A spraying vehicle suitable for soybean-corn strip intercropping operations
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HEBEI AGRICULTURAL UNIV.
- Filing Date
- 2026-04-17
- Publication Date
- 2026-05-26
Smart Images
Figure CN122074468A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of agricultural machinery technology, and in particular to a spraying vehicle suitable for soybean-corn strip intercropping operations. Background Technology
[0002] In modern agricultural practice, soybean-corn strip intercropping is widely used as a highly efficient land use pattern. This pattern not only improves land utilization but also enhances ecosystem stability by optimizing the spatial layout of crops. However, this planting pattern places higher demands on supporting agricultural machinery and equipment. Existing spraying equipment has the following problems: the nozzle angle adjustment method of traditional spraying equipment is relatively simple, usually only allowing for a limited fixed angle adjustment. It cannot flexibly adjust the front-to-back and left-to-right angles of spraying according to the different growth forms and canopy structures of soybean and corn plants. This makes it difficult to evenly spray the pesticide onto all parts of the plant, especially inside the canopy, resulting in insufficient pesticide coverage in some areas and excessive pesticide in others, affecting the control effect and crop growth. Summary of the Invention
[0003] The purpose of this invention is to provide a spraying vehicle suitable for soybean-corn strip intercropping operations. It can flexibly adjust the front-to-back and left-to-right angles of spraying according to the different growth forms and canopy structures of soybean and corn plants, so that the pesticide can be evenly sprayed to all parts of the plant, especially inside the canopy, achieving precise and efficient spraying. It can guide the pesticide mist to the target crop area and inhibit the lateral drift of the pesticide solution.
[0004] To achieve the above objectives, the present invention provides the following solution:
[0005] This invention provides a spraying vehicle suitable for soybean-corn strip intercropping operations, comprising a frame with wheels at the bottom. The frame is divided into a corn spraying frame and a soybean spraying frame by a dividing frame. The top of the corn spraying frame is equipped with a corn spraying tank, and the top of the soybean spraying frame is equipped with a soybean spraying tank. The output ends of both the corn and soybean spraying tanks are connected to several hoses, each hose being connected to a sprayer. The sprayer is connected to a spraying assembly via a first rotating shaft. When the first rotating shaft rotates, it causes the spraying assembly to swing left and right. Both the corn and soybean spraying frames are equipped with lifting components, each lifting component having a second rotating shaft. Each spraying assembly is fixed to the second rotating shaft. When the lifting component rises or falls, it causes the spraying assembly to rise or fall. When the second rotating shaft rotates, it causes the spraying assembly to swing back and forth.
[0006] Preferably, the spraying assembly includes a protective cover with an opening at the lower end. A connecting plate is slidably connected inside the protective cover, and the connecting plate can move up and down inside the protective cover. A first servo motor is mounted on the upper side wall of the protective cover. A drive gear is fixedly connected to the first output shaft of the first servo motor. A second output shaft is rotatably connected to the other side wall of the upper end of the protective cover. A driven gear is fixedly connected to the second output shaft, and the driven gear meshes with the drive gear. A second servo motor is fixedly connected to the lower end of the connecting plate. A first rotating shaft is the output shaft of the second servo motor. The first rotating shaft passes through the connecting plate and is fixedly connected to the sprayer. The first servo motor and the second servo motor are respectively signal-connected to a sub-controller, and the sub-controller is signal-connected to the controller.
[0007] Preferably, the protective cover is provided with an extension assembly, which includes a pay-off reel, a take-up reel, a fixed pulley, and a cable. The pay-off reel is fixed to the first output shaft, the take-up reel is fixed to the second output shaft, and the fixed pulley is fixed to the other side wall of the protective cover. The connecting plate also has a wire guide and a wire holder. One end of the cable is fixed to the pay-off reel, then passes through the wire guide and the fixed pulley in sequence, and is connected to the wire holder. It then passes through the wire guide to the take-up reel, so that when the first output shaft of the first servo motor rotates, the pay-off reel and the take-up reel work together to feed and take up the cable, so that the connecting plate moves up and down inside the protective cover.
[0008] Preferably, the connecting plate has arc-shaped protrusions on both sides, and the protective cover has arc-shaped grooves on both sides. The arc-shaped protrusions can slide within the arc-shaped grooves. The arc-shaped protrusions have grooves along their length. The arc-shaped grooves have limiting protrusions. The limiting protrusions can slide within the grooves to limit the lifting and lowering of the connecting plate.
