the front wheel and the rear wheel together, so as to ensure that one of the rear wheel and the front wheel will not be deeply stuck in the relatively soft ridge and difficult to push out due to bearing all the weight. This sprayer has good passing ability when walking on the ridge and causes little damage to crops, but the weight of the liquid medicine tank all falls on the frame, which has high requirements for the structural strength of the frame. Summary of the Invention

[0004] The purpose of the present invention is to provide an agricultural machine and a multi-machine linkage mechanism to solve the above deficiencies.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: An agricultural machine includes a frame, a traveling device, and a spraying device. The traveling device is arranged at the bottom of the frame. The spraying device includes a material tank and a spray boom. The material tank is arranged on the side of the frame, and the height of the lower end of the material tank is lower than the height of the lower end of the traveling device. The height difference between the lower end of the traveling device and the lower end of the material tank is equal to the height difference between the upper end of the ridge and the bottom of the side of the ridge.

[0006] Further, the material tank is slidably connected to the side of the frame through a sliding device.

[0007] Further, the sliding device includes a slider and a connecting block. The connecting block is connected to the frame. The slider is slidably arranged on the connecting block. Vertical springs are connected between the upper and lower ends of the slider and the connecting block respectively. The material tank is connected to the slider.

[0008] Further, the horizontal projection of the front part of the lower end of the material tank is in an arc shape that tilts upward.

[0009] Further, a plurality of rollers or drums are rotatably arranged at the lower end of the material tank.

[0010] Further, the horizontal projection of the material tank is circular, and it is rotatably arranged on the side of the frame.

[0011] Further, the traveling device is a three-wheel traveling device, a four-wheel traveling device or two crawler traveling devices, and the traveling device is connected with a wheelbase adjusting device.

[0012] Further, the wheelbase adjusting device is a parallel mechanism or a hoop. The parallel mechanisms are symmetrically arranged on both sides of the bottom of the vehicle frame, and a horizontal telescopic device is connected in the middle of the parallel mechanisms.

[0013] A multi-machine linkage machine includes at least two agricultural machines. At least two of the agricultural machines are arranged in a row, and spray booms are connected between adjacent agricultural machines. One ends of the multiple spray booms are horizontally rotatably connected to the agricultural machines through horizontal rotating pairs, and the other ends are movably placed on the support rods of adjacent agricultural machines and are in a cross shape with the vertical projection of the support rods. The support rods are horizontally arranged along the advancing direction of the agricultural machines.

[0014] The beneficial effects of the present invention compared with the prior art are as follows: The material boxes of the present invention are arranged on both sides of the frame and the lower ends are in contact with the ground outside the ridge, which greatly reduces the load of the frame and the requirement for the structural strength of the frame. The frame travels on the ridge, with small walking resistance and strong passability, reducing the damage to crops during the plant protection process. The frame is light and has a simple structure. Description of the Drawings

[0015] Figure 1 It is a schematic structure of Embodiment 1 of the present invention Figure 1 ;

[0016] Figure 2 It is a schematic structure of Embodiment 1 of the present invention Figure 2 ;

[0017] Figure 3 It is a connection schematic diagram of the slider and the connecting block;

[0018] Figure 4 It is a schematic structure of Embodiment 2 of the present invention Figure 1 ;

[0019] Figure 5 It is a schematic structure of Embodiment 2 of the present invention Figure 2 ;

[0020] Figure 6 It is a schematic structure of Embodiment 3 of the present invention Figure 1 ;

[0021] Figure 7 It is a schematic structure of Embodiment 3 of the present invention Figure 2 ;

[0022] Figure 8 It is a schematic structure of Embodiment 3 of the present invention Figure 3 ;

[0023] Figure 9It is a schematic structural diagram of a hoop.

[0024] Figure 10 It is a front schematic diagram of a multi-machine linkage machine.

[0025] Figure 11 It is a top view of a multi-machine linkage machine.

[0026] Figure 12 It is a schematic diagram of a support rod and a spray rod.

[0027] The reference numerals in the figure are: 1-frame, 2-traveling device, 3-material box, 4-spray rod, 5-slider, 6-connecting block, 7-spring, 8-hinged shaft, 9-roller, 10-handrail, 11-parallel mechanism, 12-hoop, 13-telescopic device, 14-support rod, 15-position sensor, 16-limiting device. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0030] Embodiment 1

