Pesticide spraying machine capable of adjusting row spacing and spray head position and direction and operation method

Abstract

The invention discloses a pesticide spraying machine capable of adjusting row spacing and nozzle position and direction and an operation method, the operation machine comprises a walking chassis, a plurality of groups of parallel four-bar assemblies are mounted at the front end of the walking chassis, and a support rod is mounted at one end of each parallel four-bar assembly; a plurality of groups of adjustable spraying assemblies are adjustably mounted on the supporting rod through adjusting assemblies, and each adjustable spraying assembly comprises a base support, a first motor, a swing arm, a second motor, a mounting bracket and a nozzle; a pesticide storage box, a pesticide supply pump and a controller are further installed on the walking chassis, and the pesticide supply pump conveys aqueous herbicide arranged in the pesticide storage box to the spray head through a pesticide conveying pipe for pesticide spraying operation; the method comprises the steps of operation preparation, pesticide spraying operation and field movement. The pesticide spraying machine can perform targeted pesticide spraying on corn plants in the bell mouth period, pesticide damage to corn cotyledons caused by large-area pesticide spraying is avoided, the pesticide spraying accuracy is improved, the line spacing can be accurately adjusted, the adaptive capacity is high, and the application prospect is wide.

Description

Technical Field

[0001] The invention relates to the technical field of corn spraying equipment, and in particular to a sprayer with adjustable row spacing and nozzle position and direction, and an operating method. Background Art

[0002] As a food crop, corn is grown in large quantities in my country and has played a very important role in the development of agriculture in my country. During its growth, corn will encounter problems such as weeds and insect pests. At this stage, spraying is mainly used to deal with these problems. For weed problems, farmers on smaller plots usually spray herbicides or pesticides manually to remove weeds, but when the plots are larger, large-scale spraying equipment is usually used to spray pesticides or herbicides. However, when large-scale spraying equipment is spraying, pesticides or herbicides will inevitably fall on the cotyledons of corn and cause agricultural damage. For example, the invention patent with application number CN202311426531.2 discloses a sprayer, which includes a walking chassis, a spraying device, an air blowing device, a power device, a visual sensor and a control device. After the spraying is completed, the purge air is passed into the medicine pump to spray the residual liquid medicine through the nozzle to prevent the residual liquid medicine from freezing in the medicine pump and pipeline and causing damage to the equipment. It has the ability to spray medicine over a large area with high efficiency. However, during the spraying process, it is impossible to only target weeds and avoid crops, resulting in a large amount of pesticide waste and causing agricultural damage to crops.

[0003] The invention patent with application number CN202211256359.6 discloses a corn-soybean intercropping spraying device, which includes a crawler chassis assembly and a mounting frame, wherein the crawler chassis assembly is connected to the lower rear side of the mounting frame; a steering assembly, wherein the front of the mounting frame is rotatably connected to the steering assembly; a liquid storage tank, wherein the liquid storage tank is connected to the middle and rear position of the mounting frame; a liquid injection pipe, wherein the left and right sides of the upper part of the liquid storage tank are connected to the liquid injection pipe; a spraying mechanism, wherein the mounting frame is provided with a spraying mechanism; and an unfolding mechanism, wherein the mounting frame is provided with an unfolding mechanism, which does not require manual folding of the spraying bracket, thereby preventing the liquid medicine from adhering to human skin and causing injury. However, the device still adopts a high-altitude spraying method, and cannot avoid the agricultural damage caused by pesticides to crop leaves. Summary of the Invention

[0004] The purpose of the present invention is to provide a sprayer and an operating method with adjustable row spacing and nozzle position direction. The sprayer can spray pesticides in a targeted manner on corn plants in the trumpet stage, avoid pesticide damage to corn cotyledons caused by large-scale spraying of pesticides, improve the accuracy of pesticide spraying, can accurately adjust the row spacing, has strong adaptability, and has broad application prospects.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A sprayer with adjustable row spacing and nozzle position direction, comprising a walking chassis, a plurality of parallel four-bar assemblies are installed at the front end of the walking chassis, support rods are fixedly installed at one end of the plurality of parallel four-bar assemblies, and the height positions of the support rods can be adjusted by the plurality of parallel four-bar assemblies; a plurality of adjustable spray assemblies are adjustably installed on the support rods through adjustment assemblies, the adjustable spray assemblies comprising a basic support fixedly mounted on the adjustment assembly, a first motor fixedly mounted on the basic support, a swing arm fixedly mounted on the output shaft of the first motor, a second motor fixedly mounted on one end of the swing arm, a mounting bracket fixedly mounted on the output shaft of the second motor, and a spray head fixedly mounted on the mounting bracket; a medicine storage box, a medicine supply pump and a controller are also installed on the walking chassis, the medicine supply pump delivers the aqueous herbicide set in the medicine storage box to the spray head through a medicine delivery pipe for spraying operation; a linear drive component is provided between the parallel four-bar assembly and the walking chassis, and the linear drive component drives the parallel four-bar assembly to swing when it is extended and retracted; the medicine supply pump, the linear drive component, the first motor and the second motor are all electrically connected to the controller.

