CN110583437B - Truss type spray head vehicle capable of being automatically unfolded or folded - Google Patents
Truss type spray head vehicle capable of being automatically unfolded or folded Download PDFInfo
- Publication number
- CN110583437B CN110583437B CN201911003976.3A CN201911003976A CN110583437B CN 110583437 B CN110583437 B CN 110583437B CN 201911003976 A CN201911003976 A CN 201911003976A CN 110583437 B CN110583437 B CN 110583437B
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- truss
- folding
- pipe
- swing
- joint
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- 239000007921 spray Substances 0.000 title claims abstract description 51
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 180
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000007789 sealing Methods 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 16
- 239000003621 irrigation water Substances 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 abstract description 6
- 238000003860 storage Methods 0.000 abstract description 5
- 238000003973 irrigation Methods 0.000 description 22
- 230000002262 irrigation Effects 0.000 description 22
- 230000009471 action Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 238000005507 spraying Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 244000068988 Glycine max Species 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
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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
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Water Supply & Treatment (AREA)
- Environmental Sciences (AREA)
- Special Spraying Apparatus (AREA)
- Tents Or Canopies (AREA)
Abstract
The invention discloses an automatically-unfolded or-folded truss type spray head vehicle, which comprises a swing truss base section, a folding truss section and a connecting pipe, wherein the inner side end of the swing truss base section is hinged on the middle truss, the inner side end of the folding truss section is hinged on the outer side end of the swing truss base section, one end of the connecting pipe is hinged on a main support underframe, the other end of the connecting pipe is hinged on a folding section lower water pipe, and a four-bar mechanism is formed by encircling the whole section of the base section lower water pipe, the subsection of the folding section lower water pipe, the whole section of the connecting pipe and virtual connecting rods between the hinging point of the connecting pipe and the hinging point of the base section lower water pipe together. 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, and simultaneously realize the rapid unfolding and storage of the truss, further realize the rapid transition operation of the truss type reel sprinkler, and is particularly suitable for small truss type reel sprinklers.
Description
Technical Field
The invention relates to a spray head vehicle, in particular to a truss type spray head vehicle capable of being automatically unfolded or folded, 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 length of the truss of the existing small truss type reel sprinkler is usually 10-20 m, in order to ensure the overall strength of the longer truss, a frame structure with triangular or rectangular longitudinal section is usually adopted, but the overall weight of the frame structure is larger, the truss of the frame structure is usually supported and fixed on a sprinkler truck through a large-size and heavy-weight bracket, and as the sprinkler truck is usually a two-wheel structure with a back-off traction force from a PE pipe, the back-off traction force of the sprinkler truck is influenced by the flatness of the ground and the traction force is uneven, the large-size and heavy-weight truss can increase the weight of the whole sprinkler truck and reduce the stability, so that the larger traction force and the power consumption are increased, and excessive rolling of crops is easy to cause when the sprinkler truck walks; in addition, in order to be convenient for transport, the truss of the steel wire traction frame structure of the existing truss type reel sprinkler is mostly of a multisection dismounting structure, however, the truss of the dismounting steel wire traction frame structure and the sprinkling irrigation pipeline are high in labor intensity and low in dismounting efficiency, and quick transfer operation of the truss type reel sprinkler cannot be realized.
Disclosure of Invention
In order to solve the problems, the invention provides the truss type spray head vehicle capable of being automatically unfolded or folded, 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 rapid unfolding and storage of the truss and further realize rapid transition operation of a truss type reel spray irrigation machine, and is particularly suitable for small truss type reel spray irrigation machines.
In order to achieve the purpose, the truss type spray head vehicle capable of automatically unfolding or folding comprises a main support underframe, a swing truss and an unfolding and folding control device.
The bottom of the main support chassis is provided with support wheels which are arranged in a bilateral symmetry manner and are arranged through support wheel frames.
The swing truss comprises a left truss, a middle truss and a right truss, wherein the middle truss of the rectangular frame structure is vertically and fixedly arranged on a main support underframe, a sprinkling irrigation water input main pipeline is arranged on the middle truss, the left end and the right end of the bottom of the middle truss are respectively provided with a split port which is communicated with the sprinkling irrigation water input main pipeline and is opposite to the left side and the right side, and the left truss and the right truss which are vertically arranged are symmetrically arranged on the left side and the right side of the middle truss; the left truss and the right truss both comprise a section of swing truss base section, a section of folding truss section and a connecting pipe;
The swinging truss base joint comprises a base joint upper supporting pipe, a base joint lower water conveying pipe and a base joint pipe supporting pipe; the lower water delivery pipe of the base section is horizontally arranged, and a plurality of spray nozzles communicated with the inner cavity of the lower water delivery pipe of the base section are further arranged at the bottom of the lower water delivery pipe of the base section along the length direction of the lower water delivery pipe of the base section; the base joint pipe supporting pipe is fixedly arranged between the base joint upper supporting pipe and the base joint lower water conveying pipe, and the base joint upper supporting pipe, the base joint lower water conveying pipe and the base joint pipe supporting pipe jointly enclose a frame structure; the inner side ends of the base section upper support pipe and the base section lower water pipe are respectively hinged on the middle truss through a vertically arranged hinge pin I and a hinge mounting sleeve I, the inner side end of the base section lower water pipe is arranged opposite to the split port, the inner side end and/or the split port of the base section lower water pipe are/is provided with a pressure-fit end face sealing structure, the hinge position of the base section upper support pipe and the middle truss and/or the hinge position of the base section lower water pipe and the middle truss is/are also provided with a swing truss base section swing angle limiting mechanism, when the swing truss base section is folded forwards along the hinge axis of the swing truss base section to be in a fully unfolded state, the inner side end of the base section lower water pipe is in pressure-fit with the split port, and the swing truss base section swing angle limiting mechanism can limit the swing truss base section to be folded forwards continuously;
