Automatic pesticide spraying device for greenhouse

Abstract

The utility model belongs to the technical field of greenhouse pesticide spraying, and discloses an automatic pesticide spraying device for a greenhouse, which comprises a support, a pesticide box is arranged at one end in the support, a weighing mechanism is directly arranged on the pesticide box and the inner bottom surface of the support, and a battery is fixedly arranged at the other end in the support close to the pesticide box. A spraying device is arranged at the end, close to the water pump, of the outer portion of the support, the spraying device is communicated with the water pump, and a driving device for driving the spraying device to operate is arranged at the position, close to the spraying device, of the support; a swinging head position sensor is arranged on the inner wall of the support corresponding to the spraying device, an electric control system is arranged in the support and located above the water pump, a walking mechanism is arranged on the upper portion of the support, and a position detection sensor is further arranged on the walking mechanism; according to the utility model, full-automatic pesticide spraying can be realized in the pesticide spraying process of greenhouse crops, the pesticide dosage can be monitored, and the use effect is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of greenhouse spraying, and specifically relates to an automatic spraying device for greenhouses. Background Art

[0002] In the development process of modern agriculture, greenhouse cultivation, as an efficient and controllable agricultural production method, is increasingly favored by farmers. However, with the expansion of greenhouse cultivation scale and the increase of planting density, the prevention and control of pests and diseases have become an urgent problem to be solved. Currently, for the spraying operation of crops in the greenhouse, people usually use a knapsack sprayer to spray, which is not only time-consuming and laborious, but also restricted by the crops and the greenhouse, making it impossible to achieve uniform and comprehensive spraying, and bringing inconvenience to people's operation. In an environment with poor ventilation in the greenhouse, operators are prone to poisoning, with extremely high risks, and it is not conducive to the control of pests in the greenhouse.

[0003] In order to avoid manual knapsack spraying, currently, for the spraying operation of crops in the greenhouse, people usually adopt the following methods: electric sprayers and trolley-mounted spraying machines. The advantages of the above two methods are relatively less pesticide consumption and better spraying effects. The disadvantages are that they also require manual operation, being time-consuming, laborious, and water-consuming. For greenhouses that need to be sprayed once every 4 - 5 days, the labor intensity is high, and spraying personnel inhale a large amount of pesticides, which is harmful to their health. Moreover, the humidity in the greenhouse is high, and diseases are likely to occur. Gasoline-powered mist sprayers, ultrasonic or pressure air-blast mist sprayers. The advantages of the above two methods are convenient use and labor saving. The disadvantages are that because the mist diffuses throughout the greenhouse, less pesticide is deposited on the plants, so the pesticide dosage has to be increased, which is 2 - 3 times that of manual spraying, resulting in a large waste and high spraying cost, making it difficult for growers to accept. The advantages of distributed spraying devices are simple operation and fast spraying. The disadvantages are that the leaves on the back of the plants cannot be covered, resulting in high humidity in the greenhouse and increased diseases. Moreover, the equipment pipeline investment is large, it is not easy to clean, and it is less used.

[0004] A Chinese patent with the application number CN201921217038.9 discloses an orbital air-blast automatic spraying device for solar greenhouses, which includes a housing, an automatic walking system, a swinging system, a pneumatic conveying system, a control system, and a spraying system; the swinging system includes a swinging mechanism motor, a swing arm mechanism, and a rotating arm arranged on the housing; the swing arm mechanism includes a swinging pulley, a worm fixed on the rotating shaft of the swinging mechanism motor, the worm meshes with a worm gear, a first swing arm is arranged on the worm gear, a second swing arm is arranged on the swinging pulley, a pull rod is hinged between the second swing arm and the first swing arm, the rotating arm is coaxially arranged with the rotating shaft of the swinging pulley, the size of the sprayed droplets is between manual spraying and mist spraying, and they will not float in the air. The droplets covering the leaf surface are more uniform, achieving precise spraying, reducing the amount of pesticide used. Through the pneumatic conveying method, on the one hand, the leaves of the crops can be disturbed, and the droplets can evenly cover the surface and bottom of the crop leaves. On the other hand, the spraying range of the drug can be expanded;

