CN109964794B - Truss type spray head vehicle with foldable pipe joint structure - Google Patents
Truss type spray head vehicle with foldable pipe joint structure Download PDFInfo
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- CN109964794B CN109964794B CN201910361887.XA CN201910361887A CN109964794B CN 109964794 B CN109964794 B CN 109964794B CN 201910361887 A CN201910361887 A CN 201910361887A CN 109964794 B CN109964794 B CN 109964794B
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- pipe
- hydraulic
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B73/00—Means or arrangements to facilitate transportation of agricultural machines or implements, e.g. folding frames to reduce overall width
- A01B73/02—Folding frames
- A01B73/06—Folding frames foldable about a vertical axis
- A01B73/065—Folding frames foldable about a vertical axis to a position essentially forward of the axis, in relation to the direction of travel
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/162—Sequential operation
Abstract
The invention discloses a truss type spray head vehicle with a foldable pipe joint structure, which comprises a main support underframe and a swing truss; the swing truss comprises a left truss, a middle truss and a right truss, the middle truss is arranged on the main support underframe, and the left truss and the right truss are symmetrically arranged at the left side and the right side of the middle truss; the left truss and the right truss comprise a swinging truss base section, a multi-section folding truss section and a tail section water delivery pipe which are sequentially arranged from inside to outside; the swing truss base section and the folding truss section are both frame-shaped structures, and both ends of the upper supporting tube are provided with a hinged connection mechanism and a swing angle limiting mechanism; two ends of the lower water delivery pipe are provided with a communicating transition joint comprising an inner barrel, an outer barrel and a sealing cover. The invention can reduce the overall weight of the truss on the premise of ensuring the overall strength of the truss, further reduce the power consumption, realize the rapid unfolding and storage of the truss, further realize the rapid transfer operation of the truss reel sprinkler, and is particularly suitable for sprinkling irrigation operation of large farms.
Description
Technical Field
The invention relates to a truss type spray head vehicle, in particular to a truss type spray head vehicle with a foldable pipe joint structure, which is suitable for a reel type spray irrigation machine, and belongs to the technical field of spray irrigation equipment.
Background
The sprinkling irrigation is a method of sprinkling irrigation with pressure water to the air by using special equipment such as a spray head, etc., so as to form water drops falling on the ground sprinkling irrigation surface and the surface of crops.
The reel type sprinkler is a common one in a row-spraying sprinkler, is an irrigation machine which winds a traction PE pipe on a winch, drives the winch to rotate by utilizing a gearbox, and automatically moves and sprays a traction spray head car, can irrigate a large-area farmland, can control the water spraying amount according to a spray head, meets different requirements of a user on the water spraying amount, and is a normally selected sprinkling irrigation device for farmland water-saving irrigation. The reel type sprinkler generally mainly comprises a bottom frame, reels, PE pipes, a gearbox and a sprinkler head vehicle, wherein the gearbox drives a chain to drive to generate larger torque force to drive a winch to rotate after the speed of the gearbox is reduced, so that the PE pipes are automatically recovered, meanwhile, high-pressure water flows through the PE pipes to be directly sent to the sprinkler heads of the sprinkler head vehicle, the sprinkler heads evenly spray high-pressure water flow to the upper air of crops and scatter into fine water drops to evenly fall, and the sprinkler head is enabled to carry out sprinkling operation along with the movement of the PE pipes without intermittence.
The truss type reel sprinkler is a reel sprinkler which is formed by installing trusses on a spray head vehicle and replacing spray guns by a plurality of spray heads arranged on the trusses, can realize lower sprinkling irrigation height and sprinkling irrigation close to crops, has relatively lower sprinkling irrigation water pressure and relatively lower energy consumption when the truss type reel sprinkler works, has smaller beating strength to crops and soil when sprinkling irrigation water, and has smaller sprinkling water drop, relatively higher water distribution uniformity and smaller influence by wind force when sprinkling irrigation water to crops in short fields such as wheat, soybean and vegetables.
However, the total truss length of the existing small-sized truss type reel sprinkler is usually 10-20 m, the total truss length of the medium-sized truss type reel sprinkler is usually 20-30 m, the total truss length of the large-sized truss type reel sprinkler is usually 30-45 m, in order to ensure the overall strength of a longer truss, a frame structure with a triangular or rectangular longitudinal section and pulled by steel wires is usually adopted, but the overall weight of the frame structure is large, and the truss of the frame structure is usually supported and fixed on a sprinkler head vehicle through a large-size and heavy-weight bracket. On the one hand, the spray head vehicle is usually of a two-wheel structure with the back traction force from the PE pipe, and the back traction force of the spray head vehicle is influenced by the flatness of the ground, so that the truss with large volume and large weight can increase the weight of the whole spray head vehicle, reduce the stability, not only needs larger traction force and power consumption, but also is easy to cause excessive rolling of crops during walking; on the other hand, in order to facilitate transportation, the trusses of the steel wire traction frame structure of the existing truss type reel sprinkler are mostly of multi-section dismounting structures, however, the trusses and sprinkling pipelines of the dismounting steel wire traction frame structure are high in labor intensity and low in dismounting efficiency, and quick transfer operation of the truss type reel sprinkler cannot be realized; in yet another aspect, the height of the truss distance from the ground is manually adjusted before the sprinkling operation according to the height of the crops in the existing truss type reel sprinkling machine, but the sprinkling process cannot be adjusted, so that the automatic adjustment cannot be realized according to the condition that crops with different heights are planted in different areas of a farmland, and then the sprinkling effect can be influenced.