The folding truss section comprises a folding section upper supporting pipe, a folding section lower water conveying pipe and a folding section pipe supporting pipe; the lower water delivery pipe of the folding joint is horizontally arranged, and the bottom of the lower water delivery pipe of the folding joint is also provided with a plurality of spray nozzles which are communicated with the inner cavity of the lower water delivery pipe of the folding joint along the length direction of the lower water delivery pipe of the folding joint; the support pipes between the folding joints are fixedly arranged between the upper support pipe of the folding joint and the lower water delivery pipe of the folding joint, and the upper support pipe of the folding joint, the lower water delivery pipe of the folding joint and the support pipes between the folding joints jointly enclose a frame structure; the inner side ends of the upper support pipe of the folding joint and the lower water pipe of the folding joint are respectively hinged on the outer side end of the swinging truss base joint through a vertically arranged hinge pin II and a hinge mounting sleeve II, the inner side end of the lower water pipe of the folding joint is opposite to the outer side end of the lower water pipe of the base joint, the inner side end of the lower water pipe of the folding joint and/or the outer side end of the lower water pipe of the base joint are provided with end face sealing structures capable of being in press fit, the hinge position of the upper support pipe of the folding joint and the outer side end of the swinging truss base joint and/or the hinge position of the lower water pipe of the folding joint and the outer side end of the swinging truss base joint are also provided with folding truss joint swing angle limiting mechanisms, and when the folding truss joint is folded backwards along the hinge axis of the folding truss joint to be in a fully unfolded state, the inner side end of the lower water pipe of the folding truss joint is in press fit with the outer side end of the lower water pipe of the base joint, and the folding truss joint swing angle limiting mechanisms can limit the folding truss joint to be folded backwards continuously;
one end of the connecting pipe which is horizontally arranged is hinged on the main support underframe, the hinged position of the connecting pipe and the main support underframe is positioned in front of the middle truss, the other end of the connecting pipe is hinged on the lower water delivery pipe of the folding joint, and the four-bar mechanism is jointly enclosed by the whole section of the lower water delivery pipe of the base joint, the section of the lower water delivery pipe of the folding joint, the whole section of the connecting pipe and the virtual connecting rod between the hinged point of the connecting pipe and the hinged point of the lower water delivery pipe of the base joint.
The unfolding and folding control device is arranged at the hinged position of the swinging truss base section and the middle truss and/or the hinged position of the folding truss section and the swinging truss base section, the unfolding and folding control device comprises a self-locking structure, the unfolding and folding control device can control the swinging truss base section to swing or lock relative to the middle truss along the hinged center of the swinging truss base section, or the unfolding and folding control device can control the folding truss section to swing or lock relative to the swinging truss base section along the hinged center of the folding truss section, or the two unfolding and folding control devices can simultaneously control the swinging truss base section and the folding truss section to swing or lock.
As a further improvement scheme of the invention, the hinged installation position of the base section lower water delivery pipe and the middle truss is arranged at the butt joint position of the inner side end of the base section lower water delivery pipe and the split port, and the end face sealing structure of the base section lower water delivery pipe is fixedly connected with the hinged installation sleeve I; the hinged installation position of the folding joint lower water delivery pipe and the base joint lower water delivery pipe is arranged at the butt joint position of the inner side end of the folding joint lower water delivery pipe and the outer side end of the base joint lower water delivery pipe, and the end face sealing structure of the folding joint lower water delivery pipe is fixedly connected with the hinged installation sleeve II.
As a further improvement scheme of the invention, the inner side end of the base joint lower water delivery pipe and the inner side end of the folding joint lower water delivery pipe are vertical plate structures with L-shaped longitudinal sections, an end face sealing structure is arranged on the long side face of each L-shaped vertical plate structure, the short side face of each L-shaped vertical plate structure of the base joint lower water delivery pipe is fixedly connected with the hinged mounting sleeve I, and the short side face of each L-shaped vertical plate structure of the folding joint lower water delivery pipe is fixedly connected with the hinged mounting sleeve II.
As one implementation mode of the unfolding and folding control device, the unfolding and folding control device is of a swinging telescopic rod control structure and comprises a swinging telescopic control component, one end of the swinging telescopic control component is hinged with a main support underframe, the other end of the swinging telescopic control component is hinged with a swinging truss base section, one end of the swinging telescopic control component is hinged with the swinging truss base section, the other end of the swinging telescopic control component is hinged with a folding truss section, or two ends of one swinging telescopic control component are respectively hinged on a main support underframe and the swinging truss base section, and two ends of the other swinging telescopic control component are respectively hinged on the swinging truss base section and the folding truss section.
As one implementation mode of the swing expansion control component, the swing expansion control component is a swing control hydraulic cylinder, a hydraulic pump station is arranged on a main support underframe, and the swing control hydraulic cylinder is connected with the hydraulic pump station through a hydraulic pipeline and a control valve group; the self-locking structure is a pressure-maintaining control valve in the control valve group.
As another implementation mode of the swing expansion control component, the swing expansion control component is a swing control electric cylinder, an electric control mechanism comprising a power supply and a controller is arranged on a main support chassis, and the swing control electric cylinder is electrically connected with the controller; the self-locking structure is a trapezoid thread of a screw nut which is matched with the swing control electric cylinder, or is a brake shoe structure which is arranged on a driving motor of the swing control electric cylinder.
