A fruit spraying machine and a spraying method

Abstract

This invention discloses a fruit sprayer and spraying method, including a vehicle body, a pesticide tank, a spray pump, a control box, and a camera. A rotatable turntable is located on the front of the vehicle body, and a lifting device is mounted on the turntable. A spray fixing rod sleeve is mounted on the lifting device, and retractable spray telescopic rods are mounted at both ends of the spray fixing rod sleeve. Adaptive nozzles are mounted on the spray telescopic rods, and the adaptive nozzles adaptively adjust their angle according to the tilt of the vehicle body. The invention also includes spraying steps S1-S5. The adaptive nozzle of this invention includes a rotatable spherical nozzle bracket. Under the action of a counterweight, the nozzle on the spherical nozzle bracket is always in a horizontal spraying position. Simultaneously, the thrust generated by the nozzle during spraying supports and fixes the spherical nozzle bracket. The adaptive nozzle prevents significant fluctuations in the spraying direction, effectively ensuring the uniformity and stability of the fruit sprayer.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a fruit sprayer and spraying method. Background Technology

[0002] Fruit trees in orchards are characterized by their wide distribution. In order to improve the disease resistance of fruit trees, it is necessary to spray pesticides on the fruit trees in the orchard regularly. In the early days, due to the low level of scientific and technological development, the work of spraying pesticides was done manually. This was not only labor-intensive but also inefficient. In particular, pesticides themselves have a certain degree of toxicity, and farmers who were exposed to pesticide spraying for a long time would inevitably suffer health damage.

[0003] Therefore, with the continuous improvement of science and technology, spraying robots are increasingly being used in orchard spraying. This reduces the labor intensity of farmers to a certain extent, while also improving work efficiency. Furthermore, farmers are spared the direct contact with pesticides, avoiding the harm of pesticide toxicity. Patent document CN120203011A discloses a fruit tree spraying device. The technical solution of this patent utilizes a swing mechanism to drive the water pipe of the first spraying mechanism to swing back and forth, expanding the spraying range of the nozzle and enhancing the flexibility and versatility of the spraying device, ensuring the spraying effect on fruit trees. However, the nozzle of this type of fruit tree spraying device has a fixed spraying direction. When the ground is uneven or the vehicle is tilted, the nozzle cannot adaptively adjust its spraying direction to a horizontal position, resulting in the nozzle spraying angle being either upward or downward, making the spraying direction unstable and the uniformity of spraying difficult to control. Therefore, it is necessary to propose a fruit spraying machine and spraying method that can adaptively adjust the spraying angle. Summary of the Invention

[0004] To address the aforementioned shortcomings of the existing technology, the present invention provides a fruit sprayer and spraying method.

[0005] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A fruit sprayer is provided, comprising a movable vehicle body, on which a medicine tank, a spray pump, a control box, and a camera are installed; a rotatable turntable is provided on the front side of the vehicle body, and a lifting device is provided on the turntable. A spray fixing rod sleeve is provided on the lifting device, and telescopic spray extension rods are provided at both ends of the spray fixing rod sleeve. Adaptive nozzles are provided on the spray extension rods, and the adaptive nozzles adaptively adjust the nozzle angle according to the tilt of the vehicle body.

[0006] Furthermore, the adaptive nozzle includes a U-shaped bracket and a spherical nozzle holder hinged to the U-shaped bracket. One end of the U-shaped bracket is fixedly connected to the spray telescopic rod. Two rotating shafts are symmetrically fixed on the spherical nozzle holder. The U-shaped bracket is provided with a strip-shaped hole that mates with the rotating shaft, allowing the rotating shaft to slide within the strip-shaped hole. A spring is fixed to the inner side of the U-shaped bracket, and a support block is fixed to the other end of the spring. A shaft cup is provided on the side of the support block that mates with the spherical nozzle holder. An L-shaped channel is provided inside the spherical nozzle holder. The top of the L-shaped channel is connected to the spray pump through a feed pipe, and a nozzle is installed on the right side of the L-shaped channel. A counterweight is fixed to the bottom of the spherical nozzle holder.

[0007] Furthermore, the U-shaped bracket is equipped with a spring mounting cylinder for mounting springs.