[0009] Preferably, the lifting assembly includes a folding telescopic frame and a U-shaped baffle. The folding telescopic frame is disposed on both sides of the front end of the corn spraying frame or the soybean spraying frame. The U-shaped baffle can cover the sprayer on the corn spraying frame or the soybean spraying frame. The U-shaped baffle includes a top plate, a first side plate, and a second side plate. The folding telescopic frame on the same side is slidably connected to both the first side plate and the second side plate. The second rotating shaft is disposed between the first side plate and the second side plate. The upper end of the protective cover is provided with a through hole. The protective cover is fixed to the second rotating shaft through the through hole. One end of the second rotating shaft is connected to the first side plate through a first bearing seat, and the other end of the second rotating shaft is connected to the second side plate through a second bearing seat. A stepper motor is fixedly connected to the outer side of the first side plate. The output shaft of the stepper motor is fixedly connected to one end of the second rotating shaft through a first bearing seat. The stepper motor is signal-connected to a sub-controller. An ultrasonic rangefinder is provided on the inner side of the top plate, and the sub-controller is provided on the outer side of the top plate.
[0010] Preferably, the folding telescopic frame includes a first upper end, a second upper end, a first lower end, and a second lower end. The first upper end is provided with a first slider, and the second upper end is hinged to the lower end of the first side plate or the second side plate. The front ends of the corn spraying frame or the soybean spraying frame are fixedly connected to both sides with a first electric push rod and a lower fixing plate. The first lower end is hinged to the lower fixing plate, and the second lower end is provided with a second slider. The positions of the first slider and the second slider are arranged opposite to each other.
[0011] Preferably, the lower end of the first side plate or the second side plate is provided with a first sliding groove, and the first slider can slide in the first sliding groove. The lower fixed plate is provided with a second sliding groove. The first moving rod of the first electric push rod is fixedly connected to a connecting rod. The connecting rod is connected to the second slider. When the first moving rod of the first electric push rod moves back and forth, it drives the second slider to slide in the second sliding groove. The first electric push rod is signal connected to the controller.
[0012] Preferably, both sides of the interior of the corn spraying frame and the soybean spraying frame are provided with flow guiding components. The flow guiding components include a flow guiding plate, a second electric push rod, and a lifting lug. The second electric push rod and the lifting lug are respectively fixed to both sides of the interior of the corn spraying frame or the soybean spraying frame and connected to the flow guiding plate. The second electric push rod is located above the lifting lug. The flow guiding plate is arc-shaped and its middle part is bent towards the outside of the corn spraying frame or the soybean spraying frame.
[0013] Preferably, the second moving rod of the second electric push rod is provided with a first through hole, and a first C-shaped connecting rod is fixedly connected in the through hole. The two ends of the first C-shaped connecting rod are fixedly connected to the guide plate. The lifting lug is provided with a second through hole, and a second C-shaped connecting rod is rotatably connected in the second through hole. The two ends of the second C-shaped connecting rod are fixedly connected to the guide plate. When the second moving rod of the second electric push rod moves left and right, the guide plate rotates around the lifting lug to adjust the tilt angle of the guide plate.
[0014] Preferably, the front sides of the corn spray tank and the soybean spray tank are connected to a water pump via water pipes. The output end of the water pump is connected to a T-shaped manifold. The output end of the T-shaped manifold has the same number of output ports as the hoses. Each output port is connected to the input end of a sprayer at the same location via a flow regulator and a hose. The top of the soybean spray tank is equipped with a wind speed sensor, and the top of the corn spray tank is equipped with a GPS speed sensor. A replenishment pump is connected to one side of both the corn spray tank and the soybean spray tank for replenishing the pesticide solution. The flow regulator, wind speed sensor, and GPS speed sensor are respectively connected to the controller signal.