As another embodiment of the unfolding and folding control device, the unfolding and folding control device is of a rotary control structure and comprises a rotary control part, wherein the power output end of the rotary control part is in transmission connection with the hinge pin I or the hinge pin II, or the power output ends of the two rotary control parts are respectively in transmission connection with the hinge pin I and the hinge pin II.
As one implementation mode of the rotation control part, the rotation control part is a swing control hydraulic motor, a hydraulic pump station is arranged on the main support underframe, and the swing control hydraulic motor is connected with the hydraulic pump station through a hydraulic pipeline and a control valve group; the self-locking structure is a pressure-maintaining control valve in the control valve group.
As another embodiment of the rotation control part of the invention, the rotation control part is a swing control motor, an electric control mechanism comprising a power supply and a controller is arranged on the main support chassis, and the swing control motor is electrically connected with the controller; the self-locking structure is a brake shoe structure arranged on the swing control motor, or the self-locking structure is a brake shoe structure arranged on the transmission gearbox.
As a further improvement of the invention, the upper support tube of the base joint and the upper support tube of the folding joint are both inclined structures with high inner end positions and low outer end positions.
Compared with the prior art, the swing truss of the truss type spray head vehicle capable of being automatically unfolded or folded comprises a swing truss base section, a folding truss section and a connecting pipe, wherein the inner side end of the swing truss base section is hinged on the middle truss, the inner side end of the folding truss section is hinged on the outer side end of the swing truss base section, one end of the connecting pipe is hinged on the main support underframe, the hinging position of the connecting pipe and the main support underframe is positioned in front of the middle truss, the other end of the connecting pipe is hinged on the lower water pipe of the folding section, the whole section of the lower water pipe of the base section, the whole section of the folding section and the virtual connecting rod between the hinging point of the connecting pipe and the hinging point of the lower water pipe of the base section enclose a four-bar mechanism together, the hinged positions of the swing truss base joint and the middle truss and/or the hinged positions of the folding truss joint and the swing truss base joint are also provided with unfolding and folding control devices, so that when the unfolding operation is carried out, an operator positively operates the unfolding and folding control devices, the left truss and the right truss rotate and fold forwards along the hinged shafts of the left truss and the right truss, meanwhile, the folding truss joint rotates and folds backwards along the hinged shafts of the folding truss joint under the pushing action of the connecting pipe, after the folding truss joint is completely unfolded, the axes of the split port, the lower water pipe of the base joint and the lower water pipe of the folding joint are arranged in a collinear way, the inner side end of the lower water pipe of the base joint and the split port are firmly pressed and sealed through an end face sealing structure, the inner side end of the lower water pipe of the folding joint and the outer side end of the lower water pipe of the base joint are firmly pressed and sealed through an end face sealing structure, at the moment, the four-bar mechanism is deformed into a triangular structure, the self-locking action of the unfolding and folding control device can prevent the turnover phenomenon caused by external force of the four-bar mechanism, the diversion port, the basal section lower water delivery pipe and the folding section lower water delivery pipe form a through spray irrigation water circulation channel; the left truss, the middle truss and the right truss of the frame structure can reduce the overall weight of the truss and further reduce power consumption on the premise of ensuring the overall strength of the truss, and the quick unfolding and storage of the truss and the quick transition operation of the truss type reel sprinkler can be realized by utilizing the four-bar mechanism and the unfolding and folding control device, so that the frame structure is particularly suitable for small-sized truss type reel sprinkler.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in its fully extended state;
FIG. 2 is a partial enlarged view of the P-direction of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is an enlarged view of a portion of the Q-direction of FIG. 3;
FIG. 5 is a schematic view of the structure of the present invention during folding;
FIG. 6 is an enlarged view of a portion of FIG. 5 from the M direction;
FIG. 7 is an enlarged partial view in the N direction of FIG. 5;
Fig. 8 is a schematic view of the structure of the present invention in a fully folded state.
In the figure: 1. the main support underframe, 11, the support wheel frame, 12, the support wheels, 2, the swing truss base joint, 21, the base joint upper support tube, 22, the base joint lower water delivery tube, 23, the base joint inter-tube support tube, 3, the folding truss joint, 31, the folding joint upper support tube, 32, the folding joint lower water delivery tube, 33, the folding inter-tube support tube, 4, the connecting tube, 5 and the unfolding and folding control device.
Detailed Description
The present invention will be further described with reference to the accompanying drawings (hereinafter, description will be made with the direction of pulling out the automatically extendable or foldable truss type spray head vehicle as the front, the direction of swinging and extending the foldable truss section 3 as the outside direction, and the direction of swinging and folding the foldable truss section 3 as the inside direction).
As shown in fig. 1 and 3, the truss type spray head vehicle capable of being automatically unfolded or folded comprises a main support underframe 1, a swing truss and an unfolding and folding control device 5.
The bottom of the main supporting underframe 1 is provided with supporting wheels 12 which are symmetrically arranged left and right and are arranged through supporting wheel frames 11.
