CN107876280A - Boom sprayer spray boom profiling intelligence control system and its control method - Google Patents
Boom sprayer spray boom profiling intelligence control system and its control method Download PDFInfo
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- CN107876280A CN107876280A CN201711304622.3A CN201711304622A CN107876280A CN 107876280 A CN107876280 A CN 107876280A CN 201711304622 A CN201711304622 A CN 201711304622A CN 107876280 A CN107876280 A CN 107876280A
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- 239000007921 spray Substances 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 7
- 239000003921 oil Substances 0.000 claims description 55
- 239000010720 hydraulic oil Substances 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000003139 buffering effect Effects 0.000 claims description 5
- 239000002828 fuel tank Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 3
- 238000011010 flushing procedure Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000005507 spraying Methods 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- RRHGJUQNOFWUDK-UHFFFAOYSA-N Isoprene Chemical compound CC(=C)C=C RRHGJUQNOFWUDK-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920001195 polyisoprene Polymers 0.000 description 1
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Abstract
The invention discloses a kind of boom sprayer spray boom profiling intelligence control system and its control method.Control system is installed between spray boom inner arm and spray boom outer arm, and spray boom inner arm end is slidably fitted with driving rack, and sliding guide mechanism and hydraulic drive mechanism are provided between driving rack and spray boom inner arm；Spray boom outer arm top is installed with the travelling gear being meshed with driving rack；Spray boom outer arm end is installed with contactless range sensor, and the signal output part of contactless range sensor is connected with ECU controllers, and ECU controllers control connection hydraulic drive mechanism by hydraulic control system.The present invention by contactless range sensor in real time, dynamic detection its distance with ground, intelligence control system controls stretching or the amount of recovery of drive cylinder piston rod in time, ensure that the distance on spray boom outer arm and ground maintains certain certain value all the time, spraying machine spraying operation quality is improved, avoids spray boom from being contacted with the ground to rise and fall and damages spray boom.
Description
Technical field
The invention belongs to boom sprayer technical field, and in particular to a kind of boom sprayer spray boom profiling intelligent control
System and its control method.
Background technology
Domestic existing boom sprayer does not have mostly due to boom structure design reasons or the less reason of spray boom wide cut
There is spray boom profiling intelligence control system, the spray boom copying control of some boom sprayers is manually to operate hydraulic valve handles
Or button controls the mode of hydraulic cylinder piston rod position to realize.Manually regulation cause spray boom to ground distance not
Accurately, it is unstable, and can not dynamically and quickly be changed according to ground hypsography and be adjusted in time, so as to influence to spray
Machine spraying operation quality；If surface relief is larger, it is impossible to the distance on quick adjustment spray boom and ground, may make spray boom with rising and falling
Ground contact and damage spray boom.
The content of the invention
The defects of in order to make up existing spray boom technology, the technical problems to be solved by the invention are to provide one kind being capable of basis
Ground surface or terrain fluctuations and be adjusted in time, safe and reliable boom sprayer spray boom profiling intelligence control system.
In order to solve the above technical problems, the technical scheme is that：Boom sprayer spray boom profiling intelligent control system
System, is installed between spray boom inner arm and spray boom outer arm, and the spray boom outer arm is rotatablely connected with the spray boom inner arm；
The spray boom inner arm end is slidably fitted with driving rack, is set between the driving rack and the spray boom inner arm
There is the hydraulic drive mechanism that sliding guide mechanism and the driving driving rack move forward and backward；
The spray boom outer arm top is installed with the travelling gear being meshed with the driving rack, the travelling gear
Axis overlapped with the rotary centerline of the spray boom outer arm, the travelling gear drives the spray boom outer arm to be driven when rotating
Same width is done centered on the center of rotation of gear to rotate in same direction；
The spray boom outer arm end is installed with contactless range sensor, the contactless range sensor
Signal output part is connected with ECU controllers, and the ECU controllers connect the hydraulic driving machine by hydraulic control system control
Structure.
