A mechanism for improving the uniformity of pesticide application by a grain storage pesticide application machine and a control method thereof

Abstract

The application discloses a mechanism for improving the pesticide application uniformity of a grain storage pesticide application machine and a control method thereof. The mechanism comprises a grain storage micro-spraying pesticide box shell, a plurality of motors installed in the grain storage micro-spraying pesticide box shell, a plurality of blades sequentially jointed into a ring-shaped opening at the head and tail, and the blades are arranged in one-to-one correspondence with the motors. One end of the blade is connected with the output end of the motor, the other end of the blade is provided with an arc-shaped hole, the blade is slidably connected with the output end of the motor connecting adjacent blades through the arc-shaped hole, a grain distribution hemisphere with an upward spherical surface is coaxially arranged in the center of the grain storage micro-spraying pesticide box shell, the ring-shaped opening formed by the blades is coaxially arranged above the grain distribution hemisphere, and a plurality of gravity detection sensors are connected with the outer edge of the grain distribution hemisphere at one end and connected with the grain storage micro-spraying pesticide box shell at the other end.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery, and particularly relates to a mechanism for improving the uniformity of pesticide application of a pesticide application machine for stored grain and a control method thereof. BACKGROUND

[0002] The diameter of the grain collecting port of the existing pesticide application machine for stored grain is fixed, and when the grain flow is less than the rated flow, the grain deviates from the grain distribution hemisphere and slides, resulting in waste of pesticide and uneven pesticide application. The atomizing nozzles on the pesticide application machine for stored grain are arranged to spray pesticide to the grain in four opposite directions, which requires the grain distribution hemisphere to disperse the grain flow as much as possible. In order to achieve good grain distribution effect and uniform pesticide application, the grain flow should fall vertically above the grain distribution hemisphere, and the pesticide should be sprayed uniformly into the stored grain without waste. However, when the grain flow is less than the rated flow, the grain deviates from the grain distribution hemisphere due to the conveying belt flow, the placement position and other factors, and slides along one side of the grain distribution hemisphere, so that the nozzles in other directions cannot apply pesticide to the grain, which not only fails to meet the pesticide application standard, but also causes uneven pesticide application to the grain and waste of pesticide. SUMMARY

[0003] The application aims to provide a mechanism for improving the uniformity of pesticide application of a pesticide application machine for stored grain and a control method thereof, which can uniformly disperse the grain flow and uniformly spray the pesticide, improve the pesticide application effect and reduce the waste of pesticide.

[0004] The technical scheme provided by the application is as follows:

[0005] A mechanism for improving the uniformity of pesticide application of a pesticide application machine for stored grain, comprising:

[0006] a pesticide application box shell for stored grain;

[0007] a plurality of motors installed in the pesticide application box shell for stored grain;

[0008] a plurality of blades, which are sequentially connected in a ring shape, and the blades are arranged one by one corresponding to the motors;

[0009] wherein one end of the blade is connected to the output end of the motor, and the other end of the blade is provided with an arc-shaped hole, and the blade is slidably connected to the output end of the motor connecting adjacent blades through the arc-shaped hole;

[0010] a grain distribution hemisphere with a spherical surface upward, which is coaxially arranged in the center of the pesticide application box shell for stored grain inside the pesticide application machine for stored grain;

[0011] wherein the ring-shaped port formed by the blades is coaxially arranged above the grain distribution hemisphere;

[0012] A plurality of gravity detection sensors, one end of which is connected with the outer edge of the grain distribution hemisphere, and the other end of which is connected with the storage grain micro-spraying pesticide box shell.

[0013] Preferably, the number of the electric machines and the number of the blades are both four, and the output end of the electric machine is connected with the blade through a shaft coupling.

[0014] Preferably, the shape of the blade is composed of a first arc-shaped edge, a second arc-shaped edge and a third arc-shaped edge, one end of the first arc-shaped edge is connected with one end of the second arc-shaped edge, and the connecting place forms a sharp corner, the sharp corner is connected with the output end of the electric machine through the shaft coupling, and the two ends of the third arc-shaped edge are respectively connected with the other end of the first arc-shaped edge and the other end of the second arc-shaped edge, and the arc-shaped hole is arranged parallel to the third arc-shaped edge.