[0007] Preferably, the walking chassis includes a chassis base bracket, four walking wheels rotatably mounted on both sides of the bottom of the chassis base bracket, a driving component for driving the walking wheels to move, a steering assembly mounted on the chassis base bracket for driving the walking wheels to turn, and a driving seat and operator fixedly mounted on the top of the chassis base bracket, the operator controls the driving component to make the walking wheels move forward or backward, and the operator controls the steering assembly to make the walking wheels turn.

[0008] Preferably, one steering assembly is provided on each of the two running wheels located on both sides of the front end of the chassis base support, and the two steering assemblies drive the two running wheels to steer.

[0009] Preferably, the driving component is a diesel engine and a chain transmission assembly with power connected to both sides of the diesel engine, and the two chain transmission assemblies respectively drive the two running wheels located on both sides of the rear end of the chassis base support.

[0010] Preferably, two groups of the parallelogram assembly are provided, and the two groups of the parallelogram assembly are provided on both sides of the front end of the walking chassis.

[0011] Preferably, the adjustment components are provided in four groups, and a group of adjustable spray components is installed on each group of adjustment components.

[0012] Preferably, the adjustment assembly includes a slider slidably mounted on the support rod, a screw motor fixedly mounted on the support rod and a nut fixedly mounted on the slider. The nut is power-connected to the screw motor. When the screw motor is energized and rotated, the slider is driven by the nut to slide horizontally, thereby realizing position adjustment of the adjustable spray assembly.

[0013] Preferably, a straw divider is provided on the mounting bracket, and limit sensors are provided on both sides of the straw divider, and the limit sensors are used to determine whether the straw divider is in contact with the plants.

[0014] An operating method for a sprayer with adjustable line spacing and nozzle position direction, the operating method comprising the following steps:

[0015] Step 1: Operation preparation. The operator moves the sprayer to the area to be sprayed by manipulating the walking chassis. The operator controls the adjustment component to the specified row spacing through the controller, and then adjusts the parallel four-bar assembly and the first motor and the second motor to lower the nozzle to a preset height range from the ground. The operator controls the drug supply pump through the controller to deliver the aqueous herbicide in the drug storage tank to the nozzle through the drug delivery pipe for trial spraying. After the trial spraying is completed, the drug supply pump is stopped and the machine waits for the official spraying operation.

[0016] Step 2: spraying operation. The controller turns on the drug supply pump, and the aqueous herbicide in the drug storage tank is delivered to the spray head through the drug delivery pipe for spraying operation. The walking chassis is controlled to make the sprayer perform field spraying operation.

[0017] Step three, moving in the field. After the spraying operation is completed, the operator controls the parallel four-bar assembly and the first motor through the controller to lift the spray head to the specified ground clearance or the highest position, and then controls the walking chassis to move the sprayer in the field.

[0018] In the present invention, the parallelogram assembly and adjustable spray assembly can be used to cantilever the nozzle at a specified height above the ground, allowing the nozzle to spray only the weeds on the ground, thus avoiding the damage to corn cotyledons caused by traditional large-scale pesticide spraying. It also avoids the reduction of weed control ability due to the obstruction of corn cotyledons, thereby improving the accuracy of pesticide spraying. The height of corn plants in the trumpet stage is generally around 1.2m. The ground clearance of the walking chassis is higher than the height of corn plants in this stage, so the corn is not damaged during operation. The adjustment assembly can adjust the left and right position of the nozzle in real time according to the plant position information detected by the limit sensor during operation, ensuring the stability of the spraying operation and avoiding the influence of the spraying effect due to the yaw of the walking chassis. The setting of the second motor can ensure that the nozzle is always facing the ground when adjusting the position of the nozzle. Of course, the spray angle of the nozzle can also be adjusted according to the operation requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of the present invention from another perspective;

