Automatic water and pesticide integrated sprinkling irrigation device

Abstract

The invention provides an automatic water and pesticide integrated spray irrigation device which comprises a first spray pipe, a second spray pipe, a third spray pipe and a fourth spray pipe. Included angles exist between end face normal lines of the second spraying pipe, the third spraying pipe and the fourth spraying pipe and the axis of the first spraying pipe, normal line deflection of an outlet of the thrust vector spraying pipe is achieved through simultaneous rotation of the second spraying pipe, the third spraying pipe and the fourth spraying pipe, and it is guaranteed that the axes of the first spraying pipe, the second spraying pipe, the third spraying pipe and the fourth spraying pipe are coplanar in the rotating process. Inner rings of the first spray pipe, the second spray pipe, the third spray pipe and the fourth spray pipe are all provided with communicated hole channels which are sequentially connected with one another to form an inner through duct of the sprinkling irrigation device. According to the invention, synchronous sprinkling irrigation is carried out on water in the through duct in the sprinkling irrigation device and pesticide in the pesticide hole channel, so that the mixing of water and pesticide in the sprinkling irrigation process is realized, the mixing ratio can be adjusted according to the inlet pressure, the operation flow of water-pesticide integrated sprinkling irrigation is simplified, and the storage difficulty of the pesticide is reduced.

Description

Technical Field

[0001] This invention relates to the field of farmland irrigation machinery technology, specifically an automated water and pesticide integrated sprinkler irrigation device. Background Technology

[0002] Agriculture is an industry that utilizes the growth and development patterns of plants and animals to obtain products through artificial cultivation. Agriculture belongs to the primary sector, providing the basic products that support national economic construction and development. In agricultural production, water and pesticides are two crucial factors. Current agricultural production often utilizes integrated water-pesticide technology, which mixes soluble solid or liquid pesticides with agricultural water and uses sprinkler irrigation to achieve simultaneous irrigation and pesticide application. However, mixing the pesticides with water first and then adding them to the sprinkler machine is complex, time-consuming, and difficult to store. Furthermore, most commercially available sprinkler heads currently used domestically and internationally are reaction-driven, which can lead to water waste and water accumulation under the sprinkler head. Additionally, the sprayed area is often fan-shaped or circular, and fan / circular nozzles cannot fully cover the area. Full coverage would require multiple nozzles, and multi-fan / circular nozzle systems would result in repeated spraying of adjacent areas, affecting irrigation efficiency and increasing water consumption and operating costs.

[0003] On the other hand, in existing sprinkler irrigation systems, the rotation of the sprinkler mainly relies on gear transmission and hydraulic transmission. Gear transmission typically has large clearances, or achieving low clearance transmission is difficult. Hydraulic transmission is complex in structure and expensive, and hydraulic oil also poses environmental problems. Precision wire rope transmission, based on the principle of flexible transmission, uses a wire rope as the force transmission medium. It achieves torque transmission between the driving and driven wheels through static friction between the wire rope and the driven wheel. This theoretically avoids nonlinear factors such as clearance and friction, and has promising application prospects in precision pointing mechanisms.

[0004] The transmission form of traditional wire rope precision transmission is basically a figure-eight winding type. The figure-eight winding can cancel out the radial forces acting on the wheel axle, and can also increase the transmission wrap angle to improve the transmission capacity. In addition, in order to increase the load capacity of wire rope precision transmission, traditional wire rope precision transmission increases the transmission performance by winding multiple turns on the driving and driven wheels.