[0015] Preferably, the number of the gravity detection sensors is four, and they are uniformly arranged on the outer edge of the grain distribution hemisphere.

[0016] Preferably, the method further comprises:

[0017] A grain buffer box, the lower end of which is connected with the upper end of the storage grain micro-spraying pesticide box shell.

[0018] An S-shaped load sensor, the number of which is four, and they are uniformly arranged at the connection between the grain buffer box and the storage grain micro-spraying pesticide box shell.

[0019] Preferably, one end of the gravity detection sensor is fixedly connected with the outer edge of the grain distribution hemisphere through a right-angle type connecting corner piece, the other end of the gravity detection sensor is fixedly connected with one end of a sensor support, and the other end of the sensor support is connected with the storage grain micro-spraying pesticide box shell through a supporting rod.

[0020] Preferably, the method further comprises:

[0021] An atomizing nozzle, which is coaxially arranged directly below the grain distribution hemisphere, has a cross structure, and sprays pesticide liquid in four directions at the same time, and is connected with a pesticide liquid tank through a spraying pipe.

[0022] A pesticide flow regulating valve, which is arranged on the spraying pipe.

[0023] Preferably, a control method of a mechanism for improving the pesticide spraying uniformity of a storage grain pesticide spraying machine comprises:

[0024] By setting the target buffer weight in the host computer and recording the measured value of the S-type weighing sensor, the rotation direction and angle of the motor are controlled using the incremental PID control method. The motor drives the blades to rotate, and the size of the annular opening formed by the blades is adjusted, thereby regulating the flow rate of the grain. By recording the measured value of the gravity detection sensor, the flow rate of the pesticide application flow regulating valve is controlled using the incremental PID control method, thereby regulating the amount of pesticide sprayed by the atomizing nozzle.

[0025] Preferably, the control formulas for the rotation direction and angle of the motor are as follows:

[0026]

[0027] Among them, PID 1(k) The final output value; PID 1(k-1) K is the previous output value of PID1. p1 K is the proportional gain of the controller; i1 K is the integral time of the controller. d1 E is the derivative time of the controller; 1(k) E represents the current error. 1(k-1) E represents the previous error. 1(k-2) The previous iteration's error is represented by k; k is the current iteration's error; k-1 is the previous iteration's error; k-2 is the iteration before that; H d The target buffer weight is set via the host computer software; H is the actual measured buffer weight; s1, s2, s3, and s4 are the measured values ​​of the four S-type weighing sensors, respectively; H c This refers to the weight of the grain buffer box itself.

[0028] Preferably, the flow control formula for the pesticide application flow regulating valve is:

[0029]

[0030] Among them, PID 2(k) The final output value; PID 2(k-1) K is the previous output value of PID1. p2 K is the proportional gain of the controller; i2 K is the integral time of the controller. d2 E is the derivative time of the controller; 2(k) E represents the current error. 2(k-1) E represents the previous error. 2(k-2) For the error before last; L dQ is the required flow; L is the measured flow; G is the reference gravity; η is the coefficient or conversion formula; V is the volume of the liquid medicine in the tank within a period of time; t is time; g1, g2, g3, and g4 are the measured values of the four gravity detection sensors.

[0031] The beneficial effects of the present application are:

[0032] The mechanism for improving the pesticide application uniformity of the grain storage pesticide application machine and the control method thereof can uniformly disperse the grain flow and uniformly spray the liquid medicine, improve the pesticide application effect, and reduce the waste of liquid medicine. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The mechanism for improving the pesticide application uniformity of the grain storage pesticide application machine is a schematic diagram of the overall structure.

[0034] Figure 2 The mechanism for improving the pesticide application uniformity of the grain storage pesticide application machine is a schematic diagram of the local structure.

[0035] Figure 3 The single-group contraction and expansion mechanism blade structure is a schematic diagram.

[0036] Figure 4 The S-shaped load cell mounting structure is a schematic diagram.

[0037] Figure 5 The expansion mechanism blade group structure is a schematic diagram.

[0038] Figure 6 The contraction mechanism blade group structure is a schematic diagram.

[0039] Figure 7 The gravity detection sensor mounting structure is a schematic diagram.

[0040] Figure 8 The atomizing nozzle medicine spraying direction is a schematic diagram.