[0008] Furthermore, two movable track assemblies are provided at the bottom of the vehicle body. The movable track assembly includes a wheel frame fixedly connected to the vehicle body. The wheel frame is provided with an upper guide wheel and several lower guide wheels. The vehicle body is provided with a track sprocket. A tensioning telescopic rod is fixed on the wheel frame. A tensioning wheel is installed at the telescopic end of the tensioning telescopic rod. The track sprocket, lower guide wheel, guide wheel and tensioning wheel are connected by tracks.

[0009] Furthermore, it also includes a drive wheel motor and a reducer for driving the track sprockets. The input end of the reducer is connected to the output end of the drive wheel motor, and the output end of the reducer is fixedly connected to the drive track sprockets.

[0010] Furthermore, the lifting device includes a lifting motor, a lifting screw, a lifting block, and a U-shaped lifting body. The turntable is rotatably mounted on the vehicle body, the U-shaped lifting body is fixed on the turntable, the lifting screw is rotatably mounted on the U-shaped lifting body, one end of the lifting screw is fixedly connected to the output end of the lifting motor, and the lifting block is provided with a threaded hole that mates with the lifting screw.

[0011] Furthermore, two limit blocks are installed on the turntable, and limit switches that cooperate with the limit blocks are installed on the vehicle body.

[0012] Furthermore, when the spring is in its normal state, the support block is in contact with the spherical nozzle bracket.

[0013] Furthermore, when the spring is in its normal state, the counterweight can drive the spherical nozzle bracket to rotate.

[0014] A method for spraying pesticides using a fruit pesticide sprayer includes the following steps: S1. Before spraying, add fruit pesticide to the pesticide tank and control the rotation of the two moving track components of the fruit pesticide sprayer to move the fruit pesticide sprayer between the two rows of fruit trees. S2. When spraying, first adjust the spray fixing rod sleeve through the lifting device to match the height of the adaptive nozzle with the fruit tree. S3. After adjusting the height of the spray fixing rod sleeve to match the fruit tree, adjust the spray telescopic rod to the appropriate telescopic length so that the adaptive nozzle and the fruit tree are within the optimal spraying range. S4. The Guoling sprayer travels at a constant speed along the roadway. The adaptive nozzle adjusts the spraying direction according to the tilt of the vehicle body, so that the nozzle is always in a horizontal position for spraying. S5. During the spraying process, the spraying height and angle of the fruit trees can be adjusted by controlling the lifting device and the rotation of the turntable to meet different fruit tree spraying operations.

[0015] The beneficial effects of this invention are as follows: The adaptive nozzle of this invention includes a rotatable spherical nozzle bracket. Under the action of a counterweight, the nozzle on the spherical nozzle bracket is always in a horizontal spraying position. At the same time, the thrust generated by the nozzle when spraying is used to support and fix the spherical nozzle bracket. The adaptive nozzle prevents large fluctuations in the spraying direction, effectively ensuring the uniformity and stability of the spraying of the fruit sprayer.

[0016] When the adaptive nozzle of this invention performs intermittent spraying, after the nozzle stops operating, the thrust of the spherical nozzle bracket on the support block and spring disappears. Under the thrust of the support block and spring, the spherical nozzle bracket returns to its outermost position. At this time, the support block is in contact with the spherical nozzle bracket, but there is no friction between the support block and the spherical nozzle bracket. This allows the spherical nozzle bracket to adjust the nozzle to a horizontal spraying position under the weight of the counterweight, thus ensuring more controllable uniformity of spraying on fruit trees. When the nozzle resumes spraying, the nozzle generates thrust to move the spherical nozzle bracket. The spherical nozzle bracket presses against the support block and spring, thereby utilizing the friction generated between the support block and the spherical nozzle bracket to prevent the spherical nozzle bracket from deflecting under the thrust, ensuring the normal horizontal spraying operation of the nozzle. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the turntable, lifting device, spray fixing rod, spray telescopic rod and adaptive nozzle of the present invention; Figure 4 This is a schematic diagram of the structure of the spray telescopic boom and the adaptive nozzle.

