CN206587953U - A kind of spraying machine profiling spray boom - Google Patents

Abstract

The utility model discloses a profiling spray boom for a sprayer, which comprises a support suspension connected to the sprayer body and spray boom side arms on both sides, the support suspension includes an active part and a passive part, and the The passive part isolates the spray boom from the high-frequency motion excitation from the vehicle body, providing a relatively stable platform for the active control of the spray boom's movement attitude. The active part of the suspension can be combined with sensors, controllers, actuators, etc. to make the spray boom track the low-frequency ground Slope changes, adjust the overall attitude of the spray boom. The side arm of the spray boom can be designed to be composed of multi-section trusses, and the truss sections are connected by kinematic joints. Attitude adjustment can effectively prevent the spray boom from touching obstacles. The utility model can make the spray rod type sprayer adapt to various complex terrains such as undulating ground, slopes, valleys, etc., and broaden the applicable occasions of the spray rod type sprayer.

Description

A profiling boom for a sprayer

technical field

The utility model relates to the technical field of agricultural machinery, in particular to a profiling spray rod of a sprayer.

Background technique

In order to increase agricultural output, crops must be controlled by diseases, insect pests and weeds. Boom sprayer is one of the important machines for spraying chemical pesticides, fertilizers and plant production regulators. It is widely used in fields, lawns, nurseries and orchards. The operation effect is highly related to the uniformity of the spray distribution pattern. The spray boom is a large flexible and weak damping structure. The main movement of the spray boom during operation is yaw, roll, vibration, etc., which significantly affects the spray distribution pattern.

The disadvantage of existing spray booms is that it is difficult to adapt to complex field ground such as slopes and undulations, especially for large-scale spray boom sprayers. As shown in Figure 1, when the spray boom touches the raised ground, it will affect the progress of the spraying work. , it is also easy to cause damage to the equipment.

In order to reduce the missed spraying and heavy spraying of chemicals, the spray boom must be kept parallel to the soil floor/crop canopy, and the lateral movement of the large flexible spray boom must be suppressed. Had to frequently manually adjust the boom to the proper angle and height.

In order to alleviate the burden of the operator, so that he does not have to worry about the uneven spray deposition caused by the shaking of the spray boom, and can increase the driving speed, the utility model proposes a profiling spray boom and its control method.

Utility model content

Aiming at the problems existing in the prior art, the technical purpose of this utility model is to provide a sprayer profiling boom that can overcome the defects of the prior art. The disclosed technical solution is:

A profiling spray boom for a sprayer, comprising a support suspension connected to the sprayer body and spray boom sidearms installed on the left and right sides of the support suspension, characterized in that:

The support suspension is provided with a second frame, a spray boom center frame and a vibration damping mechanism, a boss is installed on the front of the second frame, and the vibration damping mechanism is arranged on the boss;

The spray boom center frame is located in front of the second frame, the spray boom side arm is installed on the spray boom center frame, and the upper part of the second frame is connected to the spray boom center frame through two symmetrical left and right second connecting pieces , the front and rear ends of the second connector are movably connected with the second frame and the spray boom center frame by ball joint hinges, so that the second frame, the two second connectors and the spray boom center frame form a four-bar mechanism;

The damping mechanism includes a first assembly, a second assembly and a spring member. The upper part of the first assembly is a fan-shaped pressure receiving part, and the top surface of the pressure receiving part is provided with a transverse card groove in the shape of a raised arc. , the lower part of the first component is provided with a central connector; the second component is T-shaped, the upper part is a head, and the lower part is a column; the central connector of the first component is hinged to the head of the second component through a pivot pin , the fan-shaped central point of the pressure-receiving part falls on the shaft pin, and the two sides of the pressure-receiving part are connected with the table surface of the boss through the left and right symmetrical dampers, and the upper and lower ends of the damper are connected with the first assembly 1. The table tops of the bosses are connected by universal joints, and a through hole is provided on the table top. The lower cylinder of the second component is inserted into the through hole, and the spring element is set on the cylinder, and is stuck Between the lower surface of the head of the second component and the boss table;

The spray boom center frame includes a horizontally arranged curved rod, the middle part of the curved rod is pressed against the top surface of the pressure-bearing part of the first component, and is stuck in the card slot, and the curved rod can be executed through a straight line The reciprocating roll driving device is connected to the first assembly, one end of the roll driving device is hinged at a position where the curved rod is offset from the middle, and the other end of the roll driving device is hinged on one side of the pressure-bearing part of the first assembly The curved rod can be rotated with the first component as a fulcrum by controlling the roll driving device to perform linear reciprocating motion, and the roll driving device is connected with the control system.