The swing truss comprises a left truss, a middle truss and a right truss, wherein the middle truss of the rectangular frame structure is vertically and fixedly arranged on the main support underframe 1, a sprinkling irrigation water input main pipeline is arranged on the middle truss, the left end and the right end of the bottom of the middle truss are respectively provided with a split port which is communicated with the sprinkling irrigation water input main pipeline and is opposite to the left side and the right side, and the left truss and the right truss which are vertically arranged are symmetrically arranged on the left side and the right side of the middle truss; the left truss and the right truss comprise a swinging truss base section 2, a folding truss section 3 and a connecting pipe 4;
As shown in fig. 1 and 2, the swing truss base section 2 comprises a base section upper supporting tube 21, a base section lower water conveying tube 22 and a base section inter-tube supporting tube 23; the base section lower water delivery pipe 22 is horizontally arranged, and a plurality of spray nozzles communicated with the inner cavity of the base section lower water delivery pipe 22 are also arranged at the bottom of the base section lower water delivery pipe 22 along the length direction of the base section lower water delivery pipe 22; the base section pipe support pipe 23 is fixedly arranged between the base section upper support pipe 21 and the base section lower water delivery pipe 22, and the base section upper support pipe 21, the base section lower water delivery pipe 22 and the base section pipe support pipe 23 jointly enclose a frame structure; the inner side ends of the base section upper supporting pipe 21 and the base section lower water pipe 22 are respectively hinged on the middle truss through a vertically arranged hinge pin I and a hinge mounting sleeve I, the inner side end of the base section lower water pipe 22 is arranged right opposite to the split port, the inner side end of the base section lower water pipe 22 and/or the split port are provided with end face sealing structures capable of being in press fit, the hinge position of the base section upper supporting pipe 21 and the middle truss and/or the hinge position of the base section lower water pipe 22 and the middle truss are also provided with swinging truss base section swinging angle limiting mechanisms, the swinging truss base section swinging angle limiting mechanisms can be limiting plate structures or other angle limiting structures such as limiting block structures which are matched with the hinge pin and the hinge mounting sleeve, when the swinging truss base section 2 is folded forwards along the hinge axis of the swinging truss base section 2 in a fully unfolded state, the inner side end of the base section lower water pipe 22 is in press fit with the split port, and the swinging truss base section swinging angle limiting mechanisms can limit the swinging truss base section 2 to be folded forwards continuously;
the folding truss section 3 comprises a folding section upper supporting pipe 31, a folding section lower water conveying pipe 32 and a folding section pipe supporting pipe 33; the lower folded joint water delivery pipe 32 is horizontally arranged, and a plurality of spray nozzles communicated with the inner cavity of the lower folded joint water delivery pipe 32 are further arranged at the bottom of the lower folded joint water delivery pipe 32 along the length direction of the lower folded joint water delivery pipe; the folding joint support tube 33 is fixedly arranged between the folding joint upper support tube 31 and the folding joint lower water delivery tube 32, and the folding joint upper support tube 31, the folding joint lower water delivery tube 32 and the folding joint support tube 33 jointly enclose a frame structure; the inner side ends of the upper support tube 31 and the lower water delivery tube 32 of the folding joint are respectively hinged and installed on the outer side end of the base joint 2 of the swing truss through a vertically arranged hinge pin II and a hinge installation sleeve II, the inner side end of the lower water delivery tube 32 of the folding joint is opposite to the outer side end of the lower water delivery tube 22 of the base joint, an end face sealing structure which can be in press fit is arranged on the inner side end of the lower water delivery tube 32 of the folding joint and/or the outer side end of the lower water delivery tube 22 of the base joint, a hinge position of the upper support tube 31 of the folding joint and the outer side end of the base joint 2 of the swing truss and/or a hinge position of the lower water delivery tube 32 of the folding joint and the outer side end of the base joint 2 of the swing truss are also provided with a swing angle limiting mechanism of the folding truss, the swing angle limiting mechanism of the folding truss can be a limiting plate structure, can also be a limiting plate structure which can be matched with a limiting plate structure arranged on the hinge pin and the hinge installation sleeve, and other angle limiting structures, and the like, when the folding truss joint 3 is folded back to a fully unfolded state along the hinge axis, the inner side end of the lower water delivery tube 32 of the folding joint is in press fit with the outer side end of the base joint 22, and the folding truss can limit the swing angle limiting mechanism to the folding truss 3 to continue backwards;
As shown in fig. 3 and 4, one end of a connecting pipe 4 arranged horizontally is hinged on the main support underframe 1, and the hinged position of the connecting pipe 4 and the main support underframe 1 is positioned in front of the middle truss, the other end of the connecting pipe 4 is hinged on a lower folding joint water delivery pipe 32, and a four-bar mechanism is jointly enclosed by virtual links among the whole section of the lower base joint water delivery pipe 22, the partial section of the lower folding joint water delivery pipe 32, the whole section of the connecting pipe 4 and the hinged point of the lower base joint water delivery pipe 22.
The unfolding and folding control device 5 is arranged at the hinged position of the swing truss base section 2 and the middle truss and/or the hinged position of the folding truss section 3 and the swing truss base section 2, the unfolding and folding control device 5 comprises a self-locking structure, the unfolding and folding control device 5 can control the swing truss base section 2 to swing or lock relative to the middle truss along the hinged center of the folding truss base section, or the unfolding and folding control device 5 can control the folding truss section 3 to swing or lock relative to the swing truss base section 2 along the hinged center of the folding truss base section, or the two unfolding and folding control devices 5 can simultaneously control the swing truss base section 2 and the folding truss section 3 to swing or lock.
When the truss type spray head vehicle capable of being automatically unfolded or folded is installed on a reel type spray irrigation machine, the spray irrigation water on the middle truss is input into a main pipeline to be connected with a PE pipe of the reel type spray irrigation machine.
When the reel type sprinkler is in a transition state, the automatically-unfolded or folded truss type sprinkler is in a suspension state that the supporting wheel 12 is separated from the ground under the traction action of the sprinkler lifting mechanism of the reel type sprinkler and the PE pipe in a complete storage state, as shown in fig. 8, at the moment, the left truss and the right truss are in a state of being folded backwards and stored in a wing shape, the folding truss section 3 is in a state of being folded forwards and stored under the traction action of the connecting pipe 4, and the completely-stored left truss and right truss are attached to the left side and the right side of a reel of the reel type sprinkler without influencing the transition of the reel type sprinkler.