[0018] The symbols for the main components in the diagram are explained below: 1. Vehicle body; 11. Medicine tank; 12. Injection pump; 13. Control box; 14. Camera; 2. Moving track assembly; 21. Wheel frame; 22. Track sprocket; 23. Lower guide wheel; 24. Upper guide wheel; 25. Tensioner wheel; 26. Tensioning telescopic rod; 27. Track; 3. Turntable; 31. Turntable external gear ring; 32. Turntable drive gear; 33. Turntable motor; 34. Limit block; 35. Limit switch; 4. Lifting device; 41. Lifting motor; 42. Lifting screw; 43. Lifting block; 44. U-shaped lifting body; 5. Sprayer fixing rod sleeve; 6. Sprayer telescopic rod; 7. Adaptive nozzle; 71. U-shaped bracket; 711. Strip hole; 72. Spherical nozzle bracket; 721. Feed pipe; 722. Nozzle; 73. Rotating shaft; 74. Counterweight; 75. Spring; 76. Support block; 77. Spring mounting sleeve. Detailed Implementation

[0019] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0020] like Figure 1 and 2 As shown, the Guoling sprayer includes a movable vehicle body 1, on which a medicine tank 11, a spray pump 12, a control box 13, and a camera 14 are mounted. A rotatable turntable 3 is located at the front of the vehicle body 1, and a lifting device 4 is mounted on the turntable 3. A spray fixing rod sleeve 5 is mounted on the lifting device 4, and telescopic spray extension rods 6 are mounted at both ends of the spray fixing rod sleeve 5. The spray extension rods 6 are preferably screw-driven electric extension rods. Adaptive nozzles 7 are mounted on the spray extension rods 6, and the adaptive nozzles 7 adaptively adjust their angle according to the tilt of the vehicle body 1. The camera 14 identifies the scene in front and controls the movement of the Guoling sprayer.

[0021] Two movable track assemblies 2 are provided at the bottom of the vehicle body 1. The movable track assembly 2 includes a wheel frame 21 fixedly connected to the vehicle body 1. The wheel frame 21 is provided with an upper guide wheel 24 and several lower guide wheels 23. The vehicle body 1 is provided with a track sprocket 22. A tensioning telescopic rod 26 is fixed on the wheel frame 21. A tensioning wheel 25 is installed at the telescopic end of the tensioning telescopic rod 26. The track sprocket 22, lower guide wheels 23, guide wheels 24 and tensioning wheel 25 are connected by a track 27. It also includes a drive wheel motor and a reducer to drive the track sprocket 22. The input end of the reducer is connected to the output end of the drive wheel motor, and the output end of the reducer is fixedly connected to the drive track sprocket.

[0022] like Figure 3 As shown, the lifting device 4 includes a lifting motor 41, a lifting screw 42, a lifting block 43, and a U-shaped lifting body 44. The turntable 3 is rotatably mounted on the vehicle body 1. The U-shaped lifting body 44 is fixed to the turntable 3. The lifting screw 42 is rotatably mounted on the U-shaped lifting body 44, with one end of the lifting screw 42 fixedly connected to the output end of the lifting motor 41. The lifting block 43 has a threaded hole that mates with the lifting screw 42. Two limit blocks 34 are provided on the turntable 3, and limit switches 35 that mate with the limit blocks 34 are provided on the vehicle body 1. The interaction between the limit blocks 34 and the limit switches 35 limits the rotation angle range of the turntable 3, allowing the adaptive nozzle 7 to perform oscillating spraying within a small range.

