CN102091682A - Self-balancing spray boom spraying machine - Google Patents

Abstract

The invention relates to a self-balancing boom sprayer, which belongs to the field of plant protection spraying machinery. The invention includes a mechanism part and a control part. The mechanism part is composed of the walking chassis, the main body of the sprayer, the mobile frame, the spray boom, the hydrostatic cylinder and the dynamic hydraulic cylinder. The mobile frame, the hydrostatic cylinder and the dynamic hydraulic cylinder jointly realize the adjustment of the pose of the spray boom. The spray boom is "L"-shaped when viewed from the length direction, which greatly improves the horizontal stiffness of the spray boom while ensuring the vertical stiffness of the spray boom. At the same time, this structure is also conducive to the realization of air curtain spray and target spray. The control part is composed of position sensor, digital transmitter/analog transmitter, processor, proportional controller and proportional reversing valve. The self-balancing boom sprayer constructed by the present invention can monitor the position and posture of the spray boom in real time during operation, and perform real-time compensation, which can greatly reduce the elastic deformation and rigid movement of the spray boom, thereby improving the uniformity of spraying.

Description

Self-balancing boom sprayer

Technical field:

   The invention relates to a self-balancing boom sprayer, which belongs to the field of plant protection spraying machinery.

Background technique

Due to the advantages of quick effect and high efficiency of chemical control, it has and will still become the main means of agricultural pest control in the foreseeable future. However, due to pesticide residues caused by chemical control, environmental pollution, economics and the health of pesticide applicators, people hope to increase the efficiency of pesticide use as much as possible to reduce the amount of pesticide application under the premise of ensuring the effect of pest control. Therefore, the boom sprayer with the potential to meet the above needs has become a research hotspot and has been widely used in the world due to its advantages of high efficiency, speed, controllability and automation.

The distinguishing feature of the boom sprayer is its long boom. When a rigid connection is used between the boom of the boom sprayer and the main body of the sprayer (such as patent application numbers 200420018588.5, 200520031026.9 and 200820103556.3), a slight external excitation of the boom sprayer may cause severe vibration at the end of the boom sprayer. Movement, which not only affects the uniformity of deposition, can also cause the boom tip to touch the ground, damaging the crop or even the implement itself. Therefore, regardless of the requirements for spray quality or the stability, safety and economical considerations of the boom sprayer, it is necessary to reduce the elastic deformation of the boom and at the same time compensate the rigid movement of the boom.

Among the currently available patents, most of the boom structures are rod structures (such as patent application numbers 200820161811 and 03206296.6) and surface structures (such as patent application numbers 200820041049.1). The rod structure means that the spray rod is generally a slender rod. The structure is obviously less rigid. It is often difficult for a sprayer with a spray bar of this structure to achieve a higher spraying quality during operation. The surface structure means that the spray bar is in the vertical plane, and the frame structure is composed of multiple bars. This frame structure can only guarantee the rigidity of the spray boom in the vertical plane, without any improvement to the rigidity of the spray boom in the horizontal plane.

When the sprayer is working, adding a mechanical self-balancing device (such as patent application number 200620021828.6) between the sprayer boom and the main body of the sprayer can reduce the movement of the sprayer boom and improve the spray uniformity to a certain extent. However, when the boom sprayer is working, the external environment and the system parameters of the boom sprayer itself are time-varying parameters, and the balancing effect of the mechanical self-balancing device alone is often very limited.

Contents of the invention

The purpose of the present invention is to provide a spray boom structure with a unique structure and a self-balancing spray boom sprayer with the structure, which is used to reduce various elastic deformations and rigid movements of the spray boom when the sprayer is working, and improve the spray boom efficiency of the spray boom sprayer. uniformity of spraying.

The present invention is on the basis of rethinking the structure of the spray bar of the existing spray bar sprayer, and designs the spray bar with "L" shape structure viewed from the length direction. The spray boom, pose sensor, data processor, spray boom pose compensation actuator, etc., together constitute a closed-loop system for spray boom pose active balance control. The balance control system can monitor the position and posture of the boom sprayer in real time during the operation of the boom sprayer and perform compensation, which can greatly reduce the elastic deformation and rigid movement of the boom sprayer, thereby improving the uniformity of spraying.

The invention includes a mechanical part and a control part.

The mechanical part includes: walking chassis, sprayer main body, mobile frame, spray boom assembly, hydrostatic cylinder and dynamic hydraulic cylinder, etc. The main body of the sprayer is installed on the walking chassis; the main body of the sprayer is provided with a vertical guide rail; the mobile frame is connected to the vertical guide rail on the main body of the sprayer through a hydrostatic cylinder, which can drive the mobile frame to slide up and down along the vertical guide rail; the spray boom The components are hinged on the mobile frame; the static hydraulic cylinder drives the spray boom assembly to move up and down through the mobile frame to adjust the spraying height; there is also a dynamic hydraulic cylinder between the spray boom assembly and the mobile frame; the dynamic hydraulic cylinder drives the spray boom assembly to adjust the angle Adjustment.