[0015] The present invention achieves the following beneficial technical effects compared to the prior art:
[0016] This invention provides a spraying vehicle suitable for soybean-corn strip intercropping operations. The vehicle frame is divided into a corn spraying frame and a soybean spraying frame through a segmented frame, enabling zoned spraying of corn and soybean plant areas. This meets the needs of different pest and disease control for the two crops, improving the targeting and effectiveness of the spraying. When the output shaft of the second servo motor rotates, it drives the sprayer to rotate left and right, thereby adjusting the left and right spray angle of the sprayer. Through the forward and reverse rotation of the first servo motor, the gear meshing transmission realizes the coordinated feeding and receiving of the cable reel and the take-up reel, which in turn pulls the connecting plate to move smoothly up and down within the protective cover. Ultimately, it drives the sprayer to adjust the vertical distance from the crop plants, enabling the sprayer to penetrate deep into the plant canopy for precise spraying, improving the adhesion rate of the pesticide and the work efficiency. When the stepper motor is started, the rotation of the stepper motor's output shaft drives the second rotating shaft to rotate, which in turn drives the protective cover to rotate, which in turn drives the connecting plate to rotate, which in turn drives the sprayer to rotate forward and backward, thereby adjusting the forward and backward angle of the sprayer. When the two folding telescopic frames are extended, the first slider at the top of the frame moves inward within the first groove, while the second slider at the bottom moves inward within the second groove. This causes the U-shaped baffle to move upward, which in turn moves the second rotating axis upward, leading to the protective cover and ultimately the sprayer. This allows for height adjustment of the sprayer. The first electric push rods on the corn and soybean spraying frames can be controlled separately to accommodate the different plant heights of soybeans and corn, enabling simultaneous spraying of both. When the second moving rod of the second electric push rod moves towards either the corn or soybean spraying frame, the upper part of the guide plate moves accordingly, while the lower part rotates around the lifting lug, allowing for flexible adjustment of the guide plate's angle. This creates a directional airflow barrier, guiding the pesticide mist towards the target crop area and suppressing lateral drift of the pesticide solution. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of the present invention;
[0018] Figure 2 This is a structural schematic diagram of the present invention from another angle;
[0019] Figure 3 This is a schematic diagram of the lifting assembly of the present invention;
[0020] Figure 4 This is an exploded view of the elongation assembly of the present invention, wherein the second output shaft is disassembled outside the protective cover for the purpose of illustration;
[0021] Figure 5 This is a schematic diagram of the flow guiding component of the present invention;
[0022] Figure 6This is a partial structural schematic diagram of the lifting assembly of the present invention;
[0023] Figure 7 This is a schematic diagram of the cable connection of the connecting plate of the present invention;
[0024] In the diagram: 1-frame, 2-wheel, 3-segment frame, 4-corn spraying frame, 5-soybean spraying frame, 6-corn plant area, 7-soybean plant area, 8-corn pesticide tank, 9-soybean pesticide tank, 10-hose, 11-sprayer, 12-water pump, 13-T-manifold, 14-flow regulator, 15-replenishment pump, 16-first rotating shaft, 17-protective cover, 18-connecting plate, 19-second servo motor, 20-first servo motor;
[0025] 21-First output shaft, 22-Drive gear, 23-Second output shaft, 24-Driven gear, 25-Cable feed reel, 26-Cable take-up reel, 27-Fixed pulley, 28-Cable, 29-Wire guide, 30-Wire holder, 31-Arc-shaped protrusion, 32-Arc-shaped groove, 33-Groove, 34-Limiting protrusion, 35-Second rotating shaft, 36-Folding telescopic frame, 37-U-shaped baffle, 38-Top plate, 39-First side plate, 40-Second side plate;
[0026] 41-Perforation, 42-First bearing seat, 43-Second bearing seat, 44-Stepper motor, 45-First upper end, 46-Second upper end, 47-First lower end, 48-Second lower end, 49-First slider, 50-First electric push rod, 51-Lower fixed plate, 52-Second slider, 53-First slide groove, 54-Second slide groove, 55-First moving rod, 56-Connecting rod, 57-Flow guide assembly, 58-Flow guide plate, 59-Second electric push rod, 60-Lifting lug, 61-First through hole, 62-First C-type connecting rod, 63-Second through hole, 64-Second C-type connecting rod, 65-Wind speed sensor, 66-GPS speed sensor, 67-Ultrasonic rangefinder, 68-Sub-controller, 69-Second moving rod. Detailed Implementation
[0027] This invention provides a spraying vehicle suitable for soybean-corn strip intercropping operations, such as... Figures 1-7As shown, the frame 1 is equipped with wheels 2 at the bottom, providing the sprayer with basic mobility, allowing it to move freely in the field and adapt to the spraying needs of different plots. The frame 1 is divided into a corn spraying frame 4 and a soybean spraying frame 5 by a dividing frame 3, enabling zoned spraying of the corn plant area 6 and the soybean plant area 7, meeting the needs of different pest and disease control for the two crops and improving the targeting and effectiveness of the spraying. The top of the corn spraying frame 4 is equipped with a corn pesticide tank 8, and the top of the soybean spraying frame 5 is equipped with a soybean pesticide tank 9, ensuring that different pesticide solutions are used for the two crops, avoiding cross-contamination, and guaranteeing the safety and effectiveness of the spraying.
[0028] Both the corn spray tank 8 and the soybean spray tank 9 have several hoses 10 connected to their output ends. Each hose 10 is connected to a sprayer 11. Specifically, the front of both the corn spray tank 8 and the soybean spray tank 9 is connected to a water pump 12 via a water pipe. The output end of the water pump 12 is connected to a T-shaped manifold 13. The T-shaped manifold 13 has the same number of output ports as the hoses 10, achieving uniform distribution and delivery of the pesticide solution and ensuring a stable supply of pesticide solution to each sprayer 11. Each output port is connected to the input end of the sprayer 11 at the same location via a flow regulator 14 and a hose 10. The flow regulator 14 can adjust the pesticide flow rate of each sprayer 11 according to actual needs, achieving precise spraying and avoiding pesticide waste. A replenishment pump 15 is connected to one side of both the corn spray tank 8 and the soybean spray tank 9 for replenishing the pesticide solution. This spraying vehicle adopts an ultra-high ground clearance structure design, with the overall ground clearance height designed to fit the entire growth cycle of the organisms, ensuring efficient and non-destructive spraying operations from the seedling stage to maturity. At the same time, when the pesticide solution is insufficient, the replenishment pump 15 can draw pesticide solution from an external pesticide source through a water pipe to replenish the corresponding soybean pesticide tank 9 or corn pesticide tank 8.