On the basis of the above scheme, further improved or preferred schemes also include:

The side of the second frame is connected to the side of the spray boom center frame through a yaw driving device that can perform linear reciprocating motion. One end of the yaw drive device is movably connected to the second frame, and the other end is connected to the spray boom center frame. The movable connection, through the linear reciprocating motion performed by the yaw driving device, the spray boom center frame can swing laterally relative to the second frame, and the yaw driving device is connected with the control system.

The second component is clearance fit with the through hole, and a rubber sleeve is arranged in the through hole.

The head of the second component is connected to the curved rod through a connecting rod, and the two ends of the connecting rod are respectively hinged with the second component and the curved rod through a shaft, and the shaft connecting the head of the second component to the connecting rod On the same straight line as the central axis of the pivot pin.

The spray boom side arm is composed of multi-section trusses, and the truss sections are connected by kinematic joints. The kinematic joints are provided with two mutually perpendicular motion shafts. The spray boom side arm is equipped with:

1) The folding/deploying driving device that controls the horizontal rotation of the truss section connected to the supporting suspension relative to the supporting suspension, and the outer truss section relative to the inner truss section;

2) The inclination adjustment driving device that controls the inclination rotation of the truss section connected to the supporting suspension relative to the supporting suspension, and the outer truss section relative to the inner truss section;

The folding/expanding drive device and the tilt adjustment drive device are respectively connected with the control system.

The spray boom center frame includes a body frame and an extension frame, and the extension frame is arranged in front of the upper part of the body frame, and is fixedly connected with the body frame through a connecting mechanism.

The connecting mechanism includes two sets of third connecting parts arranged between the extension frame and the body frame in a mirror-symmetrical manner, the third connecting parts include two unit assemblies inside and outside; one end of the second connecting part is connected to the The top surface of the second frame, the other end is connected to the top surface of the inner unit assembly of the third connector, and the inner unit assembly is perpendicular to the extension frame and the body frame; the height of the top surface of the extension frame is lower than that of the body frame , the longitudinal section of the inner component is trapezoidal, its top is horizontal, the rear side is vertically connected to the top side of the body frame, the front side extends obliquely to the top surface of the expansion frame, and is fixedly connected to the top surface of the expansion frame; The outer unit assembly of the third connector is a straight pipe, the rear end is fixedly connected to the top side of the body frame, the front end is fixedly connected to the top surface of the extension frame, and the front part of the outer unit assembly is inclined inwardly.

The profiling spray boom of the utility model is provided with two left and right folding/unfolding driving devices performing rectilinear reciprocating motion for the two spraying boom side arms, and the folding/expanding driving devices are connected with the control system; The rotating shaft arranged in the direction is hinged on the side of the body frame. One end of the folding/deploying drive device is connected to the extension frame through a hinge, and the other end is connected to the corresponding spray boom side arm through a hinge structure. By controlling the folding/deploying The driving device executes linear reciprocating motion, which can push the side arm of the spray boom to rotate backward or forward around the rotating shaft, so as to control the folding or unfolding of the spray boom.

Further, the inner side of the spray boom side arm is hinged to the body frame through the first rotating shaft and the second rotating shaft whose central axis is on the same straight line, the first rotating shaft is located above the second rotating shaft, and the first rotating shaft, the second rotating shaft The central axis of the boom is on the same straight line; the upper and lower ends of the inner side arm of the spray boom are respectively connected to the first rotating shaft and the second rotating shaft through a transition piece. The upper end of the rod side arm is hinged to the transition connector sleeved on the first rotating shaft through the third rotating shaft, and the third rotating shaft is perpendicular to the first rotating shaft; the lower end of the spraying rod side arm is provided with an inside inclination adjustment driving device, and the inside inclination angle The adjusting driving device is a driving device that performs linear reciprocating motion, one end of which is hinged to the side arm of the spray boom, and the other end is hinged to the transition piece sleeved on the second rotating shaft through the fourth rotating shaft, and the fourth rotating shaft is connected to the second rotating shaft. Vertically, the inner inclination adjustment drive device is connected with the control system, and the inner inclination adjustment drive device performs linear reciprocating motion, and the spray boom side arm can rotate with the third rotation axis as the axis.