As preferable technical scheme, the rack that the sliding guide mechanism includes being fixed on above spray boom inner arm end is led
To groove, the driving rack is slideably positioned in the rack guide groove.
As preferable technical scheme, the hydraulic drive mechanism includes the driving oil being installed on the spray boom inner arm
Cylinder, the tailpiece of the piston rod of the drive cylinder connect the driving rack.
As preferable technical scheme, elastic buffering mechanism is provided between the driving rack and the piston rod.
As preferable technical scheme, the elastic buffering mechanism includes the buffering that the driving rack top is fixedly mounted
, via is provided with the buffing pad, the piston-rod end of the drive cylinder passes through the buffing pad, institute from the via
State the both sides on piston rod positioned at the buffing pad and be respectively installed with resilient snubber, the piston rod delays provided with regulation elasticity
The governor motion of stamping pretightning force.
As preferable technical scheme, the resilient snubber is the butterfly bullet of some axial assembled arrangements along piston rod
Spring.
As preferable technical scheme, the governor motion includes the screw thread that the piston-rod end is set, the piston
Extension direction on bar positioned at the resilient snubber is equipped with adjusting nut.
As preferable technical scheme, the hydraulic control system includes providing hydraulic oil container, the output hydraulic pressure of hydraulic oil
Oil hydraulic pump, switch on or off hydraulic pump outlet to the oil circuit of hydraulic oil container solenoid directional control valve, connect after be hydraulic pump it is defeated
The pressure oil commutation of the entry/exit drive cylinder gone out or cut-out hydraulic pump outlet return liquid to the oil circuit and drive cylinder of drive cylinder
The proportional reversing valve that presses oil the oil circuit of case, the entry/exit hydraulic fluid port for being connected in a manner of meter out drive cylinder it is unidirectional
Choke valve, when the working pressure of hydraulic system reaches setting value open emptying safety valve；The solenoid directional control valve and ratio
The electrical control end of example reversal valve is connected with ECU controllers.
As preferable technical scheme, the contactless range sensor is ultrasonic sensor.
Present invention also offers the method for carrying out intelligent control to spray boom using above-mentioned intelligence control system, including following step
Suddenly：
Step 1: presetting contactless range sensor to the distance value on ground, and the setpoint distance value is sent
To ECU controllers；
Step 2: when boom sprayer farm work moves ahead, contactless range sensor measures itself and ground in real time
Range data, and the range data measured is sent to ECU controllers；
Step 3: ECU controllers are analyzed the range data measured by the contactless range sensor that sends,
Draw the actual distance value on current contactless range sensor and ground；
Step 4: ECU controllers by the actual distance value currently measured compared with setpoint distance value set in advance,
If the actual distance value currently measured is bigger than setpoint distance value set in advance, into step 5；If currently measure
Actual distance value is smaller than setpoint distance value set in advance, then into step 6；If the actual distance value currently measured with it is pre-
The setpoint distance value first set is equal, then into step 7；
Step 5: ECU controllers send control signal to solenoid directional control valve, arrive solenoid directional control valve cut-out hydraulic pump outlet
The oil circuit of hydraulic oil container；ECU controllers send control signal to proportional reversing valve simultaneously, make the electromagnet on the left of proportional reversing valve
It is electric so that from hydraulic pump output pressure oil successively by proportional reversing valve, left side one-way throttle valve check valve after enter
The rodless cavity of drive cylinder, promote the piston movement of oil cylinder；The hydraulic oil of the rod chamber of drive cylinder passes through right one-way successively