[0029] The sprayer 11 is connected to the spraying assembly via a first rotating shaft 16. When the first rotating shaft 16 rotates, it causes the spraying assembly to swing left and right. Specifically, the spraying assembly includes a protective cover 17 with an opening at the lower end. A connecting plate 18 is slidably connected inside the protective cover 17. The connecting plate 18 can move up and down within the protective cover 17. A second servo motor 19 is fixedly connected to the lower end of the connecting plate 18. The first rotating shaft 16 is the output shaft of the second servo motor 19. After passing through the connecting plate 18, the first rotating shaft 16 is fixedly connected to the sprayer 11. When the output shaft of the second servo motor 19 rotates, it will drive the sprayer 11 to rotate left and right, thereby adjusting the left and right spraying angle of the sprayer 11. In this embodiment, during spraying, the two sprayers 11 located on both sides of the soybean plant area 7 or the corn plant area 6 can deflect a certain angle towards the inner side of the corresponding soybean plant area 7 or corn plant area 6 to reduce the lateral drift rate of the pesticide droplets.
[0030] A first servo motor 20 is mounted on the side wall of the upper end of the protective cover 17. A drive gear 22 is fixedly connected to the first output shaft 21 of the first servo motor 20. A second output shaft 23 is rotatably connected to the other side wall of the upper end of the protective cover 17. A driven gear 24 is fixedly connected to the second output shaft 23. The driven gear 24 meshes with the drive gear 22. The protective cover 17 is equipped with an extension assembly, which includes a pay-off reel 25, a take-up reel 26, a fixed pulley 27, and a cable 28. The pay-off reel 25 is fixed to the first output shaft 21, the take-up reel 26 is fixed to the second output shaft 23, and the fixed pulley 27 is fixed to the other side wall of the protective cover 17. The connecting plate 18 also has a wire guide 29 and a wire holder 30. One end of the cable 28 is fixed to the pay-off reel 25, and then passes through the wire guide 29 and the fixed pulley 27 in sequence before being connected to the wire holder 30. It then passes through the wire guide 29 to the take-up reel 26, so that when the first output shaft 21 of the first servo motor 20 rotates, the pay-off reel 25 and the take-up reel 26 work together to take in and release the cable 28, so that the connecting plate 18 moves up and down inside the protective cover 17. Specifically, before the spraying operation begins, the spraying assembly and sprayer 11 are in their initial positions. At this time, the connecting plate 18 is located at a set height within the protective cover 17, the cables 28 on the pay-off reel 25 and take-up reel 26 are in a pre-tightened state, and the connecting plate 18 is stable and does not wobble. When it is necessary to precisely adjust the height of the sprayer 11 according to the crop height, the first servo motor 20 is activated. The first output shaft 21 of the first servo motor 20 begins to rotate, driving the drive gear 22 fixed on it to rotate synchronously. The rotation of the drive gear 22 drives the driven gear 24 meshing with it to rotate. The driven gear 24 is fixed on the second output shaft 23, so the rotation of the driven gear 24 will directly drive the second output shaft 23 to rotate synchronously in the opposite direction, realizing the transmission of power and providing a basis for the coordinated operation of the pay-off reel 25 and take-up reel 26. Specifically, the first servo motor 20 rotates forward, and the cable reel 25 releases a section of cable 28 clockwise. The cable 28 released by the cable reel 25 passes through the wire guide 29 and winds around the fixed pulley 27, leaving excess cable 28 between the wire retainer 30 on the connecting plate 18 and the fixed pulley 27. The synchronous cable take-up of the take-up reel 26 immediately tightens this section of cable 28, forming a downward vertical pull force that acts on the wire retainer 30 of the connecting plate 18. This downward pull force overcomes the weight of the connecting plate 18, causing the connecting plate 18 to slide smoothly downward along the protective cover 17. Meanwhile, the sprayer 11 is fixed to the lower end of the connecting plate 18 and moves downward synchronously with the connecting plate 18, eventually penetrating deep into the crop canopy to achieve precise and deep application of pesticides. When the first servo motor 20 reverses, the cable reel 25 takes in a section of cable 28 counterclockwise, and the cable reel 26 releases the cable clockwise, simultaneously releasing the same length of cable 28. The cable taking-up action of the cable reel 25 will generate an upward pulling force on the cable 28 between the cable holder 30 on the connecting plate 18 and the cable reel 25. This upward pulling force will cause the connecting plate 18 to slide smoothly upward along the protective cover 17. The sprayer 11 moves upward synchronously with the connecting plate 18, completing the height reset.By rotating the first servo motor 20 in both directions, the gear meshing transmission is driven, enabling the wire feeding reel 25 and the wire take-up reel 26 to coordinate the feeding and take-up of the cable 28. This, in turn, pulls the connecting plate 18 to move smoothly up and down within the protective cover 17, ultimately driving the sprayer 11 to adjust its vertical distance from the crop plant. This allows the sprayer 11 to penetrate deep into the plant canopy for precise spraying, improving the adhesion rate of the pesticide and the efficiency of the operation.
