Modular plant protection-assisted harvesting variable-gauge multifunctional working vehicle

Abstract

The utility model relates to a modularization plant protection -auxiliary harvesting variable rail multifunctional operation vehicle belongs to agricultural machinery technical field. Including the rail car and operation vehicle of traction connection, operation vehicle includes pesticide spraying vehicle and / or transport board car, pesticide spraying vehicle includes height adjusting mechanism, pesticide spraying device, walking device and pesticide spraying vehicle body, height adjusting mechanism installs in pesticide spraying vehicle body both sides, the spray bar of pesticide spraying device is fixed on the spray bar fixed seat of height adjusting mechanism, and the pesticide spraying pump of pesticide spraying device is arranged on pesticide spraying vehicle body, and walking device is installed below pesticide spraying vehicle body, and the walking device of operation vehicle is driven by the rail car and runs on the rail, and the walking device of operation vehicle is driven by the rail car and runs on the rail, and variable rail device is arranged in the rail end turning place, guarantees operation vehicle variable rail travel with rail car. Each component cooperation can realize the accurate, efficient, adaptable pesticide application operation of facility vegetable and variable rail walking between rails.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural machinery technology, and in particular relates to a modular plant protection-assisted harvesting track-changing multi-functional operation vehicle, which is especially suitable for plant protection and assisted harvesting operations in facility agriculture environments. Background Technology

[0002] Pest control is a crucial step in ensuring crop yields. However, in greenhouse agriculture, conventional manual spraying methods have relatively low pesticide utilization rates, leading to pesticide waste. Other spraying methods, such as wheeled and tracked sprayers, are most common and are often used in plains and hilly terrains, respectively. They rely heavily on manual labor, but in greenhouse agriculture, these two modes of transportation are not well-suited to the conditions and can easily damage crops and the greenhouse floor.

[0003] Developing modular, variable-track plant protection and harvesting multi-functional vehicles is crucial for improving the efficiency of pesticide application and harvesting in facility agriculture, given its unique characteristics. As an important type of agricultural plant protection machinery, the core advantage of these vehicles stems from their fixed-path "track-based" operation.

[0004] Currently, the spraying equipment widely used in China's facility agriculture sector is mainly represented by boom sprayers, with common forms including self-propelled, suspended, and towed boom sprayers. While these devices have achieved a certain degree of mechanization in plant protection operations, overall, research on them started relatively late, and the technology is relatively lagging behind, resulting in a significant gap between them and the demands of modern facility agriculture for efficient, intelligent, and precise plant protection.

[0005] In terms of pesticide utilization, traditional boom sprayers generally suffer from problems such as large droplet size, uneven settling, and fixed spraying angle, resulting in incomplete coverage and significant waste. Uneven spraying, especially on roots and the undersides of leaves, leads to insufficient efficacy, increasing costs and environmental burden. Regarding convenience and flexibility, these devices rely on manual driving or tractor towing, making them unsuitable for confined spaces like greenhouses. Limited boom length hinders operation in densely planted or narrow-row environments. Furthermore, the lack of height adaptability prevents flexible adjustment of spraying position based on crop height and growth stage, impacting control effectiveness. In terms of remote control and safety, most devices can only be operated manually or with mechanical handles at close range, requiring operators to enter the spraying area, resulting in high labor intensity and health risks. Additionally, insufficient stability during operation, lack of anti-derailment and anti-tipping designs, leads to poor reliability in complex environments. These boom sprayers have limited functionality, only assisting manual spraying and other plant protection tasks. The existing spraying machines lack certain automation technologies, such as the ability to quickly switch between forward and backward motion control on the track, adjust the travel path by changing tracks, adjust the spray nozzles according to crop height requirements, and provide remote safety control. Therefore, in order to improve the pesticide utilization rate, ease of use, and reliability of the sprayers, it is necessary to upgrade the existing spraying equipment and expand its functions. Utility Model Content

[0006] To address the aforementioned technical problems, this utility model provides a modular plant protection-assisted harvesting track-changing multi-functional operation vehicle. The various components work together to achieve precise, efficient, and highly adaptable pesticide application for greenhouse vegetables, as well as track-changing movement.

[0007] The objective of this utility model is achieved through the following technical solution: This utility model discloses a modular plant protection-assisted harvesting track-changing multi-functional operation vehicle, characterized in that it includes a track vehicle and an operation vehicle connected by traction. The operation vehicle includes a spraying vehicle and / or a transport vehicle. The spraying vehicle includes a height adjustment mechanism, a spraying device, a walking device, and a spraying vehicle body. The height adjustment mechanism is installed on both sides of the spraying vehicle body. The spraying rod of the spraying device is fixed on the spraying rod fixing seat of the height adjustment mechanism. The spraying pump of the spraying device is set on the spraying vehicle body. The walking device is installed below the spraying vehicle body. The track vehicle pulls the operation vehicle's walking device to travel on the track. A modular track-changing device is set at the turning point of the track to ensure that the operation vehicle changes track with the track vehicle.

[0008] Furthermore, the height adjustment mechanism includes a nozzle fixing seat and a telescopic rod. The telescopic rod is mounted on mounting seats on both sides of the vehicle body in an inverted U-shape. The nozzle fixing seat is symmetrically arranged on the two outer sides of the telescopic rod and has bolt holes for mounting the nozzle or branch pipe of the spraying device, which is fixed by pipe clamps.

