An intelligent spraying device for citrus

Abstract

The invention discloses an intelligent pesticide spraying device for citrus, comprising a pesticide dosing box and a vehicle body, wherein the vehicle body is provided with a pesticide spraying box, a driving track for guiding the vehicle body to move, the pesticide spraying box is provided with a clamping and positioning component for aligning and positioning the vehicle body, the pesticide spraying box is provided with a pesticide dosing component, and the pesticide spraying box is provided with a pesticide dosing joint structure for docking and connecting with the pesticide dosing component; when spraying pesticide, automatic pesticide spraying of citrus can be achieved through the cooperation of the pesticide spraying box, the driving track, the auxiliary wheel structure, the track wheel structure, the PLC controller and the wireless signal transmission unit; the angle adjustment component can achieve the rotation angle adjustment of the pesticide spraying head at the top of the rotating drum, the turntable and the diamond-shaped telescopic frame, and achieve the spraying angle adjustment of 360 degrees around the pesticide spraying head.

Description

Technical Field

[0001] The invention relates to the field of spraying equipment, and in particular to an intelligent spraying device for citrus. Background Art

[0002] In the process of citrus cultivation, in order to prevent the occurrence of diseases and insect pests, citrus trees need to be sprayed with pesticides. For pesticide spraying, a spraying device is generally used to spray the liquid. In the process of citrus cultivation and management, spraying citrus is a very important task, which directly affects the quality and yield of the fruit.

[0003] A garden spraying device for citrus planting with application number CN201821681789.1 includes a vehicle body, a spraying medicine box, a medicine delivery pump and a medicine spray head, support wheels are arranged on both side walls of the vehicle body, a handle is arranged on one side wall of the vehicle body adjacent to the support wheel, a control switch is arranged on the handle, and a medicine box support is arranged in the middle of the vehicle body;

[0004] In the prior art, workers are required to push the vehicle to carry out mobile spraying. The spray mist produced by the spraying will cause certain harm to the human body. In the case of a large planting area, it will also bring great labor intensity to the workers. Adding medicine after the liquid medicine is used up will also lead to low efficiency. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] The purpose of the present invention is to provide an intelligent spraying device for citrus in order to solve the above-mentioned problems.

[0007] (II) Technical solution

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] The present invention provides an intelligent citrus spraying device, comprising a dosing box and a vehicle body, wherein the vehicle body is provided with a spraying box, a driving track for guiding the vehicle body to move is provided between the spraying box and the vehicle body, a clamping and positioning component for aligning and positioning the vehicle body is provided on the spraying box, a dosing component is provided on the spraying box, and a dosing joint structure for docking and connecting with the dosing component is provided on the spraying box;

[0010] A spray assembly for adjusting the spray height is rotatably provided on the upper side of the spray box, an angle adjustment assembly for driving the spray assembly to rotate is provided on the spray box, a PLC controller is provided on the outer side of the medicine adding box, a wireless signal transmission unit is provided on the spray box, and the PLC controller and the wireless signal transmission unit are electrically connected to each other.

[0011] Furthermore, there are more than two track wheel structures provided on the lower side of the vehicle body for moving along the traveling track, and auxiliary wheel structures distributed on both sides of the traveling track are provided at the lower part of the vehicle body;

[0012] The auxiliary wheel structure includes a wheel rod. The upper end of the wheel rod is hinged to the bottom side of the vehicle body through a hinge seat. An auxiliary wheel is rotatably connected to the lower end of the wheel rod. A shock-absorbing spring is fixedly connected between the wheel rod and the bottom side of the vehicle body.

[0013] Furthermore, the track wheel structure includes a wheel seat plate. A rotating shaft is rotatably connected to the upper side of the wheel seat plate. The upper end of the rotating shaft is fixedly connected to the vehicle body. Two buffer shafts symmetrically distributed around the rotating shaft are fixedly connected to the lower side of the wheel seat plate. A wheel frame is provided below the wheel seat plate. A track wheel is rotatably provided at the bottom side of the wheel frame. A wheel groove is formed along the circumferential direction on the outer side of the track wheel. A driving motor for driving the track wheel to rotate is fixedly provided on the wheel frame. The lower ends of the two buffer shafts are slidably connected to first guiding sliding holes formed at corresponding positions on the wheel frame. The lower ends of the two buffer shafts pass through the first guiding sliding holes and are fixedly connected with a stop block. A buffer spring is nested on the outer side of the buffer shaft located between the wheel seat plate and the wheel frame. The output end of the wireless signal transmission unit is electrically connected to the input end of the driving motor.