[0031] In this embodiment, the connecting plate 18 has arc-shaped protrusions 31 on both sides, and the protective cover 17 has arc-shaped grooves 32 on both sides. The arc-shaped protrusions 31 can slide within the arc-shaped grooves 32, realizing the stable lifting and lowering of the connecting plate 18 in the vertical direction. The arc-shaped protrusions 31 have grooves 33 along their length, and the arc-shaped grooves 32 have limiting protrusions 34. The limiting protrusions 34 can slide within the grooves 33 to limit the lifting and lowering of the connecting plate 18, preventing the connecting plate 18 from descending without restriction and ensuring the reliability of the device.
[0032] Both the corn spraying frame 4 and the soybean spraying frame 5 are equipped with lifting components. Each lifting component has a second rotating shaft 35, and each spraying component is fixed to the second rotating shaft 35. When the lifting component rises or falls, it causes the spraying components to rise or fall accordingly. When the second rotating shaft 35 rotates, it causes the spraying components to swing back and forth. Specifically, the lifting component includes a folding telescopic frame 36 and a U-shaped baffle 37. The folding telescopic frame 36 is located on both sides of the front end of the corn spraying frame 4 or the soybean spraying frame 5. The U-shaped baffle 37 can cover the sprayer 11 on the corn spraying frame 4 or the soybean spraying frame 5. The U-shaped baffle 37 includes a top plate 38, a first side plate 39, and a second side plate 40. The folding telescopic frame 36 on the same side is slidably connected to both the first side plate 39 and the second side plate 40, realizing the coordinated movement of the U-shaped baffle 37 and the folding telescopic frame 36. When the folding telescopic frame 36 unfolds or retracts, the U-shaped baffle 37 can rise or fall accordingly, causing the sprayer 11 to adjust its height.
[0033] Specifically, the second rotating shaft 35 is located between the first side plate 39 and the second side plate 40. The upper end of the protective cover 17 is provided with a through hole 41. The protective cover 17 is fixed to the second rotating shaft 35 through the through hole 41. One end of the second rotating shaft 35 is connected to the first side plate 39 through the first bearing seat 42, and the other end of the second rotating shaft 35 is connected to the second side plate 40 through the second bearing seat 43. A stepper motor 44 is fixed to the outside of the first side plate 39. The output shaft of the stepper motor 44 is fixed to one end of the second rotating shaft 35 through the first bearing seat 42. When the stepper motor 44 is started, the rotation of the output shaft of the stepper motor 44 will drive the second rotating shaft 35 to rotate, thereby driving the protective cover 17 to rotate, thereby driving the connecting plate 18 to rotate, and thereby driving the sprayer 11 to rotate, so as to realize the forward and backward rotation of the sprayer 11, thereby adjusting the forward and backward angle of the sprayer 11.