[0009] Furthermore, the spraying device includes a spraying pump, spray booms, nozzles, and a piping system. Two spray booms are mounted on the spray boom mounting bases. Each spray boom has multiple nozzles evenly arranged along the vertical direction. The piping system consists of a main pipeline and branch pipelines. One end of the main pipeline is connected to the spraying pump, and the other end is connected to two branch pipelines. Multiple nozzles arranged along the spray booms on both sides are connected to the two branch pipelines. The spraying pump is mounted on a spraying pump mounting base on the top of the spraying vehicle. The spraying vehicle is a container for holding the pesticide solution. The top of the vehicle is provided with a water inlet for filling the pesticide solution, and a sealing cap is provided on the water inlet.

[0010] Furthermore, the walking device includes a driven double wheel frame, a bearing-end trailer seat, a trailer axle, and a slewing shaft. Two sets of driven double wheel frames are symmetrically installed at both ends of the trailer axle. Two flat track wheels are arranged side by side on each set of driven double wheel frames. The bearing-end trailer seat is composed of a top plate connected to the top of two side plates. The bottom of the two side plates has a limiting groove to restrict the rotation angle of the trailer axle. The top plate has a through hole. One end of the slewing shaft is connected to the trailer axle, and the other end is installed on the top plate of the bearing-end trailer seat through a bearing.

[0011] Furthermore, the spraying vehicle body and / or the work vehicle are equipped with handles at both ends, and rod end joint bearings are respectively provided at the bottom of both ends of the vehicle body, which are connected to the railcar through rods. The bottom of the vehicle body is provided with axle support seats near both ends, and the trailer wheel axle of the traveling device is installed through the axle support seats.

[0012] Furthermore, the track includes a main track and branch tracks. The main track is arranged in multiple parallel rows along the ridge length direction. Branch tracks are arranged at both ends of the main track along the ridge width direction. A circular arc track is provided between the main track and the branch tracks for transition. A straight track is also provided between the branch tracks at one end of the main track. Both ends of the straight track and the circular arc track at this end have discontinuity nodes I. The other end of the main track and the circular arc track have discontinuity nodes II. The modular track changing device includes a 90° track changing device and a Y-type track changing device. The 90° track changing device is set at the discontinuity node I where track changing is required, and the Y-type track changing device is set at the discontinuity node II where track changing is required.

[0013] Furthermore, the 90° track-changing device includes a crank transmission mechanism I, a 90° track-changing sliding assembly, and a locking and positioning structure I. The 90° track-changing sliding assembly consists of two sets of connecting rails symmetrically arranged on a base plate I. One end of the base plate I is connected to the crank-connecting rod mechanism I. The distance between the two sets of connecting rails is the same as the distance between the main rails. Each set of connecting rails consists of a straight rail and an arc-shaped rail I arranged side by side. The arc-shaped rail I bends toward one side of the crank-connecting rod mechanism I. The straight rail and the arc-shaped rail I respectively cooperate with the discontinuous straight rail and the circular arc rail of the discontinuous node I. Positioning blocks of the locking and positioning structure I are respectively provided between the two sets of connecting rails and on both sides of the base plate I near the end of the crank-connecting rod mechanism I.

[0014] Furthermore, the Y-type track changing device includes a crank transmission mechanism II, a Y-type track changing sliding assembly, and a locking and positioning structure II. The Y-type track changing sliding assembly consists of two sets of Y-type connecting rails symmetrically arranged on a base plate II. One end of the base plate II is connected to the crank connecting rod mechanism II. The distance between the two sets of Y-type connecting rails is the same as the distance between the main rails. Each set of Y-type connecting rails consists of two arc-shaped rails II arranged side by side in a Y-shape. The two arc-shaped rails II respectively cooperate with the main rail and the circular arc rail of the discontinuous node II. Positioning blocks of the locking and positioning structure I are respectively set between the two sets of connecting rails and on both sides of the base plate II near the end of the crank connecting rod mechanism I.

[0015] Furthermore, the crank-connecting rod mechanism I and crank-connecting rod mechanism II have the same structure, consisting of a crank and a connecting rod rotatably connected. The crank has a handle at the top of the vertical shaft and its bottom end is fitted onto the sleeve of the connecting seat. The vertical shaft rotates around the sleeve. A connecting handle that is rotatably connected to one end of the connecting rod is fixed on the vertical shaft. The other end of the connecting rod is fixedly connected to the base plate I of the 90° track changing sliding assembly or the base plate II of the Y-type track changing sliding assembly. The bottom connecting seat is installed at the intersection of the tracks that need to be changed.

[0016] Furthermore, the locking and positioning structure I and locking and positioning structure II have the same structure. Both are composed of end positioning block groups and middle positioning block groups arranged side by side at the discontinuous node I and discontinuous node II that need to be changed track. One end of the end positioning block has an L-shaped groove that mates with the base plate I of the 90° track changing sliding component or the base plate II of the Y-type track changing sliding component, and the other end has a stop block. The middle positioning block has an L-shaped groove. Each group of positioning blocks is arranged opposite to each other. When changing track, the base plate I of the 90° track changing sliding component or the base plate II of the Y-type track changing sliding component slides along the L-shaped grooves of the two groups of positioning blocks and is limited by the end positioning blocks.