The above-mentioned spray boom assembly can be a one-piece rigid structure, or can adopt a folding or telescopic structure (for the convenience of transportation and storage); the spray boom assembly is composed of a vertical frame and a horizontal frame vertically connected, and is "L"-shaped when viewed from the length direction The structure; the vertical frame is viewed from the rear to the front as a rectangle, isosceles trapezoid or the chord shape of the upper side arc; the horizontal frame is viewed as a rectangle from the top; the lower edge of the vertical frame and the horizontal frame The left edges share the same side; one or more connecting rods can be arranged inside the vertical frame and the horizontal frame to improve the rigidity and stability of the frame.

The present invention has the following beneficial effects. For convenience of description, assume that the upper edge of the vertical frame is point A, the lower edge of the vertical frame and the left edge of the horizontal frame share the same side as point B, and the right edge of the horizontal frame is point C:

1. Viewed from the length direction, the spray boom with "L" shape structure greatly improves the horizontal rigidity of the spray boom while ensuring the horizontal rigidity of the spray boom.

2. The spray boom with "L" shape structure when viewed from the length direction can be beneficial to realize the air curtain assisted spraying. Install the fan cylinder in the air curtain assisted spraying system on the upper right part of the "L" shape. Since the cross-section of the air cylinder is circular, and there are air outlets on both sides of the vertical symmetry axis at the lower part of the air cylinder, when the nozzle is installed at point C of the spray bar, it is easy to make the nozzle out of the middle of the two air outlets. At the same time, the hair dryer is also easy to fix at points A, B and C.

3. The spray boom with "L" shape structure from the length direction can conveniently realize the automatic target spraying of the boom sprayer. The basic principle and control process of target spraying are: 1. The crop position detection sensor detects the crop position; 2. The control system sends spraying instructions to the nozzle; 3. The spraying head executes spraying. When using a spray boom with an "L" shape in cross section, the crop position detection sensor can be installed at point B, and the nozzle can be installed at point C. When the sprayer is spraying, the wind at point B and point C is in front and rear of the sprayer. When the sensor at point B detects the position of the crop, the crop is under the sprinkler head. Due to the processing of the signal by the control system and the mechanical delay of the nozzle action, setting the appropriate driving speed of the sprayer and the distance between point B and point C can realize that point C just moves above the crop when the nozzle starts spraying.

4. The closed-loop control system adopting the position and posture of the spray boom can effectively minimize the movement of the spray boom during the operation of the spray boom sprayer.

The control part consists of a position sensor, a digital transmitter/analog transmitter, a processor, a proportional controller and a proportional reversing valve to form a closed-loop control system for the spray boom position.

Description of drawings

Fig. 1 is an axonometric view of the mechanical structure involved in the present invention.

Figure 2 is the assembly of the mobile frame.

Figure 3 is the assembly of the intermediate frame.

Figure 4 is the assembly of the left suspension rod.

Fig. 5 is a composition diagram of the first embodiment of the control system.

Fig. 6 is a composition diagram of the second embodiment of the control system.

In the figure, 1 left hanging rod, 101 rectangular steel rod, 102 front round steel rod, 103 reinforcing rod, 104 rear round steel rod, 105 vertical round steel rod, 106 square steel tie rod, 107 side hinge rod, 2 short tie rods, 3 long pull rod, 4 sprayer main frame, 5 walking chassis, 6 right suspension rod, 7 sensor, 8 middle frame, 801 left hinge rod, 802 left oblique rod, 803 main cross rod, 804 middle front round steel rod, 805 middle Reinforcing rod, 806 middle and rear round steel rod, 807 vertical steel rod, 808 right oblique rod, 809 right hinged rod, 9 mobile frame, 901 left vertical rod, 902 lower cross rod, 903 upper cross rod, 904 right cross rod, 10 hydrostatic cylinders, 11 adjustment seats, and 12 dynamic hydraulic cylinders.

Detailed ways---

The walking chassis 5 serves as the carrier of the sprayer main frame 4 and also provides power for the balance compensation of the spray boom.

The sprayer main frame 4 has two parallel long vertical beams; the two long vertical beams are perpendicular to the ground; the two long vertical beams are provided with guide rails; the guide rails on the two long vertical beams are parallel. The lower part of the long vertical beam has a horizontal beam or a horizontal plate.