[0014] Furthermore, the spraying component includes a turntable rotatably provided on the upper side of the spraying tank. A rotating cylinder extending into the spraying tank is fixedly provided on the lower side of the turntable. A plurality of liquid through grooves evenly distributed at equal angles around its axis are formed on the outer side wall of the rotating cylinder. A second liquid pump is provided on the inner bottom surface of the rotating cylinder. The liquid outlet of the second liquid pump is connected with a liquid outlet pipe. The upper end of the liquid outlet pipe passes through the turntable and is connected with a spray head through a spring liquid guiding pipe. Two diamond-shaped telescopic frames symmetrically distributed around it are provided on both sides of the spring liquid guiding pipe. The tops of the two diamond-shaped telescopic frames are connected to each other through a connecting shaft. The spray head is fixedly provided on the connecting shaft. A second double-shaft electric push rod for driving its telescopic opening and closing is provided between the lower ends of the two diamond-shaped telescopic frames. The output end of the wireless signal transmission unit is electrically connected to the input end of the second liquid pump.

[0015] Furthermore, a slide rail is provided below each diamond-shaped telescopic frame. The slide rail is fixedly provided on the upper side of the turntable. A guiding sliding groove is formed through the slide rail. The lower ends of each diamond-shaped telescopic frame form two ends with a V-shaped opening. The bottom ends between the two diamond-shaped telescopic frames are connected to each other through a guiding sliding shaft. The guiding sliding shaft is slidably provided in the guiding sliding groove. The middle positions of the two guiding sliding shafts are respectively fixedly connected to the two push rod heads of the second double-shaft electric push rod. The second double-shaft electric push rod is fixedly provided on the turntable. A liquid level sensor is provided inside the spraying tank. The output end of the liquid level sensor is electrically connected to the input end of the wireless signal transmission unit. The output end of the wireless signal transmission unit is electrically connected to the input end of the second double-shaft electric push rod.

[0016] Furthermore, the angle adjustment assembly includes a first motor, which is fixed on a turntable through a motor seat, and a second gear is provided on the outer side of the turntable. The output shaft end of the first motor is fixedly connected to the first gear, and the first gear and the second gear cooperate with each other for meshing transmission, and the output end of the wireless signal transmission unit is electrically connected to the input end of the first motor.

[0017] Furthermore, a switch structure for realizing limit control of the vehicle body is arranged between the dosing box and the spray box, the switch structure includes a slide cylinder fixedly arranged on the vehicle body, a slide rod is slidably arranged in the slide cylinder, a first stroke switch is connected to the end of the slide rod close to the vehicle body, a second stroke switch corresponding to the first stroke switch is arranged on the vehicle body, a limit baffle is fixedly arranged on the outer side of the end of the slide rod close to the first stroke switch, a first spring is fixedly connected between the limit baffle and the vehicle body, and a pressure sensor corresponding to the slide rod is arranged on the dosing box.

[0018] Furthermore, the dosing component includes a first liquid pump arranged in a dosing box, the liquid outlet of the first liquid pump is connected to one end of a dosing tube, the other end of the dosing tube passes through the dosing box, and a limiting sleeve is fixedly arranged on the outer side of the end of the dosing tube passing through the dosing box, and the output end of the PLC controller is electrically connected to the input end of the first liquid pump.

[0019] Furthermore, the dosing joint structure includes a dosing hole opened on the outer side of the upper part of the vehicle body, a dosing tube is fixedly arranged at the dosing hole, the dosing tube is open at one end close to the outer side of the vehicle body and a plug tube is slidably arranged at the opening, a second spring is fixedly connected between the end of the plug tube and the bottom surface of the inner wall of the dosing tube, a drug outlet hole is opened on the lower side wall of the dosing tube located in the spray box, an L-shaped dosing channel is opened in the plug tube, when the second spring is compressed to the minimum stroke, the drug outlet hole is connected with the outside through the L-shaped dosing channel, when the vehicle body moves to the shortest distance of the dosing box, one end of the dosing tube abuts against the end of the plug tube and is inserted into the dosing tube, and the dosing tube is connected with the inside of the dosing box through the L-shaped dosing channel and the drug outlet hole.