[0017] The beneficial effects of this utility model are as follows: The components of this invention work together to achieve precise, efficient, and highly adaptable pesticide application for greenhouse vegetables.

[0018] 2. This utility model is capable of traveling and changing tracks on a rail. The spraying height of the spraying vehicle can be adjusted according to different crops, while reducing manual intervention, thereby improving operational accuracy and reducing pesticide waste. Multifunctional modular track-changing sprayers are commonly used in greenhouses and other facility agriculture, offering extremely high operational accuracy and effectively reducing pesticide waste and crop damage. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the spraying vehicle of this utility model.

[0020] Figure 2 for Figure 1 A schematic diagram of the structure of the central carriage.

[0021] Figure 3for Figure 1 A schematic diagram of the walking device.

[0022] Figure 4 This is a schematic diagram of the track structure in this utility model.

[0023] Figure 5 for Figure 4 A schematic diagram of the structure of intermediate break node I.

[0024] Figure 6 for Figure 5 A schematic diagram of the structure in which a 90° track-changing device is installed.

[0025] Figure 7 for Figure 6 A schematic diagram of the 90° track-changing device.

[0026] Figure 8 for Figure 4 An enlarged schematic diagram of the Y-type track changer installed in the middle.

[0027] Figure 9 for Figure 8 A schematic diagram of the structure of the Y-type track changer.

[0028] Figure 10 This is a schematic diagram of a crank drive mechanism. Figure 11 This is a schematic diagram of the locking and positioning structure.

[0029] In the diagram: 1. Spraying device, 11. Spraying pump, 12. Spray boom, 13. Nozzle; 2. Height adjustment mechanism; 21. Spray bar holder; 22. Telescopic rod. 3. Vehicle body; 31. Mounting bracket; 32. Spray pump mounting bracket; 33. Water inlet; 34. Axle support bracket; 35. Rod end spherical bearing; 4. Traveling device; 41. Driven double wheel frame; 42. Bearing end trailer seat; 421. Side plate; 422. Top plate; 423. Limiting groove; 424. Through hole; 43. Trailer wheel axle; 44. Rotary shaft; 45. Flatbed track wheel; 5. Handle; 6. Track; 61. Main track; 62. Branch track; 63. Circular track; 64. Straight track; 65. Discontinuity node I; 66. Discontinuity node II; 7. 90° track changing device; 71. Crank transmission mechanism I; 711. Vertical rotating shaft; 712. Connecting rod; 713. Handle; 714. Connecting seat; 715. Connecting handle; 72. 90° track changing sliding assembly; 721. Base plate I; 722. Straight rail; 723. Arc rail I; 73. Locking and positioning structure I; 8. Y-type track changing device; 81. Crank transmission mechanism II; 82. Y-type track changing sliding assembly; 821. Base plate II; 822. Arc rail II; 83. Locking and positioning structure II. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] Example: This utility model discloses a modular plant protection-assisted harvesting track-changing multi-functional operation vehicle, including a track vehicle and an operation vehicle connected by traction. The operation vehicle includes a spraying vehicle and / or a transport vehicle. The spraying vehicle includes a height adjustment mechanism 2, a spraying device 1, a walking device 4, and a spraying vehicle body 3. The height adjustment mechanism 2 is installed on both sides of the spraying vehicle body 3. The spraying rod 12 of the spraying device 1 is fixed on the spraying rod fixing seat 21 of the height adjustment mechanism 2. The spraying pump 11 of the spraying device 1 is set on the spraying vehicle body 3. The walking device 4 is installed below the spraying vehicle body 3. The track vehicle pulls the walking device 4 of the operation vehicle to travel on the track. A modular track-changing device is set at the turning point of the track end to ensure that the operation vehicle changes track with the track vehicle.

[0032] The components of this application work together to enable precise, efficient, and adaptable application of pesticides to greenhouse vegetables.

[0033] The height adjustment mechanism 2 includes a spray bar fixing seat 21 and a telescopic rod 22. The telescopic rod 22 is installed on the mounting seats 31 on both sides of the vehicle body 3 in an inverted U-shaped structure. The spray bar fixing seat 21 is symmetrically arranged on the two outer sides of the telescopic rod 22. It has bolt holes for installing the spray bar 12 or the spraying branch pipeline. It is fixed by pipe clamps to stabilize the position of the spray bar 12 or the spraying branch pipeline and ensure that the nozzle 13 on the spray bar 12 maintains the accurate spraying direction during operation.

