CN112167213A - Active air suspension applied to spraying rod of spraying machine - Google Patents
Active air suspension applied to spraying rod of spraying machine Download PDFInfo
- Publication number
- CN112167213A CN112167213A CN202010828317.XA CN202010828317A CN112167213A CN 112167213 A CN112167213 A CN 112167213A CN 202010828317 A CN202010828317 A CN 202010828317A CN 112167213 A CN112167213 A CN 112167213A
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- air
- spray rod
- sensor
- air spring
- inclination angle
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- 239000000725 suspension Substances 0.000 title claims abstract description 34
- 238000005507 spraying Methods 0.000 title abstract description 22
- 239000007921 spray Substances 0.000 claims abstract description 74
- 230000001133 acceleration Effects 0.000 claims abstract description 39
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000007599 discharging Methods 0.000 claims abstract description 4
- 239000006096 absorbing agent Substances 0.000 claims description 15
- 230000035939 shock Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 4
- 238000011217 control strategy Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000002238 attenuated effect Effects 0.000 abstract description 4
- 239000000575 pesticide Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009718 spray deposition Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an active air suspension applied to a spray rod of a spraying machine, and belongs to the technical field of agricultural machinery. The active air suspension for the spray rod of the spraying machine comprises the following components: the fixed bracket is connected with the sprayer suspension base and used for fixing the air spring and the spray rod; the acceleration sensor, the inclination angle sensor and the pressure sensor are used for monitoring the acceleration and the inclination angle of the spray rod and the pressure of the air spring in real time and transmitting information to the controller; the controller receives the signals sent by the sensor and controls the opening of a valve port switch of the electromagnetic directional valve and the opening of the proportional flow valve so as to control the air charging and discharging of the air spring; and the air supply system is used for conveying clean and dry air to the air spring. According to the invention, the inflation and deflation of the air spring are actively and accurately controlled, so that the swinging of the spray rod under the influence of factors such as different speeds, complex terrain and the like is effectively attenuated, and the stability and uniformity of the spray rod operation and the smoothness and stability of the driving process are improved.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to an active air suspension applied to a spray rod of a spraying machine.
Background
The spray rod is used as a main working part of a large-scale high-ground-clearance spraying machine, and the working performance of the spray rod directly determines the utilization rate of pesticide and the operation stability of the whole machine. Experimental research shows that irregular movement of the spray rod can cause the spray deposition uniformity to exceed or be lower than a desired value, so that the movement stability of the spray rod is improved, and the spraying device has important significance for improving the spray uniformity and improving the use efficiency of pesticides. The suspension system of the spray rod of the spraying machine is mainly divided into three categories, namely a passive type, a semi-active type and an active type. Most of the existing boom suspension control systems are passive balance adjustment systems, and most of the existing research on air suspension systems focuses on semi-active systems. Although the passive type and the semi-active type are simple in structure, low in energy consumption, convenient to maintain and easy to control, the maximization of the damping degree of the spray rod cannot be achieved, the influence of vehicle body swinging and terrain change on the spraying quality cannot be actively reduced, and the operation quality and the pesticide application efficiency of the high-clearance spraying machine are influenced.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the technical problem of providing an active air suspension applied to a spray rod of a spraying machine, and the vibration of the spray rod of the spraying machine is attenuated by actively adjusting the rigidity of an air spring, so that the operation quality and the pesticide application efficiency of the spraying machine are improved, and the driving stability and the driving comfort are improved.