The support suspension is provided with a first frame and a lifting drive device, the first frame is located behind the second frame, fixedly installed on the frame of the sprayer, connected with the second frame through the first connecting piece, and connected with the second frame. The two frames are kept parallel, the front and rear ends of the first connector are respectively hinged with the first frame and the second frame, and the lifting drive device is a drive device for linear reciprocating motion, one end of which is hinged with the first frame, and the other end passes through The hinge is connected to the first connecting piece, and by controlling the lifting drive device to perform linear reciprocating motion, pulling the first connecting piece can drive the second frame to be raised or lowered relative to the first frame.

The profiling boom of the sprayer also includes several non-contact distance sensors installed on the side arm of the spray boom and a multi-axis dynamic tilt sensor installed on the center frame of the spray boom. The non-contact distance sensor, multi-axis dynamic The inclination sensors are respectively connected with the control system.

For the control method of the profiling boom of the sprayer as described above, the process is as follows:

The distance between multiple points on the boom side arm and the ground is detected by multiple non-contact distance sensors distributed on the boom side arm;

The yaw angle of the spray boom center frame around the vertical axis and the roll angle around the horizontal longitudinal axis (the rear of the vehicle points to the front of the vehicle) are detected by the multi-axis dynamic inclination sensor;

The motion attitude (roll, yaw, heave, etc.) of the vehicle body is detected by the inertial measurement unit (including inertial measurement unit, accelerometer, magnetometer, etc.) installed on the vehicle body with GPS assistance;

The signals transmitted by the non-contact distance sensor, the multi-axis dynamic inclination sensor and the inertial measurement unit on the vehicle body are collected by the control system, and the online inverse dynamics calculation is performed according to the Lagrangian dynamics equation, and each driving device is calculated The required thrust and displacement, control and adjust the coordinated action of each driving device to realize the profiling of the side arm of the spray boom to the ground, and avoid the spray boom from touching obstacles.

Beneficial effect:

The utility model sprayer profiling spray rod and its control method are novel in design and reasonable in planning. The support suspension includes an active part and a passive part, and the passive part of the suspension is used to isolate the spray rod from high-frequency excitation from the vehicle body, while The active part of the suspension can be combined with sensors and actuators to make the boom track low-frequency ground slope changes, adjust the posture of the boom, and achieve profiling, which can effectively prevent the boom from touching obstacles, and make the boom sprayer adapt to undulating ground. Broaden the applicable occasions of the boom sprayer.

Description of drawings

Fig. 1 is the schematic diagram of the boom type sprayer in the working state of the undulating ground in the prior art;

Fig. 2 is the schematic diagram of the working state of the boom-type sprayer configured with the profiling spray boom of the utility model on the undulating ground;

Fig. 3 is the three-dimensional structure schematic diagram of the profiling spray rod of the present utility model;

Fig. 4 is the side view structure schematic diagram of the profiling spray rod of the present utility model;

Fig. 5 is a schematic diagram of the three-dimensional structure of the spray boom side arm;

Fig. 6 is the three-dimensional front view of the local structure of the profiling spray rod of the utility model;

Fig. 7 is the three-dimensional rear view of the local structure of the profiling spray rod of the utility model;

Fig. 8 is a top view of the partial structure of the profiling spray rod of the utility model;

Fig. 9 is a schematic structural view of the inner upper end of the spray boom side arm;

Figure 10 is a schematic structural view of the lower end of the inner side arm of the spray boom;

Fig. 11 is a three-dimensional structural schematic diagram 1 of an embodiment of a support suspension;

Fig. 12 is a three-dimensional structural schematic diagram of the embodiment of the support suspension shown in Fig. 11;

Figure 13 is a front view of the embodiment of the support suspension of Figure 11;

Figure 14 is a rear view of the embodiment of the support suspension of Figure 11;

Figure 15 is a schematic structural view of the first assembly;

Fig. 16 is a schematic structural diagram of the second assembly;

Fig. 17 is the structural representation of curved bar;

Fig. 18 is a structural schematic diagram of the second frame;

Fig. 19 is a schematic diagram of the structure of the control system.

detailed description

In order to clarify the technical scheme and working principle of the utility model, the utility model will be introduced in detail below in conjunction with the accompanying drawings and specific embodiments.

