Automatic obstacle avoidance device for folding spray boom of plant protection machine

Abstract

The utility model discloses a plant protection machine folding spray rod automatic obstacle avoidance device which comprises a connecting rod, a single-shaft driver is arranged on the connecting rod, and the single-shaft driver is driven by a driving motor; a mounting plate is arranged on a moving block of the single-shaft driver, a first hinge seat and a second hinge seat are arranged on the mounting plate, a first air cylinder is hinged to the first hinge seat, a folding rod is hinged to the second hinge seat, and the driving end of the first air cylinder is hinged to the upper side of the folding rod; through cooperative use of a connecting rod, a single-shaft driver, a driving motor, a mounting plate, a first hinge seat, a second hinge seat, a first air cylinder, a folding rod, a second air cylinder and a spraying rod, the driving motor drives equipment on the mounting plate to transversely move, the angle of the folding rod can be adjusted by starting the first air cylinder, and the height of the spraying rod is adjusted by the second air cylinder; obstacles can be effectively avoided by adjusting the starting modes of the driving motor, the first air cylinder and the second air cylinder.

Description

Technical Field

[0001] The utility model relates to the technical field of obstacle avoidance devices, and specifically relates to an automatic obstacle avoidance device for a folding spray rod of a crop protection machine. Background Art

[0002] In the related art, plant protection requires weeding, and the traditional weeding methods are single, one is mechanical damaging physical weeding, and the other is chemical pesticide weeding.

[0003] In the process of implementing the embodiments of the present disclosure, it is found that there are at least the following problems in the related art:

[0004] When using a plant protection machine to perform chemical weed control on crops, the folding rod that fixes the nozzle may hit the crops, causing damage to the crops, or the crops may block the folding rod. Utility Model Content

[0005] The utility model aims to provide an automatic obstacle avoidance device for a folding spray boom of a plant protection machine, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an automatic obstacle avoidance device for a folding spray rod of a plant protection machine, comprising a connecting rod, a single-axis driver is provided on the connecting rod, and the single-axis driver is driven by a driving motor; a mounting plate is provided on the moving block of the single-axis driver, a first hinge seat and a second hinge seat are provided on the mounting plate, a first cylinder is hinged on the first hinge seat, a folding rod is hinged on the second hinge seat, a driving end of the first cylinder is hinged to the upper side of the folding rod; a second cylinder is provided on the folding rod, and a spray rod is provided at the driving end of the second cylinder; a control module is electrically connected to the driving motor, the first cylinder and the second cylinder, and the control module uses an STC89C51 single-chip microcomputer.

[0007] Preferably, it also includes: a laser emitting module, which is electrically connected to the control module and uses a semiconductor laser to emit pulsed laser; a laser receiving module, which is electrically connected to the laser emitting module and receives the reflected light of the laser emitting module after passing through the target to be measured, using a photodetector; and a time-to-digital conversion module, which uses the emission of the light pulse signal by the laser emitting module as the timing start moment and the reception of the light pulse signal by the laser receiving module as the timing end moment, and converts the time signal between the two into a digital signal and transmits it to the control module.

[0008] Preferably, the single-axis driver is composed of a threaded rod and a moving block, the moving block is threadedly connected to the threaded rod, and the end of the threaded rod is connected to the driving end of the driving motor.

[0009] Preferably, a joint bearing and a hinge seat are provided between the driving end of the first cylinder and the folding rod, the joint end of the joint bearing is connected to the first cylinder, the hinge seat is connected to the side wall of the folding rod, and the bearing end of the joint bearing is hinged to the hinge seat.

[0010] Compared with the prior art, the utility model has the following beneficial effects: the utility model cooperates with the connecting rod, the single-axis driver, the driving motor, the mounting plate, the first articulated seat, the second articulated seat, the first cylinder, the folding rod, the second cylinder and the spray rod through the setting. The driving motor drives the equipment on the mounting plate to move horizontally. The first cylinder can adjust the angle of the folding rod by starting, and the second cylinder adjusts the height of the spray rod. By adjusting the starting mode of the driving motor, the first cylinder and the second cylinder, obstacles can be effectively avoided. The setting control module is electrically connected to the driving motor, the first cylinder and the second cylinder. The control module adjusts the starting mode of the driving motor, the first cylinder and the second cylinder according to the travel speed of the plant protection machine, which can effectively avoid obstacles. Or the laser transmitting module and the laser receiving module are used for ranging, and the distance between the obstacle and the target can be measured, and then the starting mode of the driving motor, the first cylinder and the second cylinder is adjusted, which can help the spray rod to avoid obstacles when encountering obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the utility model;

[0012] Figure 2 It is a schematic diagram of the system principle of the utility model.

