Segmented profiling lifting adjustable spraying device for self-propelled plant protection machine

Abstract

The invention discloses a segmented profiling lifting adjustable spraying device for a self-propelled plant protection machine, and relates to the technical field of agricultural machine.The segmented profiling lifting adjustable spraying device comprises a lifting mechanism, a pesticide box and a liquid pump which are arranged on a self-propelled plant protection machine body, the lifting mechanism is used for driving a stand column to move up and down, and a middle spraying rod frame is fixedly connected to the stand column; first-stage spraying rod frames are hinged to the two sides of the middle spraying rod frame through folding steering engines, second-stage spraying rod frames are hinged to the tail ends of the first-stage spraying rod frames through folding steering engines, and spraying assemblies are arranged on the middle spraying rod frame, the first-stage spraying rod frames and the second-stage spraying rod frames. A multi-stage adjustable spraying system, a tail end vibration reduction mechanism and a crop shunting protection wheel cover are integrated, so that the problems that the spraying quality is affected by vibration, crops are physically damaged, and the spraying strategy is rigid are systematically solved; the multi-stage spraying rack is matched with the spraying rod oil cylinder to control lifting and the folding steering engine to control folding, so that flexible and accurate adjustment of the spraying height and stable operation are realized.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a segmented contour-following adjustable spraying device for a self-propelled plant protection machine. Background Technology

[0002] Self-propelled plant protection machines are widely used pesticide application equipment in modern agriculture, enabling large-scale operations through their unfolded spraying frames. However, existing equipment generally suffers from the following problems: the large lateral span of the unfolded spraying frame makes it susceptible to vibrations caused by uneven ground during movement, resulting in uneven spraying and affecting the quality of the operation; the fixed or limited adjustable spraying height makes it difficult to adapt to height changes at different crop growth stages.

[0003] Therefore, a segmented contour-following adjustable spraying device for self-propelled plant protection machines is proposed to solve the above problems. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a segmented contour-following adjustable spraying device for a self-propelled plant protection machine, comprising a lifting mechanism, a medicine tank, and a liquid pump mounted on the self-propelled plant protection machine body. The lifting mechanism is used to drive the column to move up and down. A central spray boom frame is fixedly connected to the column. A primary spray boom frame is hinged to both sides of the central spray boom frame via a folding servo motor. A secondary spray boom frame is hinged to the end of the primary spray boom frame via a folding servo motor. Spraying components are mounted on the central spray boom frame, the primary spray boom frame, and the secondary spray boom frame. The spraying components include a spray boom cylinder and a spray boom mounted at the output end of the spray boom cylinder. A nozzle and a wheel fork are mounted on the spray boom. A contour wheel is slidably mounted inside the wheel fork. A shock-absorbing spring is mounted between the contour wheel and the wheel fork. The input end of the liquid pump is connected to the medicine tank via a pipeline, and the output end of the liquid pump is connected to the spray boom via a pipeline.

[0005] Preferably, the lifting mechanism includes a mounting frame, a track drive device, and tracks. The mounting frame is fixedly mounted on the self-propelled plant protection machine body, and tracks are rotatably mounted on the mounting frame. The mounting frame is also equipped with a track drive device for driving the tracks to rotate, and the tracks are tightly fitted to the column.

[0006] Preferably, each spraying assembly is equipped with two spray boom cylinders, and a spray boom is fixedly installed between the output ends of the two spray boom cylinders. The spray boom cylinders are fixedly connected to the central spray boom frame, the first-stage spray boom frame or the second-stage spray boom frame, and each spray boom is equipped with two wheel forks.

[0007] Preferably, each spray bar is equipped with multiple spray heads.

[0008] Preferably, the system also includes a dividing hood located on the outside of the wheels of the self-propelled plant protection machine, the dividing hood having an arc-shaped guide surface that protrudes in the middle and extends to both sides.