A profiling boom of a sprayer as shown in FIG. 3 includes a support suspension connected to the body of the sprayer and spray boom side arms installed on the left and right sides of the support suspension.

As shown in Figures 4 to 14, the support suspension is provided with a lift drive mechanism, a roll drive mechanism, a yaw drive mechanism, and a damping mechanism, etc., specifically composed of the first frame 301, the second frame 302, the center of the boom frame and other components.

The support suspension is fixed on the frame of the sprayer through the first frame 301 . The first frame 301 is located behind the second frame 302 and is composed of two vertical groove-shaped straight pipes. The openings of the two groove-shaped straight pipes are forward and aligned with the side of the second frame 302 . The trough-shaped straight pipe is connected to the corresponding side of the second frame 302 through two upper and lower identical and parallel first connecting pieces 501, and the front and rear ends of the first connecting piece 501 are respectively connected to the sides of the second frame 302, The grooved straight pipes of the first frame 301 are hinged.

The lifting drive device 205 is a drive device (such as a hydraulic cylinder, a lead screw, etc.) that performs linear reciprocating motion. An elevating drive device 203 is provided on each side of the first frame 301, and one end of the first frame 301 is hinged to the grooved straight pipe corresponding to the first frame 301. , and the other end is hinged to the first connecting piece 501 located below that connects the grooved straight pipe. The lifting drive device 203 is connected to the control system, and the control system pulls the first connecting member 501 by controlling the lifting drive device 205 to perform linear reciprocating motion, which can drive the second frame 302 to raise or lower relative to the first frame 301, and here During the process, the first frame 301 and the second frame 302 are always kept parallel.

A boss 404 is mounted on the front of the second frame 302 , and the vibration damping mechanism is arranged on the boss 404 . The spray boom center frame is arranged in front of the second frame 302 , the spray boom side arms are mounted on the spray boom center frame, and the boss 404 carries the weight of the vibration damping mechanism and the spray boom.

The boom center frame includes a body frame 303 and an extension frame 304, the extension frame 304 is arranged in front of the upper part of the body frame 303, and is fixedly connected with the body frame 303 through a connecting mechanism. The connecting mechanism includes two sets of third connecting parts disposed between the extension frame 304 and the body frame 303 in a mirror-symmetric manner, and the third connecting parts include an inner unit assembly 503 and an outer unit assembly 504 .

The upper part of the second frame 302 is connected to the spray boom center frame through two symmetrically distributed second connecting pieces 502 on the left and right. The second frame 302, the two second connecting pieces 502 and the spray boom center frame form a trapezoidal four-bar structure. The rear end of the second connecting piece 502 is connected to the top surface of the second frame 302 through a ball joint, and the front end of the second connecting piece 502 is connected to the top surface of the inner unit assembly 503 through a ball joint, as shown in FIG. 11 , as shown in Figure 12. In practice, the angle between the left and right second connecting pieces 502 can be manually adjusted according to the needs of use, that is, the connection position of the ball joint hinge at the front end of the second connecting piece 502 and the spray boom center frame can be changed to form a four-bar structure of other shapes such as a rectangle. The range of motion (yaw, roll, etc.) and sensitivity of the boom steady frame can be adjusted.

The inner unit assembly 503 is perpendicular to the extension frame 304 and the body frame 303, the height of the top surface of the extension frame 304 is lower than the height of the top surface of the body frame 303, the longitudinal section of the inner unit assembly 503 is trapezoidal, and its top is horizontal. The rear side is vertically connected to the top side of the body frame 303 , and the front side extends obliquely to the top surface of the extension frame 304 and is fixedly connected to the top surface of the extension frame 304 . The outer unit assembly 504 is a straight pipe, the rear end is fixedly connected to the top side of the body frame 303, the front end is fixedly connected to the top surface of the extension frame 304, and the front part of the outer unit assembly 504 is inclined inwardly, as shown in Figure 6, Figure 12 shows.

