Unmanned strip-shaped composite planting zoning type spraying machine

Abstract

The invention relates to the technical field of agricultural machinery, in particular to an unmanned strip-shaped composite planting zoning type spraying machine which comprises a three-section foldable spraying rod, a spraying rod lifting mechanism and a walking chassis assembly, one end of the spraying rod lifting mechanism is installed in front of the walking chassis assembly, and the other end of the spraying rod lifting mechanism is used for installing the three-section foldable spraying rod. The three-section foldable spraying rod comprises side spraying rods, a middle spraying rod, an electric telescopic rod, a spraying head assembly and a spraying rod mounting frame, the middle spraying rod is located right in front of the walking chassis assembly, and the two sets of side spraying rods are symmetrically arranged at the two ends of the middle spraying rod and can rotate around the end of the middle spraying rod. Through full-process automation from warehouse-out, field operation to warehouse-in, manpower is effectively saved, precision and high efficiency of pesticide spraying are ensured, the wheel track and operation parameters can be adjusted, the range extending mode is matched, the operation efficiency and the machine performance are further improved, and the automation and intelligence level of the plant protection spraying machine is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an unmanned belt-shaped composite planting belt-type sprayer. Background Art

[0002] Strip-based composite planting of soybeans and corn is the agricultural technology promoted by the Ministry of Agriculture and Rural Affairs in recent years. By adopting wide and narrow row intercropping methods, generally 4-6 rows of soybeans and 2-4 rows of corn, it can give full play to the advantages of the side rows of high-position crops, expand the light receiving space of low-position crops, and achieve double harvests of soybeans and corn in one season, which is of great significance to ensuring soybean food security.

[0003] Plant protection spraying is an important link to ensure the promotion of soybean-corn strip composite planting mode. Since soybean and corn belong to different families, post-seedling weeding and mixed herbicides will cause serious pesticide damage, so it is necessary to spray weeds on soybean seedling strips and corn seedling strips separately. Patent publication number CN112616802A discloses a small electric strip composite planting belt spraying boom sprayer, publication number CN112753677A discloses a strip composite planting high-ground gap belt spraying boom sprayer, and publication number CN112088855A discloses a belt spraying boom sprayer. The prior art designs a belt spraying boom sprayer specifically suitable for soybean-corn strip composite planting, which can basically meet the belt spraying requirements of soybean-corn strip composite planting. However, most of the above-mentioned belt-spray boom sprayers are realized by adding baffles on the basis of existing flat-boom sprayers. The overall structure is still mainly mechanical and manual control, and is mainly operated by people during operation. The level of electrification, automation and intelligence of the whole machine is not high, and when the sprayer is stored, the unfolded baffle will also take up more space, making the machine inconvenient to store.

[0004] Therefore, it is urgent to design a fully electric and fully automated unmanned soybean-corn strip composite planting zone spray boom sprayer to improve work efficiency and reduce labor costs. Summary of the invention

[0005] In view of the above-mentioned defects and problems, the present invention provides an unmanned strip-shaped composite planting belt-type sprayer. Through full process automation, from outbound delivery, field operations to warehousing, it effectively saves manpower and ensures the accuracy and efficiency of pesticide spraying. The wheelbase and operating parameters can be adjusted, and the extended-range mode is used to further improve the operating efficiency and machine performance, thereby improving the automation and intelligence level of the plant protection sprayer.

[0006] The solution adopted by the present invention to solve its technical problems is: an unmanned belt-shaped composite planting belt-type sprayer, including a three-section foldable spray rod, a spray rod lifting mechanism and a walking chassis assembly, one end of the spray rod lifting mechanism is installed in front of the walking chassis assembly, and the other end is used to install the three-section foldable spray rod, the three-section foldable spray rod includes a side spray rod, a middle spray rod, an electric telescopic rod, a spray head assembly and a spray rod mounting frame, the middle spray rod is located in front of the walking chassis assembly, two groups of side spray rods are symmetrically arranged at both ends of the middle spray rod and can rotate around the end of the middle spray rod, the rear of the side spray rod and the middle spray rod are welded with an electric telescopic rod mounting frame, and the electric Both ends of the movable telescopic rod are respectively mounted on the electric telescopic rod mounting frame through axle pins, a nozzle mounting pipe is installed below the side spray rod and the middle spray rod, the nozzle assembly is fixed to the three-section foldable spray rod through the nozzle mounting frame, and the spray rod mounting frame is fixed to the rear of the spray rod profile by bolts; a baffle assembly is arranged on the three-section foldable spray rod, the baffle assembly is evenly distributed on the side spray rods on both sides, and the baffle assembly is vertically arranged to the side spray rod for shielding the spray, and a baffle movable unit for controlling the baffle assembly to change from an unfolded state to a folded state is arranged on the three-section foldable spray rod, and the baffle movable unit is divided into manual control and automatic drive.

[0007] Furthermore, a side spray rod limit plate and a middle spray rod limit plate are respectively installed at the opposite ends of the side spray rod and the middle spray rod, and the side spray rod limit plate and the middle spray rod limit plate are installed through a cylindrical pin shaft, so that the side spray rod and the middle spray rod can rotate freely around the cylindrical shaft pin, and a limit switch is installed on the middle spray rod limit plate. When the side spray rod limit plate is rotated and touches the limit switch, the extreme position of the side spray rod rotation is reached.

[0008] Furthermore, the baffle assembly includes a folding baffle, which is composed of two symmetrically arranged groups of support frames and a flexible baffle. The flexible baffle is fixed in the support frame, and the two groups of support frames are connected in the middle by a folding joint to form a complete folding baffle.

