Plant protection spraying vehicle

Abstract

The utility model discloses a plant protection spraying vehicle, which relates to the technical field of agricultural machinery and comprises a controller, a pesticide box, a supply pump, a frame, a traveling mechanism and a spraying assembly. The controller, the pesticide box and the supply pump are fixedly arranged on the frame; the walking mechanism comprises four walking assemblies. The walking assembly comprises a moving assembly, a rotating assembly and a wheel assembly which are sequentially arranged. The spraying assembly comprises a spraying rod frame, a main conveying pipe, a return pipe, a multi-interface joint and a plurality of nozzles; each spray head is arranged on the spray rod frame; an input port of the supply pump is communicated with the pesticide box, an output port of the supply pump is divided into two branches, one branch is communicated with the main conveying pipe, and the other branch is communicated with the backflow pipe; the main conveying pipe is communicated with the spray heads through the branch conveying pipes after passing through the multi-interface joint; a flow sensor and a pressure sensor are arranged on the main conveying pipe; and a proportioning valve is arranged on the return pipe. Precise spraying operation is achieved, the wheel distance can be flexibly adjusted, accurate spraying can be achieved, waste is reduced, and the pesticide utilization rate is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a plant protection spraying vehicle. Background Art

[0002] my country has a vast territory, rich agricultural environment, and diverse crop types. The agronomic requirements of crops such as wheat and soybeans are significantly different, among which the row spacing is obvious, and the fixed wheelbase cannot achieve the universalization of agricultural machinery.

[0003] Therefore, in mechanized agricultural operations, vehicles such as plant protection sprayers need to frequently adapt to ridges or operating areas of different widths. However, the fixed wheelbase of traditional vehicles makes it difficult to meet the operating requirements under different conditions, limiting their application scope and operating efficiency. It is also necessary to solve the problems of excessive spraying and waste of pesticides that are common in traditional sprayers, and thus significantly improve the effective utilization rate of pesticides. Utility Model Content

[0004] The purpose of the utility model is to provide a plant protection spraying vehicle to solve the problems existing in the above-mentioned prior art, realize accurate spraying operation, flexibly adjust the wheelbase, and enable accurate spraying, reduce waste, and improve the utilization rate of pesticides.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] The utility model provides a plant protection spraying vehicle, comprising a controller, a medicine box, a supply pump, a vehicle frame, a walking mechanism and a spraying assembly; the controller, the medicine box and the supply pump are all fixedly arranged on the vehicle frame; the walking mechanism comprises four walking assemblies; each of the walking assemblies is arranged under the vehicle frame; the walking assembly comprises a moving assembly, a rotating assembly and a wheel assembly; the moving assembly is fixedly arranged on the frame, the rotating assembly is fixedly arranged on the output end of the moving assembly, and the output end of the moving assembly can drive the rotating assembly to move along the wheelbase direction; the wheel assembly is fixedly arranged on the output end of the rotating assembly, and the output end of the rotating assembly can drive the wheel assembly to rotate around a vertical axis; the wheel assembly has a rotating rolling wheel; the spraying assembly comprises a spray rod frame, a main delivery pipe, a return pipe, a multi- An interface joint and multiple nozzles; the spray rod rack is fixedly arranged on the vehicle frame, and each of the nozzles is arranged on the spray rod rack; the input port of the supply pump is connected to the medicine box, and the output port of the supply pump is divided into two branches, one is connected to the input end of the main delivery pipe, and the other is connected to the input end of the return pipe; the output end of the main delivery pipe is connected to the input port of the multi-interface joint; each output port of the multi-interface joint is connected to one of the nozzles through a branch delivery pipe; the output end of the return pipe is connected to the medicine box; a flow sensor and a pressure sensor are provided on the main delivery pipe; a proportional regulating valve is provided on the return pipe; the controller is communicatively connected with the supply pump, the moving component, the rotating component, the wheel component, the flow sensor, the pressure sensor and the proportional regulating valve.

[0007] Preferably, each of the nozzles is connected to an output port of a solenoid valve; and the input port of each solenoid valve is connected to the corresponding branch delivery pipe.

[0008] Preferably, the output port of the medicine box is communicated with the input end of the supply pipe, and the output end of the supply pipe is communicated with the input port of the supply pump; and a filter is provided on the supply pipe.

[0009] Preferably, the output port of the supply pump is connected to a total output pipe, the end of the total output pipe is connected to a tee, and the tee is respectively connected to the main delivery pipe and the return pipe; a first water pressure gauge is provided on the total output pipe, and the first water pressure gauge is communicatively connected to the controller.

[0010] Preferably, a second water pressure gauge is provided on the main delivery pipe, and the second water pressure gauge is communicatively connected to the controller.

[0011] Preferably, side spray bars are provided on both sides of the spray bar frame, and the side spray bars are rotatably connected to the spray bar frame through damping hinges. At least one of the spray heads is provided under the spray bar frame and the side spray bars; and the branch delivery pipe is a flexible pipe.

[0012] Preferably, the wheel assembly includes a wheel motor, which is used to drive the rolling wheel to rotate, and the wheel motor is communicatively connected to the controller.