[0041] Figure 9 The flow regulating valve structure is a schematic diagram.

[0042] Figure 10 The working process structure of the grain storage micro-spraying pesticide application machine is a schematic diagram. DETAILED DESCRIPTION

[0043] The present application will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement the present application according to the description.

[0044] As Figures 1-2As shown, the present invention provides a mechanism for improving the uniformity of pesticide application in a grain storage sprayer, comprising: a grain storage micro-spraying tank housing 100; a grain storage micro-spraying tank support 100a, which has a cross-shaped structure; the grain storage micro-spraying tank support 100a is disposed inside the grain storage micro-spraying tank housing 100 and fixedly connected to the grain storage micro-spraying tank housing 100; multiple motors 210, which are installed inside the grain storage micro-spraying tank housing 100; the motors 210 are geared stepper motors; multiple blades 2 30, its ends are successively overlapped to form an annular opening; multiple couplings 220; multiple motor brackets 240; wherein, the number of motors 210, couplings 220, blades 230 and motor brackets 240 are four each and are connected one-to-one; one end of the blade 230 is connected to the output end of the motor 210 through the coupling 220, and the other end of the blade 230 is provided with an arc-shaped hole 230a, through which the blade 230 is connected to the motor 210 connected to the adjacent blade 230. 10. The output end is slidably connected; the other end of the motor 210 is fixedly connected to the grain storage micro-spraying box bracket 100a through the motor bracket 240, so that the four motors 210 are fixedly connected to the grain storage micro-spraying box shell 100; the grain distributing hemisphere 310 has its spherical surface facing upward; the grain distributing hemisphere 310 and the grain collection port 130 of the grain storage micro-spraying machine are coaxially arranged in the center inside the grain storage micro-spraying box shell 100; wherein, the annular opening formed by the blade 230 is coaxially arranged in the grain distributing hemisphere. The grain distribution hemisphere 310 is located directly above 310 and directly below the grain collection port 130; the motor 210, the coupling 220, the blade 230, and the motor bracket 240 are all located between the grain collection port 130 and the grain distribution hemisphere 310 of the grain storage micro-spraying machine; multiple gravity detection sensors 320 are located, one end of which is connected to the outer edge of the grain distribution hemisphere 310, and the other end is connected to the housing 100 of the grain storage micro-spraying box; there are four gravity detection sensors 320, which are evenly distributed on the outer edge of the grain distribution hemisphere 310.

[0045] like Figure 3 As shown, the blade 230 is formed by a first arc-shaped side 230b, a second arc-shaped side 230c, and a third arc-shaped side 230d. One end of the first arc-shaped side 230b is connected to one end of the second arc-shaped side 230c, forming a sharp angle at the connection. The sharp angle is connected to the output end of the motor 210 through the coupling 220. The two ends of the third arc-shaped side 230d are respectively connected to the other ends of the first arc-shaped side 230b and the second arc-shaped side 230c. The arc-shaped hole 230a is set parallel to the third arc-shaped side 230d.

[0046] One of the motors 210 and one of the blades 230 form a single set of contraction and expansion mechanism blades.

[0047] As shown in Figure 4 the grain buffer tank 120, the lower end of which is connected to the upper end of the grain storage micro-spraying pesticide tank shell 100; the S-shaped weighing sensor 150, the number of which is four, is uniformly arranged at the connection between the grain buffer tank 120 and the grain storage micro-spraying pesticide tank shell 100; the weight of the grain in the grain buffer tank 120 is judged by the S-shaped weighing sensor 150, and the opening size of the annular port of the contraction and expansion mechanism blade group is automatically adjusted, so that the grain has a certain inventory in the buffer area, the grain flow is constrained to a certain extent, and falls vertically to the center area of the grain distribution hemisphere 310 through the mechanism.