The technical scheme is as follows: in order to solve the technical problems, the invention adopts the following technical scheme:
an active air suspension for application to a sprayer boom, the system comprising: the air spring, the spray rod, the monitoring unit, the control unit and the air supply system;
the air springs comprise a first air spring and a second air spring, and the upper ends and the lower ends of the first air spring and the second air spring are respectively fixed on the suspension base and the spray rod through fixing supports;
the monitoring unit comprises: an inclination angle sensor, an acceleration sensor and a pressure sensor; the inclination angle sensors comprise a first inclination angle sensor (3) and a second inclination angle sensor (24), the first inclination angle sensor (3) and the second inclination angle sensor (24) are respectively arranged between the spray rod and the rotating sliding block, the acceleration sensors comprise a first acceleration sensor (7) and a second acceleration sensor (22), the first acceleration sensor (7) and the second acceleration sensor (22) are respectively arranged at the end part of the spray rod, the pressure sensor (17) comprises a first pressure sensor and a second pressure sensor, and the first pressure sensor and the second pressure sensor are respectively arranged at the ports of the first air spring (1) and the second air spring (23); the monitoring unit is used for monitoring the acceleration and the inclination angle of the spray rod and the pressure of the air spring in real time, the inclination angle sensor is used for detecting the inclination angle of the spray rod, the acceleration sensor is used for detecting the acceleration of the spray rod, and the pressure sensor is used for detecting the pressure of the air spring and transmitting the detected information to the control unit in real time;
the control unit comprises a controller, an electromagnetic valve and a proportional flow valve, and the controller is connected with the electromagnetic valve and the proportional flow valve through lines; the controller adopts a standard H-infinity state feedback and time-frequency nonlinear combined control strategy; the controller receives signals sent by the inclination angle sensor, the acceleration sensor and the pressure sensor and controls the opening degree of a valve port switch of the electromagnetic directional valve and the opening degree of the proportional flow valve so as to control the air charging and discharging of the air spring; the controller calculates the main force to be applied after synthesizing the signals sent by the sensor, and then adjusts the opening degree of the electromagnetic valve and the reversing valve in real time to control the air spring, so as to track the ideal value of the main force.
The spray rod is formed by connecting a spray rod section and a spray rod section through a shaft pin, and a folding electric push rod is respectively fixed on the spray rod section and the spray rod section through a connecting piece.
The three-position five-way electromagnetic valve is connected with the proportional flow valve in series and connected with the real-time controller through a line, so that the three-position five-way electromagnetic valve and the proportional flow valve are controlled to be opened and closed, and gas of the gas supply system enters and exits the air spring through the electromagnetic valve and the flow valve.
The first air spring and the second air spring are respectively installed in parallel with the first shock absorber and the second shock absorber, the first shock absorber and the second shock absorber are respectively hinged with the suspension chassis and the spray rod, and the installation angle is 60 degrees.
The air supply system comprises a vehicle-mounted air compressor 14, an air dryer 16, a filter 15, a high-pressure air tank and a safety valve, and the air supply system is used for conveying clean and dry air for an air spring. The vehicle-mounted air compressor, the air dryer, the filter, the high-pressure air tank and the safety valve are respectively connected through high-pressure pipelines, and the high-pressure air tank is connected with the first air spring and the second air spring through pipelines provided with a three-position five-way electromagnetic valve and a proportional flow valve.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that:
according to the invention, a standard H-infinity state feedback and time-frequency nonlinear combined control strategy is adopted, the active force to be applied by the air spring in a vibration state is calculated by receiving information such as the acceleration and the inclination angle of the spray rod, and meanwhile, the opening degrees of the electromagnetic valve and the proportional flow valve are adjusted to further control the air spring to follow the target acting force, so that the nonlinear problem in the air spring inflation and deflation process is solved, and the simultaneous control on the acceleration and the inclination angle multivariable of the spray rod is realized. Therefore, the vibration of the spray rod under multi-factor disturbance is actively attenuated, the optimal posture of the spray rod operation is maintained, and the operation precision and efficiency of the spraying machine and the driving safety and stability are further improved.
On the premise of meeting the working requirements, the invention has simple structure and enough strength, is convenient for installation and maintenance and has longer service life; the air suspension uses air as an energy transfer medium, is clean and environment-friendly, and reduces the manufacturing and maintenance cost.