Disclosure of Invention
In order to solve the problems, the invention provides the truss type spray head vehicle with the foldable pipe joint structure, which can reduce the overall weight of a truss and further reduce power consumption on the premise of ensuring the overall strength of the truss, can realize the rapid unfolding and storage of the truss and further realize the rapid transition operation of a truss type reel spray irrigation machine, and is particularly suitable for spray irrigation operation of large farms.
In order to achieve the above purpose, the collapsible tube joint structure truss type spray head vehicle comprises a main support underframe and a swing truss;
the bottom of the main support chassis is provided with a plurality of support wheels comprising support wheel frames;
the swing truss comprises a left truss, a middle truss and a right truss, wherein the middle truss is arranged on the main support underframe, a sprinkling irrigation water input main pipeline which can be communicated and connected with the output end of a PE pipe of the reel sprinkling irrigation machine is arranged on the middle truss, and the left truss and the right truss are symmetrically arranged at the left side and the right side of the middle truss;
the left truss and the right truss comprise a swinging truss base section, a multi-section folding truss section and a tail section water delivery pipe which are sequentially arranged from inside to outside; the swing truss base section and the folding truss section comprise an upper supporting pipe, a lower water conveying pipe and a rigid support among pipes, the rigid supports among the pipes are fixedly connected between the upper supporting pipe and the lower water conveying pipe which are arranged in parallel to form an integral frame-shaped structure, and the height sizes of the swing truss base section and the folding truss section are gradually decreased along the expanding direction from inside to outside; both ends of the upper supporting tube are provided with a hinged connection mechanism and a swing angle limiting mechanism, wherein the hinged connection mechanism and the swing angle limiting mechanism are vertically arranged on the hinged shaft; the lower water delivery pipe and the tail joint water delivery pipe are respectively provided with a spray irrigation nozzle communicated with the inner cavity;
two ends of the lower water pipe are provided with vertically arranged communicating transition joints, and the communicating transition joints comprise an inner barrel, an outer barrel and a sealing cover; the inner barrel is of a barrel-shaped structure with a barrel bottom, a water inlet I and a water outlet I which penetrate through the barrel wall are formed in the inner barrel along the radial direction of the inner barrel, the water inlet I and the water outlet I are arranged in an up-down opposite mode along the barrel wall, the central axes of the water inlet I and the water outlet I are positioned in the same vertical plane, the outer barrel is matched and sleeved on the inner barrel, annular sealing is formed between the inner barrel and the outer barrel, the outer barrel is arranged into two parts corresponding to the water inlet I and the water outlet I of the inner barrel up-down, a water inlet II is formed in the outer barrel corresponding to the water inlet I, the outer barrel corresponding to the water outlet I is provided with a water outlet II, the upper outer barrel and the lower outer barrel are respectively connected with the end parts of two adjacent lower water pipes in a sealing and fixed mode, the water inlet II and the water outlet II are respectively opposite to the end parts of the two adjacent lower water pipes, one of the two outer barrels is in a positioning mode, the two outer barrels are connected with the circumferential direction of the inner barrel, a hinged connection mechanism of an upper supporting pipe of the inner side end of a swinging truss section and a swinging angle limiting mechanism are connected with the middle truss, a communicating transition joint of the lower end of the inner side of the swinging truss section is connected with the middle truss, and the main truss is opposite to the water inlet pipeline; the sealing cover is hermetically and fixedly arranged at the position of a bunghole of an inner barrel of the barrel-type structure;
the outer side end of the tail joint water pipe is closed, the inner side end of the tail joint water pipe is connected with the communicating transition joint of the lower water pipe of the folding truss joint at the outermost side, the tail joint water pipe is provided with a diagonal draw bar fixedly connected with the tail joint water pipe, and the end part of the diagonal draw bar is connected with the hinged connection mechanism and the swing angle limiting mechanism of the upper support pipe of the folding truss joint at the outermost side.
As a further improvement scheme of the invention, an electric control device is arranged on the main support underframe, and the electric control device comprises a power source and a controller; swing driving mechanisms are arranged between the swing truss base section and the middle truss, between the swing truss base section and the folding truss section, between the multi-section folding truss section, and between the tail section of the folding truss section and the tail section water delivery pipe, and are electrically connected with a controller, and the electric control device comprises a swing driving control loop.
As one implementation mode of the invention, a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on the main support underframe, and the hydraulic pump station and the hydraulic control valve group are respectively and electrically connected with a controller of the electric control device; the swing driving mechanism is a swing driving hydraulic motor arranged on the hinged connection mechanism of the upper supporting tube or a swing driving hydraulic cylinder arranged between the frame sections through a connecting rod, and the swing driving hydraulic motor or the swing driving hydraulic cylinder is connected with the hydraulic control valve group through a hydraulic pipeline.
As a further improvement scheme of the invention, the supporting wheel at the bottom of the main supporting underframe at least comprises a group of left and right driving wheels which are coaxially arranged, the driving wheels are coaxially provided with driving wheel driving parts connected with a power source, the driving wheel driving parts are respectively and electrically connected with the power source and a controller of the electric control device, and the electric control device further comprises a self-walking control loop.
As a further improvement scheme of the invention, a left driving wheel and a right driving wheel which are coaxially arranged are respectively provided with a driving wheel driving part connected with a power source; the controller of the electric control device is respectively and electrically connected with the two sets of driving wheel driving parts, and the electric control device also comprises a steering control loop.