As shown in FIG. 2 , the mobile frame 9 is rectangular and consists of a left vertical beam 901 , a lower beam 902 , an upper beam 903 and a right vertical beam 904 . Both the left vertical beam 901 and the right vertical beam 904 are provided with sliding grooves or pulleys. Fixing holes and upper adjustment holes are arranged on the upper beam 903 . The fixing hole is located in front of the upper beam 903 , and the upper adjustment hole is located in the back of the upper beam 903 . The fixing hole is located at the center of symmetry of the mobile frame 9 . The upper adjustment holes are located on one side of the symmetry axis of the moving frame 9, and the number is 6-20, and they are equally spaced along the length direction of the upper beam 903. The center of the lower beam 902 is provided with a front hinge support.

As shown in FIG. 1 , the boom assembly includes a left suspension rod 1 , two short rods 2 , two long rods 3 , a right suspension rod 6 , an intermediate frame 8 and an adjustment seat 11 .

As shown in FIG. 4 , the left suspension rod 1 includes a rectangular steel rod 101 , a front round steel rod 102 , a reinforcing rod 103 , a rear round steel rod 104 , a vertical round steel rod 105 , a square steel tie rod 106 and a side hinge rod 107 . Left suspension rod 1 is seen as " L " shape from length direction. One end of the rectangular steel rod 101 is bent; the end of the bent part is vertically connected to the end of the front round steel rod 102 . The other ends of the rectangular steel rod 101 and the front round steel rod 102 are connected to the two ends of the square steel pull rod 106 respectively. The junction of the rectangular steel rod 101 and the square steel rod 106 is provided with a left rod seat. The junction of the rectangular steel rod 101 and the front round steel rod 102 is connected with one end of the side hinge rod 107 . The side hinge rod 107 is perpendicular to the plane where the rectangular steel rod 101 and the front round steel rod 102 are located. A hinge part is provided on the side hinge rod 107 . The other end of the side hinge rod 107 is vertically connected with the rear round steel rod 104 . The other end of the rear round steel rod 104 is bent and connected to the junction of the front round steel rod 102 and the rectangular steel rod 101 . One or more reinforcing rods 103 are connected between the rear round steel rod 104 and the front round steel rod 102 . One or more vertical round steel rods 105 are connected between the front round steel rod 102 and the rectangular steel rod 101 .

Both ends of the short pull rod 2 and the long pull rod 3 are respectively provided with a through hole. Short pull rod 2 is slightly shorter than long pull rod 3.

The right suspension rod 6 is symmetrical with the left suspension rod 1 in structure.

The intermediate frame 8, as shown in Figure 3, includes: a left hinged rod 801, a left oblique rod 802, a main cross bar 803, a middle and front round steel rod 804, a middle reinforcing rod 805, a middle and rear round steel rod 806, and a vertical steel rod 807 , right oblique bar 808, right hinged bar 809. Viewed from the length direction, the intermediate frame 8 becomes an "L" shape. The bottom of the "L" shape is horizontal and has a rectangular structure. The rectangular structure is composed of a left hinged rod 801, a middle front round steel rod 804, a right hinged rod 809 and a middle rear round steel rod 806 connected end to end. The left hinged rod 801 and the right hinged rod 809 are provided with hinged parts. One or more middle reinforcing rods 805 are connected between the middle front round steel rod 804 and the middle rear round steel rod 806 . The left and right ends of the middle front round steel bar 804 are respectively connected to one end of the left slant bar 802 and the right slant bar 808, and the left slant bar 802 and the right slant bar 808 are perpendicular to the left articulated bar 801 and the right articulated bar 809 respectively. The other ends of the left slant bar 802 and the right slant bar 808 are respectively connected to the two ends of the main cross bar 803 . The cross bar 803 is parallel to the middle front round steel bar 804 . The horizontal bar 803 is parallel to the middle front round steel bar 804 and is connected with one or more vertical steel bars 807 between them. A rear hinge support is provided in the middle of the cross bar 803, and a reinforcing rib is arranged between the rear hinge support and the cross bar 803. The two ends of the cross bar 803 and the joints of the left slant bar 802 and the right slant bar 808 are provided with pull-up rod seats. Sensor mounting holes are respectively arranged on the inner sides of the two upper tie rod seats.

The adjustment rod 11 is in the shape of a long rod, and 3-10 lower adjustment holes are arranged at equal intervals along the length direction.

The left suspension rod 1 is hinged to the middle frame 8 through the hinge part on the side hinge rod 107 and the hinge part on the left hinge rod 801 on the middle frame 8 . The left tie rod seat on the left suspension rod 1 is hinged with one end of a short tie rod 2, the other end of the short tie rod 2 is hinged with one end of the long tie rod 3, and the other end of the long tie rod 3 is hinged with the left end tie rod seat on the middle frame 8 . The right suspension rod 6 is connected to each other via another short pull rod 2, long pull rod 3 and intermediate frame 8 in the same manner.