[0005] However, in this patent, the amount of medicine cannot be controlled during the spraying process, the speed during travel cannot be automatically adjusted, and it cannot ensure that the spraying can be evenly sprayed onto the crops, which is likely to cause waste of medicine. At the same time, there is no output of the amount of medicine used in a specific area, and precise dosing cannot be achieved. In addition, the driven wheels in the automatic walking system are not protected. When a failure occurs and the motor idles, it is easy to damage the service life. Utility Model Content

[0006] The main technical problem to be solved by the present utility model is to provide an automatic spraying device for greenhouses with a simple overall structure, which can achieve full-automatic spraying during the pesticide spraying process of greenhouse crops, can monitor the amount of medicine used, automatically adjust the speed during travel, ensure uniform spraying of crops, and at the same time, the walking device is detected in real time in the automatic travel system to avoid pesticide damage caused by equipment failures, thereby improving the use effect.

[0007] To solve the above technical problems, the present utility model provides the following technical solutions:

[0008] An automatic spraying device for greenhouses includes a bracket. At one end inside the bracket, a medicine box is arranged. A weighing mechanism is directly arranged between the medicine box and the inner bottom surface of the bracket. At the other end inside the bracket, near the medicine box, a battery is fixedly installed. At the other end inside the bracket, near the battery, a water pump communicating with the medicine box is fixedly installed. At one end outside the bracket, near the water pump, a spraying device is arranged. The spraying device is communicated with the water pump. A driving device for driving the operation of the spraying device is arranged on the bracket near the spraying device. A swing head position sensor is arranged at a position on the inner wall of the bracket corresponding to the spraying device. An electric control system is arranged above the water pump inside the bracket. A walking mechanism is arranged on the upper part of the bracket. A position detection sensor is also arranged on the walking mechanism;

[0009] The traveling mechanism includes a traveling component arranged on the upper end surface of the bracket, and a counting and detecting device is arranged at a position close to the medicine box on the traveling component;

[0010] The counting and detecting device includes a counting wheel sleeved at one end of the traveling component close to the medicine box. A plurality of protrusions are annularly arranged on the outer surface of the counting wheel. An L-shaped plate is fixedly installed at a position below the counting wheel. A counting sensor is vertically arranged on the horizontal plate of the L-shaped plate, and the counting sensor is simultaneously located below the protrusion.

[0011] The following is a further optimization of the above technical solution by the present utility model:

[0012] The weighing mechanism includes a lower support plate fixedly installed on the inner bottom surface of the bracket. A weight sensor is arranged on the lower support plate, and the force-receiving end of the weight sensor is fixedly installed with the same upper support bracket.

[0013] Further optimization: The spraying device includes a first liquid outlet pipe communicated with one end of the water pump outlet. The other end of the first liquid outlet pipe is communicated with a universal joint for adjusting the pipeline direction. The other end of the universal joint is communicated with a second liquid outlet pipe. The second liquid outlet pipe is rotatably installed on the inner wall of the bracket at the same time. The other end of the second liquid outlet pipe penetrates through the inner wall of the bracket and is communicated with a nozzle group.

[0014] Further optimization: The nozzle group includes a three-way joint communicated with the other end of the second liquid outlet pipe. The other two passages of the three-way joint are both communicated with a third liquid outlet pipe. The two third liquid outlet pipes are arranged in parallel at intervals. A plurality of nozzles are linearly arranged on the surface of each third liquid outlet pipe.

[0015] Further optimization: A fan support is fixedly installed on the outer surface of the second liquid outlet pipe. A first fan group is arranged at a position above the nozzle on the surface of the fan support. An L-shaped support is vertically arranged at one end of the fan support surface far from the first fan group. A second fan group is arranged at the other end of the L-shaped support parallel to the fan support.

[0016] Further optimization: The traveling component includes a main support vertically arranged on the upper end surface of the bracket at a position above the spraying device. A main rotating shaft is rotatably installed on the main support, and the main rotating shaft is arranged along the width direction of the bracket.