[0013] Preferably, the moving assembly includes a driving motor, a first support, a second support, a screw rod, a nut block and at least one guide rod; the driving motor is fixedly arranged on the frame; the first support and the second support are arranged parallel to each other, one end of the screw rod is connected to the first support for rotation around the first axis, and the other end of the screw rod is connected to the second support for rotation around the first axis, and the output end of the driving motor is fixedly connected to one end of the screw rod; the first axis is parallel to the wheelbase direction; the two ends of each guide rod are respectively fixedly connected to the first support and the second support; a threaded hole and at least one guide hole are provided on the nut block, the screw rod is threadedly connected in the threaded hole, and each guide hole is respectively provided with a guide rod; the nut block is fixedly connected to the rotating assembly; the driving motor is communicatively connected to the controller.

[0014] Preferably, the rotating assembly includes a base, a gear turntable and a rotating motor; the base is fixedly arranged on the output end of the moving assembly; the gear turntable is rotatably arranged on the base around a vertical axis, and the rotating motor is fixedly arranged on the base; a transmission gear is fixedly arranged on the output end of the rotating motor, and the transmission gear is engaged with the gear turntable for transmission; the wheel assembly is arranged on the gear turntable; the rotating motor is communicatively connected to the controller.

[0015] Preferably, a slide rail is provided at the lower end of the side spray rod, a sliding block is provided on the slide rail for sliding along the wheelbase direction, a rack is provided on the slide rail, a moving motor is provided on the sliding block, a rotating gear is provided at the output end of the moving motor, and the rotating gear is meshed with the rack for transmission; the moving motor is communicatively connected to the controller; the sliding block is provided with the spray head.

[0016] Compared with the prior art, the utility model has achieved the following technical effects:

[0017] The plant protection sprayer provided in this embodiment supports the axial rotation of each rolling wheel and the adjustment of the distance between the wheel tracks through a traveling assembly formed by a moving assembly, a rotating assembly and a wheel assembly. The wheel tracks can be adjusted in real time through a controller to meet different distance requirements. When adjusting the wheel tracks, each rolling wheel can be rotated to a position where it can roll along the wheel track direction, and then the moving assembly can drive it to adjust the wheel track, which facilitates the rotation and movement of the rolling wheels. It can easily adapt to ridges of different widths and improve work efficiency and flexibility. The moving assembly can drive the rotating assembly to move along the wheel track direction. The plant protection sprayer can adjust the wheelbase according to different terrain and operation requirements, improving the stability and passability of the vehicle; the output end of the rotating assembly can drive the wheel assembly to rotate around the vertical axis, which allows the vehicle to turn more flexibly during driving; the setting of the four walking components provides the vehicle with stable support and power, ensuring that the plant protection sprayer can travel smoothly under various terrain conditions; the spray boom frame is fixed on the frame, providing a stable installation position for the nozzle. The setting of multiple nozzles can expand the spraying range and improve operation efficiency; at the same time, the uniform distribution of the nozzles can ensure the coverage of the liquid in the field The supply pump delivers liquid medicine from the tank to the main delivery pipe, which then distributes it to each nozzle via a multi-port connector and branch delivery pipes. This design ensures a stable supply of liquid medicine and avoids inconsistent spraying results from the nozzles due to uneven pressure. The flow sensor and pressure sensor on the main delivery pipe monitor the flow and pressure of the liquid medicine in real time, providing accurate data to the controller. The controller adjusts the output power of the supply pump and the opening of the proportional control valve based on this data, thereby achieving precise control of the liquid flow and pressure for optimal spraying results, precise spraying, reduced waste, and improved pesticide utilization. The proportional control valve adjusts the flow rate in the return pipe, thereby regulating the liquid pressure in the main delivery pipe and ensuring stable spraying results from the nozzles. The controller is connected to the supply pump, mobile component, rotating component, wheel component, flow sensor, pressure sensor, and proportional control valve, realizing intelligent control of the entire plant protection sprayer. The operator can easily adjust the vehicle's driving status and spraying parameters through the controller, improving the convenience and accuracy of the operation. The controller can also record and store operation data, providing a basis for subsequent operation analysis and optimization.

[0018] Furthermore, each nozzle is connected to a solenoid valve, which can independently control the opening and closing of each nozzle, which enables the plant protection spraying vehicle to accurately control the spray range and position of the nozzle according to different operation requirements; the rapid response characteristics of the solenoid valve can achieve instantaneous control of the nozzle, ensuring that the timing of the liquid spraying is accurate; by controlling the solenoid valve, the combination and working status of the nozzle can be easily adjusted, such as selecting different numbers and positions of nozzles to work, to achieve personalized spraying plans; precise control of the spray of the nozzle can avoid excessive spraying of the liquid, reduce the waste of the liquid, and thus reduce operating costs.

[0019] Furthermore, the filter is arranged on the supply pipe, which can effectively filter out impurities in the liquid medicine output by the medicine box; the pure liquid medicine can ensure the normal operation of the nozzle and avoid the spraying effect being affected by the clogging of the nozzle by impurities; the filter can remove impurities before the liquid medicine enters the supply pump, protect the supply pump from being invaded by impurities, and extend the service life of the supply pump; the pure liquid medicine can ensure the uniformity and stability of the spray; the setting of the filter makes maintenance and cleaning more convenient.

[0020] Furthermore, a first water pressure gauge is provided on the main output pipe, which can accurately monitor the water pressure output by the supply pump in real time, so as to facilitate precise control of the entire spraying system; accurate water pressure monitoring helps to detect abnormal conditions in the system; appropriate water pressure is crucial to the spray effect of the nozzle. Through the monitoring of the first water pressure gauge, the controller can adjust the output water pressure of the supply pump according to different operating requirements and nozzle types to achieve the best spray effect; the first water pressure gauge can serve as an important monitoring point of the system, providing intuitive water pressure information to the operator. The first water pressure gauge communicated with the controller can also realize automatic control and fault diagnosis.