As one implementation mode of the invention, a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on the main support underframe, and the hydraulic pump station and the hydraulic control valve group are respectively and electrically connected with a controller of the electric control device; the driving wheel driving part of the driving wheel is a driving wheel driving hydraulic motor, and the driving wheel driving hydraulic motor is connected with the hydraulic control valve group through a hydraulic pipeline.
As a further improvement scheme of the invention, a lifting adjusting mechanism is arranged between the middle truss and the main supporting underframe or on the supporting wheel frame of the supporting wheel, the lifting adjusting mechanism is electrically connected with a power source and a controller of the electric control device, and the electric control device further comprises a sprinkling irrigation height control loop.
As one implementation mode of the invention, a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on the main support underframe, and the hydraulic pump station and the hydraulic control valve group are respectively and electrically connected with a controller of the electric control device; the lifting adjusting mechanism is a lifting adjusting hydraulic cylinder, and the lifting adjusting hydraulic cylinder is connected with the hydraulic control valve group through a hydraulic pipeline.
As a further improvement scheme of the invention, a pattern recognition sensor is arranged at the bottom of the main support underframe or the bottom of the lower water delivery pipe, the electric control device also comprises a sprinkling irrigation height recognition judging loop, and a controller of the electric control device is electrically connected with the pattern recognition sensor.
As a further improvement scheme of the invention, the sprinkling irrigation nozzles are provided with flow control valves which are electrically connected with a controller of the electric control device; the electric control device also comprises a sprinkling irrigation flow control loop, and the controller also comprises a data input/output port.
Compared with the prior art, the truss type spray head vehicle with the foldable pipe joint structure adopts the swing truss base section and the folding truss section which are of the integral frame-shaped structure, the frame-shaped structure is light in weight and high in strength, rapid unfolding and storage operation are convenient, and on the premise of the same truss total length, the swing truss of the truss type spray head vehicle with the foldable pipe joint structure has lighter integral weight and lower power consumption than that of a truss of a traditional frame structure; because the two ends of the lower water delivery pipe are respectively provided with the vertically arranged communicating transition joint, the water inlet II, the water inlet I, the inner barrel, the water outlet I and the water outlet II of the communicating transition joint can jointly enclose a closed water flow channel, when the water delivery pipe is unfolded, the swinging truss base joints of the left truss and the right truss are controlled to be respectively turned forward to a set angle along the hinging center of the swinging truss base joints and positioned, then the multi-section folding truss joint and the tail joint water delivery pipe are controlled to be turned and unfolded from inside to outside in sequence, the inner barrel and the outer barrel of the communicating transition joint are relatively turned in the unfolding process to enable the water inlet II and the water inlet I to be communicated, the water outlet I and the water outlet II to be communicated, and the sprinkling irrigation water is input into a main pipeline, the water delivery pipe and the tail joint water delivery pipe to form a through-connection water delivery pipe, so that sprinkling irrigation operation is facilitated; in the folding and storing process, the folding tail joint water pipe and the multi-section folding truss joint are sequentially turned from outside to inside, then the swing truss base joints of the left truss and the right truss are controlled to be turned back to a set angle along the hinge centers of the left truss and the right truss respectively and positioned, and the inner barrel and the outer barrel which are communicated with the transition joint in the folding and storing process are rotated relatively to enable the dislocation of the water inlet II and the water inlet I to be in a cut-off state or the dislocation of the water outlet I and the water outlet II to be in a cut-off state, so that the transition operation is facilitated; due to the swing driving mechanism, the automatic unfolding and folding storage can be realized; the supporting wheels at the bottom of the main supporting underframe at least comprise a group of driving wheels which are coaxially arranged and provided with driving wheel driving parts at left and right sides, so that the self-walking can be realized, and the rolling of traction equipment on farmlands can be avoided; the lifting adjusting mechanism is arranged, and the mode identifying sensor is arranged at the bottom of the main supporting underframe or the bottom of the lower water delivery pipe, so that the sprinkling irrigation height can be intelligently adjusted in real time according to the height feedback of crops in the sprinkling irrigation process; because all be equipped with flow control valve, electrically controlled device on the sprinkling irrigation sprinkler head including sprinkling irrigation flow control return circuit and data input/output port, consequently can realize customizing sprinkling irrigation operation according to the farmland sprinkling irrigation data of input, at customizing sprinkling irrigation operation in-process controller still can realize intelligent control, further water economy resource according to the sprinkling irrigation water jet flow of real-time farmland sprinkling irrigation data feedback control sprinkling irrigation shower nozzle, the sprinkling irrigation operation of specially adapted large-scale farm.
Drawings
FIG. 1 is a schematic view of the structure of the present invention when fully extended;
FIG. 2 is a partial enlarged view of the P-direction of FIG. 1;
FIG. 3 is an enlarged view of a portion of the Q-direction of FIG. 1;
fig. 4 is a schematic top view of the folding and storing process of the present invention.
In the figure: 1. middle truss, 2, swing truss base sections, 3, folding truss sections, 4, tail section water delivery pipes, 5, upper support pipes, 6, lower water delivery pipes, 7, communication transition joints, 71, inner barrels, 72, outer barrels, 73 and sealing covers.
Detailed Description
The present invention will be further described with reference to the drawings (hereinafter, the traveling direction of the truss type spray head vehicle with the collapsible tube joint structure will be described with the direction in which the collapsible truss sections 3 are deployed as the outer direction, and the direction in which the collapsible truss sections 3 are collapsed and stored as the inner direction).
