CN102091682B - Self-balancing spray boom spraying machine - Google Patents

Self-balancing spray boom spraying machine Download PDF

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Publication number
CN102091682B
CN102091682B CN2010106036441A CN201010603644A CN102091682B CN 102091682 B CN102091682 B CN 102091682B CN 2010106036441 A CN2010106036441 A CN 2010106036441A CN 201010603644 A CN201010603644 A CN 201010603644A CN 102091682 B CN102091682 B CN 102091682B
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CN
China
Prior art keywords
spray boom
spraying machine
movable stand
frame
bar
Prior art date
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CN2010106036441A
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Chinese (zh)
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CN102091682A (en
Inventor
邱白晶
杨宁
吴春笃
徐溪超
陈志刚
姜国微
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江苏大学
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Priority to CN2010106036441A priority Critical patent/CN102091682B/en
Publication of CN102091682A publication Critical patent/CN102091682A/en
Application granted granted Critical
Publication of CN102091682B publication Critical patent/CN102091682B/en

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Abstract

The invention relates to a self-balancing spray boom spraying machine belonging to the field of plant protection spraying machinery. The self-balancing spray boom spraying machine provided by the invention comprises a mechanism part and a control part, wherein the mechanism part is composed of a walking chassis, a spraying machine main body, a moving rack, a spray boom, a static hydraulic cylinder, a movable hydraulic cylinder and the like; the position and orientation adjustment on a spray boom is realized by the moving rack, the static hydraulic cylinder and the movable hydraulic cylinder together; the spray boom is L-shaped in the length direction, the horizontal rigidity of the spray boom is improved greatly while the vertical rigidity of the spray boom is ensured, and simultaneously the L-shaped structure is good for realizing air-curtain type spraying and targeting type spraying; and the control part is composed of a level sensor, a digital transmitter/ an analog transducer, a processor, a proportional controller and a proportional reversing valve. According to the invention, the position and orientation of the spray boom can be detected in real time when the constructed self-balancing spray boom spraying machine operates, the real-time compensation can be carried out, and the elastic deformation and rigid motion of the spray boom can be reduced greatly, thus the spray uniformity can be improved.