[0021] Furthermore, the setting of the second water pressure gauge can verify and display the spraying pressure to ensure the accuracy of the data; by monitoring and controlling the water pressure of the main delivery pipe, the performance of the entire plant protection spraying system can be optimized; reasonable water pressure can reduce the energy consumption of the system, improve the utilization rate of the liquid medicine, and reduce waste; at the same time, stable water pressure can also extend the service life of the equipment and reduce maintenance costs.

[0022] Furthermore, side spray bars are arranged on both sides of the spray bar frame, which can greatly expand the spraying width. During operation, the nozzles on the spray bar frame and the side spray bars can work simultaneously to cover a wider area and improve operation efficiency; the side spray bars are rotatably connected to the spray bar frame through damping hinges, and its connection structure is simple, and the unfolding and folding operations are simple and convenient; the branch delivery pipe is a flexible pipe with good flexibility and bendability, which enables the branch delivery pipe to bend accordingly when the spray bar frame and the side spray bar are adjusted in angle without being damaged or affecting the delivery of the liquid medicine.

[0023] Furthermore, compared with traditional mechanical transmission methods, wheel motors can directly drive the rolling wheels to rotate, reducing energy loss and wear of transmission components, and improving the operating efficiency of the vehicle; wheel motors that communicate with the controller provide the basis for intelligent operation and automated control of the plant protection sprayer.

[0024] Furthermore, the driving motor can accurately control the movement of the nut block in the wheelbase direction through the transmission of the screw rod and the nut block; the first support and the second support are arranged in parallel to provide stable support for the screw rod and the guide rod; the setting of the guide rod can share the lateral force exerted on the nut block during movement, reduce the wear of the screw rod, and extend the service life of the screw rod; the structure of the moving component is relatively simple and easy to maintain and adjust.

[0025] Furthermore, the rotating motor is driven by the meshing engagement of the transmission gear with the gear turntable, which can accurately control the rotation of the gear turntable around the vertical axis, thereby realizing the steering of the wheel assembly; compared with the traditional mechanical steering system, this electric steering method has a faster response speed and can quickly adjust the steering angle of the wheel according to the instructions of the controller, making the vehicle easier to operate; the base provides a stable installation foundation for the gear turntable and the rotating motor, which can ensure the smoothness and precision of the rotation.

[0026] Furthermore, the combination of the slide rail and the sliding block at the lower end of the side spray boom allows the position of the nozzle on the side spray boom to be flexibly adjusted in the wheelbase direction; the meshing transmission mode of the rack and the rotating gear can ensure that the movement of the sliding block on the slide rail is stable and precise, which allows the nozzle to be accurately positioned at the position where spraying is required, thereby improving the spraying accuracy and effect of the liquid medicine. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a structural diagram of the plant protection spraying vehicle provided by the utility model from the main viewing angle;

[0029] Figure 2 This is a schematic structural diagram of the plant protection spraying vehicle provided by the utility model from a side view;

[0030] Figure 3 This is a schematic diagram of the structure of the plant protection spraying vehicle provided by the utility model from a top view;

[0031] Figure 4This is a schematic diagram of the spraying of Chinese medicinal liquid by the plant protection spraying vehicle provided by the utility model;

[0032] Figure 5 This is a schematic diagram of the structure of the rotating assembly in the plant protection spraying vehicle provided by the utility model;

[0033] Figure 6 This is a schematic diagram of the slide rail and sliding block below the central spray boom of the plant protection spraying vehicle provided by the present invention.

[0034] In the picture:

[0035] 100-Plant protection spraying vehicle;

[0036] 10- frame;

[0037] 20-Medicine box;

[0038] 30-supply pump;

[0039] 40-controller;

[0040] 50-moving assembly; 51-driving motor; 52-screw; 53-nut block; 54-second support;

[0041] 60-rotating assembly; 61-base; 62-gear turntable; 63-rotating motor; 64-transmission gear; 65-driven turntable;

[0042] 70-wheel assembly; 71-wheel motor; 72-rolling wheel;

[0043] 80-Spraying assembly; 81-Spray rod frame; 82-Side spray rod; 821-Slide rail; 822-Sliding block; 823-Rack; 824-Moving motor; 83-Supply pipe; 831-Filter; 84-Main output pipe; 841-First water pressure gauge; 85-Return pipe; 851-Proportional regulating valve; 86-Main delivery pipe; 861-Flow sensor; 862-Pressure sensor; 863-Second water pressure gauge; 87-Multi-interface connector; 88-Solenoid valve; 89-Spray nozzle. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] The purpose of the utility model is to provide a plant protection spraying vehicle to solve the problems existing in the prior art, realize accurate spraying operation, flexibly adjust the wheelbase, and enable accurate spraying, reduce waste, and improve the utilization rate of pesticides.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0047] Example 1