[0048] As shown in Figures 5-6 the number of the motor 210 is four, and they are the first motor 211, the second motor 212, the third motor 213 and the fourth motor 214 in counterclockwise order; the number of the blade 230 is four, and they are the first blade 231, the second blade 232, the third blade 233 and the fourth blade 234 in counterclockwise order; one end of the first blade 231 is connected with the output end of the first motor 211 through the shaft coupling 220, and the other end of the first blade 231 is slidably connected with the output end of the second motor 212 through the arc-shaped hole 230a; one end of the second blade 232 is connected with the output end of the second motor 212 through the shaft coupling 220, and the other end of the second blade 232 is slidably connected with the output end of the third motor 213 through the arc-shaped hole 230a; one end of the third blade 233 is connected with the output end of the third motor 213 through the shaft coupling 220, and the other end of the third blade 233 is slidably connected with the output end of the fourth motor 214 through the arc-shaped hole 230a; one end of the fourth blade 234 is connected with the output end of the fourth motor 214 through the shaft coupling 220, and the other end of the fourth blade 234 is slidably connected with the output end of the first motor 211 through the arc-shaped hole 230a.

[0049] The single set of contraction and expansion mechanism blades are slidably connected with the output ends of the motors 210 through the blades 230 and the adjacent blades 230 to form a contraction and expansion mechanism blade group, and the blades 230 rotate with the motors 210 to open and close the annular port.

[0050] The target buffer weight is set in the host computer, and the measured value of the S-shaped weighing sensor 150 is recorded, and the rotation direction and angle of the motor 210 are controlled by using the incremental PID control method, the motor 210 drives the blade 230 to rotate, and the size of the annular port formed by the blade 230 is adjusted, so as to adjust the flow size of the grain flow.

[0051] Using the incremental PID control method, the formula for controlling the rotation angle and direction of the motor 210 is as follows:

[0052]

[0053] Among them, PID 1(k) The final output value; PID 1(k-1) K is the previous output value of PID1. p1 K is the proportional gain of the controller; i1 K is the integral time of the controller. d1 E is the derivative time of the controller; 1(k) E represents the current error. 1(k-1) E represents the previous error. 1(k-2) The previous iteration's error is represented by k; k is the current iteration's error; k-1 is the previous iteration's error; k-2 is the iteration before that; H d The target buffer weight is set via the host computer software; H is the actual measured buffer weight; s1, s2, s3, and s4 are the measured values ​​of the four S-type weighing sensors 150, respectively; H c The weight is the weight of the grain buffer box 120 itself.

[0054] The final output value of PID1 is converted into the frequency of the motor 210 by a chip or computer, and the rotation direction and angle of the motor 210 are output to control the opening and closing of the annular opening of the blade group of the contraction and expansion mechanism. This ensures that there is a certain amount of grain in the buffer zone, and the weight of the buffered grain is balanced within a certain range. This creates a certain constraint on the grain, allowing it to flow vertically through the annular opening of the blade group of the contraction and expansion mechanism and fall into the central area of ​​the grain-distributing hemisphere 310, achieving a good grain-distributing effect.

[0055] like Figure 7 As shown, four gravity sensors 320 are evenly arranged on the edge of the grain distribution hemisphere 310 to detect the weight of grain falling on the grain distribution hemisphere 310. One end of the gravity sensor 320 is fixedly connected to the outer edge of the grain distribution hemisphere 310 via a right-angle connecting corner piece 330. The other end of the gravity sensor 320 is fixedly connected to one end of the sensor bracket 340. The other end of the sensor bracket 340 is connected to the grain storage micro-spraying box bracket 100a via a support rod 350, so that the other end of the gravity sensor 320 is connected to the grain storage micro-spraying box shell 100. There are four connecting corner pieces 330, four sensor brackets 340, and four support rods 350. The gravity sensor 320 is connected to the connecting corner piece 330, the sensor bracket 340, and the support rod 350 in a one-to-one correspondence.

[0056] like Figures 8-9As shown, the atomizing nozzle 410 is coaxially arranged below the grain distribution hemisphere 310; the atomizing nozzle 410 is a cross structure, which sprays liquid medicine in four directions at the same time; the atomizing nozzle 410 is connected with the liquid medicine tank 430 through a spraying pipe 411; a liquid medicine spraying flow adjusting valve 412 is arranged on the spraying pipe 411, which is used for controlling the flow of liquid medicine spraying.

[0057] By recording the measurement value of the gravity detection sensor 320, the flow of the liquid medicine spraying flow adjusting valve 412 is controlled by using an incremental PID control method, so as to adjust the spraying amount of the atomizing nozzle 410.