[0005] However, the figure-eight winding method causes interference at the intersecting parts of the wire rope, making it prone to misalignment and skew in precision wire rope transmission. Extending this to multiple windings, the wire rope does not wind along the direction of the groove during the transition between the driving and driven pulleys, but rather at an angle. This method places high demands on the design of the guide groove for precision wire rope transmission. Furthermore, the larger the helix angle of the spiral groove, the larger the transmission ratio and the smaller the center distance, the easier it is for the wire rope to derail. The figure-eight winding method limits the transmission capacity of precision wire rope transmission and increases the design difficulty for engineers. Summary of the Invention

[0006] To address the problems of existing technologies, this invention provides an automated water-pesticide integrated sprinkler irrigation device. By simultaneously spraying water in the culvert and pesticide in the pesticide channel within the sprinkler irrigation device, the water and pesticide are mixed during the irrigation process. The mixing ratio can be adjusted according to the inlet pressure, simplifying the operation process of the water-pesticide integrated sprinkler irrigation and reducing the difficulty of storing pesticide solution.

[0007] The present invention provides an automated water and pesticide integrated spray irrigation device, including a first spray pipe, a second spray pipe, a third spray pipe, a fourth spray pipe, a first rotating joint, a second rotating joint, and a third rotating joint.

[0008] The ends of the first, second, third, and fourth spray pipes are circular. The normals of the end faces of the second, third, and fourth spray pipes form an angle with the axis of the first spray pipe. The first and second spray pipes are connected by a first revolute joint, and the second spray pipe rotates around the first spray pipe through the first revolute joint. The second and third spray pipes are connected by a second revolute joint, and the third spray pipe rotates around the second spray pipe through the second revolute joint. The third and fourth spray pipes are connected by a third revolute joint, and the fourth spray pipe rotates around the third spray pipe through the third revolute joint. The thrust vector nozzle outlet normal is deflected by the simultaneous rotation of the second, third, and fourth spray pipes, and the axes of the first, second, third, and fourth spray pipes are kept coplanar during the rotation. The inner rings of the first, second, third, and fourth spray pipes are all provided with communicating channels, which are connected to each other to form the inner duct of the sprinkler irrigation device. The bottom end of the first spray pipe serves as the water inlet, and the top end of the fourth spray pipe serves as the water outlet.

[0009] In a further improvement, the first, second, and third rotary joints all adopt gear transmission, the first rotary joint is connected to a first drive box, and the second and third rotary joints are connected to a second drive box.

[0010] In a further improvement, the outer ring of the first rotating joint is provided with an external meshing gear, and the inner ring is equipped with a bearing. The first drive box drives the external meshing gear on the first rotating joint, so that the second nozzle rotates around the first nozzle through the inner ring bearing of the first rotating joint. At the same time, the first drive box is provided with a damping device, so that after the first drive box drives the second nozzle to reach the set position, it automatically rotates back under the action of damping force. The rotation speed is adjusted by the damping coefficient. Both the second and third rotating pairs have external meshing gears on their outer rings and bearings on their inner rings. The second drive box connects the external meshing gears on the second and third rotating pairs and transmits rotational torque, so that the second nozzle rotates around the third nozzle through the inner ring bearing of the second rotating pair, and the fourth nozzle rotates around the third nozzle in steps through the inner ring bearing of the third rotating pair.

[0011] In a further improvement, the second drive box connects the external meshing gears on the second and third rotating pairs simultaneously through the transmission system inside the drive box and transmits rotational torque, so that the second nozzle and the fourth nozzle rotate in opposite directions at the same speed around the third nozzle through the inner ring bearings of the second and third rotating pairs.

[0012] Further improvements include the adoption of wire rope transmission mechanisms for the first, second, and third rotating pairs.

[0013] In a further improvement, the wire rope transmission mechanism includes a servo motor, a mounting bracket, a drive sheave, a driven sheave, a rolling bearing, a bearing retaining ring, and a wire rope. The mounting bracket is connected to the servo motor, which controls or indirectly controls the rotation of the drive sheave. The rolling bearing is fixed on the mounting bracket, and the driven sheave is the outer flange of the rolling bearing. The bearing retaining ring is connected to the rolling bearing. The wire rope transmits torque in the form of friction. The drive and driven sheaves are provided with guide grooves on the same plane in a circumferential direction, and the wire rope is wound sequentially in the guide grooves of the drive and driven sheaves.