[0034] The height of the telescopic rod 22 can be flexibly adjusted according to the differences in plant height at different growth stages of the greenhouse vegetables. It can be adjusted mechanically or electrically. The electric method uses existing electric telescopic rods; the mechanical method uses the telescopic rod 22 as a rod component. After adjusting the installation height of the telescopic rod 22, it is fixed to the mounting seats 31 on both sides of the vehicle body 3 via pipe clamps, thereby achieving height adjustment of the spray boom 12 and its nozzle 13, thus achieving precise spraying. When the crop is in the seedling stage, the telescopic rod 22 is in a retracted state, and the nozzle 13 is lowered to ensure that the pesticide solution can cover the base of the plant. During the vigorous growth stage or fruiting stage of the crop, the telescopic rod 22 gradually extends, and the nozzle 13 moves upward accordingly, ensuring that the pesticide solution covers the upper and middle leaves of the plant. Through the adjustment function of the height adjustment mechanism 2, the equipment can adapt to the application needs of different crop varieties and their different growth stages, effectively avoiding spray dead zones and insufficient pesticide efficacy, and improving pesticide utilization and spraying accuracy.

[0035] The spraying device 1 is used to accurately and efficiently spray pesticide solution onto the surface of target crops or the area where target pests are located, so as to achieve green pest control and crop nutrient supplementation. It includes a spraying pump 11, spray booms 12, nozzles 13, and a piping system. Two spray booms 12 are mounted on the spray boom mounting base 21. Multiple nozzles 13 are evenly arranged along the vertical direction on each spray boom 12. The nozzles 13 of this invention are atomizing nozzles. The piping system consists of a main pipeline and branch pipelines. One end of the main pipeline is connected to the spraying pump 11, and the other end connects to the two spray booms on both sides, which in turn connect to the two branch pipelines. Multiple nozzles 13 are connected to the two branch pipelines along the spray booms 12 on both sides. The branch pipelines ensure a balanced distribution of pesticide solution to each nozzle 13 and guarantee consistent spray volume and stable atomization effect during continuous spraying operations, thereby significantly improving the reliability and accuracy of spraying operations. The spray pump 11 is installed on the spray pump mounting base 32 on the top of the spray vehicle body 3. The spray vehicle body 3 is a container for holding the liquid medicine. The top of the spray vehicle body 3 is provided with a water inlet 33 for filling the liquid medicine. A sealing cap is provided on the water inlet 33 for filling the liquid medicine. The sealing performance is good and can prevent the liquid medicine from leaking.

[0036] The nozzle 13, with its reasonable nozzle spacing design (350mm in this example), achieves uniform droplet coverage. The atomizing nozzle 13 can atomize the pesticide solution into fine and uniform droplets, reducing droplet drift loss and improving adhesion, allowing the pesticide solution to fully cover both sides of the crop leaves.

[0037] The spray pump 11 is the core power source for pesticide delivery. During operation, the spray pump 11 pressurizes the pesticide, transferring it from the storage tank in the vehicle body 3 to the pipeline system, where it is then atomized and sprayed through the nozzle 13, achieving a stable and continuous pesticide supply. This spray pump 11 can be connected to a remote control system (existing technology) for wired or wireless start / stop control, allowing operation without entering the spraying area, thus avoiding operator exposure to pesticides and improving operational safety. Simultaneously, the remote control system can adjust the spray volume and spraying time of the spray pump 11 according to operational needs, making the application process more precise and flexible. Combined with the structural design of the spraying device 1, the spray pump 11 ensures uniform spraying while improving pesticide utilization efficiency, reducing resource waste and environmental pollution.

[0038] The spraying vehicle body 3 is the main load-bearing structure, primarily used for installing and fixing components such as the height adjustment mechanism 2, spraying device 1, walking device 4, and spraying pump 11. The spraying vehicle body 3 is constructed from corrosion-resistant metal and composite materials to adapt to environmental factors such as high humidity and pesticide corrosion in facility agriculture production.

[0039] The bottom structures of the various work vehicles are identical. Taking the spraying vehicle 3 as an example, axle support seats 34 are provided near both ends of the bottom of the spraying vehicle 3. The axles 43 of the trailer wheels of the traveling device 4 are installed through the axle support seats 34, thereby ensuring the structural stability and coordination between the work vehicle and the traveling device. A spraying pump mounting seat 32 is provided near the water inlet 33 of the spraying vehicle 3 to ensure the stable installation and balanced force distribution of the spraying pump 11 during operation.

[0040] The spraying vehicle body 3 and / or the work vehicle are equipped with handles 5 at both ends, and rod end joint bearings 35 are respectively provided at the bottom of both ends of the vehicle body. They are connected to the railcar through rods (existing structure) so that the vehicle body 3 can be pulled by the railcar, improving the stability and flexibility of the equipment operation. The bottom of the vehicle body is provided with axle support seats 34 near both ends, and the trailer wheel axle 43 of the walking device 4 is installed through the axle support seats 34.

[0041] Both ends of the vehicle body 3 are equipped with handles 36 to facilitate manual operation and the installation or disassembly of the equipment on the track.

[0042] The structural layout of the vehicle body not only enables it to bear loads and connect components, but also improves the overall stability and service life of the equipment.

[0043] The travel device 4 of the work vehicle is the same for all of them. It is mainly used to ensure that the work vehicle runs stably along the track set in the greenhouse or shed to meet the needs of fixed path operation in facility agriculture. It includes a driven double wheel frame 41, a bearing end trailer seat 42, a trailer wheel axle 43 and a slewing shaft 44. Two sets of driven double wheel frames 41 are symmetrically installed at both ends of the trailer wheel axle 43. Two flat track wheels 45 are arranged side by side on each set of driven double wheel frames 41. The bearing end trailer seat 42 is composed of a top plate 422 connected to the top of two side plates 421. The bottom of the two side plates 421 has a limiting groove 423 to limit the rotation angle of the trailer wheel axle 43. The top plate 422 has a through hole 424. One end of the slewing shaft 44 is fixedly connected to the trailer wheel axle 34, and the other end is fitted with a bearing through an interference fit. The top plate 422 of the bearing end trailer seat 42 is fitted through the bearing. The trailer wheel axle 43 is connected to the driven double wheel frame 41.