[0020] Furthermore, the cross-section of the vehicle track is in the shape of a Chinese character "丄".

[0021] (III) Beneficial effects

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. When spraying pesticides, the automatic spraying of citrus can be achieved through the cooperation of the spray box, the driving track, the auxiliary wheel structure, the track wheel structure, the PLC controller and the wireless signal transmission unit;

[0024] 2. The angle adjustment component can adjust the rotation angle of the spray head on the rotating drum, turntable and diamond-shaped telescopic frame, and adjust the spray angle in 360 degrees around the spray head;

[0025] 3. The diamond telescopic frame expands and contracts under the drive of the second double-axis electric push rod, so that the height of the spray head at the top of the diamond telescopic frame can be adjusted, and spraying treatment can be carried out on citrus fruits at different upper and lower heights without dead angles up and down. With the angle adjustment component, spraying without dead angles in the up and down directions and the horizontal direction can be achieved;

[0026] 4. The clamping and positioning component, the medicine adding component, the PLC controller, the medicine adding joint structure, the liquid level sensor, the pressure sensor, the wireless signal transmission unit, etc. cooperate to realize the automatic medicine adding to the spraying tank by the medicine adding tank after the liquid medicine in the spraying tank is used up. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 is the front view structural schematic diagram of the present invention;

[0029] Figure 2 is the present invention Figure 1 of the left view structural schematic diagram;

[0030] Figure 3 is the present invention Figure 2 of the A-A sectional structural schematic diagram;

[0031] Figure 4 is the present invention Figure 1 of the three-dimensional structural schematic diagram;

[0032] Figure 5 is the present invention Figure 3 of the partial enlarged structural schematic diagram at B;

[0033] Figure 6 is the present invention Figure 3 of the partial enlarged structural schematic diagram at C;

[0034] Figure 7 is the present invention Figure 4 of the partial enlarged structural schematic diagram at D;

[0035] Figure 8 is the present invention Figure 4 of the partial enlarged structural schematic diagram at E.

[0036] The reference numerals are as follows: 1. Dosing box; 2. Spraying box; 3. Driving track; 4. Clamping and positioning assembly; 401. Clamping rod; 402. Positioning block; 403. First mounting frame; 404. Electric telescopic rod; 405. First dual-axis electric push rod; 406. Second mounting frame; 407. Guide rod; 408. Positioning groove; 5. Dosing assembly; 5a. Dosing pipe; 5b. First liquid pump; 5c. Limiting sleeve; 6. Spraying assembly; 601, diamond-shaped telescopic frame; 602, spraying head; 603, spring liquid guide tube; 604, second double-axis electric push rod; 605, liquid outlet pipe; 606, liquid channel; 607, second liquid pump; 608, rotating drum; 609, slide rail; 610, guide slide shaft; 611, guide slide groove; 612, turntable; 7, angle adjustment assembly; 701, first motor; 702, motor seat; 703, first gear; 704, second gear; 8, switch structure; 801, slide cylinder; 802, slide rod; 803, limit stopper; 804, first travel switch; 805, second travel switch; 806, first spring; 9, auxiliary wheel structure; 9a, hinge seat; 9b, auxiliary wheel; 9c, wheel rod; 9d, shock-absorbing spring; 10, vehicle body; 11, track wheel structure; 1101, wheel seat plate; 1102, rotating shaft; 1103, buffer Shaft; 1104, buffer spring; 1105, wheel frame; 1106, track wheel; 1107, wheel groove; 1108, drive motor; 12, PLC controller; 13, dosing joint structure; 1301, dosing pipe; 1302, plug pipe; 1303, L-shaped dosing channel; 1304, second spring; 1305, drug outlet hole; 14, liquid level sensor; 15, pressure sensor; 16, wireless signal transmission unit. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figures 1-8 As shown, the present invention provides an intelligent spraying device for citrus, comprising a dosing box 1 and a vehicle body 10, a spraying box 2 is arranged on the vehicle body 10, a driving track 3 for guiding the vehicle body 10 to move is arranged between the dosing box 1 and the vehicle body 10, a clamping positioning component 4 for aligning and positioning the vehicle body 10 is arranged on the spraying box 2, a dosing component 5 is arranged on the spraying box 2, and a dosing joint structure 13 for docking and connecting with the dosing component 5 is arranged on the spraying box 2;

[0039] A spraying component 6 for adjusting the spraying height is rotatably arranged on the upper side of the spraying tank 2. An angle adjusting component 7 for driving the spraying component 6 to rotate is arranged on the spraying tank 2. A PLC controller 12 is arranged on the outer side of the medicine adding tank 1. A wireless signal transmission unit 16 is arranged on the spraying tank 2. The PLC controller 12 and the wireless signal transmission unit 16 are electrically connected to each other.