[0017] Further optimization: The main rotating shaft penetrates through the main support and is fixedly installed at the power output end of a second stepping motor. The second stepping motor is fixedly installed on the main support at the same time. A main traveling wheel is sleeved at the middle position of the main rotating shaft. The other end of the main rotating shaft is rotatably installed on the main support.

[0018] Further optimization: At one end of the upper end face of the bracket away from the main bracket, a secondary bracket is vertically arranged. The secondary bracket is symmetrically arranged with the main bracket. At a position corresponding to the main rotating shaft on the secondary bracket, a driven rotating shaft is rotatably installed. At a position corresponding to the main traveling wheel on the driven rotating shaft, a driven traveling wheel is sleeved. The other end of the driven rotating shaft is also rotatably installed on the secondary bracket.

[0019] Further optimization: On one side surface of the secondary bracket near the edge of the bracket, a rear travel limit switch is fixedly installed. The counting wheel is sleeved at a position on the driven rotating shaft close to the rear travel switch.

[0020] The utility model adopts the above technical scheme, with ingenious conception and reasonable structure. It can automatically spray pesticides during the process of planting crops in the greenhouse. By setting the first fan group and the second fan group, during the left-right rotation spraying process of the nozzle group, it ensures that the liquid medicine is evenly sprayed onto the crops. At the same time, under the real-time monitoring of the weight sensor, during the traveling operation of the device, it can provide real-time feedback on the amount of sprayed medicine. According to the preset value, the second stepping motor can adjust the rotation speed at any time, that is, adjust the traveling speed of the device, ensuring that the amount of sprayed liquid medicine is sufficient without causing waste, further improving the efficiency of spraying the liquid medicine. And the device can be remotely controlled by a mobile phone, saving the labor intensity and labor time of the staff, and is convenient to use.

[0021] By setting a position detection sensor during the traveling of the medicine spraying device, it detects the actual traveling distance, improving the accuracy of the distance.

[0022] The following further describes the present utility model with reference to the drawings and embodiments. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the overall structure in the embodiment of the present utility model;

[0024] Figure 2 It is a schematic diagram of the interior of the overall structure in the embodiment of the present utility model;

[0025] Figure 3 It is a left view of the overall structure in the embodiment of the present utility model;

[0026] Figure 4 It is a right view of the overall structure in the embodiment of the present utility model;

[0027] Figure 5 It is a rear view of the overall structure in the embodiment of the present utility model.

[0028] In the figure: 1 - support; 11 - position detection sensor; 2 - medicine box; 21 - box body; 22 - liquid inlet; 23 - liquid level gauge; 3 - weighing mechanism; 31 - upper support; 32 - weight sensor; 33 - lower support plate; 4 - battery; 5 - water pump; 6 - spraying device; 61 - first liquid outlet pipe; 62 - universal joint; 63 - second liquid outlet pipe; 64 - fan support; 65 - first fan group; 66 - nozzle group; 660 - three-way joint; 661 - third liquid outlet pipe; 662 - nozzle; 67 - L-shaped support; 68 - second fan group; 69 - driving device; 690 - first stepping motor; 691 - first synchronous pulley; 692 - synchronous belt; 693 - second synchronous pulley; 7 - swing head position sensor; 8 - electric control system; 81 - mounting plate; 82 - mounting bracket; 83 - PLC control panel; 84 - electric control box; 9 - traveling mechanism; 91 - main support; 92 - main rotating shaft; 93 - second stepping motor; 94 - front travel limit switch; 95 - main traveling wheel; 98 - secondary support; 980 - secondary rotating shaft; 981 - rear travel limit switch; 982 - secondary traveling wheel; 984 - counting wheel; 985 - L-shaped plate; 986 - counting sensor. Detailed implementation manner

[0029] As Figures 1-5 shown: An automatic medicine spraying device for a greenhouse, including a support 1. At one end inside the support 1, a medicine box 2 is arranged. A weighing mechanism 3 is directly arranged between the medicine box 2 and the inner bottom surface of the support 1. At the other end inside the support 1, near the medicine box 2, a battery 4 is fixedly installed. At the other end inside the support 1, near the battery 4, a water pump 5 communicated with the medicine box 2 is fixedly installed. At one end outside the support 1, near the water pump 5, a spraying device 6 is arranged. The spraying device 6 is communicated with the water pump 5. At a position on the support 1 near the spraying device 6, a driving device 69 for driving the spraying device 6 to operate is arranged. At a position on the inner wall of the support 1 corresponding to the spraying device 6, a swing head position sensor 7 is arranged. Inside the support 1, above the water pump 5, an electric control system 8 is arranged. On the upper part of the support 1, a traveling mechanism 9 is arranged. A position detection sensor 11 is also arranged on the support 1.