As shown in fig. 1, the collapsible tube joint structure truss type spray head vehicle comprises a main support chassis and a swing truss.
The bottom of the main support chassis is provided with a plurality of support wheels comprising a support wheel frame.
The swing truss comprises a left truss, a middle truss 1 and a right truss, wherein the middle truss 1 is arranged on a main support underframe, a sprinkling irrigation water input main pipeline which can be communicated and connected with the output end of a PE pipe of the reel sprinkling irrigation machine is arranged on the middle truss 1, and the left truss and the right truss are symmetrically arranged on the left side and the right side of the middle truss 1;
the left truss and the right truss comprise a section of swing truss base section 2, a plurality of sections of folding truss sections 3 and a section of tail section water delivery pipe 4 which are sequentially arranged from inside to outside; the swing truss base section 2 and the folding truss section 3 comprise an upper supporting pipe 5, a lower water pipe 6 and inter-pipe rigid supports, the inter-pipe rigid supports are fixedly connected between the upper supporting pipe 5 and the lower water pipe 6 which are arranged in parallel to form an integral frame-shaped structure, and the height sizes of the swing truss base section 2 and the multi-section folding truss section 3 are gradually decreased along the expanding direction from inside to outside; as shown in fig. 2, both ends of the upper support tube 5 are respectively provided with a hinge connection mechanism and a swing angle limiting mechanism, wherein the hinge connection mechanism and the swing angle limiting mechanism are vertically arranged on the hinge shaft, and the swing angle limiting mechanism can adopt a positioning pin and a positioning hole structure which are arranged in a matched manner, or can adopt other structures such as a positioning jackscrew and a gear sliding groove structure which are arranged in a matched manner; the lower water delivery pipe 6 and the tail joint water delivery pipe 4 are respectively provided with a spray irrigation nozzle communicated with the inner cavity;
the two ends of the lower water pipe 6 are respectively provided with a vertical communication transition joint 7, and as shown in fig. 3, the communication transition joint 7 comprises an inner barrel 71, an outer barrel 72 and a sealing cover 73; the inner barrel 71 is of a barrel-shaped structure with a barrel bottom, a water inlet I and a water outlet I which penetrate through the barrel wall are formed in the inner barrel 71 along the radial direction of the inner barrel, the water inlet I and the water outlet I are arranged in a vertically opposite mode along the barrel wall, the central axes of the water inlet I and the water outlet I are positioned in the same vertical plane, the outer barrel 72 is matched and sleeved on the inner barrel 71, annular sealing is formed between the inner barrel 71 and the outer barrel 72, the inner barrel 71 and the outer barrel 72 can rotate relatively, the outer barrel 72 is provided with two parts corresponding to the water inlet I and the water outlet I of the inner barrel 71, the outer barrel 72 corresponding to the water inlet I is provided with a water inlet II, the outer barrel 72 corresponding to the water outlet I is provided with a water outlet II, the upper outer barrel 72 and the lower outer barrel 72 are respectively and fixedly connected with the end parts of the adjacent lower water delivery pipes 6 in a sealing mode, the water inlet II and the water outlet II are respectively opposite to the end parts of the adjacent lower water delivery pipes 6, one of the two outer barrels 72 is in a circumferentially positioning mode and connected with the inner barrel 71 in a sleeved mode, a hinged connection mechanism and a swinging angle limiting mechanism of the upper 5 of the inner side end of a swinging truss base 2 are opposite to the inner side of the inner barrel 71, the swinging truss joint 2 is connected with the water delivery pipe 1 and the swinging truss base 2 directly opposite to the end of the main truss 1, the water delivery joint is connected to the lower truss 2, and the water inlet II is opposite to the end of the main truss is connected to the water inlet I; the sealing cover 73 is hermetically and fixedly arranged at the barrel opening position of the inner barrel 71 of the barrel-type structure, and the water inlet II, the water inlet I, the inner barrel 71, the water outlet I and the water outlet II jointly enclose a sealed water flowing channel;
the outer side end of the tail joint water delivery pipe 4 is closed, the inner side end of the tail joint water delivery pipe 4 is connected with a communicating transition joint 7 of a lower water delivery pipe 6 of the outermost folding truss joint 3, an inclined pull rod fixedly connected with the tail joint water delivery pipe 4 is arranged on the tail joint water delivery pipe 4, and the end part of the inclined pull rod is connected with a hinged connection mechanism and a swing angle limiting mechanism of an upper support pipe 5 of the outermost folding truss joint 3.
The spray irrigation water input main pipeline of the truss type spray head vehicle with the foldable pipe joint structure is connected with the PE pipe of the reel spray irrigation machine, and then the truss type reel spray irrigation machine can be used. When the non-sprinkling irrigation operation is in a transition state, the truss type spray head trolley with the foldable pipe joint structure is in a suspension state that the supporting wheel is separated from the ground under the traction action of the spray head trolley lifting mechanism and the PE pipe completely contained on the reel, as shown in fig. 4, at the moment, under the limit action of the swing angle limiting mechanism, the left truss and the right truss are in a structure of being folded backwards and contained in a wing shape, the multi-section folding truss section 3 and the tail section water delivery pipe 4 are sequentially swung and folded along the front and back directions and mutually lean against and positioned through the swing angle limiting mechanism of the upper supporting pipe 5, and the left truss and the right truss completely folded and contained lean against the left side and the right side of the reel without affecting the transition of the truss type reel sprinkling irrigation machine.