[0021] In the figure: 1. Walking chassis; 2. Parallel four-bar assembly; 3. Support rod; 4. Linear drive component; 5. Adjustment component; 6. Adjustable spray component; 7. Medicine storage box; 8. Medicine supply pump; 9. Controller; 10. Medicine delivery tube; 11. Chassis base bracket; 12. Walking wheel; 13. Drive component; 14. Steering assembly; 15. Driving seat; 16. Operator; 50. Slider; 51. Screw motor; 52. Nut; 60. Basic support; 61. First motor; 62. Swing arm; 63. Second motor; 64. Mounting bracket; 65. Sprinkler; 66. Grain divider; 67. Limit sensor. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings:

[0023] like Figure 1 and Figure 2 The sprayer is shown as having adjustable row spacing and nozzle position and direction, and includes a chassis 1. The chassis 1 includes a chassis base frame 10, four running wheels 11 rotatably mounted on both sides of the bottom of the chassis base frame 10, a driving member 12 for driving the running wheels 11, a steering assembly 13 mounted on the chassis base frame 10 for driving the running wheels 11, and a driver's seat 14 and an operator 15 fixedly mounted on the top of the chassis base frame 10. An operator sits in the driver's seat 14 to operate the sprayer. The operator controls the driving member 12 through the operator 15 to move the running wheels 11 forward or reverse, and controls the steering assembly 13 through the operator 15 to steer the running wheels 11. Specifically, the operator 15 is an accelerator pedal and a steering wheel. In one embodiment, a steering assembly 13 is provided on each of the two running wheels 11 located on both sides of the front end of the chassis base frame 10. The two steering assemblies 13 drive the two running wheels 11 to steer. The drive assembly 12 comprises a diesel engine and a chain drive assembly connected to either side of the engine's output. These two chain drive assemblies respectively drive the two running wheels 11 located on either side of the rear end of the chassis base support 10. The steering assembly 13 comprises a parallelogram steering mechanism or a steering motor. A connector is provided on the steering motor's output shaft, connecting it to the running wheels 11. Controlling the steering angle of the steering motor achieves steering control of the running wheels 11.

[0024] Multiple parallelogram assemblies 2 are mounted at the front end of the traveling chassis 1. Support rods 3 are fixedly mounted at the front ends of the multiple parallelogram assemblies 2. The multiple parallelogram assemblies 2 can adjust the height of the support rods 3. A linear drive member 4 is disposed between the parallelogram assemblies 2 and the traveling chassis 1. When the linear drive member 4 is extended or retracted, the parallelogram assemblies 2 swing. In this embodiment, the linear drive member 4 is a hydraulic cylinder or electric push rod. Two parallelogram assemblies 2 are provided, symmetrically disposed on either side of the front end of the traveling chassis 1. The two linear drive members 4 operate synchronously, ensuring the synchronized operation of the two parallelogram assemblies 2. Alternatively, a single linear drive member 4 can be provided, with the other side replaced by a sliding bearing and a sliding rod. Alternatively, three, four, or any other number of parallelogram assemblies 2 can be provided. During the swinging process, the parallelogram assemblies 2 ensure that the support rods 3 do not rotate about their own axes, thereby reducing the difficulty of adjusting the angle of the nozzle 65.

[0025] Multiple adjustable spray assemblies 6 are adjustably mounted on the support rod 3 via the adjustment assembly 5. The adjustable spray assemblies 6 include a base support 60 fixedly mounted on the adjustment assembly 5, a first motor 61 fixedly mounted on the base support 60 via fasteners, a swing arm 62 fixedly mounted on the output shaft of the first motor 61 via a key or fasteners, a second motor 63 fixedly mounted on one end of the swing arm 62 via a fastener, a mounting bracket 64 fixedly mounted on the output shaft of the second motor 63 via a key or fasteners, and a nozzle 65 fixedly mounted on the mounting bracket 64. The first motor 61 is used to control the swing of the swing arm 62 and adjust the height position of the nozzle 65. The second motor 63 is used to control the angle of the nozzle 65. The first motor 61 and the second motor 63 are controlled by a controller to control the relative rotation angles of the first motor 61 and the second motor 63, thereby precisely controlling the angle of the nozzle 65. The base support 60 is fixedly mounted on the slider 50.