When the reel type sprinkler is pulled to a farmland head for sprinkling irrigation operation, the rotary auxiliary frame enables the auxiliary frame to drive the reel and the automatically-unfolded or folded truss type sprinkler head trolley to be opposite to the farmland rear positioning auxiliary frame to be sprinkling irrigation through the slewing bearing, then the telescopic front support is controlled to extend and stably support on the ground, then the sprinkler head trolley lifting mechanism is controlled to be lowered to enable the automatically-unfolded or folded truss type sprinkler head trolley to fall to the initial position of the ground, and the automatically-unfolded or folded truss type sprinkler head trolley is pulled to the sprinkling irrigation position through traction equipment such as a tractor, so that operators can conduct unfolding operation on the automatically-unfolded or folded truss type sprinkler head trolley; the operator operates the unfolding and folding control device 5 forward, as shown in fig. 5 and 7, the left truss and the right truss are turned forwards along the hinge shafts of the left truss and the right truss, meanwhile, as shown in fig. 6, the folding truss section 3 is turned backwards along the hinge shafts of the folding truss section 3 under the pushing action of the connecting pipe 4, after the folding truss section 3 is completely unfolded, the axes of the split port, the base section lower water delivery pipe 22 and the folding section lower water delivery pipe 32 are arranged in a collinear way, the inner side end of the base section lower water delivery pipe 22 and the split port are firmly pressed and sealed through an end face sealing structure, the inner side end of the folding section lower water delivery pipe 32 and the outer side end of the base section lower water delivery pipe 22 are firmly pressed and sealed through an end face sealing structure, at the moment, the four-bar mechanism is deformed into a triangular structure, the self-locking action of the unfolding and folding control device 5 can prevent the turnover phenomenon caused by external force of the four-bar mechanism, and the split port, the base section lower water delivery pipe 22 and the folding section lower water delivery pipe 32 form a through spray water circulation channel; after the hydrant is opened, the pressurized water enters a main sprinkling irrigation water input pipeline on the middle truss through the PE pipe, sequentially enters a diversion port, a basal section lower water delivery pipe 22 and a folding section lower water delivery pipe 32, and is sprayed out from a sprinkling irrigation nozzle to realize sprinkling irrigation; the reel is rewound in the spray irrigation process, and the truss type spray head vehicle capable of being automatically unfolded or folded is pulled to move backwards through the PE pipe until the truss type spray head vehicle capable of being automatically unfolded or folded is retracted to an initial position, so that spray irrigation of the farmland is completed; during folding operation, the operator reversely operates the unfolding folding control device 5, as shown in fig. 5, the left truss and the right truss are rotated and turned backwards along the hinge shafts of the left truss and the right truss, meanwhile, the folding truss section 3 is rotated and turned forwards along the hinge shafts of the folding truss section 3 under the pulling action of the connecting pipe 4, after the left truss and the right truss are attached to the initial states of the left side and the right side of a reel of the reel type sprinkler, the lowering sprinkler lifting mechanism is controlled in sequence, so that the automatically-unfolded or folded truss type sprinkler is lifted to be separated from the ground, and the rotating auxiliary frame is reset after the retracting front support is controlled.
In order to reduce the mechanism setting, as a further improvement scheme of the invention, as shown in fig. 2, the hinged installation position of the base section lower water pipe 22 and the middle truss is arranged at the butt joint position of the inner side end of the base section lower water pipe 22 and the split port, and the end face sealing structure of the base section lower water pipe 22 is fixedly connected with the hinged installation sleeve I; the hinged installation position of the folding joint lower water delivery pipe 32 and the base joint lower water delivery pipe 22 is arranged at the butt joint position of the inner side end of the folding joint lower water delivery pipe 32 and the outer side end of the base joint lower water delivery pipe 22, and the end face sealing structure of the folding joint lower water delivery pipe 32 is fixedly connected with the hinged installation sleeve II. The arrangement can avoid the hinging installation position of the base joint lower water conveying pipe 22 and the butt joint position of the base joint lower water conveying pipe 22 from being independently arranged, and can avoid the hinging installation position of the folding joint lower water conveying pipe 32 and the butt joint position of the folding joint lower water conveying pipe 32 from being independently arranged, thereby realizing the setting of a reduction mechanism.
In order to ensure the sealing effect of the crimp seal on the premise that the end face sealing structure of the base section lower water pipe 22 is fixedly connected with the hinge mounting sleeve I and the end face sealing structure of the folding section lower water pipe 32 is fixedly connected with the hinge mounting sleeve II, as shown in fig. 6 and 7, as a further improvement scheme of the invention, the inner side end of the base section lower water pipe 22 and the inner side end of the folding section lower water pipe 32 are vertical plate structures with L-shaped longitudinal sections, the long side surface of the L-shaped vertical plate structure is provided with the end face sealing structure, the short side surface of the L-shaped vertical plate structure of the base section lower water pipe 22 is fixedly connected with the hinge mounting sleeve I, and the short side surface of the L-shaped vertical plate structure of the folding section lower water pipe 32 is fixedly connected with the hinge mounting sleeve II.