[0048] This embodiment provides a plant protection spraying vehicle 100, such as Figures 1 to 6 As shown, it includes a controller 40, a medicine box 20, a supply pump 30, a frame 10, a walking mechanism and a spraying assembly 80; the controller 40, the medicine box 20 and the supply pump 30 are all fixedly arranged on the frame 10; the walking mechanism includes four walking assemblies; each walking assembly is arranged below the frame 10; the walking assembly includes a moving assembly 50, a rotating assembly 60 and a wheel assembly 70; the moving assembly 50 is fixedly arranged on the frame 10, and the rotating assembly 60 is fixedly arranged on the output end of the moving assembly 50, and the output end of the moving assembly 50 can drive the rotating assembly 60 to move along the wheelbase direction; the wheel assembly 70 is fixedly arranged on the output end of the rotating assembly 60, and the output end of the rotating assembly 60 can drive the wheel assembly 70 to rotate around the vertical axis; the wheel assembly 70 has a rotating rolling wheel 72; the spraying assembly 80 includes a spray rod frame 81, a main delivery pipe 86, a return pipe 85, a multi-interface joint 8 7 and multiple nozzles 89; the spray rod frame 81 is fixedly arranged on the frame 10, and each nozzle 89 is arranged on the spray rod frame 81; the input port of the supply pump 30 is connected to the medicine box 20, and the output port of the supply pump 30 is divided into two branches, one is connected to the input end of the main delivery pipe 86, and the other is connected to the input end of the return pipe 85; the output end of the main delivery pipe 86 is connected to the input port of the multi-interface joint 87; each output port of the multi-interface joint 87 is connected to a nozzle 89 through a branch delivery pipe; the output end of the return pipe 85 is connected to the medicine box 20; a flow sensor 861 and a pressure sensor 862 are provided on the main delivery pipe 86; a proportional control valve 851 is provided on the return pipe 85; the controller 40 is communicatively connected with the supply pump 30, the moving component 50, the rotating component 60, the wheel component 70, the flow sensor 861, the pressure sensor 862 and the proportional control valve 851.

[0049] The walking assembly formed by the mobile assembly 50, the rotating assembly 60 and the wheel assembly 70 supports the axial rotation of each rolling wheel 72 and the adjustment of the distance between the wheel tracks. The controller 40 can realize real-time adjustment of the wheel track to adapt to different spacing needs; and when adjusting the wheel track, each rolling wheel 72 can be rotated to a posture that can roll along the wheel track direction, and then the mobile assembly 50 drives it to adjust the wheel track, which facilitates the rotation and movement of the rolling wheel 72, and can easily adapt to ridges of different widths, thereby improving work efficiency and flexibility; the mobile assembly 50 can drive the rotating assembly 60 to move along the wheel track direction, which enables the plant protection sprayer 100 to adjust the wheel track according to different widths. The wheelbase is adjusted according to the terrain and operation requirements to improve the stability and passability of the vehicle; the output end of the rotating assembly 60 can drive the wheel assembly 70 to rotate around the vertical axis, which makes the vehicle more flexible in turning during driving; the arrangement of the four walking assemblies provides stable support and power for the vehicle, ensuring that the plant protection spraying vehicle 100 can travel smoothly under various terrain conditions; the spray rod frame 81 is fixed to the frame 10, providing a stable installation position for the spray head 89, and the arrangement of multiple spray heads 89 can expand the spraying range and improve the operation efficiency; at the same time, the uniform distribution of the spray heads 89 can ensure that the liquid medicine covers the field more evenly, thereby improving the prevention and control effect; the supply pump 30 will The liquid medicine in the medicine box 20 is transported to the main delivery pipe 86, and then distributed to each nozzle 89 through the multi-port connector 87 and the branch delivery pipe. This design can ensure a stable supply of liquid medicine and avoid inconsistent spraying effects of the nozzles 89 due to uneven pressure; the flow sensor 861 and the pressure sensor 862 on the main delivery pipe 86 can monitor the flow and pressure of the liquid medicine in real time, and provide accurate data to the controller 40. The controller 40 can adjust the output power of the supply pump 30 and the opening of the proportional control valve 851 according to this data, thereby realizing precise control of the flow and pressure of the liquid medicine to achieve the best spraying effect, precise spraying, reduce waste, and improve the utilization rate of pesticides. ; The proportional regulating valve 851 can adjust the flow of the return pipe 85, thereby realizing the adjustment of the Chinese medicine liquid pressure in the main delivery pipe 86, ensuring the stability of the spray effect of the nozzle 89; the controller 40 is communicatively connected with the supply pump 30, the moving component 50, the rotating component 60, the wheel component 70, the flow sensor 861, the pressure sensor 862 and the proportional regulating valve 851, realizing intelligent control of the entire plant protection spraying vehicle 100, and the operator can easily adjust the vehicle's driving status and spraying parameters through the controller 40, thereby improving the convenience and accuracy of the operation; and the controller 40 can also record and store operation data to provide a basis for subsequent operation analysis and optimization.

[0050] Among them, the structural description of the moving component 50 in the walking component is as follows:

[0051] Among the optional solutions of this embodiment, it is more preferred that Figure 1As shown, the moving assembly 50 includes a driving motor 51, a first support, a second support 54, a screw rod 52, a nut block 53 and at least one guide rod; the driving motor 51 is fixedly arranged on the frame 10; the first support and the second support 54 are arranged parallel to each other, one end of the screw rod 52 is connected to the first support for rotation around the first axis, and the other end of the screw rod 52 is connected to the second support 54 for rotation around the first axis, and the output end of the driving motor 51 is fixedly connected to one end of the screw rod 52; the first axis is parallel to the wheelbase direction; the two ends of each guide rod are respectively fixedly connected to the first support and the second support 54; a threaded hole and at least one guide hole are provided on the nut block 53, the screw rod 52 is threadedly connected in the threaded hole, and a guide rod is respectively passed through each guide hole; the nut block 53 is fixedly connected to the rotating assembly 60; the driving motor 51 is communicatively connected to the controller 40. The driving motor 51 can accurately control the movement of the nut block 53 in the wheelbase direction through the transmission of the screw rod 52 and the nut block 53; the first support and the second support 54 are arranged in parallel to provide stable support for the screw rod 52 and the guide rod; the setting of the guide rod can share the lateral force exerted on the nut block 53 during movement, reduce the wear of the screw rod 52, and extend the service life of the screw rod 52; the structure of the moving component 50 is relatively simple and easy to maintain and adjust.