[0014] In a further improvement, the mounting bracket is provided with two symmetrical mounting holes on an axis. Guide wheels are installed in the mounting holes, and the guide wheels limit the movement of the wire rope. The wire rope is wound in a "gourd" shape around the driving rope wheel and the driven rope wheel.

[0015] In a further improvement, the wire rope has multiple sets, and the number of circumferential guide grooves for the driving and driven sheaves is the same as the number of sets of wire rope. The guide grooves of the driving and driven sheaves correspond to each other, and the center planes of the corresponding guide grooves of the driving and driven sheaves are on the same plane and parallel to the driving and driven sheaves.

[0016] Further improvements include the first, second, third, and fourth nozzles being thin-walled structures with cross-shaped reinforcing ribs evenly distributed laterally and longitudinally on their outer walls.

[0017] Further improvements include the following: the outer ring of the inner duct of the first, second, third, and fourth nozzles is provided with propellant channels, the diameter of which is smaller than that of the inner duct of the first, second, third, and fourth nozzles.

[0018] The beneficial effects of this invention are as follows: 1. Adopting a tubular structure, the inner rings of the first, second, third, and fourth spray pipes are all provided with interconnected channels, which are connected in sequence to form the inner duct of the sprinkler irrigation device. The outer rings of the inner ducts of the first, second, third, and fourth spray pipes are all distributed with pesticide channels. By simultaneously spraying water in the inner ducts and pesticides in the pesticide channels, the water and pesticides are mixed during the irrigation process. The mixing ratio can be adjusted according to the inlet pressure, which simplifies the operation process of integrated water and pesticide sprinkler irrigation and reduces the difficulty of pesticide storage.

[0019] 2. The gear-type rotating joint adopts a three-degree-of-freedom distributed control. The deflection angle of the water outlet normal of the irrigation device is controlled by the deflection of the second-stage nozzle. A damping device is installed in the first drive box that controls the rotation of the second-stage nozzle, so that the irrigation device automatically rotates back after reaching the set position due to the damping force. Compared with traditional sprinklers that rely on the reaction force of pressurized water to rotate, the rotation accuracy is high and adjustable and controllable, while saving unnecessary water waste. At the same time, the mechanical energy required for its main periodic motion is generated by the damping device, avoiding excessive electrical energy requirements. The pitch angle of the water outlet normal of the irrigation device is controlled by the rotation of the third and fourth-stage nozzles. The controller controls the second drive box to drive the third and fourth-stage nozzles to adjust the spraying of non-circular areas at the boundary according to the surrounding environment, obstacle avoidance, and spraying.

[0020] 3. The wire rope revolute joint has a simple structure, light weight, high precision, and zero backlash. Compared to traditional open-type wire rope precision transmission, the guide wheel's limiting action allows the wire rope to achieve a figure-eight-like "gourd"-shaped winding, ensuring a large transmission wrap angle for high-load requirements. Furthermore, the "gourd"-shaped winding method avoids interference during figure-eight wire rope precision transmission winding and the groove skew angle during multi-turn winding, solving the defects of misalignment, skewness, and derailment that easily occur in figure-eight wire rope precision transmission, while also reducing the design difficulty of the guide groove. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1A schematic diagram of an automated water-pesticide integrated sprinkler irrigation device using a gear-type rotating pair; Figure 2 This is a schematic diagram of a wire rope type rotating pair structure.

[0023] In the diagram, 1-first nozzle, 2-second nozzle, 3-third nozzle, 4-fourth nozzle, 5-first rotating pair, 6-second rotating pair, 7-third rotating pair, 8-first drive box, 9-second drive box, 10-servo motor, 11-mounting bracket, 12-drive pulley, 13-driven pulley, 14-rolling bearing, 15-bearing retaining ring, 16-wire rope, 17-guide wheel. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The present invention provides an automated water and pesticide integrated spray irrigation device, including a first spray pipe 1, a second spray pipe 2, a third spray pipe 3, a fourth spray pipe 4, a first rotating joint 5, a second rotating joint 6, and a third rotating joint 7.