[0030] In this embodiment, the support 1 is made by fixedly installing aluminum profiles and steel plates with different lengths, and can be arbitrarily cut and installed according to the required model, which is convenient to apply.

[0031] The weighing mechanism 3 includes a lower support plate 33 fixedly installed on the inner bottom surface of the support 1. A weight sensor 32 is arranged on the lower support plate 33. The force-receiving end of the weight sensor 32 is fixedly installed with the same upper support 31.

[0032] In this embodiment, the weight sensor 32 can detect the weight change of the object to be measured, convert and feedback the signal, and can detect the weight of the object to be measured in real time. Its specific working principle is already well-known in the prior art and will not be elaborated here. Moreover, the weight sensor 32 can be directly purchased from the market.

[0033] The medicine box 2 includes a box body 21 fixedly installed on the upper bracket 31. An inlet 22 is opened at the upper end of the box body 21. The liquid medicine required for the crops is input into the box body 21 from the inlet 22. At the same time, the weight sensor 32 can detect the weight of the liquid medicine.

[0034] A sealing cover with a filter net is detachably and sealingly connected at the position of the inlet 22. During the spraying process, the sealing cover can filter and seal the box body 21 to prevent the liquid medicine from being polluted by the outside world and also prevent leakage.

[0035] One end of the box body 21 close to the battery 4 is communicated with a liquid level gauge 23. The function of the liquid level gauge 23 is to further detect the liquid medicine in the box body 21 in real time. When the medicine box 2 leaks, the liquid level drops rapidly. The liquid level gauge 23 can feedback the signal to avoid excessive loss of the liquid medicine.

[0036] With such a design, when the liquid medicine is added into the box body 21, a force is exerted on all the weight sensors 32, and then the weight of the liquid medicine in the box body 21 can be weighed to detect the liquid medicine in real time.

[0037] The other end of the liquid level gauge 23 is communicated with the inlet of the water pump 5 through a pipeline. In this embodiment, the water pump 5 can be directly purchased from the market and can suck the liquid medicine in the box body 21.

[0038] The spraying device 6 includes a first liquid outlet pipe 61 communicated with one end of the outlet of the water pump 5. The other end of the first liquid outlet pipe 61 is communicated with a universal joint 62 for adjusting the pipeline direction.

[0039] The other end of the universal joint 62 is communicated with a second liquid outlet pipe 63. The second liquid outlet pipe 63 is rotatably installed on the inner wall of the bracket 1 through a bearing at the same time. The other end of the second liquid outlet pipe 63 penetrates through the inner wall of the bracket 1 and is communicated with a nozzle group 66.

[0040] As Figure 3 shown, the nozzle group 66 includes a tee joint 660 communicated with the other end of the second liquid outlet pipe 63. The other two ports of the tee joint 660 are both communicated with a third liquid outlet pipe 661.

[0041] Two third liquid outlet pipes 661 are arranged in parallel at intervals. A plurality of nozzles 662 are linearly arranged on the surface of each third liquid outlet pipe 661.

[0042] With such a design, under the action of the water pump 5, the liquid medicine in the box body 21 can be pumped out, pass through the first liquid outlet pipe 61, the second liquid outlet pipe 63, and the third liquid outlet pipe 661, and then be sprayed out by the nozzle 662 to achieve the spraying of pesticides, and multiple nozzles 662 can expand the spraying range.

[0043] In this embodiment, the nozzle 662 can be directly purchased from the market, and can spray the liquid medicine in a mist shape. Its specific working principle is already well-known and widely used in the prior art, and will not be elaborated here.