[0009] Furthermore, the baffle movable unit includes a manual folding mechanism, which includes a baffle mounting frame, an outer sleeve and an inner sleeve. The baffle mounting frame is installed above the side spray rod profile and the two are clearance-matched. Fixed plates are symmetrically installed on both sides of the lower end of the baffle mounting frame. The outer sleeve is vertically welded below the fixed plate, and the inner sleeve is sleeved inside the outer sleeve. The inner end corners of the folding baffle are respectively welded to the bottom of the two inner sleeves. Two bolt holes perpendicular to the axis and staggered by 90 degrees are opened on the outer sleeve, and a bolt hole perpendicular to the axis is opened on the inner sleeve, and the outer sleeve and the inner sleeve are fixed by bolt limiters.

[0010] Furthermore, the cylindrical pin shaft includes a fixed pin seat fixed on the middle spray boom limit plate and a movable pin shaft fixed on the side spray boom limit plate, and the movable pin shaft is movably mounted in the fixed pin seat. When the side spray boom is folded, the movable pin shaft rotates in the fixed pin seat, so that the side spray boom completes rotation and folding.

[0011] Further, the baffle assembly includes a rotating baffle, a plurality of hole sleeves are opened on the side spray rod, the rotating baffle includes a central rotating shaft and a plane baffle, the central rotating shaft is rotatably sleeved in the hole sleeve, the plane baffle is fixed on the central rotating shaft, and a boss is fixed on the upper end of the central rotating shaft; Furthermore, the baffle movable unit includes a linkage driving mechanism, which includes an articulated seat and a movable push rod. The two bosses and the upper end of the movable pin shaft are fixed with the articulated seat. The articulated seats at both ends are U-shaped seats with openings facing each other. The articulated seat in the middle is arranged on the inner central rotating shaft and is an I-shaped seat. Pin shafts are arranged at the ends of the articulated seats. Adjacent articulated seats are connected by two parallel movable push rods, and flat holes are opened at both ends of the movable push rod. The pin shafts are located in the flat holes. Two parallelogram linkage mechanisms are formed by the articulated seat and the movable push rod.

[0012] Furthermore, the spray boom lifting mechanism includes a support plate group, an electric hydraulic push rod, an upper connecting rod of the push rod, a lower connecting rod of the push rod, a push rod fixing frame, an upper connecting frame and a lower connecting rod, the support plate group and the push rod fixing frame are respectively welded and fixed on both sides and the middle position of the front beam of the frame, the rear of the upper connecting frame is connected to the support plate group through a pin shaft, and the front is installed with the spray boom mounting frame through a pin shaft, the lower connecting rod is connected to the support plate group and the spray boom mounting frame through a pin shaft, the upper connecting frame and the lower connecting rod are arranged in parallel up and down and form a parallel connecting rod mechanism, the rear end of the upper connecting rod of the push rod is fixed to the push rod fixing frame through a pin shaft, the lower end of the lower connecting rod of the push rod is installed on the upper connecting frame through a pin shaft, and the upper connecting rod and the lower connecting rod of the push rod are connected through a pin shaft, the upper end of the electric hydraulic push rod is installed on the upper connecting rod of the push rod through a pin shaft, and the lower end is installed on the push rod fixing frame through a pin shaft.

[0013] Furthermore, the walking chassis assembly includes four wheel assemblies, a frame, a range extender, a power battery, and a range extender controller. The range extender, the power battery, and the range extender controller are respectively fixed on the top of the frame by bolts, and the four wheel assemblies are respectively fixed on the four corners of the frame by bolts, and a protective shell is installed on the top of the frame; The wheel assembly includes a wheel, a hub motor, a rotating shaft, a hub support frame, a steering bracket, a worm gear reducer, a steering motor and a motor base. The wheel is fixed to the hub motor by bolts and is installed on the hub support frame through the rotating shaft. The top of the hub support frame is installed on the steering bracket through a bearing. The worm gear reducer is fixed to the steering bracket and connected to the shaft of the hub support frame below. The steering motor is installed on the motor base and connected to the worm of the worm gear reducer.

[0014] Furthermore, it also includes a soybean-corn dual spray system and an unmanned driving control unit, wherein the soybean-corn dual spray system includes two groups of medicine boxes, a diaphragm pump, a spray valve group, a pipeline and a nozzle assembly, wherein the medicine box, the filter, the diaphragm pump, the spray valve group and the nozzle assembly are connected in sequence through pipelines to realize the flow of liquid medicine from the medicine box to the nozzle; The unmanned driving control unit includes a Beidou positioning system control terminal, a positioning antenna, a directional antenna, a gyroscope and a main controller. The positioning antenna and the directional antenna are respectively installed at the front and rear of the whole machine. The directional antenna is combined with the positioning antenna to obtain the heading angle of the machine to realize the positioning and orientation function. The Beidou positioning system control terminal is installed at the left rear of the frame, on which a display screen, a 4G communication module, and a Beidou navigation receiving module are integrated. The gyroscope is installed at the center of the front beam of the chassis to provide heading and attitude information. The main controller is installed in the front of the frame to receive signals from the Beidou positioning system control terminal and the gyroscope, and send control signals to realize the drive control of the actuator.