Enter hydraulic oil container after the choke valve of choke valve, proportional reversing valve；The pressure oil of the rodless cavity of drive cylinder makes piston rod forward
Driving rack is promoted, driving rack drives travelling gear to do certain amplitude centered on Gear axis rotationally clockwise,
And then travelling gear drives spray boom outer arm to do the rotation in corresponding amplitude and direction, make contactless range sensor to ground away from
From reduction, step 2 is then back to；
Step 6: ECU controllers send control signal to solenoid directional control valve, arrive solenoid directional control valve cut-out hydraulic pump outlet
The oil circuit of hydraulic oil container；ECU controllers send control signal to proportional reversing valve simultaneously, make the electromagnet on the right side of proportional reversing valve
It is electric so that from hydraulic pump output pressure oil successively by proportional reversing valve, right one-way choke valve check valve after enter
The rod chamber of drive cylinder, promote the piston movement of oil cylinder；The hydraulic oil of the rodless cavity of drive cylinder is unidirectional by left side successively
Enter hydraulic oil container after the choke valve of choke valve, proportional reversing valve；The pressure oil of the rod chamber of drive cylinder makes piston rod backward
Driving rack is pulled, driving rack drives travelling gear certain amplitude centered on Gear axis to rotate in an anti-clockwise direction,
And then travelling gear drives spray boom outer arm to do the rotation in corresponding amplitude and direction, make contactless range sensor to ground away from
From increase, step 2 is then back to；
Step 7: ECU controllers send control signal to proportional reversing valve, arrive proportional reversing valve cut-out hydraulic pump outlet
The oil circuit and drive cylinder of drive cylinder return the oil circuit of hydraulic oil container, the piston rod of drive cylinder is maintained at a certain certain bits
Put, terminate adjustment of the contactless range sensor to ground distance.
By adopting the above-described technical solution, the invention has the advantages that：Pass through contactless range sensor
In real time, its distance with ground of dynamic detection, intelligence control system control stretching or the amount of recovery of drive cylinder piston rod in time,
Ensure that the distance on spray boom outer arm and fluctuations ground maintains certain certain value all the time, improve spraying machine spraying operation quality, keep away
Exempt from spray boom and contacted with the ground to rise and fall and damage spray boom.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the working condition reference chart using the boom sprayer of intelligence control system of the present invention；
Fig. 2 is the structural representation of the mechanical driving part of intelligence control system in the embodiment of the present invention；
Fig. 3 is the control principle drawing of hydraulic control system in the embodiment of the present invention.
In figure：1- drive cylinders；2- spray boom inner arms；3- rack guide grooves；4- butterfly springs；5- travelling gears；6- is driven
Rack；7- spray boom outer arms；8- hydraulic oil containers；9- filters；10- hydraulic pumps；11- safety valves；12- proportional reversing valves；13- is unidirectional
Choke valve；The contactless range sensors of 14-；15-ECU controllers；16- solenoid directional control valves；17- buffing pads；18- adjusts spiral shell
It is female.
Embodiment
With reference to the accompanying drawings and examples, the present invention is expanded on further.In the following detailed description, only explanation is passed through
Mode describes some one exemplary embodiments of the present invention.Undoubtedly, one of ordinary skill in the art will recognize,
In the case of without departing from the spirit and scope of the present invention, described embodiment can be repaiied with a variety of modes
Just.Therefore, accompanying drawing and description are inherently illustrative, are not intended to limit the scope of the claims.