[0026] Four groups of adjustment assemblies 5 are provided, with one group of adjustable spray assemblies 6 mounted on each group of adjustment assemblies 5. Three, five, six, or other numbers of adjustment assemblies 5 may also be provided based on user needs. The adjustment assemblies 5 include a slider 50 slidably mounted on the support rod 3, a screw motor 51 fixedly mounted on the support rod 3, and a nut 52 fixedly mounted on the slider 50. The nut 52 is power-connected to the screw motor 51. When the screw motor 51 is energized and rotated, the slider 50 is driven by the nut 52 to slide horizontally, thereby adjusting the position of the adjustable spray assembly 6.

[0027] Also fixedly mounted on the traveling chassis 1 are a medicine storage tank 7, a medicine supply pump 8, and a controller 9. Power is supplied to the medicine supply pump 8, which delivers the aqueous herbicide, pre-installed in the medicine storage tank 7, to the spray heads 65 via a medicine delivery tube 10 for spraying. Multiple spray heads 65 are connected to the medicine delivery tube 7 via a multi-way valve. In this embodiment, four spray heads 65 are connected to a five-way valve via flexible hoses. The five-way valve is adjacent to the medicine supply pump 8 via the medicine delivery tube 10. The medicine supply pump 8 pumps the aqueous herbicide from the medicine storage tank 7 to the spray heads 65 for spraying. The medicine supply pump 8, the linear drive member 4, the first motor 61, and the second motor 63 are all electrically connected to the controller 9.

[0028] A straw divider 66 is mounted on the mounting bracket 64, with limit sensors 67 positioned on either side of the straw divider 66. These limit sensors 67 are used to determine whether the straw divider 66 is in contact with the plants. During operation, if the limit sensor 67 on one side of the straw divider 66 is squeezed by corn plants for a prolonged period, it indicates that the adjustable spray assembly 6 is not positioned midway between two rows of plants. At this point, the controller 9 adjusts the corresponding adjustment assembly 5 to ensure accurate spraying. The end of the straw divider 66 is an elastic component that deforms when squeezed, further compressing the limit sensor 67.

[0029] like Figure 1 and Figure 2 The operating method of the sprayer with adjustable row spacing and nozzle position direction is shown, and the operating method includes the following steps:

[0030] Step 1, operation preparation, the operator controls the walking chassis 1 on the driving seat 15 to move the sprayer to the operation area to be sprayed, the operator controls the adjustment component 5 through the controller 9 to adjust the adjustable spray component 6 to the specified row spacing, and then adjusts the parallel four-bar assembly 2 and the first motor 61 and the second motor 63 to lower the nozzle 65 to a preset height range from the ground. In this application, the height of the nozzle 65 from the ground is 10 cm. Finally, the operator controls the drug supply pump 8 through the controller 9 to deliver the aqueous herbicide in the drug storage tank 7 to the nozzle 65 through the drug delivery pipe 10 for a trial spraying operation. After the trial spraying operation is completed, the drug supply pump is stopped and wait for the formal spraying operation.

[0031] In step 2, spraying operation, the operator turns on the drug supply pump 8 through the controller 9, and delivers the aqueous herbicide in the drug storage box 7 to the nozzle 65 through the drug delivery pipe 10 for spraying operation, and then controls the walking chassis 1 to make the sprayer spray in the field. When turning around, the parallel four-bar assembly 2 needs to be raised to a safe height. After the U-turn is completed, the parallel four-bar assembly 2 is lowered so that the nozzle 65 is lowered to a preset range with the ground height. The above operation is repeated until the spraying operation is completed.

[0032] Step 3: Moving in the field. After the spraying operation is completed, the operator controls the parallel four-bar assembly 2 and the first motor 61 through the controller 9 to lift the spray head 65 to the specified ground clearance or the highest position, and then controls the walking chassis 1 to move the sprayer in the field to change the spraying operation area.

[0033] The above embodiments are merely some explanations of the concept and implementation of the present invention, and are not intended to limit the same. Under the concept of the present invention, technical solutions that have not been substantially changed are still within the scope of protection.