[0015] The beneficial effects of the present invention are as follows: (1) The extended-range hybrid system is adopted, and the SOC power following strategy and fuzzy control energy management strategy are developed. According to the running state and demand of the vehicle, reasonable control rules are formulated to ensure that the extended-range engine works in the most economical operating condition while meeting the power demand, thereby eliminating the problems of high power consumption and environmental pollution of the traditional boom sprayer internal combustion engine, and avoiding the problem of short endurance of the pure electric system; (2) An independent drive travel system assembly with four-wheel motors and reducers is designed. Each wheel assembly can steer and drive independently, significantly improving the transmission and driving efficiency. The four-wheel independent drive can realize the lateral movement of the whole vehicle, four-wheel steering and other actions, with a smaller turning radius, which is more flexible and convenient when operating in scenes such as turning at the end of the field and small road space. It also integrates an unmanned driving control unit and an automatic control system, which can realize the control and operation of each actuator through remote control. In specific scenarios, it can realize unmanned operation of the entire process from outbound storage, field operation to warehousing, effectively reducing the dependence on manual operation, improving operation efficiency and intelligence level, and laying the foundation for the realization of unmanned farms in the future; (3) Through the cooperation of electric actuators such as electric telescopic rods and electric hydraulic push rods, the automatic unfolding and folding of the spray boom and the automatic lifting of the spray boom are realized, thereby reducing manual operation and improving work efficiency. In addition, a rotatable and foldable baffle assembly is designed. When the baffle assembly is in the unfolded state, it is used to isolate the herbicides in the corn seedling strip and the soybean seedling strip to avoid the drift of different herbicides and cause pesticide damage. When the baffle assembly is in the folded state, it is parallel to the spray boom, reducing the space of the entire machine, improving the passability, and facilitating subsequent transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the whole structure of the present invention; Figure 2 It is a structural schematic diagram of the spray bar lifting mechanism of the present invention; Figure 3 It is a schematic diagram of the three-section foldable spray boom structure of the present invention; Figure 4 for Figure 2 A partial enlarged view of the middle A; Figure 5 It is a schematic diagram of the folding baffle in the present invention in an unfolded state; Figure 6 A schematic diagram of the folding baffle in the present invention in a folded state; Figure 7 It is a rear view of the walking chassis assembly of the present invention; Figure 8 It is a three-dimensional structural schematic diagram of the traveling chassis assembly of the present invention; Fig. 9 It is a three-dimensional structural schematic diagram of the wheel assembly of the present invention; Fig.10 It is a structural schematic diagram of the rotary baffle of the present invention before rotation; Fig.11 Fig.10 A partial enlarged view of point B in the middle; Fig.12 It is a schematic diagram of the matching structure of the rotating baffle and the three-section foldable spray boom of the present invention; Fig.13 A schematic diagram of the rotation change of the rotary baffle of the present invention; Fig.14 It is a schematic diagram of the structure of the rotary baffle after rotation of the present invention; Fig.15 It is a schematic diagram of the top baffle structure of the present invention; Fig.16 A schematic diagram of the folding variation of the top baffle of the present invention; Fig.17 It is a schematic diagram of the structural composition of the soybean and corn dual spray system of the present invention.

[0017] In the figure: 1. three-section foldable spray boom; 101. middle spray boom; 102. side spray boom; 11. spray boom mounting frame; 12. nozzle assembly; 13. side spray boom limit plate; 14. middle spray boom limit plate; 15. limit switch; 16. cylindrical pin; 161. fixed pin seat; 162. movable pin; 17. electric telescopic rod; 18. electric telescopic rod mounting frame; 19. nozzle mounting frame; 110. nozzle mounting pipe; 111. hole sleeve; 2. baffle assembly; 2a. folding baffle; 21. supporting frame; 22. flexible baffle; 23. folding joint; 2b. rotating baffle; 24. central shaft; 25. plane baffle; 26. boss; 27. limiting flange; 2c. top baffle; 28. V-shaped baffle; 29. ​​straight groove member; 3. Baffle movable unit; 3a. Manual folding mechanism; 31. Outer sleeve; 32. Inner sleeve; 33. Fixing plate; 34. Fastening bolt; 35. Baffle mounting frame; 36. T-bolt; 3b. Linkage driving mechanism; 37. Articulated seat; 371. U-shaped seat; 372. I-shaped seat; 38. Movable push rod; 39. Flat hole; 4. Spray rod lifting mechanism; 41. Upper connecting frame; 42. Support plate group; 43. Push rod lower connecting rod; 44. Push rod upper connecting rod; 45. Electric hydraulic push rod; 46. Push rod fixing frame; 47. Lower connecting rod; 5. Directional antenna; 6. Walking chassis assembly; 60. Protective shell; 61. Power battery; 62. Diaphragm pump 1; 63. Medicine box 1; 64. Medicine box 2; 65. Range extender; 66. Beidou positioning system control terminal; 67. Range extender controller; 68. Diaphragm pump 2; 69. Rack; 610. Gyroscope; 611. Spray valve group 1; 612. Spray valve group 2; 7. Wheel assembly; 71. Wheel; 72. Rotating shaft; 73. Hub motor; 74. Hub support frame; 75. Steering bracket; 76. Steering motor; 77. Worm gear reducer; 78. Motor base; 79. Motor shield; 710. Main controller; 8. Positioning antenna. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] See also Figure 1-17 The present invention provides a technical solution for an unmanned belt-shaped composite planting zone-type sprayer. The unmanned belt-shaped composite planting zone-type sprayer of the present invention automates the entire process from outbound delivery, field operation to warehousing, effectively saving manpower and ensuring accurate and efficient pesticide spraying. The wheelbase and operation parameters can be adjusted, and the extended-range mode is used to further improve the operation efficiency and machine performance. In addition, it can adapt to a variety of planting modes, and the operation flexibility and efficiency are relatively high. Example

[0020] according to Figure 1 As shown, this embodiment provides an unmanned belt-shaped composite planting split-belt sprayer, including a three-section foldable spray boom 1, a spray boom lifting mechanism 4, a walking chassis assembly 6, a soybean-corn dual spray system and an unmanned control unit, one end of the spray boom lifting mechanism 4 is installed in front of the walking chassis assembly 6, and the other end is used to install the three-section foldable spray boom 1, and a baffle assembly 2 is arranged on the three-section foldable spray boom 1.