[0026] The ends of the first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 are circular. The normals of the end faces of the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 form an angle with the axis of the first nozzle 1. The first nozzle 1 and the second nozzle 2 are connected by a first revolute joint 5, and the second nozzle 2 rotates around the first nozzle 1 through the first revolute joint 5. The second nozzle 2 and the third nozzle 3 are connected by a second revolute joint 6, and the third nozzle 3 rotates around the second nozzle 2 through the second revolute joint 6. The third nozzle 3 and the fourth nozzle 4 are connected by a third revolute joint 7, and the fourth nozzle 4 rotates around the third nozzle 3 through the third revolute joint 7. The thrust vector nozzle exit normal is deflected by the simultaneous rotation of the second nozzle 2, the third nozzle 3, and the fourth nozzle 4, and the axes of the first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 are kept coplanar during the rotation. The inner rings of the first nozzle 1, the second nozzle 2, the third nozzle 3 and the fourth nozzle 4 are all provided with communicating channels, which are connected to each other in sequence to form the inner duct of the sprinkler irrigation device. The bottom end of the first nozzle 1 serves as the water inlet and the top end of the fourth nozzle 4 serves as the water outlet.

[0027] The first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 are thin-walled structures, and their outer walls are designed with cross-shaped reinforcing ribs evenly distributed laterally and longitudinally. The outer ring of the inner duct of the first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 is evenly distributed with propellant channels, the diameter of which is smaller than that of the inner duct of the first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4.

[0028] Example 1: A gear-type rotating pair is used, such as... Figure 1 As shown.

[0029] The first rotating joint 5, the second rotating joint 6, and the third rotating joint 7 all employ gear transmission. The first rotating joint 5 is connected to the first drive box 8, and the second rotating joint 6 and the third rotating joint 7 are connected to the second drive box 9. The first rotating joint 5 has an external meshing gear on its outer ring and a bearing installed on its inner ring. The first drive box 8 drives the external meshing gear on the first rotating joint 5, causing the second nozzle 2 to rotate around the first nozzle 1 through the inner ring bearing of the first rotating joint 5. At the same time, the first drive box 8 is equipped with a damping device, so that after the first drive box 8 drives the second nozzle 2 to reach the set position, it will automatically rotate back under the action of damping force. The rotation speed is adjusted by the damping coefficient. The second rotating joint 6 and the third rotating joint 7 both have external meshing gears on their outer rings and bearings installed on their inner rings. The second drive box 9 connects the external meshing gears on the second rotating joint 6 and the third rotating joint 7 and transmits the rotation torque, causing the second nozzle 2 to rotate around the third nozzle 3 through the inner ring bearing of the second rotating joint 6, and the fourth nozzle 4 to rotate around the third nozzle 3 in steps through the inner ring bearing of the third rotating joint 7. The second drive box 9 connects the external meshing gears on the second rotating joint 6 and the third rotating joint 7 through the transmission system inside the drive box and transmits the rotational torque, so that the second nozzle 2 and the fourth nozzle 4 rotate in opposite directions and at the same speed around the third nozzle 3 through the inner ring bearings of the second rotating joint 6 and the third rotating joint 7.

[0030] Example 2: Using a wire rope type rotating pair, such as... Figure 2 As shown.

[0031] The first rotary joint 5, the second rotary joint 6, and the third rotary joint 7 all employ wire rope transmission mechanisms. Each wire rope transmission mechanism includes a servo motor 10, a mounting bracket 11, a drive pulley 12, a driven pulley 13, a rolling bearing 14, a bearing retaining ring 15, and a wire rope 16. The mounting bracket 11 is connected to the servo motor 10, which controls or indirectly controls the rotation of the drive pulley 12. The rolling bearing 14 is fixed to the mounting bracket 11. The driven pulley 13 is the outer flange of the rolling bearing 14. The bearing retaining ring 15 is connected to the rolling bearing 14. The wire rope 16 transmits torque through friction. The drive pulley 12 and the driven pulley 13 are circumferentially provided with guide grooves on the same plane, and the wire rope 16 is sequentially wound around the guide grooves of the drive pulley 12 and the driven pulley 13.