[0058] The formula for controlling the spraying flow of the liquid medicine spraying flow adjusting valve 412 by using an incremental PID control method is as follows:

[0059]

[0060] PID 2(k) is the final output value; PID 2(k-1) is the last output value of PID1; K p2 is the proportional amplification coefficient of the controller; K i2 is the integral time of the controller; K d2 is the differential time of the controller; E 2(k) is the current error; E 2(k-1) is the last error; E 2(k-2) is the error two times ago; L d is the required flow; L is the measured flow, which can also be monitored by arranging a flow meter behind the liquid medicine spraying flow adjusting valve 412; G is the reference gravity; η is a coefficient or a conversion formula, which is determined according to the actual situation, such as whether the stored grain is corn or wheat or the required amount of liquid medicine; V is the volume of the liquid medicine in the liquid medicine tank 430 within a period of time; t is time; g1, g2, g3 and g4 are the measurement values of the four gravity detection sensors 320 respectively.

[0061] The final output value of PID1 is converted into an electric signal for controlling the liquid medicine spraying flow adjusting valve 412 by a chip or a computer, the flow of the liquid medicine is controlled according to the flow of the grain, so as to adjust the spraying amount of the atomizing nozzle 410, and the waste of the liquid medicine is avoided.

[0062] As Figure 10As shown, the grain storage protection agent is mixed with water in a specified ratio to form a suspension liquid, which is injected into the liquid tank 430 of the grain storage spraying machine, and the liquid flows into the high-pressure pump group 420 through the water suction pipe 431. Under the action of the high-pressure pump group 420, the liquid flows into the atomizing nozzle 410 along the pipeline of the spraying pipe 411, and the atomizing nozzle 410 sprays the liquid in the form of mist in the grain storage micro-spraying tank. The overflowed liquid is returned to the liquid tank 430 through the reflux pipe 432, and at the same time, the grain is thrown by the conveyor belt from the grain storage inlet 110 into the grain storage micro-spraying tank, and then passes through the grain storage buffer tank 120 and the grain collecting port 130 to form a grain flow. During the falling process of the grain flow, the downward flow is changed to the dispersed downward flow along the spherical surface under the obstruction of the grain distribution hemisphere 310. The purpose of dispersing the grain flow is to ensure that the misty agent fully contacts the grain particles, solve the problem that the misty agent cannot fully act on the grain in the central area of the grain flow, and finally complete the spraying of the grain, which is discharged from the grain storage outlet 140 and conveyed to the granary by the conveyor belt, and the grain storage spraying operation is completed.

[0063] The mechanism for improving the spraying uniformity of the grain storage spraying machine and the control method thereof can uniformly disperse the grain flow and uniformly spray the liquid, improve the spraying effect and avoid waste of the liquid, automatically adjust the opening size of the annular port of the leaf group of the contraction and expansion mechanism according to the grain flow, make the grain flow vertically fall to the central area of the grain distribution hemisphere, thereby significantly improving the grain distribution effect and the spraying uniformity, combine the grain distribution hemisphere reference gravity detection mechanism, accurately control the spraying flow, ensure that the liquid is uniformly sprayed on the grain, effectively avoid waste of the liquid, and improve the spraying efficiency and effect.

[0064] Although the embodiments of the present application have been disclosed as above, they are not limited to the application listed in the specification and the embodiments, and can be fully applied to various fields suitable for the present application. Those skilled in the art can easily make other modifications, and therefore the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A mechanism for improving the uniformity of application of a pesticide by a grain storage pesticide applicator, comprising: It comprises: a grain storage micro-spraying pesticide box shell; a plurality of motors installed in the grain storage micro-spraying pesticide box shell; a plurality of blades sequentially connected end to end to form a ring-shaped opening, the blades being arranged one-to-one with the motors; wherein one end of the blade is connected with the output end of the motor, and the other end of the blade is provided with an arc-shaped hole, and the blade is slidably connected with the output end of the motor through the arc-shaped hole; a grain distribution hemisphere with its spherical surface upward, the grain distribution hemisphere being coaxially arranged with the grain collecting opening of the grain storage micro-spraying pesticide machine in the center of the grain storage micro-spraying pesticide box shell; wherein the ring-shaped opening formed by the blades is coaxially arranged above the grain distribution hemisphere; a plurality of gravity detection sensors, one end of which is connected with the outer edge of the grain distribution hemisphere, and the other end of which is connected with the grain storage micro-spraying pesticide box shell; an atomizing nozzle coaxially arranged below the grain distribution hemisphere, the atomizing nozzle being a cross-shaped structure for simultaneously spraying pesticide liquid in four directions, the atomizing nozzle being connected with the pesticide liquid tank through a spraying pipe; a pesticide flow regulating valve arranged on the spraying pipe.