As one embodiment of the unfolding and folding control device 5 of the present invention, the unfolding and folding control device 5 is a swing telescopic rod control structure, and the unfolding and folding control device 5 comprises a swing telescopic control component, wherein one end of the swing telescopic control component is hinged with the main support chassis 1, the other end of the swing telescopic control component is hinged with the swing truss base section 2, one end of the swing telescopic control component is hinged with the swing truss base section 2, the other end of the swing telescopic control component is hinged with the folding truss section 3, or two ends of one swing telescopic control component are respectively hinged on the main support chassis 1 and the swing truss base section 2, and two ends of the other swing telescopic control component are respectively hinged on the swing truss base section 2 and the folding truss section 3. The swing telescopic control component can be a swing control hydraulic cylinder, a hydraulic pump station is arranged on the main support underframe 1, and the swing control hydraulic cylinder is connected with the hydraulic pump station through a hydraulic pipeline and a control valve group; the self-locking structure is a pressure-maintaining control valve in the control valve group. The swing telescopic control component can also be a swing control electric cylinder, an electric control mechanism comprising a power supply and a controller is arranged on the main support chassis 1, and the swing control electric cylinder is electrically connected with the controller; the trapezoidal thread has a self-locking function, so the self-locking structure can be a trapezoidal thread of a screw nut which is matched with the electric cylinder in a swinging control manner; the self-locking structure may also be a shoe structure provided on a drive motor of the swing control electric cylinder.
As another embodiment of the unfolding and folding control device 5 according to the present invention, as shown in fig. 2 and 4, the unfolding and folding control device 5 is a rotation control structure, and the unfolding and folding control device 5 includes a rotation control component, wherein a power output end of the rotation control component is in transmission connection with the hinge pin i or the hinge pin ii, or power output ends of two rotation control components are respectively in transmission connection with the hinge pin i and the hinge pin ii. The rotation control component can be a swing control hydraulic motor, a hydraulic pump station is arranged on the main support chassis 1, and the swing control hydraulic motor is connected with the hydraulic pump station through a hydraulic pipeline and a control valve group; the self-locking structure is a pressure-maintaining control valve in the control valve group. The rotation control part can also be a swing control motor, the main support chassis 1 is provided with an electric control mechanism comprising a power supply and a controller, and the swing control motor is electrically connected with the controller; the self-locking structure can be a brake shoe structure arranged on the swing control motor or a brake shoe structure arranged on the transmission gearbox.
In order to reduce the overall weight of the left truss and the right truss and further reduce the power consumption, as a further improvement of the present invention, as shown in fig. 1, the base section upper support tube 21 and the folding section upper support tube 31 are both inclined structures with high inner end positions and low outer end positions, that is, the left truss and the right truss are in a triangular frame structure after being fully unfolded.
In order to facilitate the adjustment of the distance between the supporting wheels 12 according to the specific ridge spacing, as a further improvement scheme of the invention, a wheel spacing adjusting mechanism is arranged on the supporting wheel frame 11, and the wheel spacing adjusting mechanism can adopt a bidirectional telescopic hydraulic cylinder structure, or adopt a bidirectional telescopic screw rod structure, or directly adopt other telescopic positioning structures such as a positioning pin and a positioning hole structure which are cooperatively arranged.
In order to facilitate the adjustment of the height of the sprinkling irrigation according to the height of crops, as a further improvement scheme of the invention, a height adjusting mechanism is arranged on the supporting wheel frame 11, and the height adjusting mechanism can adopt a hydraulic cylinder structure, an electric cylinder structure, a manual screw rod structure or other height adjusting and positioning structures.
The swing truss of the truss type spray head vehicle capable of being automatically unfolded or folded comprises a swing truss base section 2, a folding truss section 3 and a connecting pipe 4, wherein the inner side end of the swing truss base section 2 is hinged on the middle truss, the inner side end of the folding truss section 3 is hinged on the outer side end of the swing truss base section 2, one end of the connecting pipe 4 is hinged on the main support underframe 1, the hinging position of the connecting pipe 4 and the main support underframe 1 is positioned in front of the middle truss, the other end of the connecting pipe 4 is hinged on a folding joint lower water pipe 32, virtual connecting rods between the whole section of the base joint lower water pipe 22, the section of the folding joint lower water pipe 32, the whole section of the connecting pipe 4 and the hinging point of the base joint lower water pipe 22 are jointly enclosed into a four-bar mechanism, the hinged position of the swing truss base section 2 and the middle truss and/or the hinged position of the folding truss section 3 and the swing truss base section 2 are/is also provided with an unfolding and folding control device 5, so when in unfolding operation, an operator positively operates the unfolding and folding control device 5, the left truss and the right truss are turned forwards along the hinged shaft of the folding truss section 3, the folding truss section 3 is turned backwards along the hinged shaft of the folding truss section 3 under the pushing action of the connecting pipe 4, after complete unfolding, the axes of the split port, the base section lower water pipe 22 and the folding section lower water pipe 32 are arranged in a collinear way, the inner side end of the base section lower water pipe 22 and the split port are firmly pressed and sealed through an end face sealing structure, the inner side end of the folding section lower water pipe 32 and the outer side end of the base section lower water pipe 22 are firmly pressed and sealed through the end sealing structure, at the moment, the four-bar mechanism is deformed into a triangle structure, the unfolding and folding control device 5 has the self-locking function to prevent the turnover phenomenon of the four-bar mechanism caused by external force, and the diversion port, the basal section lower water delivery pipe 22 and the folding section lower water delivery pipe 32 form a through spray irrigation water circulation channel; the left truss, the middle truss and the right truss of the frame structure can reduce the overall weight of the truss and further reduce power consumption on the premise of ensuring the overall strength of the truss, and the four-bar mechanism and the unfolding and folding control device 5 can realize rapid unfolding and storage of the truss and further realize rapid transition operation of the truss type reel sprinkler, so that the frame structure is particularly suitable for small-sized truss type reel sprinkler.