[0052] Specifically, the screw drive system 52 employed in the mobile assembly 50 offers the following advantages: high torque transmission (ensuring smooth and reliable operation even under heavy loads), a highly rigid structure (effectively resisting external shock and vibration, ensuring transmission accuracy and stability), high-speed response (rapidly responding to adjustment commands, improving operational efficiency), and high-precision positioning (enabling millimeter-level or even finer wheelbase adjustments, ensuring operational accuracy). Furthermore, it features a dust- and rust-proof design (extending equipment life and adapting to a variety of complex operating environments), excellent stress-bearing characteristics (optimizing force distribution, reducing wear, and improving system durability), and a compact layout (saving space and facilitating vehicle design and integration).

[0053] Among them, the structural description of the rotating component 60 in the walking component is as follows:

[0054] Among the optional solutions of this embodiment, it is more preferred that Figure 5As shown, the rotating assembly 60 includes a base 61, a gear turntable 62, and a rotating motor 63. The base 61 is fixedly mounted on the output end of the moving assembly 50. The gear turntable 62 is rotatably mounted on the base 61 about a vertical axis, and the rotating motor 63 is fixedly mounted on the base 61. A transmission gear 64 is fixedly mounted on the output end of the rotating motor 63, and the transmission gear 64 meshes with the gear turntable 62 for transmission. The wheel assembly 70 is mounted on the gear turntable 62. The rotating motor 63 is in communication with the controller 40. The rotating motor 63 meshes with the gear turntable 62 through the transmission gear 64, and can precisely control the rotation of the gear turntable 62 about the vertical axis, thereby achieving steering of the wheel assembly 70. Compared with traditional mechanical steering systems, this electric steering method has a faster response speed and can quickly adjust the steering angle of the wheel according to the instructions of the controller 40, making the vehicle easier to operate. The base 61 provides a stable mounting foundation for the gear turntable 62 and the rotating motor 63, ensuring smooth and accurate rotation.

[0055] Specifically, the rotating motor 63 is a servo motor with a built-in encoder that can provide real-time feedback of motor position information, implement closed-loop control, and ensure the consistency of rotational motion.

[0056] Specifically, a driven rotating disk 65 is fixedly provided on the gear rotating disk 62 , and the wheel assembly 70 is provided on the driven rotating disk 65 .

[0057] Specifically, four screw fixing points are provided on the base 61 for easy installation and disassembly. A shock-absorbing pad can be installed between the base 61 and the output end of the moving component 50 (i.e., the nut block 53) to further reduce noise and vibration during rotation.

[0058] Specifically, the rotating assembly 60 is composed of components such as a servo motor, and has the following advantages: precise angle positioning (the encoder provides real-time feedback of angle information to ensure accurate wheelbase adjustment and meet the needs of refined operations), large load-bearing capacity (it has a high-strength structure and can maintain stable operation even under full load), and rapid dynamic response (the servo system responds quickly to control instructions to improve overall adjustment efficiency).

[0059] Among them, the structure of the wheel assembly 70 in the walking assembly is described as follows:

[0060] In an optional solution of this embodiment, the wheel assembly 70 preferably includes a wheel motor 71, which is used to drive the rolling wheel 72 to rotate. The wheel motor 71 is communicatively connected to the controller 40. Compared with traditional mechanical transmission methods, the wheel motor 71 can directly drive the rolling wheel 72 to rotate, reducing energy loss and wear of transmission components, and improving the operating efficiency of the vehicle. The wheel motor 71, which is communicatively connected to the controller 40, provides the basis for intelligent operation and automated control of the crop protection sprayer 100.

[0061] Among them, the relevant structural description of the spraying component 80 is as follows:

[0062] Among the optional solutions of this embodiment, it is more preferred that Figure 4 As shown, the output port of the medicine box 20 is connected to the input end of the supply pipe 83, and the output end of the supply pipe 83 is connected to the input port of the supply pump 30; a filter 831 is provided on the supply pipe 83. Filter 831 is provided on the supply pipe 83 and can effectively filter impurities in the liquid medicine output by the medicine box 20; pure liquid medicine can ensure the normal operation of the nozzle 89 and prevent impurities from clogging the nozzle 89 and affecting the spraying effect; filter 831 can remove impurities before the liquid medicine enters the supply pump 30, protecting the supply pump 30 from impurities and extending the service life of the supply pump 30; pure liquid medicine can ensure the uniformity and stability of the spray; the provision of filter 831 makes maintenance and cleaning more convenient.