Drawings
Fig. 1 is a schematic front view of an active air suspension applied to a spray bar of a spraying machine.
Fig. 2 is a schematic perspective view of an active air suspension applied to a spray bar of a spraying machine.
Fig. 3 is a schematic diagram of a clothing structure applied to an active air suspension of a spray boom of a spraying machine.
Fig. 4 is a schematic view of the air spring structure applied to the active air suspension of the spray boom of the sprayer.
Fig. 5 is a schematic diagram of an air pressure control system applied to the active air suspension of the sprayer boom.
Fig. 6 shows a schematic diagram of the active air suspension applied to the spray bar of the spraying machine.
Wherein: 1-first air spring, 2-solenoid valve, 3-first tilt sensor, 4-first shock absorber, 5-spray rod section, 6-spray rod section, 7-first acceleration sensor, 8-storage battery, 9-controller, 10-folding electric push rod, 11-lifting mechanism electric push rod, 12-air supply system, 13-fixed bolster, 14-vehicle-mounted air compressor, 15-filter, 16-air dryer, 17-pressure sensor, 18-high pressure air tank, 19-second shock absorber, 20-spray rod section, 21-spray rod section, 22-second acceleration sensor, 23-suspension base, 24-second air spring, 25-second air spring.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1-5:
an active air suspension applied to a spray rod of a spraying machine comprises an air spring, a spray rod, a monitoring unit, a control unit and an air supply system;
the air springs comprise a first air spring 1 and a second air spring 25, and the upper end and the lower end of each of the first air spring 1 and the second air spring 25 are respectively fixed on the suspension base 23 and the spray rod through the fixing support 13.
The monitoring unit comprises: inclination sensor, acceleration sensor, pressure sensor (17), inclination sensor include first inclination sensor 3, second inclination sensor 24, first inclination sensor 3, second inclination sensor 24 set up respectively between spray lance and rotation slider, acceleration sensor include first acceleration sensor 7 and second acceleration sensor 22, first acceleration sensor 7 and second acceleration sensor 22 set up respectively at the tip of spray lance, pressure sensor 17 include first pressure sensor and second pressure sensor, first pressure sensor and second pressure sensor install respectively at the port of first air spring (1), second air spring 23.
The control unit comprises a controller 9, and the controller receives signals sent by the inclination angle sensor, the acceleration sensor and the pressure sensor and controls the opening degree of a valve port switch and a proportional flow valve of the electromagnetic directional valve so as to control the air charging and discharging of the air spring; the monitoring unit monitors the acceleration and the inclination angle of the spray rod and the pressure of the air spring in real time and transmits the detected information to the controller in real time; the control unit receives signals sent by the sensor and controls the electromagnetic valve to be opened and closed, so that the air spring is controlled to be inflated and deflated.
The first inclination angle sensor 3, the second inclination angle sensor 24, the first acceleration sensor 7, the second acceleration sensor 22, the first pressure sensor and the second pressure sensor are respectively connected with the controller 9 through lines; the controller 9 calculates the main force to be applied after synthesizing the signals sent by the sensors, and then adjusts the electromagnetic valve 2 in real time to control the air spring, so as to track the ideal value of the main force.
The air supply system comprises: the vehicle-mounted air compressor, the air dryer, the filter, the high-pressure air tank and the safety valve are connected through a high-pressure pipeline, and the high-pressure air tank is connected with the air spring through a pipeline provided with a three-position five-way electromagnetic valve and a proportional flow valve. Furthermore, the spray rod is formed by connecting a spray rod section 5 and a spray rod section 6 through a shaft pin, and a folding electric push rod 10 is respectively fixed on the spray rod section 5 and the spray rod section 6 through connecting pieces.
Further: the first air spring 1 and the second air spring 23 are respectively installed in parallel with the first shock absorber 4 and the second shock absorber 19, the first shock absorber 4 and the second shock absorber 19 are respectively hinged with the suspension chassis and the spray rod, and the installation angle is 60 degrees.