[0021] like Figure 1 , Figure 3 and Figure 4 As shown, the three-section foldable spray boom 1 includes a side spray boom 102, a middle spray boom 101, a side spray boom limit plate 13, a middle spray boom limit plate 14, a limit switch 15, an electric telescopic rod 17, an electric telescopic rod mounting frame 18, a spray boom mounting frame 11, a cylindrical pin shaft 16, a nozzle mounting pipe 110, a nozzle mounting frame 19 and a nozzle assembly 12. The side spray rod 102 and the middle spray rod 101 are made of aluminum alloy profiles. The side spray rod limit plate 13 and the middle spray rod limit plate 14 are respectively fixed to the opposite ends of the side spray rod 102 and the middle spray rod 101 by bolts. A perforated cylinder is welded at the bending part of the side spray rod limit plate 13, and two perforated cylinders are welded at the bending part of the middle spray rod limit plate 14. The length of the perforated cylinder on the side spray rod limit plate 13 is consistent with the length of the middle gap between the perforated cylinders of the middle spray rod limit plate 14. The two are installed by a cylindrical pin 16, so that the side spray rod 102 and the middle spray rod 101 can rotate freely around the cylindrical axis pin. A limit switch 15 is installed on the middle spray rod limit plate 14. When the side spray rod limit plate 13 is rotated and touches the limit switch 15, that is, when the side spray rod 102 rotates forward and is in the same straight line with the middle spray rod 101, the side spray rod 102 reaches the limit position of rotation; the electric telescopic rod mounting frame 18 is welded to the rear of the side spray rod 102 and the middle spray rod 101, and the cylindrical holes at both ends of the electric telescopic rod 17 are respectively installed in the U-shaped groove of the electric telescopic rod mounting frame 18 through axle pins. A square nozzle mounting pipe 110 is installed below the side spray rod 102 and the middle spray rod 101. The nozzle assembly 12 is fixed to the three-section foldable spray rod 1 through the nozzle mounting frame 19, and the spray rod mounting frame 11 is fixed to the rear of the spray rod profile by bolts. During operation, when the electric telescopic rod 17 is extended, the side spray rod 102 is driven to rotate forward around the cylindrical axis pin until the side spray rod limit plate 13 contacts the limit switch 15. At this time, the three-section foldable spray rod 1 is in an unfolded state; when the electric telescopic rod 17 is shortened, the side spray rod 102 rotates backward around the cylindrical axis pin until it reaches the shortest position of the electric telescopic rod 17. At this time, the three-section foldable spray rod 1 is in a folded state.

[0022] like Figure 3 , Figure 5 and Figure 6As shown, the baffle assembly 2 includes a folding baffle 2a, which is fixed to the side spray rod 102 by bolts. The folding baffle 2a is composed of two symmetrically arranged groups of support frames 21 and flexible baffles 22. The support frame 21 is a rectangular frame, and the flexible baffle 22 is fixed in the support frame 21. The material of the flexible baffle 22 is canvas, plastic cloth, etc., and the two groups of support frames 21 are connected in the middle by a folding splicing part 23 to form a complete folding baffle 2a. The flexible baffle 22 between the two support frames 21 is folded in half in the folded state, and forms a complete plane in the unfolded state.

[0023] The three-section foldable spray boom 1 is provided with a manual folding mechanism 3a for controlling the folding baffle 2a to change from an unfolded state to a folded state. Figure 5 and Figure 6 As shown, the manual folding mechanism 3a includes a baffle mounting frame 35, a fixing plate 33, an outer sleeve 31, an inner sleeve 32, a T-bolt 36 and a fastening bolt 34. The baffle mounting frame 35 is installed above the side spray rod 102 profile through a U-shaped gap, and the two are clearance-matched, and the front and rear sides of the baffle mounting frame 35 are fixed by T-bolts 36 and fastening bolts 34 respectively. The fixing plates 33 are symmetrically installed on both sides of the lower end of the baffle mounting frame 35, and the bolt holes on both sides of the fixing plates 33 and the baffle mounting frame 35 are connected by bolts. The outer sleeve 31 is vertically welded below the fixing plate 33, and the inner sleeve 32 is sleeved inside the outer sleeve 31. The end angles of the two groups of support frames 21 are respectively welded below the two inner sleeves 32. Two bolt holes perpendicular to the axis and staggered by 90 degrees are opened on the outer sleeve 31, and a bolt hole perpendicular to the axis is opened on the inner sleeve 32, and the outer sleeve 31 and the inner sleeve 32 are fixed by bolt limiters.

[0024] When in operation, the bolt hole of the inner sleeve 32 corresponds to one of the bolt holes of the outer sleeve 31, and the flexible baffle 22 is in the unfolded state and vertically installed on the three-section foldable spray boom 1, which is used to isolate different herbicides and prevent the drift of different herbicides from causing pesticide damage; when the equipment is in transportation or storage, another bolt hole on the outer sleeve 31, which is staggered by 90 degrees, is fixedly connected to the inner sleeve 32. At this time, the flexible baffle 22 is folded, and the direction of the flexible baffle 22 is consistent with the extension direction of the three-section foldable spray boom 1, which is convenient for folding and transportation of the spray boom, reducing the space of the whole machine and improving the passability.