[0009] The present invention has the following beneficial effects: This invention provides a spraying device that enables flexible and adjustable spraying height, provides vibration reduction during travel, and can conform to complex terrain. It integrates a multi-stage adjustable spraying system, an end-effector vibration damping mechanism (contouring wheels, wheel forks, and shock-absorbing springs), and a crop diversion protection wheel cover (separator cover). This systematically solves problems such as vibration affecting spraying quality, physical damage to crops, and rigid application strategies. The arc-shaped structure extending forward and downward from the seed coat actively guides crop stems and leaves to both sides of the wheels during the self-propelled plant protection machine's movement, greatly reducing physical damage to the crops. The multi-stage spraying frame (central spray boom frame, primary spray boom frame, or secondary spray boom frame) combined with the spray boom hydraulic cylinder controlling lifting and the folding servo motor controlling folding achieves flexible and precise adjustment of spraying height and stable operation. It combines excellent crop protection, terrain adaptability, application accuracy, and operational stability, making it suitable for various plant protection scenarios. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of the present invention when folded; Figure 2 This is a schematic diagram of the overall structure of the present invention when unfolded; Figure 3 This is a three-dimensional structural diagram of the column, track, and centrally mounted spray boom frame in this invention; Figure 4 This is a three-dimensional structural diagram of the spray bar cylinder and spray bar in this invention; Figure 5 This is a three-dimensional structural diagram of the wheel fork, shock-absorbing spring, and contour wheel in this invention; Figure 6 This is a three-dimensional structural diagram of the primary spray boom frame, spray boom cylinder, and spray boom in this invention; Figure 7 This is a three-dimensional structural diagram of the grain-dividing cover in this invention.

[0011] In the diagram: 1. Cockpit; 2. Front of vehicle; 3. Chassis; 4. Wheel frame; 5. Wheel-side motor; 6. Steering servo; 7. Steering arm; 8. Dividing hood; 10. Agricultural drone; 11. Secondary spray boom frame; 12. Drone platform; 13. Battery; 14. Medicine tank; 15. Liquid pump; 16. Column; 17. Primary spray boom frame; 18. Folding servo; 20. Track drive unit; 21. Track; 23. Centrally mounted spray boom frame; 24. Spray boom cylinder; 25. Spray boom; 29. ​​Wheel fork; 31. Nozzle; 32. Shock absorber spring; 33. Contouring wheel. Detailed Implementation

[0012] 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.

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0014] Embodiments of the present invention: like Figures 1 to 7As shown, a segmented contour-following adjustable spraying device for a self-propelled plant protection machine includes a lifting mechanism, a medicine tank 14, and a liquid pump 15 mounted on the self-propelled plant protection machine body. The lifting mechanism is used to drive the column 16 to move up and down. The lifting mechanism includes a mounting frame, a track drive device 20, and tracks 21. The mounting frame is fixedly mounted on the self-propelled plant protection machine body. Tracks 21 are rotatably mounted on the mounting frame. The track drive device 20 for driving the tracks 21 to rotate is also mounted on the mounting frame. Tracks 21 are tightly fitted to the column 16. A central spray boom frame 23 is fixedly connected to the column 16. Both sides of the central spray boom frame 23 are hinged to primary spray boom frames 17 via folding servo motors 18. The primary spray boom frames 17 are located away from the column 16. A secondary spray boom frame 11 is hinged to one side of the central spray boom frame 23 via a folding servo motor 18. Spraying components are provided on the central spray boom frame 23, the primary spray boom frame 17, and the secondary spray boom frame 11. The spraying components include two spray boom cylinders 24 and a spray boom 25 fixed between the output ends of the two spray boom cylinders 24. The height of the spray boom 25 can be adjusted by the spray boom cylinders 24. A nozzle 31 and a wheel fork 29 are provided on the spray boom 25. The contour wheel 33 is slidably mounted in the wheel fork 29 via a shaft. A shock-absorbing spring 32 is provided between the contour wheel 33 and the wheel fork 29. The shock-absorbing spring 32 is sleeved outside the shaft and mounted inside the wheel fork 29 to realize the elastic movement and vibration buffering of the contour wheel 33 in the vertical direction. The spray bar cylinder 24 is fixedly connected to the central spray bar frame 23, the first-stage spray bar frame 17 or the second-stage spray bar frame 11. Each spray bar 25 is equipped with two wheel forks 29 and multiple nozzles 31. The input end of the liquid pump 15 is connected to the medicine tank 14 through a pipeline, and the output end of the liquid pump 15 is connected to the spray bar 25 through a pipeline. The liquid pump 15 delivers the liquid medicine in the medicine tank 14 to the spray bar 25 and sprays it out from the nozzles 31. The ground contact height of the contour wheel 33 is adjustable. After the overall height of the column 16, the central spray boom frame 23, the first-stage spray boom frame 17, and the second-stage spray boom frame 11 is adjusted by the lifting mechanism, the corresponding spray boom 25 can be moved downwards individually by the spray boom cylinder 24 of each spraying component, so that the contour wheel 33 at the bottom of the spray boom 25 contacts the ground. When the ground is uneven, during the downward movement of the spray boom 25, one of the contour wheels 33 at the bottom of the spray boom 25 will contact the ground first. As the spray boom 25 continues to move downwards, the shock-absorbing spring 32 on the contour wheel 33 can be compressed, so that the other contour wheel 33 at the bottom of the spray boom 25 also contacts the ground, realizing ground contouring. This ensures that the spraying system remains stable during spraying operations, reduces the transmission of ground vibration, and ensures the stability and high adaptability of spraying operations on complex terrain. The mounting bracket, hydraulic pump 15, track drive device 20, track 21, spray boom cylinder 24, folding servo motor 18, and nozzle 31 are all existing known technologies and will not be described in detail here.