[0044] In addition to this embodiment, the nozzle 662 can adopt a drone centrifugal nozzle to ensure finer atomization particle size and better drug application effect on the front and back leaf surfaces of crops during spraying.

[0045] In the prior art, a drone centrifugal nozzle drives a atomization disk to rotate at a high speed through a motor to generate centrifugal force, and disperses the liquid medicine into fine mist droplets. It has advantages such as good atomization uniformity and applicability to a variety of agricultural chemicals. Its specific working principle is already well-known and widely used, and will not be elaborated here.

[0046] A fan bracket 64 is fixedly installed on the outer surface of the second liquid outlet pipe 63, and a first fan group 65 is arranged on the surface of the fan bracket 64 at a position above the nozzle 662.

[0047] An L bracket 67 is vertically arranged at one end of the surface of the fan bracket 64 away from the first fan group 65, and a second fan group 68 is arranged at the end of the other end of the L bracket 67 parallel to the fan bracket 64.

[0048] In this embodiment, both the first fan group 65 and the second fan group 68 adopt the same driving principle as the rotation of the drone fan blades, that is, a brushless DC motor is used to drive the blades to rotate. The specific rotation principle is already well-known in the prior art and will not be elaborated here.

[0049] With such a design, the first fan group 65 and the second fan group 68 are simultaneously arranged above the nozzle group 66. After the nozzle 662 sprays the liquid medicine in a mist shape, the first fan group 65 and the second fan group 68 simultaneously rotate the blades to disperse the mist-shaped liquid medicine and further increase the dispersion range.

[0050] The swing position sensor 7 is used to detect the position of the L bracket 67 and feedback the signal, so as to control the rotation angle of the L bracket 67.

[0051] The driving device 69 includes a first stepping motor 690 vertically arranged on the inner wall of the bracket 1 near the universal joint 62.

[0052] The power output end of the first stepping motor 690 penetrates through the inner wall of the bracket 1 and is fixedly installed with a first synchronous pulley 691.

[0053] A second synchronous pulley 693 is sleeved at a position of the second liquid outlet pipe 63 close to the bracket 1.

[0054] The outer surfaces of the first synchronous pulley 691 and the second synchronous pulley 693 are simultaneously abutted against by the same synchronous belt 692.

[0055] With such a design, when the power output end of the first stepping motor 690 rotates, it drives the first synchronous pulley 691 to rotate. Under the driving action of the synchronous belt 692, the second synchronous pulley 693 is driven to rotate, and then the second liquid outlet pipe 63 is driven to rotate. At the same time, the L-shaped bracket 67, the nozzle group 66, the first fan group 65 and the second fan group 68 rotate. When the L-shaped bracket 67 rotates past the swing head position sensor 7, the swing head position sensor 7 feeds back a signal, and then the rotation direction of the first stepping motor 690 is changed, so as to change the rotation direction of the nozzle group 66, and the nozzle group 66 realizes left-right rotation.

[0056] An installation plate 81 is detachably installed on the side surface of the bracket 1 close to the battery 4, and a PLC control panel 83 is fixedly installed on the installation plate 81.

[0057] The electric control system 8 includes two installation brackets 82 vertically arranged on the two inner walls of the bracket 1 and symmetrically spaced apart. The two installation brackets 82 are arranged along the width direction of the bracket 1.

[0058] An electric control box 84 is detachably installed on the two installation brackets 82. The electric control box 84 is provided with electrical components such as a control system, a power supply, a fan, a relay, a terminal block, etc. for controlling the operation of the spraying device. The specific connection method and working principle are already well-known in the prior art and will not be elaborated here.

[0059] The positive and negative electrodes of the battery 4 are respectively electrically connected to the power supply through wires for power supply. The control end of the control system is connected to the power supply through a wire, and the control ends of the fan and the relay are both electrically connected to the control system.

[0060] The control end of the PLC control panel 83 is electrically connected to the control system through a wire.

[0061] The control end of the water pump 5 is electrically connected to the control system through a wire.