The damping mechanism includes a first assembly 401, a second assembly 406 and a spring member 403. The upper part of the first assembly 401 is a fan-shaped pressure bearing part, and the top surface of the pressure bearing part is provided with a convex arc shape. The horizontal card slot, the lower part of the first component 401 is provided with a central connecting piece, as shown in FIG. 15 . The second component 406 is T-shaped, the upper part is a groove-shaped head, and the lower part is a cylinder, as shown in FIG. 16 . The central connector of the first assembly 401 is hinged to the head of the second assembly 406 through a pivot pin 407, the fan-shaped central point of the pressure-receiving part falls on the pivot pin 407, and the two sides of the pressure-receiving part pass through the left and right The symmetrically arranged damper 402 is connected to the table top of the boss 404, and the upper and lower ends of the damper 402 are movably connected with the first component 401 and the boss table by cross universal joints. A through hole is provided on the table of the boss 404, the lower cylinder of the second component 406 is inserted into the through hole, the spring member 403 is sleeved on the cylinder, and stuck on the head of the second component 406 Between the lower surface and the boss table, and the second component 406 is in clearance fit with the through hole to avoid self-locking of the mechanism due to inaccurate machining accuracy between the components, and a rubber sleeve is arranged in the through hole.

The middle part of the frame of the body frame 303 has a curved rod 305 arranged horizontally. As shown in FIG. , stuck in the card slot, and the curved rod 305 is connected with the first component 401 through a tilting driving device 204 (such as a hydraulic cylinder, a lead screw, etc.) capable of linear reciprocating motion, and the tilting driving device 204 One end of the tilting drive device 204 is hinged at a position where the curved rod is biased towards the middle, and the other end of the roll driving device 204 is hinged at one side of the pressure-bearing part of the first assembly. The roll driving device 204 is connected with the control system, and the control system can make the curved rod 305 rotate around the first assembly 401 by controlling the roll driving device 204 to perform linear reciprocating motion.

The head of the second component 406 is connected to the curved rod 305 through a connecting rod 405, and the two ends of the connecting rod 405 are respectively hinged to the second component 406 and the curved rod 305 through a shaft to connect the head of the second component The axis of the connecting rod 405 and the central axis of the shaft pin 407 are on the same straight line.

The side of the second frame 302 is connected to the side of the spray boom center frame through a yaw driving device 206 (such as a hydraulic cylinder, a lead screw, etc.) that can perform linear reciprocating motion. connected, the control system controls the yaw driving device 206 to perform linear reciprocating motion, so that the spray boom center frame drives the spray boom side arm to swing laterally relative to the second frame 302 (or vehicle body).

The spray boom side arm is composed of multi-section trusses, and the spray boom side arm is equipped with: 1) The folding of the truss section connected to the support suspension relative to the support suspension, and the horizontal rotation of the outer truss section relative to the inner truss section /deployment driving device; 2) control the inclination adjustment driving device that the truss section connected to the support suspension produces tilting rotation relative to the support suspension, and the outer truss section relative to the inner truss section, the folding/unfolding driving device, the inclination adjustment driving device respectively connected with the control system. The truss sections are connected by kinematic joints. The kinematic joints are provided with two mutually perpendicular motion shafts, the vertical axis and the horizontal longitudinal axis. Driven by the driving device, the truss sections rotate relative to the motion shafts to realize spray boom side arm The local attitude adjustment, as shown in Figure 2, is local profiling, so that the sprayer can adapt to various complex terrains.

As an embodiment shown in Figure 3, the side arm of the spray boom is provided with an inner truss section and an outer truss section, the outer truss section is connected to the inner truss section, and the inclination adjustment of the outer truss section is provided at the junction of the two Oil cylinder 201, and a driving mechanism for controlling the horizontal rotation of the outer truss section relative to the inner unit. The connection between the inner truss section and the support suspension is shown in Fig. 9 and Fig. 10 .

In this embodiment, the profiling boom is provided with two left and right folding/deploying drive devices 205 (such as hydraulic cylinders, lead screws, etc.) that perform linear reciprocating motion for the two spray rod side arms. system connection.