Description

The self-balancing boom sprayer
Technical field:
The present invention relates to a kind of self-balancing boom sprayer, belong to plant protection and spray mechanical field.
Background technology
Because the chemical prevention instant effect, the efficient advantages of higher and in a foreseeable future will become the main means of control of agricultural pest.But, because the residues of pesticides that cause of chemical prevention, environmental pollution and consider that from economy with to factors such as operator health people are guaranteeing under the prevention and control of plant diseases, pest control effect prerequisite that the service efficiency of hoping to improve agricultural chemicals as far as possible is to reduce the dispenser consumption.Therefore, have the boom sprayer that can satisfy above potential of demand, advantage such as efficient, quick, controlled and automation becomes the focus of people's research, and has worldwide obtained using widely with it.
The distinguishing feature of boom sprayer is to have long spray boom.When adopting (is 200420018588.5,200520031026.9 and 200820103556.3 like number of patent application) when being rigidly connected between the spray boom of boom sprayer and the spraying machine main body; Slight external drive all possibly cause the terminal strenuous exercise of spray boom during the boom sprayer dispenser; This not only influences deposition uniformity; Also possibly cause the spray boom end to contact to earth, damage crop even facility itself.So no matter be from considering that to the requirement of atomization quality or to boom sprayer stability, security and economy all must reduce the strain of spray boom, the rigid motion to spray boom carries out balanced compensated simultaneously.
In the patent that can see at present, most spray boom structure is bar type structure (is 200820161811 and 03206296.6 like number of patent application) and face-type structural (is 200820041049.1 like number of patent application).Bar type structure just is meant that spray boom is as general as an elongate rod.The obvious rigidity of this structure is relatively poor.Spraying machine with this structure spray boom often is difficult to the dispenser quality that reaches bigger during operation.Face-type structural is meant spray boom in vertical plane, forms frame structure by many bars.This frame structure can only guarantee the rigidity of spray boom in vertical plane, and the rigidity in the spray boom horizontal plane is not had any improvement.
Between spray boom and spraying machine main body, set up mechanical type self balancing device (is 200620021828.6 like number of patent application) during the spraying machine operation and can reduce the motion of spray boom, and can improve the spraying uniformity to a certain extent.But during the boom sprayer operation, the systematic parameter of external environment and boom sprayer itself is time-varying parameter, and the counterbalance effect of depending merely on the mechanical type self balancing device is often very limited.
Summary of the invention
The purpose of this invention is to provide a kind of have the spray boom structure of unique texture and the self-balancing boom sprayer with this structure, various strains of spray boom and rigid motion when being used to reduce the spraying machine operation improve the uniformity that sprays of boom sprayer.
The present invention is on the basis that the spray boom structure of existing boom sprayer is thought deeply again, designs the spray boom of seeing L-shaped structure from length direction.This spray boom and pose sensor, data processor and spray boom pose compensation actuator etc. are formed the closed-loop system that spray boom pose active balancing is controlled jointly.This balance control system can be monitored the pose of spray boom, and compensate in the boom sprayer operation process in real time, can significantly reduce the strain and the rigid motion of spray boom, and then raising sprays uniformity.
The present invention includes mechanical part and control section.
Mechanical part comprises: walking chassis, spraying machine main body, movable stand, bar spray assembly, hydrostatic cylinder and hydrodynamic cylinder pressure etc.The spraying machine main body is installed on the walking chassis; The spraying machine main body is provided with vertical guide rail; Movable stand is connected on the vertical guide rail on the spraying machine main body through hydrostatic cylinder, and hydrostatic cylinder can drive movable stand and slide up and down along vertical guide rail; Bar spray assembly is hinged on the movable stand; Hydrostatic cylinder drives bar spray assembly through movable stand and moves up and down the adjustment that realizes spraying height; The hydrodynamic cylinder pressure also is housed between bar spray assembly and the movable stand; The hydrodynamic cylinder pressure drives bar spray assembly and carries out angle adjustment.
Above-mentioned bar spray assembly can be the integral type rigid structure, also can adopt folding or stretching structure (from the convenience of transporting and go out warehouse-in); Bar spray assembly is seen L-shaped structure by be connected to form from length direction vertical with horizontal strut of vertical frames; Said vertical frames is regarded the string shape of rectangle, isosceles trapezoid or upside circle of position arc forward as from the rear; Said horizontal strut is regarded rectangle downwards as from the top; The lower edge of this vertical frames and the left margin of horizontal strut be the limit altogether; Rigidity and the stability that one or more connecting rod is used to improve framework can be established in the inside of said vertical frames and horizontal strut.