[0062] The signal output end of the swing head position sensor 7 is electrically connected to the control system through a wire.

[0063] The control end of the first stepping motor 690 is electrically connected to the control system through a wire.

[0064] The control ends of the first fan group 65 and the second fan group 68 are electrically connected to the control system through wires.

[0065] The signal output end of the liquid level gauge 23 is electrically connected to the control system through a wire.

[0066] As Figures 3-5 Collectively shown, the traveling mechanism 9 includes a traveling component arranged on the upper end surface of the bracket 1, and a counting and detecting device is arranged on the traveling component near the position of the medicine box 2.

[0067] The traveling component includes a main bracket 91 vertically arranged on the upper end surface of the bracket 1 at a position above the spraying device 6.

[0068] A main rotating shaft 92 is rotatably installed on the main bracket 91, and the main rotating shaft 92 is arranged along the width direction of the bracket 1.

[0069] The main rotating shaft 92 penetrates through the main bracket 91 and then fixedly installs the power output end of the second stepping motor 93.

[0070] The second stepping motor 93 is simultaneously fixedly installed on the main bracket 91.

[0071] A main traveling wheel 95 is sleeved at the middle position of the main rotating shaft 92, and the other end of the main rotating shaft 92 is rotatably installed on the main bracket 91.

[0072] A front travel limit switch 94 is fixedly installed on one side surface of the main bracket 91 near the edge position of the bracket 1, and the signal output end of the front travel limit switch 94 is electrically connected to the control system through a wire.

[0073] A secondary bracket 98 is vertically arranged at one end of the upper end surface of the bracket 1 away from the main bracket 91, and the secondary bracket 98 is symmetrically arranged with the main bracket 91.

[0074] A driven rotating shaft 980 is rotatably installed on the secondary bracket 98 at a position corresponding to the main rotating shaft 92, and a driven traveling wheel 982 is sleeved on the driven rotating shaft 980 at a position corresponding to the main traveling wheel 95.

[0075] The other end of the driven rotating shaft 980 is simultaneously rotatably installed on the secondary bracket 98.

[0076] Designed in this way, the power output end of the second stepping motor 93 drives the main rotating shaft 92 to rotate, driving the main traveling wheel 95 to rotate, so that the device travels. The driven traveling wheel 982 rotates simultaneously during the traveling of the device, driving the driven rotating shaft 980 to rotate, and working together with the main traveling wheel 95 to promote the device to travel.

[0077] On one side of the secondary bracket 98 near the edge of the bracket 1, a rear travel limit switch 981 is fixedly installed, and the signal output end of the rear travel limit switch 981 is electrically connected to the control system through an electric wire.

[0078] The counting and detecting device includes a counting wheel 984 sleeved on the driven rotating shaft 980 near the rear travel limit switch 981, and the counting wheel 984 rotates together with the driven rotating shaft 980.

[0079] A plurality of protrusions are annularly arranged on the outer surface of the counting wheel 984.

[0080] An L-shaped plate 985 is fixedly installed on the secondary bracket 98 at a position below the counting wheel 984. A counting sensor 986 is vertically arranged on the horizontal plate of the L-shaped plate 985. The counting sensor 986 is also located below the protrusions to count the protrusions, so as to detect the rotation of the counting wheel 984, and then detect the rotation condition of the driven traveling wheel 982, that is, to protect the driven traveling wheel 982.

[0081] The signal output end of the counting sensor 986 is electrically connected to the control system through an electric wire.

[0082] In this embodiment, the PLC control panel 83 adopts a PLC controller with a wireless transmission function, which can realize the remote connection between the device and a mobile phone, and then remotely control the operation of the device through a mobile device such as a mobile phone. In the prior art, the PLC control panel 83 with a wireless transmission function is already well-known and can be directly purchased from the market, and the specific principle will not be elaborated here.

[0083] A plurality of rows of parallel and spaced guide rails are arranged above the crops inside the greenhouse, and the shape of the guide rails matches the shapes of the main traveling wheel 95 and the driven traveling wheel 982.

[0084] Cross bars are fixedly installed at both ends of all the guide rails, and the height of the cross bars matches the heights of the front travel limit switch 94 and the rear travel limit switch 981.