[0063] Among the optional solutions of this embodiment, it is more preferred that Figure 4 As shown, the output port of the supply pump 30 is connected to a main output pipe 84, the end of which is connected to a tee, which is respectively connected to the main delivery pipe 86 and the return pipe 85. A first water pressure gauge 841 is provided on the main output pipe 84, and the first water pressure gauge 841 is in communication with the controller 40. The provision of the first water pressure gauge 841 on the main output pipe 84 enables real-time and accurate monitoring of the water pressure output by the supply pump 30, facilitating precise control of the entire spraying system. Accurate water pressure monitoring helps detect abnormalities in the system. Appropriate water pressure is crucial for the spray effect of the nozzle 89. Through monitoring by the first water pressure gauge 841, the controller 40 can adjust the output water pressure of the supply pump 30 according to different operational requirements and the type of nozzle 89 to achieve the optimal spray effect. The first water pressure gauge 841 serves as an important monitoring point for the system, providing intuitive water pressure information to the operator. The first water pressure gauge 841 in communication with the controller 40 also enables automated control and fault diagnosis.

[0064] Among the optional solutions of this embodiment, it is more preferred that Figure 4 As shown, a second water pressure gauge 863 is provided on the main delivery pipe 86 and is in communication with the controller 40. The provision of the second water pressure gauge 863 enables verification and display of spraying pressure, ensuring data accuracy. By monitoring and controlling the water pressure in the main delivery pipe 86, the performance of the entire plant protection spraying system can be optimized. Reasonable water pressure can reduce system energy consumption, improve liquid medicine utilization, and reduce waste. Furthermore, stable water pressure can extend the service life of the equipment and reduce maintenance costs.

[0065] Among the optional solutions of this embodiment, it is more preferred that Figure 1 、 Figure 2and Figure 4 As shown, each nozzle 89 is connected to the output port of a solenoid valve 88; the input port of each solenoid valve 88 is connected to the corresponding branch delivery pipe. Each nozzle 89 is connected to a solenoid valve 88, which can independently control the opening and closing of each nozzle 89. This allows the plant protection spraying vehicle 100 to precisely control the spray range and position of the nozzle 89 according to different operational requirements. The rapid response characteristics of the solenoid valve 88 can achieve instantaneous control of the nozzle 89, ensuring the accurate timing of the liquid spray. By controlling the solenoid valve 88, the combination and operating state of the nozzles 89 can be easily adjusted, such as selecting different numbers and positions of nozzles 89 for operation to achieve a personalized spraying plan. Precise control of the spray of the nozzles 89 can avoid excessive spraying of liquid, reduce liquid waste, and thus reduce operating costs.

[0066] Among the optional solutions of this embodiment, it is more preferred that Figures 1 to 4 As shown, side spray booms 82 are provided on both sides of the spray boom frame 81, which are rotatably connected to the spray boom frame 81 via damping hinges. At least one spray head 89 is provided below each of the spray boom frame 81 and the side spray boom 82. The branch delivery pipe is a flexible pipe. The side spray booms 82 on both sides of the spray boom frame 81 significantly expand the spraying width. During operation, the spray heads 89 on the spray boom frame 81 and the side spray booms 82 can operate simultaneously, covering a wider area and improving operation efficiency. The side spray booms 82 are rotatably connected to the spray boom frame 81 via damping hinges, resulting in a simple connection structure and easy and convenient deployment and retraction. The branch delivery pipe is a flexible pipe with good flexibility and bendability. This allows the branch delivery pipe to bend accordingly when the spray boom frame 81 and the side spray boom 82 are adjusted in angle without being damaged or affecting the delivery of the liquid medicine.

[0067] Specifically, the spray rod frame 81 is located in the middle, and a side spray rod 82 is provided on both sides. The two side spray rods 82 can be folded and located in the middle, and can be unfolded and used when in use; the spray rod frame 81 is arranged in front of the frame 10 for tidiness and stability.

[0068] Specifically, a plurality of spray heads 89 may be provided below the side spray bar 82, and may be arranged according to actual needs.

[0069] Among the optional solutions of this embodiment, it is more preferred that Figure 1 and Figure 6As shown, a slide rail 821 is provided at the lower end of the side spray boom 82. A sliding block 822 is provided on the slide rail 821 for sliding along the wheelbase direction. A rack 823 is provided on the slide rail 821. A moving motor 824 is provided on the sliding block 822. A rotating gear is provided at the output end of the moving motor 824, and the rotating gear meshes with the rack 823 for transmission. The moving motor 824 is in communication with the controller 40. A spray head 89 is provided on the sliding block 822. The combination of the slide rail 821 and the sliding block 822 at the lower end of the side spray boom 82 allows the position of the spray head 89 on the side spray boom 82 to be flexibly adjusted in the wheelbase direction. The meshing transmission method of the rack 823 and the rotating gear ensures stable and precise movement of the sliding block 822 on the slide rail 821. This allows the spray head 89 to be accurately positioned at the desired spraying location, improving the spraying accuracy and effectiveness of the liquid medicine.

[0070] Specifically, the nozzle 89 is fixedly mounted on the sliding block 822 via the corresponding solenoid valve 88 .

[0071] Specifically, the one-way sliding of the sliding block 822 on the sliding rail 821 is an existing structure and will not be described in detail here.

[0072] Specifically, the slide rail 821, the sliding block 822 and the moving motor 824 together constitute the position control system of the nozzle 89, so as to cope with the growth characteristics and terrain conditions of different crops. The moving motor 824 drives the sliding block 822 to move on the slide rail 821, and the sliding block 822 drives the solenoid valve 88 on the nozzle 89 to move its position, thereby realizing flexible adjustment of the operating spacing of each nozzle 89. This design greatly improves the spraying effect of the nozzle 89 under different terrains and ensures that the liquid medicine can accurately cover the target area.