When the truss type reel sprinkler provided with the truss type sprinkler with the foldable pipe joint structure is pulled to a farmland to be used for sprinkling irrigation, the auxiliary frame of the truss type reel sprinkler is rotated to enable the reel to rotate around the central axis of the auxiliary frame to the position the auxiliary frame behind the farmland to be sprinkling irrigation, then the telescopic front support is controlled to stretch out and stably support on the ground, and then the lifting mechanism of the sprinkler is controlled to be lowered to enable the truss type sprinkler with the foldable pipe joint structure to fall to the initial position of the ground;
after a tractor and other traction equipment are used for pulling a truss type spray head vehicle with a foldable pipe joint structure to move a PE pipe forwards to a spray irrigation position, firstly, a left truss and a right truss are controlled to respectively overturn forwards to a set angle along the hinging center of the truss type spray head vehicle, the truss type spray head vehicle is positioned through a swing angle limiting mechanism of an upper supporting pipe 5, then a plurality of sections of folding truss sections 3 and a section of tail section water conveying pipe 4 are controlled to overturn and expand sequentially from inside to outside, the swing angle limiting mechanism of the upper supporting pipe 5 is used for positioning, an inner barrel 71 communicated with a transition joint 7 in the expanding process rotates relative to an outer barrel 72 to enable a water inlet II to be communicated with a water inlet I, and the water outlet I to be communicated with the water outlet II, and after the expanding operation is completed, the spray irrigation water input main pipeline, the water conveying pipe 6 and the tail section water conveying pipe 4 form a through connection water conveying pipeline; the pressure water input switch is turned on, the pressure water enters the spray irrigation water input main pipeline, the water delivery pipe 6 and the tail joint water delivery pipe 4 through the PE pipe, and is sprayed out from the spray irrigation nozzle to realize spray irrigation; in the spray irrigation process, the reel is rewound, the truss type spray head vehicle with the foldable pipe joint structure is pulled to move backwards through the PE pipe until the truss type spray head vehicle with the foldable pipe joint structure is retracted to an initial position, and then spray irrigation of the farmland is completed;
after the sprinkling irrigation is completed, the collecting operation is the reverse process of the unfolding operation, and detailed description is omitted here, the inner barrel 71 and the outer barrel 72 which are communicated with the transition joint 7 in the folding collecting process relatively rotate to enable the water inlet II and the water inlet I to be in a cut-off state, or the water outlet I and the water outlet II to be in a cut-off state, after the left truss and the right truss are completely folded and collected to be in a wing-shaped structure, the lifting mechanism of the lifting spray head vehicle is sequentially controlled to enable the truss type spray head vehicle with the foldable pipe joint structure to be lifted off the ground, and after the telescopic front support and the reset rotary auxiliary frame are controlled to retract, the transition of the truss type reel sprinkling irrigation machine can be carried out.
In order to realize automatic unfolding and folding storage, as a further improvement scheme of the invention, an electric control device is arranged on the main support underframe, the electric control device comprises a power source and a controller, the power source can be a power source with a power input power line, and a battery pack without the power input power line can also be selected; swing driving mechanisms are arranged between the swing truss base section 2 and the middle truss 1, between the swing truss base section 2 and the folding truss section 3, between the multi-section folding truss section 3 and between the tail section of the folding truss section 3 and the tail section water pipe 4, the swing driving mechanisms can be servo motor structures or other rotary driving structures such as hydraulic motors and the like which are arranged on the hinged connection mechanisms of the upper supporting pipes 5, and can also be electric screw rod structures or other telescopic driving structures such as hydraulic cylinders and the like which are arranged between the frame sections through connecting rods, and the swing driving mechanisms are electrically connected with a controller, and the electric control device comprises a swing driving control loop. The swinging and unfolding operation of the swinging truss base section 2, the multi-section folding truss section 3 and the tail section water delivery pipe 4 can be realized by sequentially controlling the action of the swinging driving mechanism from inside to outside through the controller, otherwise, the swinging and folding storage operation of the swinging truss base section 2, the multi-section folding truss section 3 and the tail section water delivery pipe 4 can be realized by sequentially controlling the action of the swinging driving mechanism from outside to inside through the controller.
In order to realize self-walking and avoid rolling of traction equipment on farmlands, as a further improvement scheme of the invention, the supporting wheel at the bottom of the main supporting underframe at least comprises a group of left and right driving wheels which are coaxially arranged, the driving wheels are coaxially provided with driving wheel driving parts connected with a power source, the driving wheel driving parts can be other driving parts such as a motor or a hydraulic motor, and the driving wheel driving parts are respectively electrically connected with the power source and a controller of an electric control device, and the electric control device also comprises a self-walking control loop. The forward rotation of the driving wheel driving part is controlled by the controller, so that the truss type spray head vehicle with the foldable pipe joint structure can automatically walk, and meanwhile, the reverse rotation of the driving wheel driving part is controlled by the controller, so that the PE pipe rewinding resistance can be reduced, and the PE pipe rewinding is assisted.