[0085] The position detection sensor 11 is installed on one side of the main bracket 91 close to the cross bar. In this embodiment, the position detection sensor 11 can detect the actual travel with the cross bar as a reference, and its specific detection principle is already well-known in the prior art and will not be elaborated here.

[0086] The signal output end of the position detection sensor 11 is electrically connected to the control system through an electric wire. With this design, during the travel of the spraying device, the position detection sensor 11 detects the actual travel distance, improving the accuracy of the travel.

[0087] When the spraying device is applied to different greenhouses, the installation position of the position detection sensor 11 can be adjusted according to the position of the cross bar in the greenhouse.

[0088] During use, first open the sealing cover, add the liquid medicine into the box body 21 through the liquid inlet 22 to the corresponding position, close the sealing cover, then place the main traveling wheels 95 and the driven traveling wheels 982 of the device on the corresponding guide rails, turn on the power supply of the device, and then start the traveling mechanism 9 through mobile phone control, so that the device can travel on the guide rails. At the same time, control the start of the water pump 5. Under the action of the water pump 5, the liquid medicine is pumped out from the medicine box 2 and transported to the spraying device 6.

[0089] Start the first stepping motor 690, the first fan group 65 and the second fan group 68, that is, when the device is traveling, the spraying device 6 rotates to evenly spray the liquid medicine on the crops.

[0090] During this period, the control system presets the value of the average amount of liquid medicine sprayed within a certain distance of the device. The weight sensor 32 real-time feeds back the reduced weight of the liquid medicine to the control system. At the same time, the first stepping motor 690 and the second stepping motor 93 real-time feed back their rotation speeds to the control system. Under the action of the PLC control panel 83, the control system calculates and records the traveling speed, traveling distance and the amount of liquid medicine sprayed within a certain distance of the device, and real-time outputs them to the mobile phone of the remote control terminal for display. When the recorded amount of liquid medicine sprayed exceeds the preset value, the control system controls the rotation speed of the second stepping motor 93 to real-time adjust the traveling speed, further ensuring the uniformity of spraying.

[0091] Moreover, when the main traveling wheel 95 breaks down and gets stuck, that is, the main rotating shaft 92 does not rotate, then the driven rotating shaft 980 stops rotating at the same time, and thus the counting wheel 984 stops rotating. When the counting sensor 986 cannot detect the rotation of the counting wheel 984, it feeds back a signal to the control system, and the control system controls the spraying device 6 to stop spraying pesticides, effectively avoiding continuous spraying of pesticides at one place on the crops, preventing pesticide damage, and at the same time ensuring that the liquid medicine is not wasted.

[0092] During the traveling process of the device, when the current travel limit switch 94 touches the cross bar, the front travel limit switch 94 feeds back a signal to the control system, and the control system controls the second stepping motor 93 to stop rotating, completing the spraying of pesticides, which is convenient to operate.

[0093] For those of ordinary skill in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, the changes, modifications, substitutions and deformations made to the embodiments still fall within the protection scope of the present invention.

Claims

1. An automatic spraying device for a greenhouse, comprising a bracket (1), characterized in that: At one end inside the bracket (1), a medicine box (2) is provided. A weighing mechanism (3) is directly arranged between the medicine box (2) and the inner bottom surface of the bracket (1). At the other end inside the bracket (1) near the medicine box (2), a battery (4) is fixedly installed. At the other end inside the bracket (1) near the battery (4), a water pump (5) communicating with the medicine box (2) is fixedly installed. At one end outside the bracket (1) near the water pump (5), a spraying device (6) is provided. The spraying device (6) is communicated with the water pump (5). A driving device (69) for driving the spraying device (6) to operate is arranged at a position on the bracket (1) near the spraying device (6). A swing position sensor (7) is arranged at a position on the inner wall of the bracket (1) corresponding to the spraying device (6). An electric control system (8) is arranged at a position above the water pump (5) inside the bracket (1). A traveling mechanism (9) is arranged at the upper part of the bracket (1). A position detection sensor (11) is also arranged on the traveling mechanism (9); The traveling mechanism (9) includes a traveling component arranged on the upper end surface of the bracket (1). A counting detection device is arranged at a position on the traveling component near the medicine box (2); The counting detection device includes a counting wheel (984) sleeved at one end of the traveling component near the medicine box (2). A plurality of protrusions are annularly arranged on the outer surface of the counting wheel (984). An L-shaped plate (985) is fixedly installed at a position below the counting wheel (984). A counting sensor (986) is vertically arranged on the horizontal plate of the L-shaped plate (985). The counting sensor (986) is simultaneously located below the protrusions.