The present invention has following beneficial effect, and explanation for ease supposes that place, vertical frames upper edge is the A point, and vertical frames lower edge and horizontal strut left margin place, limit altogether are the B point, and the right edge of horizontal strut is the C point:
One, sees the spray boom of L-shaped structure from length direction, in the horizontal rigidity that guarantees spray boom, improved the horizontal rigidity of spray boom greatly.
Two, see the spray boom of L-shaped structure from length direction, can help realizing the spraying of air curtain assist type.The upper right quarter that air duct in the air curtain assist type spraying system is installed on " L " shape.Because the section of air duct is circular, and in the air duct bottom, the both sides of vertical axis of symmetry are provided with air outlet, therefore when shower nozzle is installed in the C point of spray boom, is easy to make shower nozzle to start from the centre of two air outlets.Simultaneously, air duct also is easy to be fixed on A point, B point and C point.
Three, see the spray boom of L-shaped structure from length direction, can conveniently realize the automatic target detection spraying of boom sprayer.The basic principle and the control flow of target spraying are: 1, the crop location detecting sensor detects crop location; 2, control system sends the dispenser instruction to shower nozzle; 3, shower nozzle is carried out dispenser.When adopting the cross section to be the spray boom of " L " shape, can the crop location detecting sensor be installed on the B point, shower nozzle is installed on the C point.During the spraying machine dispenser, the place ahead and rear that B point and C point wind Chu Yu spraying machine advance.When the sensor of ordering as B detected crop location, crop was in the shower nozzle below.Because the control system is to the mechanical delay of Signal Processing and shower nozzle action, so the spacing that the travel speed that appropriate spraying machine is set and B point and C are ordered can realize that when shower nozzle begins dispenser the C point just in time moves to above the crop.
The motion of spray boom when four, adopting can the be effective less boom sprayer operation of the closed-loop control system of spray boom pose.
Control section is made up of the closed-loop control system of spray boom pose level sensor, digital transmitter/analog transmitter, processor, proportional controller and proportional reversing valve.
Description of drawings
Fig. 1 is the axonometric drawing of frame for movement involved in the present invention.
Fig. 2 is the assembly of movable stand.
Fig. 3 is the assembly of middle frame.
Fig. 4 is the assembly of left hanging stick.
Fig. 5 is the composition diagram of control system implementation plan one.
Fig. 6 is the composition diagram of control system implementation plan two.
Among the figure, 1 left hanging stick, 101 rectangular steel poles, 102 preceding round steel bars, 103 bracing pieces, 104 back round steel bars; 105 perpendicular round steel bars, 106 square steel pull bars, 107 side hinge bars, 2 short rods, 3 long draws, 4 spraying machine body frames; 5 walking chassis, 6 right hanging sticks, 7 sensors, 8 middle frames, 801 left hinge bars, 802 left braces; 803 main cross bars, in 804 before the round steel bar, bracing piece in 805, back round steel bar in 806,807 perpendicular square steel bars; 808 right braces, 809 right hinge bars, 9 movable stands, 901 left montants, 902 sheer poles; 903 cross tubes, 904 right cross bars, 10 hydrostatic cylinders, 11 adjustment seats, 12 hydrodynamic cylinder pressures.
The specific embodiment---
Machinery Ministry is as shown in Figure 1, comprises spraying machine body frame 4, walking chassis 5, sensor 7, movable stand 9, hydrostatic cylinder 10, hydrodynamic cylinder pressure 12 and bar spray assembly.
Walking chassis 5 also is the balanced compensated power that provides of spray boom as spraying machine body frame 4 carriers the time.
Spraying machine body frame 4 has two parallel long vertical beams; Two long vertical beams are perpendicular to the ground; Be equipped with guide rail on two long vertical beams; Guide rail on two long vertical beams is parallel.One horizontal beam or level board are arranged at the bottom of long vertical beam.
As shown in Figure 2, 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 903.Fixed hole position is in the front of entablature 903, on adjust the back that the hole is positioned at entablature 903.Fixed hole position 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 directions.The center of sill 902 is provided with preceding hinged-support.
As shown in Figure 1, bar spray assembly comprises left hanging stick 1, two short rods 2, two long draws 3, right hanging stick 6, middle frame 8 and adjustment seats 11.
As shown in Figure 4, left hanging stick 1 comprises rectangular steel pole 101, preceding round steel bar 102, bracing piece 103, back round steel bar 104, perpendicular round steel bar 105, square steel pull bar 106 and side hinge bar 107.Left side hanging stick 1 is seen as " L " shape from length direction.Rectangular steel pole 101 1 ends are crooked; The end of crooked part and the end of preceding round steel bar 102 vertically link to each other.An other end of rectangular steel pole 101 and preceding round steel bar 102 links to each other with the two ends of square steel pull bar 106 respectively.The junction of rectangular steel pole 101 and square steel pull bar 106 is provided with Zola's pole socket.The junction of rectangular steel pole 101 and preceding round steel bar 102 links to each other with an end of side hinge bar 107.Side hinge bar 107 is perpendicular to rectangular steel pole 101 and plane, preceding round steel bar 102 place.Side hinge bar 107 is provided with hinge member.The other end of side hinge bar 107 vertically links to each other with back round steel bar 104.The other end of back round steel bar 104 crooked and be connected to before the junction of round steel bar 102 and rectangular steel pole 101.Back round steel bar 104 has one or more bracing pieces 103 to link to each other with 102 on preceding round steel bar.There are one or more perpendicular round steel bars 105 to link to each other between preceding round steel bar 102 and the rectangular steel pole 101.