[0040] More than two track wheel structures 11 for cooperating with the traveling track 3 to move are arranged on the lower side of the vehicle body 10. Auxiliary wheel structures 9 distributed on both sides of the traveling track 3 are arranged at the lower part of the vehicle body 10; The auxiliary wheel structure 9 includes a wheel rod 9c. The upper end of the wheel rod 9c is hinged to the bottom side of the vehicle body 10 through a hinge seat 9a. The lower end of the wheel rod 9c is rotatably connected with an auxiliary wheel 9b. A shock absorption spring 9d is fixedly connected between the wheel rod 9c and the bottom side of the vehicle body 10. In practical applications, the auxiliary wheel structure 9 can be applied to the uneven ground where citrus trees are planted, playing a role in shock absorption and buffering.

[0041] The track wheel structure 11 includes a wheel seat plate 1101. A rotating shaft 1102 is rotatably connected to the upper side of the wheel seat plate 1101. The upper end of the rotating shaft 1102 is fixedly connected to the vehicle body 10. Two buffer shafts 1103 symmetrically distributed with the rotating shaft 1102 as the center are fixedly connected to the lower side of the wheel seat plate 1101. A wheel frame 1105 is arranged below the wheel seat plate 1101. A track wheel 1106 is rotatably arranged on the bottom side of the wheel frame 1105. A wheel groove 1107 is formed in the outer side of the track wheel 1106 along the circumferential direction thereof. Further, the cross-sectional shape of the traveling track 3 is in an L shape. The wheel groove 1107 and the upper side edge of the traveling track 3 cooperate with each other to realize the guiding movement of the track wheel 1106. A driving motor 1108 for driving the track wheel 1106 to rotate is fixedly arranged on the wheel frame 1105. The lower ends of the two buffer shafts 1103 are slidably connected to first guiding sliding holes formed at corresponding positions of the wheel frame 1105. The lower ends of the two buffer shafts 1103 pass through the first guiding sliding holes and are fixedly connected with a stop block. A buffer spring 1104 is nested outside the buffer shaft 1103 between the wheel seat plate 1101 and the wheel frame 1105. The output end of the wireless signal transmission unit 16 is electrically connected to the input end of the driving motor 1108.

[0042] The spraying component 6 includes a turntable 612 rotatably arranged on the upper side of the spraying tank 2. A rotating cylinder 608 extending into the spraying tank 2 is fixedly arranged on the lower side of the turntable 612. A plurality of liquid through grooves 606 evenly distributed at equal angles around its axis are formed on the outer side wall of the rotating cylinder 608. A second liquid pump 607 is arranged on the inner bottom surface of the rotating cylinder 608. The liquid outlet of the second liquid pump 607 is connected with a liquid outlet pipe 605. The upper end of the liquid outlet pipe 605 penetrates through the turntable 612 and is connected with a spray head 602 through a spring liquid guide pipe 603. Two diamond-shaped telescopic frames 601 symmetrically distributed with the spring liquid guide pipe 603 as the center are arranged on both sides of the spring liquid guide pipe 603. The tops of the two diamond-shaped telescopic frames 601 are connected to each other through a connecting shaft. The spray head 602 is fixedly arranged on the connecting shaft. A second double-shaft electric push rod 604 for driving its telescopic opening and closing is arranged between the lower ends of the two diamond-shaped telescopic frames 601. The output end of the wireless signal transmission unit 16 is electrically connected to the input end of the second liquid pump 607. A slide rail 609 is arranged below each diamond-shaped telescopic frame 601. The slide rail 609 is fixedly arranged on the upper side of the turntable 612. A guiding chute 611 is formed through the slide rail 609. The lower ends of each diamond-shaped telescopic frame 601 form two ends with a V-shaped opening. The bottom ends between the two diamond-shaped telescopic frames 601 are connected to each other through a guiding slide shaft 610. The guiding slide shaft 610 is slidably arranged in the guiding chute 611. The middle positions of the two guiding slide shafts 610 are respectively fixedly connected to the two push rod heads of the second double-shaft electric push rod 604. The second double-shaft electric push rod 604 is fixedly arranged on the turntable 612. A liquid level sensor 14 is arranged inside the spraying tank 2. The output end of the liquid level sensor 14 is electrically connected to the input end of the wireless signal transmission unit 16. The output end of the wireless signal transmission unit 16 is electrically connected to the input end of the second double-shaft electric push rod 604. When the two push rods of the second double-shaft electric push rod 604 extend or retract simultaneously, the two connecting shafts can be driven to approach or move away from each other, so as to realize the simultaneous telescopic adjustment of the two diamond-shaped telescopic frames 601. When the two connecting shafts approach each other, the two diamond-shaped telescopic frames 601 extend simultaneously, so as to drive the spray head 602 arranged at the top to rise in height. When the two connecting shafts move away from each other, the two diamond-shaped telescopic frames 601 retract simultaneously, so as to drive the spray head 602 arranged at the top to lower in height.