[0023] like Figure 4As shown, the adaptive nozzle 7 includes a U-shaped bracket 71 and a spherical nozzle holder 72 hinged to the U-shaped bracket 71. The spherical nozzle holder 72 has a frosted outer surface. One end of the U-shaped bracket 71 is fixedly connected to the spray telescopic rod 6. Two rotating shafts 73 are symmetrically fixed on the spherical nozzle holder 72. The U-shaped bracket 71 is provided with a strip-shaped hole 711 that mates with the rotating shaft 73, allowing the rotating shaft 73 to slide within the strip-shaped hole 711. A spring 75 is fixed to the inner side of the U-shaped bracket 71, and a support block 76 is fixed to the other end of the spring 75. A shaft cup is provided on the side of the support block 76 that fits against the spherical nozzle holder 72. The spherical nozzle holder 72 is preferably made of metal or rubber. An L-shaped channel is provided inside the spherical nozzle holder 72. The top of the L-shaped channel is connected to the spray pump 12 through a feed pipe 721, and a nozzle 722 is installed on the right side of the L-shaped channel. A counterweight 74 is fixed to the bottom of the spherical nozzle bracket 72. A spring mounting sleeve 77 for mounting a spring 75 is provided on the U-shaped bracket 71. The spring mounting sleeve 77 is fixed to the U-shaped bracket 71, and the spring 75 is fixed inside the spring mounting sleeve 77. When the spring 75 is in its normal state, the support block 76 is in contact with the spherical nozzle bracket 72. When the spring 75 is in its normal state, the counterweight 74 can drive the spherical nozzle bracket 72 to rotate. Specifically, when the adaptive nozzle 7 is not spraying, the spherical nozzle bracket 72, under the action of the counterweight 74, always keeps the spray direction of the nozzle 722 facing the fruit tree. When the adaptive nozzle 722 is spraying, it generates a counter-force, causing the spherical nozzle bracket 72 to move horizontally. The support block 76 supports the compression spring 75, and the support block 76 makes contact with the spherical nozzle bracket 72. Friction is generated between the support block 76 and the spherical nozzle bracket 72, preventing the spherical nozzle bracket 72 from rotating under the reaction force of the nozzle 722. This ensures that the spray direction of the nozzle 722 remains horizontal. Combined with the intermittent action of the nozzle 722, the spray direction can be continuously corrected according to the terrain, ensuring that the nozzle 722 is always at a horizontal spray angle, guaranteeing efficient and stable spraying operations.

[0024] The spray telescopic rod 6 can also be driven by another method, including a spray telescopic motor, a spray telescopic screw and a drive block. The spray telescopic screw is fixed to the output end of the spray telescopic motor, and the drive block is fixed to the spray telescopic rod 6. The spray telescopic rod 6 has a hollow structure, and the drive block is provided with a threaded hole that mates with the spray telescopic screw.

[0025] A method for spraying pesticides using a fruit pesticide sprayer includes the following steps: S1. Before spraying, add fruit pesticide to the pesticide tank 11 and control the rotation of the two moving track components 2 of the fruit pesticide sprayer so that the fruit pesticide sprayer moves between the two rows of fruit trees. S2. When spraying, first adjust the spray fixing rod sleeve 5 through the lifting device 4 so that the height of the adaptive nozzle 7 matches the fruit tree. S3. After adjusting the height of the spray fixing rod sleeve 5 to match the fruit tree, adjust the spray telescopic rod 6 to a suitable telescopic length so that the adaptive nozzle 7 and the fruit tree are within the optimal spraying range. S4. The Guoling sprayer travels at a constant speed along the roadway. The adaptive nozzle 7 adjusts the spraying direction adaptively according to the tilt of the vehicle body 1, so that the nozzle 722 is always in the horizontal direction for spraying. S5. During the spraying process, the spraying height and spraying angle of the fruit trees can be adjusted by controlling the lifting device 4 to raise and lower and the turntable 3 to rotate, so as to meet the needs of different fruit tree spraying operations.

Claims

1. A fruit sprayer, characterized in that, It includes a movable vehicle body (1), on which a medicine tank (11), a spray pump (12), a control box (13) and a camera (14) are installed. A rotatable turntable (3) is provided on the front side of the vehicle body (1). A lifting device (4) is provided on the turntable (3). A spray fixing rod sleeve (5) is provided on the lifting device (4). Both ends of the spray fixing rod sleeve (5) are provided with retractable spray telescopic rods (6). An adaptive nozzle (7) is provided on the spray telescopic rod (6). The adaptive nozzle (7) adaptively adjusts the nozzle angle according to the tilt of the vehicle body (1).