Claims (10)
1. A truss type spray head vehicle capable of being automatically unfolded or folded comprises a main support underframe (1) and a swing truss; the bottom of the main supporting underframe (1) is provided with supporting wheels (12) which are symmetrically arranged left and right and are arranged through supporting wheel frames (11); the swing truss comprises a left truss, a middle truss and a right truss, wherein a sprinkling irrigation water input main pipeline is arranged on the middle truss and is connected with PE pipes of the reel sprinkling machine, and the left truss and the right truss are symmetrically arranged on the left side and the right side of the middle truss; it is characterized in that the method comprises the steps of,
The middle truss of the rectangular frame structure is vertically and fixedly arranged on the main support underframe (1), the left end and the right end of the bottom of the middle truss are respectively provided with a split port which is communicated with a spray irrigation water input main pipeline and is opposite to the left side and the right side, the vertically arranged left truss and right truss comprise a swinging truss base section (2), a folding truss section (3) and a connecting pipe (4), the inner side end of the swinging truss base section (2) is hinged on the middle truss, and the inner side end of the folding truss section (3) is hinged on the outer side end of the swinging truss base section (2);
the swinging truss base section (2) comprises a base section upper supporting tube (21), a base section lower water delivery tube (22) and a base section inter-tube supporting tube (23); the base joint lower water delivery pipe (22) is horizontally arranged, and a plurality of spray nozzles communicated with the inner cavity of the base joint lower water delivery pipe (22) are further arranged at the bottom of the base joint lower water delivery pipe (22) along the length direction of the base joint lower water delivery pipe; the base joint pipe support pipe (23) is fixedly arranged between the base joint upper support pipe (21) and the base joint lower water delivery pipe (22), and the base joint upper support pipe (21), the base joint lower water delivery pipe (22) and the base joint pipe support pipe (23) jointly enclose a frame structure; the inner side ends of the base section upper supporting pipe (21) and the base section lower water conveying pipe (22) are respectively hinged on the middle truss through a vertically arranged hinge pin I and a hinge mounting sleeve I, the inner side end of the base section lower water conveying pipe (22) is arranged opposite to the split port, the inner side end of the base section lower water conveying pipe (22) and/or the split port are provided with end face sealing structures capable of being in press fit, the hinge position of the base section upper supporting pipe (21) and the middle truss and/or the hinge position of the base section lower water conveying pipe (22) and the middle truss are also provided with a swing truss base section swing angle limiting mechanism, when the swing truss base section (2) is folded forwards along the hinge axis of the swing truss base section to be in a fully unfolded state, the inner side end of the base section lower water conveying pipe (22) is in press fit with the split port, and the swing truss base section swing angle limiting mechanism can limit the swing truss base section (2) to be folded forwards continuously;
The folding truss section (3) comprises a folding section upper supporting pipe (31), a folding section lower water conveying pipe (32) and a folding section pipe supporting pipe (33); the lower folded joint water delivery pipe (32) is horizontally arranged, and a plurality of spray nozzles communicated with the inner cavity of the lower folded joint water delivery pipe (32) are further arranged at the bottom of the lower folded joint water delivery pipe (32) along the length direction of the lower folded joint water delivery pipe; the folding joint pipe support pipe (33) is fixedly arranged between the folding joint upper support pipe (31) and the folding joint lower water delivery pipe (32), and the folding joint upper support pipe (31), the folding joint lower water delivery pipe (32) and the folding joint pipe support pipe (33) jointly enclose a frame structure; the inner side ends of the upper support tube (31) and the lower water delivery tube (32) of the folding joint are respectively hinged on the outer side end of the base joint (2) of the swing truss through a vertically arranged hinge pin II and a hinge mounting sleeve II, the inner side end of the lower water delivery tube (32) of the folding joint is opposite to the outer side end of the lower water delivery tube (22) of the base joint, the inner side end of the lower water delivery tube (32) of the folding joint and/or the outer side end of the lower water delivery tube (22) of the base joint are provided with end face sealing structures which can be in press fit, the hinge position of the upper support tube (31) of the folding joint and the outer side end of the base joint (2) of the swing truss and/or the hinge position of the lower water delivery tube (32) of the folding joint and the outer side end of the base joint (2) of the swing truss are also provided with a swing angle limiting mechanism of the folding truss, and when the folding truss joint (3) is folded backwards along the hinge axis of the folding truss is in a fully unfolded state, the inner side end of the lower water delivery tube (32) of the folding joint and the outer side end of the base joint (22) is in press fit, and the swing angle limiting mechanism of the folding truss joint can limit the continuous backward folding truss;
One end of a connecting pipe (4) which is horizontally arranged is hinged on the main support underframe (1), the hinged position of the connecting pipe (4) and the main support underframe (1) is positioned in front of the middle truss, the other end of the connecting pipe (4) is hinged on a lower folding joint water delivery pipe (32), and a four-bar mechanism is jointly enclosed by the whole section of the lower base joint water delivery pipe (22), the partial section of the lower folding joint water delivery pipe (32), the whole section of the connecting pipe (4) and a virtual connecting rod between the hinged point of the connecting pipe (4) and the hinged point of the lower base joint water delivery pipe (22);
The truss type spray head vehicle capable of being automatically unfolded or folded further comprises an unfolding and folding control device (5), the unfolding and folding control device (5) is arranged at the hinging position of the swinging truss base section (2) and the middle truss and/or the hinging position of the folding truss section (3) and the swinging truss base section (2), the unfolding and folding control device (5) comprises a self-locking structure, the unfolding and folding control device (5) can control the swinging truss base section (2) to swing or lock relative to the middle truss along the hinging center of the swinging truss base section, or the unfolding and folding control device (5) can control the folding truss section (3) to swing or lock relative to the swinging truss base section (2) along the hinging center of the folding truss base section, or the two unfolding and folding control devices (5) can simultaneously control the swinging truss base section (2) and the folding truss section (3) to swing or lock;
The wheel spacing adjusting mechanism is arranged on the supporting wheel frame (11), and adopts a bidirectional telescopic hydraulic cylinder structure, or adopts a bidirectional telescopic screw rod structure, or directly adopts a positioning pin and a positioning hole structure which are arranged in a matching way; the supporting wheel frame (11) is provided with a height adjusting mechanism, and the height adjusting mechanism adopts a hydraulic cylinder structure, or adopts an electric cylinder structure, or directly adopts a manual screw rod structure.