Claims

1. A pesticide sprayer with adjustable row spacing and nozzle position and direction, comprising a traveling chassis, characterized in that: A plurality of parallelogram assemblies are installed at the front end of the walking chassis, and support rods are fixedly installed at one end of the plurality of parallelogram assemblies, and the height positions of the support rods can be adjusted by the plurality of parallelogram assemblies; a plurality of adjustable spray assemblies are adjustably installed on the support rods through the adjustment assemblies, and the adjustable spray assemblies include a basic support fixedly installed on the adjustment assemblies, a first motor fixedly installed on the basic support, a swing arm fixedly installed on the output shaft of the first motor, a second motor fixedly installed on one end of the swing arm, a mounting bracket fixedly installed on the output shaft of the second motor, and a spray head fixedly installed on the mounting bracket; a medicine storage box, a medicine supply pump and a controller are also installed on the walking chassis, and the medicine supply pump transports the aqueous herbicide arranged in the medicine storage box to the spray head through a medicine delivery pipe for spraying operation; a linear drive component is provided between the parallelogram assemblies and the walking chassis, and the linear drive component drives the parallelogram assemblies to swing when it is extended and retracted; the medicine supply pump, the linear drive component, the first motor and the second motor are all electrically connected to the controller.

2. The spraying machine with adjustable line spacing and nozzle position direction according to claim 1, characterized in that: The walking chassis includes a chassis base bracket, four walking wheels rotatably mounted on both sides of the bottom of the chassis base bracket, a driving component for driving the walking wheels to move, a steering assembly mounted on the chassis base bracket for driving the walking wheels to turn, and a driving seat and an operator fixedly mounted on the top of the chassis base bracket. The operator controls the driving component to make the walking wheels move forward or backward, and the operator controls the steering assembly to make the walking wheels turn.

3. The spraying machine with adjustable line spacing and nozzle position direction according to claim 2, characterized in that: A steering assembly is provided on each of the two traveling wheels located on both sides of the front end of the chassis base support, and the two steering assemblies drive the two traveling wheels to steer.

4. The spraying machine with adjustable line spacing and nozzle position direction according to claim 3, characterized in that: The driving components are a diesel engine and a chain transmission assembly with power connected to both sides of the diesel engine. The two chain transmission assemblies respectively drive the two running wheels located on both sides of the rear end of the chassis base bracket.

5. The spraying machine with adjustable line spacing and nozzle position direction according to claim 1 or 4, characterized in that: The parallelogram components are provided in two groups, and the two groups of parallelogram components are provided on both sides of the front end of the walking chassis.

6. The spraying machine with adjustable line spacing and nozzle position direction according to claim 1, characterized in that: The regulating components are arranged in four groups, and a group of adjustable spraying components is installed on each group of regulating components.

7. The spraying machine with adjustable line spacing and nozzle position direction according to claim 6, characterized in that: The adjustment assembly includes a slider slidably mounted on the support rod, a screw motor fixedly mounted on the support rod and a nut fixedly mounted on the slider. The nut is power-connected to the screw motor. When the screw motor is energized and rotated, the slider is driven by the nut to slide horizontally, thereby realizing position adjustment of the adjustable spray assembly.

8. The spraying machine with adjustable line spacing and nozzle position direction according to claim 6 or 7, characterized in that: A straw divider is arranged on the mounting bracket, and limit sensors are arranged on both sides of the straw divider. The limit sensors are used to determine whether the straw divider is in contact with the plants.

9. An operating method of a spraying machine with adjustable line spacing and nozzle position direction according to any one of claims 1 to 8, characterized in that: The operation method comprises the following steps: Step 1: Operation preparation. The operator moves the sprayer to the area to be sprayed by manipulating the walking chassis. The operator controls the adjustment component to the specified row spacing through the controller, and then adjusts the parallel four-bar assembly and the first motor and the second motor to lower the nozzle to a preset height range from the ground. The operator controls the drug supply pump through the controller to deliver the aqueous herbicide in the drug storage tank to the nozzle through the drug delivery pipe for trial spraying. After the trial spraying is completed, the drug supply pump is stopped and the machine waits for the official spraying operation. Step 2: spraying operation. The controller turns on the drug supply pump, and the aqueous herbicide in the drug storage tank is delivered to the spray head through the drug delivery pipe for spraying operation. The walking chassis is controlled to make the sprayer perform field spraying operation. Step three, moving in the field. After the spraying operation is completed, the operator controls the parallel four-bar assembly and the first motor through the controller to lift the spray head to the specified ground clearance or the highest position, and then controls the walking chassis to move the sprayer in the field.

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