In order to realize correction after the deviation direction occurs in the self-walking process of the truss type spray head vehicle with the foldable pipe joint structure, as a further improvement scheme of the invention, a left driving wheel and a right driving wheel which are coaxially arranged are respectively provided with a driving wheel driving part connected with a power source; the controller of the electric control device is respectively and electrically connected with the two sets of driving wheel driving parts, and the electric control device also comprises a steering control loop. When the foldable pipe joint structure truss type spray head vehicle moves normally and automatically, the controller controls the two sets of driving wheels to drive synchronously, when the foldable pipe joint structure truss type spray head vehicle moves automatically and in the shifting direction, an operator can control the spray head vehicle to turn to a control loop to work through the controller, the controller enables the two sets of driving wheels to drive one to act and one not to act according to a control instruction of the operator, and then the steering of the foldable pipe joint structure truss type spray head vehicle can be achieved so as to correct the running direction of the foldable pipe joint structure truss type spray head vehicle.
In order to facilitate the adjustment of the whole sprinkling irrigation height of the swing truss, as a further improvement scheme of the invention, a lifting adjusting mechanism is arranged between the middle truss 1 and the main supporting underframe or on the supporting wheel frame of the supporting wheel, the lifting adjusting mechanism can be of an electric screw rod structure or other lifting structures such as a hydraulic cylinder structure, and the like, and is electrically connected with a power source and a controller of an electric control device, and the electric control device further comprises a sprinkling irrigation height control loop. In the sprinkling irrigation operation process, an operator can control the sprinkling irrigation height control loop to work through the controller, and the sprinkling irrigation height is changed through controlling the lifting action of the lifting adjusting mechanism.
In order to realize the intelligent sprinkling irrigation with high self-adaption according to different sprinkling irrigation heights of crops in the sprinkling irrigation process, as a further improvement scheme of the invention, a pattern recognition sensor is arranged at the bottom of the main support underframe or the bottom of the lower water pipe 6, the electric control device further comprises a sprinkling irrigation height recognition judging loop, a controller of the electric control device is electrically connected with the pattern recognition sensor, and a pattern recognition control program is arranged in the controller. When in sprinkling irrigation operation, the sprinkling irrigation height recognition judging loop of the truss type sprinkler head vehicle with the foldable pipe joint structure is started in the retreating process, the mode recognition sensor feeds back the height of crops needing sprinkling irrigation to the controller in real time, the controller firstly compares the crop height information fed back by the mode recognition sensor with the type of crops and the standard information of the sprinkling irrigation height in the built-in mode recognition control program and outputs a comparison result, and then sends out an instruction to control the lifting adjusting mechanism to act to adjust the sprinkling irrigation height according to the comparison result, so that the sprinkling irrigation height is intelligently adjusted in real time.
Aiming at a large intelligent farm with a soil humidity sensor in a farmland, in order to carry out intelligent spray irrigation according to the humidity information of soil, as a further improvement scheme of the invention, flow control valves are arranged on spray irrigation nozzles and are electrically connected with a controller of an electric control device; the electric control device also comprises a sprinkling irrigation flow control loop, and the controller also comprises a data input/output port. The controller can be connected with the central control computer lab electricity of intelligent farm through data input/output port, before the sprinkling irrigation operation, the controller is first through data input/output port receipt farmland sprinkling irrigation data, then starts sprinkling irrigation flow control return circuit, and the sprinkling irrigation water of sprinkling irrigation shower nozzle is spouted flow according to farmland sprinkling irrigation data control to the controller, realizes the customization sprinkling irrigation operation. Soil humidity sensor in the farmland in the intelligent sprinkling irrigation process feeds back soil humidity to the controller in real time through the central control computer lab, the data input/output port, and the controller can be according to the sprinkling irrigation water blowout flow of real-time feedback control sprinkling irrigation shower nozzle, and then realizes intelligent control to realize further water economy resource.
Because the hydraulic transmission can output higher power and the power output is stable, in order to realize better self-walking effect, better rotation effect of the swing driving mechanism and better height adjusting effect of the lifting adjusting mechanism of the truss type spray head vehicle with the foldable pipe joint structure, as a further improvement scheme of the invention, a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on a main support chassis, and the hydraulic pump station and the hydraulic control valve group are respectively electrically connected with a controller of an electric control device; the driving wheel driving part of the driving wheel is a driving wheel driving hydraulic motor, and the driving wheel driving hydraulic motor is connected with the hydraulic control valve group through a hydraulic pipeline; the swing driving mechanism is a swing driving hydraulic motor arranged on the hinged connection mechanism of the upper supporting tube 5 or a swing driving hydraulic cylinder arranged between the frame sections through a connecting rod, and the swing driving hydraulic motor or the swing driving hydraulic cylinder is connected with the hydraulic control valve group through a hydraulic pipeline; the lifting adjusting mechanism is a lifting adjusting hydraulic cylinder, and the lifting adjusting hydraulic cylinder is connected with the hydraulic control valve group through a hydraulic pipeline.
In the use process of sprinkling irrigation, the truss type spray head vehicle with the foldable pipe joint structure can adjust the swing expansion angle of the swing truss base section 2 or any folding truss section 3 or tail section water delivery pipe 4 according to the actual condition of a field head, can control the on or off of a water flow channel in the communication transition joint 7 by controlling the expansion angle, further can realize asymmetric sprinkling irrigation operation, even unilateral sprinkling irrigation operation, and especially can realize uninterrupted sprinkling irrigation operation when giving way aiming at the operation working condition with obstacles.