[0043] See the attached drawings in the specification Figure 8As shown, the angle adjustment component 7 includes a first motor 701. The first motor 701 is fixedly arranged on the turntable 612 through a motor base 702. A second gear 704 is arranged outside the turntable 612. The output shaft end of the first motor 701 is fixedly connected with a first gear 703. The first gear 703 and the second gear 704 are engaged with each other for transmission. The output end of the wireless signal transmission unit 16 is electrically connected to the input end of the first motor 701. Through the above specific structural design, the rotation of the output shaft of the first motor 701 drives the first gear 703 to rotate. The rotation of the first gear 703 drives the engaged second gear 704 to rotate. The rotation of the second gear 704 drives the turntable 612 to rotate, thereby driving the rotating cylinder 608 located in the medicine spraying tank 2 and the medicine spraying head 602 at the top of the diamond-shaped telescopic frame 601 to rotate, realizing the adjustment of the medicine spraying angle in all directions of 360 degrees around. The medicine spraying port of the medicine spraying head 602 is arranged in the horizontal direction or inclined upward.

[0044] See the attached drawings in the specification Figure 1 、 3 As shown in FIGS. and 5, a switch structure 8 for realizing the limit control of the vehicle body 10 is arranged between the medicine adding tank 1 and the medicine spraying tank 2. The switch structure 8 includes a sliding cylinder 801 fixedly arranged on the vehicle body 10. A sliding rod 802 is slidably arranged in the sliding cylinder 801. One end of the sliding rod 802 close to the vehicle body 10 is connected with a first travel switch 804. A second travel switch 805 corresponding to the first travel switch 804 is arranged on the vehicle body 10. A limit baffle 803 is fixedly arranged outside one end of the sliding rod 802 close to the first travel switch 804. A first spring 806 is fixedly connected between the limit baffle 803 and the vehicle body 10. A pressure sensor 15 corresponding to the sliding rod 802 is arranged on the medicine adding tank 1.

[0045] See the attached drawings in the specification Figure 3 and 6As shown in the figure, the chemical dosing component 5 includes a first liquid pump 5b disposed at the bottom inside the chemical dosing tank 1. One end of a chemical dosing pipe 5a is connected to the liquid outlet of the first liquid pump 5b, and the other end of the chemical dosing pipe 5a passes through the chemical dosing tank 1. A limiting sleeve 5c is fixedly provided on the outer side of the end of the chemical dosing pipe 5a passing through the chemical dosing tank 1. When the end of the chemical dosing pipe 5a abuts against the plug pipe 1302 and is inserted into the chemical dosing pipe 1301, the end of the limiting sleeve 5c abuts against the outer side wall of the spraying tank 2, which not only plays a role in sealing and limiting, but also plays a role in strengthening the chemical dosing pipe 5a. The output end of the PLC controller 12 is electrically connected to the input end of the first liquid pump 5b. The chemical dosing joint structure 13 includes a chemical dosing hole opened on the outer side of the upper part of the vehicle body 10. A chemical dosing pipe 1301 is fixedly provided at the chemical dosing hole. One end of the chemical dosing pipe 1301 close to the outer side of the vehicle body 10 is open, and a plug pipe 1302 is slidably provided at the opening. A second spring 1304 is fixedly connected between the end of the plug pipe 1302 and the bottom surface of the inner wall of the chemical dosing pipe 1301. A chemical outlet hole 1305 is opened on the lower side wall of the chemical dosing pipe 1301 located inside the spraying tank 2. An L-shaped chemical dosing channel 1303 is opened in the plug pipe 1302. When the second spring 1304 is compressed to the minimum stroke, the chemical outlet hole 1305 communicates with the outside through the L-shaped chemical dosing channel 1303. When the vehicle body 10 moves to the closest distance to the chemical dosing tank 1, one end of the chemical dosing pipe 5a abuts against the end of the plug pipe 1302 and is inserted into the chemical dosing pipe 1301, and the chemical dosing pipe 5a communicates with the inside of the chemical dosing tank 1 through the L-shaped chemical dosing channel 1303 and the chemical outlet hole 1305.