[0025] like Figure 2As shown, the spray boom lifting mechanism 4 includes a support plate group 42, an electric hydraulic push rod 45, a push rod upper connecting rod 44, a push rod lower connecting rod 43, a push rod fixing frame 46, an upper connecting frame 41 and a lower connecting rod 47. The support plate group 42 and the push rod fixing frame 46 are respectively welded and fixed on both sides and the middle position of the front beam of the frame to provide a stable support for the entire spray boom lifting mechanism 4; the upper connecting frame 41 is composed of a plurality of connecting rods welded together, the two rear mounting holes are connected to the support plate group 42 through a pin shaft, and the two front mounting holes are installed with the spray boom mounting frame 11 through a pin shaft. The upper connecting frame 41 can be freely rotated around the pin shaft with the middle spray boom 101 and the support plate group 42 respectively, and the lower connecting rod 47 are connected to the support plate group 42 and the spray rod mounting frame 11 respectively through a pin shaft, and the upper connecting frame 41 and the lower connecting rod 47 are installed in parallel up and down to form a parallel connecting rod mechanism, so as to ensure that the spray head is always vertically downward during the spray rod lifting process; the rear end of the push rod upper connecting rod 44 is fixed to the push rod fixing frame 46 through a pin shaft, and the lower end of the push rod lower connecting rod 43 is installed on the upper connecting frame 41 through a pin shaft, and the push rod upper connecting rod 44 and the push rod lower connecting rod 43 are connected through a pin shaft; the upper end of the electric hydraulic push rod 45 is installed in the middle hole of the push rod upper connecting rod 44 through a round pin shaft, and the lower end of the electric hydraulic push rod 45 is installed on the push rod fixing frame 46 through a pin shaft. During operation, the motion is transmitted between the connecting rods. When the electric hydraulic push rod 45 is extended, the spray rod is driven to rise as a whole, and when the electric hydraulic push rod 45 is retracted, the spray rod is driven to fall as a whole; in order to obtain the height information of the spray rod, a height sensor is installed below the middle spray rod 101.

[0026] like Figure 1 , 7 As shown in Figures 8 and 9, the walking chassis assembly 6 includes four wheel assemblies 7, a frame 69, a range extender 65, a power battery 61, a range-extended controller and a protective shell 60. The range extender 65, the power battery 61 and the range-extended controller are respectively fixed on the frame 69 by bolts. The protective shell 60 is installed on the frame 69 to protect the internal parts and improve the appearance. The four wheel assemblies 7 are respectively fixed to the four corners of the frame 69 by bolts. The frame 69 is provided with a plurality of mounting holes. When the wheel assemblies 7 are aligned with different mounting holes, the wheelbase can be adjusted to meet different operating requirements.

[0027] like Figure 8 , 9As shown, the wheel assembly 7 includes a wheel 71, a hub motor 73, a rotating shaft 72, a hub support frame 74, a steering bracket 75, a worm gear reducer 77, a steering motor 76, a motor shield 79 and a motor base 78. The wheel 71 is fixed to the hub motor 73 by bolts and is installed on the hub support frame 74 through the rotating shaft 72. The wheel 71 is directly driven by the hub motor 73; the upper part of the hub support frame 74 is installed on the steering bracket 75 through a bearing, the worm gear reducer 77 is fixed to the steering bracket 75 by bolts, and is connected to the shaft of the hub support frame 74 below, and the steering motor 76 is installed on the motor base 78 and is connected to the worm of the worm gear reducer 77. During normal operation, the left and right steering of the wheel 71 is achieved by controlling the forward and reverse rotation of the steering motor 76; the four wheel assemblies 7 can independently drive the wheel 71 forward, backward and steering. Compared with the front wheel steering of the traditional spray boom sprayer, it can achieve four-wheel parallel movement and four-wheel steering, with a smaller turning radius, more flexible control, and more applicable scenarios.

[0028] The power of the whole machine adopts an extended-range hybrid system. In the pure electric working mode, the walking chassis assembly 6 is powered by the power battery 61, and the hub motor 73 and the steering motor 76 obtain power and start working; in the extended-range working mode, the power is provided by the range extender 65, part of which provides the required power for the hub motor 73 and the steering motor 76, and on the other hand, it charges the power battery 61. In addition, in the extended-range mode, two energy management strategies, namely the SOC power following strategy and the fuzzy control energy management strategy, have been developed. Reasonable control rules can be formulated according to the operating status and needs of the vehicle to ensure that the extended-range operation is carried out in the most economical operating conditions while meeting the power requirements.

[0029] like Figure 7 , 8 As shown in 10, the soybean and corn dual spray system includes a medicine box 1 63, a medicine box 2 64, a diaphragm pump 1 62, a diaphragm pump 2 68, a spray valve group 1 611, a spray valve group 2 612, a pipeline and a nozzle assembly 12, one end of the diaphragm pump 1 62 is installed at the water outlet of the filter through a water channel, and the other end is connected to the spray valve group through a pipeline. The spray valve group integrates a solenoid valve switch, a pressure sensor, a flow sensor, a pressure regulating tank and an overflow valve, which are used to obtain operating information such as pressure and flow, stabilize the pipeline pressure and protect the pipeline safety, etc. The medicine box, the filter, the diaphragm pump, the spray valve group and the nozzle assembly are connected in sequence through pipelines to realize the flow of liquid medicine from the medicine box to the nozzle; during operation, the spraying is started and stopped by controlling the solenoid valve switch on the spray valve group.

[0030] like Figure 1 , 7As shown, the unmanned driving control unit includes a Beidou positioning system control terminal 66, a positioning antenna 8, a directional antenna 5, a gyroscope 610 and a main controller 710. The positioning antenna 8 and the directional antenna 5 are fixed on the top of the protective shell 60 by magnetic attraction. The positioning antenna 8 is at the rear of the whole machine and is responsible for real-time capture of satellite positioning and speed information. The directional antenna 5 is at the front. The directional antenna 5 is combined with the positioning antenna 8 to obtain the heading angle of the machine to achieve the positioning and orientation function. The Beidou positioning system control terminal 66 is installed at the left rear of the frame 69 through a bracket. The Beidou positioning system control terminal 66 integrates a display screen, a 4G communication module, and a Beidou navigation receiving module. It can receive signals from a mobile base station, supports human-computer interaction functions, and provides an intuitive operation interface for users. At the same time, it receives signals from the main controller 710 and external sensors, sends instructions to the main controller 710 or the working mechanism, and sets the navigation trajectory. The gyroscope 610 is installed at the center of the front beam of the chassis to provide heading and attitude information, and serves as backup navigation information when the satellite signal is blocked to ensure the continuity and accuracy of navigation; the main controller 710 is installed in front of the frame 69 by bolts to receive signals from the Beidou positioning system control terminal 66 and the gyroscope 610, and send control signals to the main controller 710, the spray valve group, the electric hydraulic push rod 45, and the electric telescopic rod 17 to achieve precise control of the hub motor 73, the steering motor 76, the folding and unfolding of the spray rod, the lifting of the spray rod, the opening and closing of the spray system and other actuators.