[0015] The segmented contour-following adjustable spraying device for self-propelled plant protection machines also includes a crop divider 8 installed on the outside of the wheels of the self-propelled plant protection machine. The crop divider 8 has an arc-shaped guide surface that protrudes in the middle and extends to both sides. The arc-shaped guide surface of the crop divider 8 is a smooth curved surface with its side edges turned outward to form a continuous guide path from the front of the wheel (the direction of travel of the plant protection machine) to the rear. The front end of the crop divider 8 is lower than the rear end. When the plant protection machine is moving, the tip of the crop divider 8 first contacts the crop. The arc-shaped guide surface can divert and guide the crop stems and leaves in front to the outside of the wheel on both sides, gently guiding the stems and leaves to the outside of the wheel's travel path, rather than being rolled under the wheel. This effectively avoids the crop being directly pushed, wrapped, or crushed by the wheel, significantly reducing the physical damage to the crop during the travel process. This active diversion mechanism, combined with the coverage of the upper part of the wheel by the crop divider 8 itself, achieves double protection for the crop.

[0016] like Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown in this embodiment, the self-propelled plant protection machine body includes a walking system and a power and intelligent control system; The walking system includes a chassis 3, which serves as the basic load-bearing structure. A driver's cab 1 and a front wing 2 are fixedly mounted on the chassis 3. The medicine tank 14, liquid pump 15, and the mounting brackets for the lifting mechanism are all fixed to the chassis 3. A wheel frame 4 is mounted at the bottom of the chassis 3, and a steering servo 6 is mounted on the wheel frame 4. A steering arm 7 is connected to the output end of the steering servo 6, and a wheel-side motor 5 is mounted on the steering arm 7. Wheels are mounted on the output end of the wheel-side motor 5, enabling the self-propelled plant protection machine to move as a whole. A divider cover 8 is fixedly mounted on the housing of the wheel-side motor 5. The wheel-side motor 5, steering servo 6, and steering arm 7 are all existing known technologies and will not be described in detail here.

[0017] The power and intelligent control system includes a battery 13 fixedly mounted on the bottom of the chassis 3 and a drone platform 12 fixedly mounted on the cockpit 1. The battery 13 supplies power to various electrical devices (wheel-side motors 5, steering servo motors 6, track drive unit 20, folding servo motor 18, hydraulic pump 15, controller, etc.). The agricultural drone 10 is fixed on the drone platform 12 by electromagnetic adsorption. The power and intelligent control system also includes a controller, track drive unit 20, drive unit for spray boom cylinder 24, and steering servo motor located in the cockpit 1. The machine 6, wheel-side motor 5, folding servo motor 18, and hydraulic pump 15 are all electrically connected to the controller and are centrally controlled by the controller to achieve multi-level independent adjustment of the spraying height. The track drive device 20 drives the track 21 to rotate, which in turn drives the column 16, the central spray boom 23, the first-stage spray boom 17, and the second-stage spray boom 11 to rise and fall as a whole through friction. The folding servo motor 18 realizes the unfolding and folding of the first-stage spray boom 17 and the second-stage spray boom 11. The height of the spray boom 25 of each spraying component is individually controlled by the corresponding spray boom cylinder 24. The plant protection drone 10 has image recognition and wireless transmission functions, which can remotely control the plant protection drone 10 to take off and collect field data. It is used to transmit crop growth status and pest and disease information back to the controller in real time. The controller adjusts the spraying strategy according to the preset algorithm (such as adjusting the position and height of the first-stage spray boom 17 and the second-stage spray boom 11, and adjusting the spraying amount along the length of each spray boom), so as to achieve precision agricultural management. The drone platform 12, battery 13, agricultural drone 10, and controller are all existing known technologies and will not be described in detail here.