2. The fruit sprayer according to claim 1, characterized in that, The adaptive nozzle (7) includes a U-shaped bracket (71) and a spherical nozzle support (72) hinged to the U-shaped bracket (71). One end of the U-shaped bracket (71) is fixedly connected to the spray telescopic rod (6). Two rotating shafts (73) are symmetrically fixed on the spherical nozzle support (72). The U-shaped bracket (71) is provided with a strip hole (711) that cooperates with the rotating shaft (73). The rotating shaft (73) can slide within the strip hole (711). A spring (75) is fixed to the inside of the spherical nozzle bracket (72), and a support block (76) is fixed to the other end of the spring (75). A shaft cup is provided on the side of the support block (76) that is in contact with the spherical nozzle bracket (72). An L-shaped channel is provided inside the spherical nozzle bracket (72). The top of the L-shaped channel is connected to the liquid pump (12) through a feed pipe (721). A nozzle (722) is installed on the right side of the L-shaped channel. A counterweight block (74) is fixed to the bottom of the spherical nozzle bracket (72).

3. The fruit sprayer according to claim 2, characterized in that, The U-shaped bracket (71) is provided with a spring mounting cylinder (77) for mounting springs (75).

4. The fruit sprayer according to claim 3, characterized in that, The bottom of the vehicle body (1) is provided with two mobile track assemblies (2). The mobile track assembly (2) includes a wheel frame (21) fixedly connected to the vehicle body (1). The wheel frame (21) is provided with an upper guide wheel (24) and several lower guide wheels (23). The vehicle body (1) is provided with a track sprocket (22). The wheel frame (21) is fixed with a tensioning telescopic rod (26). The telescopic end of the tensioning telescopic rod (26) is equipped with a tensioning wheel (25). The track sprocket (22), lower guide wheel (23), guide wheel (24) and tensioning wheel (25) are connected by a track (27).

5. The fruit sprayer according to claim 4, characterized in that, It also includes a drive wheel motor and a reducer for driving the track sprocket (22), wherein the input end of the reducer is connected to the output end of the drive wheel motor, and the output end of the reducer is fixedly connected to the drive track sprocket.

6. The fruit sprayer according to claim 5, characterized in that, The lifting device (4) includes a lifting motor (41), a lifting screw (42), a lifting block (43), and a U-shaped lifting body (44). The turntable (3) is rotatably mounted on the vehicle body (1). The U-shaped lifting body (44) is fixed on the turntable (3). The lifting screw (42) is rotatably mounted on the U-shaped lifting body (44). One end of the lifting screw (42) is fixedly connected to the output end of the lifting motor (41). The lifting block (43) is provided with a threaded hole that mates with the lifting screw (42).

7. The fruit sprayer according to claim 6, characterized in that, The turntable (3) is provided with two limit blocks (34), and the vehicle body (1) is provided with a limit switch (35) that cooperates with the limit blocks (34).

8. The fruit sprayer according to claim 7, characterized in that, When the spring (75) is in its normal state, the support block (76) is in contact with the spherical nozzle bracket (72).

9. The fruit sprayer according to claim 8, characterized in that, When the spring (75) is in its normal state, the counterweight (74) can drive the spherical nozzle bracket (72) to rotate.

10. A spraying method for the fruit sprayer according to claim 9, characterized in that, Includes the following steps: S1. Before spraying, add fruit medicine to the medicine tank (11) and control the rotation of the two moving track components (2) of the fruit sprayer so that the fruit sprayer moves between the two rows of fruit trees. S2. When spraying, first adjust the spray fixing rod sleeve (5) through the lifting device (4) so ​​that the height of the adaptive nozzle (7) matches the fruit tree; S3. After adjusting the height of the spray fixing rod sleeve (5) to match the fruit tree, adjust the spray telescopic rod (6) to a suitable telescopic length so that the adaptive nozzle (7) and the fruit tree are within the optimal spraying range. S4. The Guoling sprayer travels at a constant speed along the roadway. The adaptive nozzle (7) adjusts the spraying direction adaptively according to the tilt of the vehicle body (1) so that the nozzle (722) is always in the horizontal direction for spraying. S5. During the spraying process, the spraying height and spraying angle of the fruit trees can be adjusted by controlling the lifting device (4) to lift and control the turntable (3) to rotate, so as to meet the different fruit tree spraying operations.

Images