[0044] The flatbed track wheel 45 is an existing structure that mates with the track. A through hole for mounting the trailer wheel axle 43 is provided on the driven double wheel frame 41. The trailer wheel axle 43 passes through this through hole and is limited by a nut connection. This through hole is slightly larger than the outer diameter of the trailer wheel axle 43, giving the driven double wheel frame 41 a certain degree of floating capability. This allows the vehicle to maintain stable operation even when the track is uneven or the load is uneven, preventing derailment. The trailer wheel axle 43 is used to coordinate the operation of the flatbed track wheel 45. When the track curves or turns, the slewing shaft 44, through a bearing, drives the slewing shaft 44 and the connected trailer wheel axle 43 to swing relative to the bearing end trailer seat 42. The limiting groove of the bearing end trailer seat 42 restricts the swing angle of the trailer wheel axle 43, ensuring the adaptation of the speed difference between the inner and outer wheels, improving the flexibility and stability of the entire machine's operation, and making the equipment run smoothly in a greenhouse track environment. This not only improves operational reliability but also reduces maintenance costs.

[0045] The bearing-end trailer seat 42 is composed of two side plates 421 connected to a top plate 422. The bottom of the side plates 421 has U-shaped limiting grooves 423 that mate with the trailer axle 43. The top plate 422 has through holes 424 for connecting the rotating shaft end bearing. The bearing-end trailer seat 42 improves the radial load-bearing capacity of the flatbed track wheel 45, ensures the rotational accuracy of the trailer axle 43 under combined loads, and reduces wear caused by uneven load distribution.

[0046] To further enhance protective performance, two sets of driven double-wheel frames 41 are symmetrically installed at both ends of the trailer wheel axle 43 of the traveling device 4. Through the redundancy and mutual cooperation of the two sets of driven double-wheel frames 41, the load pressure and impact force during operation can be effectively distributed, significantly reducing the risk of derailment and deviation, thereby significantly improving the overall safety and reliability of the machine. To further ensure the stability and safety of the equipment during operation, the connection structure between the driven double-wheel frame 41 and the flat track wheel 45 allows the flat track wheel 45 connected to the driven double-wheel frame 41 to have a floating function. When there is slight unevenness or local bumps in the track, it can actively adapt to changes in track height, ensuring that the wheel set always maintains good contact with the track, thus avoiding derailment accidents caused by uneven track. At the same time, the trailer wheel axle 43 and the slewing shaft 44 work together to automatically match the positional requirements caused by the difference in wheel speed on both sides when the vehicle turns, ensuring that the equipment maintains stable operation when turning.

[0047] like Figure 4As shown, the track 6 includes a main track 61 and branch tracks 62. The main track 61 is arranged in multiple parallel rows along the length of the ridge. Branch tracks 62 are arranged at both ends of the main track 61 along the width of the ridge. An arc track 63 is provided between the main track 61 and the branch tracks 62 for transition. A straight track 64 is also provided between the branch tracks 62 at one end of the main track 61. Both ends of the straight track 64 and the arc track 63 at this end have discontinuity nodes I 65. The other end of the main track 61 and the arc track 63 have discontinuity nodes II 66. The modular track changing device includes a 90° track changing device 7 and a Y-type track changing device 8. The 90° track changing device 7 is set at the discontinuity node I 65 where track changing is required, and the Y-type track changing device 8 is set at the discontinuity node II 66 where track changing is required.

[0048] like Figures 5-7 As shown, the 90° track changing device 7 includes a crank transmission mechanism I71, a 90° track changing sliding assembly 72, and a locking and positioning structure I73. The 90° track changing sliding assembly 72 consists of two sets of connecting rails symmetrically arranged on a base plate I721. One end of the base plate I721 is connected to the crank connecting rod mechanism I71. The distance between the two sets of connecting rails is the same as the distance between the main rails 61. Each set of connecting rails consists of a straight rail 722 and an arc-shaped rail I723 arranged side by side. The arc-shaped rail I723 bends toward one side of the crank connecting rod mechanism I71. The straight rail 722 and the arc-shaped rail I723 respectively cooperate with the discontinuous straight rail 64 and the circular arc rail 63 of the discontinuous node I65. Positioning blocks of the locking and positioning structure I73 are respectively provided between the two sets of connecting rails and on both sides of the base plate I721 near the end of the crank connecting rod mechanism I71.