As shown in Figure 1 to Figure 3, boom sprayer spray boom profiling intelligence control system, is installed on spray boom inner arm 2 and spray boom
Between outer arm 7, the spray boom outer arm 7 is rotatablely connected with the spray boom inner arm 2；
The end of spray boom inner arm 2 is slidably fitted with driving rack 6, between the driving rack 6 and the spray boom inner arm 2
It is provided with the hydraulic drive mechanism that sliding guide mechanism and the driving driving rack 6 move forward and backward；
The hydraulic drive mechanism includes being installed on drive cylinder 1 on the spray boom inner arm 2, in the present embodiment, driving
The cylinder barrel base portion of oil cylinder 1 is connected on spray boom inner arm 2 by bearing pin with rotating manner；The tailpiece of the piston rod of the drive cylinder 1 connects
The driving rack 6 is connect, elastic buffering mechanism is provided between the driving rack 6 and the piston rod；The elasticity is slow
Flushing device includes the buffing pad 17 that the top of driving rack 6 is fixedly mounted, and via, the drive are provided with the buffing pad 17
The piston-rod end of dynamic oil cylinder 1 passes through the buffing pad 17 from the via, is located at the buffing pad 17 on the piston rod
Both sides are respectively installed with resilient snubber, the resilient snubber preferably using some numbers, according to particular form along piston rod
Axial assembled arrangement butterfly spring 4, disc spring play the role of vibration damping, relax impact；The piston rod is provided with regulation butterfly
The governor motion of the pretightning force of spring 4；The governor motion includes the screw thread that the piston-rod end is set, and the piston rod is upper
Adjusting nut 18 is respectively fitted with the extension direction of butterfly spring described in both sides 4；
The sliding guide mechanism includes the rack guide groove 3 being fixed on above the end of spray boom inner arm 2, the driving rack
6 are slideably positioned in the rack guide groove 3；In stationary rack guide groove 3, it is ensured that its direction being oriented to and drive cylinder 1
The stretching direction of piston rod or retraction direction are consistent；Driving rack 6 is assemblied in rack guide groove 3, is had between both mating surfaces
Certain gap, to ensure that both can relatively slidably；
The top of spray boom outer arm 7 is installed with the travelling gear 5 being meshed with the driving rack 6, the transmission
The axis of gear 5 overlaps with the rotary centerline of the spray boom outer arm 7.When travelling gear is installed, the peace of one side travelling gear 5
Holding position can ensure that it can be driven with driving rack 6 in a manner of proper gear engages, and travelling gear 5 with
Driving rack 6 can not have relative slip in engaged transmission, in the axis direction of travelling gear 5；Another aspect travelling gear 5 is pressed
When a certain amplitude, a direction are rotated centered on its axis, it is ensured that travelling gear 5 drives spray boom outer arm 7 can be with travelling gear 5
Axis centered on, with the identical amplitude of travelling gear 5 and direction rotation；
The end of spray boom outer arm 7 is installed with contactless range sensor 14, the contactless Distance-sensing
Device preferably uses ultrasonic sensor, but not limited to this；The signal output part of the contactless range sensor 14 is connected with
ECU controllers 15, contactless range sensor 14 are sent to ECU controllers 15 after measuring its signal numerical value with ground；Institute
State ECU controllers 15 and the hydraulic drive mechanism is connected by hydraulic control system control.
With reference to figure 3, the hydraulic control system includes providing hydraulic oil container 8, filter 9, the output hydraulic pressure oil of hydraulic oil
Hydraulic pump 10, switch on or off hydraulic pump 10 export to hydraulic oil container 8 oil circuit solenoid directional control valve 16, connect after be hydraulic pressure
The pressure oil commutation for the entry/exit drive cylinder 1 that pump 10 exports or cut-out hydraulic pump 10 export to oil circuit and the drive of drive cylinder 1
Dynamic oil cylinder 1 is returned the proportional reversing valve 12 of the oil circuit of hydraulic oil container 8, drive cylinder 1 is connected in a manner of meter out
The one-way throttle valve 13 of entry/exit hydraulic fluid port, when the working pressure of hydraulic system reaches setting value open emptying safety valve 11；
The electrical control end of the solenoid directional control valve 16 and proportional reversing valve 12 is connected with ECU controllers 15.