[0032] The mounting bracket 11 is provided with two symmetrical mounting holes on the axis. Guide wheels 17 are installed in the mounting holes. The center distance of the guide wheels 17 can be adjusted by adjusting the installation position of the guide wheels 17 in the mounting holes. The guide wheels 17 have a limiting effect on the wire rope 16. The wire rope 16 is wound in a "gourd" shape around the driving rope wheel 12 and the driven rope wheel 13 to increase the transmission wrap angle of the first stage steering mechanism of the thrust vector nozzle, and at the same time provide the wire rope 16 with a pretension force with higher pretension efficiency.

[0033] The wire rope 16 has multiple sets. The number of circumferential guide grooves for the driving sheave 12 and driven sheave 13 is the same as the number of sets of wire rope 16. The guide grooves of the driving sheave 12 and driven sheave 13 correspond to each other. The center planes of the corresponding guide grooves of the driving sheave 12 and driven sheave 13 are on the same plane and parallel to the driving sheave 12 and driven sheave 13. The driving sheave 12 has a through hole centered on the center plane of the guide groove, which serves as a clamp to fix the two ends of the wire rope 16.

[0034] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, for the device embodiments, the above descriptions are merely preferred embodiments of the present invention. Since they are fundamentally similar to the method embodiments, the descriptions are relatively simple, and relevant parts can be referred to the descriptions of the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention, without departing from the principle of the present invention, should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated water-pesticide integrated sprinkler irrigation device, characterized in that: It includes a first nozzle (1), a second nozzle (2), a third nozzle (3), a fourth nozzle (4), a first rotating joint (5), a second rotating joint (6), and a third rotating joint (7); The ends of the first nozzle (1), the second nozzle (2), the third nozzle (3), and the fourth nozzle (4) are circular. The normals of the end faces of the second nozzle (2), the third nozzle (3), and the fourth nozzle (4) form an angle with the axis of the first nozzle (1). The first nozzle (1) and the second nozzle (2) are connected by a first rotating joint (5). The second nozzle (2) rotates around the first nozzle (1) through the first rotating joint (5). The second nozzle (2) and the third nozzle (3) are connected by a second rotating joint (6). (3) The second nozzle (2) is rotated around the second nozzle (2) through the second rotating joint (6), the third nozzle (3) and the fourth nozzle (4) are connected through the third rotating joint (7), and the fourth nozzle (4) is rotated around the third nozzle (3) through the third rotating joint (7); the thrust vector nozzle exit normal is deflected by rotating the second nozzle (2), the third nozzle (3) and the fourth nozzle (4) at the same time, and the axes of the first nozzle (1), the second nozzle (2), the third nozzle (3) and the fourth nozzle (4) are kept coplanar during the rotation. The inner rings of the first nozzle (1), the second nozzle (2), the third nozzle (3) and the fourth nozzle (4) are all provided with connecting channels, which are connected to each other in sequence to form the inner duct of the sprinkler irrigation device. The bottom end of the first nozzle (1) serves as the water inlet and the top end of the fourth nozzle (4) serves as the water outlet.

2. The automated water-pesticide integrated sprinkler irrigation device according to claim 1, characterized in that: The first rotary joint (5), the second rotary joint (6), and the third rotary joint (7) are all geared. The first rotary joint (5) is connected to the first drive box (8), and the second rotary joint (6) and the third rotary joint (7) are connected to the second drive box (9).