[0073] Specifically, the nozzle 89 on the spray rod frame 81 may also be provided with a position control system.

[0074] Specifically, necessary reinforcing ribs and weight-reducing holes may be provided on the slide rail 821 to improve rigidity and reduce weight.

[0075] Among them, about other related settings:

[0076] Specifically, the supply pump 30 is a plunger pump.

[0077] Specifically, the water pressure stabilization system of the nozzle 89 is formed by the pressure sensor 862, the flow sensor 861, the proportional control valve 851, etc. The pressure and flow changes in the pipe are monitored in real time through the pressure sensor 862 and the flow sensor 861, and the data is fed back to the controller 40. The controller 40 has a built-in advanced algorithm to quickly process and analyze the received data, calculate the optimal adjustment value, and accurately adjust the pressure and flow in the pipe by controlling the opening and closing degree of the proportional control valve 851, ensuring the stability and consistency of the pressure and flow during the spraying process, thereby improving the spraying effect and operation quality.

[0078] Specifically, the controller 40 integrates a solenoid valve PWM control system, which staggers the switching cycles of the solenoid valve 88 in sequence to achieve flexible adjustment of the duty cycle of the solenoid valve 88, thereby achieving precise control of the spraying amount, improving the spraying accuracy and uniformity, and reducing energy consumption and costs.

[0079] Specifically, its core controller 40 uses a high-performance single-chip microcomputer as its core, and through peripheral circuits and functional modules, it achieves comprehensive monitoring and precise control of the operating status of the entire spraying device. First, the current-to-voltage module is integrated. This module is responsible for converting the weak current signal output by the pressure sensor 862 into an easily processable voltage signal. This voltage signal directly reflects the actual pressure value of the spraying boom of the variable spraying device. Subsequently, the voltage amplification module is introduced. Its function is to perform necessary amplification processing on the control signal emitted by the single-chip microcomputer to ensure that it can drive the proportional control valve 851 to achieve precise flow regulation. In terms of flow monitoring, the system is designed with a voltage divider circuit. This circuit cleverly reduces the high pulse voltage output by the flow sensor 861 to an operating voltage range that can be safely received by the single-chip microcomputer, thereby allowing the single-chip microcomputer to calculate and monitor the spraying flow in real time, ensuring the accuracy of the spraying operation. In addition, the system also integrates a MOS tube module and a relay module. These two modules work together to achieve efficient control of each solenoid valve 88 and plunger pump, ensuring smooth and stable spraying operations.

[0080] Specifically, the liquid medicine spraying operation is described as follows: the water outlet of the medicine box 20 is first connected to a filter 831 to ensure that the liquid entering the subsequent system is pure and free of impurities; after the filter 831, the liquid smoothly enters the water inlet of the plunger pump. The plunger pump serves as a power source and is responsible for pressurizing the liquid and transporting it to the entire spraying system; the water outlet of the plunger pump is connected to a total output pipe 84, on which a first water pressure gauge 841 is first installed for real-time monitoring and display of the water pressure conditions in the system to ensure that the spraying operation is carried out within an appropriate pressure range; then, the total output pipe 84 is cleverly divided into two branch pipes through a three-way interface: the main delivery pipe 86 and the return pipe 85. The return pipe 85 is connected to a proportional control valve 851 at its center. This valve can adjust the return flow rate according to actual needs to achieve the purpose of precisely controlling the spraying volume. Ultimately, the return pipe 85 guides the regulated liquid back to the return port of the medicine box 20, maintaining a constant liquid pressure. The main delivery pipe 86, a key component of the spraying operation, is first connected to a flow sensor 861 and a pressure sensor 862. The flow sensor 861 is used to accurately measure and provide feedback on the liquid flow during the spraying process, while the pressure sensor 862 is responsible for monitoring pressure changes at the spray boom and nozzle 89. Together, they provide key data for the control system's decision-making. In addition, a second water pressure gauge 863 is installed on the main delivery pipe 86 to further verify and display the spraying pressure to ensure data accuracy. Subsequently, the main delivery pipe 86 is connected to the water inlet of each solenoid valve 88 via a multi-port connector 87 and a hose. The solenoid valve 88 acts as a control unit, which can quickly open or close according to control signals, thereby precisely controlling the spraying operation of each nozzle 89.

[0081] Specifically, the plant protection spraying vehicle 100 of this embodiment introduces a fuzzy adaptive PID control strategy, deeply integrates fuzzy logic and PID control theory, and dynamically and in real time optimizes and adjusts the key parameters of the PID controller 40 by constructing a reasonable set of fuzzy rules. This is intended to overcome the limitations of traditional PID control in dealing with complex systems, which is difficult to adapt to environmental changes due to fixed parameters. The use of the fuzzy adaptive PID algorithm enables the nozzle 89 pressure control system of the plant protection spraying vehicle 100 of this embodiment to flexibly respond to various working conditions, ensuring that the controlled object (i.e., the spraying system) can maintain excellent stability and response performance in both dynamic and static environments. In particular, for controlled objects with significant time-varying and nonlinear characteristics, the algorithm exhibits more outstanding control efficiency and robustness.