[0046] Working principle:

[0047] During use, the chemical dosing tank 1 moves on the traveling track 3 through the cooperation of the auxiliary wheel structure 9 and the track wheel structure 11. Among them, the PLC controller 12 and the wireless signal transmission unit 16 realize wireless signal transmission, so that the wireless signal transmission unit 16 wirelessly controls the drive motor 1108 of the track wheel structure 11, thereby realizing the movement of the vehicle body 10 on the traveling track 3. In practical applications, the traveling track 3 is laid in the gap channel between citrus trees. During the process of the vehicle body 10 moving along the traveling track 3, the spraying component 6 can spray the citrus trees on both sides of the traveling track 3.

[0048] The liquid level sensor 14 in the spraying tank 2 can detect the height of the liquid medicine in it. After the height of the liquid medicine in the spraying tank 2 is lower than a certain value, the liquid level sensor 14 transmits the detected electrical signal to the PLC controller 12 through the wireless signal transmission unit 16, and the PLC controller 12 then controls the drive motor 1108 of the track wheel structure 11 through the wireless signal transmission unit 16, so that the vehicle body 10 moves towards the direction of the chemical dosing tank 1.

[0049] During the movement of the vehicle body 10 towards the chemical dosing tank 1, first, the sliding rod 802 of the switch structure 8 abuts against the pressure sensor 15 arranged on the outer side of the chemical dosing tank 1. After the pressure detection of the pressure sensor 15 reaches a certain value, the pressure sensor 15 transmits an electrical signal to the PLC controller 12. The PLC controller 12 controls the first double-axis electric push rod 405 of the clamping and positioning assembly 4, and the PLC controller 12 controls the auxiliary wheel structure 9 to stop moving through the wireless signal transmission unit 16. The two push rods of the first double-axis electric push rod 405 retract, thereby driving the two clamping rods 401 to move closer to each other and clamp the chemical dosing tank 1. At this time, the positioning block 402 and the positioning groove 408 opened on the outer side of the chemical dosing tank 1 are positioned and matched with each other, realizing the positioning and clamping of the chemical dosing tank 1 and also the alignment of the position of the chemical dosing tank 1. Then, the push rod of the electric telescopic rod 404 expands and contracts to drive the first double-axis electric push rod 405 and the clamping rod 401 to move along the axial direction of the guide rod 407, thereby driving the spraying tank 2 and the vehicle body 10 to continue moving closer to the chemical dosing tank 1;

[0050] During the continuous movement of the spraying tank 2 and the vehicle body 10 towards the chemical dosing tank 1, the end of the chemical dosing pipe 5a abuts against the plugging pipe 1302 and inserts into the chemical dosing pipe 1301, and is communicated with the inside of the spraying tank 2 through the L-shaped chemical dosing channel 1303 and the chemical outlet hole 1305. When the first travel switch 804 and the second travel switch 805 approach each other, the feedback control of the electric telescopic rod 404 is realized through the wireless signal transmission unit 16 and the PLC controller 12, and the expansion and contraction of the push rod of the electric telescopic rod 404 is stopped. The PLC controller 12 controls the opening of the first liquid pump 5b of the chemical dosing assembly 5. The first liquid pump 5b sends the liquid medicine in the chemical dosing tank 1 into the spraying tank 2 in sequence through the chemical dosing pipe 5a, the L-shaped chemical dosing channel 1303 and the chemical outlet hole 1305. The liquid level sensor 14 in the spraying tank 2 performs liquid level detection. When the liquid level sensor 14 detects that the liquid level height in the spraying tank 2 reaches a certain height, the liquid level sensor 14 transmits an electrical signal to the PLC controller 12 through the wireless signal transmission unit 16. The PLC controller 12 controls the chemical dosing assembly 5 to stop dosing, and resets the electric telescopic rod 404 and the first double-axis electric push rod 405 of the clamping and positioning assembly 4.