The inner truss section is hinged to the body frame 303 through the first rotating shaft 601 and the second rotating shaft 602 whose central axis is on the same straight line, the first rotating shaft 601 is located above the second rotating shaft, and the first rotating shaft 601 and the second rotating shaft 602 axis are on the same straight line. The upper and lower ends of the inner truss section are respectively connected to the first rotating shaft 601 and the second rotating shaft 602 through transitional connectors, and the upper end of the spray boom side arm is hinged to the transitional connector 505 sleeved on the first rotating shaft 601 through the third rotating shaft , the third rotation axis is perpendicular to the first rotation axis 601 . The lower end of the inner truss section is provided with an inner inclination adjustment drive device 202, the inner inclination adjustment drive device 202 is a drive device (such as a hydraulic cylinder, a screw, etc.) that performs linear reciprocating motion, one end of which is hinged with the inner truss section, and the other end is passed through The fourth rotating shaft is hinged to the transition piece 506 sleeved on the second rotating shaft 602 , and the fourth rotating shaft is perpendicular to the second rotating shaft 302 .

One end of the folding/expanding driving device 207 is hinged to the inner side of the expansion frame 304, and the other end is hinged to the transition piece sleeved on the first rotating shaft 601. By controlling the folding/expanding driving device 207 to perform linear reciprocating motion, The side arm of the spray boom can be pushed to rotate backwards or forwards around the first rotating shaft and the second rotating shaft to control the folding or unfolding of the inner truss section relative to the support suspension.

The inner inclination adjustment driving device 202 is connected with the control system, and the control system controls the inner inclination adjustment driving device 202 to perform linear reciprocating motion, so that the inner truss section rotates around the third rotating shaft and tilts relative to the supporting suspension.

The body frame 303 is equipped with a multi-axis dynamic inclination sensor 101, and the side arm of the spray boom is provided with a plurality of non-contact distance sensors 102 (such as ultrasonic sensors, etc.) and image sensors along the direction of its extension. A distance sensor, an image sensor, and a multi-axis dynamic inclination sensor are respectively connected with the control system.

In this embodiment, the profiling spray boom is equipped with accumulators on the floating part of the support suspension and the inner truss section to avoid rigid impact after the spray boom is deployed. After the spray boom touches an obstacle, the accumulator cylinder Shortening or elongation will not cause deformation and failure of the boom structure.

In this embodiment, each driving device preferably adopts an oil cylinder, and the circuit connection and signal direction of the control system and each sensor and each driving device (such as lifting oil cylinder, roll oil cylinder, sway oil cylinder, etc.) are shown in Figure 19. The control The system is composed of an ARM upper computer and a DSP lower computer. The signal output/input terminals of each sensor and drive device are connected to the corresponding interface of the DSP lower computer through a digital-to-analog or analog-to-digital conversion circuit.

As mentioned above, when the profiling boom of the sprayer is working, its control method is as follows:

The distance between multiple points on the boom side arm and the ground is detected by multiple non-contact distance sensors distributed on the boom side arm;

The yaw angle of the spray boom center frame around the vertical axis and the roll angle around the horizontal longitudinal axis (the rear of the vehicle points to the front of the vehicle) are detected by the multi-axis dynamic inclination sensor;

Through the inertial measurement unit (including inertial measurement unit, accelerometer, magnetometer, etc.) installed on the sprayer body with GPS assistance, the inertial measurement unit detects the motion attitude of the vehicle body (roll, yaw, heave, etc.);

The control system collects the signals transmitted by the non-contact distance sensor, the multi-axis dynamic inclination sensor and the inertial measurement unit on the vehicle body, and performs online inverse dynamics calculation according to the Lagrangian dynamics equation to calculate the active suspension The thrust and displacement required by the yaw and roll driving device and the attitude adjustment driving device of the spray boom side arm, control and adjust the coordinated action of each driving device, realize the profiling of the spray boom side arm to the ground, avoid the spray boom touching obstacles, as shown in picture 2.

When the sprayer is working, the growth status of the crops and the status of pests and weeds can be monitored through the image sensor, which is convenient for statistics of the occurrence of diseases, insect pests and weeds, and to formulate a suitable operation plan.

In the utility model, the six-degree-of-freedom motion platform and the dynamic test system can be used for testing the frequency response characteristics of the spray boom and the support suspension yaw and roll, mainly step response analysis and frequency response analysis. The specified tracking frequency is set according to the external excitation frequency or the wavelength of ground fluctuations. Below the specified frequency (or ground wavelength), the amplitude ratio is approximately 1, and above the specified frequency (or ground wavelength), the amplitude ratio rapidly decays to 0. .

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and the protection scope of the utility model is defined by the appended claims, the description and their equivalents.