The truss type spray head vehicle with the foldable pipe joint structure adopts the swing truss base section 2 and the folding truss section 3 which are of the integral frame-shaped structure, the frame-shaped structure is light in weight and high in strength, rapid unfolding and storage operation are convenient, and on the premise of the same truss total length, the swing truss of the truss type spray head vehicle with the foldable pipe joint structure has lighter overall weight and lower power consumption than that of a truss of a traditional frame structure; because the two ends of the lower water delivery pipe 6 are respectively provided with the vertical communicating transition joint 7, the water inlet II, the water inlet I, the inner barrel 71, the water outlet I and the water outlet II of the communicating transition joint 7 can jointly enclose a closed water flow channel, when the water delivery pipe is unfolded, the swinging truss base sections 2 of the left truss and the right truss are controlled to be respectively turned forward to a set angle along the hinging centers of the swinging truss base sections and positioned, then the multi-section folding truss sections 3 and the tail section water delivery pipe 4 are controlled to be turned and unfolded sequentially from inside to outside, the inner barrel 71 and the outer barrel 72 of the communicating transition joint 7 are relatively turned in the unfolding process to enable the water inlet II and the water inlet I to be communicated, the water outlet I and the water outlet II to be communicated, and the water delivery pipe 6 and the tail section water delivery pipe 4 form a through-connected water delivery pipe, so that the sprinkling irrigation operation is facilitated; in the folding and storing process, the folding tail joint water pipe 4 and the multi-section folding truss joint 3 are sequentially turned from outside to inside, then the swing truss base joint 2 of the left truss and the right truss is controlled to be turned back to a set angle along the hinge center of the swing truss base joint 2 and positioned, the inner barrel 71 communicated with the transition joint 7 and the outer barrel 72 are relatively rotated in the folding and storing process, so that the dislocation of the water inlet II and the water inlet I is in a cut-off state, or the dislocation of the water outlet I and the water outlet II is in a cut-off state, and the transition operation is facilitated; due to the swing driving mechanism, the automatic unfolding and folding storage can be realized; the supporting wheels at the bottom of the main supporting underframe at least comprise a group of driving wheels which are coaxially arranged and provided with driving wheel driving parts at left and right sides, so that the self-walking can be realized, and the rolling of traction equipment on farmlands can be avoided; the lifting adjusting mechanism is arranged, and the bottom of the main supporting underframe or the bottom of the lower water delivery pipe 6 is provided with the pattern recognition sensor, so that the sprinkling irrigation height can be intelligently adjusted in real time according to the height feedback of crops in the sprinkling irrigation process; because all be equipped with flow control valve, electrically controlled device on the sprinkling irrigation sprinkler head including sprinkling irrigation flow control return circuit and data input/output port, consequently can realize customizing sprinkling irrigation operation according to the farmland sprinkling irrigation data of input, at customizing sprinkling irrigation operation in-process controller still can realize intelligent control, further water economy resource according to the sprinkling irrigation water jet flow of real-time farmland sprinkling irrigation data feedback control sprinkling irrigation shower nozzle, the sprinkling irrigation operation of specially adapted large-scale farm.
Claims (10)
1. A truss type spray head vehicle with a foldable pipe joint structure comprises a main support underframe and a swing truss; the bottom of the main support chassis is provided with a plurality of support wheels comprising support wheel frames; the swing truss comprises a left truss, a middle truss (1) and a right truss, wherein the middle truss (1) is arranged on the main support underframe, a sprinkling irrigation water input main pipeline which can be communicated and connected with the output end of a PE pipe of the reel sprinkling irrigation machine is arranged on the middle truss (1), and the left truss and the right truss are symmetrically arranged on the left side and the right side of the middle truss (1); it is characterized in that the method comprises the steps of,
the left truss and the right truss comprise a section of swing truss base section (2), a plurality of sections of folding truss sections (3) and a section of tail section water delivery pipe (4) which are sequentially arranged from inside to outside; the swing truss base section (2) and the folding truss section (3) comprise an upper supporting pipe (5), a lower water conveying pipe (6) and inter-pipe rigid supports, the inter-pipe rigid supports are fixedly connected between the upper supporting pipe (5) and the lower water conveying pipe (6) which are arranged in parallel to form an integral frame-shaped structure, and the height sizes of the swing truss base section (2) and the multi-section folding truss section (3) are gradually decreased along the expanding direction from inside to outside; both ends of the upper supporting tube (5) are provided with a hinged connection mechanism and a swing angle limiting mechanism, wherein the hinged connection mechanism and the swing angle limiting mechanism are vertically arranged on the hinged shaft; the lower water delivery pipe (6) and the tail joint water delivery pipe (4) are respectively provided with a spray irrigation nozzle communicated with the inner cavity;
two ends of the lower water delivery pipe (6) are provided with vertical communication transition joints (7), and the communication transition joints (7) comprise an inner barrel (71), an outer barrel (72) and a sealing cover (73); the inner barrel (71) is of a barrel-shaped structure with a barrel bottom, a water inlet I and a water outlet I which penetrate through the barrel wall are formed in the inner barrel (71) along the radial direction of the inner barrel, the water inlet I and the water outlet I are arranged in an up-down opposite mode along the barrel wall, the central axes of the water inlet I and the water outlet I are positioned in the same vertical plane, the outer barrel (72) is sleeved on the inner barrel (71) in a matched mode, annular sealing is arranged between the inner barrel (71) and the outer barrel (72), the water inlet I and the water outlet I of the outer barrel (72) corresponding to the inner barrel (71) are arranged in two parts up and down, a water inlet II is formed in the outer barrel (72) corresponding to the water inlet I, a water outlet II is formed in the outer barrel (72) corresponding to the water outlet I, the upper outer barrel (72) and the lower outer barrel (72) are respectively and fixedly connected with the end parts of two adjacent lower water delivery pipes (6) in a sealed mode, one of the two outer barrels (72) is in a sleeved mode and is connected with the inner barrel (71) in a circumferential positioning mode, the upper end part of the swing base (2) is in a mode, the upper end of the swing base (2) is in a mode and the swing joint (2) is in a mode of being opposite to the end of the swing joint (1) is connected with the lower end of the truss (1) of the truss (2) and the lower end of the truss is in a swing joint mode; the sealing cover (73) is hermetically and fixedly arranged at the bung hole position of the inner barrel (71) of the barrel-shaped structure;
the outer side end of the tail joint water delivery pipe (4) is closed, the inner side end of the tail joint water delivery pipe is connected with a communicating transition joint (7) of a lower water delivery pipe (6) of the outermost folding truss joint (3), an inclined pull rod fixedly connected with the tail joint water delivery pipe is arranged on the tail joint water delivery pipe (4), and the end part of the inclined pull rod is connected with a hinged connection mechanism and a swing angle limiting mechanism of an upper supporting pipe (5) of the outermost folding truss joint (3).
