Design And Experiment Of Spraying System For Ground Plant Protection Robot

For this study in the process of applying pesticide pesticide waste serious,Labour shortages,agricultural population,mainly from two aspects of enhance the level of spraying technology and equipment,design the total spray painting for the 10 meters can remote control the spray rod type spraying system,and studied the different control spray droplets size value method,in order to improve the spraying technology level,improve the quality of equipment to provide a reference,The specific research is as follows:(1)In order to guarantee the efficiency,combining with the frame size,the design of total spraying range of 10 meters wide spray rod type spraying system,for lance and lance plane strain analysis on the key parts such as,after preliminary analysis,with analysis of mesh refinement,also showed a sharp increase,the maximum stress value existing in the structure stress singularity,and spray rod end displacement is larger,The above problems were solved by adding rounded corners in the stress concentration part and adding a slant suspension mechanism near the end of the spray rod.After improvement,the maximum stress of the spray rod was reduced to 80.54 MPa,441.36 MPa less than that of the spray rod,and the maximum displacement of the end of the spray rod spread arm was 15.89 mm,22.3 mm less than that of the spray rod.The stress singularities are eliminated and the rod displacement is reduced.Due to uneven road produces incentives to spray rod,for the prevention and control of the spray rod itself inherent frequency and external incentive coupling resonances occur,so the spray rod inherent modal analysis and harmonic response analysis,the analysis results show that when an external excitation frequency in the vicinity of 2.0 Hz and 3.3 Hz,can produce resonance with lance inherent frequency coupling phenomenon,The quality optimization of the spray rod and the addition of constraints were carried out to make the first-order natural frequency of the spray rod greater than 10 Hz and avoid the excitation interval.When the wall thickness of the spray rod was 2 mm,the mass of the spray rod was the lightest and 28.4%of the production material could be saved.(2)The design of magnetization isopropyl a herbicide grass amine solution surface tension experiment and magnetized spray droplets size,records under different magnetic field intensity and magnetization time two factors affecting herbicide solution surface tension value and particle size of the spray droplets,the magnetization effect of herbicide solution surface tension and the influence law of herbicide spray particle diameter size and data fitting,The function relation was given to describe the change of data,and the particle size control method of new herbicide spray was explored.In the range of 0—500 m T magnetic field,the surface tension of the solution and the particle size of the spray droplet decrease first and then rise with the increase of magnetic field intensity and magnetization time,and the magnetization effect is the best only in the range of specific magnetic field intensity and magnetization time.By fitting magnetized surface tension data,Lorentz fitting model has the highest fitting accuracy,and its R~2 is 0.8164 and Adjusted R~2 is 0.794,which is most suitable for describing the changes of surface tension of herbicide solution affected by magnetic field intensity and magnetization duration.Lorentz model function is used as a function of surface tension,magnetization intensity and magnetization duration.By fitting the particle size data of spray droplets of magnetized herbicide solution,the function formula of controlling the particle size of spray droplets under 350 m T magnetic field was given by adjusting the magnetization time with fixed magnetic field intensity.(3)The change of droplet size under different spraying pressure,different spraying height and different horizontal position was studied through design experiment,which provided reference for reasonable setting of spraying pressure and spraying height in actual spraying operation.The farther the test point is from the vertical center line,the larger the droplet size is.The larger the spraying pressure is,the smaller the droplet size is,and the relationship between spraying pressure and droplet size is linear.The higher the spraying height,that is,the farther the distance from the spray head in the vertical direction,the larger the particle size of fog droplets,and the spraying height has a linear relationship with the particle size of fog droplets.Through the analysis of difference significance,the main effect and interaction effect of horizontal position,spraying pressure and spraying height all have significant influence on the size of fog droplet diameter.(4)Using HTML5,TCP/IP,FRP Intranet penetration and other technologies,design a spray machine spray system that can be remotely controlled through Web pages.Through the realization of Web page design,Web page and raspberry PI communication design,servo motor cylinder motion control,FRP Intranet penetration design,the combination of the four to achieve Web page spray system remote control.After experimental tests,the spray system can quickly respond to the operator’s instructions,and accurately complete the action.It provides a new control method reference for plant protection equipment in ecological unmanned farm.