[0031] The unmanned soybean-corn strip composite planting zone spray boom sprayer provided by the present invention has the following specific working process when it is actually used: (1) Before operation: According to the changes in row spacing under different crop planting modes, the chassis wheelbase is adjusted to ensure that the wheels 71 will not damage the crops, and at the same time, the spray can completely cover the plant area. According to different soybean-corn composite planting modes, the spacing of the folding baffles 2a is adjusted. When the unmanned operation mode is adopted, the user can conveniently set the working range, adjust the working speed, set the water pump pressure, plan the working trajectory and the automatic control distance of the spray rod to adapt to different operation requirements and improve the accuracy and efficiency of the operation. In addition, according to the actual operating conditions, the user can choose to enable the extended-range controller and start the extended-range mode to optimize energy consumption and improve operation performance; (2) During operation: After starting the operation, the sprayer automatically performs the task according to the preset plot planning and operation parameters. The Beidou positioning control terminal can obtain the position of the sprayer in real time, and send instructions to the walking chassis assembly 6 and the main controller 710 according to the preset motion trajectory to accurately control the operation of each working mechanism. At the same time, the system collects the operating status information of the sprayer in real time through pressure sensors, flow sensors, etc. After receiving this information, the Beidou positioning control terminal will automatically analyze and send adjustment instructions to the main controller 710, and the main controller 710 will control the walking chassis assembly 6 and the soybean and corn dual spray system; during the walking process, the liquid medicine is sucked out of the medicine box by the diaphragm pump, and finally transported to the nozzle for spraying through the spray valve group and pipeline; (3) After the operation: The plant protection vehicle will automatically reach the end of the planned route of the work plot. At this time, the vehicle will autonomously control the folding spray boom to retract and fold the side spray boom 102, thereby reducing the width of the vehicle and improving the passability during transportation. At the same time, the vehicle will automatically shut down the water pump to prevent the liquid from affecting other plots. If necessary, the operator can switch to remote control mode through the Beidou positioning control terminal and conduct manual intervention to ensure the flexibility and safety of the operation. Example

[0032] Based on the first embodiment, the similarities between this embodiment and the first embodiment are not repeated here, and the differences are as follows: the manual folding mechanism 3a provided in the first embodiment is used to fold the folding baffle 2a, which requires manual operation and is time-consuming and labor-intensive. In order to solve this problem, the present embodiment proposes another baffle assembly - a rotating baffle 2b and a baffle movable unit cooperating therewith - a linkage drive mechanism 3b.

[0033] like Fig.10 , 11As shown in Figures 1 and 12, two hole sleeves 111 are evenly arranged on the side spray rod 102, and the rotating baffle 2b includes a central rotating shaft 24 and a plane baffle 25. The central rotating shaft 24 is rotatably sleeved in the hole sleeve 111, and the plane baffle 25 is fixed on the central rotating shaft 24 to isolate the spray. A limiting flange 27 is arranged on the upper and lower parts of the hole sleeve 111 on the central rotating shaft 24, so that the central rotating shaft 24 is limitedly sleeved in the hole sleeve 111, and a boss 26 is fixed on the upper end of the central rotating shaft 24; the cylindrical pin 16 includes a fixed pin seat 161 fixed on the middle spray rod limiting plate 14 and a movable pin 162 fixed on the side spray rod limiting plate 13, and the movable pin 162 is movably sleeved in the fixed pin seat 161. When the side spray rod 102 is folded, the movable pin 162 rotates in the fixed pin seat 161, so that the side spray rod 102 completes rotation and folding. The linkage drive mechanism 3b includes an articulated seat 37, a movable push rod 38 and a flat hole 39. The two bosses 26 and the upper ends of the movable pin shaft 162 are fixed with articulated seats 37. The articulated seats 37 at both ends are respectively arranged on the outermost central rotating shaft 24 and the upper ends of the fixed pin seat 161, forming a U-shaped seat 371 with openings facing each other. The articulated seat 37 in the middle is arranged on the inner central rotating shaft 24 and forms an I-shaped seat 372. Pin shafts are arranged at the ends of the articulated seats 37. Adjacent articulated seats 37 are connected by two parallel movable push rods 38, and flat holes 39 are opened at both ends of the movable push rod 38. The pin shafts are located in the flat holes 39, so that two parallelogram linkage mechanisms are formed between the two central rotating shafts 24 and between the inner central rotating shaft 24 and the cylindrical pin shaft 16 through the articulated seat 37 and the movable push rod 38.

[0034] When used specifically, the present invention is an unmanned belt-shaped composite planting belt-type sprayer, such as Fig.13 As shown, when the electric telescopic rod 17 drives the side spray rod 102 to rotate inward around the cylindrical pin 16 and fold, the U-shaped seat 371 at the upper end of the cylindrical pin 16 is fixed, and through the pulling cooperation of the movable push rod 38 connected thereto, the I-shaped seat 372 can be pulled to rotate, thereby driving the middle central shaft 24 and the rotating baffle 2b to rotate, so that the rotating baffle 2b rotates in the direction consistent with the extension direction of the side spray rod 102 and gradually becomes consistent with the direction of the side spray rod 102, and then the middle I-shaped seat 372 rotates and pulls the outermost U-shaped seat 371 to rotate through the movable push rod 38, synchronously driving the outermost rotating baffle 2b to rotate, under the linkage mechanism of the parallelogram linkage mechanism, when the side spray rod 102 is folded and retracted, all the rotating baffles 2b can be synchronously pulled to rotate and retract to an angle consistent with the extension direction of the side spray rod 102, thereby realizing the linkage and automatic retraction operation of the baffles, without the need for manual participation, saving time and effort. Example

[0035] Based on the second embodiment, Fig.14 , 15As shown in Figure 16, in order to further improve the effect of the baffle assembly on shielding the spray, a top baffle 2c is further provided on the side spray rod 102. The top baffle 2c includes a V-shaped baffle 28 and a straight groove member 29. The V-shaped baffle 28 is composed of two movable baffles whose ends are hinged together. The lower end surface of the movable baffle is fixedly provided with a straight groove member 29, and a movable push rod 38 is inserted through the straight groove member 29, so that the top baffle 2c is installed above the side spray rod 102 and is synchronously extended and retracted by the linkage drive mechanism 3b.