[0031] Referring to the attached Figures 1 - 3 , the agricultural machine of the present invention includes a frame 1, a traveling device 2 and a spraying device. The traveling device 2 includes a driving wheel or a steering wheel arranged at the bottom of the front end of the vehicle frame 1. The spraying device includes a material box 3 and a spray rod 4. Two material boxes 3 are provided. The material box 3 can be filled with liquid fertilizer or pesticide. The two material boxes 3 are slidably connected to both sides of the rear end of the frame 1 through a sliding device. The sliding device includes a slider 5 and a connecting block 6. Of course, it can also be a sliding fit formed by a slider and a slide rail. The connecting block 6 is connected to the frame 1, and the slider 5 is slidably arranged on the connecting block 6. For example Figure 3As shown, vertical springs 7 are connected between the upper and lower ends of the slider 5 and the connecting block 6. The springs 7 buffer the up and down movement of the material box 3. The material box 3 is connected to the slider 5. The material box 3 can move up and down along the connecting block 6 through the slider 5 to adapt to the change in the height of the ridge, so that the bottom of the material box 3 is always in contact with the ground. Preferably, the material box 3 is hingedly connected to the slider 5 through a hinge shaft 8. The material box 3 can rotate around the hinge shaft 8. When the side of the ridge is a slope, the material box 3 rotates and fits the slope. The height of the lower end of the material box 3 is lower than the height of the lower end of the walking device 2, and the height difference between the lower end of the walking device 2 and the lower end of the material box 3 is equal to the height difference between the upper end of the ridge and the bottom of the side of the ridge, that is, during the walking process, the lower end of the material box 3 is always in contact with the ground at the bottom of the side of the ridge, and the two material boxes 3 and the power wheel or the steering wheel form a three-point support for the frame 1. The power wheel or the steering wheel walks on the ridge, and the material box 3 walks in the field on the side of the ridge. When the material box 3 walks in dry land, Figure 5 As shown, a plurality of rollers (not shown) or drums 9 are arranged at the bottom of the material box 3, and the rotation axis of the rollers or drums 9 is parallel to the rotation axis of the power wheel or the steering wheel. The arrangement of the plurality of rollers or drums 9 improves the passability of the material box 3 in dry land. When the material box 3 travels in the paddy field, the lower front end of the material box 3 is arranged to be an arc with a lateral projection that is upwardly tilted, so that a sliding portion is formed at the bottom of the material box 3. When the material box 3 slides in the paddy field, an upward lift is generated to prevent sinking and reduce the passage resistance. In this embodiment, the material box 3 is preferably a hollow transverse cylindrical shape, and the material box 3 is rotatably connected to the slider 5 through a rotating shaft. At this time, the material box 3 is equivalent to a walking wheel, which further improves the passability. A handrail 10 is arranged at one end of the frame 1, and the handrail 10 is manually held to provide steering power or walking power for the agricultural machinery.

[0032] Embodiment 2

[0033] See attached Figures 4 - 5 The basic structure and principle of this embodiment are the same as those of the first embodiment, except that the walking device 2 includes a steering wheel and a power wheel respectively arranged at the front and rear ends of the bottom of the frame 1. Optimally, the steering wheel is connected to a steering power device, and the power wheel is connected to a driving device, which is preferably a hub motor. Both the steering power device and the hub motor can be connected to a control device, and the control device can be connected to a remote control device or a navigation device to realize remote control driving or autonomous navigation driving. Of course, the steering wheel may not be connected to the steering power device, and a handrail 10 is provided at the rear end of the frame 1, and steering is performed by manually holding the handrail 10.

[0034] Embodiment 3

[0035] See attached Figures 6 - 9, The basic structure and principle of this embodiment are the same as those of the above-mentioned first embodiment. The difference lies in that the traveling device 2 is a three-wheel traveling device or a four-wheel traveling device or two crawler traveling devices. The three-wheel traveling device or the four-wheel traveling device or the two crawler traveling devices are connected with a driving device for driving the agricultural machine to travel, and the steering is carried out by the differential of two wheels or two crawlers. Similarly, a remote control device or a navigation device can be connected to realize controlled driving or autonomous navigation. Of course, a handrail 10 can also be set for manual pushing and steering. The three-wheel traveling device or the four-wheel traveling device or the two crawler traveling devices are connected with a wheelbase adjusting device, and the wheelbase adjusting device is a parallel mechanism 11 or a hoop 12. As Figures 6 - 7 shown, the parallel mechanisms 11 are symmetrically arranged on the left and right at the bottom of the vehicle frame 1. The upper ends of the parallel mechanisms 11 are hinged to the vehicle frame 1, and the lower ends are hinged to the wheels. A telescopic device 13 is connected between the left and right parallel mechanisms 11. The telescopic device 13 is a telescopic rod, preferably an electric telescopic rod or a hydraulic telescopic rod. The wheelbase is controlled and adjusted by the electric telescopic rod or the hydraulic telescopic rod to adapt to traveling on ridges with different widths and improve the applicable range of the agricultural machine. As Figures 8 - 9 shown, when the wheelbase adjusting device is a hoop 12, the upper end of the hoop 12 is fixed at the bottom of the vehicle frame 1, and the upper end of the wheel support leg is inserted into the hoop 12. When adjusting the wheelbase, loosen the bolt, manually move the support leg horizontally, and after the adjustment is completed, tighten the bolt to fix the support leg to realize the adjustment of the wheelbase.