Claims (11)

1. a kind of spraying machine profiling spray boom, including the supporting suspension that is connected with spraying machine car body and installed in supporting suspension or so The spray boom side arm of both sides, it is characterised in that：

The supporting suspension is provided with the second framework（302）, spray boom centre frame and damper mechanism, the second framework（302）Anterior peace Equipped with a boss（404）, damper mechanism is arranged on the boss（404）On；

The spray boom centre frame is located at the second framework（302）Front, the spray boom side arm be arranged on the spray boom centre frame on, Second framework（302）Top pass through two the second connectors in symmetrical left and right（502）It is connected with spray boom centre frame, the second connection Part（502）Rear and front end and the second framework（302）, spray boom centre frame using the connection of button-head hinge structure movement, make second Framework（302）, two the second connectors（502）Four-bar mechanism is constituted with spray boom centre frame；

The damper mechanism includes first assembly（401）, the second component（406）And spring part（403）, the first assembly （401）Top be fan-shaped pressure-bearing portion, the top surface in the pressure-bearing portion is provided with the horizontal neck in raised arc-shaped, first assembly （401）Bottom is provided with central connector；Second component（406）T-shaped, top is head, and head is concave groove, and bottom is Cylinder；The first assembly（401）Central connector pass through pivot pin（407）With the second component（406）Head be hinged, pressure-bearing The fan-shaped central point in portion falls in the pivot pin（407）On, the both sides in the pressure-bearing portion pass through the damper that is symmetrical set And boss (402)（404）Table top connection, the upper and lower ends and first assembly of the damper (402)（401）, boss surface Connected using universal joint, the table top is provided with through hole, the second component（406）Bottom cylinder be inserted in the through hole, institute State spring part（403）It is enclosed on the cylinder, is stuck in the second component（406）Between head undersurface and boss surface；

The spray boom centre frame includes a curved bar laterally set（305）, the curved bar（305）Middle part be pressed in first group The top surface in part pressure-bearing portion, is stuck in the neck, and the curved bar（305）Driven by the inclination that can perform straight reciprocating motion Device（204）With first assembly（401）Connection, the inclination drive device（204）One end be hinged on curved bar（305）In relatively Between position position, roll drive device（204）The other end be hinged on the side in first assembly pressure-bearing portion, pass through and control to roll Drive device（204）Straight reciprocating motion is performed, curved bar can be made（305）With first assembly（401）For fulcrum, the inclination Drive device（204）It is connected with control system.

2. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：

Second framework（302）Side is by performing the yaw drive device of straight reciprocating motion（206）With spray boom centre frame Side connection, the yaw drive device（206）One end and the second framework（302）It is flexibly connected, the other end and spray boom center Frame is flexibly connected, and passes through yaw drive device（206）Straight reciprocating motion is performed, makes spray boom centre frame relative to the second frame Frame（302）Horizontal swing, the yaw drive device (206) is connected with control system.

3. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：

Second component（406）Head pass through connecting rod（405）With the curved bar（305）Connection, the connecting rod（405）Two End passes through shaft member and the second component respectively（406）, curved bar（305）It is hinged, the second component head of connection and connecting rod（405）Shaft member With the pivot pin（407）Axis on the same line.

4. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：

Second component（406）Coordinate with the through hole for gap, configuration rubber sleeve in the through hole.

5. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that the spray boom side arm is by multistage truss Connected between composition, truss section by movable joint, the movable joint includes orthogonal two motion rotating shafts, the spray It is provided with bar side arm：

1）The truss section being connected with supporting suspension is controlled to be produced relative to supporting suspension, outside truss section relative to inner side truss section The folded/expanded drive device horizontally rotated；

2）The truss section being connected with supporting suspension is controlled to be produced relative to supporting suspension, outside truss section relative to inner side truss section The tilt adjustment drive device of tilt rotation；

The folded/expanded drive device, tilt adjustment drive device are connected with control system respectively.

6. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：

The spray boom centre frame includes body frame（303）And extensible frame（304）, the extensible frame (304) is arranged on body frame Frame（303）The front on top, passes through bindiny mechanism and body frame（303）It is fixedly connected.