The working process of the invention is as follows:
in the running process of the spraying machine, under the influence of factors such as lateral wind, undulating ground or vehicle body swinging, the acceleration, height, inclination angle and the like of the spray rod are changed, so that the vibration and pose change of the spray rod are caused. The first tilt sensor 3, the second tilt sensor 24, the first acceleration sensor 7, the second acceleration sensor 22 of the monitoring unit transmit tilt and acceleration information of the spray bar to the controller 9. After receiving the signals sent by the sensors, the controller 9 calculates the ideal active force required to be applied by the air spring at the current moment. Meanwhile, the electromagnetic valve 2 is opened, and based on the feedback of the pressure sensor, the controller 9 adjusts the inflation and deflation of the first air spring 1 and the second air spring 24 in real time, so that the air springs can track the ideal main power constantly. The damper 4 acts as an auxiliary actuator to damp the vibration of the spray rod together with the air spring 1; further, if the spray rod has a change in the back inclination angle during the shaking, the controller 9 adjusts the solenoid valve 2 under the feedback of the tilt sensor 3 to control the height of the air spring, so that the original working posture of the spray rod is restored.
If the spray rod does not vibrate or the vibration amplitude is extremely small, the electromagnetic valve 2 is positioned in the middle position, the connection between the air spring and the air supply system is cut off, the suspension at the moment is a passive suspension, and the vibration of the spray rod can be attenuated only by the air spring with fixed rigidity and the shock absorber 4.
In the air spring inflation process, air inflated into the air spring is provided by the high-pressure air tank. The gas in the high-pressure gas tank 18 is compressed, dried and filtered ambient gas which passes through the air compressor 14, the air dryer 16 and the filter 15, respectively.
The above examples are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (5)
1. The utility model provides an be applied to initiative air suspension of sprayer spray lance which characterized in that: the device comprises an air spring, a spray rod, a monitoring unit, a control unit and an air supply system;
the air springs comprise a first air spring (1) and a second air spring (25), and the upper ends and the lower ends of the first air spring (1) and the second air spring (25) are respectively fixed on the suspension base (23) and the spray rod through fixing supports (13);
the monitoring unit comprises: the device comprises an inclination angle sensor, an acceleration sensor and a pressure sensor (17), wherein the inclination angle sensor comprises a first inclination angle sensor (3) and a second inclination angle sensor (24), the first inclination angle sensor (3) and the second inclination angle sensor (24) are respectively arranged between a spray rod and a rotating sliding block, the acceleration sensor comprises a first acceleration sensor (7) and a second acceleration sensor (22), the first acceleration sensor (7) and the second acceleration sensor (22) are respectively arranged at the end part of the spray rod, the pressure sensor (17) comprises a first pressure sensor and a second pressure sensor, and the first pressure sensor and the second pressure sensor are respectively arranged at the ports of a first air spring (1) and a second air spring (25);
the control unit comprises a controller (9), an electromagnetic valve (2) and a proportional flow valve, wherein the controller (9) is connected with the electromagnetic valve (2) and the proportional flow valve through lines, and receives signals sent by an inclination angle sensor, an acceleration sensor and a pressure sensor and controls the opening degree of a valve port switch and the proportional flow valve of the electromagnetic valve (2) so as to control the air charging and discharging of the air spring;
the first inclination angle sensor (3), the second inclination angle sensor (24), the first acceleration sensor (7), the second acceleration sensor (22), the first pressure sensor and the second pressure sensor are respectively connected with the controller (9) through lines.
2. The utility model provides an be applied to initiative air suspension of sprayer spray lance which characterized in that: the spray rod is formed by connecting a spray rod section (5) and a spray rod section (6) through a shaft pin, and a folding electric push rod (10) is respectively fixed on the spray rod section (5) and the spray rod section (6) through connecting pieces.