Referring again to Fig. 3, spray boom profiling intelligent control method comprises the following steps：
Step 1: contactless range sensor 14 is preset to the distance on ground by the control panel in driver's cabin
Value, and the setpoint distance value is sent to ECU controllers 15；
Step 2: when boom sprayer farm work moves ahead, contactless range sensor 14 measures itself and ground in real time
Range data, and the range data measured is sent to ECU controllers 15；
Step 3: ECU controllers 15 are carried out to the range data measured by the contactless range sensor 14 that sends
Analysis, draw the actual distance value of current contactless range sensor 14 and ground；
Step 4: ECU controllers 15 are compared the actual distance value currently measured and setpoint distance value set in advance
Compared with if the actual distance value currently measured is bigger than setpoint distance value set in advance, into step 5；If currently measure
Actual distance value it is smaller than setpoint distance value set in advance, then into step 6；If the actual distance value currently measured with
Setpoint distance value set in advance is equal, then into step 7；
Step 5: ECU controllers 15 send control signal to solenoid directional control valve 16, obtain the electromagnet of solenoid directional control valve 16
Electricity, cut-out hydraulic pump 10 export to the oil circuit of hydraulic oil container 8；ECU controllers 15 send control letter to proportional reversing valve 12 simultaneously
Number, obtain the electromagnet on the left of proportional reversing valve 12 electric so that the pressure oil exported from hydraulic pump 10 commutates by ratio successively
Valve 12, left side one-way throttle valve 13 check valve after enter the rodless cavity of drive cylinder 1, promote the piston movement of oil cylinder；Driving
The hydraulic oil of the rod chamber of oil cylinder 1 successively the choke valve by right one-way choke valve 13, enter hydraulic pressure after proportional reversing valve 12
Fuel tank 8；The pressure oil of the rodless cavity of drive cylinder 1 makes piston rod promote driving rack 6 forward, and driving rack 6 is led along rack
Moved to groove 3 and drive travelling gear 5 to do certain amplitude centered on Gear axis rotationally clockwise, and then driving cog
The drive spray boom of wheel 5 outer arm 7 does the rotation in corresponding amplitude and direction, contactless range sensor 14 is subtracted to the distance on ground
It is small, it is then back to step 2；
Step 6: ECU controllers 15 send control signal to solenoid directional control valve 16, obtain the electromagnet of solenoid directional control valve 16
Electricity, cut-out hydraulic pump 10 export to the oil circuit of hydraulic oil container 8；ECU controllers 15 send control letter to proportional reversing valve 12 simultaneously
Number, obtain the electromagnet on the right side of proportional reversing valve 12 electric so that the pressure oil exported from hydraulic pump 10 commutates by ratio successively
Valve 12, right one-way choke valve 13 check valve after enter the rod chamber of drive cylinder 1, promote the piston movement of oil cylinder；Driving
The hydraulic oil of the rodless cavity of oil cylinder 1 successively the choke valve by left side one-way throttle valve 13, enter hydraulic pressure after proportional reversing valve 12
Fuel tank 8；The pressure oil of the rod chamber of drive cylinder 1 makes piston rod pull back driving rack 6, and driving rack 6 is led along rack
Moved to groove 3 and drive the certain amplitude centered on Gear axis of travelling gear 5 to rotate in an anti-clockwise direction, and then driving cog
The drive spray boom of wheel 5 outer arm 7 does the rotation in corresponding amplitude and direction, contactless range sensor 14 is increased to the distance on ground
Greatly, it is then back to step 2；
Step 7: ECU controllers 15 send control signal to proportional reversing valve 12, proportional reversing valve 12 is set to cut off hydraulic pump
10 export to the oil circuit of drive cylinder 1 and drive cylinder 1 returns the oil circuit of hydraulic oil container 8, keep the piston rod of drive cylinder 1
In a certain ad-hoc location, terminate the adjustment that contactless range sensor 14 arrives ground distance.
The present invention by contactless range sensor in real time, dynamic detection its distance with ground, intelligence control system
The stretching of control drive cylinder piston rod or amount of recovery in time, ensure that spray boom outer arm and the distance on fluctuations ground maintain all the time
In certain certain value, spraying machine spraying operation quality is improved, spray boom is effectively prevent and is contacted with the ground to rise and fall and damage spray boom.
The schematical embodiment of the present invention is the foregoing is only, is not limited to the scope of the present invention.Such as bullet
Property bolster other elastic constructions such as spring or elastic caoutchouc can also be used to realize its function；Any those skilled in the art
Member, made equivalent variations and modification, all should belong to guarantor of the present invention on the premise of the design of the present invention and principle is not departed from
The scope of shield.