[0034] In this embodiment, the folding telescopic frame 36 is an X-shaped multi-bar hinged folding telescopic frame 36. A folding telescopic frame 36 is respectively provided on both sides of the corn spraying frame 4 and the soybean spraying frame 5. The folding telescopic frame 36 includes a first upper end 45, a second upper end 46, a first lower end 47, and a second lower end 48. The first upper end 45 is provided with a first slider 49. The second upper end 46 is hinged to the lower end of the first side plate 39 or the second side plate 40. A first electric push rod 50 and a lower fixing plate 51 are fixedly connected to both sides of the front end of the corn spraying frame 4 or the soybean spraying frame 5. The first lower end 47... 7 is hinged to the lower fixed plate 51. The second lower end 48 is provided with a second slider 52. The first slider 49 and the second slider 52 are positioned opposite each other. The lower end of the first side plate 39 or the second side plate 40 is provided with a first slide groove 53. The first slider 49 can slide in the first slide groove 53. The lower fixed plate 51 is provided with a second slide groove 54. The first moving rod 55 of the first electric push rod 50 is fixedly connected to a connecting rod 56. The connecting rod 56 is connected to the second slider 52. When the first moving rod 55 of the first electric push rod 50 moves back and forth, it drives the second slider 52 to slide in the second slide groove 54. When the two folding telescopic frames 36 are unfolded, the first slider 49 on the upper part of the folding telescopic frame 36 moves toward the inside of the folding telescopic frame 36 in the first slide groove 53, while the second slider 52 on the lower part moves toward the inside of the folding telescopic frame 36 in the second slide groove 54. This causes the U-shaped baffle 37 to move upward, which in turn causes the second rotating shaft 35 to move upward, which in turn causes the protective cover 17 to move upward, which in turn causes the sprayer 11 to move upward. This allows for the adjustment of the height of the sprayer 11. The first electric push rods 50 on the corn spraying frame 4 and the soybean spraying frame 5 can be controlled separately to adapt to the different plant heights of soybeans and corn, and to spray both at the same time.
[0035] Both sides of the interior of the corn spraying frame 4 and the soybean spraying frame 5 are equipped with flow guiding components 57. The flow guiding components 57 can guide the airflow to the target crop area, reduce pesticide drift, increase the pesticide deposition rate on the crop, enhance the spraying effect, and reduce environmental pollution to non-target areas. Specifically, the flow guiding component 57 includes a flow guiding plate 58, a second electric push rod 59, and a lifting lug 60. The second electric push rod 59 and the lifting lug 60 are respectively fixed to both sides of the interior of the corn spraying frame 4 or the soybean spraying frame 5 and connected to the flow guiding plate 58. The second electric push rod 59 is located above the lifting lug 60. The flow guiding plate 58 is arc-shaped and its middle part bends towards the outside of the corn spraying frame 4 or the soybean spraying frame 5, forming an "arc-shaped barrier that opens towards the crop side". This allows the flow guiding plate 58 to better guide the airflow and form a directional airflow barrier, so that the pesticide is sprayed more concentratedly on the target crop, improving the pesticide utilization rate.
[0036] The second moving rod 69 of the second electric push rod 59 is provided with a first through hole 61, and a first C-shaped connecting rod 6256 is fixedly connected in the through hole. The two ends of the first C-shaped connecting rod 6256 are fixedly connected to the guide plate 58. The lifting lug 60 is provided with a second through hole 63, and a second C-shaped connecting rod 6456 is rotatably connected in the second through hole 63. The two ends of the second C-shaped connecting rod 6456 are fixedly connected to the guide plate 58. When the second moving rod 69 of the second electric push rod 59 moves left and right, the guide plate 58 rotates around the lifting lug 60 to adjust the tilt angle of the guide plate 58. Specifically, when the second moving rod 69 of the second electric push rod 59 moves toward the corn spraying frame 4 or the soybean spraying frame 5, the upper part of the guide plate 58 will move accordingly, and the lower part of the guide plate 58 will rotate around the lifting lug 60, realizing flexible adjustment of the tilt angle of the guide plate 58, forming a directional airflow barrier, guiding the spray mist toward the target crop area, and inhibiting the lateral drift of the spray solution.
[0037] A wind speed sensor 65 is installed on the top of the soybean sprayer 9, and a GPS speed sensor 66 is installed on the top of the corn sprayer 8. An ultrasonic rangefinder 67 is installed on the inner side of the top plate 38 to monitor the distance between the sprayer 11 and the plant in real time, and dynamically adjust the position of the sprayer 11 based on the distance to improve spraying efficiency. A sub-controller 68 is installed on the outer side of the top plate 38. The stepper motor 44, the first servo motor 20 and the second servo motor 19 are respectively connected to the sub-controller 68. The first electric push rod 50, the second electric push rod 59, the sub-controller 68, the flow regulator 14, the wind speed sensor 65 and the GPS speed sensor 66 are respectively connected to the controller. The controller receives signals from the GPS speed sensor 66, wind speed sensor 65, and ultrasonic rangefinder 67. After processing, it generates control commands and sends the flow regulation parameters, control signals for the first electric actuator 50 and the second electric actuator 59, and adjustment parameters for the stepper motor 44, the first servo motor 20, and the second servo motor 19 to the flow regulator 14 and the sub-controller 68, respectively. The two sub-controllers 68 in the corn plant area 6 and the soybean plant area 7 respectively control the corresponding stepper motor 44, the first servo motor 20, and the second servo motor 19 in their respective areas to perform angle adjustment actions. The environmental parameters collected by the wind speed sensor 65 and the GPS speed sensor 66, as well as the working parameters collected by the ultrasonic rangefinder 67, are combined with the vehicle's travel speed to adjust the opening of each flow regulator 14, thereby achieving variable-rate spraying.