[0036] When used specifically, Fig.16 As shown, when the side spray rod 102 is in an extended state, the two movable push rods 38 of the parallelogram linkage mechanism of the linkage drive mechanism 3b maintain a certain distance unchanged. At this time, the V-shaped baffle 28 is in an expanded state under the limiting support of the movable push rod 38, and is arranged directly above the side spray rod 102. Through the joint action of the top baffle 2c at the upper end and the rotating baffles 2b on both sides, the shielding effect of the spray is improved to prevent the spray from escaping to different crops around or nearby; when the parallelogram linkage mechanism of the linkage drive mechanism 3b drives the rotating baffle 2b to rotate and retract, the two parallel movable push rods 38 in the parallelogram linkage mechanism will approach each other and the distance between them will become smaller. When the movable push rods 38 are close to each other, with the cooperation of the straight groove member 29, the V-shaped baffle 28 can be pushed to fold and retract by the movable push rod 38, thereby reducing the space occupied by the top baffle 2c, and the top baffle 2c can follow the state of the rotating baffle 2b to change the state synchronously, thereby further improving the automation degree of the equipment.

[0037] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned belt-shaped composite planting belt-type sprayer, comprising a three-section foldable spray boom (1), a spray boom lifting mechanism (4) and a walking chassis assembly (6), wherein one end of the spray boom lifting mechanism (4) is mounted in front of the walking chassis assembly (6), and the other end is used to mount the three-section foldable spray boom (1), characterized in that: The three-section foldable spray rod (1) comprises a side spray rod (102), a middle spray rod (101), an electric telescopic rod (17), a nozzle assembly (12) and a spray rod mounting frame (11); the middle spray rod (101) is located directly in front of the walking chassis assembly (6); two sets of side spray rods (102) are symmetrically arranged at two ends of the middle spray rod (101) and can rotate around the end of the middle spray rod (101); an electric telescopic rod mounting frame (18) is welded to the rear of the side spray rod (102) and the middle spray rod (101); two ends of the electric telescopic rod (17) are respectively mounted on the electric telescopic rod mounting frame (18) via axle pins; nozzle mounting pipes (110) are mounted below the side spray rods (102) and the middle spray rod (101); the nozzle assembly (12) is connected to the side spray rod (102) and the middle spray rod (101); The spray head mounting frame (19) is fixed on the three-section foldable spray rod (1), and the spray rod mounting frame (11) is fixed to the rear of the spray rod profile by bolts; the three-section foldable spray rod (1) is provided with a baffle assembly (2), the baffle assembly (2) is evenly distributed on the side spray rods (102) on both sides, and the baffle assembly (2) is arranged perpendicular to the side spray rods (102) for shielding spray; the three-section foldable spray rod (1) is provided with a baffle movable unit (3) for controlling the baffle assembly (2) to change from an unfolded state to a folded state; when the baffle assembly (2) is unfolded, it is perpendicular to the side spray rod (102); when the baffle assembly (2) is folded, it is in the same direction as the side spray rod (102); the baffle movable unit (3) is divided into manual control and automatic drive.

2. The unmanned belt-shaped composite planting belt-type sprayer according to claim 1, characterized in that: A side spray bar limit plate (13) and a middle spray bar limit plate (14) are respectively installed at opposite ends of the side spray bar (102) and the middle spray bar (101), and the side spray bar limit plate (13) and the middle spray bar limit plate (14) are installed via a cylindrical pin shaft (16) so that the side spray bar (102) and the middle spray bar (101) can rotate freely around the cylindrical pin shaft (16), and a limit switch (15) is installed on the middle spray bar limit plate (14), and when the side spray bar limit plate (13) is rotated and touches the limit switch (15), the rotation limit position of the side spray bar (102) is reached.

3. The unmanned belt-shaped composite planting belt-type sprayer according to claim 1, characterized in that: The baffle assembly (2) comprises a folding baffle (2a), the folding baffle (2a) being composed of two groups of symmetrically arranged support frames (21) and a flexible baffle (22), the flexible baffle (22) being fixed in the support frame (21), and the two groups of support frames (21) being connected in the middle via a folding joint (23) to form a complete folding baffle (2a).

4. The unmanned belt-shaped composite planting belt-type sprayer according to claim 3, characterized in that: The baffle movable unit (3) comprises a manual folding mechanism (3a), the manual folding mechanism (3a) comprising a baffle mounting frame (35), an outer sleeve (31) and an inner sleeve (32), the baffle mounting frame (35) being mounted above the side spray bar (102) profile and the two being clearance-matched, a fixing plate (33) being symmetrically mounted on both sides of the lower end of the baffle mounting frame (35), the outer sleeve (31) being vertically welded below the fixing plate (33), the inner sleeve (32) being sleeved inside the outer sleeve (31), the inner end corners of the folding baffle (2a) being respectively welded below the two inner sleeves (32), the outer sleeve (31) being provided with two bolt holes perpendicular to the axis and staggered by 90 degrees, the inner sleeve (32) being provided with a bolt hole perpendicular to the axis, and the outer sleeve (31) and the inner sleeve (32) being fixed by bolts.