Claims (10)
1. boom sprayer spray boom profiling intelligence control system, is installed between spray boom inner arm and spray boom outer arm, the spray boom
Outer arm is rotatablely connected with the spray boom inner arm；It is characterized in that：
The spray boom inner arm end is slidably fitted with driving rack, and cunning is provided between the driving rack and the spray boom inner arm
The hydraulic drive mechanism that action-oriented mechanism and the driving driving rack move forward and backward；
The spray boom outer arm top is installed with the travelling gear being meshed with the driving rack, the axle of the travelling gear
Line overlaps with the rotary centerline of the spray boom outer arm, and the travelling gear drives the spray boom outer arm with travelling gear when rotating
Center of rotation centered on do same width and rotate in same direction；
The spray boom outer arm end is installed with contactless range sensor, the signal of the contactless range sensor
Output end is connected with ECU controllers, and the ECU controllers connect the hydraulic drive mechanism by hydraulic control system control.
2. boom sprayer as claimed in claim 1 spray boom profiling intelligence control system, it is characterised in that：The slip is led
The rack guide groove for including being fixed on above spray boom inner arm end to mechanism, the driving rack are slideably positioned in the rack and led
Into groove.
3. boom sprayer as claimed in claim 2 spray boom profiling intelligence control system, it is characterised in that：The hydraulic pressure drives
Motivation structure includes the drive cylinder being installed on the spray boom inner arm, and the tailpiece of the piston rod of the drive cylinder connects the driving cog
Bar.
4. boom sprayer as claimed in claim 3 spray boom profiling intelligence control system, it is characterised in that：The driving cog
Elastic buffering mechanism is provided between bar and the piston rod.
5. boom sprayer as claimed in claim 4 spray boom profiling intelligence control system, it is characterised in that：The elasticity is slow
Flushing device includes the buffing pad that the driving rack top is fixedly mounted, and via, the driving oil are provided with the buffing pad
The piston-rod end of cylinder passes through the buffing pad from the via, is covered respectively positioned at the both sides of the buffing pad on the piston rod
Equipped with resilient snubber, the piston rod is provided with the governor motion of regulation elasticity bolster pretightning force.
6. boom sprayer as claimed in claim 5 spray boom profiling intelligence control system, it is characterised in that：The elasticity is slow
Stamping is the butterfly spring of some axial assembled arrangements along piston rod.
7. boom sprayer as claimed in claim 5 spray boom profiling intelligence control system, it is characterised in that：The regulation machine
Structure includes the screw thread that the piston-rod end is set, and is equipped with the piston rod positioned at the extension direction of the resilient snubber
Adjusting nut.
8. boom sprayer as claimed in claim 3 spray boom profiling intelligence control system, it is characterised in that：The hydraulic pressure control
System processed includes providing the oily hydraulic pump of the hydraulic oil container of hydraulic oil, output hydraulic pressure, switches on or off hydraulic pump outlet to hydraulic pressure
The solenoid directional control valve of the oil circuit of fuel tank, the pressure oil commutation of the entry/exit drive cylinder exported after connecting for hydraulic pump or cut-out liquid
Press pump exports to the proportional reversing valve of the oil circuit of drive cylinder and the oil circuit of drive cylinder time hydraulic oil container, with meter out
Mode is connected to the one-way throttle valve of the entry/exit hydraulic fluid port of drive cylinder, when the working pressure of hydraulic system reaches setting
The safety valve of emptying is opened during value；The electrical control end of the solenoid directional control valve and proportional reversing valve is connected with ECU controllers.
9. boom sprayer as claimed in claim 1 spray boom profiling intelligence control system, it is characterised in that：It is described non-contact
Formula range sensor is ultrasonic sensor.