[0013] In the figure: 1. connecting rod; 2. single-axis drive; 3. driving motor; 4. mounting plate; 5. first articulated seat; 6. second articulated seat; 7. first cylinder; 8. folding rod; 9. second cylinder; 10. spray rod; 11. control module; 12. laser emitting module; 13. laser receiving module; 14. time digital conversion module. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0015] See also Figure 1-2The utility model provides a technical solution: an automatic obstacle avoidance device for a folding spray rod of a plant protection machine, comprising a connecting rod 1, the connecting rod 1 is fixedly arranged on a plant protection machine of a preset value, a single-axis driver 2 is arranged on the connecting rod 1, and the single-axis driver 2 is driven by a driving motor 3; a mounting plate 4 is arranged on the moving block of the single-axis driver 2, a first articulated seat 5 and a second articulated seat 6 are arranged on the mounting plate 4, a first cylinder 7 is articulated on the first articulated seat 5, a folding rod 8 is articulated on the second articulated seat 6, a driving end of the first cylinder 7 is articulated with the upper side of the folding rod 8; a second cylinder 9 is arranged on the folding rod 8, and a spray rod 10 is arranged on the driving end of the second cylinder 9; a control module 11, A control module 11 is electrically connected to the drive motor 3, the first cylinder 7 and the second cylinder 9. The control module 11 uses an STC89C51 single-chip microcomputer. The pulse laser emitted by the semiconductor laser hits the target to be measured and then reflects. The reflected light is received and amplified by the photoelectric detector of the ranging system. The emission of the light pulse signal is the starting moment of the timing, and the reception of the light pulse signal is the end moment of the timing. By calculating the time between the two, the time t required for the laser to travel back and forth between the ranging system and the target can be obtained, and then the distance between the two can be calculated. The laser is transmitted in a straight line, and the ranging is more accurate, which is suitable for complex environments with accurate control of the folding rod trajectory and high precision requirements.

[0016] Specifically, it also includes a laser emitting module 12, a laser receiving module 13, and a time digital conversion module 14. The laser emitting module 12 is electrically connected to the control module, uses a semiconductor laser, and emits pulsed laser; the laser receiving module 13 is electrically connected to the laser emitting module 12, receives the reflected light of the laser emitting module 12 after passing through the target to be measured, and uses a photodetector; the time digital conversion module 14 takes the emission of the light pulse signal by the laser emitting module 12 as the timing start moment, and takes the reception of the light pulse signal by the laser receiving module 13 as the timing end moment, and converts the time signal between the two into a digital signal and transmits it to the control module 11.

[0017] Specifically, the single-axis driver 2 consists of a threaded rod and a moving block. The moving block is threadedly connected to the threaded rod. At the same time, the end of the threaded rod is connected to the driving end of the driving motor 3. When the driving motor 3 is started, it drives the threaded rod to rotate, and the moving block moves laterally through the action of the thread.

[0018] Specifically, a joint bearing and a hinge seat are provided between the driving end of the first cylinder 7 and the folding rod 8, the joint end of the joint bearing is connected to the first cylinder 7, the hinge seat is connected to the side wall of the folding rod 8, and the bearing end of the joint bearing is hinged to the hinge seat.

[0019] Working principle: When the utility model is working, the connecting rod 1, the single-axis driver 2, the driving motor 3, the mounting plate 4, the first articulated seat 5, the second articulated seat 6, the first cylinder 7, the folding rod 8, the second cylinder 9 and the spray rod 10 are used in conjunction with each other. The driving motor drives the equipment on the mounting plate to move horizontally. The first cylinder is started to adjust the angle of the folding rod, and the second cylinder adjusts the height of the spray rod. By adjusting the starting mode of the driving motor, the first cylinder and the second cylinder, obstacles can be effectively avoided. The control module 11 is electrically connected to the driving motor, the first cylinder and the second cylinder. The control module adjusts the starting mode of the driving motor, the first cylinder and the second cylinder according to the travel speed of the plant protection machine, which can effectively avoid obstacles. The laser transmitting module 12 and the laser receiving module 13 are used for ranging, and the distance between the obstacle and the target can be measured, and then the starting mode of the driving motor, the first cylinder and the second cylinder is adjusted, which can help the spray rod to avoid obstacles when encountering obstacles.

[0020] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the instructions and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0022] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle avoidance device for a folding spray boom of a plant protection machine, characterized in that: It comprises a connecting rod (1), on which a single-axis driver (2) is provided, and the single-axis driver (2) is driven by a driving motor (3); A mounting plate (4) is provided on the moving block of the single-axis drive (2); a first hinge seat (5) and a second hinge seat (6) are provided on the mounting plate (4); a first cylinder (7) is hingedly connected to the first hinge seat (5); a folding rod (8) is hingedly connected to the second hinge seat (6); a driving end of the first cylinder (7) is hingedly connected to the upper side of the folding rod (8); The folding rod (8) is provided with a second cylinder (9), and a spray rod (10) is provided at the driving end of the second cylinder (9); A control module (11) is electrically connected to the drive motor (3), the first cylinder (7) and the second cylinder (9), and the control module (11) uses an STC89C51 single-chip microcomputer.

2. The automatic obstacle avoidance device for a folding spray boom of a crop protection machine according to claim 1, characterized in that: Also includes: A laser emission module (12) is electrically connected to the control module and uses a semiconductor laser to emit pulsed laser; A laser receiving module (13) is electrically connected to the laser emitting module (12) and receives reflected light from the laser emitting module (12) after passing through the target to be measured, using a photoelectric detector; The time-to-digital conversion module (14) uses the emission of the optical pulse signal by the laser emission module (12) as the timing start moment and the reception of the optical pulse signal by the laser receiving module (13) as the timing end moment, and converts the time signal between the two into a digital signal and transmits it to the control module (11).

3. The automatic obstacle avoidance device for a folding spray boom of a plant protection machine according to claim 1, characterized in that: The single-axis driver (2) is composed of a threaded rod and a moving block, wherein the moving block is threadedly connected to the threaded rod, and the end of the threaded rod is connected to the driving end of the driving motor (3).

4. The automatic obstacle avoidance device for a folding spray boom of a plant protection machine according to claim 1, characterized in that: A joint bearing and a hinge seat are provided between the driving end of the first cylinder (7) and the folding rod (8); the joint end of the joint bearing is connected to the first cylinder (7), the hinge seat is connected to the side wall of the folding rod (8), and the bearing end of the joint bearing is hinged to the hinge seat.

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