[0049] like Figures 8-10 As shown, the Y-type track changing device 8 includes a crank transmission mechanism II 81, a Y-type track changing sliding assembly 82, and a locking and positioning structure II 83. The Y-type track changing sliding assembly 82 consists of two sets of Y-type connecting rails symmetrically arranged on a base plate II 821. One end of the base plate II 821 is connected to the crank connecting rod mechanism II 81. The distance between the two sets of Y-type connecting rails is the same as the distance between the main rails 61. Each set of Y-type connecting rails consists of two arc-shaped rails II 822 arranged side by side in a Y-shape. The two arc-shaped rails II 822 respectively cooperate with the main rail 61 and the circular arc rail 63 of the discontinuous node II 66. Positioning blocks of the locking and positioning structure II 83 are respectively set between the two sets of connecting rails and on both sides of the base plate II 821 near the end of the crank connecting rod mechanism II 81.

[0050] The crank-connecting rod mechanism I 71 and the crank-connecting rod mechanism II 81 have the same structure, consisting of a crank and a connecting rod 712 rotatably connected. The crank has a handle 713 at the top of the vertical rotating shaft 711 and the bottom end is sleeved on the sleeve of the connecting seat 714. The vertical rotating shaft 711 rotates around the sleeve. A connecting handle 715 is fixed on the vertical rotating shaft 711 and rotatably connected to one end of the connecting rod 712. The other end of the connecting rod 712 is fixedly connected to the base plate I 721 of the 90° track changing sliding assembly or the base plate II 821 of the Y-type track changing sliding assembly. The bottom connecting seat 716 is installed at the intersection of the tracks that need to be changed.

[0051] The locking and positioning structures I 73 and II 83 are identical in structure, both consisting of end positioning block groups and middle positioning block groups arranged side by side at the discontinuous nodes I 65 and II 66 where track changes are required. One end of the end positioning block has an L-shaped groove that mates with the base plate I 721 of the 90° track changing sliding assembly 72 or the base plate II 821 of the Y-type track changing sliding assembly 82, and the other end has a stop block. The middle positioning block also has an L-shaped groove. Each group of positioning blocks is arranged opposite to each other. During track changes, the base plate I 721 of the 90° track changing sliding assembly 72 or the base plate II 821 of the Y-type track changing sliding assembly 82 slides along the L-shaped grooves of the two groups of positioning blocks. By limiting the end positioning blocks, the track can be fixed in the target position after the track change is completed, avoiding displacement and misalignment caused by vibration or external force.

[0052] The 90° track-changing sliding device 7 is an adjustable section in the track, which can switch between the main track 61, branch track 62, circular arc track 63, and straight track 64. In this example, it is set at the discontinuity node I 65 between the two ends of the straight track 64 and the circular arc track 63. When performing a 90° track-changing operation at the end of the main track 61, the operator drives the vertical rotating shaft 711 and the transmission connecting rod 712 connected to it to rotate by pulling the handle 713, thereby driving the 90° track-changing sliding rail assembly 72 to change its angle, so that the two sets of connecting rails on the base plate I 721 of the 90° track-changing sliding rail assembly move to align with the circular arc track 63 and the straight track 64 at the end of the main track 1, respectively, to ensure that the railcar drives the work vehicle to continue to move forward along the straight track; when the 90° track-changing sliding rail assembly 72 rotates to dock with the branch track 62, the railcar drives the work vehicle to enter the branch track 62 for operation.

[0053] The Y-type track-changing sliding assembly 82 is located at the intersection of the main track 61 and the arc track 63 connecting the branch track 62, i.e., at the discontinuity node II 66. When performing the Y-type track-changing operation, the operator drives the vertical rotating shaft 711 and the transmission connecting rod 712 connected to it to rotate by pulling the handle 713, thereby driving the Y-type track-changing sliding assembly 82 to change its angle. This causes the two sets of connecting rails on the Y-type track-changing sliding assembly base plate II 821 to move to both ends and align with the main track 61 and the arc track 63 respectively, ensuring that the railcar drives the work vehicle to pass smoothly and realize the track-changing operation between the main track 61 and the branch track 62.

[0054] This application allows for track guidance selection via manual cranking, ensuring smooth transitions between straight-line and turning maneuvers for the spraying vehicle. To guarantee operational stability, the connecting rails of both the 90° track-changing device 7 and the Y-type track-changing device 8 are made of high-strength, wear-resistant materials, ensuring a smooth transition during the switching process.

[0055] The working principle of this utility model: This invention enables precise, efficient, and adaptable pesticide application to greenhouse vegetables. During operation, the spraying vehicle's power comes from a circular track car. To achieve a stable connection and coordinated operation between the spraying vehicle and the track car, rod-end spherical bearings are installed at the front and rear ends of the spraying vehicle body 3. Rigid rods connect the spraying vehicle body 3 to the rod-end spherical bearings at the track car end, forming a stable coupling structure. This connection method not only ensures balanced force and stable posture of the spraying vehicle during operation but also effectively counteracts vibrations and impacts, preventing loosening or displacement due to long-term use. Through this design, the spraying vehicle can achieve precise and stable forward movement and steering with the traction of the track car, thus completing spraying operations in greenhouse agriculture environments.

[0056] The power system of the spray pump 11 is directly powered by the 48V battery integrated into the facility's circular track vehicle. Compared to traditional spraying equipment that relies on external power or manual operation, this structure avoids cumbersome external wiring, reduces energy loss during transmission, and significantly improves the efficiency and stability of power transmission. Simultaneously, utilizing the track vehicle's unified power system allows for centralized power management and remote control, ensuring that the spray pump 11 maintains stable flow and pressure during operation, thereby guaranteeing spray uniformity and operational effectiveness.