10. boom sprayer spray boom profiling intelligent control method, it is characterised in that comprise the following steps：
Step 1: presetting contactless range sensor to the distance value on ground, and the setpoint distance value is sent to ECU
Controller；
Step 2: when boom sprayer farm work moves ahead, contactless range sensor measures its distance with ground in real time
Data, and the range data measured is sent to ECU controllers；
Step 3: ECU controllers are analyzed the range data measured by the contactless range sensor that sends, draw
Current contactless range sensor and the actual distance value on ground；
Step 4: ECU controllers by the actual distance value currently measured compared with setpoint distance value set in advance, if
The actual distance value currently measured is bigger than setpoint distance value set in advance, then into step 5；If the reality currently measured
Distance value is smaller than setpoint distance value set in advance, then into step 6；If the actual distance value currently measured with setting in advance
Fixed setpoint distance value is equal, then into step 7；
Step 5: ECU controllers send control signal to solenoid directional control valve, solenoid directional control valve is set to cut off hydraulic pump outlet to hydraulic pressure
The oil circuit of fuel tank；ECU controllers send control signal to proportional reversing valve simultaneously, obtain the electromagnet on the left of proportional reversing valve
Electricity so that from hydraulic pump output pressure oil successively by proportional reversing valve, left side one-way throttle valve check valve after enter drive
The rodless cavity of dynamic oil cylinder, promote the piston movement of oil cylinder；The hydraulic oil of the rod chamber of drive cylinder passes through right one-way section successively
Enter hydraulic oil container after flowing the choke valve of valve, proportional reversing valve；The pressure oil of the rodless cavity of drive cylinder makes piston rod push away forward
Dynamic driving rack, driving rack are driven travelling gear to be done certain amplitude centered on Gear axis rotationally clockwise, entered
And travelling gear drives spray boom outer arm to do the rotation in corresponding amplitude and direction, make contactless range sensor to the distance on ground
Reduce, be then back to step 2；
Step 6: ECU controllers send control signal to solenoid directional control valve, solenoid directional control valve is set to cut off hydraulic pump outlet to hydraulic pressure
The oil circuit of fuel tank；ECU controllers send control signal to proportional reversing valve simultaneously, obtain the electromagnet on the right side of proportional reversing valve
Electricity so that from hydraulic pump output pressure oil successively by proportional reversing valve, right one-way choke valve check valve after enter drive
The rod chamber of dynamic oil cylinder, promote the piston movement of oil cylinder；The hydraulic oil of the rodless cavity of drive cylinder passes through the unidirectional section in left side successively
Enter hydraulic oil container after flowing the choke valve of valve, proportional reversing valve；The pressure oil of the rod chamber of drive cylinder pulls back piston rod
Dynamic driving rack, driving rack drive travelling gear certain amplitude centered on Gear axis to rotate in an anti-clockwise direction, entered
And travelling gear drives spray boom outer arm to do the rotation in corresponding amplitude and direction, make contactless range sensor to the distance on ground
Increase, is then back to step 2；
Step 7: ECU controllers send control signal to proportional reversing valve, proportional reversing valve is set to cut off hydraulic pump outlet to driving
The oil circuit and drive cylinder of oil cylinder return the oil circuit of hydraulic oil container, the piston rod of drive cylinder is maintained at a certain ad-hoc location,
Terminate adjustment of the contactless range sensor to ground distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711304622.3A CN107876280A (en) | 2017-12-11 | 2017-12-11 | Boom sprayer spray boom profiling intelligence control system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711304622.3A CN107876280A (en) | 2017-12-11 | 2017-12-11 | Boom sprayer spray boom profiling intelligence control system and its control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356889A (en) * | 2018-12-07 | 2019-02-19 | 重庆神工农业装备有限责任公司 | Agricultural machinery imitates landform control system |
| CN110989615A (en) * | 2019-12-20 | 2020-04-10 | 潍柴动力股份有限公司 | Control method and device for agricultural vehicle |
| CN112974068A (en) * | 2021-02-11 | 2021-06-18 | 新疆农业大学 | Sprayer spray rod system with ground profiling function |
| CN113475488A (en) * | 2021-08-09 | 2021-10-08 | 盐城晟威机械科技有限公司 | Trailer formula boom sprayer |
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| CN112974068A (en) * | 2021-02-11 | 2021-06-18 | 新疆农业大学 | Sprayer spray rod system with ground profiling function |
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Application publication date: 20180406 |