[0036] Embodiment Four

[0037] Referring to the appendix Figures 10 - 11 , the multi-machine linkage machinery of this embodiment includes at least two agricultural machines 1 described in Embodiment One, Two, Three or Four. At least two of the agricultural machines 1 are distributed in a row, and spray booms 4 are connected between adjacent agricultural machines 1. One ends of the multiple spray booms 4 are horizontally rotatably connected to the agricultural machines 1 through horizontal rotating pairs, and the other ends are movably placed on the support rods 14 of adjacent agricultural machines 1 and are in a cross shape with the vertical projection of the support rods 14. The support rods 14 are arranged horizontally along the advancing direction of the agricultural machines 1.

[0038] The support rod 14 supports the spray bar 4. When the heights of two adjacent agricultural machines are inconsistent, the spray bar 4 rotates around the horizontal rotating pair to prevent the spray bar 4 from becoming airborne. When the traveling speeds of two adjacent agricultural machines 1 are inconsistent, the spray bar 4 can move along the length direction of the support rod 14 to avoid the pull on the spray bar 4 caused by the out-of-sync between agricultural machines, which affects the normal use of the spray bar 4. In addition, when the lateral distance between two adjacent ridges changes, that is, the lateral distance between two adjacent agricultural machines changes, the support rod 14 moves laterally at the bottom of the spray bar 4. Of course, to prevent the spray bar 4 from slipping off the support rod 14 and damaging crops, a limit sensor is provided at the free end of the spray bar 4 on one side of the support rod 14. When the spray bar 4 is about to slip off the support rod 14, an alarm is issued for early treatment. In summary, the multi-machine linkage machine of the present invention can well adapt to the changes of the ridge, form a good support for the spray bar 4, and has good stability.

[0039] In this embodiment, preferably, position sensors 15 are provided at the front and rear ends of the support rod 14 for detecting the forward and backward movement of the spray bar 4 on the support rod 14. When it is detected that the spray bar 4 is moving forward, it means that the traveling speed of the agricultural machine corresponding to the spray bar 4 is relatively slower than that of the adjacent agricultural machine. The control device controls the agricultural machine to slightly increase the moving speed to avoid the excessive out-of-sync between agricultural machines, which causes a pull on the spray bar 4 and affects the normal use of the spray bar 4. When it is detected that the spray bar 4 is moving backward, it means that the traveling speed of the agricultural machine is relatively faster than that of the adjacent agricultural machine. The agricultural machine is controlled to decelerate to keep multiple agricultural machines approximately on a horizontal line. To prevent the spray bar 4 from slipping off the two ends of the support rod 14 due to the failure of the position sensor 15 or other reasons, preferably, limiting devices 16 protruding upward are provided at both ends of the support rod 14.

[0040] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An agricultural machine, comprising a frame, a traveling device and a spraying device, the traveling device is arranged at the bottom of the frame, the spraying device includes a material tank and a spray boom, and is characterized in that: The described material box is arranged on the side of the frame. The height of the lower end of the material box is lower than the height of the lower end of the traveling device. The height difference between the lower end of the traveling device and the lower end of the material box is equal to the height difference between the upper end of the ridge and the bottom of the side of the ridge. The material box is slidably connected to the side of the frame through a sliding device. The sliding device includes a slider and a connecting block. The connecting block is connected to the frame. The slider is slidably arranged on the connecting block. Vertical springs are connected between the upper and lower ends of the slider and the connecting block respectively. The material box is connected to the slider. The horizontal projection of the front part of the lower end of the material box is in an arc shape that tilts upward. A plurality of rollers or drums are rotatably arranged at the lower end of the material box.

2. The agricultural machine according to claim 1, wherein: The described traveling device is a three-wheel traveling device, a four-wheel traveling device or two crawler traveling devices, and the traveling device is connected with a wheelbase adjusting device.

3. An agricultural machine according to claim 2, characterized in that: The described wheelbase adjusting device is a parallel mechanism or a hoop. The parallel mechanism is symmetrically arranged on both sides of the bottom of the vehicle frame, and a horizontal telescopic device is connected in the middle of the parallel mechanism.

4. A multi-machine linkage mechanism, characterized in that: It includes at least two agricultural machines as described in any one of claims 1-3. At least two of the agricultural machines are arranged in a row, and spray booms are connected between adjacent agricultural machines. One end of each of the plurality of spray booms is horizontally rotatably connected to the agricultural machine through a horizontal rotating pair, and the other end is movably placed on the support rod of the adjacent agricultural machine and is in a cross shape with the vertical projection of the support rod. The support rod is arranged horizontally along the advancing direction of the agricultural machine.

Images