[0018] In summary, the spraying device provided by this invention, which enables flexible and adjustable spraying height, has vibration reduction function, and can conform to complex terrain, integrates a multi-level adjustable spraying system, an end vibration reduction mechanism (contouring wheel 33, wheel fork 29, shock-absorbing spring 32), and a crop diversion protection wheel cover (separator cover 8). Through the arc-shaped structure of the seed divider cover 8 extending forward and downward, it can actively guide crop stems and leaves to both sides of the wheels when the self-propelled plant protection machine is moving, greatly reducing physical damage to the crops. The multi-level spraying frame (central spray boom frame 23, primary spray boom frame 17 or secondary spray boom frame 11) works in conjunction with the spray boom cylinder 24 to control lifting and the folding servo motor 18 to control folding, realizing flexible and precise adjustment of spraying height and stable operation. It has excellent crop protection, terrain adaptability, application accuracy and operational stability, and is suitable for various plant protection scenarios.

[0019] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A segmented contour-following, adjustable spraying device for a self-propelled plant protection machine, characterized in that, The system includes a lifting mechanism, a medicine tank (14), and a liquid pump (15) mounted on the self-propelled plant protection machine body. The lifting mechanism is used to move the column (16) up and down. A central spray boom frame (23) is fixedly connected to the column (16). A primary spray boom frame (17) is hinged to both sides of the central spray boom frame (23) via a folding servo motor (18). A secondary spray boom frame (11) is hinged to the end of the primary spray boom frame (17) via a folding servo motor (18). The central spray boom frame (23), the primary spray boom frame (17), and the secondary spray boom frame (11) are all connected together. 11) Each of them is equipped with a spraying assembly, which includes a spray bar cylinder (24) and a spray bar (25) located at the output end of the spray bar cylinder (24). The spray bar (25) is equipped with a nozzle (31) and a wheel fork (29). A contour wheel (33) is slidably installed inside the wheel fork (29). A shock-absorbing spring (32) is installed between the contour wheel (33) and the wheel fork (29). The input end of the liquid pump (15) is connected to the medicine tank (14) through a pipeline, and the output end of the liquid pump (15) is connected to the spray bar (25) through a pipeline.

2. The segmented contour-following adjustable spraying device for a self-propelled plant protection machine according to claim 1, characterized in that, The lifting mechanism includes a mounting frame, a track drive device (20) and a track (21). The mounting frame is fixedly mounted on the self-propelled plant protection machine body. The track (21) is rotatably mounted on the mounting frame. The mounting frame is also equipped with a track drive device (20) for driving the track (21) to rotate. The track (21) is closely attached to the column (16).

3. A segmented contour-following adjustable spraying device for a self-propelled plant protection machine according to claim 2, characterized in that, Each spraying assembly is equipped with two boom cylinders (24), and a boom (25) is fixedly installed between the output ends of the two boom cylinders (24). The boom cylinders (24) are fixedly connected to the central boom frame (23), the first-stage boom frame (17) or the second-stage boom frame (11). Each boom (25) is equipped with two wheel forks (29).

4. A segmented contour-following adjustable spraying device for a self-propelled plant protection machine according to claim 3, characterized in that, Each spray bar (25) is equipped with multiple nozzles (31).

5. A segmented contour-following adjustable spraying device for a self-propelled plant protection machine according to claim 4, characterized in that, It also includes a dividing hood (8) set on the outside of the wheels of the self-propelled plant protection machine body, the dividing hood (8) having an arc-shaped guide surface that is raised in the middle and extends to both sides.

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