2. The mechanism for improving the pesticide application uniformity of the pesticide application machine according to claim 1, characterized in that, The number of the motors and the blades is four, and the output end of the motor is connected with the blade through a shaft coupling.

3. The mechanism for improving the pesticide application uniformity of the pesticide application machine according to claim 2, characterized in that, The shape of the blade is composed of a first arc-shaped edge, a second arc-shaped edge and a third arc-shaped edge, one end of the first arc-shaped edge is connected with one end of the second arc-shaped edge, a sharp corner is formed at the connection, the sharp corner is connected with the output end of the motor through the shaft coupling, and the two ends of the third arc-shaped edge are respectively connected with the other end of the first arc-shaped edge and the other end of the second arc-shaped edge, and the arc-shaped hole is arranged parallel to the third arc-shaped edge.

4. The mechanism for improving the pesticide application uniformity of the pesticide application machine according to claim 1, characterized in that, The number of the gravity detection sensors is four, and they are uniformly arranged on the outer edge of the grain distribution hemisphere.

5. The mechanism for improving the pesticide application uniformity of the pesticide application machine according to claim 1, wherein, It further comprises: a grain buffer box, the lower end of which is connected with the upper end of the grain storage micro-spraying pesticide box shell; four S-shaped weighing sensors, which are uniformly arranged at the connection between the grain buffer box and the grain storage micro-spraying pesticide box shell.

6. The mechanism for improving the pesticide application uniformity of the pesticide application machine in the grain storage according to claim 1, characterized in that, One end of the gravity detection sensor is fixedly connected with the outer edge of the grain distribution hemisphere through a right-angle connecting corner piece, the other end of the gravity detection sensor is fixedly connected with one end of a sensor support, and the other end of the sensor support is connected with the grain storage micro-spraying pesticide box shell through a support rod.

7. A control method of the mechanism for improving the application uniformity of a stored grain application machine for controlling the mechanism for improving the application uniformity of a stored grain application machine according to claim 5, characterized by, It comprises: By setting a target buffer weight in the host computer and recording the measurement value of the S-shaped weighing sensor, the rotational direction and angle of the motor are controlled by using an incremental PID control method, the motor drives the blade to rotate, the size of the ring-shaped opening formed by the blade is adjusted, and thus the flow size of the grain flow is adjusted; by recording the measurement value of the gravity detection sensor, the flow of the pesticide flow regulating valve is controlled by using an incremental PID control method, and thus the amount of pesticide liquid sprayed by the atomizing nozzle is adjusted.

8. The control method of the mechanism for improving the pesticide application uniformity of the grain storage pesticide application machine according to claim 7, wherein the control formula of the rotational direction and angle of the motor is:

9. The control method of the mechanism for improving the pesticide application uniformity of the grain storage pesticide application machine according to claim 8, wherein ； wherein, is the final output value; is is the last output value; is the proportional amplification factor of the controller; is the integral time of the controller; is the differential time of the controller; is the current error; is the last error; is the error before last; is the current cycle; is the last cycle; is the cycle before last; is the target buffer weight, set by the computer software of the upper computer; is the measured buffer weight; , , , are respectively the measured values of the four S-shaped weighing sensors; is the weight of the grain buffer tank itself. ​ The control formula of the flow of the medicine administration flow regulating valve is: ； wherein, is the final output value; is is the last output value; is the proportional amplification coefficient of the controller; is the integral time of the controller; is the differential time of the controller; is the current error; is the last error; is the error before the last error; is the demand flow; is the measured flow; is the reference gravity; is the coefficient or conversion formula; is the volume of the liquid in the tank within a period of time; t is time; , , , are the measurement values of the four gravity detection sensors respectively.

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