[0038] The spraying vehicle provided by this invention, suitable for soybean-corn strip intercropping operations, first performs "initialization settings" during use, including power-on self-test of the main controller, calibration of various sensors (GPS speed sensor 66, wind speed sensor 65, ultrasonic rangefinder 67), and reset of actuators such as the first electric and second electric push rods 59, stepper motor 44, first servo motor 20, and second servo motor 19; then the spraying vehicle begins to move forward, with the GPS speed sensor 66 acquiring the vehicle's speed in real time, the wind speed sensor 65 monitoring the ambient wind speed, and the ultrasonic rangefinder 67 measuring the vertical distance between the sprayer 11 and the plant canopy in real time. The controller collects environmental and positional parameters to generate control commands: The first electric push rod 50 pushes the folding telescopic frame 36 to unfold and extend, causing the U-shaped baffle 37 to move upwards, which in turn moves the sprayer 11 upwards to adapt to the different plant heights of corn and soybean plants; the stepper motor 44 drives the second rotating shaft 35 to rotate, adjusting the front-to-back spray angle of the sprayer 11; the second servo motor 19 drives the first rotating shaft 16 to rotate, adjusting the left-to-right spray angle of the sprayer 11; the first servo motor 20 drives the first output shaft 21 to rotate, causing the cable reel 25 and take-up reel 26 to work together to reel in and release the cable 28, adjusting the vertical distance between the sprayer 11 and the plant, allowing the sprayer 11 to penetrate deep into the canopy for spraying; the second electric push rod 59 drives the guide plate 58 to rotate around the lifting lug 60, adjusting the tilt angle of the guide plate 58 and guiding the airflow towards the target crop area until the spraying of corn and soybean plants is completed. When the controller detects that the pesticide solution is insufficient, it starts the replenishment pump 15 of the corresponding pesticide tank, and draws the pesticide solution from the external pesticide source through the water pipe and delivers it to the soybean pesticide tank 9 or the corn pesticide tank 8 until the spraying operation is completed.
[0039] This invention has illustrated its principles and implementation methods using specific examples. The descriptions of these embodiments are merely illustrative of the method and its core ideas; furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.
Claims
1. A spraying vehicle suitable for soybean-corn strip intercropping operations, comprising a frame, wherein wheels are provided at the bottom of the frame, characterized in that: The vehicle frame is divided into a corn spraying frame and a soybean spraying frame by a split frame. The top of the corn spraying frame is equipped with a corn pesticide tank, and the top of the soybean spraying frame is equipped with a soybean pesticide tank. The output ends of the corn pesticide tank and the soybean pesticide tank are connected to several hoses. Each hose is connected to a sprayer. The sprayer is connected to a spraying assembly through a first rotating shaft. When the first rotating shaft rotates, it causes the spraying assembly to swing left and right. Both the corn spraying frame and the soybean spraying frame are equipped with lifting assemblies. The lifting assemblies are equipped with a second rotating shaft. Each spraying assembly is fixed to the second rotating shaft. When the lifting assembly rises or falls, it causes the spraying assembly to rise or fall. When the second rotating shaft rotates, it causes the spraying assembly to swing back and forth.
2. The spraying vehicle for soybean-corn strip intercropping operations as described in claim 1, characterized in that: The spraying assembly includes a protective cover with an opening at the lower end. A connecting plate is slidably connected inside the protective cover and can move up and down within the protective cover. A first servo motor is mounted on the upper side wall of the protective cover. A drive gear is fixedly connected to the first output shaft of the first servo motor. A second output shaft is rotatably connected to the other side wall of the upper end of the protective cover. A driven gear is fixedly connected to the second output shaft and meshes with the drive gear. A second servo motor is fixedly connected to the lower end of the connecting plate. A first rotating shaft is the output shaft of the second servo motor. The first rotating shaft passes through the connecting plate and is fixedly connected to the sprayer. The first servo motor and the second servo motor are respectively signal-connected to a sub-controller. The sub-controller is signal-connected to the controller.
3. The spraying vehicle for soybean-corn strip intercropping operations as described in claim 2, characterized in that: The protective cover is equipped with an extension assembly, which includes a pay-off reel, a take-up reel, a fixed pulley, and a cable. The pay-off reel is fixed to the first output shaft, the take-up reel is fixed to the second output shaft, and the fixed pulley is fixed to the other side wall of the protective cover. The connecting plate also has a wire guide and a wire holder. One end of the cable is fixed to the pay-off reel, then passes through the wire guide and the fixed pulley in sequence, and is connected to the wire holder. It then passes through the wire guide to the take-up reel, so that when the first output shaft of the first servo motor rotates, the pay-off reel and the take-up reel work together to feed and take up the cable, causing the connecting plate to move up and down inside the protective cover.