[0051] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An intelligent spraying device for citrus, characterized in that: The invention comprises a medicine adding box (1) and a vehicle body (10), wherein a medicine spraying box (2) is arranged on the vehicle body (10), a driving track (3) for guiding the vehicle body (10) to move, the medicine spraying box (2) is provided with a clamping positioning component (4) for aligning and positioning the vehicle body (10), the medicine spraying box (2) is provided with a medicine adding component (5), and the medicine spraying box (2) is provided with a medicine adding joint structure (13) for docking and connecting with the medicine adding component (5); The upper side of the spray box (2) is rotatably provided with a spray assembly (6) for adjusting the spray height, the spray box (2) is provided with an angle adjustment assembly (7) for driving the spray assembly (6) to rotate, the outer side of the medicine adding box (1) is provided with a PLC controller (12), the spray box (2) is provided with a wireless signal transmission unit (16), and the PLC controller (12) and the wireless signal transmission unit (16) are electrically connected to each other; A switch structure (8) for realizing limit control of the vehicle body (10) is arranged between the medicine adding box (1) and the medicine spraying box (2), the switch structure (8) comprising a slide cylinder (801) fixedly arranged on the vehicle body (10), a slide rod (802) slidably arranged in the slide cylinder (801), a first travel switch (804) is connected to one end of the slide rod (802) close to the vehicle body (10), a second travel switch (805) corresponding to the first travel switch (804) is arranged on the vehicle body (10), a limit baffle (803) is fixedly arranged on the outer side of one end of the slide rod (802) close to the first travel switch (804), a first spring (806) is fixedly connected between the limit baffle (803) and the vehicle body (10), and a pressure sensor (15) corresponding to the slide rod (802) is arranged on the medicine adding box (1); The dosing assembly (5) comprises a first liquid pump (5b) arranged in a dosing box (1); the liquid outlet of the first liquid pump (5b) is connected to one end of a dosing tube (5a); the other end of the dosing tube (5a) passes through the dosing box (1); a limiting sleeve (5c) is fixedly arranged on the outer side of the end of the dosing tube (5a) passing through the dosing box (1); the output end of the PLC controller (12) is electrically connected to the input end of the first liquid pump (5b); The medicine adding joint structure (13) includes a medicine adding hole opened on the outer side of the upper part of the vehicle body (10). A medicine adding pipe (1301) is fixedly arranged at the medicine adding hole. One end of the medicine adding pipe (1301) close to the outer side of the vehicle body (10) is open, and a plug pipe (1302) is slidably arranged at the opening. A second spring (1304) is fixedly connected between the end of the plug pipe (1302) and the bottom surface of the inner wall of the medicine adding pipe (1301). A medicine outlet hole (1305) is opened on the lower side wall of the medicine adding pipe (1301) located in the spraying medicine tank (2). An L-shaped medicine adding hole channel (1303) is opened in the plug pipe (1302). When the second spring (1304) is compressed to the minimum stroke, the medicine outlet hole (1305) is communicated with the outside through the L-shaped medicine adding hole channel (1303). When the vehicle body (10) moves to the closest distance to the medicine adding tank (1), one end of the medicine adding pipe (5a) abuts against the end of the plug pipe (1302) and is inserted into the medicine adding pipe (1301). The medicine adding pipe (5a) is communicated with the inside of the medicine adding tank (1) through the L-shaped medicine adding hole channel (1303) and the medicine outlet hole (1305).

2. The intelligent spraying device for citrus according to claim 1, wherein: Two or more track wheel structures (11) for moving along with the traveling track (3) are arranged on the lower side of the vehicle body (10). An auxiliary wheel structure (9) distributed on both sides of the traveling track (3) is arranged at the lower part of the vehicle body (10); The auxiliary wheel structure (9) includes a wheel rod (9c). The upper end of the wheel rod (9c) is hinged to the bottom side of the vehicle body (10) through a hinge seat (9a). An auxiliary wheel (9b) is rotatably connected to the lower end of the wheel rod (9c). A shock absorption spring (9d) is fixedly connected between the wheel rod (9c) and the bottom side of the vehicle body (10).