7. a kind of spraying machine profiling spray boom according to claim 6, it is characterised in that：

The bindiny mechanism includes being arranged on extensible frame in the way of specular（304）With body frame（303）Between two The 3rd connector of group, the 3rd connector includes inside and outside two unit blocks（503,504）；

Second connector（502）One end be connected to the second framework（302）Top surface, the other end is connected to the 3rd connector Inside cell component（503）Top surface, the inside cell component（503）Perpendicular to extensible frame（304）With body frame （303）；

The extensible frame（304）Apical side height is less than body frame（303）Apical side height, the components inside（503）It is vertical Section is trapezoidal, and its top horizontal, back side edge is vertically connected on body frame（303）In top-side, front side edge tilts extension To the extensible frame（304）Top surface, with extensible frame（304）Top surface is fixedly connected；

The outer cells component of 3rd connector（504）For straight pipe, rear end is fixedly connected on body frame（302）Top On portion side, front end and extensible frame（304）Top surface be fixedly connected, and outer cells component（504）Front portion inwardly roll it is oblique.

8. a kind of spraying machine profiling spray boom according to claim 6, it is characterised in that：

For folded/expanded drive device of two spray boom side arms provided with the two execution straight reciprocating motions in left and right（205）, it is described Folded/expanded drive device（205）It is connected with control system；The spray boom side arm passes through vertically arranged rotating shaft（601,602） It is hinged on the body frame（303）Side, the folded/expanded drive device（205）One end by hinge with it is described Extensible frame（304）Connection, the other end is connected with corresponding spray boom side arm by hinge arrangement, by controlling folded/expanded to drive Device（205）Straight reciprocating motion is performed, spray boom side arm can be promoted with the rotating shaft（601,602）Centered on posteriorly or anteriorly turn Dynamic, control spray boom is folded or deployed.

9. a kind of spraying machine profiling spray boom according to claim 8, it is characterised in that：

First rotating shaft of the inner side of the spray boom side arm by axis on the same line（601）, the second rotating shaft（602）With this Body framework（303）It is hinged, the first rotating shaft（601）Positioned at the second rotating shaft（602）Top, and first rotating shaft（601）, second turn Axle（602）Axis on the same line；

Upper and lower ends on the inside of spray boom side arm then pass through transition piece and first rotating shaft respectively（601）, the second rotating shaft（602）Even Connect, the transition piece is enclosed on first rotating shaft（601）/ the second rotating shaft（602）On, spray boom side arm inner top side passes through the 3rd turn Axle is with being enclosed on first rotating shaft（601）On transition piece（505）It is hinged, the 3rd rotating shaft and first rotating shaft（601）Mutually hang down Directly；Spray boom side arm inside lower end is provided with inner side tilt adjustment drive device（202）, the inner side tilt adjustment drive device （202）To perform the drive device of straight reciprocating motion, its one end is hinged with spray boom side arm, and the other end passes through the 4th rotating shaft and set In the second rotating shaft（602）On transition piece（506）It is hinged, the 4th rotating shaft and the second rotating shaft（602）It is perpendicular, it is described Inner side tilt adjustment drive device（202）It is connected with control system, passes through inner side tilt adjustment drive device（202）Perform straight line Move back and forth, spray boom side arm can be rotated centered on the 3rd rotating shaft.

10. a kind of spraying machine profiling spray boom according to claim 1, it is characterised in that：

The supporting suspension is provided with the first framework（301）And lifting drive（205）, first framework（301）Positioned at Two frameworks（302）Rear, on spraying machine vehicle frame, pass through the first connector（501）With the second framework（302）Connection, And with the second framework（302）Keeping parallelism, first connector（501）Rear and front end respectively with the first framework（301）, second Framework（302）It is hinged, the lifting drive（203）To perform the drive device of straight reciprocating motion, its one end and first Framework（301）It is hinged, the other end is connected through the hinge in first connector（501）On, by controlling lifting drive （203）Straight reciprocating motion is performed, the first connector is pulled（501）, the second framework can be driven（302）Relative to the first framework （301）Raise or reduce, lifting drive（203）It is connected with control system, realizes the real-time adjustment of spray boom overall height.

11. a kind of spraying machine profiling spray boom according to any one of claim 1-10, it is characterised in that including installed in Some contactless range sensors on spray boom side arm and the multiaxis dynamic inclination sensor on spray boom centre frame, The contactless range sensor, multiaxis dynamic inclination sensor multiaxis dynamic inclination sensor respectively with the control system Connection.