[0057] The spraying operation is controlled by switching the power supply to and off of the spraying pump 11, thus controlling spraying and stopping. Operators can control various movement modes of the vehicle, such as forward, reverse, acceleration, and deceleration, thereby indirectly adjusting the spraying volume and range. Simultaneously, the spraying vehicle also features independent single-sided spraying control; control valves are installed on both sides of the spraying pipeline, allowing for individual control by opening or closing these valves. This allows for selective spraying of only plants on one side of the track, based on crop distribution, effectively avoiding pesticide waste and improving pesticide utilization when crops are only distributed on one side or in a limited area. This function not only reduces ineffective spraying of pesticides into unplanted areas or passageways but also lowers the risk of environmental pollution, further improving the accuracy and economy of spraying operations, and providing a more flexible solution for differentiated pest control in facility agriculture environments.

[0058] The application describes a spraying vehicle that operates on an existing circular track. Compared to traditional manual backpack spraying equipment, this eliminates the need for manual labor and significantly reduces worker fatigue. Simultaneously, the track layout allows the equipment to move flexibly between crop rows, unrestricted by space or path, achieving comprehensive spraying coverage from crop roots to plant tops. This design ensures that pesticides are applied evenly to the plant surface, thereby improving pest and disease control effectiveness and reducing pesticide waste.

[0059] In non-working mode, the spraying vehicle is equipped with a height adjustment mechanism, allowing the working height of the spraying device to be adjusted within a 20cm range. This function enables the equipment to flexibly adapt to different crop heights and growth stages, ensuring precise spraying and targeted operation. This design not only improves the equipment's adaptability but also makes it suitable for various greenhouses and planting environments, achieving a comprehensive effect of "worry-free, labor-saving, and pesticide-saving."

[0060] In operation, movement is controlled by a system mounted on a railcar. The railcar's control panel features four function buttons: "Forward," "Reverse," "Accelerate," and "Stop," allowing operators to intuitively control the machine to meet different operating speed requirements. In addition to manual button operation, the equipment also has a remote control function. Users can directly control the machine located at the far end of the greenhouse from the greenhouse entrance, with a maximum effective remote control distance of up to 100 meters. Operation can be completed without entering the greenhouse, significantly improving ease of use and operational safety.

[0061] In operation, the modular track-changing device adjusts the travel route. To enhance the adaptability of the railcar-hauled spraying vehicle under different operating paths, a manually controlled modular track-changing device is designed into the track structure. When the railcar reaches the discontinuity node I65 or discontinuity node II66 at the track bifurcation, the operator can drive the steering connecting rail section to deviate by operating a crank handle located on the side of the track. This controls whether the railcar continues straight along the main track or switches to the branch track. Through a locking and positioning structure, the steering connecting rail section can be stably fixed after switching, preventing positional displacement due to stress during operation. Compared with the traditional single track path, this design significantly improves the operational flexibility of the sprayer inside greenhouses or polytunnels, allowing it to select different operating routes according to crop layout, channel zoning, and operational needs. The modular track-changing device not only reduces the workload of equipment handling and track rearrangement but also enables continuous operation in multi-zone contiguous planting environments, thereby significantly improving production efficiency.

[0062] This invention has significant advantages in reducing labor intensity, improving work efficiency, reducing pesticide waste, and ensuring uniform spraying. It has high value for widespread application.

[0063] Components not described in detail in this application are all existing conventional technologies and will not be described further here.

[0064] It is understood that the above specific description of this utility model is only used to illustrate this utility model and is not limited to the technical solutions described in the embodiments of this utility model. Those skilled in the art should understand that modifications or equivalent substitutions can still be made to this utility model to achieve the same technical effect; as long as the use needs are met, they are all within the protection scope of this utility model.

Claims

1. A modular plant protection-assisted harvesting track-changing multi-functional operation vehicle, characterized in that: The system includes a traction-connected railcar and a work vehicle. The work vehicle includes a spraying vehicle and / or a transport vehicle. The spraying vehicle includes a height adjustment mechanism, a spraying device, a traveling device, and a spraying vehicle body. The height adjustment mechanism is installed on both sides of the spraying vehicle body. The spraying rod of the spraying device is fixed on the spraying rod fixing seat of the height adjustment mechanism. The spraying pump of the spraying device is located on the spraying vehicle body. The traveling device is installed below the spraying vehicle body. The work vehicle's traveling device is pulled by the railcar to travel on the rail. A modular track-changing device is provided at the turning point of the railcar to ensure that the work vehicle changes track with the railcar.

2. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 1, characterized in that: The height adjustment mechanism includes a nozzle fixing seat and a telescopic rod. The telescopic rod is in an inverted U-shape and is installed on mounting seats on both sides of the vehicle body. The nozzle fixing seat is symmetrically arranged on the two outer sides of the telescopic rod and has bolt holes for installing the nozzle or branch pipeline of the spraying device, which is fixed by pipe clamps.

3. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 1, characterized in that: The spraying device includes a spraying pump, spray booms, nozzles, and a piping system. Two spray booms are mounted on the spray boom mounting bases. Each spray boom has multiple nozzles evenly arranged along the vertical direction. The piping system consists of a main pipeline and branch pipelines. One end of the main pipeline is connected to the spraying pump, and the other end is connected to two branch pipelines. Multiple nozzles arranged along the spray booms on both sides are connected to the two branch pipelines. The spraying pump is mounted on a spraying pump mounting base on the top of the spraying vehicle. The spraying vehicle is a container for holding the pesticide solution. The top of the vehicle is equipped with a water inlet for filling the pesticide solution, and a sealing cap is installed on the water inlet.

4. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 1, characterized in that: The walking device includes a driven double wheel frame, a bearing-end trailer seat, a trailer axle, and a slewing shaft. Two sets of driven double wheel frames are symmetrically installed at both ends of the trailer axle. Two flat track wheels are arranged side by side on each set of driven double wheel frames. The bearing-end trailer seat is composed of a top plate connected to the top of two side plates. The bottom of the two side plates has a limiting groove to restrict the rotation angle of the trailer axle. The top plate has a through hole. One end of the slewing shaft is connected to the trailer axle, and the other end is installed on the top plate of the bearing-end trailer seat through a bearing.

5. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 1, characterized in that: The spraying vehicle and / or the work vehicle are equipped with handles at both ends, and rod end spherical bearings are provided at the bottom of both ends of the vehicle body. The vehicle body is connected to the railcar through rods. The bottom of the vehicle body is provided with axle support seats near both ends, and the tow wheel axle of the traveling device is installed through the axle support seats.

6. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 1, characterized in that: The track includes a main track and branch tracks. The main track is arranged in multiple parallel rows along the length of the ridge. Branch tracks are set at both ends of the main track along the width of the ridge. A circular arc track is set between the main track and the branch tracks for transition. A straight track is also set between the branch tracks at one end of the main track. Both ends of the straight track and the circular arc track at this end have discontinuity nodes I. The other end of the main track and the circular arc track have discontinuity nodes II. The modular track changing device includes a 90° track changing device and a Y-type track changing device. The 90° track changing device is set at the discontinuity node I where track changing is required, and the Y-type track changing device is set at the discontinuity node II where track changing is required.

7. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 6, characterized in that: The 90° track-changing device includes a crank transmission mechanism I, a 90° track-changing sliding assembly, and a locking and positioning structure I. The 90° track-changing sliding assembly consists of two sets of connecting rails symmetrically arranged on a base plate I. One end of the base plate I is connected to the crank-connecting rod mechanism I. The distance between the two sets of connecting rails is the same as the distance between the main rails. Each set of connecting rails consists of a straight rail and an arc-shaped rail I arranged side by side. The arc-shaped rail I bends toward one side of the crank-connecting rod mechanism I. The straight rail and the arc-shaped rail I respectively cooperate with the discontinuous straight rail and the circular arc rail of the discontinuous node I. Positioning blocks of the locking and positioning structure I are respectively set between the two sets of connecting rails and on both sides of the base plate I near the end of the crank-connecting rod mechanism I.

8. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 6, characterized in that: The Y-type track changing device includes a crank transmission mechanism II, a Y-type track changing sliding assembly, and a locking and positioning structure II. The Y-type track changing sliding assembly consists of two sets of Y-type connecting rails symmetrically arranged on a base plate II. One end of the base plate II is connected to the crank connecting rod mechanism II. The distance between the two sets of Y-type connecting rails is the same as the distance between the main rails. Each set of Y-type connecting rails consists of two arc-shaped rails II arranged side by side in a Y-shape. The two arc-shaped rails II respectively cooperate with the main rail and the circular arc rail of the discontinuous node II. Positioning blocks of the locking and positioning structure I are respectively set between the two sets of connecting rails and on both sides of the base plate II near the end of the crank connecting rod mechanism I.

9. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 7 or 8, characterized in that: The crank-connecting rod mechanism I and crank-connecting rod mechanism II have the same structure, consisting of a crank and a connecting rod rotatably connected. The crank has a handle at the top of the vertical shaft and the bottom end is fitted onto the sleeve of the connecting seat. The vertical shaft rotates around the sleeve. A connecting handle that is rotatably connected to one end of the connecting rod is fixed on the vertical shaft. The other end of the connecting rod is fixedly connected to the base plate I of the 90° track changing sliding assembly or the base plate II of the Y-type track changing sliding assembly. The bottom connecting seat is installed at the intersection of the tracks that need to be changed.

10. The modular plant protection-assisted harvesting track-changing multi-functional operation vehicle according to claim 7 or 8, characterized in that: The locking and positioning structure I and locking and positioning structure II have the same structure. They are both composed of end positioning block groups and middle positioning block groups arranged side by side at the discontinuous nodes I and II that need to be changed. One end of the end positioning block has an L-shaped groove that mates with the base plate I of the 90° changing track sliding component or the base plate II of the Y-type changing track sliding component, and the other end has a stop block. The middle positioning block has an L-shaped groove. Each group of positioning blocks is arranged opposite to each other. When changing tracks, the base plate I of the 90° changing track sliding component or the base plate II of the Y-type changing track sliding component slides along the L-shaped grooves of the two groups of positioning blocks and is limited by the end positioning blocks.

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