2. The truss type spray head vehicle capable of being automatically unfolded or folded according to claim 1, wherein the hinged installation position of the base section lower water pipe (22) and the middle truss is arranged at the butt joint position of the inner side end of the base section lower water pipe (22) and the split port, and the end face sealing structure of the base section lower water pipe (22) is fixedly connected with the hinged installation sleeve I; the hinged installation position of the folding joint lower water delivery pipe (32) and the base joint lower water delivery pipe (22) is arranged at the butt joint position of the inner side end of the folding joint lower water delivery pipe (32) and the outer side end of the base joint lower water delivery pipe (22), and the end face sealing structure of the folding joint lower water delivery pipe (32) is fixedly connected with the hinged installation sleeve II.
3. The truss-like spray head vehicle capable of being automatically unfolded or folded according to claim 2, wherein the inner side end of the basal section lower water pipe (22) and the inner side end of the folding section lower water pipe (32) are vertical plate structures with L-shaped longitudinal sections, an end face sealing structure is arranged on the long side face of each L-shaped vertical plate structure, the short side face of each L-shaped vertical plate structure of the basal section lower water pipe (22) is fixedly connected with the hinged mounting sleeve I, and the short side face of each L-shaped vertical plate structure of the folding section lower water pipe (32) is fixedly connected with the hinged mounting sleeve II.
4. A truss-like spray head vehicle capable of being automatically unfolded or folded according to claim 1,2 or 3, wherein the unfolding and folding control device (5) is a swing telescopic rod control structure, the unfolding and folding control device (5) comprises a swing telescopic control part, one end of the swing telescopic control part is hinged with the main support underframe (1), the other end of the swing telescopic control part is hinged with the swing truss base section (2), one end of the swing telescopic control part is hinged with the swing truss base section (2), the other end of the swing telescopic control part is hinged with the folding truss section (3), or two ends of one swing telescopic control part are respectively hinged on the main support underframe (1) and the swing truss base section (2), and two ends of the other swing telescopic control part are respectively hinged on the swing truss base section (2) and the folding truss section (3).
5. The truss type spray head vehicle capable of being automatically unfolded or folded according to claim 4, wherein the swing telescopic control component is a swing control hydraulic cylinder, a hydraulic pump station is arranged on the main support underframe (1), and the swing control hydraulic cylinder is connected with the hydraulic pump station through a hydraulic pipeline and a control valve group; the self-locking structure is a pressure-maintaining control valve in the control valve group.
6. The truss type spray head vehicle capable of being automatically unfolded or folded according to claim 4, wherein the swing telescopic control component is a swing control electric cylinder, an electric control mechanism comprising a power supply and a controller is arranged on the main support underframe (1), and the swing control electric cylinder is electrically connected with the controller; the self-locking structure is a trapezoid thread of a screw nut which is matched with the swing control electric cylinder, or is a brake shoe structure which is arranged on a driving motor of the swing control electric cylinder.
7. A truss-like spray head vehicle capable of being automatically unfolded or folded according to claim 1,2 or 3, characterized in that the unfolding and folding control means (5) is a rotation control structure, the unfolding and folding control means (5) comprises a rotation control part, the power output end of the rotation control part is in transmission connection with the hinge pin i or the hinge pin ii, or the power output ends of the two rotation control parts are respectively in transmission connection with the hinge pin i and the hinge pin ii.
8. The truss type spray head vehicle capable of being automatically unfolded or folded according to claim 7, wherein the rotation control component is a swing control hydraulic motor, a hydraulic pump station is arranged on the main support underframe (1), and the swing control hydraulic motor is connected with the hydraulic pump station through a hydraulic pipeline and a control valve group; the self-locking structure is a pressure-maintaining control valve in the control valve group.
9. The truss-like spray head vehicle capable of being automatically unfolded or folded according to claim 7, wherein the rotation control part is a swing control motor, and an electric control mechanism comprising a power supply and a controller is arranged on the main support chassis (1), and the swing control motor is electrically connected with the controller; the self-locking structure is a brake shoe structure arranged on the swing control motor, or the self-locking structure is a brake shoe structure arranged on the transmission gearbox.
10. A truss-like spray head vehicle capable of being automatically unfolded or folded according to claim 1, 2 or 3, wherein the base-section upper support tube (21) and the folding-section upper support tube (31) are each of an inclined arrangement structure with a high inner end position and a low outer end position.
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| CN201911003976.3A CN110583437B (en) | 2019-10-22 | 2019-10-22 | Truss type spray head vehicle capable of being automatically unfolded or folded |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111149660B (en) * | 2020-01-14 | 2022-12-27 | 李姗姗 | Agricultural planting irrigation equipment |
| CN114658932B (en) * | 2022-03-18 | 2023-10-20 | 北京中瀚环球真空流体科技有限责任公司 | Hydraulic truss type moving mechanism capable of rapidly folding and unfolding pipeline and adjusting angle |
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