The two ends of short rod 2 and long draw 3 respectively are provided with a through hole.Short rod 2 is slightly shorter than long draw 3.
On right hanging stick 6 structures with left hanging stick 1 symmetry.
Middle frame 8 is as shown in Figure 3, comprising: left hinge bar 801, left brace 802, main cross bar 803, in before round steel bar 804, middle bracing piece 805, middle back round steel bar 806, perpendicular square steel bar 807, right brace 808, right hinge bar 809.See 8 one-tenth of middle frames " L " shape from length direction.Be somebody's turn to do the bottom level of " L " shape, and be rectangular configuration.Rectangular configuration by left hinge bar 801, in before round steel bar 804, right hinge bar 809 and middle back round steel bar 806 join end to end and form.Left side hinge bar 801 is provided with hinge member with right hinge bar 809.In before have between round steel bar 804 and the middle back round steel bar 806 one or more in bracing pieces 805 link to each other.In before the right ends of round steel bar 804 link to each other with an end of left brace 802 and right brace 808 respectively, and left brace 802 and right brace 808 are respectively perpendicular to left hinge bar 801 and right hinge bar 809.The other end of left side brace 802 and right brace 808 links to each other with the two ends of main cross bar 803 respectively.Round steel bar 804 before during cross bar 803 is parallel to.There are one or more perpendicular square steel bars 807 to link to each other before during cross bar 803 is parallel between the round steel bar 804.The centre of cross bar 803 is provided with the back hinged-support, between back hinged-support and the cross bar 803 reinforcement is arranged.The two ends of cross bar 803 are provided with the upper connecting rod seat with the junction of left brace 802 and right brace 808.Be respectively equipped with the sensor installing hole in the inboard of two upper connecting rod seats.
Adjusting lever 11 is a stock shape, equidistantly is provided with 3-10 adjustment hole down along its length.
Left side hanging stick 1 is hinged through hinge member and middle frame 8 on the left hinge bar 801 on hinge member on the side hinge bar 107 and the middle frame 8.Zola's pole socket on the hanging stick 1 of a left side and an end of a short rod 2 are hinged, and an end of the other end of short rod 2 and long draw 3 is hinged, and the draw-bar seat of the left end on the other end of long draw 3 and the middle frame 8 is hinged.Right hanging stick 6 links to each other via another root short rod 2, long draw 3 and middle frame 8 in the same way.
Adjustment seat 11 is installed in the upside of the cross bar 803 of middle frame 8; Adjustment seat 11 is parallel with cross bar 803.
Spraying machine body frame 4 is symmetrical structure and the rear that is installed in walking chassis 5.Movable stand 9 is installed on the spraying machine body frame 4 through the guide rail on chute or pulley, the spraying machine body frame 4.Movable stand 9 can freely slide up and down and getaway not at spraying machine body frame 4 upper edge guide rails.The entablature 903 of movable stand 9 and the external part of hydrostatic cylinder 10 are hinged; The other end of hydrostatic cylinder 10 is vertically mounted on the horizontal beam or level board on the spraying machine body frame 4.It is hinged that middle frame 8 passes through back hinged-support and hinged-support and movable stand 9.One end of hydrodynamic cylinder pressure 12 is installed on the adjustment hole; The other end is installed in down on the adjustment hole.The difference sensor installation 7 of the sensor installing hole at middle frame 8 two ends.
Control section of the present invention has two kinds of embodiments:
Embodiment 1 is as shown in Figure 5, is made up of two sensors, digital transmitter, processor, proportional controller, proportional reversing valves.Sensor is an obliquity sensor, is used for the test to the spray boom level angle; Digital transmitter merges two sensor signals, and converts data signal into; Processor is accepted the data signal of digital transmitter, realizes the processing to data, and the output control information; After the control information passing ratio controller of processor output amplifies, convert the opening information of proportional reversing valve into.Realization is to the Pose Control of spray boom.
Embodiment 2 is as shown in Figure 6, forms feedback control system by two sensors, analog transmitter, proportional controller, proportional reversing valves.Sensor is an obliquity sensor, is used for the test to the spray boom level angle; Analog transmitter is realized two sensor signals merging are enlarged into suitable analog quantity, and this analog quantity can be that voltage signal also can be a current signal; This analog signal is as the simulation control input signal of proportional controller; The aperture that proportional controller amplifies back control ratio reversal valve with analog control signal realizes the Pose Control to spray boom.