2. The automatic spraying device for greenhouse according to claim 1, wherein: The weighing mechanism (3) includes a lower support plate (33) fixedly installed on the inner bottom surface of the bracket (1). A weight sensor (32) is arranged on the lower support plate (33). The force-receiving end of the weight sensor (32) is fixedly installed with the same upper support (31).

3. The automatic spraying device for a greenhouse according to claim 2, characterized in that: The spraying device (6) includes a first liquid outlet pipe (61) communicated with the outlet end of the water pump (5). The other end of the first liquid outlet pipe (61) is communicated with a universal joint (62) for adjusting the pipeline direction. The other end of the universal joint (62) is communicated with a second liquid outlet pipe (63). The second liquid outlet pipe (63) is rotatably installed on the inner wall of the bracket (1) at the same time. The other end of the second liquid outlet pipe (63) penetrates through the inner wall of the bracket (1) and is communicated with a nozzle group (66).

4. The automatic spraying device for greenhouse according to claim 3, characterized in that: The nozzle group (66) includes a three-way joint (660) communicated with the other end of the second liquid outlet pipe (63). The other two ports of the three-way joint (660) are both communicated with a third liquid outlet pipe (661). The two third liquid outlet pipes (661) are arranged at intervals in parallel. A plurality of nozzles (662) are linearly arranged on the surface of each third liquid outlet pipe (661).

5. The automatic spraying device for greenhouse according to claim 4, wherein: A fan bracket (64) is fixedly installed on the outer surface of the second liquid outlet pipe (63). A first fan group (65) is arranged at a position above the nozzle (662) on the surface of the fan bracket (64). An L-shaped bracket (67) is vertically arranged at one end of the surface of the fan bracket (64) away from the first fan group (65). A second fan group (68) is arranged at the other end of the L-shaped bracket (67) parallel to the fan bracket (64).

6. The automatic spraying device for greenhouse according to claim 5, wherein: The traveling assembly includes a main bracket (91) vertically arranged on the upper end surface of the bracket (1) above the spraying device (6). A main rotating shaft (92) is rotatably installed on the main bracket (91), and the main rotating shaft (92) is arranged along the width direction of the bracket (1).

7. The automatic spraying device for a greenhouse according to claim 6, characterized in that: The power output end of a second stepping motor (93) is fixedly installed after the main rotating shaft (92) penetrates through the main bracket (91). The second stepping motor (93) is also fixedly installed on the main bracket (91). A main traveling wheel (95) is sleeved at the middle position of the main rotating shaft (92), and the other end of the main rotating shaft (92) is rotatably installed on the main bracket (91).

8. The automatic spraying device for a greenhouse according to claim 7, wherein: A secondary bracket (98) is vertically arranged at one end of the upper end surface of the bracket (1) far from the main bracket (91). The secondary bracket (98) is symmetrically arranged with the main bracket (91). A driven rotating shaft (980) is rotatably installed at a position corresponding to the main rotating shaft (92) on the secondary bracket (98). A driven traveling wheel (982) is sleeved at a position corresponding to the main traveling wheel (95) on the driven rotating shaft (980). The other end of the driven rotating shaft (980) is rotatably installed on the secondary bracket (98) at the same time.

9. The automatic spraying device for greenhouse according to claim 8, wherein: A rear travel limit switch (981) is fixedly installed on one side surface of the secondary bracket (98) close to the edge position of the bracket (1). A counting wheel (984) is sleeved at a position of the driven rotating shaft (980) close to one end of the rear travel limit switch (981).

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