[0082] Specifically, in the field of variable-rate spraying control, this embodiment introduces a PWM pulse staggered phase control algorithm. This algorithm, through precise calculation and orchestration, achieves meticulous management and orderly staggering of the control cycles of each solenoid valve 88. Specifically, the algorithm precisely adjusts the on and off times of each solenoid valve 88 based on preset rules, ensuring that they operate alternately within different time periods. This effectively avoids the dramatic fluctuations in pipeline pressure caused by frequent simultaneous opening and closing of solenoid valves 88 within the same cycle. This design not only significantly reduces pressure shock within the pipeline system, extending the service life of the pipeline and its sensors, but also further improves the smoothness and accuracy of spraying operations.

[0083] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A plant protection spraying vehicle, characterized by: Including controller, medicine box, supply pump, frame, travel mechanism and spraying components; The controller, the medicine box and the supply pump are all fixedly arranged on the frame; The walking mechanism includes four walking assemblies; each of the walking assemblies is arranged below the frame; the walking assembly includes a moving assembly, a rotating assembly and a wheel assembly; the moving assembly is fixedly arranged on the frame, the rotating assembly is fixedly arranged on the output end of the moving assembly, and the output end of the moving assembly can drive the rotating assembly to move along the wheelbase direction; the wheel assembly is fixedly arranged on the output end of the rotating assembly, and the output end of the rotating assembly can drive the wheel assembly to rotate around a vertical axis; the wheel assembly has a rotating rolling wheel; The spraying assembly includes a spray rod frame, a main delivery pipe, a return pipe, a multi-interface joint and a plurality of nozzles; the spray rod frame is fixedly arranged on the vehicle frame, and each nozzle is arranged on the spray rod frame; the input port of the supply pump is connected to the medicine box, and the output port of the supply pump is divided into two branches, one is connected to the input end of the main delivery pipe, and the other is connected to the input end of the return pipe; the output end of the main delivery pipe is connected to the input port of the multi-interface joint; each output port of the multi-interface joint is connected to one of the nozzles through a branch delivery pipe; the output end of the return pipe is connected to the medicine box; The main delivery pipe is provided with a flow sensor and a pressure sensor; the return pipe is provided with a proportional regulating valve; The controller is in communication connection with the supply pump, the moving component, the rotating component, the wheel component, the flow sensor, the pressure sensor and the proportional regulating valve.

2. The plant protection spraying vehicle according to claim 1, characterized in that: Each of the nozzles is connected to the output port of a solenoid valve; the input port of each solenoid valve is communicated with the corresponding branch delivery pipe.

3. The plant protection spraying vehicle according to claim 1, characterized in that: The output port of the medicine box is connected to the input end of the supply pipe, and the output end of the supply pipe is connected to the input port of the supply pump; The supply pipe is provided with a filter.

4. The plant protection spraying vehicle according to claim 1, characterized in that: The output port of the supply pump is connected to a main output pipe, the end of the main output pipe is connected to a tee, and the tee is connected to the main delivery pipe and the return pipe respectively; A first water pressure gauge is provided on the main output pipe, and the first water pressure gauge is communicatively connected with the controller.

5. The plant protection spraying vehicle according to claim 4, characterized in that: The main delivery pipe is provided with a second water pressure gauge, and the second water pressure gauge is communicatively connected with the controller.

6. The plant protection spraying vehicle according to claim 2, characterized in that: Side spray bars are provided on both sides of the spray bar frame, and the side spray bars are rotatably connected to the spray bar frame through damping hinges. At least one spray head is provided under the spray bar frame and the side spray bars; The branch delivery pipe is a flexible pipe.

7. The plant protection spraying vehicle according to claim 1, characterized in that: The wheel assembly includes a wheel motor, which is used to drive the rolling wheel to rotate. The wheel motor is communicatively connected to the controller.

8. The plant protection spraying vehicle according to claim 1, characterized in that: The moving assembly includes a driving motor, a first support, a second support, a screw rod, a nut block and at least one guide rod; The driving motor is fixedly arranged on the frame; The first support and the second support are arranged in parallel, one end of the screw rod is connected to the first support for rotation around a first axis, and the other end of the screw rod is connected to the second support for rotation around the first axis, and the output end of the drive motor is fixedly connected to one end of the screw rod; the first axis is parallel to the wheelbase direction; Two ends of each guide rod are fixedly connected to the first support and the second support respectively; The nut block is provided with a threaded hole and at least one guide hole, the threaded hole is threadedly connected to the screw rod, and each guide hole is respectively provided with a guide rod; The nut block is fixedly connected to the rotating assembly; The driving motor is in communication with the controller.

9. The plant protection spraying vehicle according to claim 1, characterized in that: The rotating assembly includes a base, a gear turntable and a rotating motor; The base is fixedly arranged on the output end of the moving component; The gear turntable is rotatable around a vertical axis and is arranged on the base, and the rotating motor is fixedly arranged on the base; A transmission gear is fixedly provided at the output end of the rotating motor, and the transmission gear is meshed with the gear turntable for transmission; The wheel assembly is arranged on the gear turntable; The rotating motor is in communication with the controller.

10. The plant protection spraying vehicle according to claim 6, characterized in that: A slide rail is provided at the lower end of the side spray rod, a slide block is provided on the slide rail for sliding along the wheelbase direction, a rack is provided on the slide rail, a moving motor is provided on the sliding block, a rotating gear is provided at the output end of the moving motor, and the rotating gear is meshed with the rack for transmission; the moving motor is communicatively connected to the controller; the sliding block is provided with the spray head.

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