3. The automated water-pesticide integrated sprinkler irrigation device according to claim 2, characterized in that: The outer ring of the first rotating pair (5) is provided with an external meshing gear, and the inner ring is equipped with a bearing. The first drive box (8) drives the external meshing gear on the first rotating pair (5) so that the second nozzle (2) rotates around the first nozzle (1) through the inner ring bearing of the first rotating pair (5). At the same time, the first drive box (8) is provided with a damping device so that after the first drive box (8) drives the second nozzle (2) to reach the set position, it automatically rotates back under the action of damping force. The rotation speed is adjusted by the damping coefficient. The outer rings of the second rotating pair (6) and the third rotating pair (7) are provided with external meshing gears, and the inner rings are provided with bearings. The second drive box (9) connects the external meshing gears on the second rotating pair (6) and the third rotating pair (7) and transmits the rotational torque, so that the second nozzle (2) rotates around the third nozzle (3) through the inner ring bearing of the second rotating pair (6), and the fourth nozzle (4) rotates around the third nozzle (3) in steps through the inner ring bearing of the third rotating pair (7).

4. The automated water-pesticide integrated sprinkler irrigation device according to claim 3, characterized in that: The second drive box (9) connects the external meshing gears on the second rotating pair (6) and the third rotating pair (7) through the transmission system inside the drive box and transmits the rotational torque, so that the second nozzle (2) and the fourth nozzle (4) rotate in opposite directions at the same speed around the third nozzle (3) through the inner ring bearings of the second rotating pair (6) and the third rotating pair (7).

5. The automated water-pesticide integrated sprinkler irrigation device according to claim 1, characterized in that: The first rotary joint (5), the second rotary joint (6), and the third rotary joint (7) all adopt wire rope transmission mechanisms.

6. The automated water-pesticide integrated sprinkler irrigation device according to claim 5, characterized in that: The wire rope transmission mechanism includes a servo motor (10), a mounting bracket (11), a drive pulley (12), a driven pulley (13), a rolling bearing (14), a bearing retaining ring (15), and a wire rope (16). The mounting bracket (11) is connected to the servo motor (10), and the servo motor (10) controls or indirectly controls the rotation of the drive pulley (12). The rolling bearing (14) is fixed on the mounting bracket (11). The driven pulley (13) is the outer flange of the rolling bearing (14). The bearing retaining ring (15) is connected to the rolling bearing (14). The wire rope (16) transmits torque in the form of friction. The drive pulley (12) and the driven pulley (13) are provided with guide grooves in the same plane in a circumferential direction. The wire rope (16) is wound around the guide grooves of the drive pulley (12) and the driven pulley (13) in sequence.

7. The automated water-pesticide integrated sprinkler irrigation device according to claim 6, characterized in that: The mounting bracket (11) is provided with two symmetrical mounting holes on the axis. Guide wheels (17) are installed on the mounting holes. The guide wheels (17) limit the steel wire rope (16). The steel wire rope (16) is wound in a "gourd" shape around the driving rope wheel (12) and the driven rope wheel (13).

8. The automated water-pesticide integrated sprinkler irrigation device according to claim 6, characterized in that: The wire rope (16) has multiple sets, and the number of circumferential guide grooves of the driving rope wheel (12) and the driven rope wheel (13) is the same as the number of sets of the wire rope (16). The guide grooves of the driving rope wheel (12) and the driven rope wheel (13) correspond to each other. The center planes of the corresponding guide grooves of the driving rope wheel (12) and the driven rope wheel (13) are on the same plane and parallel to the driving rope wheel (12) and the driven rope wheel (13).

9. The automated water-pesticide integrated sprinkler irrigation device according to claim 1, characterized in that: The first nozzle (1), the second nozzle (2), the third nozzle (3) and the fourth nozzle (4) are thin-walled structures, and their outer walls are designed with cross-shaped reinforcing ribs evenly distributed in the horizontal and vertical directions.

10. The automated water-pesticide integrated sprinkler irrigation device according to claim 1, characterized in that: The outer ring of the inner duct of the first nozzle (1), the second nozzle (2), the third nozzle (3), and the fourth nozzle (4) is evenly distributed with propellant channels, and the diameter of the propellant channels is smaller than that of the inner duct of the first nozzle (1), the second nozzle (2), the third nozzle (3), and the fourth nozzle (4).

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