3. The intelligent pesticide spraying device for citrus according to claim 2, characterized in that: The track wheel structure (11) includes a wheel seat plate (1101). A rotating shaft (1102) is rotatably connected to the upper side of the wheel seat plate (1101). The upper end of the rotating shaft (1102) is fixedly connected to the vehicle body (10). Two buffer shafts (1103) symmetrically distributed with the rotating shaft (1102) as the center are fixedly connected to the lower side of the wheel seat plate (1101). A wheel frame (1105) is arranged below the wheel seat plate (1101). A track wheel (1106) is rotatably arranged at the bottom side of the wheel frame (1105). A wheel groove (1107) is opened on the outer side of the track wheel (1106) along the circumferential direction thereof. A driving motor (1108) for driving the track wheel (1106) to rotate is fixedly arranged on the wheel frame (1105). The lower ends of the two buffer shafts (1103) are slidably connected to first guiding sliding holes opened at corresponding positions of the wheel frame (1105). The lower ends of the two buffer shafts (1103) pass through the first guiding sliding holes and are fixedly connected with stoppers. A buffer spring (1104) is nested outside the buffer shafts (1103) located between the wheel seat plate (1101) and the wheel frame (1105). The output end of the wireless signal transmission unit (16) is electrically connected to the input end of the driving motor (1108).

4. The intelligent pesticide spraying device for citrus according to claim 1, characterized in that: The spraying assembly (6) comprises a turntable (612) rotatably arranged on the upper side of the spraying box (2); a rotating drum (608) extending into the spraying box (2) is fixedly arranged on the lower side of the turntable (612); a plurality of liquid passage grooves (606) uniformly distributed at equal angles with its axis as the center are opened on the outer wall of the rotating drum (608); a second liquid pump (607) is arranged on the inner bottom surface of the rotating drum (608); a liquid outlet of the second liquid pump (607) is connected to a liquid outlet pipe (605); the upper end of the liquid outlet pipe (605) passes through the turntable (612) and is connected to the liquid outlet pipe (605) by a spring. The liquid guide tube (603) is connected to a spray head (602), and two rhombus-shaped telescopic frames (601) symmetrically distributed around the spring liquid guide tube (603) are arranged on both sides of the spring liquid guide tube (603), and the top ends of the two rhombus-shaped telescopic frames (601) are connected to each other through a connecting shaft, and the spray head (602) is fixedly arranged on the connecting shaft, and a second double-axis electric push rod (604) for driving the two rhombus-shaped telescopic frames (601) to telescope and open and close is arranged between the lower ends of the two rhombus-shaped telescopic frames (601), and the output end of the wireless signal transmission unit (16) is electrically connected to the input end of the second liquid pump (607).

5. The intelligent spraying device for citrus according to claim 4, characterized in that: A slide rail (609) is arranged below each rhombus-shaped telescopic frame (601), and the slide rail (609) is fixedly arranged on the upper side of the turntable (612). A guide slide groove (611) is provided through the slide rail (609). The lower end of each rhombus-shaped telescopic frame (601) is formed with two ends of a V-shaped opening. The two ends of the bottom of the two rhombus-shaped telescopic frames (601) are connected to each other through a guide slide shaft (610), and the guide slide shaft (610) is slidably arranged in the guide slide groove (611). The middle position of the guide sliding shaft (610) is fixedly connected to the two push rod head ends of the second double-axis electric push rod (604), and the second double-axis electric push rod (604) is fixedly set on the turntable (612). A liquid level sensor (14) is set inside the spray box (2), and the output end of the liquid level sensor (14) is electrically connected to the input end of the wireless signal transmission unit (16), and the output end of the wireless signal transmission unit (16) is electrically connected to the input end of the second double-axis electric push rod (604).

6. The intelligent spraying device for citrus according to claim 3, characterized in that: The angle adjustment assembly (7) comprises a first motor (701), the first motor (701) is fixedly arranged on a turntable (612) via a motor seat (702), a second gear (704) is arranged on the outer side of the turntable (612), an output shaft end of the first motor (701) is fixedly connected to a first gear (703), the first gear (703) and the second gear (704) are meshed and transmitted with each other, and an output end of the wireless signal transmission unit (16) is electrically connected to an input end of the first motor (701).

7. The intelligent spraying device for citrus according to claim 1, characterized in that: The cross-section of the vehicle track (3) is in the shape of a Chinese character "丄".

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