Claims (2)

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; Said 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; Said guide rail is parallel to each other; The bottom of long vertical beam is provided with a horizontal beam; Said movable stand (9) is installed on the spraying machine body frame (4) through 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 guide rail freely slides up and down and getaway not in spraying machine body frame (4) upper edge; Said 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) through 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 hinged-support swing before said;
Said control section is 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;
Said 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 (903); Fixed hole position is in the back of entablature (903), on adjust the front that the hole is positioned at entablature (903); Fixed hole position 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;
Said bar spray assembly comprises left hanging stick (1), middle frame (8), right hanging stick (6), and said 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.
2. self-balancing boom sprayer according to claim 1 is characterized in that, place, adjustment hole is provided with down the adjustment hole on the said bar spray assembly correspondence, and said hydrodynamic cylinder pressure (12) is installed between adjustment hole and the following adjustment hole.
CN2010106036441A 2010-12-24 2010-12-24 Self-balancing spray boom spraying machine CN102091682B (en)

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Application Number Priority Date Filing Date Title
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CN102494879B (en) * 2011-11-18 2014-02-12 江苏大学 Test apparatus which simulates spray rod motions
CN102384857A (en) * 2011-11-18 2012-03-21 江苏大学 Method and device for measuring distribution uniformity of spraying volume
CN103033160B (en) * 2012-12-17 2015-09-02 江苏大学 A kind of spray boom pose measuring apparatus and measuring method thereof
CN103329877B (en) * 2013-07-10 2015-09-09 江苏省农垦农业发展股份有限公司 A kind of collapsible spray medicine truss
CN103493796A (en) * 2013-10-17 2014-01-08 山东农业大学 Multi-row electric spraying device for cotton operation
CN104663637B (en) * 2015-02-14 2017-05-03 江苏大学 Automatic adjusting device and method for boom balance and height
CN105076100B (en) * 2015-08-06 2017-05-10 中国农业大学 Mechanical device of farmland toward-target pesticide spraying machine
JP2017131179A (en) * 2016-01-29 2017-08-03 Kyb株式会社 Boom displacement device and boom sprayer
CN105724360B (en) * 2016-04-18 2018-04-17 东北农业大学 Spray bar type spraying machine spray boom autobalance
CN105723910A (en) * 2016-04-18 2016-07-06 东北农业大学 Height position adjustment mechanism of spraying rod frame of spraying machine
CN108739730B (en) * 2018-05-02 2021-02-12 江苏大学 Active prediction and adjustment system and method for spray rod balance
CN108787207B (en) * 2018-06-08 2019-12-10 杨志 Medical high-efficient sprinkler of antiseptic solution
CN108835092B (en) * 2018-07-24 2020-07-31 中国农业大学 High-clearance sprayer spray rod suspension control hydraulic system

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