3. The active air suspension applied to a sprayer boom of claim 1, wherein: the suspension device is characterized in that the first air spring (1) and the second air spring (25) are respectively installed in parallel with the first shock absorber (4) and the second shock absorber (19), the first shock absorber (4) and the second shock absorber (19) are respectively hinged with the suspension chassis and the spray rod, and the installation angle is 60 degrees.
4. The active air suspension applied to a sprayer boom of claim 1, wherein: the controller (9) adopts a standard H-infinity state feedback and time-frequency nonlinear combined control strategy.
5. The active air suspension applied to a sprayer boom of claim 1, wherein: the air supply system comprises: the vehicle-mounted air dryer comprises a vehicle-mounted air compressor (14), an air dryer (16), a filter (15), a high-pressure air tank (18) and a safety valve, wherein the vehicle-mounted air compressor, the air dryer (16), the filter (15), the high-pressure air tank (18) and the safety valve are respectively connected through high-pressure pipelines, and the high-pressure air tank (18) is connected with a first air spring (1) and a second air spring (24) through pipelines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010828317.XA CN112167213A (en) | 2020-08-18 | 2020-08-18 | Active air suspension applied to spraying rod of spraying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010828317.XA CN112167213A (en) | 2020-08-18 | 2020-08-18 | Active air suspension applied to spraying rod of spraying machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112167213A true CN112167213A (en) | 2021-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010828317.XA Pending CN112167213A (en) | 2020-08-18 | 2020-08-18 | Active air suspension applied to spraying rod of spraying machine |
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| Country | Link |
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| CN (1) | CN112167213A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113349186A (en) * | 2021-07-07 | 2021-09-07 | 新疆农垦科学院 | Sprayer spray lance suspension and sprayer that constitutes |
| CN115008960A (en) * | 2022-06-30 | 2022-09-06 | 浙江孔辉汽车科技有限公司 | air supply unit |
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|---|---|---|---|---|
| NL1007675C2 (en) * | 1997-12-02 | 1999-06-03 | Agrifac B V | Sprung spreading device. |
| CN104553664A (en) * | 2015-01-15 | 2015-04-29 | 南京农业大学 | Air spring based active suspension device |
| CN104663637A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance and height |
| CN106102459A (en) * | 2014-07-11 | 2016-11-09 | Ｋｙｂ株式会社 | Spray boom vibration absorber and spray rod type sprayer |
| CN108739730A (en) * | 2018-05-02 | 2018-11-06 | 江苏大学 | A kind of spray boom balance active predicting regulating system and method |
| CN109329253A (en) * | 2018-11-28 | 2019-02-15 | 石河子大学 | A self-propelled high ground clearance sprayer chassis device |
-
2020
- 2020-08-18 CN CN202010828317.XA patent/CN112167213A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1007675C2 (en) * | 1997-12-02 | 1999-06-03 | Agrifac B V | Sprung spreading device. |
| CN106102459A (en) * | 2014-07-11 | 2016-11-09 | Ｋｙｂ株式会社 | Spray boom vibration absorber and spray rod type sprayer |
| CN104553664A (en) * | 2015-01-15 | 2015-04-29 | 南京农业大学 | Air spring based active suspension device |
| CN104663637A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance and height |
| CN108739730A (en) * | 2018-05-02 | 2018-11-06 | 江苏大学 | A kind of spray boom balance active predicting regulating system and method |
| CN109329253A (en) * | 2018-11-28 | 2019-02-15 | 石河子大学 | A self-propelled high ground clearance sprayer chassis device |
Non-Patent Citations (3)
| Title |
|---|
| 包科杰等: "《汽车新技术应用》", 31 December 2019, 北京理工大学出版社 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113349186A (en) * | 2021-07-07 | 2021-09-07 | 新疆农垦科学院 | Sprayer spray lance suspension and sprayer that constitutes |
| CN115008960A (en) * | 2022-06-30 | 2022-09-06 | 浙江孔辉汽车科技有限公司 | air supply unit |
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