4. The spraying vehicle according to claim 3, suitable for soybean-corn strip intercropping operations, is characterized in that: The connecting plate has arc-shaped protrusions on both sides, and the protective cover has arc-shaped grooves on both sides. The arc-shaped protrusions can slide within the arc-shaped grooves. The arc-shaped protrusions have grooves along their length. The arc-shaped grooves have limiting protrusions. The limiting protrusions can slide within the grooves to limit the lifting and lowering of the connecting plate.
5. The spraying vehicle according to claim 4, suitable for soybean-corn strip intercropping operations, is characterized in that: The lifting assembly includes a folding telescopic frame and a U-shaped baffle. The folding telescopic frame is installed on both sides of the front end of the corn spraying frame or the soybean spraying frame. The U-shaped baffle can cover the sprayer on the corn spraying frame or the soybean spraying frame. The U-shaped baffle includes a top plate, a first side plate, and a second side plate. The folding telescopic frame on the same side is slidably connected to both the first side plate and the second side plate. The second rotating shaft is located between the first side plate and the second side plate. The upper end of the protective cover has a through hole. The protective cover is fixed to the second rotating shaft through the through hole. One end of the second rotating shaft is connected to the first side plate through a first bearing seat, and the other end of the second rotating shaft is connected to the second side plate through a second bearing seat. A stepper motor is fixed to the outer side of the first side plate. The output shaft of the stepper motor is fixed to one end of the second rotating shaft through the first bearing seat. The stepper motor is signal-connected to a sub-controller. An ultrasonic rangefinder is installed on the inner side of the top plate, and the sub-controller is installed on the outer side of the top plate.
6. The spraying vehicle according to claim 5, suitable for soybean-corn strip intercropping operations, is characterized in that: The folding telescopic frame includes a first upper end, a second upper end, a first lower end, and a second lower end. The first upper end is provided with a first slider. The second upper end is hinged to the lower end of the first side plate or the second side plate. The front ends of the corn spraying frame or the soybean spraying frame are fixedly connected to both sides with a first electric push rod and a lower fixing plate. The first lower end is hinged to the lower fixing plate. The second lower end is provided with a second slider. The positions of the first slider and the second slider are arranged opposite to each other.
7. The spraying vehicle according to claim 6, suitable for soybean-corn strip intercropping operations, is characterized in that: The lower end of the first side plate or the second side plate is provided with a first sliding groove, and the first slider can slide in the first sliding groove. The lower fixed plate is provided with a second sliding groove. The first moving rod of the first electric push rod is fixedly connected to a connecting rod. The connecting rod is connected to the second slider. When the first moving rod of the first electric push rod moves back and forth, it drives the second slider to slide in the second sliding groove. The first electric push rod is signal connected to the controller.
8. The spraying vehicle according to claim 7, suitable for soybean-corn strip intercropping operations, is characterized in that: Both sides of the interior of the corn spraying frame and the soybean spraying frame are provided with flow guiding components. The flow guiding components include a flow guiding plate, a second electric push rod, and a lifting lug. The second electric push rod and the lifting lug are respectively fixed to both sides of the interior of the corn spraying frame or the soybean spraying frame and connected to the flow guiding plate. The second electric push rod is located above the lifting lug. The flow guiding plate is arc-shaped and its middle part is bent towards the outside of the corn spraying frame or the soybean spraying frame.
9. The spraying vehicle according to claim 8, suitable for soybean-corn strip intercropping operations, is characterized in that: The second moving rod of the second electric push rod is provided with a first through hole, and a first C-shaped connecting rod is fixedly connected in the through hole. The two ends of the first C-shaped connecting rod are fixedly connected to the guide plate. The lifting lug is provided with a second through hole, and a second C-shaped connecting rod is rotatably connected in the second through hole. The two ends of the second C-shaped connecting rod are fixedly connected to the guide plate. When the second moving rod of the second electric push rod moves left and right, the guide plate rotates around the lifting lug to adjust the tilt angle of the guide plate.
10. The spraying vehicle according to claim 1, applicable to soybean-corn strip intercropping operations, is characterized in that: The front sides of the corn and soybean pesticide tanks are connected to a water pump via water pipes. The output end of the water pump is connected to a T-shaped manifold. The output end of the T-shaped manifold has the same number of output ports as the hoses. Each output port is connected to the input end of a sprayer at the same location via a flow regulator and a hose. The top of the soybean pesticide tank is equipped with a wind speed sensor, and the top of the corn pesticide tank is equipped with a GPS speed sensor. A replenishment pump is connected to one side of both the corn and soybean pesticide tanks to replenish the pesticide solution. The flow regulator, wind speed sensor, and GPS speed sensor are respectively connected to the controller signal.