The adjustment seat 11 is installed on the upper side of the cross bar 803 of the intermediate frame 8; the adjustment seat 11 and the cross bar 803 are parallel.

Sprayer main frame 4 is a symmetrical structure and is installed on the rear of walking chassis 5 . Mobile frame 9 is installed on the sprayer main frame 4 by the guide rail on the chute or pulley, sprayer main frame 4. The mobile frame 9 can freely slide up and down along the guide rail on the sprayer main frame 4 without breaking away from the guide rail. The upper crossbeam 903 of mobile frame 9 and the extended end of hydrostatic cylinder 10 are hinged; The intermediate frame 8 is hinged with the mobile frame 9 through the rear hinge support and the hinge support. One end of the hydraulic cylinder 12 is installed on the upper adjustment hole; the other end is installed on the lower adjustment hole. Sensors 7 are respectively installed in the sensor mounting holes at the two ends of the intermediate frame 8 .

The control part of the present invention has two kinds of implementation modes:

Embodiment 1, as shown in Figure 5, consists of two sensors, a digital transmitter, a processor, a proportional controller, and a proportional reversing valve. The sensor is an inclination sensor, which is used to test the horizontal angle of the spray boom; the digital transmitter combines the signals of the two sensors and converts them into digital signals; the processor accepts the digital signals of the digital transmitter to process the data, and Output control information; the control information output by the processor is amplified by the proportional controller and converted into the opening degree information of the proportional reversing valve. Realize the pose control of the spray boom.

Embodiment 2 As shown in Figure 6, a feedback control system is composed of two sensors, an analog transmitter, a proportional controller, and a proportional reversing valve. The sensor is an inclination sensor, which is used to test the horizontal angle of the spray boom; the analog transmitter can combine and amplify the signals of the two sensors into an appropriate analog quantity, which can be a voltage signal or a current signal; the analog signal As the analog control input signal of the proportional controller; the proportional controller amplifies the analog control signal and controls the opening of the proportional reversing valve to realize the posture control of the spray boom.

Claims (4)

1. a self-balancing boom sprayer is characterized in that, comprises mechanical part and control section;

Mechanical part comprises: spraying machine body frame (4), walking chassis (5), movable stand (9), hydrostatic cylinder (10), hydrodynamic cylinder pressure (12) and bar spray assembly; Described spraying machine body frame (4) comprises two parallel long vertical beams, and two long vertical beams are perpendicular to the ground; Two long vertical beams all have guide rail; Described guide rail is parallel to each other; The bottom of long vertical beam is provided with a horizontal beam; Described movable stand (9) is installed on the spraying machine body frame (4) by the guide rail on chute or pulley and the spraying machine body frame (4), hydrostatic cylinder (10) is located on the horizontal beam, and hydrostatic cylinder (10) drives movable stand (9) and freely slides up and down and getaway not at spraying machine body frame (4) upper edge guide rail; Described bar spray assembly is seen L-shaped from length direction, be somebody's turn to do the bottom level of " L " shape, and be rectangular configuration; Bar spray assembly is located on the movable stand (9) by the preceding hinged-support of movable stand (9); One end of hydrodynamic cylinder pressure (12) is located on the movable stand (9), and the other end is located on the bar spray assembly, and hydrodynamic cylinder pressure (12) drives bar spray assembly and swings around preceding hinged-support;

Described control section can be made up of two obliquity sensors (7), digital transmitter, processor, proportional controller, proportional reversing valve; Perhaps form by two obliquity sensors (7), analog transmitter, proportional controller, proportional reversing valve.

2. self-balancing boom sprayer according to claim 1 is characterized in that, described movable stand (9) is a rectangle, is made up of left vertical beam (901), sill (902), entablature (903) and right vertical beam (904); Be equipped with sliding tray or pulley on left vertical beam (901) and the right vertical beam (904); Fixing hole and last adjustment hole are arranged on the entablature (03) 9; Fixed hole position is in the back of entablature (903), on adjust the front that the hole is positioned at entablature (903); Fixing hole is in the symmetrical centre of movable stand (9); Last adjustment hole is positioned at a side of movable stand (9) symmetry axis, and quantity is 6-20, and equidistantly distributes along entablature (903) length direction; The center of sill (902) is provided with preceding hinged-support.

3. self-balancing boom sprayer according to claim 1, it is characterized in that, described bar spray assembly comprises left hanging stick (1), middle frame (8), right hanging stick (6), and described left hanging stick (1), middle frame (8) and right hanging stick (6) length direction are seen L-shaped, connects successively and is an integral body.

4. self-balancing boom sprayer according to claim 2 is characterized in that, adjusts the place, hole on the described bar spray assembly correspondence and is provided with down the adjustment hole, and described hydrodynamic cylinder pressure (12) is installed on adjusts hole and following the adjustment between the hole.

Images