5. The unmanned belt-shaped composite planting belt-type sprayer according to claim 2, characterized in that: The cylindrical pin shaft (16) comprises a fixed pin seat (161) fixed on the middle spray bar limit plate (14) and a movable pin shaft (162) fixed on the side spray bar limit plate (13), and the movable pin shaft (162) is movably sleeved in the fixed pin seat (161). When the side spray bar (102) is folded, the movable pin shaft (162) rotates in the fixed pin seat (161), so that the side spray bar (102) completes the rotation and folding.

6. The unmanned belt-shaped composite planting belt-type sprayer according to claim 5, characterized in that: The baffle assembly (2) comprises a rotating baffle (2b), a plurality of hole sleeves (111) are formed on the side spray bar (102), the rotating baffle (2b) comprises a central rotating shaft (24) and a plane baffle (25), the central rotating shaft (24) is rotatably sleeved in the hole sleeve (111), the plane baffle (25) is fixed on the central rotating shaft (24), and a boss (26) is fixed on the upper end of the central rotating shaft (24).

7. The unmanned belt-shaped composite planting belt-type sprayer according to claim 6, characterized in that: The baffle movable unit (3) comprises a linkage drive mechanism (3b), the linkage drive mechanism (3b) comprising an articulated seat (37) and a movable push rod (38), the articulated seats (37) being fixed to the upper ends of the two bosses (26) and the movable pin shaft (162), the articulated seats (37) located at the two ends being U-shaped seats (371) with openings facing each other, the articulated seat (37) located in the middle being arranged on the inner central rotating shaft (24) and being an I-shaped seat (372), the ends of the articulated seats (37) being arranged with pin shafts, adjacent articulated seats (37) being connected by two parallel movable push rods (38), the two ends of the movable push rod (38) being provided with flat holes (39), the pin shafts being arranged in the flat holes (39), and two parallelogram linkage mechanisms being formed by the articulated seat (37) and the movable push rod (38).

8. The unmanned belt-shaped composite planting belt-type sprayer according to claim 1, characterized in that: The spray boom lifting mechanism (4) comprises a support plate group (42), an electric hydraulic push rod (45), a push rod upper connecting rod (44), a push rod lower connecting rod (43), a push rod fixing frame (46), an upper connecting frame (41) and a lower connecting rod (47). The support plate group (42) and the push rod fixing frame (46) are respectively welded and fixed to the two sides and the middle position of the front beam of the frame (69). The rear of the upper connecting frame (41) is connected to the support plate group (42) through a pin shaft, and the front is installed with the spray boom mounting frame (11) through a pin shaft. The lower connecting rod (47) is connected to the support plate group through a pin shaft. (42) and the spray rod mounting frame (11), the upper connecting frame (41) and the lower connecting rod (47) are arranged in parallel up and down to form a parallel connecting rod mechanism, the rear end of the push rod upper connecting rod (44) is fixed to the push rod fixing frame (46) through a pin shaft, the lower end of the push rod lower connecting rod (43) is installed on the upper connecting frame (41) through a pin shaft, and the push rod upper connecting rod (44) and the push rod lower connecting rod (43) are connected through a pin shaft, the upper end of the electric hydraulic push rod (45) is installed on the push rod upper connecting rod (44) through a pin shaft, and the lower end is installed on the push rod fixing frame (46) through a pin shaft.

9. The unmanned belt-shaped composite planting belt-type sprayer according to claim 1, characterized in that: The walking chassis assembly (6) comprises four wheel assemblies (7), a frame (69), a range extender (65), a power battery (61), and a range extender controller; the range extender (65), the power battery (61), and the range extender controller are respectively fixed to the top of the frame (69) by bolts; the four wheel assemblies (7) are respectively fixed to the four corners of the frame (69) by bolts; and a protective shell (60) is installed above the frame (69); The wheel assembly (7) comprises a wheel (71), a wheel hub motor (73), a rotating shaft (72), a wheel hub support frame (74), a steering frame (75), a worm gear reducer (77), a steering motor (76) and a motor base (78); the wheel (71) and the wheel hub motor (73) are fixed by bolts and are mounted on the wheel hub support frame (74) by means of the rotating shaft (72); the upper portion of the wheel hub support frame (74) is mounted on the steering frame (75) by means of a bearing; the worm gear reducer (77) is fixed on the steering frame (75) and is connected to the shaft of the wheel hub support frame (74) below; and the steering motor (76) is mounted on the motor base (78) and is connected to the worm of the worm gear reducer (77).

10. The unmanned belt-shaped composite planting belt-type sprayer according to claim 1, characterized in that: It also includes a soybean-corn dual spray system and an unmanned driving control unit, wherein the soybean-corn dual spray system includes two groups of medicine boxes, a diaphragm pump, a spray valve group, a pipeline and a nozzle assembly (12), wherein the medicine box, the filter, the diaphragm pump, the spray valve group and the nozzle assembly (12) are connected in sequence through pipelines to achieve the flow of liquid medicine from the medicine box to the nozzle; The unmanned driving control unit comprises a Beidou positioning system control terminal (66), a positioning antenna (8), a directional antenna (5), a gyroscope (610) and a main controller (710). The positioning antenna (8) and the directional antenna (5) are respectively installed at the front and rear parts of the whole machine. The directional antenna (5) and the positioning antenna (8) are combined to obtain the heading angle of the machine to realize the positioning and orientation function. The Beidou positioning system control terminal (66) is installed at the left rear of the frame (69) and is integrated with a display screen, a 4G communication module, and a Beidou navigation receiving module. The gyroscope (610) is installed at the center of the front beam of the chassis to provide heading and attitude information. The main controller (710) is installed in front of the frame (69) and is used to receive signals from the Beidou positioning system control terminal (66) and the gyroscope (610), and send control signals to realize the driving control of the actuator.

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