2. The truss type spray head vehicle with the foldable pipe joint structure according to claim 1, wherein an electric control device is arranged on the main support underframe, and the electric control device comprises a power source and a controller; swing driving mechanisms are arranged between the swing truss base section (2) and the middle truss (1), between the swing truss base section (2) and the folding truss section (3), between the multi-section folding truss section (3) and between the tail section of the folding truss section (3) and the tail section water delivery pipe (4), and are electrically connected with a controller, and the electric control device comprises a swing driving control loop.
3. The truss type spray head vehicle with the foldable pipe joint structure according to claim 2, wherein a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on the main support underframe, and the hydraulic pump station and the hydraulic control valve group are respectively and electrically connected with a controller of the electric control device; the swing driving mechanism is a swing driving hydraulic motor arranged on the hinged connection mechanism of the upper supporting tube (5) or a swing driving hydraulic cylinder arranged between the frame sections through a connecting rod, and the swing driving hydraulic motor or the swing driving hydraulic cylinder is connected with the hydraulic control valve group through a hydraulic pipeline.
4. The truss type spray head vehicle with the foldable pipe joint structure according to claim 2, wherein the supporting wheels at the bottom of the main supporting underframe at least comprise a group of left and right driving wheels which are coaxially arranged, driving wheel driving parts connected with a power source are coaxially arranged on the driving wheels, the driving wheel driving parts are respectively electrically connected with the power source and a controller of an electric control device, and the electric control device further comprises a self-walking control loop.
5. The truss type spray head vehicle with the foldable pipe joint structure according to claim 4, wherein a left driving wheel and a right driving wheel which are coaxially arranged are respectively provided with a driving wheel driving part connected with a power source; the controller of the electric control device is respectively and electrically connected with the two sets of driving wheel driving parts, and the electric control device also comprises a steering control loop.
6. The truss type spray head vehicle with the foldable pipe joint structure according to claim 4 or 5, wherein a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on the main support underframe, and the hydraulic pump station and the hydraulic control valve group are respectively and electrically connected with a controller of the electric control device; the driving wheel driving part of the driving wheel is a driving wheel driving hydraulic motor, and the driving wheel driving hydraulic motor is connected with the hydraulic control valve group through a hydraulic pipeline.
7. The truss-like spray head vehicle with the collapsible tube joint structure according to claim 2, wherein a lifting adjusting mechanism is arranged between the middle truss (1) and the main supporting underframe or on the supporting wheel frame of the supporting wheel, the lifting adjusting mechanism is electrically connected with a power source and a controller of the electric control device, and the electric control device further comprises a spray irrigation height control loop.
8. The truss type spray head vehicle with the foldable pipe joint structure according to claim 7, wherein a hydraulic pump station and a hydraulic control valve group which are connected through a hydraulic pipeline are arranged on the main support underframe, and the hydraulic pump station and the hydraulic control valve group are respectively and electrically connected with a controller of the electric control device; the lifting adjusting mechanism is a lifting adjusting hydraulic cylinder, and the lifting adjusting hydraulic cylinder is connected with the hydraulic control valve group through a hydraulic pipeline.
9. The truss type spray head vehicle with the foldable pipe joint structure according to claim 7, wherein a pattern recognition sensor is arranged at the bottom of the main support underframe or the bottom of the lower water delivery pipe (6), the electric control device further comprises a spray irrigation height recognition judging loop, and a controller of the electric control device is electrically connected with the pattern recognition sensor.
10. The truss type spray head vehicle with the foldable pipe joint structure according to claim 2, wherein the spray nozzles are provided with flow control valves, and the flow control valves are electrically connected with a controller of the electric control device; the electric control device also comprises a sprinkling irrigation flow control loop, and the controller also comprises a data input/output port.
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| CN112997857B (en) * | 2019-10-22 | 2022-03-04 | 江苏华源节水股份有限公司 | Control method of truss type spray head vehicle |
| CN110583437A (en) * | 2019-10-22 | 2019-12-20 | 江苏华源节水股份有限公司 | Truss type spray head vehicle capable of being automatically unfolded or folded |
| CN111280031A (en) * | 2020-03-27 | 2020-06-16 | 金荣 | A translation formula sprinkling irrigation machine for agricultural production convenient to adjust |
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